boards/modalai: separate voxl2 builds into two board builds instead of single board build with different variants

* Made voxl2 apps processor and slpi dsp processor builds into separate board builds so that they can
more easily be configured independently.

* Removed board specific link library command from px4_config.cmake and moved it to a more generic
board specific solution that can be used by any board that needs custom link libraries.

* Removed redundant cmake command for Qurt

* Removed unused definition from Qurt cmake file

* Removed unnecessary QURT_LIB cmake function

* Reorganized the voxl2 build structure to avoid 4 level board directories.

* Reverted cmake files to remove 4 level board naming code

* Updated documentation

platforms/posix/CMakeLists.txt

@@ -97,18 +97,14 @@ if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
 	include(${PX4_BOARD_DIR}/cmake/upload.cmake)
 endif()
 
+# board defined link libraries
+if(EXISTS "${PX4_BOARD_DIR}/cmake/link_libraries.cmake")
+	include(${PX4_BOARD_DIR}/cmake/link_libraries.cmake)
+endif()
 
 if("${PX4_BOARD}" MATCHES "beaglebone_blue")
 	target_link_libraries(px4 PRIVATE robotics_cape)
 
-elseif("${PX4_BOARD}" MATCHES "modalai_voxl2")
-	# libfc_sensor.so is provided in the Docker build environment
-	target_link_libraries(px4 PRIVATE
-			/home/libfc_sensor.so
-			px4_layer
-			${module_libraries}
-	)
-
 elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
 	target_link_libraries(px4 PRIVATE atomic)
 

platforms/qurt/CMakeLists.txt

@@ -33,11 +33,16 @@
 
 get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
-QURT_LIB(LIB_NAME px4
-	SOURCES
-		${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
-	LINK_LIBS
-		modules__muorb__slpi
-		${module_libraries}
-		px4_layer
+include_directories(
+	${CMAKE_CURRENT_BINARY_DIR}
+	)
+
+add_library(px4 SHARED
+	${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
+	)
+
+target_link_libraries(px4
+	modules__muorb__slpi
+	${module_libraries}
+	px4_layer
 	)

platforms/qurt/cmake/px4_impl_os.cmake

@@ -31,6 +31,29 @@
 #
 ############################################################################
 
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
+else()
+	set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
+endif()
+
+include(px4_git)
+
+include(Toolchain-qurt)
+include(qurt_reqs)
+
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+add_definitions(-DORB_COMMUNICATOR)
+
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
 #=============================================================================
 #
 #	Defined functions in this file

platforms/qurt/cmake/qurt_reqs.cmake

@@ -176,46 +176,3 @@ list2string(CMAKE_EXE_LINKER_FLAGS
 	)
 
 include (CMakeParseArguments)
-
-# Process DSP files
-function (QURT_LIB)
-	set(options)
-	set(oneValueArgs LIB_NAME)
-	set(multiValueArgs SOURCES LINK_LIBS INCS FLAGS)
-	cmake_parse_arguments(QURT_LIB "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
-
-	include_directories(
-		${CMAKE_CURRENT_BINARY_DIR}
-		)
-
-	if ("${QURT_LIB_SOURCES}" STREQUAL "")
-		message(FATAL_ERROR "QURT_LIB called without SOURCES")
-	else()
-		# Build lib that is run on the DSP
-		add_library(${QURT_LIB_LIB_NAME} SHARED
-			${QURT_LIB_SOURCES}
-			)
-
-		if (NOT "${QURT_LIB_FLAGS}" STREQUAL "")
-			set_target_properties(${QURT_LIB_LIB_NAME} PROPERTIES COMPILE_FLAGS "${QURT_LIB_FLAGS}")
-		endif()
-
-		if (NOT "${QURT_LIB_INCS}" STREQUAL "")
-			target_include_directories(${QURT_LIB_LIB_NAME} PUBLIC ${QURT_LIB_INCS})
-		endif()
-
-		target_link_libraries(${QURT_LIB_LIB_NAME}
-			${QURT_LIB_LINK_LIBS}
-			)
-	endif()
-
-	set(DSPLIB_TARGET_PATH "/usr/lib/rfsa/adsp/")
-
-	# Add a rule to load the files onto the target that run in the DSP
-	add_custom_target(lib${QURT_LIB_LIB_NAME}-load
-		DEPENDS ${QURT_LIB_LIB_NAME}
-		COMMAND adb wait-for-device
-		COMMAND adb push lib${QURT_LIB_LIB_NAME}.so ${DSPLIB_TARGET_PATH}
-		COMMAND echo "Pushed lib${QURT_LIB_LIB_NAME}.so and dependencies to ${DSPLIB_TARGET_PATH}"
-		)
-endfunction()