initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689)

- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
 - currently doesn't do much other than allow you to build px4 msgs interface package

platforms/ros2/src/px4/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(common)
+
+add_subdirectory(${PX4_CHIP_MANUFACTURER})
+

platforms/ros2/src/px4/common/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(px4_layer STATIC
+	drv_hrt.cpp
+	px4_sem.cpp
+)
+target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
+target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

platforms/ros2/src/px4/common/drv_hrt.cpp

@@ -0,0 +1,211 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_hrt.cpp
+ *
+ * High-resolution timer with callouts and timekeeping.
+ */
+
+#include <drivers/drv_hrt.h>
+
+#include <semaphore.h>
+#include <time.h>
+#include <string.h>
+#include <errno.h>
+
+#include <stdint.h>
+
+#include <px4_platform_common/sem.h>
+#include <queue.h>
+
+sq_entry_t *sq_remafter(sq_entry_t *node, sq_queue_t *queue)
+{
+	sq_entry_t *ret = node->flink;
+
+	if (queue->head && ret) {
+		if (queue->tail == ret) {
+			queue->tail = node;
+			node->flink = NULL;
+
+		} else {
+			node->flink = ret->flink;
+		}
+
+		ret->flink = NULL;
+	}
+
+	return ret;
+}
+
+void sq_rem(sq_entry_t *node, sq_queue_t *queue)
+{
+	if (queue->head && node) {
+		if (node == queue->head) {
+			queue->head = node->flink;
+
+			if (node == queue->tail) {
+				queue->tail = NULL;
+			}
+
+		} else {
+			sq_entry_t *prev;
+
+			for (prev = (sq_entry_t *)queue->head;
+			     prev && prev->flink != node;
+			     prev = prev->flink) {}
+
+			if (prev) {
+				sq_remafter(prev, queue);
+			}
+		}
+	}
+}
+
+
+// Intervals in usec
+static constexpr unsigned HRT_INTERVAL_MIN = 50;
+static constexpr unsigned HRT_INTERVAL_MAX = 50000000;
+
+/*
+ * Queue of callout entries.
+ */
+sq_entry_t callout_queue{};
+
+/* latency baseline (last compare value applied) */
+//static uint64_t latency_baseline;
+
+/* latency histogram */
+// const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
+// const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
+// __EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
+
+static px4_sem_t 	_hrt_lock;
+//static struct work_s	_hrt_work;
+
+static void hrt_lock()
+{
+	px4_sem_wait(&_hrt_lock);
+}
+
+static void hrt_unlock()
+{
+	px4_sem_post(&_hrt_lock);
+}
+
+/*
+ * Get absolute time.
+ */
+hrt_abstime hrt_absolute_time()
+{
+	struct timespec ts;
+	clock_gettime(CLOCK_MONOTONIC, &ts);
+	return ts_to_abstime(&ts);
+}
+
+/*
+ * Store the absolute time in an interrupt-safe fashion.
+ *
+ * This function ensures that the timestamp cannot be seen half-written by an interrupt handler.
+ */
+void hrt_store_absolute_time(volatile hrt_abstime *t)
+{
+	*t = hrt_absolute_time();
+}
+
+/*
+ * If this returns true, the entry has been invoked and removed from the callout list,
+ * or it has never been entered.
+ *
+ * Always returns false for repeating callouts.
+ */
+bool hrt_called(struct hrt_call *entry)
+{
+	return (entry->deadline == 0);
+}
+
+/*
+ * Remove the entry from the callout list.
+ */
+void hrt_cancel(struct hrt_call *entry)
+{
+	hrt_lock();
+	//sq_rem(&entry->link, &callout_queue);
+	entry->deadline = 0;
+
+	/* if this is a periodic call being removed by the callout, prevent it from
+	 * being re-entered when the callout returns.
+	 */
+	entry->period = 0;
+	hrt_unlock();
+	// endif
+}
+
+/*
+ * initialise a hrt_call structure
+ */
+void hrt_call_init(struct hrt_call *entry)
+{
+	memset(entry, 0, sizeof(*entry));
+}
+
+/*
+ * delay a hrt_call_every() periodic call by the given number of
+ * microseconds. This should be called from within the callout to
+ * cause the callout to be re-scheduled for a later time. The periodic
+ * callouts will then continue from that new base time at the
+ * previously specified period.
+ */
+void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
+{
+	entry->deadline = hrt_absolute_time() + delay;
+}
+
+/*
+ * Initialise the HRT.
+ */
+void hrt_init()
+{
+	//sq_init(&callout_queue);
+
+	int sem_ret = px4_sem_init(&_hrt_lock, 0, 1);
+
+	if (sem_ret) {
+		//PX4_ERR("SEM INIT FAIL: %s", strerror(errno));
+	}
+}
+
+int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
+{
+	return system_clock_gettime(clk_id, tp);
+}

platforms/ros2/src/px4/common/include/px4_platform/micro_hal.h

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef int (*xcpt_t)(int irq, void *context, void *arg);
+
+static inline int px4_arch_configgpio(uint32_t pinset) { return -1; }
+static inline int px4_arch_unconfiggpio(uint32_t pinset) { return -1; }
+static inline bool px4_arch_gpioread(uint32_t pinset) { return false; }
+static inline void px4_arch_gpiowrite(uint32_t pinset, bool value) { }
+static inline int px4_arch_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge,
+					bool event, xcpt_t func, void *arg) { return -1; }
+
+#define px4_udelay(usec) px4_usleep(usec)
+#define px4_mdelay(msec) px4_msleep(msec)
+
+#define px4_cache_aligned_data()
+#define px4_cache_aligned_alloc malloc

platforms/ros2/src/px4/common/main.cpp

@@ -0,0 +1,19 @@
+
+
+
+// PX4 bridge
+
+// serial/UDP/TCP
+// all data in -> publish
+
+
+// data in then publish rclcpp::Publish
+//  time sync
+
+
+
+int main()
+{
+
+	return 0;
+}

platforms/ros2/src/px4/common/px4_sem.cpp

@@ -0,0 +1,219 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_sem.cpp
+ *
+ * PX4 Middleware Wrapper Linux Implementation
+ */
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/sem.h>
+#include <px4_platform_common/time.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <pthread.h>
+#include <errno.h>
+
+#if (defined(__PX4_DARWIN) || defined(__PX4_CYGWIN) || defined(__PX4_POSIX)) && !defined(__PX4_QURT)
+
+#include <px4_platform_common/posix.h>
+
+int px4_sem_init(px4_sem_t *s, int pshared, unsigned value)
+{
+	// We do not used the process shared arg
+	(void)pshared;
+	s->value = value;
+	pthread_cond_init(&(s->wait), nullptr);
+	pthread_mutex_init(&(s->lock), nullptr);
+
+#if !defined(__PX4_DARWIN)
+	// We want to use CLOCK_MONOTONIC if possible but we can't on macOS
+	// because it's not available.
+	pthread_condattr_t attr;
+	pthread_condattr_init(&attr);
+	pthread_condattr_setclock(&attr, CLOCK_MONOTONIC);
+	pthread_cond_init(&(s->wait), &attr);
+#endif
+
+	return 0;
+}
+
+int px4_sem_setprotocol(px4_sem_t *s, int protocol)
+{
+	return 0;
+}
+
+int px4_sem_wait(px4_sem_t *s)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		return ret;
+	}
+
+	s->value--;
+
+	if (s->value < 0) {
+		ret = pthread_cond_wait(&(s->wait), &(s->lock));
+
+	} else {
+		ret = 0;
+	}
+
+	if (ret) {
+		//PX4_WARN("px4_sem_wait failure");
+	}
+
+	int mret = pthread_mutex_unlock(&(s->lock));
+
+	return (ret) ? ret : mret;
+}
+
+int px4_sem_trywait(px4_sem_t *s)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		return ret;
+	}
+
+	if (s->value <= 0) {
+		errno = EAGAIN;
+		ret = -1;
+
+	} else {
+		s->value--;
+	}
+
+	int mret = pthread_mutex_unlock(&(s->lock));
+
+	return (ret) ? ret : mret;
+}
+
+int px4_sem_timedwait(px4_sem_t *s, const struct timespec *abstime)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		return ret;
+	}
+
+	s->value--;
+	errno = 0;
+
+	if (s->value < 0) {
+		ret = px4_pthread_cond_timedwait(&(s->wait), &(s->lock), abstime);
+
+	} else {
+		ret = 0;
+	}
+
+	errno = ret;
+
+	if (ret != 0 && ret != ETIMEDOUT) {
+		setbuf(stdout, nullptr);
+		setbuf(stderr, nullptr);
+		const unsigned NAMELEN = 32;
+		char thread_name[NAMELEN] = {};
+		(void)pthread_getname_np(pthread_self(), thread_name, NAMELEN);
+		//PX4_WARN("%s: px4_sem_timedwait failure: ret: %d", thread_name, ret);
+	}
+
+	int mret = pthread_mutex_unlock(&(s->lock));
+
+	if (ret || mret) {
+		return -1;
+	}
+
+	return 0;
+}
+
+int px4_sem_post(px4_sem_t *s)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		return ret;
+	}
+
+	s->value++;
+
+	if (s->value <= 0) {
+		ret = pthread_cond_signal(&(s->wait));
+
+	} else {
+		ret = 0;
+	}
+
+	if (ret) {
+		//PX4_WARN("px4_sem_post failure");
+	}
+
+	int mret = pthread_mutex_unlock(&(s->lock));
+
+	// return the cond signal failure if present,
+	// else return the mutex status
+	return (ret) ? ret : mret;
+}
+
+int px4_sem_getvalue(px4_sem_t *s, int *sval)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		//PX4_WARN("px4_sem_getvalue failure");
+	}
+
+	if (ret) {
+		return ret;
+	}
+
+	*sval = s->value;
+	ret = pthread_mutex_unlock(&(s->lock));
+
+	return ret;
+}
+
+int px4_sem_destroy(px4_sem_t *s)
+{
+	pthread_mutex_lock(&(s->lock));
+	pthread_cond_destroy(&(s->wait));
+	pthread_mutex_unlock(&(s->lock));
+	pthread_mutex_destroy(&(s->lock));
+
+	return 0;
+}
+
+#endif

platforms/ros2/src/px4/generic/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(${PX4_CHIP})

platforms/ros2/src/px4/generic/generic/CMakeLists.txt

@@ -0,0 +1,32 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################

platforms/ros2/src/px4/generic/generic/include/px4_arch/i2c_hw_description.h

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/i2c.h>
+
+
+static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
+{
+	px4_i2c_bus_t ret{};
+	ret.bus = bus;
+	ret.is_external = false;
+	return ret;
+}
+
+static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
+{
+	px4_i2c_bus_t ret{};
+	ret.bus = bus;
+	ret.is_external = true;
+	return ret;
+}

platforms/ros2/src/px4/generic/generic/include/px4_arch/micro_hal.h

@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <px4_platform/micro_hal.h>
+

platforms/ros2/src/px4/generic/generic/include/px4_arch/spi_hw_description.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/spi.h>
+
+static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver, uint8_t cs_index)
+{
+	px4_spi_bus_device_t ret{};
+	ret.cs_gpio = 1; // set to some non-zero value to indicate this is used
+	ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, cs_index);
+	ret.devtype_driver = devid_driver;
+	return ret;
+}
+
+static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices)
+{
+	px4_spi_bus_t ret{};
+
+	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+		ret.devices[i] = devices.devices[i];
+	}
+
+	ret.bus = bus;
+	ret.is_external = false; // all buses are marked internal on Linux
+	ret.requires_locking = false;
+	return ret;
+}