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initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689)

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- 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
This commit is contained in:
Daniel Agar
2022-12-08 23:03:44 -05:00
committed by GitHub
parent cfb670fbb3
commit 8114aad983
73 changed files with 4037 additions and 247 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/systemlib/CMakeLists.txt
+4 -4
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@@ -32,17 +32,17 @@
############################################################################
set(SRCS
conversions.c
conversions.h
crc.c
crc.h
err.h
mavlink_log.cpp
mavlink_log.h
px4_macros.h
)
if(${PX4_PLATFORM} STREQUAL "nuttx")
list(APPEND SRCS
otp.c
otp.h
ppm_decode.h
)
endif()
src/lib/systemlib/conversions.c
-57
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@@ -1,57 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 conversions.c
* Implementation of commonly used conversions.
*/
#include <px4_platform_common/px4_config.h>
#include <float.h>
#include "conversions.h"
int16_t
int16_t_from_bytes(uint8_t bytes[])
{
union {
uint8_t b[2];
int16_t w;
} u;
u.b[1] = bytes[0];
u.b[0] = bytes[1];
return u.w;
}
src/lib/systemlib/conversions.h
-61
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@@ -1,61 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 conversions.h
* Definition of commonly used conversions.
*
* Includes bit / byte / geo representation and unit conversions.
*/
#ifndef CONVERSIONS_H_
#define CONVERSIONS_H_
#include <float.h>
#include <stdint.h>
__BEGIN_DECLS
/**
* Converts a signed 16 bit integer from big endian to little endian.
*
* This function is for commonly used 16 bit big endian sensor data,
* delivered by driver routines as two 8 bit numbers in big endian order.
* Common vendors with big endian representation are Invense, Bosch and
* Honeywell. ST micro devices tend to use a little endian representation.
*/
__EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]);
__END_DECLS
#endif /* CONVERSIONS_H_ */
src/lib/systemlib/crc.c
-211
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@@ -1,211 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdint.h>
#include <stdlib.h>
#include "crc.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: crc16_add
*
* Description:
* Use to calculates a CRC-16-CCITT using the polynomial of
* 0x1021 by adding a value successive values.
*
* Input Parameters:
* crc - The running total of the crc 16
* value - The value to add
*
* Returned Value:
* The current crc16 with the value processed.
*
****************************************************************************/
uint16_t crc16_add(uint16_t crc, uint8_t value)
{
uint32_t i;
const uint16_t poly = 0x1021u;
crc ^= (uint16_t)((uint16_t) value << 8u);
for (i = 0; i < 8; i++) {
if (crc & (1u << 15u)) {
crc = (uint16_t)((crc << 1u) ^ poly);
} else {
crc = (uint16_t)(crc << 1u);
}
}
return crc;
}
/****************************************************************************
* Name: crc16_signature
*
* Description:
* Calculates a CRC-16-CCITT using the crc16_add
* function
*
* Input Parameters:
* initial - The Initial value to uses as the crc's starting point
* length - The number of bytes to add to the crc
* bytes - A pointer to any array of length bytes
*
* Returned Value:
* The crc16 of the array of bytes
*
****************************************************************************/
uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes)
{
size_t i;
for (i = 0u; i < length; i++) {
initial = crc16_add(initial, bytes[i]);
}
return initial ^ CRC16_OUTPUT_XOR;
}
/****************************************************************************
* Name: crc32_signature
*
* Description:
* Calculates a CRC-32 function
*
* Input Parameters:
* acc - The accumulator value to uses as the crc's starting point
* length - The number of bytes to add to the crc
* bytes - A pointer to any array of length bytes
*
* Returned Value:
* The crc32 of the array of bytes
*
****************************************************************************/
uint32_t crc32_signature(uint32_t acc, size_t length, const uint8_t *bytes)
{
size_t i;
const uint32_t poly = 0xedb88320u;
const uint8_t bits = 8u;
uint8_t w = bits;
for (i = 0u; i < length; i++) {
acc ^= bytes[i];
w = bits;
while (w--) {
const uint32_t xor = -(acc & 1);
acc >>= 1;
acc ^= (poly & xor);
}
}
return acc;
}
/****************************************************************************
* Name: crc64_add_word
*
* Description:
* Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
* See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
* Check: 0x62EC59E3F1A4F00A
*
* Input Parameters:
* crc - The running total of the crc 64
* value - The value to add
*
* Returned Value:
* The current crc64 with the value processed.
*
****************************************************************************/
__EXPORT
uint64_t crc64_add_word(uint64_t crc, uint32_t value)
{
uint32_t i, j;
uint8_t byte;
const uint64_t poly = 0x42F0E1EBA9EA3693ull;
for (j = 0; j < 4; j++) {
byte = ((uint8_t *) &value)[j];
crc ^= (uint64_t) byte << 56u;
for (i = 0; i < 8; i++) {
if (crc & (1ull << 63u)) {
crc = (uint64_t)(crc << 1u) ^ poly;
} else {
crc = (uint64_t)(crc << 1u);
}
}
}
return crc;
}
src/lib/systemlib/crc.h
-137
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@@ -1,137 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* 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
/****************************************************************************
* Included Files
****************************************************************************/
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define CRC16_INITIAL 0xFFFFu
#define CRC16_OUTPUT_XOR 0x0000u
#define CRC64_INITIAL 0xFFFFFFFFFFFFFFFFull
#define CRC64_OUTPUT_XOR 0xFFFFFFFFFFFFFFFFull
/****************************************************************************
* Public Type Definitions
****************************************************************************/
/****************************************************************************
* Global Variables
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: crc16_add
*
* Description:
* Use to calculates a CRC-16-CCITT using the polynomial of
* 0x1021 by adding a value successive values.
*
* Input Parameters:
* crc - The running total of the crc 16
* value - The value to add
*
* Returned Value:
* The current crc16 with the value processed.
*
****************************************************************************/
uint16_t crc16_add(uint16_t crc, uint8_t value);
/****************************************************************************
* Name: crc16_signature
*
* Description:
* Calculates a CRC-16-CCITT using the crc16_add
* function
*
* Input Parameters:
* initial - The Initial value to uses as the crc's starting point
* length - The number of bytes to add to the crc
* bytes - A pointer to any array of length bytes
*
* Returned Value:
* The crc16 of the array of bytes
*
****************************************************************************/
uint16_t crc16_signature(uint16_t initial, size_t length,
const uint8_t *bytes);
/****************************************************************************
* Name: crc32_signature
*
* Description:
* Calculates a CRC-32
* function
*
* Input Parameters:
* acc - The Initial value to uses as the crc's starting point
* length - The number of bytes to add to the crc
* bytes - A pointer to any array of length bytes
*
* Returned Value:
* The crc16 of the array of bytes
*
****************************************************************************/
uint32_t crc32_signature(uint32_t acc, size_t length,
const uint8_t *bytes);
/****************************************************************************
* Name: crc64_add_word
*
* Description:
* Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
* See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
* Check: 0x62EC59E3F1A4F00A
*
* Input Parameters:
* crc - The running total of the crc 64
* value - The value to add
*
* Returned Value:
* The current crc64 with the value processed.
*
****************************************************************************/
uint64_t crc64_add_word(uint64_t crc, uint32_t value);
src/lib/systemlib/otp.c
+1 -2
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@@ -49,9 +49,8 @@
#include <math.h>
#include <unistd.h>
#include <string.h> // memset
#include "conversions.h"
#include "otp.h"
#include "err.h" // warnx
#include "err.h" // warnx
#include <assert.h>