uORB move to PX4 platform layer

platforms/nuttx/CMakeLists.txt

@@ -93,7 +93,7 @@ list(APPEND nuttx_libs
 	nuttx_fs
 	nuttx_mm
 	nuttx_sched
-	)
+)
 
 if (CONFIG_NET)
 	list(APPEND nuttx_libs nuttx_net)
@@ -163,7 +163,7 @@ endif()
 add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
 	COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_OUTPUT}
 	DEPENDS px4
-	)
+)
 
 # create .px4 with parameter and airframe metadata
 if (TARGET parameters_xml AND TARGET airframes_xml)
@@ -203,7 +203,7 @@ add_custom_target(weak_symbols
 	DEPENDS px4
 	VERBATIM
 	USES_TERMINAL
-	)
+)
 
 
 # debugger helpers
@@ -292,7 +292,7 @@ add_custom_target(debug
 	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
-	)
+)
 
 include(blackmagic)
 include(jlink)

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

@@ -32,7 +32,7 @@
 ############################################################################
 
 # skip for px4_layer support on an IO board
-if(NOT PX4_BOARD MATCHES "px4_io")
+if(NOT PX4_BOARD MATCHES "io-v2")
 
 	add_library(px4_layer
 		board_crashdump.c
@@ -57,6 +57,7 @@ if(NOT PX4_BOARD MATCHES "px4_io")
 			nuttx_apps
 			nuttx_sched
 			px4_work_queue
+			uORB
 		)
 else()
 	add_library(px4_layer ${PX4_SOURCE_DIR}/platforms/common/empty.c)

platforms/nuttx/src/px4/common/px4_init.cpp

@@ -40,6 +40,7 @@
 #include <lib/parameters/param.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 #include <px4_platform/cpuload.h>
+#include <uORB/uORB.h>
 
 #include <fcntl.h>
 
@@ -118,6 +119,10 @@ int px4_platform_init(void)
 
 	px4::WorkQueueManagerStart();
 
+	uorb_start();
+
+	px4_log_initialize();
+
 	return PX4_OK;
 }