[mavlink] Parameter to always start on USB (#22234)

* usb: Added parameter to enable always starting mavlink on USB.

    Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on
    USB, also added a paramter to choose the mode. The current default behavior is to wait and listen
    for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink
    stream not starting until something else on the mavlink network sends a packet first. The new
    default behavior is to always start mavlink.

    Added parameters
    MAV_USB_ENABLE -- default 1 (always start mavlink on USB)
    MAV_USE_MODE -- default 3 (onboard)

* added 3 retries for opening serial port in mavlink, removed sleep before sercon

* added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board

* added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig

* format

* remove PGA460 from COMMON_DISTANCE_SENSOR to save flash

* remove LIS2MDL from COMMON_MAGNETOMETER to save flash

* disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board

* moved and renamed parameters, removed mode logic in mavlink

* changed parameter names, added mode none

* remove parameters from mavlink

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

@@ -38,7 +38,6 @@ if(NOT PX4_BOARD MATCHES "io-v2")
 		board_crashdump.c
 		board_dma_alloc.c
 		board_fat_dma_alloc.c
-		cdc_acm_check.cpp
 		console_buffer.cpp
 		cpuload.cpp
 		gpio.c

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

@@ -62,8 +62,6 @@
 #include <px4_platform/board_ctrl.h>
 #endif
 
-extern void cdcacm_init(void);
-
 #if !defined(CONFIG_BUILD_FLAT)
 typedef CODE void (*initializer_t)(void);
 extern initializer_t _sinit;
@@ -196,10 +194,6 @@ int px4_platform_init()
 
 	px4_log_initialize();
 
-#if defined(CONFIG_SYSTEM_CDCACM) && defined(CONFIG_BUILD_FLAT)
-	cdcacm_init();
-#endif
-
 	return PX4_OK;
 }
 

platforms/nuttx/src/px4/common/px4_layer.cmake

@@ -2,7 +2,6 @@
 
 add_library(px4_layer
 		${KERNEL_SRCS}
-		cdc_acm_check.cpp
 		${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
 		SerialImpl.cpp
 	)

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -6,7 +6,6 @@ add_library(px4_layer
 	board_fat_dma_alloc.c
 	tasks.cpp
 	console_buffer_usr.cpp
-	cdc_acm_check.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
 	px4_userspace_init.cpp

platforms/nuttx/src/px4/common/px4_userspace_init.cpp

@@ -44,8 +44,6 @@
 #include <uORB/uORB.h>
 #include <sys/boardctl.h>
 
-extern void cdcacm_init(void);
-
 extern "C" void px4_userspace_init(void)
 {
 	hrt_init();
@@ -55,8 +53,4 @@ extern "C" void px4_userspace_init(void)
 	px4::WorkQueueManagerStart();
 
 	uorb_start();
-
-#if defined(CONFIG_SYSTEM_CDCACM)
-	cdcacm_init();
-#endif
 }