Merge branch 'master' of github.com:PX4/Firmware into control_state

src/platforms/common/CMakeLists.txt

@@ -0,0 +1,51 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+set(depends
+	msg_gen
+	prebuild_targets
+	git_mavlink
+	git_uavcan
+	)
+
+if(${OS} STREQUAL "posix" OR ${BOARD} STREQUAL "sim")
+	list(APPEND depends git_eigen)
+endif()
+
+px4_add_module(
+	MODULE platforms__common
+	SRCS
+		px4_getopt.c
+	DEPENDS
+		${depends}
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/nuttx/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__nuttx
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		px4_nuttx_impl.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/nuttx/px4_layer/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__nuttx__px4_layer
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		px4_nuttx_tasks.c
+		../../posix/px4_layer/px4_log.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c

@@ -50,7 +50,9 @@
 #include <sys/stat.h>
 #include <sys/types.h>
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 #include <stm32_pwr.h>
+#endif
 
 #include <systemlib/systemlib.h>
 
@@ -61,7 +63,9 @@ void
 px4_systemreset(bool to_bootloader)
 {
 	if (to_bootloader) {
+#ifndef CONFIG_ARCH_BOARD_SIM
 		stm32_pwr_enablebkp();
+#endif
 
 		/* XXX wow, this is evil - write a magic number into backup register zero */
 		*(uint32_t *)0x40002850 = 0xb007b007;

src/platforms/posix/drivers/accelsim/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__drivers__accelsim
+	MAIN accelsim
+	SRCS
+		accelsim.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/drivers/accelsim/accelsim.cpp

@@ -448,6 +448,9 @@ ACCELSIM::init()
 {
 	int ret = ERROR;
 
+	struct mag_report mrp = {};
+	struct accel_report arp = {};
+
 	/* do SIM init first */
 	if (VDev::init() != OK) {
 		PX4_WARN("SIM init failed");
@@ -478,7 +481,6 @@ ACCELSIM::init()
 	measure();
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct mag_report mrp;
 	_mag_reports->get(&mrp);
 
 	/* measurement will have generated a report, publish */
@@ -493,7 +495,6 @@ ACCELSIM::init()
 	_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct accel_report arp;
 	_accel_reports->get(&arp);
 
 	/* measurement will have generated a report, publish */
@@ -1014,7 +1015,7 @@ ACCELSIM::measure()
 	} raw_accel_report;
 #pragma pack(pop)
 
-	accel_report accel_report;
+	accel_report accel_report = {};
 
 	/* start the performance counter */
 	perf_begin(_accel_sample_perf);
@@ -1023,7 +1024,7 @@ ACCELSIM::measure()
 	memset(&raw_accel_report, 0, sizeof(raw_accel_report));
 	raw_accel_report.cmd = DIR_READ | ACC_READ;
 
-	if(OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
+	if (OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
 		return;
 	}
 

src/platforms/posix/drivers/adcsim/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__drivers__adcsim
+	MAIN adcsim
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		adcsim.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/drivers/airspeedsim/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__drivers__airspeedsim
+	MAIN measairspeedsim
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		airspeedsim.cpp
+		meas_airspeed_sim.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp

@@ -354,12 +354,6 @@ MEASAirspeedSim::voltage_correction(float &diff_press_pa, float &temperature)
 namespace meas_airspeed_sim
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 MEASAirspeedSim	*g_dev = nullptr;
 
 int	start(int i2c_bus);
@@ -589,7 +583,7 @@ measairspeedsim_main(int argc, char *argv[])
 		}
 	}
 
-	int ret;
+	int ret = 0;
 
 	/*
 	 * Start/load the driver.

src/platforms/posix/drivers/barosim/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__drivers__barosim
+	MAIN barosim
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		baro.cpp
+		baro_sim.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/drivers/barosim/baro.cpp

@@ -72,12 +72,6 @@ enum BAROSIM_BUS {
 	BAROSIM_BUS_SIM_EXTERNAL
 };
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 /* helper macro for handling report buffer indices */
 #define INCREMENT(_x, _lim)	do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
 

src/platforms/posix/drivers/barosim/barosim.h

@@ -80,5 +80,5 @@ extern bool crc4(uint16_t *n_prom);
 } /* namespace */
 
 /* interface factories */
-extern device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum) __attribute__((weak));
+extern device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum);
 typedef device::Device *(*BAROSIM_constructor)(barosim::prom_u &prom_buf, uint8_t busnum);

src/platforms/posix/drivers/gpssim/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__drivers__gpssim
+	MAIN gpssim
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		gpssim.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/drivers/gpssim/gpssim.cpp

@@ -37,7 +37,8 @@
  */
 
 #include <sys/types.h>
-#include <stdint.h>
+#define __STDC_FORMAT_MACROS
+#include <inttypes.h>
 #include <stdio.h>
 #include <stdbool.h>
 #include <stdlib.h>

src/platforms/posix/drivers/gyrosim/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__drivers__gyrosim
+	MAIN gyrosim
+	STACK 1200
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		gyrosim.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/drivers/gyrosim/gyrosim.cpp

@@ -52,7 +52,6 @@
 #include <stdbool.h>
 #include <stddef.h>
 #include <stdlib.h>
-#include <semaphore.h>
 #include <string.h>
 #include <fcntl.h>
 #include <poll.h>
@@ -419,6 +418,9 @@ GYROSIM::init()
 		return ret;
 	}
 
+	struct accel_report arp = {};
+	struct gyro_report grp = {};
+
 	/* allocate basic report buffers */
 	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
 	if (_accel_reports == nullptr) {
@@ -466,7 +468,6 @@ GYROSIM::init()
 	measure();
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct accel_report arp;
 	_accel_reports->get(&arp);
 
 	/* measurement will have generated a report, publish */
@@ -482,7 +483,6 @@ GYROSIM::init()
 
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct gyro_report grp;
 	_gyro_reports->get(&grp);
 
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -511,8 +511,10 @@ GYROSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	if (cmd == MPUREAD) {
 		// Get data from the simulator
 		Simulator *sim = Simulator::getInstance();
-		if (sim == NULL)
+		if (sim == NULL) {
+			PX4_WARN("failed accessing simulator");
 			return ENODEV;
+		}
 
 		// FIXME - not sure what interrupt status should be
 		recv[1] = 0;
@@ -529,6 +531,7 @@ GYROSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 		if (recv)
 			memcpy(&recv[1], &_regdata[reg-MPUREG_PRODUCT_ID], len-1);
 	}
+
 	return PX4_OK;
 }
 
@@ -765,8 +768,9 @@ GYROSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 					bool want_start = (_call_interval == 0);
 
 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}
 
 					return OK;
 				}
@@ -1012,7 +1016,7 @@ GYROSIM::measure()
 		x++;
 	}
 #endif
-	struct MPUReport mpu_report;
+	struct MPUReport mpu_report = {};
 
 	/* start measuring */
 	perf_begin(_sample_perf);
@@ -1031,8 +1035,8 @@ GYROSIM::measure()
 	/*
 	 * Report buffers.
 	 */
-	accel_report	arb;
-	gyro_report	grb;
+	accel_report	arb = {};
+	gyro_report	grb = {};
 
 	// for now use local time but this should be the timestamp of the simulator
 	grb.timestamp = hrt_absolute_time();

src/platforms/posix/drivers/tonealrmsim/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__drivers__tonealrmsim
+	MAIN tone_alarm
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		tone_alarm.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/include/hrt_work.h

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include <px4_log.h>
+#include <px4_posix.h>
 #include <semaphore.h>
 #include <px4_workqueue.h>
 
@@ -39,7 +40,7 @@
 
 __BEGIN_DECLS
 
-extern sem_t _hrt_work_lock;
+extern px4_sem_t _hrt_work_lock;
 extern struct wqueue_s g_hrt_work;
 
 void hrt_work_queue_init(void);
@@ -49,15 +50,13 @@ void hrt_work_cancel(struct work_s *work);
 static inline void hrt_work_lock(void);
 static inline void hrt_work_lock()
 {
-	//PX4_INFO("hrt_work_lock");
-	sem_wait(&_hrt_work_lock);
+	px4_sem_wait(&_hrt_work_lock);
 }
 
 static inline void hrt_work_unlock(void);
 static inline void hrt_work_unlock()
 {
-	//PX4_INFO("hrt_work_unlock");
-	sem_post(&_hrt_work_lock);
+	px4_sem_post(&_hrt_work_lock);
 }
 
 __END_DECLS

src/platforms/posix/main.cpp

@@ -61,16 +61,21 @@ extern "C" {
 	void _SigIntHandler(int sig_num);
 	void _SigIntHandler(int sig_num)
 	{
-		_ExitFlag = true;
+		cout.flush();
+		cout << endl << "Exiting.." << endl;
+		cout.flush();
+		_exit(0);
 	}
 }
 
 static void print_prompt()
 {
+	cout.flush();
 	cout << "pxh> ";
+	cout.flush();
 }
 
-static void run_cmd(const vector<string> &appargs)
+static void run_cmd(const vector<string> &appargs, bool exit_on_fail)
 {
 	// command is appargs[0]
 	string command = appargs[0];
@@ -86,7 +91,11 @@ static void run_cmd(const vector<string> &appargs)
 		}
 
 		arg[i] = (char *)0;
-		apps[command](i, (char **)arg);
+		int retval = apps[command](i, (char **)arg);
+
+		if (exit_on_fail && retval) {
+			exit(retval);
+		}
 		usleep(65000);
 
 	} else if (command.compare("help") == 0) {
@@ -113,13 +122,13 @@ static void usage()
 	cout << "   -h            - help/usage information" << std::endl;
 }
 
-static void process_line(string &line)
+static void process_line(string &line, bool exit_on_fail)
 {
 	vector<string> appargs(8);
 
 	stringstream(line) >> appargs[0] >> appargs[1] >> appargs[2] >> appargs[3] >> appargs[4] >> appargs[5] >> appargs[6] >>
 			   appargs[7];
-	run_cmd(appargs);
+	run_cmd(appargs, exit_on_fail);
 }
 
 int main(int argc, char **argv)
@@ -175,7 +184,7 @@ int main(int argc, char **argv)
 
 			if (infile.is_open()) {
 				for (string line; getline(infile, line, '\n');) {
-					process_line(line);
+					process_line(line, false);
 				}
 
 			} else {
@@ -198,7 +207,7 @@ int main(int argc, char **argv)
 
 				if (ret > 0) {
 					getline(cin, mystr);
-					process_line(mystr);
+					process_line(mystr, !daemon_mode);
 					mystr = "";
 				}
 			}
@@ -212,10 +221,10 @@ int main(int argc, char **argv)
 		if (px4_task_is_running("muorb")) {
 			// sending muorb stop is needed if it is running to exit cleanly
 			vector<string> muorb_stop_cmd = { "muorb", "stop" };
-			run_cmd(muorb_stop_cmd);
+			run_cmd(muorb_stop_cmd, !daemon_mode);
 		}
 
 		vector<string> shutdown_cmd = { "shutdown" };
-		run_cmd(shutdown_cmd);
+		run_cmd(shutdown_cmd, true);
 	}
 }

src/platforms/posix/px4_layer/CMakeLists.txt

@@ -0,0 +1,47 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__px4_layer
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		px4_posix_impl.cpp
+		px4_posix_tasks.cpp
+		px4_sem.cpp
+		lib_crc32.c
+		drv_hrt.c
+		px4_log.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/px4_layer/drv_hrt.c

@@ -37,12 +37,15 @@
  * High-resolution timer with callouts and timekeeping.
  */
 
+#include <px4_time.h>
 #include <px4_workqueue.h>
 #include <drivers/drv_hrt.h>
 #include <semaphore.h>
 #include <time.h>
 #include <string.h>
+#define __STDC_FORMAT_MACROS
 #include <inttypes.h>
+#include <errno.h>
 #include "hrt_work.h"
 
 static struct sq_queue_s	callout_queue;
@@ -59,7 +62,7 @@ static void		hrt_call_reschedule(void);
 #define HRT_INTERVAL_MIN	50
 #define HRT_INTERVAL_MAX	50000000
 
-static sem_t 	_hrt_lock;
+static px4_sem_t 	_hrt_lock;
 static struct work_s	_hrt_work;
 static hrt_abstime px4_timestart = 0;
 
@@ -70,14 +73,12 @@ __EXPORT hrt_abstime hrt_reset(void);
 
 static void hrt_lock(void)
 {
-	//printf("hrt_lock\n");
-	sem_wait(&_hrt_lock);
+	px4_sem_wait(&_hrt_lock);
 }
 
 static void hrt_unlock(void)
 {
-	//printf("hrt_unlock\n");
-	sem_post(&_hrt_lock);
+	px4_sem_post(&_hrt_lock);
 }
 
 #ifdef __PX4_DARWIN
@@ -86,32 +87,38 @@ static void hrt_unlock(void)
 #define MAC_NANO (+1.0E-9)
 #define MAC_GIGA UINT64_C(1000000000)
 #define CLOCK_MONOTONIC 1
-#define clockid_t int
+#define HRT_LOCK_NAME "/hrt_lock"
 
 static double px4_timebase = 0.0;
 
-int clock_gettime(clockid_t clk_id, struct timespec *t)
+int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
 {
 	if (clk_id != CLOCK_MONOTONIC) {
 		return 1;
 	}
 
-	// XXX multithreading locking
 	if (!px4_timestart) {
-		mach_timebase_info_data_t tb = { 0 };
+		mach_timebase_info_data_t tb = {};
 		mach_timebase_info(&tb);
 		px4_timebase = tb.numer;
 		px4_timebase /= tb.denom;
-		px4_timestart = mach_absolute_time();
+		// px4_timestart = mach_absolute_time();
 	}
 
-	memset(t, 0, sizeof(*t));
+	memset(tp, 0, sizeof(*tp));
 
-	double diff = (mach_absolute_time() - px4_timestart) * px4_timebase;
-	t->tv_sec = diff * MAC_NANO;
-	t->tv_nsec = diff - (t->tv_sec * MAC_GIGA);
+	double diff = mach_absolute_time() * px4_timebase;
+	tp->tv_sec = diff * MAC_NANO;
+	tp->tv_nsec = diff - (tp->tv_sec * MAC_GIGA);
 	return 0;
 }
+
+int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
+{
+	/* do nothing right now */
+	return 0;
+}
+
 #endif
 
 /*
@@ -122,11 +129,11 @@ hrt_abstime hrt_absolute_time(void)
 	struct timespec ts;
 
 	if (!px4_timestart) {
-		clock_gettime(CLOCK_MONOTONIC, &ts);
+		px4_clock_gettime(CLOCK_MONOTONIC, &ts);
 		px4_timestart = ts_to_abstime(&ts);
 	}
 
-	clock_gettime(CLOCK_MONOTONIC, &ts);
+	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
 	return ts_to_abstime(&ts) - px4_timestart;
 }
 
@@ -227,9 +234,13 @@ void	hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
  */
 void	hrt_init(void)
 {
-	//printf("hrt_init\n");
 	sq_init(&callout_queue);
-	sem_init(&_hrt_lock, 0, 1);
+
+	int sem_ret = px4_sem_init(&_hrt_lock, 0, 1);
+	if (sem_ret) {
+		PX4_ERR("SEM INIT FAIL: %s", strerror(errno));
+	}
+
 	memset(&_hrt_work, 0, sizeof(_hrt_work));
 }
 
@@ -335,7 +346,7 @@ hrt_call_reschedule()
 static void
 hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
 {
-	//PX4_INFO("hrt_call_internal deadline=%lu interval = %lu", deadline, interval);
+	PX4_DEBUG("hrt_call_internal deadline=%lu interval = %lu", deadline, interval);
 	hrt_lock();
 
 	//PX4_INFO("hrt_call_internal after lock");
@@ -351,7 +362,7 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
 		sq_rem(&entry->link, &callout_queue);
 	}
 
-#if 0
+#if 1
 
 	// Use this to debug busy CPU that keeps rescheduling with 0 period time
 	if (interval < HRT_INTERVAL_MIN) {

src/platforms/posix/px4_layer/px4_posix_impl.cpp

@@ -48,6 +48,7 @@
 #include "systemlib/param/param.h"
 #include "hrt_work.h"
 #include <drivers/drv_hrt.h>
+#include "px4_time.h"
 
 extern pthread_t _shell_task_id;
 
@@ -55,8 +56,6 @@ __BEGIN_DECLS
 
 long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
 
-extern void hrt_init(void);
-
 __END_DECLS
 
 namespace px4
@@ -67,7 +66,7 @@ void init_once(void);
 void init_once(void)
 {
 	_shell_task_id = pthread_self();
-	PX4_INFO("Shell id is %lu", _shell_task_id);
+	printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);
 	work_queues_init();
 	hrt_work_queue_init();
 	hrt_init();
@@ -75,7 +74,18 @@ void init_once(void)
 
 void init(int argc, char *argv[], const char *app_name)
 {
-	printf("App name: %s\n", app_name);
+	printf("[init] task name: %s\n", app_name);
+	printf("\n");
+	printf("______  __   __    ___ \n");
+	printf("| ___ \\ \\ \\ / /   /   |\n");
+	printf("| |_/ /  \\ V /   / /| |\n");
+	printf("|  __/   /   \\  / /_| |\n");
+	printf("| |     / /^\\ \\ \\___  |\n");
+	printf("\\_|     \\/   \\/     |_/\n");
+	printf("\n");
+	printf("Ready to fly.\n");
+	printf("\n");
+	printf("\n");
 }
 
 uint64_t get_time_micros()

src/platforms/posix/px4_layer/px4_posix_tasks.cpp

@@ -135,7 +135,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	taskdata->argc = argc;
 
 	for (i=0; i<argc; i++) {
-		printf("arg %d %s\n", i, argv[i]);
+		PX4_DEBUG("arg %d %s\n", i, argv[i]);
 		taskdata->argv[i] = (char *)offset;
 		strcpy((char *)offset, argv[i]);
 		offset+=strlen(argv[i])+1;
@@ -271,7 +271,7 @@ void px4_show_tasks()
 	for (idx=0; idx < PX4_MAX_TASKS; idx++)
 	{
 		if (taskmap[idx].isused) {
-			PX4_INFO("   %-10s %lu", taskmap[idx].name.c_str(), taskmap[idx].pid);
+			PX4_INFO("   %-10s %lu", taskmap[idx].name.c_str(), (unsigned long)taskmap[idx].pid);
 			count++;
 		}
 	}

src/platforms/posix/px4_layer/px4_sem.cpp

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   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_defines.h>
+#include <px4_middleware.h>
+#include <px4_workqueue.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <pthread.h>
+
+#ifdef __PX4_DARWIN
+
+#include <px4_posix.h>
+
+#include <list>
+
+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), NULL);
+	pthread_mutex_init(&(s->lock), NULL);
+
+	return 0;
+}
+
+int px4_sem_wait(px4_sem_t *s)
+{
+	pthread_mutex_lock(&(s->lock));
+	s->value--;
+	if(s->value < 0) {
+	        pthread_cond_wait(&(s->wait), &(s->lock));
+	}
+	pthread_mutex_unlock(&(s->lock));
+
+	return 0;
+}
+
+int px4_sem_post(px4_sem_t *s)
+{
+	pthread_mutex_lock(&(s->lock));
+	s->value++;
+	if(s->value <= 0) {
+		pthread_cond_signal(&(s->wait));
+	}
+	pthread_mutex_unlock(&(s->lock));
+
+	return 0;
+}
+
+int px4_sem_getvalue(px4_sem_t *s, int *sval)
+{
+	pthread_mutex_lock(&(s->lock));
+	*sval = s->value;
+	pthread_mutex_unlock(&(s->lock));
+
+	return 0;
+}
+
+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

src/platforms/posix/tests/hello/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__tests__hello
+	MAIN hello
+	SRCS
+		hello_main.cpp
+		hello_start_posix.cpp
+		hello_example.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/tests/hrt_test/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__tests__hrt_test
+	MAIN hrttest
+	SRCS
+		hrt_test_main.cpp
+		hrt_test_start_posix.cpp
+		hrt_test.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/tests/muorb/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__tests__muorb
+	MAIN muorb_test
+	SRCS
+		muorb_test_main.cpp
+		muorb_test_start_posix.cpp
+		muorb_test_example.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/tests/vcdev_test/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__tests__vcdev_test
+	MAIN vcdevtest
+	SRCS
+		vcdevtest_main.cpp
+		vcdevtest_start_posix.cpp
+		vcdevtest_example.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/tests/wqueue/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__tests__wqueue
+	MAIN wqueue_test
+	SRCS
+		wqueue_main.cpp
+		wqueue_start_posix.cpp
+		wqueue_test.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/work_queue/CMakeLists.txt

@@ -0,0 +1,55 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__work_queue
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		hrt_thread.c
+		hrt_queue.c
+		hrt_work_cancel.c
+		work_thread.c
+		work_lock.c
+		work_queue.c
+		work_cancel.c
+		queue.c
+		dq_addlast.c
+		dq_remfirst.c
+		sq_addlast.c
+		sq_remfirst.c
+		sq_addafter.c
+		dq_rem.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/posix/work_queue/hrt_thread.c

@@ -40,6 +40,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_posix.h>
 #include <stdint.h>
 #include <signal.h>
 #include <stdio.h>
@@ -67,7 +68,7 @@ struct wqueue_s g_hrt_work;
 /****************************************************************************
  * Private Variables
  ****************************************************************************/
-sem_t _hrt_work_lock;
+px4_sem_t _hrt_work_lock;
 
 /****************************************************************************
  * Private Functions
@@ -262,7 +263,7 @@ static int work_hrtthread(int argc, char *argv[])
 
 void hrt_work_queue_init(void)
 {
-	sem_init(&_hrt_work_lock, 0, 1);
+	px4_sem_init(&_hrt_work_lock, 0, 1);
 
 	// Create high priority worker thread
 	g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",

src/platforms/posix/work_queue/work_lock.c

@@ -31,21 +31,19 @@
  *
  ****************************************************************************/
 #include <px4_log.h>
-#include <semaphore.h>
+#include <px4_posix.h>
 #include <stdio.h>
 #include "work_lock.h"
 
 
-extern sem_t _work_lock[];
+extern px4_sem_t _work_lock[];
 
 void work_lock(int id)
 {
-	//PX4_INFO("work_lock %d", id);
-	sem_wait(&_work_lock[id]);
+	px4_sem_wait(&_work_lock[id]);
 }
 
 void work_unlock(int id)
 {
-	//PX4_INFO("work_unlock %d", id);
-	sem_post(&_work_lock[id]);
+	px4_sem_post(&_work_lock[id]);
 }

src/platforms/posix/work_queue/work_thread.c

@@ -39,6 +39,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_posix.h>
 #include <px4_time.h>
 #include <stdint.h>
 #include <stdio.h>
@@ -68,7 +69,7 @@ struct wqueue_s g_work[NWORKERS];
 /****************************************************************************
  * Private Variables
  ****************************************************************************/
-sem_t _work_lock[NWORKERS];
+px4_sem_t _work_lock[NWORKERS];
 
 /****************************************************************************
  * Private Functions
@@ -187,10 +188,10 @@ static void work_process(struct wqueue_s *wqueue, int lock_id)
  ****************************************************************************/
 void work_queues_init(void)
 {
-	sem_init(&_work_lock[HPWORK], 0, 1);
-	sem_init(&_work_lock[LPWORK], 0, 1);
+	px4_sem_init(&_work_lock[HPWORK], 0, 1);
+	px4_sem_init(&_work_lock[LPWORK], 0, 1);
 #ifdef CONFIG_SCHED_USRWORK
-	sem_init(&_work_lock[USRWORK], 0, 1);
+	px4_sem_init(&_work_lock[USRWORK], 0, 1);
 #endif
 
 	// Create high priority worker thread

src/platforms/px4_defines.h

@@ -144,9 +144,13 @@ typedef param_t px4_param_t;
 /* FIXME - Used to satisfy build */
 #define getreg32(a)    (*(volatile uint32_t *)(a))
 
+#ifdef __PX4_QURT
+#define PX4_TICKS_PER_SEC 1000L
+#else
 __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS
+#endif
 
 #define USEC_PER_TICK (1000000UL/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK) 

src/platforms/px4_log.h

@@ -63,40 +63,40 @@ static inline void do_nothing(int level, ...)
 #define PX4_ERR(...)	ROS_WARN(__VA_ARGS__)
 #define PX4_WARN(...) 	ROS_WARN(__VA_ARGS__)
 #define PX4_INFO(...) 	ROS_WARN(__VA_ARGS__)
-#define PX4_DEBUG(...) 	
+#define PX4_DEBUG(...)
 
 #elif defined(__PX4_QURT)
 #include "qurt_log.h"
 /****************************************************************************
  * Messages that should never be filtered or compiled out
  ****************************************************************************/
-#define PX4_LOG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_LOG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #if defined(TRACE_BUILD)
 /****************************************************************************
  * Extremely Verbose settings for a Trace build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #elif defined(DEBUG_BUILD)
 /****************************************************************************
  * Verbose settings for a Debug build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN, __FILENAME__, __LINE__,  FMT, ##__VA_ARGS__)
-#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #elif defined(RELEASE_BUILD)
 /****************************************************************************
  * Non-verbose settings for a Release build to minimize strings in build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 #define PX4_WARN(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
 #define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
 
@@ -104,14 +104,14 @@ static inline void do_nothing(int level, ...)
 /****************************************************************************
  * Medium verbose settings for a default build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 #define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
 
 #endif
-#define PX4_LOG_NAMED(name, FMT, ...) 	qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
-#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, "%s " FMT, name,  ##__VA_ARGS__)
+#define PX4_LOG_NAMED(name, FMT, ...) 	qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
+#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, "%s " FMT, name,  ##__VA_ARGS__)
 
 #else
 
@@ -137,13 +137,13 @@ __END_DECLS
  *
  * To write to a specific stream for each message type, open the streams and
  * set __px4__log_startline to something like:
- * 	if (level <= __px4_log_level_current) printf(_px4_fd[level], 
+ * 	if (level <= __px4_log_level_current) printf(_px4_fd[level],
  *
  * Additional behavior can be added using "{\" for __px4__log_startline and
  * "}" for __px4__log_endline and any other required setup or teardown steps
  ****************************************************************************/
-#define __px4__log_startcond(cond)	if (cond) printf(
-#define __px4__log_startline(level)	if (level <= __px4_log_level_current) printf(
+#define __px4__log_printcond(cond, ...)	    if (cond) printf(__VA_ARGS__)
+#define __px4__log_printline(level, ...)    if (level <= __px4_log_level_current) printf(__VA_ARGS__)
 
 #define __px4__log_timestamp_fmt	"%-10" PRIu64 " "
 #define __px4__log_timestamp_arg 	,hrt_absolute_time()
@@ -172,12 +172,12 @@ __END_DECLS
  * if the first arg/condition is true.
  ****************************************************************************/
 #define __px4_log_named_cond(name, cond, FMT, ...) \
-	__px4__log_startcond(cond)\
+	__px4__log_printcond(cond,\
 	"%s " \
 	FMT\
 	__px4__log_end_fmt \
 	,name, ##__VA_ARGS__\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log:
@@ -187,12 +187,12 @@ __END_DECLS
  * 	printf("%-5s val is %d\n", __px4_log_level_str[3], val);
  ****************************************************************************/
 #define __px4_log(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt \
 	FMT\
 	__px4__log_end_fmt \
 	__px4__log_level_arg(level), ##__VA_ARGS__\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_timestamp:
@@ -203,7 +203,7 @@ __END_DECLS
  *		hrt_absolute_time(), val);
  ****************************************************************************/
 #define __px4_log_timestamp(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	FMT\
@@ -211,7 +211,7 @@ __END_DECLS
 	__px4__log_level_arg(level)\
 	__px4__log_timestamp_arg\
 	, ##__VA_ARGS__\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_timestamp_thread:
@@ -222,7 +222,7 @@ __END_DECLS
  *		hrt_absolute_time(), pthread_self(), val);
  ****************************************************************************/
 #define __px4_log_timestamp_thread(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	__px4__log_thread_fmt\
@@ -232,18 +232,18 @@ __END_DECLS
 	__px4__log_timestamp_arg\
 	__px4__log_thread_arg\
 	, ##__VA_ARGS__\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_file_and_line:
  * Convert a message in the form:
  * 	PX4_WARN("val is %d", val);
  * to
- * 	printf("%-5s val is %d (file %s line %u)\n", 
+ * 	printf("%-5s val is %d (file %s line %u)\n",
  *		__px4_log_level_str[3], val, __FILE__, __LINE__);
  ****************************************************************************/
 #define __px4_log_file_and_line(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	FMT\
@@ -253,19 +253,19 @@ __END_DECLS
 	__px4__log_timestamp_arg\
 	, ##__VA_ARGS__\
 	__px4__log_file_and_line_arg\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_timestamp_file_and_line:
  * Convert a message in the form:
  * 	PX4_WARN("val is %d", val);
  * to
- * 	printf("%-5s %-10lu val is %d (file %s line %u)\n", 
+ * 	printf("%-5s %-10lu val is %d (file %s line %u)\n",
  *		__px4_log_level_str[3], hrt_absolute_time(),
  *		val, __FILE__, __LINE__);
  ****************************************************************************/
 #define __px4_log_timestamp_file_and_line(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	FMT\
@@ -275,19 +275,19 @@ __END_DECLS
 	__px4__log_timestamp_arg\
 	, ##__VA_ARGS__\
 	__px4__log_file_and_line_arg\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_thread_file_and_line:
  * Convert a message in the form:
  * 	PX4_WARN("val is %d", val);
  * to
- * 	printf("%-5s %#X val is %d (file %s line %u)\n", 
- *		__px4_log_level_str[3], pthread_self(), 
+ * 	printf("%-5s %#X val is %d (file %s line %u)\n",
+ *		__px4_log_level_str[3], pthread_self(),
  *		val, __FILE__, __LINE__);
  ****************************************************************************/
 #define __px4_log_thread_file_and_line(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_thread_fmt\
 	FMT\
@@ -297,19 +297,19 @@ __END_DECLS
 	__px4__log_thread_arg\
 	, ##__VA_ARGS__\
 	__px4__log_file_and_line_arg\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_timestamp_thread_file_and_line:
  * Convert a message in the form:
  * 	PX4_WARN("val is %d", val);
  * to
- * 	printf("%-5s %-10lu %#X val is %d (file %s line %u)\n", 
- *		__px4_log_level_str[3], hrt_absolute_time(), 
+ * 	printf("%-5s %-10lu %#X val is %d (file %s line %u)\n",
+ *		__px4_log_level_str[3], hrt_absolute_time(),
  *		pthread_self(), val, __FILE__, __LINE__);
  ****************************************************************************/
 #define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	__px4__log_thread_fmt\
@@ -321,7 +321,7 @@ __END_DECLS
 	__px4__log_thread_arg\
 	, ##__VA_ARGS__\
 	__px4__log_file_and_line_arg\
-	__px4__log_endline
+	)
 
 
 /****************************************************************************

src/platforms/px4_nodehandle.h

@@ -48,6 +48,7 @@
 /* includes when building for ros */
 #include "ros/ros.h"
 #include <list>
+#define __STDC_FORMAT_MACROS
 #include <inttypes.h>
 #include <type_traits>
 #else

src/platforms/px4_posix.h

@@ -48,6 +48,45 @@
 #include <semaphore.h>
 
 
+/* Semaphore handling */
+
+#ifdef __PX4_DARWIN
+
+__BEGIN_DECLS
+
+typedef struct
+{
+	pthread_mutex_t lock;
+	pthread_cond_t wait;
+	int value;
+} px4_sem_t;
+
+__EXPORT int		px4_sem_init(px4_sem_t *s, int pshared, unsigned value);
+__EXPORT int		px4_sem_wait(px4_sem_t *s);
+__EXPORT int		px4_sem_post(px4_sem_t *s);
+__EXPORT int		px4_sem_getvalue(px4_sem_t *s, int *sval);
+__EXPORT int		px4_sem_destroy(px4_sem_t *s);
+
+__END_DECLS
+
+#else
+
+__BEGIN_DECLS
+
+typedef sem_t px4_sem_t;
+
+#define px4_sem_init	 sem_init
+#define px4_sem_wait	 sem_wait
+#define px4_sem_post	 sem_post
+#define px4_sem_getvalue sem_getvalue
+#define px4_sem_destroy	 sem_destroy
+
+__END_DECLS
+
+#endif
+
+//###################################
+
 #ifdef __PX4_NUTTX
 
 #define  PX4_F_RDONLY 1
@@ -85,7 +124,7 @@ typedef struct {
   pollevent_t 	revents;  /* The output event flags */
 
   /* Required for PX4 compatability */
-  sem_t   *sem;  	/* Pointer to semaphore used to post output event */
+  px4_sem_t   *sem;  	/* Pointer to semaphore used to post output event */
   void   *priv;     	/* For use by drivers */
 } px4_pollfd_struct_t;
 

src/platforms/px4_subscriber.h

@@ -38,8 +38,10 @@
  */
 #pragma once
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 #include <functional>
 #include <type_traits>
+#endif
 
 #if defined(__PX4_ROS)
 /* includes when building for ros */
@@ -219,10 +221,12 @@ public:
 protected:
 	uORB::SubscriptionBase * _uorb_sub;	/**< Handle to the subscription */
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 	typename std::remove_reference<decltype(((T*)nullptr)->data())>::type getUORBData()
 	{
 		return (typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub;
 	}
+#endif
 
 	/**
 	 * Get void pointer to last message value
@@ -242,8 +246,13 @@ public:
 	 * @param cbf		Callback, executed on receiving a new message
 	 * @param interval	Minimal interval between calls to callback
 	 */
-	SubscriberUORBCallback(unsigned interval,
-			       std::function<void(const T &)> cbf) :
+	SubscriberUORBCallback(unsigned interval
+#ifndef CONFIG_ARCH_BOARD_SIM
+			       ,std::function<void(const T &)> cbf)
+#else
+		)
+#endif
+		:
 		SubscriberUORB<T>(interval),
 		_cbf(cbf)
 	{}
@@ -277,7 +286,9 @@ public:
 	};
 
 protected:
+#ifndef CONFIG_ARCH_BOARD_SIM
 	std::function<void(const T &)> _cbf;	/**< Callback that the user provided on the subscription */
+#endif
 };
 #endif
 

src/platforms/px4_tasks.h

@@ -80,6 +80,12 @@ typedef int px4_task_t;
 #error "No target OS defined"
 #endif
 
+#if defined (__PX4_LINUX) || defined(__PX4_NUTTX)
+#include <sys/prctl.h>
+#else
+#define prctl(_action, _string, _pid)
+#endif
+
 typedef int px4_task_t;
 
 typedef struct {

src/platforms/px4_time.h

@@ -8,6 +8,20 @@
 #define px4_clock_gettime clock_gettime
 #define px4_clock_settime clock_settime
 
+#elif defined(__PX4_DARWIN)
+
+__BEGIN_DECLS
+
+#define clockid_t unsigned
+#define CLOCK_REALTIME 0
+
+int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
+int px4_clock_settime(clockid_t clk_id, struct timespec *tp);
+
+__EXPORT unsigned int sleep(unsigned int sec);
+
+__END_DECLS
+
 #elif defined(__PX4_QURT)
 
 #include <sys/timespec.h>

src/platforms/qurt/dspal/dspal_stub.c

@@ -33,20 +33,16 @@
 #include <stdio.h>
 #include <dlfcn.h>
 
-#define STACK_SIZE 0x8000
-static char __attribute__ ((aligned (16))) stack1[STACK_SIZE];
+//#define STACK_SIZE 0x8000
+//static char __attribute__ ((aligned (16))) stack1[STACK_SIZE];
 
-int main(int argc, char* argv[])
+static void do_dlopen()
 {
-	int ret = 0;
-	char *builtin[]={"libgcc.so", "libc.so", "libstdc++.so"};
+#if 0
 	void *handle;
 	char *error;
 	void (*entry_function)() = NULL;
 
-	printf("In DSPAL main\n");
-	dlinit(3, builtin);
-#if 0
 	handle = dlopen ("libdspal_client.so", RTLD_LAZY);
 	if (!handle) {
 		printf("Error opening libdspal_client.so\n");
@@ -59,6 +55,18 @@ int main(int argc, char* argv[])
 	}
 	dlclose(handle);
 #endif
+}
+	
+
+int main(int argc, char* argv[])
+{
+	int ret = 0;
+	char *builtin[]={"libgcc.so", "libc.so", "libstdc++.so"};
+
+	printf("In DSPAL main\n");
+	dlinit(3, builtin);
+
+	do_dlopen();
 	return ret;
 }
 

src/platforms/qurt/px4_layer/CMakeLists.txt

@@ -0,0 +1,73 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+set(QURT_LAYER_SRCS 
+	px4_qurt_impl.cpp
+	px4_qurt_tasks.cpp
+	lib_crc32.c
+	drv_hrt.c
+	qurt_stubs.c
+	main.cpp
+	params.c
+	)
+if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
+	list(APPEND QURT_LAYER_SRCS
+		../stubs/stubs_posix.c
+		../stubs/stubs_qurt.c
+		)
+endif()
+
+# For Eagle, the commands are specific to the build config label
+# e.g. config_qurt_eagle_hil uses commands_hil.c
+if ("${BOARD}" STREQUAL "eagle")
+
+	# The CI test target can use the hil commands
+	if ("${LABEL}" STREQUAL "travis")
+		set(CONFIG_SRC commands_hil.c)
+	else()
+		set(CONFIG_SRC commands_${LABEL}.c)
+	endif()
+
+endif()
+
+px4_add_module(
+	MODULE platforms__qurt__px4_layer
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		${QURT_LAYER_SRCS}
+		${CONFIG_SRC}
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/qurt/px4_layer/commands_hil.c

@@ -37,6 +37,7 @@
  * @author Mark Charlebois <charlebm@gmail.com>
  */
 
+const char *get_commands(void);
 const char *get_commands()
 {
 

src/platforms/qurt/px4_layer/drv_hrt.c

@@ -37,10 +37,12 @@
  * High-resolution timer with callouts and timekeeping.
  */
 
+#include <px4_defines.h>
 #include <px4_workqueue.h>
 #include <drivers/drv_hrt.h>
 #include <semaphore.h>
 #include <time.h>
+#include <dspal_time.h>
 #include <string.h>
 #include <stdio.h>
 

src/platforms/qurt/px4_layer/main.cpp

@@ -1,6 +1,5 @@
 /****************************************************************************
- *
- *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ * Copyright (C) 2015 Mark Charlebois. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,10 +41,12 @@
 #include <px4_time.h>
 #include <px4_posix.h>
 #include <px4_defines.h>
+#include <dspal_platform.h>
 #include <vector>
 #include <string>
 #include <map>
 #include <stdio.h>
+#include <apps.h>
 
 using namespace std;
 
@@ -99,19 +100,9 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
 	bool found_first_char = false;
 	char arg[256];
 
-	// This is added because it is a parameter used by commander, yet created by mavlink.  Since mavlink is not
-        // running on QURT, we need to manually define it so it is available to commander.  "2" is for quadrotor.
-
-    // Following is hack to prevent duplicate parameter definition error in param parser
-    /**
-     * @board QuRT_App
-     */
-	PARAM_DEFINE_INT32(MAV_TYPE,2);
-
 	// Eat leading whitespace
 	eat_whitespace(b, i);
 
-
 	for(;;) {
 		// End of command line
 		if (b[i] == '\n' || b[i] == '\0') {
@@ -152,7 +143,7 @@ extern void init_once(void);
 };
 
 __BEGIN_DECLS
-extern int dspal_main(int argc, char *argv[]);
+int dspal_main(int argc, char *argv[]);
 __END_DECLS
 
 
@@ -164,13 +155,13 @@ int dspal_entry( int argc, char* argv[] )
 	px4::init_once();
 	px4::init(argc, (char **)argv, "mainapp");
 	process_commands(apps, get_commands());
-	usleep( 1000000 ); // give time for all commands to execute before starting external function
+	sleep(1); // give time for all commands to execute before starting external function
 	if(qurt_external_hook)
 	{
 		qurt_external_hook();
 	}
-	for( ;; ){
-		usleep( 1000000 );
+	for(;;){
+		sleep(1);
 	}
         return 0;
 }

src/platforms/qurt/px4_layer/params.c

@@ -0,0 +1,43 @@
+/****************************************************************************
+ * Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+#include <systemlib/param/param.h>
+
+// This is added because it is a parameter used by commander, yet created by mavlink.  Since mavlink is not
+// running on QURT, we need to manually define it so it is available to commander.  "2" is for quadrotor.
+
+// Following is hack to prevent duplicate parameter definition error in param parser
+/**
+ * @board QuRT_App
+ */
+PARAM_DEFINE_INT32(MAV_TYPE,2);
+

src/platforms/qurt/px4_layer/px4_qurt_impl.cpp

@@ -59,7 +59,7 @@
 __BEGIN_DECLS
 extern uint64_t get_ticks_per_us();
 
-long PX4_TICKS_PER_SEC = 1000;
+//long PX4_TICKS_PER_SEC = 1000L;
 
 unsigned int sleep(unsigned int sec) 
 { 

src/platforms/qurt/px4_layer/qurt_stubs.c

@@ -31,93 +31,90 @@
  *
  ****************************************************************************/
 #include "px4_log.h"
-//extern "C" {
+#include <semaphore.h>
+
+void block_indefinite(void);
+void _Read_uleb(void);
+void _Parse_fde_instr(void);
+void _Parse_csd(void);
+void _Valbytes(void);
+void _Get_eh_data(void);
+void _Parse_lsda(void);
+void __cxa_guard_release(void);
+void _Read_enc_ptr(void);
+void _Read_sleb(void);
+void __cxa_guard_acquire(void);
+void __cxa_pure_virtual(void);
 
 void block_indefinite( void )
 {
-   for(;;)
-   {
-      volatile int x = 0;
-      ++x;
-   }
+	sem_t forever;
+	sem_init(&forever, 0, 0);
+	sem_wait(&forever);
 }
 
 void _Read_uleb( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void _Parse_fde_instr( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void _Parse_csd( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
-}
-
-void _Locksyslock( int x )
-{
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
-}
-
-void _Unlocksyslock( int x )
-{
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void _Valbytes( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void _Get_eh_data( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void _Parse_lsda( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void __cxa_guard_release( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void _Read_enc_ptr( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void _Read_sleb( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void __cxa_guard_acquire( void )
 {
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
 
 void __cxa_pure_virtual() 
 { 
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
+	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
+	block_indefinite(); 
 }
-
-//}

src/platforms/qurt/stubs/stubs_posix.c

@@ -0,0 +1,99 @@
+#include <semaphore.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <signal.h>
+#include <time.h>
+
+int sem_init(sem_t *sem, int pshared, unsigned int value)
+{
+	return 1;
+}
+
+int sem_wait(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_destroy(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_post(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_getvalue(sem_t *sem, int *sval)
+{
+	return 1;
+}
+
+int usleep(useconds_t usec)
+{
+	return 0;
+}
+
+pthread_t pthread_self(void)
+{
+	pthread_t x = 0;
+	return x;
+}
+
+
+int pthread_kill(pthread_t thread, int sig)
+{
+	return 1;
+}
+
+void pthread_exit(void *retval)
+{
+}
+
+int pthread_join(pthread_t thread, void **retval)
+{
+	return 1;
+}
+
+int pthread_cancel(pthread_t thread)
+{
+	return 1;
+}
+int pthread_attr_init(pthread_attr_t *attr)
+{
+	return 1;
+}
+
+int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stacksize)
+{
+	return 1;
+}
+
+int pthread_attr_getstacksize(const pthread_attr_t *attr, size_t *stacksize)
+{
+	return 1;
+}
+
+int pthread_attr_setschedparam(pthread_attr_t *attr, const struct sched_param *param)
+{
+	return 1;
+}
+
+int pthread_create(pthread_t *thread, const pthread_attr_t *attr, void *(*start_routine) (void *), void *arg)
+{
+	return 1;
+}
+int pthread_attr_getschedparam(const pthread_attr_t *attr, struct sched_param *param)
+{
+	return 1;
+}
+
+int pthread_attr_destroy(pthread_attr_t *attr)
+{
+	return 1;
+}
+
+int clock_gettime(clockid_t clk_id, struct timespec *tp)
+{
+	return 1;
+}

src/platforms/qurt/stubs/stubs_qurt.c

@@ -0,0 +1,16 @@
+#include <dlfcn.h>
+#include <qurt_log.h>
+#include <dspal_platform.h>
+
+void HAP_debug(const char *msg, int level, const char *filename, int line)
+{
+}
+
+void HAP_power_request(int a, int b, int c)
+{
+}
+
+int dlinit(int a, char **b)
+{
+	return 1;
+}

src/platforms/qurt/tests/hello/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__qurt__tests__hello
+	MAIN hello
+	SRCS
+		hello_main.cpp
+		hello_start_qurt.cpp
+		hello_example.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/qurt/tests/muorb/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__qurt__tests__muorb
+	MAIN muorb_test
+	SRCS
+		muorb_test_start_qurt.cpp
+		muorb_test_example.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/qurt/tests/muorb/muorb_test_example.cpp

@@ -45,7 +45,7 @@
 #include <string.h>
 #include "uORB/topics/sensor_combined.h"
 #include "uORB/topics/pwm_input.h"
-#include "uORB.h"
+#include "modules/uORB/uORB.h"
 #include "px4_middleware.h"
 #include "px4_defines.h"
 #include <stdlib.h>