cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

src/drivers/px4io/CMakeLists.txt

@@ -42,7 +42,6 @@ px4_add_module(
 		px4io_serial_f4.cpp
 		px4io_serial_f7.cpp
 	DEPENDS
-		platforms__common
 	)
 
 # include the px4io binary in ROMFS

src/drivers/px4io/px4io.cpp

@@ -68,10 +68,10 @@
 #include <drivers/drv_mixer.h>
 
 #include <lib/mixer/mixer.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/circuit_breaker.h>
 #include <systemlib/mavlink_log.h>
 

src/drivers/px4io/px4io_params.c

@@ -40,7 +40,7 @@
  */
 
 #include <px4_config.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /**
  * Set usage of IO board

src/drivers/px4io/px4io_serial.h

@@ -54,7 +54,7 @@
 #include <stdio.h>
 
 #include <arch/board/board.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 #include <board_config.h>