Included a variety of autopilot stack firmware modules into the build…

… process

apps/px4/Kconfig

@@ -11,7 +11,7 @@
 menuconfig APP_SEL4PX4
     bool "PX4 Firmware"
     default y
-    depends on LIB_SEL4 && (LIB_MUSL_C || LIB_SEL4_C) && LIB_SEL4_PLAT_SUPPORT && LIB_SEL4_VKA && LIB_SEL4_TEST && LIB_SEL4_UTILS && LIB_UTILS
+    depends on LIB_SEL4 && (LIB_MUSL_C || LIB_SEL4_C) && LIB_SEL4_PLAT_SUPPORT && LIB_SEL4_VKA && LIB_SEL4_TEST && LIB_SEL4_UTILS && LIB_UTILS && LIB_UCLIBCPP
     help
         Build PX4 firmware for use with the seL4 microkernel. 
 

apps/px4/Makefile

@@ -20,18 +20,128 @@ CFILES   := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/*.c))
 CFILES   += $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/plat/${PLAT}/*.c))
 CFILES   += $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/arch/${ARCH}/*.c))
 
-# AWH - uORB
+# AWH - Platforms
+PLAT_CFILES := src/platforms/common/px4_getopt.c
+
+# AWH - uORB module
 UORB_PATH := src/modules/uORB
-UORB_FILES += $(UORB_PATH)/uORBDevices_posix.cpp
-UORB_FILES += $(UORB_PATH)/uORBManager_posix.cpp
-UORB_FILES += $(UORB_PATH)/uORBTest_UnitTest.cpp
-UORB_FILES += $(UORB_PATH)/objects_common.cpp
-UORB_FILES += $(UORB_PATH)/Publication.cpp
-UORB_FILES += $(UORB_PATH)/Subscription.cpp
-UORB_FILES += $(UORB_PATH)/uORBUtils.cpp
-UORB_FILES += $(UORB_PATH)/uORB.cpp
-UORB_FILES += $(UORB_PATH)/uORBMain.cpp
-#CXXFILES += $(UORB_FILES)
+UORB_CXXFILES := $(UORB_PATH)/uORBDevices_posix.cpp 
+UORB_CXXFILES += $(UORB_PATH)/uORBManager_posix.cpp
+UORB_CXXFILES += $(UORB_PATH)/uORBTest_UnitTest.cpp
+UORB_CXXFILES += $(UORB_PATH)/objects_common.cpp
+UORB_CXXFILES += $(UORB_PATH)/Publication.cpp
+UORB_CXXFILES += $(UORB_PATH)/Subscription.cpp
+UORB_CXXFILES += $(UORB_PATH)/uORBUtils.cpp
+UORB_CXXFILES += $(UORB_PATH)/uORB.cpp
+UORB_CXXFILES += $(UORB_PATH)/uORBMain.cpp
+
+# AWH - Drivers module
+DRIVER_PATH := src/drivers/device
+DRIVER_FILES := $(DRIVER_PATH)/vdev.cpp
+DRIVER_FILES += $(DRIVER_PATH)/vdev_posix.cpp
+DRIVER_FILES += $(DRIVER_PATH)/vfile.cpp
+DRIVER_FILES += $(DRIVER_PATH)/device_posix.cpp
+# #DRIVER_FILES += $(DRIVER_PATH)/i2c_posix.cpp
+# #DRIVER_FILES += $(DRIVER_PATH)/pio.cpp
+DRIVER_FILES += $(DRIVER_PATH)/ringbuffer.cpp
+DRIVER_FILES += $(DRIVER_PATH)/sim.cpp
+
+# AWH - POSIX layer
+POSIX_LAYER_CFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/platforms/posix/px4_layer/*.c))
+POSIX_LAYER_CXXFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/platforms/posix/px4_layer/*.cpp))
+
+# AWH - libuavcan - UAVCAN <--> uORB bridge
+UAVCAN_PATH := src/modules/uavcan
+UAVCAN_CFILES := $(UAVCAN_PATH)/uavcan_params.c
+UAVCAN_CXXFILES := $(UAVCAN_PATH)/uavcan_main.cpp
+UAVCAN_CXXFILES += $(UAVCAN_PATH)/uavcan_clock.cpp
+UAVCAN_CXXFILES += $(UAVCAN_PATH)/actuators/esc.cpp
+UAVCAN_CXXFILES += $(UAVCAN_PATH)/sensors/sensor_bridge.cpp
+UAVCAN_CXXFILES += $(UAVCAN_PATH)/sensors/gnss.cpp
+UAVCAN_CXXFILES += $(UAVCAN_PATH)/sensors/mag.cpp
+UAVCAN_CXXFILES += $(UAVCAN_PATH)/sensors/baro.cpp
+
+# AWH - The autopilot app
+AP_PATH := src/examples/px4_simple_app
+AP_FILES := $(AP_PATH)/px4_simple_app.c
+
+# AWH - Sensor module
+SENSOR_PATH := src/modules/sensors
+SENSOR_CFILES := $(SENSOR_PATH)/sensor_params.c
+SENSOR_CXXFILES := $(SENSOR_PATH)/sensors.cpp
+
+# AWH - Navigation controller module
+NAV_CFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/modules/navigator/*.c))
+NAV_CXXFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/modules/navigator/*.cpp))
+
+# AWH - Commander module
+COMMAND_CFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/modules/commander/*.c))
+COMMAND_TEMP_CXXFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/modules/commander/*.cpp))
+COMMAND_FILTER := src/modules/commander/state_machine_helper_posix.cpp
+COMMAND_CXXFILES := $(filter-out $(COMMAND_FILTER),$(COMMAND_TEMP_CXXFILES))
+
+# AWH - Controllib module
+CLIB_PATH := src/modules/controllib
+CLIB_CFILES := $(CLIB_PATH)/test_params.c
+CLIB_CXXFILES := $(CLIB_PATH)/block/Block.cpp $(CLIB_PATH)/blocks.cpp
+CLIB_CXXFILES += $(CLIB_PATH)/block/BlockParam.cpp
+CLIB_CXXFILES += $(CLIB_PATH)/uorb/blocks.cpp
+
+# AWH - Systemlib
+SYSLIB_PATH := src/modules/systemlib
+SYSLIB_TEMP_CFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/modules/systemlib/*.c))
+SYSLIB_FILTER := $(SYSLIB_PATH)/err.c $(SYSLIB_PATH)/up_cxxinitialize.c
+SYSLIB_FILTER += $(SYSLIB_PATH)/hx_stream.c
+SYSLIB_CFILES := $(filter-out $(SYSLIB_FILTER),$(SYSLIB_TEMP_CFILES))
+SYSLIB_CFILES += $(SYSLIB_PATH)/param/param.c $(SYSLIB_PATH)/pid/pid.c
+SYSLIB_CFILES += $(SYSLIB_PATH)/pwm_limit/pwm_limit.c
+SYSLIB_CFILES += $(SYSLIB_PATH)/bson/tinybson.c
+SYSLIB_CXXFILES := $(SYSLIB_PATH)/circuit_breaker.cpp
+
+# AWH - MathLib
+MATHLIB_PATH := src/lib/mathlib
+MATHLIB_CXXFILES := $(MATHLIB_PATH)/math/test/test.cpp
+MATHLIB_CXXFILES += $(MATHLIB_PATH)/math/Limits.cpp
+
+# AWH - VTOL attitude controller module
+VTOL_PATH := src/modules/vtol_att_control
+VTOL_CXXFILES := $(VTOL_PATH)/vtol_att_control_main.cpp
+VTOL_CFILES := $(VTOL_PATH)/vtol_att_control_params.c
+
+# AWH - sdlog2 application
+SDLOG2_CFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/modules/sdlog2/*.c))
+
+# AWH - MAVLink protocol to uORB interface process
+MAVLINK_PATH := src/modules/mavlink
+MAVLINK_CFILES := $(MAVLINK_PATH)/mavlink.c
+MAVLINK_CXXFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/modules/mavlink/*.cpp))
+
+# AWH - Position estimator Inav module
+POS_EST_CFILES := $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/modules/position_estimator_inav/*.c))
+
+# AWH - DataMan module
+DM_CFILES := src/modules/dataman/dataman.c
+
+# AWH - Geo library
+GEO_CFILES := src/lib/geo/geo.c
+
+#AWH - Conversion library
+CONV_CXXFILES := src/lib/conversion/rotation.cpp
+
+# AWH - All of the module files that currently build
+CPPFILES += $(UORB_CXXFILES) $(DRIVER_FILES) $(POSIX_LAYER_CXXFILES)
+CPPFILES += $(MAVLINK_CXXFILES) $(SYSLIB_CXXFILES) $(CONV_CXXFILES)
+CPPFILES += $(SENSOR_CXXFILES) $(NAV_CXXFILES) $(COMMAND_CXXFILES)
+CPPFILES += $(CLIB_CXXFILES) $(MATHLIB_CXXFILES)
+CFILES += $(POSIX_LAYER_CFILES) $(AP_FILES) $(SENSOR_CFILES)
+CFILES += $(MAVLINK_CFILES) $(SDLOG2_CFILES) $(SYSLIB_CFILES)
+CFILES += $(POS_EST_CFILES) $(UAVCAN_CFILES) $(NAV_CFILES)
+CFILES += $(COMMAND_CFILES) $(GEO_CFILES) $(DM_CFILES) $(PLAT_CFILES)
+CFILES += $(CLIB_CFILES)
+
+#AWH - Modules that shouldn't be built in (Pixhawk/NuttX-specific)
+#CFILES += $(UAVCAN_CFILES) $(VTOL_CFILES)
+#CPPFILES += $(UAVCAN_CXXFILES) $(VTOL_CXXFILES)
 
 # CPIO archive
 OFILES := archive.o
@@ -42,20 +152,37 @@ ASMFILES += $(patsubst $(SOURCE_DIR)/%,%,$(wildcard $(SOURCE_DIR)/src/plat/${PLA
 # Libraries required to build the target
 LIBS = c sel4 cpio elf sel4muslcsys sel4vka sel4allocman \
        platsupport sel4platsupport sel4test sel4vspace \
-       sel4utils sel4simple utils
+       sel4utils sel4simple utils uclibc++
 ifdef CONFIG_KERNEL_STABLE
 LIBS += sel4simple-stable
 else
 LIBS += sel4simple-default
 endif
 
 # extra cflag for sel4test
-CFLAGS += -Werror -g
+#CFLAGS += -Werror -g
 ifdef CONFIG_X86_64
 CFLAGS += -mno-sse
 endif
 
 include $(SEL4_COMMON)/common.mk
+OUR_FLAGS += -D__PX4_POSIX -D__PX4_LINUX -Dnoreturn_function= -Dnullptr=0
+OUR_FLAGS += -DMAVLINK_DIALECT=common
+OUR_FLAGS += -fvisibility=hidden -include $(SOURCE_DIR)/src/include/visibility.h
+OUR_FLAGS += -fno-builtin -Wno-sign-compare
+OUR_FLAGS += -I$(SOURCE_DIR)/src -I$(SOURCE_DIR)/src/platforms
+OUR_FLAGS += -I$(SOURCE_DIR)/src/modules -I$(SOURCE_DIR)/src/include
+OUR_FLAGS += -I$(SOURCE_DIR)/../../../../libs/libuclibc++/include
+OUR_FLAGS += -I$(SOURCE_DIR)/src/platforms/posix/include
+OUR_FLAGS += -I$(SOURCE_DIR)/src/include/mavlink
+#OUR_FLAGS += -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
+#OUR_FLAGS += -I$(SOURCE_DIR)/src/lib/uavcan/libuavcan_drivers/posix/include
+OUR_FLAGS += -I$(SOURCE_DIR)/src/lib -I$(SOURCE_DIR)/src/lib/eigen
+CXXFLAGS += -std=c++11 -nostdinc++ -fno-exceptions -fno-rtti $(OUR_FLAGS)
+CFLAGS += $(OUR_FLAGS)
+
+# AWH - Add in linker script for syslib params
+LDFLAGS += ${COMMON_PATH}/../../projects/px4/apps/px4/px4_makefiles/posix/ld.script
 
 # targets to generate CPIO archive of elf files
 ${COMPONENTS}:

apps/px4/src/drivers/device/vdev_posix.cpp

@@ -36,18 +36,24 @@
  *
  * POSIX-like API for virtual character device
  */
-
 #include <px4_log.h>
 #include <px4_posix.h>
 #include <px4_time.h>
+
 #include "device.h"
 #include "vfile.h"
 
+#ifdef __cplusplus /* AWH */
+extern "C" {
+#endif /* __cplusplus */
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
 #include <pthread.h>
 #include <unistd.h>
+#ifdef __cplusplus /* AWH */
+}
+#endif /* __cplusplus */
 
 using namespace device;