Adding config changes to allow PX4 to be built for the Excelsior board.

Makefile

@@ -199,6 +199,12 @@ qurt_eagle_legacy_driver_default:
 posix_eagle_legacy_driver_default:
 	$(call cmake-build,$@) 
 
+
+qurt_excelsior_default:
+	$(call cmake-build,$@)
+posix_excelsior_default:
+	$(call cmake-build,$@)
+excelsior_default: posix_excelsior_default qurt_excelsior_default
 posix_rpi2_default:
 	$(call cmake-build,$@)
 

cmake/configs/posix_eagle_default.cmake

@@ -1,65 +1,7 @@
-include(posix/px4_impl_posix)
+include(configs/posix_sdflight_default)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
-
-set(config_generate_parameters_scope ALL)
-
-set(CONFIG_SHMEM "1")
 
 # This definition allows to differentiate if this just the usual POSIX build
 # or if it is for the Snapdragon.
 add_definitions(
 	-D__PX4_POSIX_EAGLE
 	)
-
-set(config_module_list
-	drivers/device
-	drivers/blinkm
-	drivers/pwm_out_sim
-	drivers/rgbled
-	drivers/led
-	drivers/boards/sitl
-	drivers/qshell/posix
-
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
-	systemcmds/topic_listener
-
-	modules/mavlink
-
-	modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
-
-	modules/mc_pos_control
-	modules/mc_att_control
-
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/muorb/krait
-	modules/sensors
-	modules/dataman
-	modules/sdlog2
-	modules/simulator
-	modules/commander
-
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
-	lib/geo
-	lib/geo_lookup
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/DriverFramework/framework
-
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	)

cmake/posix/px4_impl_posix.cmake

@@ -197,7 +197,7 @@ else()
 
 endif()
 
-if ("${BOARD}" STREQUAL "eagle")
+if ("${BOARD}" STREQUAL "eagle" OR "${BOARD}" STREQUAL "excelsior")
 
 	if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
 		message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")

src/firmware/posix/CMakeLists.txt

@@ -4,7 +4,7 @@ px4_posix_generate_builtin_commands(
 	OUT apps.h
 	MODULE_LIST ${module_libraries})
 
-if ("${BOARD}" STREQUAL "eagle")
+if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
 
 	include(fastrpc)
 	include(linux_app)

src/lib/version/version.h

@@ -75,6 +75,11 @@
 #define	HW_ARCH "LINUXTEST"
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_EXCELSIOR
+#define HW_ARCH "LINUXTEST"
+#endif
+
+
 #ifdef CONFIG_ARCH_BOARD_RPI2
 #define	HW_ARCH "LINUXTEST"
 #endif

src/platforms/posix/px4_layer/drv_hrt.c

@@ -166,7 +166,7 @@ hrt_abstime _hrt_absolute_time_internal(void)
 	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
 	return ts_to_abstime(&ts) + dsp_offset;
 
-#elif defined(__PX4_POSIX_EAGLE)
+#elif (defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR))
 	// Don't do any offseting on the Linux side on the Snapdragon.
 	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
 	return ts_to_abstime(&ts);

src/platforms/shmem.h

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#define MAX_SHMEM_PARAMS 3850 //MAP_SIZE - (LOCK_SIZE - sizeof(struct shmem_info))
+#define MAX_SHMEM_PARAMS 2000 //MAP_SIZE - (LOCK_SIZE - sizeof(struct shmem_info))
 
 struct shmem_info {
 	union param_value_u params_val[MAX_SHMEM_PARAMS];
@@ -44,7 +44,11 @@ struct shmem_info {
 } __attribute__((packed));
 #endif
 
+#if (defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_QURT_EXCELSIOR))
+#define MAP_ADDRESS    0x861FC000
+#else
 #define MAP_ADDRESS	0xfbfc000
+#endif
 #define MAP_SIZE 	16384
 #define MAP_MASK 	(MAP_SIZE - 1)