PX4 · dagar · Jan 17, 2019
diff --git a/.gitmodules b/.gitmodules
@@ -46,12 +46,12 @@
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/eProsima/micro-CDR.git
 	branch = master
-[submodule "platforms/nuttx/NuttX/nuttx"]
-	path = platforms/nuttx/NuttX/nuttx
+[submodule "os/nuttx/NuttX/nuttx"]
+	path = os/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
 	branch = px4_firmware_nuttx-7.22+
-[submodule "platforms/nuttx/NuttX/apps"]
-	path = platforms/nuttx/NuttX/apps
+[submodule "os/nuttx/NuttX/apps"]
+	path = os/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-7.22+
 [submodule "cmake/configs/uavcan_board_ident"]

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
+#	px_impl_${PX4_OS}.cmake or px4_impl_${PX4_OS}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -92,9 +92,9 @@
 # ---------------------------------------------------------------------------
 #
 # * If referencing a string variable, don't put it in quotes.
-#	Don't do "${PX4_PLATFORM}" STREQUAL "posix",
-#	instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
-#	error when ${PX4_PLATFORM} is not defined instead of silently
+#	Don't do "${PX4_OS}" STREQUAL "posix",
+#	instead type ${PX4_OS} STREQUAL "posix". This will throw an
+#	error when ${PX4_OS} is not defined instead of silently
 #	evaluating to false.
 #
 #=============================================================================
@@ -214,7 +214,7 @@ message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
 include(px4_add_board)
 include(${PX4_CONFIG_FILE})
 message(STATUS "PX4 config: ${PX4_CONFIG}")
-message(STATUS "PX4 platform: ${PX4_PLATFORM}")
+message(STATUS "PX4 platform: ${PX4_OS}")
 
 if (ENABLE_LOCKSTEP_SCHEDULER)
 	add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
@@ -232,12 +232,12 @@ endif()
 
 set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 
-include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
+include(os/${PX4_OS}/cmake/px4_impl_os.cmake)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/os/${PX4_OS}/cmake)
 
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if (NOT CMAKE_BUILD_TYPE)
-	if (${PX4_PLATFORM} STREQUAL "nuttx")
+	if (${PX4_OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -279,7 +279,7 @@ endif()
 #=============================================================================
 
 # Setup install paths
-if (${PX4_PLATFORM} STREQUAL "posix")
+if (${PX4_OS} STREQUAL "posix")
 
 	# This makes it possible to dynamically load code which depends on symbols
 	# inside the px4 executable.
@@ -367,7 +367,7 @@ px4_generate_airframes_xml(BOARD ${PX4_BOARD})
 # DriverFramework
 #
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-set(OS ${PX4_PLATFORM})
+set(OS ${PX4_OS})
 add_subdirectory(src/lib/DriverFramework/framework)
 
 # List the DriverFramework drivers
@@ -435,7 +435,7 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
 
 # firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${PX4_PLATFORM})
+add_subdirectory(os/${PX4_OS})
 
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'

diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
@@ -8,8 +8,8 @@ then
     PATTERN="$1"
 fi
 
-exec find boards src platforms \
-    -path platforms/nuttx/NuttX -prune -o \
+exec find boards src os \
+    -path os/nuttx/NuttX -prune -o \
     -path src/lib/DriverFramework -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \

diff --git a/boards/aerotenna/ocpoc/ubuntu.cmake b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -3,7 +3,7 @@ px4_add_board(
 	VENDOR aerotenna
 	MODEL ocpoc
 	LABEL ubuntu
-	PLATFORM posix
+	OS posix
 	ARCHITECTURE cortex-a9
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING

diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR airmind
 	MODEL mindpx-v2
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/atlflight/eagle/CMakeLists.txt b/boards/atlflight/eagle/CMakeLists.txt
@@ -38,12 +38,12 @@
 # Upload
 ############################################################################
 
-if("${PX4_PLATFORM}" MATCHES "qurt")
+if("${PX4_OS}" MATCHES "qurt")
 
 	add_custom_target(upload
 		COMMAND
 			${CMAKE_CURRENT_SOURCE_DIR}/scripts/adb_upload.sh
-				${PX4_BINARY_DIR}/platforms/qurt/libpx4.so ${PX4_BINARY_DIR}/platforms/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config	# source
+				${PX4_BINARY_DIR}/os/qurt/libpx4.so ${PX4_BINARY_DIR}/os/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config	# source
 				/usr/share/data/adsp	# destination
 		DEPENDS px4 px4muorb_skel
 		COMMENT "uploading px4"

diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake
@@ -38,7 +38,7 @@ add_definitions(
 )
 
 px4_add_board(
-	PLATFORM posix
+	OS posix
 	VENDOR atlflight
 	MODEL eagle
 	LABEL default

diff --git a/boards/atlflight/eagle/qurt-default.cmake b/boards/atlflight/eagle/qurt-default.cmake
@@ -39,7 +39,7 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 add_definitions(-D__PX4_QURT_EAGLE)
 
 px4_add_board(
-	PLATFORM qurt
+	OS qurt
 	VENDOR atlflight
 	MODEL eagle
 	LABEL qurt-default

diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake
@@ -38,7 +38,7 @@ add_definitions(
 )
 
 px4_add_board(
-	PLATFORM posix
+	OS posix
 	VENDOR atlflight
 	MODEL excelsior
 	LABEL default

diff --git a/boards/atlflight/excelsior/qurt-default.cmake b/boards/atlflight/excelsior/qurt-default.cmake
@@ -39,7 +39,7 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 add_definitions(-D__PX4_QURT_EXCELSIOR)
 
 px4_add_board(
-	PLATFORM qurt
+	OS qurt
 	VENDOR atlflight
 	MODEL excelsior
 	LABEL qurt-default

diff --git a/boards/atmel/same70xplained/default.cmake b/boards/atmel/same70xplained/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR atmel
 	MODEL same70xplained
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/auav/esc35-v1/default.cmake b/boards/auav/esc35-v1/default.cmake
@@ -37,7 +37,7 @@ px4_make_uavcan_bootloadable(
 )
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR auav
 	MODEL esc35-v1
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR auav
 	MODEL x21
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR av
 	MODEL x-v1
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake
@@ -3,7 +3,7 @@ px4_add_board(
 	VENDOR beaglebone
 	MODEL blue
 	LABEL cross
-	PLATFORM posix
+	OS posix
 	ARCHITECTURE cortex-a8
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING

diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
@@ -3,7 +3,7 @@ px4_add_board(
 	VENDOR beaglebone
 	MODEL blue
 	LABEL native
-	PLATFORM posix
+	OS posix
 	TESTING
 
 	DRIVERS

diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR bitcraze
 	MODEL crazyflie
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake
@@ -3,7 +3,7 @@ px4_add_board(
 	VENDOR emlid
 	MODEL navio2
 	LABEL cross
-	PLATFORM posix
+	OS posix
 	ARCHITECTURE cortex-a53
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING

diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
@@ -3,7 +3,7 @@ px4_add_board(
 	VENDOR emlid
 	MODEL navio2
 	LABEL native
-	PLATFORM posix
+	OS posix
 	TESTING
 
 	DRIVERS

diff --git a/boards/gumstix/aerocore2/default.cmake b/boards/gumstix/aerocore2/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR gumstix
 	MODEL aerocore2
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR intel
 	MODEL aerofc-v1
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR intel
 	MODEL aerofc-v1
 	LABEL rtsp

diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR nxp
 	MODEL fmuk66-v3
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR omnibus
 	MODEL f4sd
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/parrot/bebop/default.cmake b/boards/parrot/bebop/default.cmake
@@ -2,7 +2,7 @@
 px4_add_board(
 	VENDOR parrot
 	MODEL bebop
-	PLATFORM posix
+	OS posix
 	ARCHITECTURE cortex-a53
 	TOOLCHAIN arm-linux-gnueabihf
 

diff --git a/boards/px4/cannode-v1/default.cmake b/boards/px4/cannode-v1/default.cmake
@@ -35,7 +35,7 @@ px4_make_uavcan_bootloadable(
 )
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL cannode-v1
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/px4/esc-v1/default.cmake b/boards/px4/esc-v1/default.cmake
@@ -37,7 +37,7 @@ px4_make_uavcan_bootloadable(
 )
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL esc-v1
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v2
 	TOOLCHAIN arm-none-eabi

diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v2
 	LABEL lpe

diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v2
 	LABEL test

diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
@@ -2,7 +2,7 @@
 # FMUv3 is FMUv2 with access to the full 2MB flash
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v3
 	LABEL default

diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake
@@ -2,7 +2,7 @@
 # FMUv3 is FMUv2 with access to the full 2MB flash
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v3
 	LABEL rtps

diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake
@@ -2,7 +2,7 @@
 # FMUv3 is FMUv2 with access to the full 2MB flash
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v3
 	LABEL stackcheck

diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v4
 	LABEL default

diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v4
 	LABEL rtps

diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v4
 	LABEL stackcheck

diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
@@ -1,6 +1,6 @@
 
 px4_add_board(
-	PLATFORM nuttx
+	OS nuttx
 	VENDOR px4
 	MODEL fmu-v4pro
 	LABEL default