Porting px4 to the evl4 kernel of aarch64 architecture

.gitignore

@@ -1,3 +1,4 @@
+.cache
 *.dSYM
 *.o
 *.gch

.vscode/cmake-variants.yaml

@@ -6,6 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_evl4:
+      short: px4_sitl_evl4
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_evl4
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo

Kconfig

@@ -46,6 +46,12 @@ menu "Toolchain"
         help
             Board Platform is running the Linux operating system
 
+    config BOARD_EVL4_TARGET
+	bool "EVL4 OS Target"
+	depends on PLATFORM_POSIX
+	help
+	    Board Platform is running the EVL4 operating system
+
     config BOARD_TOOLCHAIN
         string "Toolchain"
         default ""

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

@@ -11,7 +11,7 @@ udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))
 
 # GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p -t 10.29.240.226
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -23,13 +23,13 @@ mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
 # API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p -t 10.29.240.226
 
 # Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p -t 10.29.240.226
 
 # Onboard link to gimbal
-mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal -o $udp_onboard_gimbal_port_remote
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal -o $udp_onboard_gimbal_port_remote -p -t 10.29.240.226
 
 # To display for SIH sitl
 if [ "$PX4_SIMULATOR" = "sihsim" ]; then

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -3,7 +3,7 @@
 # Un comment and use set +e to ignore and set -e to enable 'exit on error control'
 set +e
 # Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
+set -x
 
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -204,7 +204,7 @@ fi
 # Autostart ID
 autostart_file=''
 # shellcheck disable=SC2231
-for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
+for f in ${R}etc/init.d-posix/airframes/"${SYS_AUTOSTART}"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in

boards/px4/sitl/evl4.px4board

@@ -0,0 +1,87 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_NOLOCKSTEP=y
+CONFIG_BOARD_EVL4_TARGET=y
+CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_ROOT_PATH="."
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_EKF2_VERBOSE_STATUS=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_FIGURE_OF_EIGHT=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_REPLAY=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_COMMON_SIMULATION=y
+CONFIG_MODULES_SIMULATION_GZ_MSGS=y
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
+CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_FAILURE=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_DYN_HELLO=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_FAKE_IMU=y
+CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_MODULES_SPACECRAFT=n

boards/px4/sitl/test.px4board

@@ -1,2 +1,3 @@
 CONFIG_BOARD_NOLOCKSTEP=y
+CONFIG_BOARD_EVL4_TARGET=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y

cmake/kconfig.cmake

@@ -390,6 +390,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		add_definitions( "-D__PX4_LINUX" )
 	endif()
 
+	if(EVL4_TARGET)
+		add_definitions( "-D__PX4_EVL4" )
+	endif()
+
 	if(LOCKSTEP)
 		set(ENABLE_LOCKSTEP_SCHEDULER yes)
 	endif()

platforms/common/include/px4_platform_common/evl_helper.h

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <string.h>
+#include <stdlib.h>
+#include <evl/proxy.h>
+#include <evl/sched.h>
+#include <evl/thread.h>
+
+#define __stringify_1(x...)	#x
+#define __stringify(x...)	__stringify_1(x)
+#define evl_warn_failed(__fmt, __args...)			\
+	evl_eprintf("%s:%d: FAILED: " __fmt "\n",	\
+		    __FILE__, __LINE__, ##__args)
+
+#define __Tcall(__ret, __call)				\
+	({						\
+		(__ret) = (__call);			\
+		if (__ret < 0) {			\
+			evl_warn_failed("%s (=%s)",		\
+					__stringify(__call),	\
+					strerror(-(__ret)));	\
+		}					\
+		(__ret) >= 0;				\
+	})
+
+#define __Tcall_assert(__ret, __call)		\
+	do {					\
+		if (!__Tcall(__ret, __call))	\
+			exit(__ret);	\
+	} while (0)
+
+// Attach to evl core and set thread name, scheduling policy and priority.
+#define __attach_and_setsched(__policy, __prio, __fmt, __args...)		\
+	do {								\
+		int __ret;						\
+		__Tcall_assert(__ret, evl_attach_self(__fmt, ##__args));	\
+		struct evl_sched_attrs __attrs;				\
+		__attrs.sched_policy = __policy;				\
+		__attrs.sched_priority = __prio;				\
+		__Tcall_assert(__ret, evl_set_schedattr(__ret, &__attrs));	\
+	} while (0)

platforms/common/include/px4_platform_common/module.h

@@ -57,7 +57,11 @@
  *        there is only a single global mutex. This sounds bad, but we actually don't expect
  *        contention here, as module startup is sequential.
  */
+#ifndef __PX4_EVL4
 extern pthread_mutex_t px4_modules_mutex;
+#else
+extern struct evl_mutex px4_modules_mutex;
+#endif
 
 /**
  * @class ModuleBase
@@ -405,15 +409,23 @@ class ModuleBase
 	 */
 	static void lock_module()
 	{
+#ifndef __PX4_EVL4
 		pthread_mutex_lock(&px4_modules_mutex);
+#else
+		evl_lock_mutex(&px4_modules_mutex);
+#endif
 	}
 
 	/**
 	 * @brief unlock_module Mutex to unlock the module thread.
 	 */
 	static void unlock_module()
 	{
+#ifndef __PX4_EVL4
 		pthread_mutex_unlock(&px4_modules_mutex);
+#else
+		evl_unlock_mutex(&px4_modules_mutex);
+#endif
 	}
 
 	/** @var _task_should_exit Boolean flag to indicate if the task should exit. */

platforms/common/include/px4_platform_common/posix.h

@@ -94,6 +94,16 @@ typedef struct {
 	/* Required for PX4 compatibility */
 	px4_sem_t   *sem;  	/* Pointer to semaphore used to post output event */
 	void   *priv;     	/* For use by drivers */
+#ifdef __PX4_EVL4
+        /* Store the evl pollfd, all fds in a array have the same efd
+        we can just store it at the head of array
+        */
+       int efd;
+       /* Store the result pollset, all fds in a array have the same pollset
+       we can just store it at the head of array
+       */
+       struct evl_poll_event *pollset;
+#endif
 } px4_pollfd_struct_t;
 
 #ifndef POLLIN
@@ -118,6 +128,10 @@ __EXPORT int 		px4_close(int fd);
 __EXPORT ssize_t	px4_read(int fd, void *buffer, size_t buflen);
 __EXPORT ssize_t	px4_write(int fd, const void *buffer, size_t buflen);
 __EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
+#ifdef __PX4_EVL4
+__EXPORT int 		px4_poll_init(px4_pollfd_struct_t *fds, unsigned int nfds);
+__EXPORT int 		px4_poll_destory(px4_pollfd_struct_t *fds, unsigned int nfds);
+#endif
 __EXPORT int		px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
 __EXPORT int		px4_access(const char *pathname, int mode);
 __EXPORT px4_task_t	px4_getpid(void);

platforms/common/include/px4_platform_common/sem.h

@@ -41,6 +41,10 @@
 
 #include <semaphore.h>
 
+#if defined(__PX4_EVL4)
+#include <evl/sem.h>
+#endif
+
 #if !defined(__PX4_NUTTX)
 /* Values for protocol attribute */
 
@@ -54,11 +58,15 @@
 
 __BEGIN_DECLS
 
+#if defined(__PX4_EVL4)
+typedef struct evl_sem px4_sem_t;
+#else
 typedef struct {
 	pthread_mutex_t lock;
 	pthread_cond_t wait;
 	int value;
 } px4_sem_t;
+#endif
 
 __EXPORT int		px4_sem_init(px4_sem_t *s, int pshared, unsigned value);
 __EXPORT int		px4_sem_setprotocol(px4_sem_t *s, int protocol);

platforms/common/include/px4_platform_common/time.h

@@ -5,6 +5,11 @@
 #include <time.h>
 #include <pthread.h>
 
+#if defined(__PX4_EVL4)
+#include <evl/mutex.h>
+#include <evl/event.h>
+#endif
+
 #if defined(__PX4_POSIX)
 __BEGIN_DECLS
 __EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
@@ -30,9 +35,16 @@ __END_DECLS
 __BEGIN_DECLS
 __EXPORT int px4_usleep(useconds_t usec);
 __EXPORT unsigned int px4_sleep(unsigned int seconds);
+
+#if defined(__PX4_EVL4)
+__EXPORT int px4_pthread_cond_timedwait(struct evl_event *cond,
+					struct evl_mutex *mutex,
+					const struct timespec *abstime);
+#else
 __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
 					pthread_mutex_t *mutex,
 					const struct timespec *abstime);
+#endif
 __END_DECLS
 
 #else

platforms/common/module.cpp

@@ -44,7 +44,13 @@
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/log.h>
 
+#ifndef __PX4_EVL4
 pthread_mutex_t px4_modules_mutex = PTHREAD_MUTEX_INITIALIZER;
+#else
+#include <evl/mutex.h>
+struct evl_mutex px4_modules_mutex = EVL_MUTEX_INITIALIZER("/modules_mutex", EVL_CLOCK_MONOTONIC, 0,
+				     EVL_MUTEX_NORMAL | EVL_CLONE_PUBLIC);
+#endif
 
 #ifndef __PX4_NUTTX