NuttX upgrade cmake wrapper (#7873)

* NuttX cmake

* px4_macros:Pass the stringified predicate as second arg to static assert

   CC_ASSERT mapes to the c++ static_assert or provides the same
   funtionality for c via the other macros. The c++ static assert
   takes 2 argumants the prdicate and a message. This fixes the
   lacking second argument.

* Updated nuttx and apps submodule to upstream nuttx 7.21+==master

   This is the latest uptake of upstream nuttx and apps.

* ROMFS generate with xxd instead of objcopy

* delete nuttx-patches

* NuttX update submodules to latest px4_nuttx-master

* fix nuttx apps and board dependency

* docker_run update to latest container 2017-08-29

* cmake ROMFS portable sed usage

* NuttX update submodules to latest px4_nuttx-master

.gitmodules

@@ -4,9 +4,6 @@
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
-[submodule "NuttX"]
-	path = NuttX
-	url = https://github.com/PX4/PX4NuttX.git
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git
@@ -40,3 +37,9 @@
 [submodule "src/lib/micro-CDR"]
 	path = src/lib/micro-CDR
 	url = https://github.com/eProsima/micro-CDR.git
+[submodule "platforms/nuttx/NuttX/nuttx"]
+	path = platforms/nuttx/NuttX/nuttx
+	url = git@github.com:PX4-NuttX/nuttx.git
+[submodule "platforms/nuttx/NuttX/apps"]
+	path = platforms/nuttx/NuttX/apps
+	url = git@github.com:PX4-NuttX/apps.git

CMakeLists.txt

@@ -99,14 +99,8 @@
 #
 #=============================================================================
 
-if (${CMAKE_VERSION} VERSION_LESS 3.1.0)
+# check submodules before we do anything
-	message("Not a valid CMake version")
+execute_process(COMMAND Tools/check_submodules.sh WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
-	message("On Ubuntu >= 16.04, install or upgrade via:")
-	message("	sudo apt-get install cmake")
-	message("")
-	message("Official website: https://cmake.org/download/")
-	message(FATAL_ERROR "Update CMake and try again" )
-endif()
 
 # Warning: Changing this modifies CMake's internal workings
 # and leads to wrong toolchain detection
@@ -115,15 +109,18 @@ cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-execute_process(
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-	COMMAND Tools/check_submodules.sh
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-	)
+
+define_property(GLOBAL PROPERTY PX4_LIBRARIES
+                 BRIEF_DOCS "PX4 libs"
+                 FULL_DOCS "List of all PX4 module libraries"
+                 )
 
 #=============================================================================
 # configuration
 #
-# must come before project to set toolchain
 
 set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 
@@ -145,7 +142,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 endif()
 
 list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -176,16 +172,17 @@ message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 #
 include(common/px4_git)
 
+# version info from git
 execute_process(
-	COMMAND git describe --always --tags
+	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE git_tag
+	OUTPUT_VARIABLE version
-	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
 execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
+	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_version
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
@@ -202,12 +199,10 @@ px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
 px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
 px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
-px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_nuttx PATH "platforms/nuttx/NuttX")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_micro_cdr PATH "src/lib/micro-CDR")
 
-px4_create_git_hash_header()
-
 #=============================================================================
 
 message(STATUS "PX4 VERSION: ${git_tag}")
@@ -225,18 +220,12 @@ add_definitions(-DBUILD_URI=${BUILD_URI})
 # Define GNU standard installation directories
 include(GNUInstallDirs)
 
-# Add support for external project building
-include(ExternalProject)
-
 # Setup install paths
-if (NOT CMAKE_INSTALL_PREFIX)
+if (${OS} STREQUAL "posix")
-	if (${OS} STREQUAL "posix")
+	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
 endif()
-if (CMAKE_INSTALL_PREFIX)
-	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
-endif()
 
 #=============================================================================
 # require px4 module interface
@@ -361,12 +350,11 @@ px4_os_add_flags(
 	LINK_DIRS link_dirs
 	DEFINITIONS definitions)
 
-px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
 
 include_directories(${include_dirs})
-#message("INCLUDE_DIRS=${include_dirs}")
 link_directories(${link_dirs})
 add_definitions(${definitions})
 
@@ -381,10 +369,8 @@ px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
 	INCLUDES ${msg_include_paths}
-	DEPENDS git_genmsg git_gencpp git_micro_cdr prebuild_targets
+	DEPENDS prebuild_targets
 	)
-include_directories("${PX4_SOURCE_DIR}/src/lib/micro-CDR/include"
-					"${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr")
 
 px4_generate_airframes_xml(BOARD ${BOARD})
 
@@ -439,7 +425,6 @@ endif()
 #=============================================================================
 # subdirectories
 #
-set(module_libraries)
 foreach(module ${config_module_list})
 	string(REGEX MATCH "^[./]" external_module ${module})
 	if (external_module)
@@ -449,19 +434,10 @@ foreach(module ${config_module_list})
 	else()
 		add_subdirectory(src/${module})
 	endif()
-	px4_mangle_name(${module} mangled_name)
-	list(APPEND module_libraries ${mangled_name})
 endforeach()
 
-# Keep track of external shared libs required for modules
-set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
-
 add_subdirectory(src/firmware/${OS})
 
-if (config_io_board)
-	add_subdirectory(src/modules/px4iofirmware)
-endif()
-
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets
 #

Debug/poor-mans-profiler.sh

@@ -77,7 +77,7 @@ do
     shift
 done
 
-[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build_px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
 
 #
 # Temporary files

Makefile

@@ -53,7 +53,7 @@ endif
 # make px4fmu-v2_default test 		(builds and tests)
 #
 # This tells cmake to build the nuttx px4fmu-v2 default config in the
-# directory build_nuttx_px4fmu-v2_default and then call make
+# directory build/nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.
 
 #  explicity set default build target
@@ -132,7 +132,7 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
++@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
 +@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2)  -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi
 +@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
@@ -191,6 +191,7 @@ qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
 
 # px4fmu NuttX firmware
 px4fmu_firmware: \
+	check_px4io-v2_default \
 	check_px4fmu-v2_default \
 	check_px4fmu-v3_default \
 	check_px4fmu-v4_default \
@@ -229,7 +230,7 @@ checks_bootloaders: \
 	sizes
 
 sizes:
-	@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || :
+	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
 check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders tests check_format
@@ -277,25 +278,25 @@ s3put_firmware: Firmware.zip
 s3put_qgc_firmware: s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware
 
 s3put_px4fmu_firmware: px4fmu_firmware
-	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
+	@find $(SRC_DIR)/build -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
 
 s3put_misc_qgc_extra_firmware: misc_qgc_extra_firmware
-	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
+	@find $(SRC_DIR)/build -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
 
 s3put_metadata: px4_metadata
 	@$(SRC_DIR)/Tools/s3put.sh airframes.md
 	@$(SRC_DIR)/Tools/s3put.sh airframes.xml
-	@$(SRC_DIR)/Tools/s3put.sh build_posix_sitl_default/parameters.xml
+	@$(SRC_DIR)/Tools/s3put.sh build/posix_sitl_default/parameters.xml
 	@$(SRC_DIR)/Tools/s3put.sh parameters.md
 
 s3put_scan-build: scan-build
-	@cd $(SRC_DIR) && ./Tools/s3put.sh `find build_scan-build -mindepth 1 -maxdepth 1 -type d`/
+	@cd $(SRC_DIR) && ./Tools/s3put.sh `find build/scan-build -mindepth 1 -maxdepth 1 -type d`/
 
 s3put_cppcheck: cppcheck
 	@cd $(SRC_DIR) && ./Tools/s3put.sh cppcheck/
 
 s3put_coverage: tests_coverage
-	@cd $(SRC_DIR) && ./Tools/s3put.sh build_posix_sitl_default/coverage-html/
+	@cd $(SRC_DIR) && ./Tools/s3put.sh build/posix_sitl_default/coverage-html/
 
 # Astyle
 # --------------------------------------------------------------------
@@ -326,7 +327,7 @@ coveralls_upload:
 		--exclude=src/lib/ecl \
 		--exclude=src/lib/Matrix \
 		--exclude=src/modules/uavcan/libuavcan \
-		--root . --build-root build_posix_sitl_default/ --follow-symlinks
+		--root . --build-root build/posix_sitl_default/ --follow-symlinks
 
 codecov_upload:
 	@/bin/bash -c "bash <(curl -s https://codecov.io/bash)"
@@ -336,32 +337,32 @@ codecov_upload:
 .PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
 
 posix_sitl_default-clang:
-	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-clang
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
-	@cd $(SRC_DIR)/build_posix_sitl_default-clang && cmake .. -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@cd $(SRC_DIR)/build_posix_sitl_default-clang && ninja
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && ninja
 
 scan-build:
 	@export CCC_CC=clang
 	@export CCC_CXX=clang++
-	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-scan-build
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
-	@cd $(SRC_DIR)/build_posix_sitl_default-scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
+	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
-	@scan-build -o $(SRC_DIR)/build_scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default-scan-build
+	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
 
 clang-tidy: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+	@cd build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: posix_sitl_default
-	@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build_posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
+	@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build/posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
 	@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/
 
 check_stack: px4fmu-v3_default
@@ -384,8 +385,7 @@ check_stack: px4fmu-v3_default
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@rm -rf $(SRC_DIR)/build_*/
+	@rm -rf $(SRC_DIR)/build
-	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d

ROMFS/CMakeLists.txt

@@ -0,0 +1,45 @@
+
+message(STATUS "ROMFS: ${config_romfs_root}")
+
+set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
+set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
+
+# directory setup
+# copy all romfs files, process airframes, prune comments
+file(GLOB_RECURSE init_airframes ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/*/[1-9]*)
+add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
+	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		-a ${romfs_temp_dir}/init.d
+		-s ${romfs_temp_dir}/init.d/rc.autostart
+		--board ${BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		--folder ${romfs_temp_dir} --board ${BOARD}
+	DEPENDS
+		${romfs_src_files}
+		${init_airframes}
+		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	)
+
+set(romfs_dependencies)
+list(APPEND romfs_dependencies
+	${romfs_temp_dir}/init.d/rcS
+	${romfs_temp_dir}/init.d/rc.autostart
+	)
+	
+# create romfs.bin
+add_custom_command(OUTPUT romfs.img
+	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+	DEPENDS ${romfs_dependencies}
+	)
+
+# create romfs.o
+add_custom_command(OUTPUT nsh_romfsimg.c
+	COMMAND xxd -i romfs.img nsh_romfsimg.c
+	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
+	DEPENDS romfs.img
+	)
+
+add_library(romfs STATIC nsh_romfsimg.c)
+set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)

Tools/docker_run.sh

@@ -4,23 +4,23 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-07-27"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-08-29"
 	elif [[ $@ =~ .*rpi.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-07-27"
+		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-08-29"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-07-28"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-07-27"
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-08-29"
 	elif [[ $@ =~ .*cppcheck.* ]]; then
 		# need Ubuntu 17.04 for cppcheck cmake support
 		# TODO: remove this once px4io/px4-dev-base updates
 		PX4_DOCKER_REPO=px4io/px4-dev-base:ubuntu17.04
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-07-27"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-08-29"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
@@ -28,7 +28,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-07-27"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-08-29"
 fi
 
 # docker hygiene

Tools/fix_headers.sh

@@ -79,7 +79,7 @@ fi
 
 # Find a reasonable tmp directory.
 # First make a list of all build directories by looking for a CMakeCache.txt in them. Sort them so the most recent one is first.
-CMAKECACHE_FILES=$(find "$BASEDIR" -mindepth 2 -maxdepth 2 -type f -name CMakeCache.txt -wholename "$BASEDIR/build_*/CMakeCache.txt" | xargs /bin/ls -td)
+CMAKECACHE_FILES=$(find "$BASEDIR" -mindepth 2 -maxdepth 2 -type f -name CMakeCache.txt -wholename "$BASEDIR/build/*/CMakeCache.txt" | xargs /bin/ls -td)
 # Make a list of all candidate tmp directories.
 TMPDIRS=
 for f in $CMAKECACHE_FILES; do
@@ -195,7 +195,7 @@ for subm in $SUBMODULES; do
 done
 
 echo -n "Finding all source files with #include's (excluding submodules and build directory)... "
-find $BASEDIR -mindepth 2 -type f ! \( -wholename $BASEDIR/build_* -o $EXCLUDE_ARGS -o $SUBMODULES_ARGS \) \( $INCLUDE_C_ARGS -o $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_sources
+find $BASEDIR -mindepth 2 -type f ! \( -wholename $BASEDIR/build/* -o $EXCLUDE_ARGS -o $SUBMODULES_ARGS \) \( $INCLUDE_C_ARGS -o $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_sources
 cat "$TMPDIR/fix_headers_sources" | xargs grep -l "$INCLUDE_RE" > $TMPDIR/fix_headers_sources_with_includes
 echo "done"
 number_of_files=$(sed -n '$=' "$TMPDIR/fix_headers_sources_with_includes")
@@ -206,7 +206,7 @@ find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) \( $SUBMODULES_ARGS \) \( $INCLUDE_H
 echo "done"
 
 echo -n "Finding all header files (excluding stdc++ headers)... "
-find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) -wholename $BASEDIR/build_* \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_HEADERS
+find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) -wholename $BASEDIR/build/* \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_HEADERS
 grep -E "$HEADER_RE" $TMPDIR/fix_headers_sources >> $TMPDIR/fix_headers_HEADERS
 cat $TMPDIR/fix_headers_SUBMODULE_HEADERS >> $TMPDIR/fix_headers_HEADERS
 echo "done"
@@ -233,7 +233,7 @@ function include_path()
 	foo=0
 	for includedir in $(grep "/$PATH_RE\$" $TMPDIR/fix_headers_HEADERS | cut -c $striplen-); do
 		# If the include directory is NuttX header that was copied to the build directory, then it's still a system file.
-		if [[ $includedir/ =~ ^build_.*/NuttX/ ]]; then
+		if [[ $includedir/ =~ ^build/.*/NuttX/ ]]; then
 			issubmodule=1
 		# If the include directory is a submodule, then treat it as a system file.
 		elif [[ $includedir/ =~ ^$SUBMODULES_RE/ ]]; then

Tools/new_nuttx_px_config.sh

@@ -168,6 +168,6 @@ fi
 sed -i -r -e 's%("(magic|description|summary)": ")([^"]*)(",).*%\1FIXME (was: \3)\4%' "Images/${newname}.prototype"
 
 echo "*** The following files contain a reference to $oldconfig (this might take a while):"
-find . -path './build_*' -o -path './.git' -o -name 'defconfig' -prune -o -type f -exec grep -l -- "$oldconfig" {} \;
+find . -path './build/*' -o -path './.git' -o -name 'defconfig' -prune -o -type f -exec grep -l -- "$oldconfig" {} \;
 echo "*** Run 'git diff' to check the changes that this script already made relative to the copied prototype files."
 echo "*** Use 'git status' to see other (added) files, that likely need fixing."

Tools/px4_snapflight_sanitytest.sh

@@ -156,24 +156,24 @@ installpx4() {
    if [ $mode == 0 ]; then
       # copy default binaries
       echo -e "Copying the PX4 binaries from the eagle_default build tree..."
-      adb push $workspace/build_qurt_eagle_default/src/firmware/qurt/libpx4.so /usr/share/data/adsp
+      adb push $workspace/build/qurt_eagle_default/src/firmware/qurt/libpx4.so /usr/share/data/adsp
-      adb push $workspace/build_qurt_eagle_default/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
+      adb push $workspace/build/qurt_eagle_default/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
-      adb push $workspace/build_posix_eagle_default/src/firmware/posix/px4 /home/linaro
+      adb push $workspace/build/posix_eagle_default/src/firmware/posix/px4 /home/linaro
       adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
       adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
    elif [ $mode == 1 ]; then
       # copy legacy binaries
       echo -e "Copying the PX4 binaries from the eagle_legacy build tree..."
-      adb push $workspace/build_qurt_eagle_legacy/src/firmware/qurt/libpx4.so /usr/share/data/adsp
+      adb push $workspace/build/qurt_eagle_legacy/src/firmware/qurt/libpx4.so /usr/share/data/adsp
-      adb push $workspace/build_qurt_eagle_legacy/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
+      adb push $workspace/build/qurt_eagle_legacy/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
-      adb push $workspace/build_posix_eagle_legacy/src/firmware/posix/px4 /home/linaro
+      adb push $workspace/build/posix_eagle_legacy/src/firmware/posix/px4 /home/linaro
       adb push $workspace/posix-configs/eagle/200qx/px4.config /usr/share/data/adsp
       adb push $workspace/posix-configs/eagle/200qx/mainapp.config /home/linaro
    else
       echo -e "Copying the PX4 binaries from the excelsior_legacy build tree..."
-      adb push $workspace/build_qurt_excelsior_legacy/src/firmware/qurt/libpx4.so /usr/lib/rfsa/adsp
+      adb push $workspace/build/qurt_excelsior_legacy/src/firmware/qurt/libpx4.so /usr/lib/rfsa/adsp
-      adb push $workspace/build_qurt_excelsior_legacy/src/firmware/qurt/libpx4muorb_skel.so /usr/lib/rfsa/adsp
+      adb push $workspace/build/qurt_excelsior_legacy/src/firmware/qurt/libpx4muorb_skel.so /usr/lib/rfsa/adsp
-      adb push $workspace/build_posix_excelsior_legacy/src/firmware/posix/px4 /home/root
+      adb push $workspace/build/posix_excelsior_legacy/src/firmware/posix/px4 /home/root
       adb push $workspace/posix-configs/excelsior/px4.config /usr/lib/rfsa/adsp
       adb push $workspace/posix-configs/excelsior/mainapp.config /home/root
    fi

Tools/qgc_meta_sync.sh

@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
 
 make px4fmu-v4_default
-cp build_px4fmu-v4_default/parameters.xml ../qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+cp build/px4fmu-v4_default/parameters.xml ../qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
-cp build_px4fmu-v4_default/airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+cp build/px4fmu-v4_default/airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml

Tools/sitl_multiple_run.sh

@@ -17,7 +17,7 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/.."
 
 rc_script="posix-configs/SITL/init/ekf2/multiple_iris"
-build_path=${src_path}/build_posix_sitl_default
+build_path=${src_path}/build/posix_sitl_default
 
 echo "killing running instances"
 pkill -x px4 || true

Tools/sitl_run.sh

@@ -23,7 +23,6 @@ echo src_path: $src_path
 echo build_path: $build_path
 
 working_dir=`pwd`
-sitl_bin=$build_path/src/firmware/posix/px4
 rootfs=$build_path/tmp/rootfs
 
 if [ "$chroot" == "1" ]

cmake/common/px4_base.cmake

@@ -198,10 +198,6 @@ function(px4_add_module)
 		REQUIRED MODULE
 		ARGN ${ARGN})
 
-	if (EXTERNAL)
-		px4_mangle_name("${EXTERNAL_MODULES_LOCATION}/src/${MODULE}" MODULE)
-	endif()
-
 	px4_add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
 
 	# set defaults if not set
@@ -219,16 +215,14 @@ function(px4_add_module)
 		if(NOT ${property})
 			set(${property} ${${property}_DEFAULT})
 		endif()
-		set_target_properties(${MODULE} PROPERTIES ${property}
+		set_target_properties(${MODULE} PROPERTIES ${property} ${${property}})
-			${${property}})
 	endforeach()
 
 	# default stack max to stack main
 	if(NOT STACK_MAX)
 		set(STACK_MAX ${STACK_MAIN})
 	endif()
-	set_target_properties(${MODULE} PROPERTIES STACK_MAX
+	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
-		${STACK_MAX})
 
 	if(${OS} STREQUAL "qurt" )
 		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
@@ -270,7 +264,6 @@ function(px4_add_module)
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()
 	endforeach()
-
 endfunction()
 
 #=============================================================================
@@ -479,14 +472,6 @@ function(px4_add_common_flags)
 		-D__STDC_FORMAT_MACROS
 		)
 
-	if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
-		set(added_exe_linker_flags
-			-Wl,--warn-common
-			-Wl,--gc-sections
-			#,--print-gc-sections
-			)
-	endif()
-
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)
@@ -496,31 +481,6 @@ function(px4_add_common_flags)
 
 endfunction()
 
-#=============================================================================
-#
-#	px4_mangle_name
-#
-#	Convert a path name to a module name
-#
-#	Usage:
-#		px4_mangle_name(dirname newname)
-#
-#	Input:
-#		dirname					: path to module dir
-#
-#	Output:
-#		newname					: module name
-#
-#	Example:
-#		px4_mangle_name(${dirpath} mangled_name)
-#		message(STATUS "module name is ${mangled_name}")
-#
-function(px4_mangle_name dirname newname)
-	set(tmp)
-	string(REPLACE "/" "__" tmp ${dirname})
-	set(${newname} ${tmp} PARENT_SCOPE)
-endfunction()
-
 #=============================================================================
 #
 #	px4_strip_optimization
@@ -588,6 +548,8 @@ function(px4_add_library target)
 	px4_add_optimization_flags_for_target(${target})
 	# Pass variable to the parent px4_add_module.
 	set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
+
+	set_property(GLOBAL APPEND PROPERTY PX4_LIBRARIES ${target})
 endfunction()
 
 #=============================================================================

cmake/common/px4_git.cmake

@@ -68,71 +68,15 @@ function(px4_add_git_submodule)
 		ONE_VALUE TARGET PATH
 		REQUIRED TARGET PATH
 		ARGN ${ARGN})
+
 	string(REPLACE "/" "_" NAME ${PATH})
+
 	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		COMMAND Tools/check_submodules.sh ${PATH}
-		COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		COMMAND cmake -E touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
 		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
-		)
-	add_custom_target(${TARGET}
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-# todo:Not have 2 list of submodules one (see the end of Tools/check_submodules.sh and Firmware/CMakeLists.txt)
-# using the list of submodules from the CMake file to drive the test
-#		COMMAND Tools/check_submodules.sh ${PATH}
-		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
 		)
-endfunction()
+
-
+	add_custom_target(${TARGET} DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp)
-#=============================================================================
-#
-#	px4_create_git_hash_header
-#
-#	Create a header file containing the git hash of the current tree
-#
-#	Usage:
-#		px4_create_git_hash_header()
-#
-#	Example:
-#		px4_create_git_hash_header()
-#
-function(px4_create_git_hash_header)
-	px4_parse_function_args(
-		NAME px4_create_git_hash_header
-		ARGN ${ARGN})
-
-	set(px4_git_ver_header ${PX4_BINARY_DIR}/build_git_version.h)
-
-	# check if px4 source is a git repo
-	if(EXISTS ${PX4_SOURCE_DIR}/.git)
-		if (IS_DIRECTORY ${PX4_SOURCE_DIR}/.git)
-			# standard git repo
-			set(git_dir_path ${PX4_SOURCE_DIR}/.git)
-		else()
-			# git submodule
-			file(READ ${PX4_SOURCE_DIR}/.git git_dir_path)
-			string(STRIP ${git_dir_path} git_dir_path)
-			string(REPLACE "gitdir: " "" git_dir_path ${git_dir_path})
-			get_filename_component(git_dir_path ${git_dir_path} ABSOLUTE)
-		endif()
-	else()
-		message(FATAL_ERROR "is not a git repository")
-	endif()
-	if(NOT IS_DIRECTORY "${git_dir_path}")
-		message(FATAL_ERROR "${git_dir_path} is not a directory")
-	endif()
-
-	set(deps
-		${PX4_SOURCE_DIR}/Tools/px_update_git_header.py
-		${git_dir_path}/index
-		${git_dir_path}/HEAD)
-
-	add_custom_command(
-		OUTPUT ${px4_git_ver_header}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_update_git_header.py ${px4_git_ver_header} > ${PX4_BINARY_DIR}/git_header.log
-		DEPENDS ${deps}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMENT "Generating git hash header"
-		)
-	set_source_files_properties(${px4_git_ver_header} PROPERTIES GENERATED TRUE)
-	add_custom_target(ver_gen ALL DEPENDS ${px4_git_ver_header})
 endfunction()

cmake/common/px4_metadata.cmake

@@ -73,7 +73,7 @@ function(px4_generate_messages)
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
 
-	if("${config_nuttx_config}" STREQUAL "bootloader")
+	if("${nuttx_config_type}" STREQUAL "bootloader")
 		# do nothing for bootloaders
 	else()
 
@@ -162,6 +162,12 @@ function(px4_generate_messages)
 			${msg_multi_files_out}
 			${msg_files_out}
 			)
+
+		target_include_directories(${TARGET}
+			PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
+			PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
+			)
+		target_link_libraries(${TARGET} PRIVATE lib__micro-CDR)
     endif()
 endfunction()
 

cmake/configs/nuttx_aerocore2_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
@@ -16,7 +14,7 @@ set(config_module_list
 	drivers/stm32/tone_alarm
 	drivers/led
 	drivers/px4fmu
-	drivers/boards/aerocore2
+	drivers/boards
 	drivers/lsm303d
 	drivers/l3gd20
 	drivers/ms5611
@@ -63,6 +61,7 @@ set(config_module_list
 	#modules/commander/commander_tests
 	#lib/controllib/controllib_test
 	#modules/mavlink/mavlink_tests
+	#modules/unit_test
 	#modules/uORB/uORB_tests
 	#systemcmds/tests
 
@@ -169,20 +168,3 @@ set(config_module_list
 	# Hardware test
 	#examples/hwtest
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
@@ -14,7 +12,7 @@ set(config_module_list
 	drivers/stm32
 	drivers/led
 	drivers/px4fmu
-	drivers/boards/aerofc-v1
+	drivers/boards
 	drivers/tap_esc
 	drivers/mpu9250
 	drivers/ms5611
@@ -95,9 +93,3 @@ set(config_module_list
 	platforms/common
 	platforms/nuttx/px4_layer
 )
-
-set(config_extra_builtin_cmds
-	)
-
-set(config_io_board
-	)

cmake/configs/nuttx_auav-x21_default.cmake

@@ -1,8 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 1)
 
@@ -17,7 +15,7 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	drivers/px4io
-	drivers/boards/auav-x21
+	drivers/boards
 	drivers/rgbled
 	drivers/mpu6000
 	drivers/mpu9250
@@ -190,26 +188,3 @@ set(config_module_list
 	# Hardware test
 	#examples/hwtest
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_io_board
-	px4io-v2
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_crazyflie_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_module_list
 	#
 	# Board support modules
@@ -12,7 +10,7 @@ set(config_module_list
 	drivers/stm32
 	drivers/led
 	drivers/px4fmu
-	drivers/boards/crazyflie
+	drivers/boards
 	drivers/mpu9250
 	drivers/lps25h
 	drivers/gps
@@ -45,7 +43,6 @@ set(config_module_list
 	modules/mavlink
 	#modules/gpio_led
 	modules/land_detector
-
 	modules/syslink
 
 	#
@@ -138,22 +135,3 @@ set(config_module_list
 	# Hardware test
 	#examples/hwtest
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_esc35-v1_bootloader.cmake

@@ -1,30 +1,2 @@
-include(nuttx/px4_impl_nuttx)
+include(nuttx/px4_uavcan_bootloader)
-
 px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)
-
-set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
-set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
-set(px4_module_base ${px4_src_base}modules/)
-
-#
-# UAVCAN boot loadable Module ID
-
-#
-# Bring in common uavcan hardware identity definitions
-#
-
-include(configs/uavcan_board_ident/esc35-v1)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_module_list
-
-	drivers/boards/esc35-v1/bootloader
-
-)
-
-#
-# Bootloaders use a compact vector table not
-# from the lib, but exported in startup
-#
-set(nuttx_startup_files stm32_vectors.o)

cmake/configs/nuttx_esc35-v1_default.cmake

@@ -1,97 +1,80 @@
 include(nuttx/px4_impl_nuttx)
 
 add_definitions(
-  -DFLASH_BASED_PARAMS
+	-DFLASH_BASED_PARAMS
-  -DPARAM_NO_ORB
+	-DPARAM_NO_ORB
-  -DPARAM_NO_AUTOSAVE
+	-DPARAM_NO_AUTOSAVE
-  -DPARAMETER_BUFFER_SIZE=1024
+	-DPARAMETER_BUFFER_SIZE=1024
 )
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh)
 
-#
 # UAVCAN boot loadable Module ID
-
 set(uavcanblid_sw_version_major 0)
 set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+	)
 
-#
 # Bring in common uavcan hardware identity definitions
-#
-
 include(configs/uavcan_board_ident/esc35-v1)
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
- BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/firmware_nuttx.bin
+	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/esc35-v1.bin
- HWNAME ${uavcanblid_name}
+	HWNAME ${uavcanblid_name}
- HW_MAJOR ${uavcanblid_hw_version_major}
+	HW_MAJOR ${uavcanblid_hw_version_major}
- HW_MINOR ${uavcanblid_hw_version_minor}
+	HW_MINOR ${uavcanblid_hw_version_minor}
- SW_MAJOR ${uavcanblid_sw_version_major}
+	SW_MAJOR ${uavcanblid_sw_version_major}
- SW_MINOR ${uavcanblid_sw_version_minor})
+	SW_MINOR ${uavcanblid_sw_version_minor}
+)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/esc35-v1/bootloader)
 
 set(config_module_list
-
 	#
 	# Board support modules
 	#
-
+	drivers/boards
-	drivers/stm32
+	drivers/bootloaders
+	drivers/device
 	drivers/led
-	drivers/boards/esc35-v1
+	drivers/stm32
 
 	#
 	# System commands
 	#
+	systemcmds/config
 	systemcmds/reboot
 	systemcmds/top
-	systemcmds/config
+	systemcmds/param
 	systemcmds/ver
-    systemcmds/param
 
 	#
 	# General system control
 	#
-    modules/uavcanesc
+	modules/uavcanesc
-    modules/uavcanesc/nshterm
+	modules/uavcanesc/nshterm
-    modules/uavcanesc/commands/cfg
+	modules/uavcanesc/commands/cfg
-    modules/uavcanesc/commands/selftest
+	modules/uavcanesc/commands/selftest
-    modules/uavcanesc/commands/dc
+	modules/uavcanesc/commands/dc
-    modules/uavcanesc/commands/rpm
+	modules/uavcanesc/commands/rpm
-    modules/uavcanesc/commands/stat
+	modules/uavcanesc/commands/stat
 
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
-	lib/version
-
-	#
-	# Libraries
-	#
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/nuttx
-	platforms/common
-	platforms/nuttx/px4_layer
 	lib/micro-CDR
-
+	lib/version
-
+	modules/systemlib
+	modules/systemlib/param
+	modules/uORB
+	platforms/common
+	platforms/nuttx
+	platforms/nuttx/px4_layer
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 1)
 
 set(config_module_list
@@ -16,8 +14,9 @@ set(config_module_list
 	drivers/stm32/tone_alarm
 	drivers/led
 	drivers/px4fmu
-	drivers/boards/mindpx-v2
+	drivers/boards
 	drivers/rgbled
+	#drivers/rgbled_pwm
 	drivers/mpu6000
 	drivers/mpu9250
 	drivers/lsm303d
@@ -208,20 +207,3 @@ set(config_rtps_send_topics
 set(config_rtps_receive_topics
    sensor_baro
    )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")

cmake/configs/nuttx_nxphlite-v3_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 1)
 
 set(config_module_list
@@ -15,7 +13,7 @@ set(config_module_list
 #NOT Supported	drivers/bma180
 #NOT Supported	drivers/bmi160
 	drivers/bmp280
-	drivers/boards/nxphlite-v3
+	drivers/boards
 	drivers/bst
 	drivers/camera_trigger
 	drivers/device
@@ -212,30 +210,3 @@ set(config_module_list
 	# EKF
 	examples/ekf_att_pos_estimator
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_extra_libs
-##NO CAN YET	uavcan
-##NO CAN YET	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4-same70xplained-v1_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 ##set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
@@ -16,8 +14,7 @@ set(config_module_list
 	drivers/samv7/tone_alarm
 	drivers/led
 	drivers/px4fmu
-#WIP 	drivers/px4io
+	drivers/boards
-	drivers/boards/px4-same70xplained-v1
 	drivers/rgbled
 	drivers/mpu6000
 	drivers/mpu9250
@@ -173,30 +170,3 @@ set(config_module_list
 	# Hardware test
 	#examples/hwtest
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
- set(config_extra_libs
-#	uavcan
-#	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_module_list
 	#
 	# Board support modules
@@ -11,7 +9,7 @@ set(config_module_list
 	drivers/device
 	drivers/stm32
 	drivers/led
-	drivers/boards/px4-stm32f4discovery
+	drivers/boards
 
 	#
 	# System commands
@@ -77,20 +75,3 @@ set(config_module_list
 	# Hardware test
 	#examples/hwtest
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")

cmake/configs/nuttx_px4cannode-v1_bootloader.cmake

@@ -1,30 +1,2 @@
-include(nuttx/px4_impl_nuttx)
+include(nuttx/px4_uavcan_bootloader)
-
 px4_nuttx_configure(HWCLASS m3 CONFIG bootloader)
-
-set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
-set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
-set(px4_module_base ${px4_src_base}modules/)
-
-#
-# UAVCAN boot loadable Module ID
-
-#
-# Bring in common uavcan hardware identity definitions
-#
-
-include(configs/uavcan_board_ident/px4cannode-v1)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_module_list
-
-	drivers/boards/px4cannode-v1/bootloader
-
-)
-
-#
-# Bootloaders use a compact vector table not
-# from the lib, but exported in startup
-#
-set(nuttx_startup_files stm32_vectors.o)

cmake/configs/nuttx_px4cannode-v1_default.cmake

@@ -7,44 +7,49 @@ add_definitions(
 
 px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
 
-#
 # UAVCAN boot loadable Module ID
-
 set(uavcanblid_sw_version_major 0)
 set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+	)
 
-#
 # Bring in common uavcan hardware identity definitions
-#
-
 include(configs/uavcan_board_ident/px4cannode-v1)
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
- BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/firmware_nuttx.bin
+	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/px4cannode-v1.bin
- HWNAME ${uavcanblid_name}
+	HWNAME ${uavcanblid_name}
- HW_MAJOR ${uavcanblid_hw_version_major}
+	HW_MAJOR ${uavcanblid_hw_version_major}
- HW_MINOR ${uavcanblid_hw_version_minor}
+	HW_MINOR ${uavcanblid_hw_version_minor}
- SW_MAJOR ${uavcanblid_sw_version_major}
+	SW_MAJOR ${uavcanblid_sw_version_major}
- SW_MINOR ${uavcanblid_sw_version_minor})
+	SW_MINOR ${uavcanblid_sw_version_minor}
+)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/px4cannode-v1/bootloader)
 
 set(config_module_list
-
 	#
 	# Board support modules
 	#
-
+	drivers/boards
-	drivers/stm32
+	drivers/bootloaders
+	drivers/device
 	drivers/led
-	drivers/boards/px4cannode-v1
+	drivers/stm32
 
 	#
 	# System commands
 	#
+	systemcmds/config
 	systemcmds/reboot
 	systemcmds/top
-	systemcmds/config
 	systemcmds/ver
 
 	#
@@ -55,19 +60,12 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
-	lib/version
-
-	#
-	# Libraries
-	#
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/nuttx
-	platforms/common
-	platforms/nuttx/px4_layer
 	lib/micro-CDR
-
+	lib/version
-
+	modules/systemlib
+	modules/systemlib/param
+	modules/uORB
+	platforms/common
+	platforms/nuttx
+	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_px4esc-v1_bootloader.cmake

@@ -1,30 +1,2 @@
-include(nuttx/px4_impl_nuttx)
+include(nuttx/px4_uavcan_bootloader)
-
 px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)
-
-set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
-set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
-set(px4_module_base ${px4_src_base}modules/)
-
-#
-# UAVCAN boot loadable Module ID
-
-#
-# Bring in common uavcan hardware identity definitions
-#
-
-include(configs/uavcan_board_ident/px4esc-v1)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_module_list
-
-	drivers/boards/px4esc-v1/bootloader
-
-)
-
-#
-# Bootloaders use a compact vector table not
-# from the lib, but exported in startup
-#
-set(nuttx_startup_files stm32_vectors.o)

cmake/configs/nuttx_px4esc-v1_default.cmake

@@ -1,96 +1,80 @@
 include(nuttx/px4_impl_nuttx)
 
 add_definitions(
-  -DFLASH_BASED_PARAMS
+	-DFLASH_BASED_PARAMS
-  -DPARAM_NO_ORB
+	-DPARAM_NO_ORB
-  -DPARAM_NO_AUTOSAVE
+	-DPARAM_NO_AUTOSAVE
-  -DPARAMETER_BUFFER_SIZE=1024
+	-DPARAMETER_BUFFER_SIZE=1024
 )
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh)
 
-#
 # UAVCAN boot loadable Module ID
-
 set(uavcanblid_sw_version_major 0)
 set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+	)
 
-#
 # Bring in common uavcan hardware identity definitions
-#
-
 include(configs/uavcan_board_ident/px4esc-v1)
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
- BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/firmware_nuttx.bin
+	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/px4esc-v1.bin
- HWNAME ${uavcanblid_name}
+	HWNAME ${uavcanblid_name}
- HW_MAJOR ${uavcanblid_hw_version_major}
+	HW_MAJOR ${uavcanblid_hw_version_major}
- HW_MINOR ${uavcanblid_hw_version_minor}
+	HW_MINOR ${uavcanblid_hw_version_minor}
- SW_MAJOR ${uavcanblid_sw_version_major}
+	SW_MAJOR ${uavcanblid_sw_version_major}
- SW_MINOR ${uavcanblid_sw_version_minor})
+	SW_MINOR ${uavcanblid_sw_version_minor}
+)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/px4esc-v1/bootloader)
 
 set(config_module_list
-
 	#
 	# Board support modules
 	#
-
+	drivers/boards
-	drivers/stm32
+	drivers/bootloaders
+	drivers/device
 	drivers/led
-	drivers/boards/px4esc-v1
+	drivers/stm32
 
 	#
 	# System commands
 	#
+	systemcmds/config
 	systemcmds/reboot
 	systemcmds/top
-	systemcmds/config
+	systemcmds/param
 	systemcmds/ver
-    systemcmds/param
 
 	#
 	# General system control
 	#
-    modules/uavcanesc
+	modules/uavcanesc
-    modules/uavcanesc/nshterm
+	modules/uavcanesc/nshterm
-    modules/uavcanesc/commands/cfg
+	modules/uavcanesc/commands/cfg
-    modules/uavcanesc/commands/selftest
+	modules/uavcanesc/commands/selftest
-    modules/uavcanesc/commands/dc
+	modules/uavcanesc/commands/dc
-    modules/uavcanesc/commands/rpm
+	modules/uavcanesc/commands/rpm
-    modules/uavcanesc/commands/stat
+	modules/uavcanesc/commands/stat
 
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	lib/version
-
-	#
-	# Libraries
-	#
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/nuttx
-	platforms/common
-	platforms/nuttx/px4_layer
-	modules/uORB
 	lib/micro-CDR
-
+	lib/version
+	modules/systemlib
+	modules/systemlib/param
+	modules/uORB
+	platforms/common
+	platforms/nuttx
+	platforms/nuttx/px4_layer
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")

cmake/configs/nuttx_px4flow-v2_bootloader.cmake

@@ -1,30 +1,2 @@
-include(nuttx/px4_impl_nuttx)
+include(nuttx/px4_uavcan_bootloader)
-
 px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)
-
-set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
-set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
-set(px4_module_base ${px4_src_base}modules/)
-
-#
-# UAVCAN boot loadable Module ID
-
-#
-# Bring in common uavcan hardware identity definitions
-#
-
-include(configs/uavcan_board_ident/px4flow-v2)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_module_list
-
-	drivers/boards/px4flow-v2/bootloader
-
-)
-
-#
-# Bootloaders use a compact vector table not
-# from the lib, but exported in startup
-#
-set(nuttx_startup_files stm32_vectors.o)

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -1,10 +1,5 @@
 include(nuttx/px4_impl_nuttx)
-
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
 	#
@@ -17,7 +12,7 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	drivers/px4io
-	drivers/boards/px4fmu-v2
+	drivers/boards
 	drivers/rgbled
 	drivers/mpu6000
 	drivers/mpu9250
@@ -193,26 +188,3 @@ set(config_module_list
 	# Hardware test
 	#examples/hwtest
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_io_board
-	px4io-v2
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -2,10 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_test)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_uavcan_num_ifaces 2)
-
 set(config_module_list
 	#
 	# Board support modules
@@ -17,7 +13,7 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	drivers/px4io
-	drivers/boards/px4fmu-v2
+	drivers/boards
 	drivers/rgbled
 	drivers/mpu6000
 #TO FIT	drivers/mpu9250
@@ -188,24 +184,3 @@ set(config_module_list
 	# Hardware test
 	#examples/hwtest
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_io_board
-	px4io-v2
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -1,8 +1,5 @@
 include(nuttx/px4_impl_nuttx)
-
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 
@@ -14,7 +11,7 @@ set(config_module_list
 	drivers/blinkm
 	drivers/bmi160
 	drivers/bmp280
-	drivers/boards/px4fmu-v2
+	drivers/boards
 	drivers/bst
 	drivers/camera_trigger
 	drivers/device
@@ -220,26 +217,3 @@ set(config_rtps_send_topics
 set(config_rtps_receive_topics
    sensor_baro
    )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_io_board
-	px4io-v2
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 1)
 
 set(config_module_list
@@ -17,7 +15,7 @@ set(config_module_list
 	drivers/bmi160
 	drivers/bmm150
 	drivers/bmp280
-	drivers/boards/px4fmu-v4
+	drivers/boards
 	drivers/bst
 	drivers/camera_trigger
 	drivers/device
@@ -63,56 +61,57 @@ set(config_module_list
 	# System commands
 	#
 	systemcmds/bl_update
+	systemcmds/config
+	systemcmds/dumpfile
+	systemcmds/esc_calib
+	systemcmds/hardfault_log
 	systemcmds/led_control
 	systemcmds/mixer
+	systemcmds/motor_ramp
+	systemcmds/mtd
+	systemcmds/nshterm
 	systemcmds/param
 	systemcmds/perf
 	systemcmds/pwm
-	systemcmds/esc_calib
-	systemcmds/hardfault_log
 	systemcmds/reboot
-	systemcmds/topic_listener
-	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/mtd
-	systemcmds/dumpfile
-	systemcmds/ver
 	systemcmds/sd_bench
-	systemcmds/motor_ramp
+	systemcmds/top
+	systemcmds/topic_listener
+	systemcmds/ver
 
 	#
 	# Testing
 	#
 	drivers/sf0x/sf0x_tests
 	drivers/test_ppm
+	#lib/rc/rc_tests
 	modules/commander/commander_tests
-	modules/mc_pos_control/mc_pos_control_tests
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
+	modules/mc_pos_control/mc_pos_control_tests
 	modules/uORB/uORB_tests
 	systemcmds/tests
 
 	#
 	# General system control
 	#
+	modules/camera_feedback
 	modules/commander
 	modules/events
-	modules/load_mon
-	modules/navigator
-	modules/mavlink
 	modules/gpio_led
-	modules/uavcan
 	modules/land_detector
-	modules/camera_feedback
+	modules/load_mon
+	modules/mavlink
+	modules/navigator
+	modules/uavcan
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	modules/position_estimator_inav
 	modules/ekf2
 	modules/local_position_estimator
+	modules/position_estimator_inav
 
 	#
 	# Vehicle Control
@@ -128,8 +127,8 @@ set(config_module_list
 	#
 	# Logging
 	#
-	modules/sdlog2
 	modules/logger
+	modules/sdlog2
 
 	#
 	# Library modules
@@ -162,11 +161,13 @@ set(config_module_list
 	lib/tailsitter_recovery
 	lib/version
 	lib/DriverFramework/framework
-	platforms/nuttx
 	lib/micro-CDR
 
-	# had to add for cmake, not sure why wasn't in original config
+	#
+	# Platform
+	#
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
 
 	#
@@ -179,28 +180,33 @@ set(config_module_list
 	#
 	examples/rover_steering_control
 
+	#
+	# Segway
+	#
+	examples/segway
+
 	#
 	# Demo apps
 	#
-	#examples/math_demo
+
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
+	examples/px4_daemon_app
 
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
-	#examples/px4_mavlink_debug
+	examples/px4_mavlink_debug
 
 	# Tutorial code from
 	# https://px4.io/dev/example_fixedwing_control
 	examples/fixedwing_control
 
 	# Hardware test
-	#examples/hwtest
+	examples/hwtest
 
 	# EKF
 	examples/ekf_att_pos_estimator
@@ -213,22 +219,3 @@ set(config_rtps_send_topics
 set(config_rtps_receive_topics
    sensor_baro
    )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -1,8 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 
@@ -15,7 +13,7 @@ set(config_module_list
 	drivers/bma180
 	drivers/bmi160
 	drivers/bmp280
-	drivers/boards/px4fmu-v4pro
+	drivers/boards
 	drivers/bst
 	drivers/camera_trigger
 	drivers/device
@@ -220,26 +218,3 @@ set(config_rtps_send_topics
 set(config_rtps_receive_topics
    sensor_baro
    )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_io_board
-	px4io-v2
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
@@ -16,7 +14,7 @@ set(config_module_list
 	drivers/bmi055
 	drivers/bmi160
 	drivers/bmp280
-	drivers/boards/px4fmu-v5
+	drivers/boards
 	drivers/bst
 	drivers/camera_trigger
 	drivers/device
@@ -221,22 +219,3 @@ set(config_rtps_send_topics
 set(config_rtps_receive_topics
    sensor_baro
    )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4io-v1_default.cmake

@@ -0,0 +1,12 @@
+include(nuttx/px4_impl_nuttx)
+
+px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
+
+set(config_module_list
+	drivers/boards
+	drivers/stm32
+	lib/rc
+	modules/px4iofirmware
+	modules/systemlib/mixer
+	platforms/common
+)

cmake/configs/nuttx_px4io-v2_default.cmake

@@ -0,0 +1,14 @@
+include(nuttx/px4_impl_nuttx)
+
+px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
+
+set(config_module_list
+	drivers/boards/px4io-v2
+	drivers/stm32
+	lib/rc
+	modules/px4iofirmware
+	modules/systemlib/mixer
+	platforms/common
+
+	lib/micro-CDR
+)

cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
@@ -15,7 +13,7 @@ set(config_module_list
 	drivers/bma180
 	drivers/bmi160
 	drivers/bmp280
-	drivers/boards/px4nucleoF767ZI-v1
+	drivers/boards
 	drivers/bst
 	drivers/camera_trigger
 	drivers/device
@@ -178,20 +176,3 @@ set(config_module_list
 	# Hardware test
 	#examples/hwtest
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")

cmake/configs/nuttx_s2740vc-v1_bootloader.cmake

@@ -1,30 +1,2 @@
-include(nuttx/px4_impl_nuttx)
+include(nuttx/px4_uavcan_bootloader)
-
 px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)
-
-set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
-set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
-set(px4_module_base ${px4_src_base}modules/)
-
-#
-# UAVCAN boot loadable Module ID
-
-#
-# Bring in common uavcan hardware identity definitions
-#
-
-include(configs/uavcan_board_ident/s2740vc-v1)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_module_list
-
-	drivers/boards/s2740vc-v1/bootloader
-
-)
-
-#
-# Bootloaders use a compact vector table not
-# from the lib, but exported in startup
-#
-set(nuttx_startup_files stm32_vectors.o)

cmake/configs/nuttx_s2740vc-v1_default.cmake

@@ -12,6 +12,10 @@ px4_nuttx_configure(HWCLASS m4 CONFIG nsh)
 
 set(uavcanblid_sw_version_major 0)
 set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+	)
 
 #
 # Bring in common uavcan hardware identity definitions
@@ -21,15 +25,13 @@ include(configs/uavcan_board_ident/s2740vc-v1)
 
 # N.B. this would be uncommented when there is an APP
 #px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-# BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/firmware_nuttx.bin
+# BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/s2740vc-v1.bin
 # HWNAME ${uavcanblid_name}
 # HW_MAJOR ${uavcanblid_hw_version_major}
 # HW_MINOR ${uavcanblid_hw_version_minor}
 # SW_MAJOR ${uavcanblid_sw_version_major}
 # SW_MINOR ${uavcanblid_sw_version_minor})
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_module_list
 
 	#
@@ -38,7 +40,7 @@ set(config_module_list
 
 	drivers/stm32
 	drivers/led
-	drivers/boards/s2740vc-v1
+	drivers/boards
 
 	#
 	# System commands
@@ -67,6 +69,4 @@ set(config_module_list
 	platforms/nuttx
 	platforms/common
 	platforms/nuttx/px4_layer
-
-
 )

cmake/configs/nuttx_tap-v1_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT tap_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(target_definitions MEMORY_CONSTRAINED_SYSTEM)
 
 set(config_module_list
@@ -16,7 +14,7 @@ set(config_module_list
 	drivers/stm32/tone_alarm
 	drivers/led
 	drivers/px4fmu
-	drivers/boards/tap-v1
+	drivers/boards
 	drivers/rgbled_pwm
 	drivers/tap_esc
 	drivers/mpu6000
@@ -112,23 +110,3 @@ set(config_module_list
 	platforms/common
 	platforms/nuttx/px4_layer
 )
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_io_board
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")

cmake/configs/nuttx_zubaxgnss-v1_bootloader.cmake

@@ -1,30 +1,2 @@
-include(nuttx/px4_impl_nuttx)
+include(nuttx/px4_uavcan_bootloader)
-
 px4_nuttx_configure(HWCLASS m3 CONFIG bootloader)
-
-set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
-set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
-set(px4_module_base ${px4_src_base}modules/)
-
-#
-# UAVCAN boot loadable Module ID
-
-#
-# Bring in common uavcan hardware identity definitions
-#
-
-include(configs/uavcan_board_ident/zubaxgnss-v1)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_module_list
-
-	drivers/boards/zubaxgnss-v1/bootloader
-
-)
-
-#
-# Bootloaders use a compact vector table not
-# from the lib, but exported in startup
-#
-set(nuttx_startup_files stm32_vectors.o)

cmake/configs/posix_bebop_default.cmake

@@ -10,8 +10,6 @@ add_definitions(
 
 set(config_module_list
 
-  # examples/px4_simple_app
-
 	#
 	# Board support modules
 	#

cmake/configs/posix_eagle_hil.cmake

@@ -20,7 +20,7 @@ endif()
 
 set(config_module_list
 	drivers/device
-	drivers/boards/sitl
+	drivers/boards
 	drivers/led
 	drivers/linux_sbus
 

cmake/configs/posix_sdflight_default.cmake

@@ -34,7 +34,7 @@ set(config_module_list
 	drivers/pwm_out_sim
 	drivers/rgbled
 	drivers/led
-	drivers/boards/sitl
+	drivers/boards
 	drivers/qshell/posix
 
 	systemcmds/param

cmake/configs/posix_sdflight_legacy.cmake

@@ -26,7 +26,7 @@ set(config_module_list
 	drivers/pwm_out_sim
 	drivers/rgbled
 	drivers/led
-	drivers/boards/sitl
+	drivers/boards
 	drivers/qshell/posix
 
 	systemcmds/param

cmake/configs/posix_sitl_default.cmake

@@ -3,7 +3,7 @@ include(posix/px4_impl_posix)
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
-	drivers/boards/sitl
+	drivers/boards
 	drivers/camera_trigger
 	drivers/device
 	drivers/gps
@@ -194,11 +194,6 @@ set(config_module_list
 	lib/micro-CDR
 )
 
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
 set(config_rtps_send_topics
 	sensor_baro
 	)

cmake/configs/qurt_eagle_hil.cmake

@@ -22,7 +22,7 @@ include_directories(${HEXAGON_SDK_INCLUDES})
 
 set(config_module_list
 	drivers/device
-	drivers/boards/sitl
+	drivers/boards
 	drivers/pwm_out_sim
 	drivers/led
 	drivers/rgbled