Added defautl config for nuttx, nuttx now works over usb.

src/drivers/boards/px4fmu-v2/px4fmu2_init.c

@@ -210,17 +210,18 @@ static struct sdio_dev_s *sdio;
 
 #include <math.h>
 
-#ifdef __cplusplus
-__EXPORT int matherr(struct __exception *e)
-{
-	return 1;
-}
-#else
-__EXPORT int matherr(struct exception *e)
-{
-	return 1;
-}
-#endif
+/* TODO XXX commented this out to get cmake build working */
+/*#ifdef __cplusplus*/
+/*__EXPORT int matherr(struct __exception *e)*/
+/*{*/
+	/*return 1;*/
+/*}*/
+/*#else*/
+/*__EXPORT int matherr(struct exception *e)*/
+/*{*/
+	/*return 1;*/
+/*}*/
+/*#endif*/
 
 __EXPORT int nsh_archinitialize(void)
 {

src/firmware/nuttx/CMakeLists.txt

@@ -1,6 +1,9 @@
+px4_nuttx_builtin_extra_commands(builtin_extra_cmds)
+message(STATUS "builtin extra: ${builtin_extra_cmds}")
+
 px4_nuttx_generate_builtin_commands(
 	OUT builtin_commands.c
-	MODULE_LIST ${module_libraries})
+	MODULE_LIST ${module_libraries} ${builtin_extra_cmds})
 
 px4_nuttx_generate_romfs(OUT romfs.o
 	ROOT ROMFS/px4fmu_common)
@@ -15,9 +18,12 @@ set(main_link_flags
 px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
 set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
 
+set(cmsis_lib ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a)
+
 target_link_libraries(firmware_nuttx
 	-Wl,--start-group
 	${module_libraries}
+	${cmsis_lib}
 	apps nuttx nosys m gcc
 	-Wl,--end-group)
 

src/modules/uavcan/CMakeLists.txt

@@ -37,11 +37,61 @@ px4_add_module(
 	COMPILE_FLAGS
 		-O3
 	SRCS
+
+		# Main
 		uavcan_main.cpp
 		uavcan_servers.cpp
 		uavcan_clock.cpp
 		uavcan_params.c
+
+		# Actuators
+		actuators/esc.cpp
+
+		# Sensors
+		sensors/sensor_bridge.cpp
+		sensors/gnss.cpp
+		sensors/mag.cpp
+		sensors/baro.cpp
+
 	DEPENDS
 		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 
+
+# TODO convert rest of module.mk
+
+##
+## libuavcan
+##
+#include $(PX4_LIB_DIR)uavcan/libuavcan/include.mk
+## Use the relitive path to keep the genrated files in the BUILD_DIR
+#SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
+#INCLUDE_DIRS += $(LIBUAVCAN_INC)
+## Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
+## because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
+#override EXTRADEFINES := $(EXTRADEFINES) \
+#-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
+#-DUAVCAN_NO_ASSERTIONS \
+#-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 \
+#-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
+
+##
+## libuavcan drivers for STM32
+##
+#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/stm32/driver/include.mk
+## Use the relitive path to keep the genrated files in the BUILD_DIR
+#SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_STM32_SRC))
+#INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
+#override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2
+
+##
+## libuavcan drivers for posix
+##
+#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/posix/include.mk
+#INCLUDE_DIRS += $(LIBUAVCAN_POSIX_INC)
+
+##
+## Invoke DSDL compiler
+##
+#$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
+#INCLUDE_DIRS += dsdlc_generated
+## vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/common/CMakeLists.txt

@@ -34,6 +34,7 @@ set(depends
 	msg_gen
 	prebuild_targets
 	git_mavlink
+	git_uavcan
 	)
 
 if(${OS} STREQUAL "posix" OR ${BOARD} STREQUAL "sim")