Pull v2 pieces up to build with the merge

Images/px4io-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 10, 
+    "magic": "PX4FWv2", 
+    "description": "Firmware for the PX4IOv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IOv2",
+    "version": "2.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Makefile

@@ -100,7 +100,7 @@ all:			$(STAGED_FIRMWARES)
 #     is taken care of.
 #
 $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
-	@echo %% Copying $@
+	@$(ECHO) %% Copying $@
 	$(Q) $(COPY) $< $@
 	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
 
@@ -111,9 +111,9 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
 $(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
 $(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
 $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
-	@echo %%%%
-	@echo %%%% Building $(config) in $(work_dir)
-	@echo %%%%
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
 	$(Q) mkdir -p $(work_dir)
 	$(Q) make -r -C $(work_dir) \
 		-f $(PX4_MK_DIR)firmware.mk \
@@ -132,8 +132,6 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
 # XXX Should support fetching/unpacking from a separate directory to permit
 #     downloads of the prebuilt archives as well...
 #
-# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
-#
 NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
 .PHONY:			archives
 archives:		$(NUTTX_ARCHIVES)
@@ -146,16 +144,22 @@ endif
 
 $(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
 $(ARCHIVE_DIR)%.export:	configuration = nsh
-$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
-	@echo %% Configuring NuttX for $(board)
+$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(board)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
 	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && ln -sf $(PX4_BASE)/nuttx-configs/* .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
-	@echo %% Exporting NuttX for $(board)
+	@$(ECHO) %% Exporting NuttX for $(board)
 	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
 	$(Q) mkdir -p $(dir $@)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 
+$(NUTTX_SRC):
+	@$(ECHO) ""
+	@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
+	@$(ECHO) ""
+
 #
 # Cleanup targets.  'clean' should remove all built products and force
 # a complete re-compilation, 'distclean' should remove everything 
@@ -170,46 +174,47 @@ clean:
 distclean: clean
 	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
 	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && find . -type l -depth 1 -delete)
 
 #
 # Print some help text
 #
 .PHONY: help
 help:
-	@echo ""
-	@echo " PX4 firmware builder"
-	@echo " ===================="
-	@echo ""
-	@echo "  Available targets:"
-	@echo "  ------------------"
-	@echo ""
-	@echo "  archives"
-	@echo "    Build the NuttX RTOS archives that are used by the firmware build."
-	@echo ""
-	@echo "  all"
-	@echo "    Build all firmware configs: $(CONFIGS)"
-	@echo "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
-	@echo ""
+	@$(ECHO) ""
+	@$(ECHO) " PX4 firmware builder"
+	@$(ECHO) " ===================="
+	@$(ECHO) ""
+	@$(ECHO) "  Available targets:"
+	@$(ECHO) "  ------------------"
+	@$(ECHO) ""
+	@$(ECHO) "  archives"
+	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
+	@$(ECHO) ""
+	@$(ECHO) "  all"
+	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
+	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
+	@$(ECHO) ""
 	@for config in $(CONFIGS); do \
 		echo "  $$config"; \
 		echo "    Build just the $$config firmware configuration."; \
 		echo ""; \
 	done
-	@echo "  clean"
-	@echo "    Remove all firmware build pieces."
-	@echo ""
-	@echo "  distclean"
-	@echo "    Remove all compilation products, including NuttX RTOS archives."
-	@echo ""
-	@echo "  upload"
-	@echo "    When exactly one config is being built, add this target to upload the"
-	@echo "    firmware to the board when the build is complete. Not supported for"
-	@echo "    all configurations."
-	@echo ""
-	@echo "  Common options:"
-	@echo "  ---------------"
-	@echo ""
-	@echo "  V=1"
-	@echo "    If V is set, more verbose output is printed during the build. This can"
-	@echo "    help when diagnosing issues with the build or toolchain."
-	@echo ""
+	@$(ECHO) "  clean"
+	@$(ECHO) "    Remove all firmware build pieces."
+	@$(ECHO) ""
+	@$(ECHO) "  distclean"
+	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
+	@$(ECHO) ""
+	@$(ECHO) "  upload"
+	@$(ECHO) "    When exactly one config is being built, add this target to upload the"
+	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
+	@$(ECHO) "    all configurations."
+	@$(ECHO) ""
+	@$(ECHO) "  Common options:"
+	@$(ECHO) "  ---------------"
+	@$(ECHO) ""
+	@$(ECHO) "  V=1"
+	@$(ECHO) "    If V is set, more verbose output is printed during the build. This can"
+	@$(ECHO) "    help when diagnosing issues with the build or toolchain."
+	@$(ECHO) ""

makefiles/config_px4fmu-v2_test.mk

@@ -12,19 +12,14 @@ ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
 #
 MODULES		+= drivers/device
 MODULES		+= drivers/stm32
-MODULES		+= drivers/px4io
 MODULES		+= drivers/boards/px4fmuv2
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 
-# needed because things use it for logging
-MODULES		+= modules/mavlink
-
 #
 # Library modules
 #
 MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
 
 #

makefiles/setup.mk

@@ -45,7 +45,6 @@ export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
 export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
-export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/NuttX/apps)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink)/
 export ROMFS_SRC	 = $(abspath $(PX4_BASE)/ROMFS)/
 export IMAGE_DIR	 = $(abspath $(PX4_BASE)/Images)/

makefiles/upload.mk

@@ -27,7 +27,7 @@ all:	upload-$(METHOD)-$(BOARD)
 upload-serial-px4fmu-v1:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
-upload-serial-px4fmuv2:	$(BUNDLE) $(UPLOADER)
+upload-serial-px4fmu-v2:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 #

nuttx-configs/px4fmu-v2/Kconfig

@@ -3,5 +3,5 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if ARCH_BOARD_PX4FMUV2
+if ARCH_BOARD_PX4FMU_V2
 endif

nuttx-configs/px4fmu-v2/include/board.h

@@ -46,6 +46,8 @@
 # include <stdint.h>
 #endif
 
+#include <stm32.h>
+
 /************************************************************************************
  * Definitions
  ************************************************************************************/
@@ -194,10 +196,8 @@
 
 /* High-resolution timer
  */
-#ifdef CONFIG_HRT_TIMER
-# define HRT_TIMER		8	/* use timer8 for the HRT */
-# define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
-#endif
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 
 /* Alternate function pin selections ************************************************/
 

nuttx-configs/px4fmu-v2/nsh/Make.defs

@@ -0,0 +1,3 @@
+include ${TOPDIR}/.config
+
+include $(TOPDIR)/configs/px4fmu-v2/common/Make.defs

nuttx-configs/px4fmu-v2/nsh/defconfig.prev

@@ -75,8 +75,8 @@ CONFIG_ARCH_ARM=y
 CONFIG_ARCH_CORTEXM4=y
 CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_BOARD="px4fmuv2"
-CONFIG_ARCH_BOARD_PX4FMUV2=y
+CONFIG_ARCH_BOARD="px4fmu-v2"
+CONFIG_ARCH_BOARD_PX4FMU_V2=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DRAM_SIZE=0x00040000
 CONFIG_DRAM_START=0x20000000
@@ -297,22 +297,6 @@ CONFIG_USART6_RXDMA=y
 CONFIG_UART7_RXDMA=n
 CONFIG_UART8_RXDMA=n
 
-#
-# PX4FMU specific driver settings
-#
-# CONFIG_HRT_TIMER
-#   Enables the high-resolution timer.  The board definition must
-#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
-#   compare channels to be used.
-# CONFIG_HRT_PPM
-#   Enables R/C PPM input using the HRT.  The board definition must
-#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
-#   used, and define GPIO_PPM_IN to configure the appropriate timer
-#   GPIO.
-#
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=n
-
 #
 # STM32F40xxx specific SPI device driver settings
 #

nuttx-configs/px4io-v2/include/board.h

@@ -45,11 +45,8 @@
 #include <nuttx/config.h>
 #ifndef __ASSEMBLY__
 # include <stdint.h>
-# include <stdbool.h>
 #endif
-#include <stm32_rcc.h>
-#include <stm32_sdio.h>
-#include <stm32_internal.h>
+#include <stm32.h>
 
 /************************************************************************************
  * Definitions
@@ -118,10 +115,8 @@
 /* 
  * High-resolution timer
  */
-#ifdef CONFIG_HRT_TIMER
-# define HRT_TIMER		1	/* use timer1 for the HRT */
-# define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
-#endif
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 
 /*
  * PPM
@@ -130,10 +125,8 @@
  *
  * Pin is PA8, timer 1, channel 1
  */
-#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
-# define HRT_PPM_CHANNEL	1	/* use capture/compare channel 1 */
-# define GPIO_PPM_IN		GPIO_TIM1_CH1IN
-#endif
+#define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
+#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
 
 /* LED definitions ******************************************************************/
 /* PX4 has two LEDs that we will encode as: */

nuttx-configs/px4io-v2/nsh/Make.defs

@@ -0,0 +1,3 @@
+include ${TOPDIR}/.config
+
+include $(TOPDIR)/configs/px4io-v2/common/Make.defs

nuttx-configs/px4io-v2/nsh/defconfig

@@ -74,8 +74,8 @@ CONFIG_ARCH_ARM=y
 CONFIG_ARCH_CORTEXM3=y
 CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32F100C8=y
-CONFIG_ARCH_BOARD="px4iov2"
-CONFIG_ARCH_BOARD_PX4IOV2=y
+CONFIG_ARCH_BOARD="px4io-v2"
+CONFIG_ARCH_BOARD_PX4IO_V2=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
@@ -195,28 +195,6 @@ SERIAL_HAVE_CONSOLE_DMA=y
 CONFIG_USART2_RXDMA=n
 CONFIG_USART3_RXDMA=y
 
-#
-# PX4IO specific driver settings
-#
-# CONFIG_HRT_TIMER
-#   Enables the high-resolution timer.  The board definition must
-#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
-#   compare channels to be used.
-# CONFIG_HRT_PPM
-#   Enables R/C PPM input using the HRT.  The board definition must
-#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
-#   used, and define GPIO_PPM_IN to configure the appropriate timer
-#   GPIO.
-# CONFIG_PWM_SERVO
-#   Enables the PWM servo driver.  The driver configuration must be
-#   supplied by the board support at initialisation time.
-#   Note that USART2 must be disabled on the PX4 board for this to
-#   be available.
-#
-#
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=y
-
 #
 # General build options
 #

nuttx-configs/px4io-v2/test/defconfig

@@ -75,7 +75,7 @@ CONFIG_ARCH_CORTEXM3=y
 CONFIG_ARCH_CHIP=stm32
 CONFIG_ARCH_CHIP_STM32F100C8=y
 CONFIG_ARCH_BOARD=px4iov2
-CONFIG_ARCH_BOARD_PX4IOV2=y
+CONFIG_ARCH_BOARD_PX4IO_V2=y
 CONFIG_BOARD_LOOPSPERMSEC=24000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
@@ -187,29 +187,6 @@ CONFIG_USART1_2STOP=0
 CONFIG_USART2_2STOP=0
 CONFIG_USART3_2STOP=0
 
-#
-# PX4IO specific driver settings
-#
-# CONFIG_HRT_TIMER
-#   Enables the high-resolution timer.  The board definition must
-#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
-#   compare channels to be used.
-# CONFIG_HRT_PPM
-#   Enables R/C PPM input using the HRT.  The board definition must
-#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
-#   used, and define GPIO_PPM_IN to configure the appropriate timer
-#   GPIO.
-# CONFIG_PWM_SERVO
-#   Enables the PWM servo driver.  The driver configuration must be
-#   supplied by the board support at initialisation time.
-#   Note that USART2 must be disabled on the PX4 board for this to
-#   be available.
-#
-#
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=y
-CONFIG_PWM_SERVO=y
-
 #
 # General build options
 #

nuttx/configs/px4fmuv2/nsh/Make.defs

@@ -1,3 +0,0 @@
-include ${TOPDIR}/.config
-
-include $(TOPDIR)/configs/px4fmuv2/common/Make.defs

nuttx/configs/px4iov2/io/Make.defs

@@ -1,3 +0,0 @@
-include ${TOPDIR}/.config
-
-include $(TOPDIR)/configs/px4io/common/Make.defs

src/drivers/boards/px4fmuv2/px4fmu_init.c

@@ -59,9 +59,9 @@
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
 
-#include "stm32_internal.h"
+#include <stm32.h>
 #include "px4fmu_internal.h"
-#include "stm32_uart.h"
+#include <stm32_uart.h>
 
 #include <arch/board/board.h>
 

src/drivers/boards/px4fmuv2/px4fmu_internal.h

@@ -50,7 +50,7 @@
 __BEGIN_DECLS
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /****************************************************************************************************

src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c

@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 

src/drivers/boards/px4fmuv2/px4fmu_spi.c

@@ -50,9 +50,9 @@
 #include <nuttx/spi.h>
 #include <arch/board/board.h>
 
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
+#include <up_arch.h>
+#include <chip.h>
+#include <stm32.h>
 #include "px4fmu_internal.h"
 
 /************************************************************************************

src/drivers/boards/px4fmuv2/px4fmu_usb.c

@@ -51,8 +51,8 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include "up_arch.h"
-#include "stm32_internal.h"
+#include <up_arch.h>
+#include <stm32.h>
 #include "px4fmu_internal.h"
 
 /************************************************************************************

src/drivers/boards/px4iov2/px4iov2_init.c

@@ -54,7 +54,7 @@
 
 #include <nuttx/arch.h>
 
-#include "stm32_internal.h"
+#include <stm32.h>
 #include "px4iov2_internal.h"
 
 #include <arch/board/board.h>

src/drivers/boards/px4iov2/px4iov2_internal.h

@@ -48,7 +48,7 @@
 #include <stdint.h>
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /******************************************************************************

src/drivers/boards/px4iov2/px4iov2_pwm_servo.c

@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 

src/drivers/drv_gpio.h

@@ -42,7 +42,7 @@
 
 #include <sys/ioctl.h>
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 /*
  * PX4FMU GPIO numbers.
  *
@@ -67,7 +67,7 @@
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
 /*
  * PX4FMUv2 GPIO numbers.
  *
@@ -93,36 +93,14 @@
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO
-/*
- * PX4IO GPIO numbers.
- *
- * XXX note that these are here for reference/future use; currently
- * there is no good way to wire these up without a common STM32 GPIO
- * driver, which isn't implemented yet.
- */
-/* outputs */
-# define GPIO_ACC1_POWER	(1<<0)		/**< accessory power 1 */
-# define GPIO_ACC2_POWER	(1<<1)		/**< accessory power 2 */
-# define GPIO_SERVO_POWER	(1<<2)		/**< servo power */
-# define GPIO_RELAY1		(1<<3)		/**< relay 1 */
-# define GPIO_RELAY2		(1<<4)		/**< relay 2 */
-# define GPIO_LED_BLUE		(1<<5)		/**< blue LED */
-# define GPIO_LED_AMBER		(1<<6)		/**< amber/red LED */
-# define GPIO_LED_SAFETY	(1<<7)		/**< safety LED */
-
-/* inputs */
-# define GPIO_ACC_OVERCURRENT	(1<<8)		/**< accessory 1/2 overcurrent detect */
-# define GPIO_SERVO_OVERCURRENT	(1<<9)		/**< servo overcurrent detect */
-# define GPIO_SAFETY_BUTTON	(1<<10)		/**< safety button pressed */
-
-/**
- * Default GPIO device - other devices may also support this protocol if
- * they also export GPIO-like things.  This is always the GPIOs on the
- * main board.
- */
-# define GPIO_DEVICE_PATH	"/dev/px4io"
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
+/* no GPIO driver on the PX4IOv1 board */
+# define GPIO_DEVICE_PATH	"/nonexistent"
+#endif
 
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+/* no GPIO driver on the PX4IOv2 board */
+# define GPIO_DEVICE_PATH	"/nonexistent"
 #endif
 
 #ifndef GPIO_DEVICE_PATH