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)
-	message("Not a valid CMake version")
-	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()
+# check submodules before we do anything
+execute_process(COMMAND Tools/check_submodules.sh WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
 
 # 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(
-	COMMAND Tools/check_submodules.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_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
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
+	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
+	OUTPUT_VARIABLE version
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
 execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE git_version
+	COMMAND git describe --always --tags
+	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 "${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${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
-	@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 && ninja
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-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
 
 scan-build:
 	@export CCC_CC=clang
 	@export CCC_CXX=clang++
-	@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
-	@scan-build -o $(SRC_DIR)/build_scan-build cmake --build $(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
+	@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 $(SRC_DIR)/build_*/
-	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
+	@rm -rf $(SRC_DIR)/build
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d

NuttX

@@ -1 +0,0 @@
-Subproject commit ba18501226ee264d21fd95348163d47847de3448

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/libpx4muorb_skel.so /usr/share/data/adsp
-      adb push $workspace/build_posix_eagle_default/src/firmware/posix/px4 /home/linaro
+      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/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/libpx4muorb_skel.so /usr/share/data/adsp
-      adb push $workspace/build_posix_eagle_legacy/src/firmware/posix/px4 /home/linaro
+      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/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/libpx4muorb_skel.so /usr/lib/rfsa/adsp
-      adb push $workspace/build_posix_excelsior_legacy/src/firmware/posix/px4 /home/root
+      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/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/airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.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

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}
-			${${property}})
+		set_target_properties(${MODULE} PROPERTIES ${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
-		${STACK_MAX})
+	set_target_properties(${MODULE} PROPERTIES 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 touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		COMMAND Tools/check_submodules.sh ${PATH}
+		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()
 
-#=============================================================================
-#
-#	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 ${px4_git_ver_header})
+	add_custom_target(${TARGET} DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp)
 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)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 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)
-
-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)
+include(nuttx/px4_uavcan_bootloader)
+px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)

cmake/configs/nuttx_esc35-v1_default.cmake

@@ -1,97 +1,80 @@
 include(nuttx/px4_impl_nuttx)
 
 add_definitions(
-  -DFLASH_BASED_PARAMS
-  -DPARAM_NO_ORB
-  -DPARAM_NO_AUTOSAVE
-  -DPARAMETER_BUFFER_SIZE=1024
+	-DFLASH_BASED_PARAMS
+	-DPARAM_NO_ORB
+	-DPARAM_NO_AUTOSAVE
+	-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
- 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})
+	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/esc35-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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/esc35-v1/bootloader)
 
 set(config_module_list
-
 	#
 	# Board support modules
 	#
-
-	drivers/stm32
+	drivers/boards
+	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/nshterm
-    modules/uavcanesc/commands/cfg
-    modules/uavcanesc/commands/selftest
-    modules/uavcanesc/commands/dc
-    modules/uavcanesc/commands/rpm
-    modules/uavcanesc/commands/stat
+	modules/uavcanesc
+	modules/uavcanesc/nshterm
+	modules/uavcanesc/commands/cfg
+	modules/uavcanesc/commands/selftest
+	modules/uavcanesc/commands/dc
+	modules/uavcanesc/commands/rpm
+	modules/uavcanesc/commands/stat
 
 	#
 	# Library modules
 	#
-	modules/systemlib/param
+	lib/micro-CDR
+	lib/version
 	modules/systemlib
+	modules/systemlib/param
 	modules/uORB
-	lib/version
-
-	#
-	# Libraries
-	#
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/nuttx
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
-	lib/micro-CDR
-
-
 )
-
-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/px4-same70xplained-v1
+	drivers/boards
 	drivers/rgbled
 	drivers/mpu6000
 	drivers/mpu9250
@@ -172,31 +169,4 @@ 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
@@ -76,21 +74,4 @@ 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)
-
-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)
+include(nuttx/px4_uavcan_bootloader)
+px4_nuttx_configure(HWCLASS m3 CONFIG bootloader)

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
- 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})
+	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/px4cannode-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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/px4cannode-v1/bootloader)
 
 set(config_module_list
-
 	#
 	# Board support modules
 	#
-
-	drivers/stm32
+	drivers/boards
+	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
+	lib/micro-CDR
+	lib/version
 	modules/systemlib
+	modules/systemlib/param
 	modules/uORB
-	lib/version
-
-	#
-	# Libraries
-	#
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/nuttx
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
-	lib/micro-CDR
-
-
-)
+)

cmake/configs/nuttx_px4esc-v1_bootloader.cmake

@@ -1,30 +1,2 @@
-include(nuttx/px4_impl_nuttx)
-
-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)
+include(nuttx/px4_uavcan_bootloader)
+px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)

cmake/configs/nuttx_px4esc-v1_default.cmake

@@ -1,96 +1,80 @@
 include(nuttx/px4_impl_nuttx)
 
 add_definitions(
-  -DFLASH_BASED_PARAMS
-  -DPARAM_NO_ORB
-  -DPARAM_NO_AUTOSAVE
-  -DPARAMETER_BUFFER_SIZE=1024
+	-DFLASH_BASED_PARAMS
+	-DPARAM_NO_ORB
+	-DPARAM_NO_AUTOSAVE
+	-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
- 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})
+	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/px4esc-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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/px4esc-v1/bootloader)
 
 set(config_module_list
-
 	#
 	# Board support modules
 	#
-
-	drivers/stm32
+	drivers/boards
+	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/nshterm
-    modules/uavcanesc/commands/cfg
-    modules/uavcanesc/commands/selftest
-    modules/uavcanesc/commands/dc
-    modules/uavcanesc/commands/rpm
-    modules/uavcanesc/commands/stat
+	modules/uavcanesc
+	modules/uavcanesc/nshterm
+	modules/uavcanesc/commands/cfg
+	modules/uavcanesc/commands/selftest
+	modules/uavcanesc/commands/dc
+	modules/uavcanesc/commands/rpm
+	modules/uavcanesc/commands/stat
 
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
+	lib/micro-CDR
 	lib/version
-
-	#
-	# Libraries
-	#
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/nuttx
+	modules/systemlib
+	modules/systemlib/param
+	modules/uORB
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
-	modules/uORB
-	lib/micro-CDR
-
-)
-
-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)
-
-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)
+include(nuttx/px4_uavcan_bootloader)
+px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)

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)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_uavcan_num_ifaces 2)
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 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)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 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/sd_bench
 	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/mtd
-	systemcmds/dumpfile
+	systemcmds/topic_listener
 	systemcmds/ver
-	systemcmds/sd_bench
-	systemcmds/motor_ramp
 
 	#
 	# 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/gpio_led
+	modules/land_detector
 	modules/load_mon
-	modules/navigator
 	modules/mavlink
-	modules/gpio_led
+	modules/navigator
 	modules/uavcan
-	modules/land_detector
-	modules/camera_feedback
 
 	#
-	# 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)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 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)
-
-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)
+include(nuttx/px4_uavcan_bootloader)
+px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)

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
@@ -111,24 +109,4 @@ set(config_module_list
 	# had to add for cmake, not sure why wasn't in original config
 	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)
-
-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)
+include(nuttx/px4_uavcan_bootloader)
+px4_nuttx_configure(HWCLASS m3 CONFIG bootloader)

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

cmake/configs/qurt_eagle_travis.cmake

@@ -27,7 +27,7 @@ include_directories(${HEXAGON_SDK_INCLUDES})
 
 set(config_module_list
 	drivers/device
-	drivers/boards/sitl
+	drivers/boards
 	drivers/pwm_out_sim
 	drivers/led
 	drivers/rgbled

cmake/nuttx/bin_to_obj.py

@@ -1,98 +0,0 @@
-#!/usr/bin/env python
-"""
-This converts a binary imagge to an object file
-"""
-from __future__ import print_function
-import subprocess
-import argparse
-import re
-from subprocess import PIPE
-
-#pylint: disable=invalid-name
-parser = argparse.ArgumentParser(description='Convert bin to obj.')
-parser.add_argument('--c_flags', required=True)
-parser.add_argument('--c_compiler', required=True)
-parser.add_argument('--include_path', required=True)
-parser.add_argument('--nm', required=True)
-parser.add_argument('--ld', required=True)
-parser.add_argument('--objcopy', required=True)
-parser.add_argument('--bin', required=True)
-parser.add_argument('--obj', required=True)
-parser.add_argument('--var', required=True)
-args = parser.parse_args()
-
-in_bin = args.bin
-c_flags = args.c_flags
-c_compiler = args.c_compiler
-include_path = args.include_path
-nm = args.nm
-ld = args.ld
-obj = args.obj
-var = args.var
-objcopy = args.objcopy
-
-sym = "_binary_" + in_bin.replace('/', '_').replace('.', '_').replace('-', '_')
-#print("sym: ", sym)
-
-# write empty file
-with open('{obj:s}.c'.format(**locals()), 'w') as f:
-    f.write("")
-
-def run_cmd(cmd, d):
-    cmd = cmd.format(**d)
-    #print(cmd)
-    proc = subprocess.Popen(cmd.split(), stdout=PIPE, stderr=PIPE)
-    stdout, stderr = proc.communicate()
-    if stderr.decode() != "":
-        raise RuntimeError(stderr)
-    return stdout
-
-# do compile
-run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
-        locals())
-
-# link
-run_cmd("{ld:s} -r -o {obj:s}.bin.o {obj:s}.c.o -b binary {in_bin:s}",
-        locals())
-
-# get size of image
-stdout = run_cmd("{nm:s} -p --radix=x {obj:s}.bin.o", locals())
-re_string = r"^([0-9A-Fa-f]+) .*{sym:s}_size".format(**locals())
-re_size = re.compile(re_string, re.MULTILINE)
-size_match = re.search(re_size, stdout.decode())
-
-try:
-    size = size_match.group(1)
-except AttributeError as e:
-    raise RuntimeError("{:s}\nre:{:s}\n{:s}".format(
-        e, re_string, stdout))
-except IndexError as e:
-    group0 = size_match.group(0)
-    raise RuntimeError("{:s}\ngroup 0:{:s}\n{:s}".format(
-        e, group0, stdout))
-
-#print("romfs size: ", size)
-
-# write size to file
-with open('{obj:s}.c'.format(**locals()), 'w') as f:
-    f.write("const unsigned int {var:s}_len = 0x{size:s};".format(
-        **locals()))
-
-# do compile
-run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
-        locals())
-
-# link
-run_cmd("{ld:s} -r -o {obj:s} {obj:s}.c.o {obj:s}.bin.o",
-        locals())
-
-# obj copy
-run_cmd("""
-{objcopy:s} {obj:s}
-    --redefine-sym {sym:s}_start={var:s}
-    --strip-symbol {sym:s}_size
-    --strip-symbol {sym:s}_end
-    --rename-section .data=.rodata
-""", locals())
-
-# vim: set et ft=python fenc= ff=unix sts=4 sw=4 ts=4 :

cmake/nuttx/builtin_commands.c.in

@@ -1,12 +0,0 @@
-/* builtin command list - automatically generated, do not edit */
-#include <nuttx/config.h>
-#include <nuttx/binfmt/builtin.h>
-#include <nuttx/config.h>
-#if ${command_count}
-${builtin_apps_decl_string}
-const struct builtin_s g_builtins[] = {
-${builtin_apps_string}
-	{NULL, 0, 0, NULL}
-};
-const int g_builtin_count = ${command_count};
-#endif

cmake/nuttx/px4_impl_nuttx.cmake

@@ -37,11 +37,7 @@
 #
 #	OS Specific Functions
 #
-#		* px4_nuttx_add_firmware
 #		* px4_nuttx_make_uavcan_bootloadable
-#		* px4_nuttx_generate_builtin_commands
-#		* px4_nuttx_add_export
-#		* px4_nuttx_add_romfs
 #
 #	Required OS Inteface Functions
 #
@@ -51,63 +47,6 @@
 
 include(common/px4_base)
 
-#=============================================================================
-#
-#	px4_nuttx_add_firmware
-#
-#	This function adds a nuttx firmware target.
-#
-#	Usage:
-#		px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable>
-#			PARAM_XML <param_xml> AIRFRAMES_XML <airframes_xml>)
-#
-#	Input:
-#		EXE			: the executable to generate the firmware from
-#		BOARD		: the board
-#		PARAM_XML		: param xml file (optional)
-#		AIRFRAMES_XML	: airframes xml file (optional)
-#
-#	Output:
-#		OUT			: the generated firmware target
-#
-#	Example:
-#		px4_nuttx_add_firmware(TARGET fw_test EXE test)
-#
-function(px4_nuttx_add_firmware)
-	px4_parse_function_args(
-		NAME px4_nuttx_add_firmware
-		ONE_VALUE BOARD OUT EXE PARAM_XML AIRFRAMES_XML
-		REQUIRED OUT EXE BOARD
-		ARGN ${ARGN})
-
-	set(extra_args)
-	set(dependencies)
-	if (PARAM_XML)
-		list(APPEND extra_args
-			--parameter_xml ${PARAM_XML}
-			)
-		list(APPEND dependencies parameters_xml)
-	endif()
-
-	if (AIRFRAMES_XML)
-		list(APPEND extra_args
-			--airframe_xml ${AIRFRAMES_XML}
-			)
-		list(APPEND dependencies airframes_xml)
-	endif()
-
-	add_custom_command(OUTPUT ${OUT} ${EXE}.bin
-		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
-			--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
-			--git_identity ${PX4_SOURCE_DIR}
-			${extra_args}
-			--image ${EXE}.bin > ${OUT}
-		DEPENDS ${EXE} ${dependencies}
-		)
-	add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
-endfunction()
-
 #=============================================================================
 #
 #	px4_nuttx_make_uavcan_bootloadable
@@ -153,16 +92,19 @@ function(px4_nuttx_make_uavcan_bootloadable)
 		ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
 		REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
 		ARGN ${ARGN})
+
 	string(REPLACE "\"" "" HWNAME ${HWNAME})
+
 	execute_process(
 		COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
 		OUTPUT_VARIABLE uavcanbl_git_desc
 		OUTPUT_STRIP_TRAILING_WHITESPACE
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-  if ("${uavcanbl_git_desc}" STREQUAL "")
+
+	if ("${uavcanbl_git_desc}" STREQUAL "")
 		set(uavcanbl_git_desc ffffffff)
-  endif()
+	endif()
 	set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
 	message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
 	add_custom_command(OUTPUT ${uavcan_bl_imange_name}
@@ -172,323 +114,6 @@ function(px4_nuttx_make_uavcan_bootloadable)
 	add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
 endfunction()
 
-#=============================================================================
-#
-#	px4_nuttx_generate_builtin_commands
-#
-#	This function generates the builtin_commands.c src for nuttx
-#
-#	Usage:
-#		px4_nuttx_generate_builtin_commands(
-#			MODULE_LIST <in-list>
-#			OUT <file>)
-#
-#	Input:
-#		MODULE_LIST	: list of modules
-#
-#	Output:
-#		OUT	: generated builtin_commands.c src
-#
-#	Example:
-#		px4_nuttx_generate_builtin_commands(
-#			OUT <generated-src> MODULE_LIST px4_simple_app)
-#
-function(px4_nuttx_generate_builtin_commands)
-	px4_parse_function_args(
-		NAME px4_nuttx_generate_builtin_commands
-		ONE_VALUE OUT
-		MULTI_VALUE MODULE_LIST
-		REQUIRED MODULE_LIST OUT
-		ARGN ${ARGN})
-	set(builtin_apps_string)
-	set(builtin_apps_decl_string)
-	set(command_count 0)
-	foreach(module ${MODULE_LIST})
-		foreach(property MAIN STACK_MAIN PRIORITY) 
-			get_target_property(${property} ${module} ${property})
-		endforeach()
-		if (MAIN)
-			set(builtin_apps_string
-				"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main},\n")
-			set(builtin_apps_decl_string
-				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
-			math(EXPR command_count "${command_count}+1")
-		endif()
-	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
-		${OUT})
-endfunction()
-
-#=============================================================================
-#
-#	px4_nuttx_add_export
-#
-#	This function generates a nuttx export.
-#
-#	Usage:
-#		px4_nuttx_add_export(
-#			OUT <out-target>
-#			CONFIG <in-string>
-#			DEPENDS <in-list>)
-#
-#	Input:
-#		CONFIG	: the board to generate the export for
-#		DEPENDS	: dependencies
-#
-#	Output:
-#		OUT	: the export target
-#
-#	Example:
-#		px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2)
-#
-function(px4_nuttx_add_export)
-
-	px4_parse_function_args(
-		NAME px4_nuttx_add_export
-		ONE_VALUE OUT CONFIG THREADS
-		MULTI_VALUE DEPENDS
-		REQUIRED OUT CONFIG THREADS
-		ARGN ${ARGN})
-
-	set(nuttx_build_options "--quiet")
-	set(nuttx_build_output ">nuttx_build.log")
-	if ($ENV{PX4_NUTTX_BUILD_VERBOSE} MATCHES "1")
-		set(nuttx_build_options)
-		set(nuttx_build_output)
-		set(nuttx_build_uses_terminal "USES_TERMINAL")
-	endif()
-
-	if ($ENV{PX4_NUTTX_PATCHES_VERBOSE} MATCHES "1")
-		set(nuttx_patches_uses_terminal "USES_TERMINAL")
-	endif()
-
-	# nuttx-patches
-	add_subdirectory(${PX4_SOURCE_DIR}/nuttx-patches ${PX4_BINARY_DIR}/${CONFIG})
-
-	set(nuttx_build_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
-	set(nuttx_export_dir ${nuttx_build_src}/nuttx/nuttx-export)
-
-	# nuttx cmake dependency files
-	set(nuttx_copy_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_copy.stamp)
-	set(nuttx_configure_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_configure.stamp)
-	set(nuttx_export_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_export.stamp)
-
-	# copy
-	file(GLOB_RECURSE nuttx_all_files ${PX4_SOURCE_DIR}/NuttX/*)
-	file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
-	add_custom_command(OUTPUT ${nuttx_copy_stamp}
-		COMMAND ${MKDIR} -p ${nuttx_build_src}
-		COMMAND rsync -rp --inplace --delete --exclude=.git --exclude=nuttx-export ${nuttx_cp_src}/ ${CONFIG}/NuttX/
-		COMMAND cmake -E touch ${nuttx_copy_stamp}
-		DEPENDS ${px4_nuttx_patches} ${nuttx_all_files}
-		COMMENT "Copying NuttX for ${CONFIG} with ${config_nuttx_config}"
-		WORKING_DIRECTORY ${PX4_BINARY_DIR})
-	add_custom_target(nuttx_copy_${CONFIG} DEPENDS ${DEPENDS} ${nuttx_copy_stamp})
-
-	unset(last_patch)
-	add_custom_target(nuttx_patch_${CONFIG})
-	foreach(patch ${px4_nuttx_patches})
-		get_filename_component(patch_file_name ${patch} NAME)
-		string(REPLACE "/" "_" patch_name "${CONFIG}-nuttx_patch_${patch_file_name}")
-		set(patch_stamp ${nuttx_build_src}/${patch_name}.stamp)
-
-		add_custom_command(OUTPUT ${patch_stamp}
-			COMMAND ${PATCH} --verbose -d ${nuttx_build_src} -s -p1 -N < ${patch}
-			COMMAND cmake -E touch ${patch_stamp}
-			DEPENDS nuttx_copy_${CONFIG} ${patch} ${last_patch}
-			COMMENT "${CONFIG}: nuttx-patches/${patch_file_name} applied"
-			${nuttx_patches_uses_terminal})
-
-		add_custom_target(${patch_name} DEPENDS ${patch_stamp})
-		add_dependencies(nuttx_patch_${CONFIG} ${patch_name} nuttx_copy_${CONFIG})
-		set(last_patch ${patch_name})
-	endforeach()
-
-	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
-	# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
-	file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig"
-		hw_stack_check_${CONFIG}
-		REGEX "CONFIG_ARMV7M_STACKCHECK=y"
-		)
-	if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y")
-		set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
-	endif()
-
-	# nuttx configure
-	file(GLOB_RECURSE nuttx-configs ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
-	add_custom_command(OUTPUT ${nuttx_configure_stamp} ${nuttx_build_src}/nuttx/.config
-		COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/*.mk ${nuttx_build_src}/nuttx/
-		COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_build_src}/nuttx/configs
-		COMMAND ${CP} ${nuttx_build_src}/nuttx/configs/${CONFIG}/${config_nuttx_config}/defconfig ${nuttx_build_src}/nuttx/.config
-		COMMAND ${CP} ${nuttx_build_src}/nuttx/configs/${CONFIG}/${config_nuttx_config}/Make.defs ${nuttx_build_src}/nuttx/
-		COMMAND cmake -E touch ${nuttx_configure_stamp}
-		DEPENDS nuttx_patch_${CONFIG} ${nuttx-configs}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "Configuring NuttX for ${CONFIG} with ${config_nuttx_config}")
-	add_custom_target(nuttx_configure_${CONFIG} DEPENDS ${nuttx_configure_stamp} nuttx_patch_${CONFIG})
-
-	# manual nuttx oldconfig helper
-	add_custom_target(oldconfig_${CONFIG}
-		COMMAND ${MAKE} --no-print-directory -C ${nuttx_build_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig
-		COMMAND ${CP} ${nuttx_build_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
-		COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
-		DEPENDS nuttx_configure_${CONFIG}
-		WORKING_DIRECTORY ${nuttx_build_src}/nuttx
-		COMMENT "Running NuttX make oldconfig for ${CONFIG} with ${config_nuttx_config}"
-		USES_TERMINAL)
-
-	# manual nuttx menuconfig helper
-	add_custom_target(menuconfig_${CONFIG}
-		COMMAND ${MAKE} --no-print-directory -C ${nuttx_build_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig
-		COMMAND ${CP} ${nuttx_build_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
-		COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
-		DEPENDS nuttx_configure_${CONFIG}
-		WORKING_DIRECTORY ${nuttx_build_src}/nuttx
-		COMMENT "Running NuttX make menuconfig for ${CONFIG} with ${config_nuttx_config}"
-		USES_TERMINAL)
-
-	# nuttx build and export
-	add_custom_command(
-		OUTPUT ${nuttx_export_stamp}
-			${nuttx_export_dir}/include/nuttx/config.h
-		COMMAND ${RM} -rf ${nuttx_export_dir}
-		COMMAND ${MAKE} ${nuttx_build_options} --no-print-directory -C ${nuttx_build_src}/nuttx -r CONFIG_ARCH_BOARD=${CONFIG} export ${nuttx_build_output}
-		COMMAND cmake -E touch ${nuttx_export_stamp}
-		DEPENDS nuttx_configure_${CONFIG}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}/${CONFIG}
-		COMMENT "Building NuttX for ${CONFIG} with ${config_nuttx_config}"
-		${nuttx_build_uses_terminal})
-
-	file(GLOB_RECURSE nuttx_export_src ${nuttx_export_dir})
-	foreach(nuttx_export_file ${nuttx_export_dir})
-		set_source_files_properties(${nuttx_export_src} PROPERTIES GENERATED TRUE)
-	endforeach()
-
-	add_custom_target(${OUT} DEPENDS nuttx_copy_${CONFIG} nuttx_patch_${CONFIG} nuttx_configure_${CONFIG} ${nuttx_export_stamp})
-
-endfunction()
-
-#=============================================================================
-#
-#	px4_nuttx_create_bin
-#
-#	The functions generates a bin image for nuttx.
-#
-#	Usage:
-#		px4_nuttx_create_bin(BIN <out-file> EXE <in-file>)
-#
-#	Input:
-#		EXE		: the exe file
-#
-#	Output:
-#		OUT		: the binary output file
-#
-#	Example:
-#		px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe)
-#
-function(px4_nuttx_create_bin)
-
-	px4_parse_function_args(
-		NAME px4_nuttx_create_bin
-		ONE_VALUE EXE OUT
-		REQUIRED EXE OUT
-		ARGN ${ARGN})
-
-	add_custom_command(OUTPUT ${OUT}
-		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
-		DEPENDS ${EXE})
-
-	set(${OUT} ${${OUT}} PARENT_SCOPE)
-
-endfunction()
-
-
-#=============================================================================
-#
-#	px4_nuttx_add_romfs
-#
-#	The functions creates a ROMFS filesystem for nuttx.
-#
-#	Usage:
-#		px4_nuttx_add_romfs(
-#			OUT <out-target>
-#			ROOT <in-directory>
-#			EXTRAS <in-list>)
-#
-#	Input:
-#		ROOT	: the root of the ROMFS
-#		EXTRAS	: list of extra files
-#
-#	Output:
-#		OUT		: the ROMFS library target
-#
-#	Example:
-#		px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board")
-#
-function(px4_nuttx_add_romfs)
-
-	px4_parse_function_args(
-		NAME px4_nuttx_add_romfs
-		ONE_VALUE OUT ROOT
-		MULTI_VALUE EXTRAS
-		REQUIRED OUT ROOT
-		ARGN ${ARGN})
-
-	set(romfs_used y PARENT_SCOPE)
-	set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
-	set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
-	set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
-	set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
-	set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
-	set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
-
-	file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
-
-	set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)
-
-	set(extras)
-	foreach(extra ${EXTRAS})
-		get_filename_component(file_name ${extra} NAME)
-		set(file_dest ${extras_dir}/${file_name})
-		add_custom_command(OUTPUT ${file_dest}
-			COMMAND cmake -E copy ${extra} ${file_dest}
-			DEPENDS ${extra}
-			)
-		list(APPEND extras ${file_dest})
-	endforeach()
-	add_custom_target(collect_extras DEPENDS ${extras})
-
-	add_custom_command(OUTPUT romfs.o
-		COMMAND cmake -E remove_directory ${romfs_temp_dir}
-		COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
-		COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras
-		COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
-			-a ${romfs_temp_dir}/init.d
-			-s ${romfs_temp_dir}/init.d/rc.autostart
-			--board ${BOARD}
-		COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
-			--folder ${romfs_temp_dir}
-			--board ${BOARD}
-		COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
-			-d ${romfs_temp_dir} -V "NSHInitVol"
-		#COMMAND cmake -E remove_directory ${romfs_temp_dir}
-		COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
-			--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
-			--include_path "${PX4_SOURCE_DIR}/src/include"
-			--c_compiler ${CMAKE_C_COMPILER}
-			--nm ${NM} --objcopy ${OBJCOPY}
-			--obj romfs.o
-			--var romfs_img
-			--bin romfs.bin
-		DEPENDS ${romfs_src_files} ${extras}
-		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-		)
-	add_library(${OUT} STATIC romfs.o)
-	set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C)
-	set(${OUT} ${${OUT}} PARENT_SCOPE)
-
-endfunction()
-
 #=============================================================================
 #
 #	px4_os_add_flags
@@ -550,44 +175,24 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-	set(nuttx_export_root ${PX4_BINARY_DIR}/${BOARD}/NuttX)
-	set(nuttx_export_dir ${nuttx_export_root}/nuttx/nuttx-export)
 	set(added_include_dirs
-		${nuttx_export_dir}/include
-		${nuttx_export_dir}/include/cxx
-		${nuttx_export_dir}/arch/chip
-		${nuttx_export_dir}/arch/common
-		${nuttx_export_dir}/arch/armv7-m
-		${nuttx_export_root}/apps/include
-		)
-	set(added_link_dirs
-		${nuttx_export_dir}/libs
-		)
-	set(added_definitions
-		-D__PX4_NUTTX
+		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/armv7-m
+		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/chip
+		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/common
+		${PX4_BINARY_DIR}/NuttX/nuttx/include
+		${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
+		${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
 		)
 
-	if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
+	#set(added_exe_linker_flags)
+	#set(added_link_dirs ${nuttx_export_dir}/libs)
+	set(added_definitions -D__PX4_NUTTX)
+
+	if(NOT ${nuttx_config_type} STREQUAL "bootloader")
 		list(APPEND added_definitions -D__DF_NUTTX)
 	endif()
 
-	set(added_c_flags
-		-nodefaultlibs
-		-nostdlib
-		-fstack-usage
-		)
-	set(added_cxx_flags
-		-nodefaultlibs
-		-nostdlib
-		-fstack-usage
-		)
-
-	set(added_optimization_flags)
-
-	set(added_exe_linker_flags) # none currently
-
-	set(instrument_flags)
-	if ("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
+	if("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
 		set(instrument_flags
 			-finstrument-functions
 			-ffixed-r10
@@ -596,39 +201,12 @@ function(px4_os_add_flags)
 		list(APPEND cxx_flags ${instrument_flags})
 	endif()
 
-	set(cpu_flags)
-	if (${config_nuttx_hw} STREQUAL "m7")
-		set(cpu_flags
-			-mcpu=cortex-m7
-			-mthumb
-			-mfpu=fpv5-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${config_nuttx_hw} STREQUAL "m4")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${config_nuttx_hw} STREQUAL "m3")
-		set(cpu_flags
-			-mcpu=cortex-m3
-			-mthumb
-			-march=armv7-m
-			)
-	endif()
-	list(APPEND c_flags ${cpu_flags})
-	list(APPEND cxx_flags ${cpu_flags})
-
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)
 		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
 		#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
 	endforeach()
-
 endfunction()
 
 #=============================================================================
@@ -659,11 +237,29 @@ function(px4_os_prebuild_targets)
 			ONE_VALUE OUT BOARD THREADS
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
-	px4_nuttx_add_export(OUT nuttx_export_${BOARD}
-		CONFIG ${BOARD}
-		THREADS ${THREADS}
-		DEPENDS git_nuttx)
-	add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
+
+	add_custom_target(${OUT} DEPENDS nuttx_context)
+
+	# parse nuttx config options for cmake
+	file(STRINGS ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/${nuttx_config_type}/defconfig ConfigContents)
+	foreach(NameAndValue ${ConfigContents})
+		# Strip leading spaces
+		string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
+
+		# Find variable name
+		string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
+
+		if (Name)
+			# Find the value
+			string(REPLACE "${Name}=" "" Value ${NameAndValue})
+
+			# remove extra quotes
+			string(REPLACE "\"" "" Value ${Value})
+
+			# Set the variable
+			set(${Name} ${Value} PARENT_SCOPE)
+		endif()
+	endforeach()
 endfunction()
 
 #=============================================================================
@@ -682,7 +278,7 @@ endfunction()
 #
 #	Input:
 #	  HWCLASS		: the class of hardware
-#	  CONFIG		: the nuttx condufiguration to use
+#	  CONFIG		: the nuttx configuration to use
 #	  ROMFS			: whether or not to use incllude theROMFS
 #	  ROMFSROOT		: If ROMFS used set the root the default is px4fmu_common
 #
@@ -695,22 +291,42 @@ endfunction()
 function(px4_nuttx_configure)
 	px4_parse_function_args(
 			NAME px4_nuttx_configure
-			ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT
-			REQUIRED HWCLASS CONFIG
+			ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT IO
+			REQUIRED HWCLASS
 			ARGN ${ARGN})
-	set(config_nuttx_config ${CONFIG} PARENT_SCOPE)
-	set(config_nuttx_hw ${HWCLASS} PARENT_SCOPE)
-	if ("${ROMFS}" STREQUAL "y")
-		set(romfs_used ${ROMFS} PARENT_SCOPE)
+
+	# HWCLASS -> CMAKE_SYSTEM_PROCESSOR
+	if(HWCLASS STREQUAL "m7")
+		set(CMAKE_SYSTEM_PROCESSOR "cortex-m7" PARENT_SCOPE)
+	elseif(HWCLASS STREQUAL "m4")
+		set(CMAKE_SYSTEM_PROCESSOR "cortex-m4" PARENT_SCOPE)
+	elseif(HWCLASS STREQUAL "m3")
+		set(CMAKE_SYSTEM_PROCESSOR "cortex-m3" PARENT_SCOPE)
+	endif()
+	set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
+	set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
+
+	# CONFIG (nsh/bootloader)
+	if(CONFIG)
+		set(nuttx_config_type ${CONFIG} PARENT_SCOPE)
+	else()
+		set(nuttx_config_type "nsh" PARENT_SCOPE)
+	endif()
+
+	# ROMFS
+	if("${ROMFS}" STREQUAL "y")
 		if (NOT DEFINED ROMFSROOT)
 			set(config_romfs_root px4fmu_common)
 		else()
 			set(config_romfs_root ${ROMFSROOT})
 		endif()
-		set(HASROMFS "with ROMFS on ${config_romfs_root}")
 		set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
 	endif()
-	message(STATUS "Nuttx build for ${BOARD} on ${HWCLASS} hardware, using ${CONFIG} ${HASROMFS}")
+
+	# IO board placed in ROMFS
+	if(config_romfs_root)
+		set(config_io_board ${IO} PARENT_SCOPE)
+	endif()
 endfunction()
 
 # vim: set noet fenc=utf-8 ff=unix nowrap:

cmake/nuttx/px4_uavcan_bootloader.cmake

@@ -0,0 +1,56 @@
+############################################################################
+#
+# Copyright (c) 2017 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.
+#
+############################################################################
+
+include(nuttx/px4_impl_nuttx)
+
+message(STATUS "PX4 bootloader: ${BOARD}")
+
+# Bring in common uavcan hardware identity definitions
+include(configs/uavcan_board_ident/${BOARD})
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
+
+include_directories(src/drivers/boards/${BOARD}/bootloader)
+
+set(config_module_list
+	drivers/boards/common
+	drivers/boards/${BOARD}/bootloader
+	drivers/bootloaders
+)
+
+add_library(nuttx_startup ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/arm/src/stm32/gnu/stm32_vectors.S)
+target_compile_definitions(nuttx_startup PRIVATE -D__ASSEMBLY__)
+add_dependencies(nuttx_startup nuttx_arch_build)

cmake/posix/px4_impl_posix.cmake

@@ -37,10 +37,7 @@
 #
 # 	OS Specific Functions
 #
-#		* px4_posix_add_firmware
 #		* px4_posix_generate_builtin_commands
-#		* px4_posix_add_export
-#		* px4_posix_generate_romfs
 #
 # 	Required OS Interface Functions
 #
@@ -167,8 +164,10 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-	set(added_include_dirs
+        set(added_include_dirs
+		src/modules/systemlib
 		src/platforms/posix/include
+		mavlink/include/mavlink
 		)
 
 	# This block sets added_definitions and added_cxx_flags.

cmake/toolchains/Toolchain-arm-none-eabi.cmake

@@ -72,11 +72,27 @@ foreach(tool ddd)
 	endif()
 endforeach()
 
-set(LINKER_FLAGS "-Wl,-gc-sections")
-set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+set(cpu_flags)
+if (CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m7")
+	set(cpu_flags "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard")
+elseif (CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m4")
+	set(cpu_flags "-mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard")
+elseif (CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m3")
+	set(cpu_flags "-mcpu=cortex-m3 -mthumb -march=armv7-m")
+else ()
+	message(FATAL_ERROR "Processor not recognised in toolchain file")
+endif()
+
+set(c_flags "-fno-common -ffunction-sections -fdata-sections")
+set(cxx_flags "-fno-common -ffunction-sections -fdata-sections")
+
+set(CMAKE_C_FLAGS "${c_flags} ${cpu_flags}" CACHE INTERNAL "" FORCE)
+set(CMAKE_CXX_FLAGS "${cxx_flags} ${cpu_flags}" CACHE INTERNAL "" FORCE)
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__ " CACHE INTERNAL "" FORCE)
+set(CMAKE_EXE_LINKER_FLAGS "${cpu_flags} -nodefaultlibs -nostdlib -Wl,--warn-common,--gc-sections" CACHE INTERNAL "" FORCE)
 
 # where is the target environment 
-set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
 
 # search for programs in the build host directories
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)

eclipse.cproject

@@ -20,7 +20,7 @@
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.target.gnu.platform.base.328447809" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
 							<builder id="cdt.managedbuild.target.gnu.builder.base.977864740" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base">
 								<outputEntries>
-									<entry excluding="build_*" flags="VALUE_WORKSPACE_PATH" kind="outputPath" name=""/>
+									<entry excluding="build*" flags="VALUE_WORKSPACE_PATH" kind="outputPath" name=""/>
 								</outputEntries>
 							</builder>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.1653222719" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>

eclipse.project

@@ -52,18 +52,18 @@
 			<type>10</type>
 			<matcher>
 				<id>org.eclipse.ui.ide.multiFilter</id>
-				<arguments>1.0-name-matches-true-false-build_*</arguments>
+				<arguments>1.0-name-matches-true-false-build*</arguments>
 			</matcher>
 		</filter>
 	</filteredResources>
 	<variableList>
 		<variable>
 			<name>uORB_LOC</name>
-			<value>$%7BPROJECT_LOC%7D/build_posix_sitl_default/src/modules/uORB</value>
+			<value>$%7BPROJECT_LOC%7D/build/posix_sitl_default/src/modules/uORB</value>
 		</variable>
 		<variable>
 			<name>uORB_SRC</name>
-			<value>$%7BPROJECT_LOC%7D/build_posix_sitl_default/topics_sources</value>
+			<value>$%7BPROJECT_LOC%7D/build/posix_sitl_default/topics_sources</value>
 		</variable>
 	</variableList>
 </projectDescription>

nuttx-configs/aerocore2/nsh/defconfig

@@ -667,7 +667,7 @@ CONFIG_RAM_SIZE=262144
 # Board Selection
 #
 CONFIG_ARCH_BOARD_AEROCORE2=y
-CONFIG_ARCH_BOARD="AeroCore2"
+CONFIG_ARCH_BOARD="aerocore2"
 
 #
 # Custom Board Configuration

nuttx-configs/aerofc-v1/nsh/defconfig

@@ -677,7 +677,7 @@ CONFIG_ARCH_BOARD="aerofc-v1"
 #
 # Board-Specific Options
 #
-CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_CRASHDUMP=n
 CONFIG_BOARD_RESET_ON_CRASH=y
 CONFIG_LIB_BOARDCTL=y
 CONFIG_BOARDCTL_RESET=y

nuttx-configs/auav-x21/nsh/defconfig

@@ -681,7 +681,7 @@ CONFIG_RAM_SIZE=262144
 # Board Selection
 #
 CONFIG_ARCH_BOARD_AUAV_X21=y
-CONFIG_ARCH_BOARD="auav_x21"
+CONFIG_ARCH_BOARD="auav-x21"
 
 #
 # Custom Board Configuration

nuttx-configs/px4esc-v1/bootloader/Make.defs

@@ -59,11 +59,11 @@ OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
 MAXOPTIMIZATION		 = -Os
-ARCHCPUFLAGS = -mcpu=cortex-m4 \
-    -mthumb \
-    -march=armv7e-m \
-    -mfpu=fpv4-sp-d16 \
-    -mfloat-abi=hard
+ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
 
 # Enable precise stack overflow tracking
 

nuttx-configs/px4esc-v1/nsh/defconfig

@@ -612,8 +612,7 @@ CONFIG_ARCH_BOARD="px4esc-v1"
 #
 # Custom Board Configuration
 #
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_RESET_ON_CRASH=y
+# CONFIG_BOARD_CRASHDUMP is not set
 # CONFIG_BOARD_CUSTOM_LEDS is not set
 # CONFIG_BOARD_CUSTOM_BUTTONS is not set
 
@@ -626,8 +625,7 @@ CONFIG_ARCH_LEDS=y
 #
 # Board-Specific Options
 #
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_RESET_ON_CRASH=y
+# CONFIG_BOARD_CRASHDUMP is not set
 CONFIG_LIB_BOARDCTL=y
 CONFIG_BOARDCTL_RESET=y
 # CONFIG_BOARDCTL_UNIQUEID is not set

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

@@ -162,4 +162,3 @@ HOSTCC			 = gcc
 HOSTINCLUDES		 = -I.
 HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
 HOSTLDFLAGS		 =
-

nuttx-configs/px4fmu-v3/include/board.h

@@ -1,5 +1,5 @@
 /************************************************************************************
- * configs/px4fmu-v3/include/board.h
+ * nuttx-configs/px4fmu-v3/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2009 Gregory Nutt. All rights reserved.

nuttx-configs/px4fmu-v3/nsh/Make.defs

@@ -1,5 +1,5 @@
 ############################################################################
-# configs/px4fmu-v3/nsh/Make.defs
+# nuttx-configs/px4fmu-v3/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>

nuttx-configs/px4fmu-v3/nsh/defconfig

@@ -680,8 +680,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V2=y
-CONFIG_ARCH_BOARD="px4fmu-v2"
+CONFIG_ARCH_BOARD_PX4FMU_V3=y
+CONFIG_ARCH_BOARD="px4fmu-v3"
 
 #
 # Custom Board Configuration

nuttx-patches/00001-REJECTED-add-math.h.patch

@@ -1,583 +0,0 @@
-diff -ruN NuttX/nuttx/arch/arm/include/math.h NuttX/nuttx/arch/arm/include/math.h
---- NuttX/nuttx/arch/arm/include/math.h	1969-12-31 14:00:00.000000000 -1000
-+++ NuttX/nuttx/arch/arm/include/math.h	2014-12-25 17:33:53.404950574 -1000
-@@ -0,0 +1,579 @@
-+#ifndef  _MATH_H_
-+
-+#define  _MATH_H_
-+
-+#include <machine/ieeefp.h>
-+#include "_ansi.h"
-+
-+_BEGIN_STD_C
-+
-+/* Natural log of 2 */
-+#define _M_LN2        0.693147180559945309417
-+
-+#if defined(__GNUC__) && \
-+  ( (__GNUC__ >= 4) || \
-+    ( (__GNUC__ >= 3) && defined(__GNUC_MINOR__) && (__GNUC_MINOR__ >= 3) ) )
-+
-+ /* gcc >= 3.3 implicitly defines builtins for HUGE_VALx values.  */
-+
-+# ifndef HUGE_VAL
-+#  define HUGE_VAL (__builtin_huge_val())
-+# endif
-+
-+# ifndef HUGE_VALF
-+#  define HUGE_VALF (__builtin_huge_valf())
-+# endif
-+
-+# ifndef HUGE_VALL
-+#  define HUGE_VALL (__builtin_huge_vall())
-+# endif
-+
-+# ifndef INFINITY
-+#  define INFINITY (__builtin_inff())
-+# endif
-+
-+# ifndef NAN
-+#  define NAN (__builtin_nanf(""))
-+# endif
-+
-+#else /* !gcc >= 3.3  */
-+
-+ /*      No builtins.  Use fixed defines instead.  (All 3 HUGE plus the INFINITY
-+ *        * and NAN macros are required to be constant expressions.  Using a variable--
-+ *          * even a static const--does not meet this requirement, as it cannot be
-+ *            * evaluated at translation time.)
-+ *              *      The infinities are done using numbers that are far in excess of
-+ *                * something that would be expected to be encountered in a floating-point
-+ *                  * implementation.  (A more certain way uses values from float.h, but that is
-+ *                    * avoided because system includes are not supposed to include each other.)
-+ *                      *      This method might produce warnings from some compilers.  (It does in
-+ *                        * newer GCCs, but not for ones that would hit this #else.)  If this happens,
-+ *                          * please report details to the Newlib mailing list.  */
-+
-+ #ifndef HUGE_VAL
-+  #define HUGE_VAL (1.0e999999999)
-+ #endif
-+
-+ #ifndef HUGE_VALF
-+  #define HUGE_VALF (1.0e999999999F)
-+ #endif
-+
-+ #if !defined(HUGE_VALL)  &&  defined(_HAVE_LONG_DOUBLE)
-+  #define HUGE_VALL (1.0e999999999L)
-+ #endif
-+
-+ #if !defined(INFINITY)
-+  #define INFINITY (HUGE_VALF)
-+ #endif
-+
-+ #if !defined(NAN)
-+  #if defined(__GNUC__)  &&  defined(__cplusplus)
-+    /* Exception:  older g++ versions warn about the divide by 0 used in the
-+ *      * normal case (even though older gccs do not).  This trick suppresses the
-+ *           * warning, but causes errors for plain gcc, so is only used in the one
-+ *                * special case.  */
-+    static const union { __ULong __i[1]; float __d; } __Nanf = {0x7FC00000};
-+    #define NAN (__Nanf.__d)
-+  #else
-+    #define NAN (0.0F/0.0F)
-+  #endif
-+ #endif
-+
-+#endif /* !gcc >= 3.3  */
-+
-+/* Reentrant ANSI C functions.  */
-+
-+#ifndef __math_68881
-+extern double atan _PARAMS((double));
-+extern double cos _PARAMS((double));
-+extern double sin _PARAMS((double));
-+extern double tan _PARAMS((double));
-+extern double tanh _PARAMS((double));
-+extern double frexp _PARAMS((double, int *));
-+extern double modf _PARAMS((double, double *));
-+extern double ceil _PARAMS((double));
-+extern double fabs _PARAMS((double));
-+extern double floor _PARAMS((double));
-+#endif /* ! defined (__math_68881) */
-+
-+/* Non reentrant ANSI C functions.  */
-+
-+#ifndef _REENT_ONLY
-+#ifndef __math_68881
-+extern double acos _PARAMS((double));
-+extern double asin _PARAMS((double));
-+extern double atan2 _PARAMS((double, double));
-+extern double cosh _PARAMS((double));
-+extern double sinh _PARAMS((double));
-+extern double exp _PARAMS((double));
-+extern double ldexp _PARAMS((double, int));
-+extern double log _PARAMS((double));
-+extern double log10 _PARAMS((double));
-+extern double pow _PARAMS((double, double));
-+extern double sqrt _PARAMS((double));
-+extern double fmod _PARAMS((double, double));
-+#endif /* ! defined (__math_68881) */
-+#endif /* ! defined (_REENT_ONLY) */
-+
-+#if !defined(__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L
-+
-+/* ISO C99 types and macros. */
-+
-+#ifndef FLT_EVAL_METHOD
-+#define FLT_EVAL_METHOD 0
-+typedef float float_t;
-+typedef double double_t;
-+#endif /* FLT_EVAL_METHOD */
-+
-+#define FP_NAN         0
-+#define FP_INFINITE    1
-+#define FP_ZERO        2
-+#define FP_SUBNORMAL   3
-+#define FP_NORMAL      4
-+
-+#ifndef FP_ILOGB0
-+# define FP_ILOGB0 (-INT_MAX)
-+#endif
-+#ifndef FP_ILOGBNAN
-+# define FP_ILOGBNAN INT_MAX
-+#endif
-+
-+#ifndef MATH_ERRNO
-+# define MATH_ERRNO 1
-+#endif
-+#ifndef MATH_ERREXCEPT
-+# define MATH_ERREXCEPT 2
-+#endif
-+#ifndef math_errhandling
-+# define math_errhandling MATH_ERRNO
-+#endif
-+
-+extern int __isinff (float x);
-+extern int __isinfd (double x);
-+extern int __isnanf (float x);
-+extern int __isnand (double x);
-+extern int __fpclassifyf (float x);
-+extern int __fpclassifyd (double x);
-+extern int __signbitf (float x);
-+extern int __signbitd (double x);
-+
-+#define fpclassify(__x) \
-+	((sizeof(__x) == sizeof(float))  ? __fpclassifyf(__x) : \
-+	__fpclassifyd(__x))
-+
-+#ifndef isfinite
-+  #define isfinite(__y) \
-+          (__extension__ ({int __cy = fpclassify(__y); \
-+                           __cy != FP_INFINITE && __cy != FP_NAN;}))
-+#endif
-+
-+/* Note: isinf and isnan were once functions in newlib that took double
-+ *  *       arguments.  C99 specifies that these names are reserved for macros
-+ *   *       supporting multiple floating point types.  Thus, they are
-+ *    *       now defined as macros.  Implementations of the old functions
-+ *     *       taking double arguments still exist for compatibility purposes
-+ *      *       (prototypes for them are in <ieeefp.h>).  */
-+#ifndef isinf
-+  #define isinf(y) (fpclassify(y) == FP_INFINITE)
-+#endif
-+
-+#ifndef isnan
-+  #define isnan(y) (fpclassify(y) == FP_NAN)
-+#endif
-+
-+#define isnormal(y) (fpclassify(y) == FP_NORMAL)
-+#define signbit(__x) \
-+	((sizeof(__x) == sizeof(float))  ?  __signbitf(__x) : \
-+		__signbitd(__x))
-+
-+#define isgreater(x,y) \
-+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-+                           !isunordered(__x,__y) && (__x > __y);}))
-+#define isgreaterequal(x,y) \
-+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-+                           !isunordered(__x,__y) && (__x >= __y);}))
-+#define isless(x,y) \
-+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-+                           !isunordered(__x,__y) && (__x < __y);}))
-+#define islessequal(x,y) \
-+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-+                           !isunordered(__x,__y) && (__x <= __y);}))
-+#define islessgreater(x,y) \
-+          (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
-+                           !isunordered(__x,__y) && (__x < __y || __x > __y);}))
-+
-+#define isunordered(a,b) \
-+          (__extension__ ({__typeof__(a) __a = (a); __typeof__(b) __b = (b); \
-+                           fpclassify(__a) == FP_NAN || fpclassify(__b) == FP_NAN;}))
-+
-+/* Non ANSI double precision functions.  */
-+
-+extern double infinity _PARAMS((void));
-+extern double nan _PARAMS((const char *));
-+extern int finite _PARAMS((double));
-+extern double copysign _PARAMS((double, double));
-+extern double logb _PARAMS((double));
-+extern int ilogb _PARAMS((double));
-+
-+extern double asinh _PARAMS((double));
-+extern double cbrt _PARAMS((double));
-+extern double nextafter _PARAMS((double, double));
-+extern double rint _PARAMS((double));
-+extern double scalbn _PARAMS((double, int));
-+
-+extern double exp2 _PARAMS((double));
-+extern double scalbln _PARAMS((double, long int));
-+extern double tgamma _PARAMS((double));
-+extern double nearbyint _PARAMS((double));
-+extern long int lrint _PARAMS((double));
-+extern long long int llrint _PARAMS((double));
-+extern double round _PARAMS((double));
-+extern long int lround _PARAMS((double));
-+extern long long int llround _PARAMS((double));
-+extern double trunc _PARAMS((double));
-+extern double remquo _PARAMS((double, double, int *));
-+extern double fdim _PARAMS((double, double));
-+extern double fmax _PARAMS((double, double));
-+extern double fmin _PARAMS((double, double));
-+extern double fma _PARAMS((double, double, double));
-+
-+#ifndef __math_68881
-+extern double log1p _PARAMS((double));
-+extern double expm1 _PARAMS((double));
-+#endif /* ! defined (__math_68881) */
-+
-+#ifndef _REENT_ONLY
-+extern double acosh _PARAMS((double));
-+extern double atanh _PARAMS((double));
-+extern double remainder _PARAMS((double, double));
-+extern double gamma _PARAMS((double));
-+extern double lgamma _PARAMS((double));
-+extern double erf _PARAMS((double));
-+extern double erfc _PARAMS((double));
-+extern double log2 _PARAMS((double));
-+
-+#ifndef __math_68881
-+extern double hypot _PARAMS((double, double));
-+#endif
-+
-+#endif /* ! defined (_REENT_ONLY) */
-+
-+/* Single precision versions of ANSI functions.  */
-+
-+extern float atanf _PARAMS((float));
-+extern float cosf _PARAMS((float));
-+extern float sinf _PARAMS((float));
-+extern float tanf _PARAMS((float));
-+extern float tanhf _PARAMS((float));
-+extern float frexpf _PARAMS((float, int *));
-+extern float modff _PARAMS((float, float *));
-+extern float ceilf _PARAMS((float));
-+extern float fabsf _PARAMS((float));
-+extern float floorf _PARAMS((float));
-+
-+#ifndef _REENT_ONLY
-+extern float acosf _PARAMS((float));
-+extern float asinf _PARAMS((float));
-+extern float atan2f _PARAMS((float, float));
-+extern float coshf _PARAMS((float));
-+extern float sinhf _PARAMS((float));
-+extern float expf _PARAMS((float));
-+extern float ldexpf _PARAMS((float, int));
-+extern float logf _PARAMS((float));
-+extern float log10f _PARAMS((float));
-+extern float powf _PARAMS((float, float));
-+extern float sqrtf _PARAMS((float));
-+extern float fmodf _PARAMS((float, float));
-+#endif /* ! defined (_REENT_ONLY) */
-+
-+/* Other single precision functions.  */
-+
-+extern float exp2f _PARAMS((float));
-+extern float scalblnf _PARAMS((float, long int));
-+extern float tgammaf _PARAMS((float));
-+extern float nearbyintf _PARAMS((float));
-+extern long int lrintf _PARAMS((float));
-+extern long long llrintf _PARAMS((float));
-+extern float roundf _PARAMS((float));
-+extern long int lroundf _PARAMS((float));
-+extern long long int llroundf _PARAMS((float));
-+extern float truncf _PARAMS((float));
-+extern float remquof _PARAMS((float, float, int *));
-+extern float fdimf _PARAMS((float, float));
-+extern float fmaxf _PARAMS((float, float));
-+extern float fminf _PARAMS((float, float));
-+extern float fmaf _PARAMS((float, float, float));
-+
-+extern float infinityf _PARAMS((void));
-+extern float nanf _PARAMS((const char *));
-+extern int finitef _PARAMS((float));
-+extern float copysignf _PARAMS((float, float));
-+extern float logbf _PARAMS((float));
-+extern int ilogbf _PARAMS((float));
-+
-+extern float asinhf _PARAMS((float));
-+extern float cbrtf _PARAMS((float));
-+extern float nextafterf _PARAMS((float, float));
-+extern float rintf _PARAMS((float));
-+extern float scalbnf _PARAMS((float, int));
-+extern float log1pf _PARAMS((float));
-+extern float expm1f _PARAMS((float));
-+
-+#ifndef _REENT_ONLY
-+extern float acoshf _PARAMS((float));
-+extern float atanhf _PARAMS((float));
-+extern float remainderf _PARAMS((float, float));
-+extern float gammaf _PARAMS((float));
-+extern float lgammaf _PARAMS((float));
-+extern float erff _PARAMS((float));
-+extern float erfcf _PARAMS((float));
-+extern float log2f _PARAMS((float));
-+extern float hypotf _PARAMS((float, float));
-+#endif /* ! defined (_REENT_ONLY) */
-+
-+/* On platforms where long double equals double.  */
-+#ifdef _LDBL_EQ_DBL
-+/* Reentrant ANSI C functions.  */
-+#ifndef __math_68881
-+extern long double atanl _PARAMS((long double));
-+extern long double cosl _PARAMS((long double));
-+extern long double sinl _PARAMS((long double));
-+extern long double tanl _PARAMS((long double));
-+extern long double tanhl _PARAMS((long double));
-+extern long double frexpl _PARAMS((long double value, int *));
-+extern long double modfl _PARAMS((long double, long double *));
-+extern long double ceill _PARAMS((long double));
-+extern long double fabsl _PARAMS((long double));
-+extern long double floorl _PARAMS((long double));
-+extern long double log1pl _PARAMS((long double));
-+extern long double expm1l _PARAMS((long double));
-+#endif /* ! defined (__math_68881) */
-+/* Non reentrant ANSI C functions.  */
-+#ifndef _REENT_ONLY
-+#ifndef __math_68881
-+extern long double acosl _PARAMS((long double));
-+extern long double asinl _PARAMS((long double));
-+extern long double atan2l _PARAMS((long double, long double));
-+extern long double coshl _PARAMS((long double));
-+extern long double sinhl _PARAMS((long double));
-+extern long double expl _PARAMS((long double));
-+extern long double ldexpl _PARAMS((long double, int));
-+extern long double logl _PARAMS((long double));
-+extern long double log2l _PARAMS((long double));
-+extern long double log10l _PARAMS((long double));
-+extern long double powl _PARAMS((long double, long double));
-+extern long double sqrtl _PARAMS((long double));
-+extern long double fmodl _PARAMS((long double, long double));
-+extern long double hypotl _PARAMS((long double, long double));
-+#endif /* ! defined (__math_68881) */
-+#endif /* ! defined (_REENT_ONLY) */
-+extern long double copysignl _PARAMS((long double, long double));
-+extern long double nanl _PARAMS((const char *));
-+extern int ilogbl _PARAMS((long double));
-+extern long double asinhl _PARAMS((long double));
-+extern long double cbrtl _PARAMS((long double));
-+extern long double nextafterl _PARAMS((long double, long double));
-+extern long double rintl _PARAMS((long double));
-+extern long double scalbnl _PARAMS((long double, int));
-+extern long double exp2l _PARAMS((long double));
-+extern long double scalblnl _PARAMS((long double, long));
-+extern long double tgammal _PARAMS((long double));
-+extern long double nearbyintl _PARAMS((long double));
-+extern long int lrintl _PARAMS((long double));
-+extern long long int llrintl _PARAMS((long double));
-+extern long double roundl _PARAMS((long double));
-+extern long lroundl _PARAMS((long double));
-+extern long long int llroundl _PARAMS((long double));
-+extern long double truncl _PARAMS((long double));
-+extern long double remquol _PARAMS((long double, long double, int *));
-+extern long double fdiml _PARAMS((long double, long double));
-+extern long double fmaxl _PARAMS((long double, long double));
-+extern long double fminl _PARAMS((long double, long double));
-+extern long double fmal _PARAMS((long double, long double, long double));
-+#ifndef _REENT_ONLY
-+extern long double acoshl _PARAMS((long double));
-+extern long double atanhl _PARAMS((long double));
-+extern long double remainderl _PARAMS((long double, long double));
-+extern long double lgammal _PARAMS((long double));
-+extern long double erfl _PARAMS((long double));
-+extern long double erfcl _PARAMS((long double));
-+#endif /* ! defined (_REENT_ONLY) */
-+#else /* !_LDBL_EQ_DBL */
-+#ifdef __i386__
-+/* Other long double precision functions.  */
-+extern _LONG_DOUBLE rintl _PARAMS((_LONG_DOUBLE));
-+extern long int lrintl _PARAMS((_LONG_DOUBLE));
-+extern long long llrintl _PARAMS((_LONG_DOUBLE));
-+#endif /* __i386__ */
-+#endif /* !_LDBL_EQ_DBL */
-+
-+#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L */
-+
-+#if !defined (__STRICT_ANSI__) || defined(__cplusplus)
-+
-+extern double drem _PARAMS((double, double));
-+extern void sincos _PARAMS((double, double *, double *));
-+extern double gamma_r _PARAMS((double, int *));
-+extern double lgamma_r _PARAMS((double, int *));
-+
-+extern double y0 _PARAMS((double));
-+extern double y1 _PARAMS((double));
-+extern double yn _PARAMS((int, double));
-+extern double j0 _PARAMS((double));
-+extern double j1 _PARAMS((double));
-+extern double jn _PARAMS((int, double));
-+
-+extern float dremf _PARAMS((float, float));
-+extern void sincosf _PARAMS((float, float *, float *));
-+extern float gammaf_r _PARAMS((float, int *));
-+extern float lgammaf_r _PARAMS((float, int *));
-+
-+extern float y0f _PARAMS((float));
-+extern float y1f _PARAMS((float));
-+extern float ynf _PARAMS((int, float));
-+extern float j0f _PARAMS((float));
-+extern float j1f _PARAMS((float));
-+extern float jnf _PARAMS((int, float));
-+
-+/* GNU extensions */
-+# ifndef exp10
-+extern double exp10 _PARAMS((double));
-+# endif
-+# ifndef pow10
-+extern double pow10 _PARAMS((double));
-+# endif
-+# ifndef exp10f
-+extern float exp10f _PARAMS((float));
-+# endif
-+# ifndef pow10f
-+extern float pow10f _PARAMS((float));
-+# endif
-+
-+#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) */
-+
-+#ifndef __STRICT_ANSI__
-+
-+/* The gamma functions use a global variable, signgam.  */
-+#ifndef _REENT_ONLY
-+#define signgam (*__signgam())
-+extern int *__signgam _PARAMS((void));
-+#endif /* ! defined (_REENT_ONLY) */
-+
-+#define __signgam_r(ptr) _REENT_SIGNGAM(ptr)
-+
-+/* The exception structure passed to the matherr routine.  */
-+/* We have a problem when using C++ since `exception' is a reserved
-+ *    name in C++.  */
-+#ifdef __cplusplus
-+struct __exception
-+#else
-+struct exception
-+#endif
-+{
-+  int type;
-+  char *name;
-+  double arg1;
-+  double arg2;
-+  double retval;
-+  int err;
-+};
-+
-+#ifdef __cplusplus
-+extern int matherr _PARAMS((struct __exception *e));
-+#else
-+extern int matherr _PARAMS((struct exception *e));
-+#endif
-+
-+/* Values for the type field of struct exception.  */
-+
-+#define DOMAIN 1
-+#define SING 2
-+#define OVERFLOW 3
-+#define UNDERFLOW 4
-+#define TLOSS 5
-+#define PLOSS 6
-+
-+/* Useful constants.  */
-+
-+#define MAXFLOAT	3.40282347e+38F
-+
-+#define M_E		2.7182818284590452354
-+#define M_LOG2E		1.4426950408889634074
-+#define M_LOG10E	0.43429448190325182765
-+#define M_LN2		_M_LN2
-+#define M_LN10		2.30258509299404568402
-+#define M_PI		3.14159265358979323846
-+#define M_TWOPI         (M_PI * 2.0)
-+#define M_PI_2		1.57079632679489661923
-+#define M_PI_4		0.78539816339744830962
-+#define M_3PI_4		2.3561944901923448370E0
-+#define M_SQRTPI        1.77245385090551602792981
-+#define M_1_PI		0.31830988618379067154
-+#define M_2_PI		0.63661977236758134308
-+#define M_2_SQRTPI	1.12837916709551257390
-+#define M_DEG_TO_RAD 	0.01745329251994
-+#define M_RAD_TO_DEG 	57.2957795130823
-+#define M_SQRT2		1.41421356237309504880
-+#define M_SQRT1_2	0.70710678118654752440
-+#define M_LN2LO         1.9082149292705877000E-10
-+#define M_LN2HI         6.9314718036912381649E-1
-+#define M_SQRT3	1.73205080756887719000
-+#define M_IVLN10        0.43429448190325182765 /* 1 / log(10) */
-+#define M_LOG2_E        _M_LN2
-+#define M_INVLN2        1.4426950408889633870E0  /* 1 / log(2) */
-+
-+
-+#define M_E_F			2.7182818284590452354f
-+#define M_LOG2E_F		1.4426950408889634074f
-+#define M_LOG10E_F		0.43429448190325182765f
-+#define M_LN2_F			_M_LN2_F
-+#define M_LN10_F		2.30258509299404568402f
-+#define M_PI_F			3.14159265358979323846f
-+#define M_TWOPI_F       (M_PI_F * 2.0f)
-+#define M_PI_2_F		1.57079632679489661923f
-+#define M_PI_4_F		0.78539816339744830962f
-+#define M_3PI_4_F		2.3561944901923448370E0f
-+#define M_SQRTPI_F      1.77245385090551602792981f
-+#define M_1_PI_F		0.31830988618379067154f
-+#define M_2_PI_F		0.63661977236758134308f
-+#define M_2_SQRTPI_F	1.12837916709551257390f
-+#define M_DEG_TO_RAD_F 	0.01745329251994f
-+#define M_RAD_TO_DEG_F 	57.2957795130823f
-+#define M_SQRT2_F		1.41421356237309504880f
-+#define M_SQRT1_2_F		0.70710678118654752440f
-+#define M_LN2LO_F       1.9082149292705877000E-10f
-+#define M_LN2HI_F       6.9314718036912381649E-1f
-+#define M_SQRT3_F		1.73205080756887719000f
-+#define M_IVLN10_F      0.43429448190325182765f /* 1 / log(10) */
-+#define M_LOG2_E_F      _M_LN2_F
-+#define M_INVLN2_F      1.4426950408889633870E0f  /* 1 / log(2) */
-+
-+/* Global control over fdlibm error handling.  */
-+
-+enum __fdlibm_version
-+{
-+  __fdlibm_ieee = -1,
-+  __fdlibm_svid,
-+  __fdlibm_xopen,
-+  __fdlibm_posix
-+};
-+
-+#define _LIB_VERSION_TYPE enum __fdlibm_version
-+#define _LIB_VERSION __fdlib_version
-+
-+extern __IMPORT _LIB_VERSION_TYPE _LIB_VERSION;
-+
-+#define _IEEE_  __fdlibm_ieee
-+#define _SVID_  __fdlibm_svid
-+#define _XOPEN_ __fdlibm_xopen
-+#define _POSIX_ __fdlibm_posix
-+
-+#endif /* ! defined (__STRICT_ANSI__) */
-+
-+_END_STD_C
-+
-+#ifdef __FAST_MATH__
-+#include <machine/fastmath.h>
-+#endif
-+
-+#endif /* _MATH_H_ */

nuttx-patches/00002-REJECTED-fix-shadow-wanings.patch

@@ -1,64 +0,0 @@
-diff --git NuttX/nuttx/include/signal.h NuttX/nuttx/include/signal.h
-index bd8ee9f..7ee242a 100644
---- NuttX/nuttx/include/signal.h
-+++ NuttX/nuttx/include/signal.h
-@@ -282,8 +282,11 @@ extern "C"
- 
- int kill(pid_t pid, int signo);
- int raise(int signo);
-+#pragma GCC diagnostic push
-+#pragma GCC diagnostic ignored "-Wshadow"
- int sigaction(int signo, FAR const struct sigaction *act,
-               FAR struct sigaction *oact);
-+#pragma GCC diagnostic pop
- int sigaddset(FAR sigset_t *set, int signo);
- int sigdelset(FAR sigset_t *set, int signo);
- int sigemptyset(FAR sigset_t *set);
-diff --git NuttX/nuttx/include/stdlib.h NuttX/nuttx/include/stdlib.h
-index aa259c9..f2b0640 100644
---- NuttX/nuttx/include/stdlib.h
-+++ NuttX/nuttx/include/stdlib.h
-@@ -202,7 +202,10 @@ FAR void *zalloc(size_t);
- FAR void *calloc(size_t, size_t);
- 
- #ifdef CONFIG_CAN_PASS_STRUCTS
-+#pragma GCC diagnostic push
-+#pragma GCC diagnostic ignored "-Wshadow"
- struct mallinfo mallinfo(void);
-+#pragma GCC diagnostic pop
- #else
- int      mallinfo(FAR struct mallinfo *info);
- #endif
-diff --git NuttX/nuttx/include/sys/statfs.h NuttX/nuttx/include/sys/statfs.h
-index 1d1786a..12f802b 100644
---- NuttX/nuttx/include/sys/statfs.h
-+++ NuttX/nuttx/include/sys/statfs.h
-@@ -139,8 +139,11 @@ extern "C"
-  * form of the struct statfs.
-  */
- 
-+#pragma GCC diagnostic push
-+#pragma GCC diagnostic ignored "-Wshadow"
- int statfs(FAR const char *path, FAR struct statfs *buf);
- int fstatfs(int fd, FAR struct statfs *buf);
-+#pragma GCC diagnostic pop
- 
- #undef EXTERN
- #if defined(__cplusplus)
-diff --git NuttX/nuttx/include/sys/stat.h NuttX/nuttx/include/sys/stat.h
-index 4d82f62..4d35fcb 100644
---- NuttX/nuttx/include/sys/stat.h
-+++ NuttX/nuttx/include/sys/stat.h
-@@ -154,9 +154,11 @@ extern "C"
- 
- int mkdir(FAR const char *pathname, mode_t mode);
- int mkfifo(FAR const char *pathname, mode_t mode);
-+#pragma GCC diagnostic push
-+#pragma GCC diagnostic ignored "-Wshadow"
- int stat(const char *path, FAR struct stat *buf);
- int fstat(int fd, FAR struct stat *buf);
--
-+#pragma GCC diagnostic pop
- #undef EXTERN
- #if defined(__cplusplus)
- }

nuttx-patches/00003-REJECTED-add-var-expansion-in-nsh-parse.patch

@@ -1,271 +0,0 @@
-diff --git NuttX/apps/nshlib/nsh_parse.c NuttX/apps/nshlib/nsh_parse.c
-index 30f7ef5..f6fa2e0 100644
---- NuttX/apps/nshlib/nsh_parse.c
-+++ NuttX/apps/nshlib/nsh_parse.c
-@@ -156,9 +156,9 @@ static FAR char *nsh_envexpand(FAR struct nsh_vtbl_s *vtbl,
- #endif
- 
- static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
--               FAR char **allocation);
-+               FAR char **allocation, int* isenvvar);
- static FAR char *nsh_argument(FAR struct nsh_vtbl_s *vtbl, char **saveptr,
--               FAR NSH_MEMLIST_TYPE *memlist);
-+               FAR NSH_MEMLIST_TYPE *memlist, int* isenvvar);
- 
- #ifndef CONFIG_NSH_DISABLESCRIPT
- #ifndef CONFIG_NSH_DISABLE_LOOPS
-@@ -1009,7 +1009,7 @@ static FAR char *nsh_envexpand(FAR struct nsh_vtbl_s *vtbl,
- 
- #if defined(CONFIG_NSH_ARGCAT) && defined(HAVE_MEMLIST)
- static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
--                               FAR char **allocation)
-+                               FAR char **allocation, int* isenvvar)
- {
-   FAR char *working = cmdline;
-   FAR char *argument = NULL;
-@@ -1128,8 +1128,8 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
-           *allocation = argument;
- 
-           /* Find the end of the environment variable reference.  If the
--           * dollar sign ('$') is followed by a right bracket ('{') then the
--           * variable name is terminated with the left bracket character
-+           * dollar sign ('$') is followed by a left bracket ('{') then the
-+           * variable name is terminated with the right bracket character
-            * ('}').  Otherwise, the variable name goes to the end of the
-            * argument.
-            */
-@@ -1167,6 +1167,10 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
-            * nsh_envexpand will return the NULL string.
-            */
- 
-+          if (isenvvar) {
-+              *isenvvar = 1;
-+          }
-+
-           envstr = nsh_envexpand(vtbl, ptr);
- 
-           /* Concatenate the result of the operation with the accumulated
-@@ -1187,7 +1191,7 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
- 
- #else
- static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
--                               FAR char **allocation)
-+                               FAR char **allocation, int* isenvvar)
- {
-   FAR char *argument = (FAR char *)g_nullstring;
- 
-@@ -1223,6 +1227,9 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
- 
-   if (*cmdline == '$')
-     {
-+      if (isenvvar) {
-+          *isenvvar = 1;
-+      }
-       argument = nsh_envexpand(vtbl, cmdline + 1);
-     }
-   else
-@@ -1245,7 +1252,7 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
-  ****************************************************************************/
- 
- static FAR char *nsh_argument(FAR struct nsh_vtbl_s *vtbl, FAR char **saveptr,
--                              FAR NSH_MEMLIST_TYPE *memlist)
-+                              FAR NSH_MEMLIST_TYPE *memlist, int* isenvvar)
- {
-   FAR char *pbegin     = *saveptr;
-   FAR char *pend       = NULL;
-@@ -1317,6 +1324,13 @@ static FAR char *nsh_argument(FAR struct nsh_vtbl_s *vtbl, FAR char **saveptr,
- 
-           pbegin++;
-           term = "\"";
-+
-+          /* If this is an environment variable in double quotes, we don't want it split into
-+           * multiple argument should CONFIG_NSH_ENABLEPX4PARSING be defined
-+           * So just invalidate the flag pointer which would otherwise communictate such 
-+           * back up the call tree.
-+           */
-+          isenvvar = NULL;
-         }
-       else
-         {
-@@ -1376,11 +1390,11 @@ static FAR char *nsh_argument(FAR struct nsh_vtbl_s *vtbl, FAR char **saveptr,
- 
-       /* Perform expansions as necessary for the argument */
- 
--      argument = nsh_argexpand(vtbl, pbegin, &allocation);
-+      argument = nsh_argexpand(vtbl, pbegin, &allocation, isenvvar);
-     }
- 
-   /* If any memory was allocated for this argument, make sure that it is
--   * added to the list of memory to be freed at the end of commend
-+   * added to the list of memory to be freed at the end of command
-    * processing.
-    */
- 
-@@ -1497,7 +1511,7 @@ static int nsh_loop(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
- 
-           /* Get the cmd following the "while" or "until" */
- 
--          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
-+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
-           if (!*ppcmd)
-             {
-               nsh_output(vtbl, g_fmtarginvalid, "if");
-@@ -1554,7 +1568,7 @@ static int nsh_loop(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
-         {
-           /* Get the cmd following the "do" -- there may or may not be one */
- 
--          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
-+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
- 
-           /* Verify that "do" is valid in this context */
- 
-@@ -1574,7 +1588,7 @@ static int nsh_loop(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
-         {
-           /* Get the cmd following the "done" -- there should be one */
- 
--          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
-+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
-           if (*ppcmd)
-             {
-               nsh_output(vtbl, g_fmtarginvalid, "done");
-@@ -1679,7 +1693,7 @@ static int nsh_itef(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
-         {
-           /* Get the cmd following the if */
- 
--          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
-+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
-           if (!*ppcmd)
-             {
-               nsh_output(vtbl, g_fmtarginvalid, "if");
-@@ -1717,7 +1731,7 @@ static int nsh_itef(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
-         {
-           /* Get the cmd following the "then" -- there may or may not be one */
- 
--          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
-+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
- 
-           /* Verify that "then" is valid in this context */
- 
-@@ -1736,7 +1750,7 @@ static int nsh_itef(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
-         {
-           /* Get the cmd following the "else" -- there may or may not be one */
- 
--          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
-+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
- 
-           /* Verify that "else" is valid in this context */
- 
-@@ -1755,7 +1769,7 @@ static int nsh_itef(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
-         {
-           /* Get the cmd following the fi -- there should be one */
- 
--          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
-+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
-           if (*ppcmd)
-             {
-               nsh_output(vtbl, g_fmtarginvalid, "fi");
-@@ -1827,10 +1841,10 @@ static int nsh_nice(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
- 
-           /* Get the cmd (or -d option of nice command) */
- 
--          cmd = nsh_argument(vtbl, saveptr, memlist);
-+          cmd = nsh_argument(vtbl, saveptr, memlist, 0);
-           if (cmd && strcmp(cmd, "-d") == 0)
-             {
--              FAR char *val = nsh_argument(vtbl, saveptr, memlist);
-+              FAR char *val = nsh_argument(vtbl, saveptr, memlist, 0);
-               if (val)
-                 {
-                   char *endptr;
-@@ -1841,7 +1855,7 @@ static int nsh_nice(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
-                       nsh_output(vtbl, g_fmtarginvalid, "nice");
-                       return ERROR;
-                     }
--                  cmd = nsh_argument(vtbl, saveptr, memlist);
-+                  cmd = nsh_argument(vtbl, saveptr, memlist, 0);
-                 }
-             }
- 
-@@ -1909,7 +1923,7 @@ static int nsh_parse_cmdparm(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
-   /* Parse out the command at the beginning of the line */
- 
-   saveptr = cmdline;
--  cmd = nsh_argument(vtbl, &saveptr, &memlist);
-+  cmd = nsh_argument(vtbl, &saveptr, &memlist, 0);
- 
-   /* Check if any command was provided -OR- if command processing is
-    * currently disabled.
-@@ -1943,7 +1957,7 @@ static int nsh_parse_cmdparm(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
-   argv[0] = cmd;
-   for (argc = 1; argc < MAX_ARGV_ENTRIES-1; argc++)
-     {
--      argv[argc] = nsh_argument(vtbl, &saveptr, &memlist);
-+      argv[argc] = nsh_argument(vtbl, &saveptr, &memlist, 0);
-       if (!argv[argc])
-         {
-           break;
-@@ -2010,7 +2024,7 @@ static int nsh_parse_command(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline)
-   /* Parse out the command at the beginning of the line */
- 
-   saveptr = cmdline;
--  cmd = nsh_argument(vtbl, &saveptr, &memlist);
-+  cmd = nsh_argument(vtbl, &saveptr, &memlist, 0);
- 
- #ifndef CONFIG_NSH_DISABLESCRIPT
- #ifndef CONFIG_NSH_DISABLE_LOOPS
-@@ -2078,15 +2092,54 @@ static int nsh_parse_command(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline)
-    */
- 
-   argv[0] = cmd;
-+
-+#define CONFIG_NSH_ENABLEPX4PARSING
-+
-   for (argc = 1; argc < MAX_ARGV_ENTRIES-1; argc++)
-     {
--      argv[argc] = nsh_argument(vtbl, &saveptr, &memlist);
-+      int isenvvar = 0; /* flag for if an enviroment variable gets expanded */
-+      argv[argc] = nsh_argument(vtbl, &saveptr, &memlist, &isenvvar);
-       if (!argv[argc])
-         {
-           break;
-         }
-+
-+#ifdef CONFIG_NSH_ENABLEPX4PARSING
-+      if (isenvvar)
-+        {
-+          while (argc < MAX_ARGV_ENTRIES-1) /* TODO: check this bounds check is correct */
-+            {
-+              FAR char *pbegin = argv[argc];
-+
-+              /* Find the end of the current token */
-+              for (; *pbegin && !strchr(g_token_separator, *pbegin); pbegin++);
-+
-+              /* If end of string, we've processed the last token and we're done */
-+              if ('\0' == *pbegin)
-+                {
-+                  break;
-+                }
-+
-+              /* Terminate the token to complete the argv variable */
-+              *pbegin = '\0';
-+
-+              /* We've inserted an extra parameter, so bump the count */
-+              argc++;
-+
-+              /* Move to the next character in the string of tokens */
-+              pbegin++;
-+
-+              /* Throw away any extra separator chars between tokens */
-+              for (; *pbegin && strchr(g_token_separator, *pbegin) != NULL; pbegin++);
-+
-+              /* Prepare to loop again on the next argument token */
-+              argv[argc] = pbegin;
-+            }
-+        }
-+#endif /* CONFIG_NSH_ENABLEPX4PARSING */
-     }
- 
-+  /* Last argument vector must be empty */
-   argv[argc] = NULL;
- 
-   /* Check if the command should run in background */

nuttx-patches/00004-REJECTED-avoid-export-copy-with-export-insitu.patch

@@ -1,56 +0,0 @@
-diff --git NuttX/nuttx/tools/mkexport.sh NuttX/nuttx/tools/mkexport.sh
-index 348a14c..3cc9182 100755
---- NuttX/nuttx/tools/mkexport.sh
-+++ NuttX/nuttx/tools/mkexport.sh
-@@ -34,19 +34,23 @@
- 
- # Get the input parameter list
- 
--USAGE="USAGE: $0 [-d] [-z] [-u] [-w|wy|wn] -t <top-dir> [-x <lib-ext>] -l \"lib1 [lib2 [lib3 ...]]\""
-+USAGE="USAGE: $0 [-d] [-e] [-z] [-u] [-w|wy|wn] -t <top-dir> [-x <lib-ext>] -l \"lib1 [lib2 [lib3 ...]]\""
- unset TOPDIR
- unset LIBLIST
- unset TGZ
- USRONLY=n
- WINTOOL=n
- LIBEXT=.a
-+INSITU=y
- 
- while [ ! -z "$1" ]; do
- 	case $1 in
- 		-d )
- 			set -x
- 			;;
-+		-e )
-+			INSITU=n
-+			;;
- 		-l )
- 			shift
- 			LIBLIST=$1
-@@ -373,13 +377,17 @@ done
- cd "${TOPDIR}" || \
- 	{ echo "MK: 'cd ${TOPDIR}' failed"; exit 1; }
- 
--if [ "X${TGZ}" = "Xy" ]; then
--	tar cvf "${EXPORTSUBDIR}.tar" "${EXPORTSUBDIR}" 1>/dev/null 2>&1
--	gzip -f "${EXPORTSUBDIR}.tar"
--else
--	zip -r "${EXPORTSUBDIR}.zip" "${EXPORTSUBDIR}" 1>/dev/null 2>&1
--fi
-+# Should we leave the export insitu
-+
-+if [ "X${INSITU}" = "Xn" ]; then
-+    if [ "X${TGZ}" = "Xy" ]; then
-+	    tar cvf "${EXPORTSUBDIR}.tar" "${EXPORTSUBDIR}" 1>/dev/null 2>&1
-+	    gzip -f "${EXPORTSUBDIR}.tar"
-+    else
-+	    zip -r "${EXPORTSUBDIR}.zip" "${EXPORTSUBDIR}" 1>/dev/null 2>&1
-+    fi
- 
--# Clean up after ourselves
-+    # Clean up after ourselves
- 
--rm -rf "${EXPORTSUBDIR}"
-+    rm -rf "${EXPORTSUBDIR}"
-+fi
-\ No newline at end of file

nuttx-patches/00006-REJECTED-cstdint-fix.patch

@@ -1,24 +0,0 @@
-diff --git NuttX/nuttx/include/cxx/cstdint NuttX/nuttx/include/cxx/cstdint
-index d662c5d..95334e9 100644
---- NuttX/nuttx/include/cxx/cstdint
-+++ NuttX/nuttx/include/cxx/cstdint
-@@ -46,6 +46,9 @@
- // Namespace
- //***************************************************************************
- 
-+ #define GCC_VERSION (__GNUC__ * 10000 \
-+                      + __GNUC_MINOR__ * 100 \
-+                      + __GNUC_PATCHLEVEL__)
- namespace std
- {
-   using ::int8_t;
-@@ -72,7 +75,9 @@ namespace std
-   using ::uint_fast64_t;
-   using ::uint_least8_t;
-   using ::uint_least16_t;
-+#if GCC_VERSION <= 40804
-   using ::uint_least32_t;
-+#endif
-   using ::uint_least64_t;
-   using ::uintmax_t;
-   using ::uintptr_t;

nuttx-patches/00007-REJECTED-silence-jobserver-warnings.patch

@@ -1,40 +0,0 @@
-diff --git NuttX/apps/Makefile NuttX/apps/Makefile
-index 4093b0e..3bdc36a 100644
---- NuttX/apps/Makefile
-+++ NuttX/apps/Makefile
-@@ -79,13 +79,13 @@ all: $(BIN)
- .PHONY: import install dirlinks context context_serialize context_rest .depdirs preconfig depend clean distclean
- 
- define MAKE_template
--	$(Q) cd $(1) && $(MAKE) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" BIN_DIR="$(BIN_DIR)"
-+	+$(Q) cd $(1) && $(MAKE) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" BIN_DIR="$(BIN_DIR)"
- 
- endef
- 
- define SDIR_template
- $(1)_$(2):
--	$(Q) cd $(1) && $(MAKE) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" BIN_DIR="$(BIN_DIR)"
-+	+$(Q) cd $(1) && $(MAKE) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" BIN_DIR="$(BIN_DIR)"
- 
- endef
- 
-@@ -108,7 +108,7 @@ install: $(BIN_DIR) .install
- .import: $(BIN) install
- 
- import:
--	$(Q) $(MAKE) .import TOPDIR="$(APPDIR)$(DELIM)import"
-+	+$(Q) $(MAKE) .import TOPDIR="$(APPDIR)$(DELIM)import"
- 
- dirlinks:
- 	$(Q) $(MAKE) -C platform dirlinks TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
-@@ -116,8 +116,8 @@ dirlinks:
- context_rest: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_context)
- 
- context_serialize:
--	$(Q) $(MAKE) -C builtin context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
--	$(Q) $(MAKE) context_rest
-+	+$(Q) $(MAKE) -C builtin context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
-+	+$(Q) $(MAKE) context_rest
- 
- context: context_serialize
- 

nuttx-patches/00008-REJECTED-static-assert-fix.patch

@@ -1,13 +0,0 @@
-diff --git NuttX/nuttx/include/assert.h NuttX/nuttx/include/assert.h
-index 88254f6..b9fb6c2 100644
---- NuttX/nuttx/include/assert.h
-+++ NuttX/nuttx/include/assert.h
-@@ -94,7 +94,7 @@
-  */
- 
- #ifndef __cplusplus
--#  define static_assert _Static_assert
-+//#  define static_assert _Static_assert
- #endif
- 
- /****************************************************************************

nuttx-patches/00009-REJECTED-ctype-fix-shadow-wanings.patch

@@ -1,20 +0,0 @@
-diff --git NuttX/nuttx/include/ctype.h NuttX/nuttx/include/ctype.h
-index dcf918b..65706b7 100644
---- NuttX/nuttx/include/ctype.h
-+++ NuttX/nuttx/include/ctype.h
-@@ -50,6 +50,8 @@
- /****************************************************************************
-  * Pre-processor Definitions
-  ****************************************************************************/
-+#pragma GCC diagnostic push
-+#pragma GCC diagnostic ignored "-Wshadow"
- 
- /****************************************************************************
-  * Name: isspace
-@@ -340,5 +342,6 @@ extern "C"
- #ifdef __cplusplus
- }
- #endif
-+#pragma GCC diagnostic pop
- 
- #endif /* __INCLUDE_CTYPE_H */

nuttx-patches/00010-REJECTED-no-irq-args.patch

@@ -1,60 +0,0 @@
-diff --git NuttX/nuttx/sched/irq/irq.h NuttX/nuttx/sched/irq/irq.h
-index ffb6e98..f01318b 100644
---- NuttX/nuttx/sched/irq/irq.h
-+++ NuttX/nuttx/sched/irq/irq.h
-@@ -72,7 +72,9 @@
- struct irq_info_s
- {
-   xcpt_t handler;  /* Address of the interrupt handler */
-+#if !defined(CONFIG_NOIRQARGS)
-   FAR void *arg;   /* The argument provided to the interrupt handler. */
-+#endif
- };
- 
- /****************************************************************************
-diff --git NuttX/nuttx/sched/irq/irq_attach.c NuttX/nuttx/sched/irq/irq_attach.c
-index 9d45d9c..3707906 100644
---- NuttX/nuttx/sched/irq/irq_attach.c
-+++ NuttX/nuttx/sched/irq/irq_attach.c
-@@ -112,7 +112,11 @@ int irq_attach(int irq, xcpt_t isr, FAR void *arg)
-       /* Save the new ISR and its argument in the table. */
- 
-       g_irqvector[ndx].handler = isr;
-+#if defined(CONFIG_NOIRQARGS)
-+      ASSERT(arg == NULL);
-+#else
-       g_irqvector[ndx].arg     = arg;
-+#endif
- 
-       leave_critical_section(flags);
-       ret = OK;
-diff --git NuttX/nuttx/sched/irq/irq_dispatch.c NuttX/nuttx/sched/irq/irq_dispatch.c
-index b507c06..66cb1fe 100644
---- NuttX/nuttx/sched/irq/irq_dispatch.c
-+++ NuttX/nuttx/sched/irq/irq_dispatch.c
-@@ -88,7 +88,11 @@ void irq_dispatch(int irq, FAR void *context)
-         }
- #else
-       vector = g_irqvector[irq].handler;
--      arg    = g_irqvector[irq].arg;
-+#  if defined(CONFIG_NOIRQARGS)
-+          arg    = NULL;
-+#  else
-+          arg    = g_irqvector[irq].arg;
-+#  endif
- #endif
-     }
- 
-diff --git NuttX/nuttx/sched/irq/irq_initialize.c NuttX/nuttx/sched/irq/irq_initialize.c
-index 18bbafc..2018788 100644
---- NuttX/nuttx/sched/irq/irq_initialize.c
-+++ NuttX/nuttx/sched/irq/irq_initialize.c
-@@ -88,6 +88,8 @@ void irq_initialize(void)
-   for (i = 0; i < TAB_SIZE; i++)
-     {
-       g_irqvector[i].handler = irq_unexpected_isr;
-+#if !defined(CONFIG_NOIRQARGS)
-       g_irqvector[i].arg     = NULL;
-+#endif
-     }
- }

nuttx-patches/00011-REJECTED-stm32_serial_no_irq_args.patch

@@ -1,222 +0,0 @@
-diff --git NuttX/nuttx/arch/arm/src/stm32/stm32_serial.c NuttX/nuttx/arch/arm/src/stm32/stm32_serial.c
-index a6a2d07..ea8ba61 100644
---- NuttX/nuttx/arch/arm/src/stm32/stm32_serial.c
-+++ NuttX/nuttx/arch/arm/src/stm32/stm32_serial.c
-@@ -315,6 +315,9 @@ struct up_dev_s
-   const unsigned int rxdma_channel; /* DMA channel assigned */
- #endif
- 
-+#if defined(CONFIG_NOIRQARGS)
-+  int (*const vector)(int irq, void *context, void *arg); /* Interrupt handler */
-+#endif
-   /* RX DMA state */
- 
- #ifdef SERIAL_HAVE_DMA
-@@ -371,6 +374,32 @@ static int  up_pm_prepare(struct pm_callback_s *cb, int domain,
-                           enum pm_state_e pmstate);
- #endif
- 
-+#if defined(CONFIG_NOIRQARGS)
-+#  ifdef CONFIG_STM32_USART1_SERIALDRIVER
-+static int up_interrupt_usart1(int irq, void *context, void *arg);
-+#  endif
-+#  ifdef CONFIG_STM32_USART2_SERIALDRIVER
-+static int up_interrupt_usart2(int irq, void *context, void *arg);
-+#  endif
-+#  ifdef CONFIG_STM32_USART3_SERIALDRIVER
-+static int up_interrupt_usart3(int irq, void *context, void *arg);
-+#  endif
-+#  ifdef CONFIG_STM32_UART4_SERIALDRIVER
-+static int up_interrupt_uart4(int irq, void *context, void *arg);
-+#  endif
-+#  ifdef CONFIG_STM32_UART5_SERIALDRIVER
-+static int up_interrupt_uart5(int irq, void *context, void *arg);
-+#  endif
-+#  ifdef CONFIG_STM32_USART6_SERIALDRIVER
-+static int up_interrupt_usart6(int irq, void *context, void *arg);
-+#  endif
-+#  ifdef CONFIG_STM32_UART7_SERIALDRIVER
-+static int up_interrupt_uart7(int irq, void *context, void *arg);
-+#  endif
-+#  ifdef CONFIG_STM32_UART8_SERIALDRIVER
-+static int up_interrupt_uart8(int irq, void *context, void *arg);
-+#  endif
-+#endif
- /****************************************************************************
-  * Private Data
-  ****************************************************************************/
-@@ -536,7 +565,9 @@ static struct up_dev_s g_usart1priv =
-   .rxdma_channel = DMAMAP_USART1_RX,
-   .rxfifo        = g_usart1rxfifo,
- #endif
--
-+#if defined(CONFIG_NOIRQARGS)
-+  .vector        = up_interrupt_usart1,
-+#endif
- #ifdef CONFIG_USART1_RS485
-   .rs485_dir_gpio = GPIO_USART1_RS485_DIR,
- #  if (CONFIG_USART1_RS485_DIR_POLARITY == 0)
-@@ -597,6 +628,9 @@ static struct up_dev_s g_usart2priv =
-   .rxdma_channel = DMAMAP_USART2_RX,
-   .rxfifo        = g_usart2rxfifo,
- #endif
-+#if defined(CONFIG_NOIRQARGS)
-+  .vector        = up_interrupt_usart2,
-+#endif
- 
- #ifdef CONFIG_USART2_RS485
-   .rs485_dir_gpio = GPIO_USART2_RS485_DIR,
-@@ -658,6 +692,9 @@ static struct up_dev_s g_usart3priv =
-   .rxdma_channel = DMAMAP_USART3_RX,
-   .rxfifo        = g_usart3rxfifo,
- #endif
-+#if defined(CONFIG_NOIRQARGS)
-+  .vector        = up_interrupt_usart3,
-+#endif
- 
- #ifdef CONFIG_USART3_RS485
-   .rs485_dir_gpio = GPIO_USART3_RS485_DIR,
-@@ -723,6 +760,9 @@ static struct up_dev_s g_uart4priv =
-   .rxdma_channel = DMAMAP_UART4_RX,
-   .rxfifo        = g_uart4rxfifo,
- #endif
-+#if defined(CONFIG_NOIRQARGS)
-+  .vector        = up_interrupt_uart4,
-+#endif
- 
- #ifdef CONFIG_UART4_RS485
-   .rs485_dir_gpio = GPIO_UART4_RS485_DIR,
-@@ -788,6 +828,9 @@ static struct up_dev_s g_uart5priv =
-   .rxdma_channel = DMAMAP_UART5_RX,
-   .rxfifo        = g_uart5rxfifo,
- #endif
-+#if defined(CONFIG_NOIRQARGS)
-+  .vector        = up_interrupt_uart5,
-+#endif
- 
- #ifdef CONFIG_UART5_RS485
-   .rs485_dir_gpio = GPIO_UART5_RS485_DIR,
-@@ -849,6 +892,9 @@ static struct up_dev_s g_usart6priv =
-   .rxdma_channel = DMAMAP_USART6_RX,
-   .rxfifo        = g_usart6rxfifo,
- #endif
-+#if defined(CONFIG_NOIRQARGS)
-+  .vector        = up_interrupt_uart6,
-+#endif
- 
- #ifdef CONFIG_USART6_RS485
-   .rs485_dir_gpio = GPIO_USART6_RS485_DIR,
-@@ -910,6 +956,9 @@ static struct up_dev_s g_uart7priv =
-   .rxdma_channel = DMAMAP_UART7_RX,
-   .rxfifo        = g_uart7rxfifo,
- #endif
-+#if defined(CONFIG_NOIRQARGS)
-+  .vector         = up_interrupt_uart7,
-+#endif
- 
- #ifdef CONFIG_UART7_RS485
-   .rs485_dir_gpio = GPIO_UART7_RS485_DIR,
-@@ -971,6 +1020,9 @@ static struct up_dev_s g_uart8priv =
-   .rxdma_channel = DMAMAP_UART8_RX,
-   .rxfifo        = g_uart8rxfifo,
- #endif
-+#if defined(CONFIG_NOIRQARGS)
-+  .vector         = up_interrupt_uart8,
-+#endif
- 
- #ifdef CONFIG_UART8_RS485
-   .rs485_dir_gpio = GPIO_UART8_RS485_DIR,
-@@ -1709,7 +1761,11 @@ static int up_attach(struct uart_dev_s *dev)
- 
-   /* Attach and enable the IRQ */
- 
-+#if defined(CONFIG_NOIRQARGS)
-+  ret = irq_attach(priv->irq, priv->vector, NULL);
-+#else
-   ret = irq_attach(priv->irq, up_interrupt, priv);
-+#endif
-   if (ret == OK)
-     {
-       /* Enable the interrupt (RX and TX interrupts are still disabled
-@@ -1740,7 +1796,7 @@ static void up_detach(struct uart_dev_s *dev)
- }
- 
- /****************************************************************************
-- * Name: up_interrupt
-+ * Name: up_interrupt_common
-  *
-  * Description:
-  *   This is the USART interrupt handler.  It will be invoked when an
-@@ -2480,6 +2536,72 @@ static bool up_txready(struct uart_dev_s *dev)
-   return ((up_serialin(priv, STM32_USART_SR_OFFSET) & USART_SR_TXE) != 0);
- }
- 
-+#if defined(CONFIG_NOIRQARGS)
-+/****************************************************************************
-+ * Name: up_interrupt_u[s]art[n]
-+ *
-+ * Description:
-+ *   Interrupt handlers for U[S]ART[n] where n=1,..,6.
-+ *
-+ ****************************************************************************/
-+
-+#  ifdef CONFIG_STM32_USART1_SERIALDRIVER
-+static int up_interrupt_usart1(int irq, void *context, void *arg)
-+{
-+  return up_interrupt(irq, context, &g_usart1priv);
-+}
-+#  endif
-+
-+#  ifdef CONFIG_STM32_USART2_SERIALDRIVER
-+static int up_interrupt_usart2(int irq, void *context, void *arg)
-+{
-+  return up_interrupt(irq, context, &g_usart2priv);
-+}
-+#  endif
-+
-+#  ifdef CONFIG_STM32_USART3_SERIALDRIVER
-+static int up_interrupt_usart3(int irq, void *context, void *arg)
-+{
-+  return up_interrupt(irq, context, &g_usart3priv);
-+}
-+#  endif
-+
-+#  ifdef CONFIG_STM32_UART4_SERIALDRIVER
-+static int up_interrupt_uart4(int irq, void *context, void *arg)
-+{
-+  return up_interrupt(irq, context, &g_uart4priv);
-+}
-+#  endif
-+
-+#  ifdef CONFIG_STM32_UART5_SERIALDRIVER
-+static int up_interrupt_uart5(int irq, void *context, void *arg)
-+{
-+  return up_interrupt(irq, context, &g_uart5priv);
-+}
-+#  endif
-+
-+#  ifdef CONFIG_STM32_USART6_SERIALDRIVER
-+static int up_interrupt_usart6(int irq, void *context, void *arg)
-+{
-+  return up_interrupt(irq, context, &g_usart6priv);
-+}
-+#  endif
-+
-+#  ifdef CONFIG_STM32_UART7_SERIALDRIVER
-+static int up_interrupt_uart7(int irq, void *context, void *arg)
-+{
-+  return up_interrupt(irq, context, &g_uart7priv);
-+}
-+#  endif
-+
-+#  ifdef CONFIG_STM32_UART8_SERIALDRIVER
-+static int up_interrupt_uart8(int irq, void *context, void *arg)
-+{
-+  return up_interrupt(irq, context, &g_uart8priv);
-+}
-+#  endif
-+#endif
-+
- /****************************************************************************
-  * Name: up_dma_rxcallback
-  *

platforms/nuttx/NuttX/CMakeLists.txt

@@ -0,0 +1,215 @@
+cmake_minimum_required(VERSION 3.2)
+
+if(NOT BOARD)
+	message(FATAL_ERROR "BOARD must be set (eg px4fmu-v2)")
+endif()
+
+if(NOT nuttx_config_type)
+	# default to nsh if not specified
+	set(nuttx_config_type "nsh")
+endif()
+
+project(NuttX_${BOARD} LANGUAGES ASM C CXX)
+message(STATUS "NuttX: " ${BOARD} " " ${nuttx_config_type} " " ${CMAKE_SYSTEM_PROCESSOR})
+
+if (CMAKE_HOST_APPLE OR TRUE)
+	# copy with rsync and create file dependencies
+	set(cp_cmd "rsync")
+	set(cp_opts)
+	list(APPEND cp_opts
+		-rp
+		--inplace
+	)
+else()
+	# copy with hard links
+	# archive, recursive, force, link (hardlinks)
+	set(cp_cmd "cp")
+	set(cp_opts "-aRfl")
+endif()
+
+file(GLOB_RECURSE copy_nuttx_files
+	LIST_DIRECTORIES false
+	${CMAKE_CURRENT_SOURCE_DIR}/nuttx/*)
+
+file(GLOB_RECURSE copy_apps_files
+	LIST_DIRECTORIES false
+	${CMAKE_CURRENT_SOURCE_DIR}/apps/*)
+
+# copy nuttx to build directory
+add_custom_command(OUTPUT nuttx_copy.stamp
+	COMMAND ${cp_cmd} ${cp_opts} ${CMAKE_CURRENT_SOURCE_DIR}/nuttx ${CMAKE_CURRENT_BINARY_DIR}
+	COMMAND cmake -E touch nuttx_copy.stamp
+	DEPENDS ${copy_nuttx_files}
+	COMMENT "Copying NuttX/nuttx to ${CMAKE_CURRENT_BINARY_DIR}"
+	)
+
+set(NUTTX_DIR ${CMAKE_CURRENT_BINARY_DIR}/nuttx)
+set(NUTTX_CONFIG_DIR ${PX4_SOURCE_DIR}/nuttx-configs)
+
+# copy apps to build directory
+add_custom_command(OUTPUT apps_copy.stamp
+	COMMAND ${cp_cmd} ${cp_opts} ${CMAKE_CURRENT_SOURCE_DIR}/apps ${CMAKE_CURRENT_BINARY_DIR}
+	COMMAND cmake -E touch apps_copy.stamp
+	DEPENDS ${copy_apps_files}
+	COMMENT "Copying NuttX/apps to ${CMAKE_CURRENT_BINARY_DIR}"
+	)
+set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
+
+# copy PX4 board config into nuttx
+file(GLOB_RECURSE board_config_files ${NUTTX_CONFIG_DIR}/${BOARD})
+add_custom_command(OUTPUT
+					${NUTTX_DIR}/PX4_Config.mk
+					${NUTTX_DIR}/PX4_Warnings.mk
+					${NUTTX_DIR}/.config
+					${NUTTX_DIR}/Make.defs
+					${NUTTX_DIR}/configs/${BOARD}/${nuttx_config_type}/defconfig
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/PX4_Config.mk ${NUTTX_DIR}/PX4_Config.mk
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/PX4_Warnings.mk ${NUTTX_DIR}/PX4_Warnings.mk
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig ${NUTTX_DIR}/.config
+	COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
+	COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/Make.defs ${NUTTX_DIR}/Make.defs
+	COMMAND ${cp_cmd} ${cp_opts} ${NUTTX_CONFIG_DIR}/${BOARD} ${NUTTX_DIR}/configs/
+	DEPENDS
+		${NUTTX_CONFIG_DIR}/PX4_Config.mk
+		${NUTTX_CONFIG_DIR}/PX4_Warnings.mk
+		${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
+		${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/Make.defs
+		${board_config_files}
+		nuttx_copy.stamp apps_copy.stamp
+	WORKING_DIRECTORY ${NUTTX_DIR}/tools
+	COMMENT "Copying NuttX config ${BOARD} and configuring"
+	)
+add_custom_target(nuttx_configure DEPENDS ${NUTTX_DIR}/.config)
+
+# context
+add_custom_command(OUTPUT ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
+	COMMAND make --no-print-directory --silent context > /dev/null
+	DEPENDS nuttx_configure ${NUTTX_DIR}/.config
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	)
+add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h)
+
+# library of NuttX libraries
+add_library(nuttx_build INTERFACE)
+
+# builtins
+if ("${BOARD}" MATCHES "px4io")
+	# no apps for px4io
+	set(nuttx_builtin_list)
+else()
+	# add additional commands to nuttx builtins
+	set(builtin_registry ${APPS_DIR}/builtin/registry)
+	set(nuttx_builtin_list)
+	foreach(module ${module_libraries})
+		get_target_property(MAIN ${module} MAIN)
+		get_target_property(STACK_MAIN ${module} STACK_MAIN)
+		get_target_property(PRIORITY ${module} PRIORITY)
+
+		if(MAIN)
+			add_custom_command(OUTPUT ${builtin_registry}/${MAIN}_main.bdat
+				COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${builtin_registry}/${MAIN}_main.bdat
+				VERBATIM
+				)
+			list(APPEND nuttx_builtin_list ${builtin_registry}/${MAIN}_main.bdat)
+
+			add_custom_command(OUTPUT ${builtin_registry}/${MAIN}_main.pdat
+				COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${builtin_registry}/${MAIN}_main.pdat
+				VERBATIM
+				)
+			list(APPEND nuttx_builtin_list ${builtin_registry}/${MAIN}_main.pdat)
+		endif()
+	endforeach()
+endif()
+
+# APPS
+
+# libapps.a
+add_custom_command(OUTPUT ${APPS_DIR}/libapps.a
+		${APPS_DIR}/platform/.built
+	COMMAND find ${APPS_DIR} -name \*.o -o -name \*.built -delete
+	COMMAND make --silent --no-print-directory -C ../apps TOPDIR="${NUTTX_DIR}" libapps.a > /dev/null
+	DEPENDS nuttx_context ${nuttx_builtin_list}
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	)
+add_custom_target(nuttx_apps_build DEPENDS ${APPS_DIR}/libapps.a)
+add_library(nuttx_apps STATIC IMPORTED GLOBAL)
+set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${APPS_DIR}/libapps.a)
+add_dependencies(nuttx_build nuttx_apps_build)
+target_link_libraries(nuttx_build INTERFACE nuttx_apps)
+
+# libboard.a
+add_custom_command(OUTPUT ${NUTTX_DIR}/arch/arm/src/board/libboard.a
+	COMMAND make --silent --no-print-directory -C board TOPDIR="${NUTTX_DIR}" libboard.a EXTRADEFINES=-D__KERNEL__ > /dev/null
+	DEPENDS nuttx_context
+	WORKING_DIRECTORY ${NUTTX_DIR}/arch/arm/src
+	)
+add_custom_target(nuttx_board_build DEPENDS ${NUTTX_DIR}/arch/arm/src/board/libboard.a)
+add_library(nuttx_board STATIC IMPORTED GLOBAL)
+set_property(TARGET nuttx_board PROPERTY IMPORTED_LOCATION ${NUTTX_DIR}/arch/arm/src/board/libboard.a)
+add_dependencies(nuttx_build nuttx_board_build)
+target_link_libraries(nuttx_build INTERFACE nuttx_board)
+
+# helper for all targets
+function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
+	file(GLOB_RECURSE nuttx_lib_files
+		LIST_DIRECTORIES false
+		${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*)
+
+	add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
+		COMMAND find ${nuttx_lib_dir} -type f -name *.o -o -name .built -delete
+		COMMAND make -C ${nuttx_lib_dir} -j2 --silent --no-print-directory lib${nuttx_lib}.a TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRADEFINES=${extra} > /dev/null
+		DEPENDS ${nuttx_lib_files} nuttx_context
+		WORKING_DIRECTORY ${NUTTX_DIR}
+		)
+	add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a)
+	add_library(nuttx_${nuttx_lib} STATIC IMPORTED GLOBAL)
+	set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a)
+	add_dependencies(nuttx_build nuttx_${nuttx_lib}_build)
+	target_link_libraries(nuttx_build INTERFACE nuttx_${nuttx_lib})
+endfunction()
+
+# add_nuttx_dir(NAME DIRECTORY KERNEL EXTRA)
+
+add_nuttx_dir(arch arch/arm/src y -D__KERNEL__)
+add_nuttx_dir(binfmt binfmt y -D__KERNEL__)
+add_nuttx_dir(configs configs y -D__KERNEL__)
+add_nuttx_dir(drivers drivers y -D__KERNEL__)
+add_nuttx_dir(fs fs y -D__KERNEL__)
+add_nuttx_dir(sched sched y -D__KERNEL__)
+
+add_nuttx_dir(c libc n "")
+add_nuttx_dir(cxx libxx n "")
+add_nuttx_dir(mm mm n "")
+
+
+# oldconfig helper
+add_custom_target(oldconfig
+	COMMAND make --no-print-directory -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} oldconfig
+	COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
+	COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
+	DEPENDS nuttx_configure
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running NuttX make oldconfig for ${BOARD} with ${nuttx_config_type}"
+	USES_TERMINAL
+	)
+
+# menuconfig helper
+add_custom_target(menuconfig
+	COMMAND make --no-print-directory -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} menuconfig
+	COMMAND cp ${NUTTX_DIR}/nuttx/.config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
+	COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
+	DEPENDS nuttx_configure
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running NuttX make menuconfig for ${BOARD} with ${nuttx_config_type}"
+	USES_TERMINAL
+	)
+
+# qconfig helper
+add_custom_target(qconfig
+	COMMAND make --no-print-directory -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} qconfig
+	COMMAND cp .config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
+	DEPENDS nuttx_configure
+	WORKING_DIRECTORY ${NUTTX_DIR}
+	COMMENT "Running NuttX make qconfig for ${BOARD} with ${nuttx_config_type}"
+	USES_TERMINAL
+	)

platforms/nuttx/NuttX/apps

@@ -0,0 +1 @@
+Subproject commit 42dbbb2038c83532e367c6813f0ece691ea04524

platforms/nuttx/NuttX/nuttx

@@ -0,0 +1 @@
+Subproject commit 94da3bef49efaacee7ec5b1a1aa237c3e2915163

src/drivers/airspeed/CMakeLists.txt

@@ -37,5 +37,4 @@ px4_add_module(
 		airspeed.cpp
 	DEPENDS
 		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+	)

src/drivers/batt_smbus/CMakeLists.txt

@@ -39,4 +39,3 @@ px4_add_module(
 	DEPENDS
 		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/bmi160/bmi160.cpp

@@ -308,10 +308,6 @@ BMI160::accel_set_sample_rate(float frequency)
 		setbits |= BMI_ACCEL_RATE_25_16;
 		_accel_sample_rate = 25 / 16;
 
-	} else if (frequency <= 25 / 16) {
-		setbits |= BMI_ACCEL_RATE_25_16;
-		_accel_sample_rate = 25 / 16;
-
 	} else if (frequency <= 25 / 8) {
 		setbits |= BMI_ACCEL_RATE_25_8;
 		_accel_sample_rate = 25 / 8;

src/drivers/boards/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015 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
@@ -31,14 +31,11 @@
 #
 ############################################################################
 
-#
-# STM32 ADC driver
-#
-
-MODULE_COMMAND	= adc
-
-SRCS		= adc.cpp
+if (BOARD)
+	add_subdirectory(common)
+	add_subdirectory(${BOARD})
+else()
+	message(FATAL_ERROR "BOARD not defined")
+endif()
 
-INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
 
-MAXOPTIMIZATION	 = -Os

src/drivers/boards/aerocore/CMakeLists.txt

@@ -32,17 +32,11 @@
 ############################################################################
 px4_add_module(
 	MODULE drivers__boards__aerocore
-	COMPILE_FLAGS
 	SRCS
-		../common/board_dma_alloc.c
-		../common/stm32/board_reset.c
-		../common/stm32/board_identity.c
-		../common/stm32/board_mcu_version.c
 		aerocore_init.c
 		aerocore_timer_config.c
 		aerocore_spi.c
 		aerocore_led.c
 	DEPENDS
 		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+	)

src/drivers/boards/aerocore2/CMakeLists.txt

@@ -32,12 +32,7 @@
 ############################################################################
 px4_add_module(
 	MODULE drivers__boards__aerocore2
-	COMPILE_FLAGS
 	SRCS
-                ../common/board_dma_alloc.c
-                ../common/stm32/board_reset.c
-                ../common/stm32/board_identity.c
-                ../common/stm32/board_mcu_version.c
 		aerocore2_can.c
 		aerocore2_init.c
 		aerocore2_timer_config.c
@@ -46,5 +41,4 @@ px4_add_module(
 		aerocore2_led.c
 	DEPENDS
 		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+	)

src/drivers/boards/aerofc-v1/CMakeLists.txt

@@ -33,16 +33,11 @@
 ############################################################################
 px4_add_module(
 	MODULE drivers__boards__aerofc-v1
-	COMPILE_FLAGS
 	SRCS
-		../common/stm32/board_reset.c
-		../common/stm32/board_identity.c
-		../common/stm32/board_mcu_version.c
 		aerofc_init.c
 		aerofc_spi.c
 		aerofc_led.c
 		aerofc_timer_config.c
 	DEPENDS
 		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+	)

src/drivers/boards/aerofc-v1/aerofc_init.c

@@ -397,10 +397,3 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	return OK;
 }
-
-__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
-{
-#if defined(CONFIG_BOARD_RESET_ON_CRASH)
-	board_reset(0);
-#endif
-}

src/drivers/boards/aerofc-v1/board_config.h

@@ -150,6 +150,8 @@
 
 #define MEMORY_CONSTRAINED_SYSTEM
 
+#define CRASHDUMP_RESET_ONLY
+
 __BEGIN_DECLS
 
 /****************************************************************************************************

src/drivers/boards/auav-x21/CMakeLists.txt

@@ -32,13 +32,7 @@
 ############################################################################
 px4_add_module(
 	MODULE drivers__boards__auav-x21
-	COMPILE_FLAGS
 	SRCS
-		../common/board_crashdump.c
-		../common/board_dma_alloc.c
-		../common/stm32/board_reset.c
-		../common/stm32/board_identity.c
-		../common/stm32/board_mcu_version.c
 		auav_can.c
 		auav_init.c
 		auav_timer_config.c
@@ -47,5 +41,4 @@ px4_add_module(
 		auav_led.c
 	DEPENDS
 		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+	)

src/drivers/boards/common/CMakeLists.txt

@@ -31,32 +31,22 @@
 #
 ############################################################################
 
-set(nuttx_patches
-	00001-REJECTED-add-math.h.patch
-	00002-REJECTED-fix-shadow-wanings.patch
-	00003-REJECTED-add-var-expansion-in-nsh-parse.patch
-	00004-REJECTED-avoid-export-copy-with-export-insitu.patch
-	00006-REJECTED-cstdint-fix.patch
-	00007-REJECTED-silence-jobserver-warnings.patch
-	00008-REJECTED-static-assert-fix.patch
-	00009-REJECTED-ctype-fix-shadow-wanings.patch
-	00010-REJECTED-no-irq-args.patch
-	00011-REJECTED-stm32_serial_no_irq_args.patch
-	90000-PENDING-wip-inflight-to-upstream.patch
-	)
+if (${OS} MATCHES "nuttx")
 
-# add absolute path and sort
-set(px4_nuttx_patches)
-foreach(patch_file ${nuttx_patches})
-	list(APPEND px4_nuttx_patches ${CMAKE_CURRENT_SOURCE_DIR}/${patch_file})
-endforeach()
-list(SORT px4_nuttx_patches)
-set(px4_nuttx_patches ${px4_nuttx_patches} PARENT_SCOPE)
+	if (NOT ${LABEL} STREQUAL "bootloader")
+		px4_add_library(boards_common
+			board_crashdump.c
+			board_dma_alloc.c
+			board_gpio_init.c
+			)
+		add_dependencies(boards_common nuttx_build)
+	endif()
 
-file(GLOB patches_found *.patch)
-foreach(patch_file ${patches_found})
-	list (FIND px4_nuttx_patches ${patch_file} _index)
-	if (${_index} EQUAL -1)
-		message(FATAL_ERROR "${patch_file} missing from nuttx-patches/CMakeLists.txt")
+	if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
+		add_subdirectory(kinetis)
+	elseif (${CONFIG_ARCH_CHIP} MATCHES "samv7")
+		add_subdirectory(samv7)
+	elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
+		add_subdirectory(stm32)
 	endif()
-endforeach()
+endif()

src/drivers/boards/common/board_crashdump.c

@@ -1,3 +1,5 @@
+#ifdef CONFIG_BOARD_CRASHDUMP
+
 #include <px4_config.h>
 #include <px4_tasks.h>
 
@@ -21,8 +23,10 @@ static uint32_t *__attribute__((noinline)) __sdata_addr(void)
 	return &_sdata;
 }
 
+
 __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
 {
+#ifndef CRASHDUMP_RESET_ONLY
 	/* We need a chunk of ram to save the complete context in.
 	 * Since we are going to reboot we will use &_sdata
 	 * which is the lowest memory and the amount we will save
@@ -162,7 +166,11 @@ __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint
 		up_lowputc('!');
 	}
 
+#endif /* CRASHDUMP_RESET_ONLY */
+
 #if defined(CONFIG_BOARD_RESET_ON_CRASH)
 	board_reset(0);
 #endif
 }
+
+#endif /* CONFIG_BOARD_CRASHDUMP */

src/drivers/boards/common/kinetis/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2017 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.
+#
+############################################################################
+
+px4_add_library(board_kinetis
+	board_identity.c
+	board_mcu_version.c
+	board_reset.c
+	)
+add_dependencies(board_kinetis nuttx_build)

src/drivers/boards/common/samv7/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2017 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.
+#
+############################################################################
+
+px4_add_library(board_samv7
+	board_identity.c
+	board_mcu_version.c
+	board_reset.c
+	)
+add_dependencies(board_samv7 nuttx_build)

src/drivers/boards/common/stm32/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2017 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.
+#
+############################################################################
+
+set(SRCS
+	board_identity.c
+)
+
+if (NOT ${LABEL} STREQUAL "bootloader")
+	list(APPEND SRCS
+		board_mcu_version.c
+		board_reset.c
+		)
+endif()
+
+px4_add_library(board_stm32 ${SRCS})
+add_dependencies(board_stm32 nuttx_build)

src/drivers/boards/crazyflie/CMakeLists.txt

@@ -33,16 +33,10 @@
 px4_add_module(
 	MODULE drivers__boards__crazyflie
 	SRCS
-		../common/board_crashdump.c
-		../common/board_dma_alloc.c
-		../common/stm32/board_reset.c
-		../common/stm32/board_identity.c
-		../common/stm32/board_mcu_version.c
 		crazyflie_init.c
 		crazyflie_usb.c
 		crazyflie_led.c
 		crazyflie_timer_config.c
 	DEPENDS
 		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+	)

src/drivers/boards/eagle/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__boards__sitl
+	COMPILE_FLAGS
+	SRCS
+		sitl_led.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/boards/eagle/board_config.h

@@ -34,17 +34,21 @@
 /**
  * @file board_config.h
  *
- * EAGLE internal definitions
+ * SITL internal definitions
  */
 
 #pragma once
 
-#define BOARD_OVERRIDE_UUID "EAGLEID     " // must be of length 12 (PX4_CPU_UUID_BYTE_LENGTH)
+#define BOARD_OVERRIDE_UUID "EAGLE" // must be of length 12 (PX4_CPU_UUID_BYTE_LENGTH)
 #define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
 
 #define BOARD_NAME "EAGLE"
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)
+#define BOARD_HAS_NO_RESET
+#define BOARD_HAS_NO_BOOTLOADER
+
+#define CONFIG_ARCH_BOARD_SITL 1
 
 /*
  * I2C busses