[Kconfig] Toolchain & platform fixes, SITL still broken

4 years ago · 21e6547ac7
68 changed files with 159 additions and 110 deletions
--- a/42
+++ b/42
@ -25,48 +25,18 @@ menu "Toolchain"
				@@ -25,48 +25,18 @@ menu "Toolchain"
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT

-    choice
-        prompt "Toolchain"
-        depends on PLATFORM_NUTTX
-        default TOOLCHAIN_ARM_NONE_EABI if PLATFORM_NUTTX
-        config TOOLCHAIN_ARM_NONE_EABI
-            bool "arm-none-eabi"
-        config TOOLCHAIN_RISV64
-            bool "riscv64-unknown-elf"
+    config BOARD_LINUX
+        bool "Linux OS"
+        depends on PLATFORM_POSIX
        help
-            cmake toolchain
-    endchoice
+            Board Platform is running the Linux operating system

    config BOARD_TOOLCHAIN
-        string
-        default "arm-none-eabi" if TOOLCHAIN_ARM_NONE_EABI && PLATFORM_NUTTX
-        default "riscv64-unknown-elf" if TOOLCHAIN_RISV64 && PLATFORM_NUTTX
+        string "Toolchain"
        default ""

-    choice
-        prompt "Architecture"
-        depends on PLATFORM_NUTTX
-        config ARCHITECTURE_CORTEX_M3
-            bool "cortex-m3"
-        config ARCHITECTURE_CORTEX_M4
-            bool "cortex-m4"
-        config ARCHITECTURE_CORTEX_M7
-            bool "cortex-m7"
-        config ARCHITECTURE_CORTEX_A8
-            bool "cortex-a8"
-        config ARCHITECTURE_CORTEX_A53
-            bool "cortex-a53"
-        help
-            name of the CPU CMake is building for (used by the toolchain)
-    endchoice
-
    config BOARD_ARCHITECTURE
-        string
-        default "cortex-m3" if ARCHITECTURE_CORTEX_M3 && PLATFORM_NUTTX
-        default "cortex-m4" if ARCHITECTURE_CORTEX_M4 && PLATFORM_NUTTX
-        default "cortex-m7" if ARCHITECTURE_CORTEX_M7 && PLATFORM_NUTTX
-        default "cortex-a8" if ARCHITECTURE_CORTEX_A8 && PLATFORM_NUTTX
-        default "cortex-a53" if ARCHITECTURE_CORTEX_A53 && PLATFORM_NUTTX
+        string "Architecture"
        default ""

    config BOARD_ROMFSROOT
--- a/Tools/kconfig/board_cmake_to_kconfig.py
+++ b/Tools/kconfig/board_cmake_to_kconfig.py
@ -12,6 +12,8 @@ __location__ = os.path.realpath(
				@@ -12,6 +12,8 @@ __location__ = os.path.realpath(
 serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
 io_regex = r"IO (.*)"
 romfs_regex = r"ROMFSROOT (.*)"
+arch_regex = r"ARCHITECTURE (.*)"
+toolchain_regex = r"TOOLCHAIN (.*)"



@ -54,6 +56,14 @@ for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
				@@ -54,6 +56,14 @@ for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
                    romfs_set = True
+                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)

    if(romfs_set == False):
        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
--- a/Tools/kconfig/cmake_kconfig_lut.txt
+++ b/Tools/kconfig/cmake_kconfig_lut.txt
@ -1,11 +1,5 @@
				@@ -1,11 +1,5 @@
 PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
 PLATFORM posix,CONFIG_PLATFORM_POSIX=y
-TOOLCHAIN arm-none-eabi,CONFIG_TOOLCHAIN_ARM_NONE_EABI=y
-ARCHITECTURE cortex-m3,CONFIG_ARCHITECTURE_CORTEX_M3=y
-ARCHITECTURE cortex-m4,CONFIG_ARCHITECTURE_CORTEX_M4=y
-ARCHITECTURE cortex-m7,CONFIG_ARCHITECTURE_CORTEX_M7=y
-ARCHITECTURE cortex-a8,CONFIG_ARCHITECTURE_CORTEX_A8=y
-ARCHITECTURE cortex-a53,CONFIG_ARCHITECTURE_CORTEX_A53=y
 CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
 NO_HELP,CONFIG_BOARD_NO_HELP=y
@ -200,3 +194,4 @@ rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
				@@ -200,3 +194,4 @@ rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
 uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 work_item,CONFIG_EXAMPLES_WORK_ITEM=y
 add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
+-D__PX4_LINUX,CONFIG_BOARD_LINUX=y
--- a/boards/airmind/mindpx-v2/default.px4board
+++ b/boards/airmind/mindpx-v2/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
--- a/boards/ark/can-flow/canbootloader.px4board
+++ b/boards/ark/can-flow/canbootloader.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
--- a/boards/ark/can-flow/default.px4board
+++ b/boards/ark/can-flow/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
--- a/boards/ark/can-gps/canbootloader.px4board
+++ b/boards/ark/can-gps/canbootloader.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
--- a/boards/ark/can-gps/default.px4board
+++ b/boards/ark/can-gps/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
--- a/boards/atl/mantis-edu/default.px4board
+++ b/boards/atl/mantis-edu/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_GPS=y
--- a/boards/av/x-v1/default.px4board
+++ b/boards/av/x-v1/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ETHERNET=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
--- a/boards/beaglebone/blue/default.px4board
+++ b/boards/beaglebone/blue/default.px4board
@ -1,5 +1,7 @@
				@@ -1,5 +1,7 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_ARCHITECTURE_CORTEX_A8=y
+CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
+CONFIG_BOARD_ARCHITECTURE="cortex-a8"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
--- a/boards/bitcraze/crazyflie/default.px4board
+++ b/boards/bitcraze/crazyflie/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
--- a/boards/bitcraze/crazyflie21/default.px4board
+++ b/boards/bitcraze/crazyflie21/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
--- a/boards/cuav/can-gps-v1/canbootloader.px4board
+++ b/boards/cuav/can-gps-v1/canbootloader.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
--- a/boards/cuav/can-gps-v1/debug.px4board
+++ b/boards/cuav/can-gps-v1/debug.px4board
@ -1,3 +1,5 @@
				@@ -1,3 +1,5 @@
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
--- a/boards/cuav/can-gps-v1/default.px4board
+++ b/boards/cuav/can-gps-v1/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
--- a/boards/cuav/nora/bootloader.px4board
+++ b/boards/cuav/nora/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/cuav/nora/default.px4board
+++ b/boards/cuav/nora/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
--- a/boards/cuav/x7pro/bootloader.px4board
+++ b/boards/cuav/x7pro/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/cuav/x7pro/default.px4board
+++ b/boards/cuav/x7pro/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
--- a/boards/cubepilot/cubeorange/bootloader.px4board
+++ b/boards/cubepilot/cubeorange/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/cubepilot/cubeorange/default.px4board
+++ b/boards/cubepilot/cubeorange/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_IO="cubepilot_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
--- a/boards/cubepilot/cubeyellow/default.px4board
+++ b/boards/cubepilot/cubeyellow/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_IO="cubepilot_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS5"
--- a/boards/cubepilot/io-v2/default.px4board
+++ b/boards/cubepilot/io-v2/default.px4board
@ -1,3 +1,5 @@
				@@ -1,3 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m3"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_MODULES_PX4IOFIRMWARE=y
--- a/boards/emlid/navio2/default.px4board
+++ b/boards/emlid/navio2/default.px4board
@ -1,5 +1,7 @@
				@@ -1,5 +1,7 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_ARCHITECTURE_CORTEX_A53=y
+CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
+CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
--- a/boards/freefly/can-rtk-gps/canbootloader.px4board
+++ b/boards/freefly/can-rtk-gps/canbootloader.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
--- a/boards/freefly/can-rtk-gps/default.px4board
+++ b/boards/freefly/can-rtk-gps/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
--- a/boards/holybro/can-gps-v1/canbootloader.px4board
+++ b/boards/holybro/can-gps-v1/canbootloader.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
--- a/boards/holybro/can-gps-v1/default.px4board
+++ b/boards/holybro/can-gps-v1/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
--- a/boards/holybro/durandal-v1/bootloader.px4board
+++ b/boards/holybro/durandal-v1/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/holybro/durandal-v1/default.px4board
+++ b/boards/holybro/durandal-v1/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
--- a/boards/holybro/kakutef7/default.px4board
+++ b/boards/holybro/kakutef7/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
--- a/boards/holybro/pix32v5/default.px4board
+++ b/boards/holybro/pix32v5/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
--- a/boards/modalai/fc-v1/default.px4board
+++ b/boards/modalai/fc-v1/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
--- a/boards/modalai/fc-v2/bootloader.px4board
+++ b/boards/modalai/fc-v2/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
--- a/boards/mro/ctrl-zero-f7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-f7-oem/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
--- a/boards/mro/ctrl-zero-f7/default.px4board
+++ b/boards/mro/ctrl-zero-f7/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
--- a/boards/mro/ctrl-zero-h7-oem/bootloader.px4board
+++ b/boards/mro/ctrl-zero-h7-oem/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/mro/ctrl-zero-h7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-h7-oem/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
--- a/boards/mro/ctrl-zero-h7/bootloader.px4board
+++ b/boards/mro/ctrl-zero-h7/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/mro/ctrl-zero-h7/default.px4board
+++ b/boards/mro/ctrl-zero-h7/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
--- a/boards/mro/pixracerpro/bootloader.px4board
+++ b/boards/mro/pixracerpro/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/mro/pixracerpro/default.px4board
+++ b/boards/mro/pixracerpro/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
--- a/boards/mro/x21-777/default.px4board
+++ b/boards/mro/x21-777/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
--- a/boards/mro/x21/default.px4board
+++ b/boards/mro/x21/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
--- a/boards/nxp/fmuk66-e/default.px4board
+++ b/boards/nxp/fmuk66-e/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
--- a/boards/nxp/fmuk66-v3/default.px4board
+++ b/boards/nxp/fmuk66-v3/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
--- a/boards/nxp/fmurt1062-v1/default.px4board
+++ b/boards/nxp/fmurt1062-v1/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
--- a/boards/nxp/ucans32k146/canbootloader.px4board
+++ b/boards/nxp/ucans32k146/canbootloader.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
--- a/boards/nxp/ucans32k146/default.px4board
+++ b/boards/nxp/ucans32k146/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
--- a/boards/omnibus/f4sd/default.px4board
+++ b/boards/omnibus/f4sd/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
--- a/boards/px4/fmu-v2/default.px4board
+++ b/boards/px4/fmu-v2/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
--- a/boards/px4/fmu-v3/default.px4board
+++ b/boards/px4/fmu-v3/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
--- a/boards/px4/fmu-v4/default.px4board
+++ b/boards/px4/fmu-v4/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
--- a/boards/px4/fmu-v4pro/default.px4board
+++ b/boards/px4/fmu-v4pro/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
--- a/boards/px4/fmu-v5/default.px4board
+++ b/boards/px4/fmu-v5/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_ETHERNET=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
--- a/boards/px4/fmu-v6u/bootloader.px4board
+++ b/boards/px4/fmu-v6u/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/px4/fmu-v6u/default.px4board
+++ b/boards/px4/fmu-v6u/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
--- a/boards/px4/fmu-v6x/bootloader.px4board
+++ b/boards/px4/fmu-v6x/bootloader.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_ETHERNET=y
--- a/boards/px4/raspberrypi/default.px4board
+++ b/boards/px4/raspberrypi/default.px4board
@ -1,5 +1,7 @@
				@@ -1,5 +1,7 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_ARCHITECTURE_CORTEX_A53=y
+CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
+CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
--- a/boards/scumaker/pilotpi/arm64.px4board
+++ b/boards/scumaker/pilotpi/arm64.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_EXAMPLES_FAKE_IMU=y
 CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
--- a/boards/scumaker/pilotpi/default.px4board
+++ b/boards/scumaker/pilotpi/default.px4board
@ -1,5 +1,7 @@
				@@ -1,5 +1,7 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_ARCHITECTURE_CORTEX_A53=y
+CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
+CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
--- a/boards/spracing/h7extreme/default.px4board
+++ b/boards/spracing/h7extreme/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M7=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
--- a/boards/uvify/core/default.px4board
+++ b/boards/uvify/core/default.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
-CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@ -90,17 +90,17 @@ if(EXISTS ${BOARD_DEFCONFIG})
				@@ -90,17 +90,17 @@ if(EXISTS ${BOARD_DEFCONFIG})
            string(REPLACE "_" "/" driver_path ${driver})

            # Pattern 1 XXX / XXX_XXX
-            string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+).*$" "\\1" driver_p1_folder ${driver})
-            string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+).*$" "\\2" driver_p1_subfolder ${driver})
+            string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\1" driver_p1_folder ${driver})
+            string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\2" driver_p1_subfolder ${driver})

            # Pattern 2 XXX_XXX / XXXXXX
-            string(REGEX REPLACE "(^[a-z]+_[a-z]+)_([a-z0-9]+).*$" "\\1" driver_p2_folder ${driver})
-            string(REGEX REPLACE "(^[a-z]+_[a-z]+)_([a-z0-9]+).*$" "\\2" driver_p2_subfolder ${driver})
+            string(REGEX REPLACE "(^[a-z]+_[a-z0-9]+)_([a-z0-9]+).*$" "\\1" driver_p2_folder ${driver})
+            string(REGEX REPLACE "(^[a-z]+_[a-z0-9]+)_([a-z0-9]+).*$" "\\2" driver_p2_subfolder ${driver})

            # Pattern 3 XXXXXX / XXX_XXX / XXXXXX
-            string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\1" driver_p3_folder ${driver})
-            string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\2" driver_p3_subfolder ${driver})
-            string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\3" driver_p3_subsubfolder ${driver})
+            string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\1" driver_p3_folder ${driver})
+            string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\2" driver_p3_subfolder ${driver})
+            string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\3" driver_p3_subsubfolder ${driver})

            # Trick circumvent PX4 src naming problem with underscores and slashes
            if(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver})
@ -295,6 +295,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
				@@ -295,6 +295,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
        add_definitions( ${COMPILE_DEFINITIONS})
 	endif()

+	if(LINUX)
+        add_definitions( "-D__PX4_LINUX" )
+	endif()
+
 	include(px4_impl_os)
 	px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})