Pull v2 pieces up to build with the merge

Images/px4io-v2.prototype

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

Makefile

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

makefiles/config_px4fmuv2_test.mk → makefiles/config_px4fmu-v2_test.mk

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

makefiles/setup.mk

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

makefiles/upload.mk

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

nuttx/configs/px4fmuv2/Kconfig → nuttx-configs/px4fmu-v2/Kconfig

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

nuttx/configs/px4fmuv2/include/board.h → nuttx-configs/px4fmu-v2/include/board.h

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

nuttx/configs/px4fmuv2/nsh/Make.defs → nuttx-configs/px4fmu-v2/nsh/Make.defs

 include ${TOPDIR}/.config
 
-include $(TOPDIR)/configs/px4fmuv2/common/Make.defs
+include $(TOPDIR)/configs/px4fmu-v2/common/Make.defs

nuttx/configs/px4fmuv2/nsh/defconfig → nuttx-configs/px4fmu-v2/nsh/defconfig.prev

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