Changes to px4fmu-v3 for upstream Nuttx

Images/px4fmu-v3.prototype

 {
-    "board_id": 9, 
-    "magic": "PX4FWv1", 
-    "description": "Firmware for the PX4FMUv3 board", 
-    "image": "", 
-    "build_time": 0, 
+    "board_id": 9,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv3 board",
+    "image": "",
+    "build_time": 0,
     "summary": "PX4FMUv3",
     "version": "0.1",
     "image_size": 0,

cmake/configs/nuttx_px4fmu-v3_default.cmake

 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)
@@ -210,11 +212,13 @@ set(config_io_extra_libs
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048"
+	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"
+	MAIN "serdis"
+	STACK_MAIN "2048"
 	COMPILE_FLAGS "-Os")

nuttx-configs/px4fmu-v3/Kconfig

+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+if ARCH_BOARD_PX4FMU_V2
+
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
+
+endif

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

 /************************************************************************************
- * configs/px4fmu/include/board.h
+ * configs/px4fmu-v3/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
@@ -147,11 +147,23 @@
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
  * otherwise frequency is 2xAPBx.
- * Note: TIM1,8 are on APB2, others on APB1
+ * Note: TIM1,8-11 are on APB2, others on APB1
  */
 
-#define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
 
 /* SDIO dividers.  Note that slower clocking is required when DMA is disabled
  * in order to avoid RX overrun/TX underrun errors due to delayed responses
@@ -196,81 +208,127 @@
 
 /* Alternate function pin selections ************************************************/
 
-/*
- * UARTs.
- */
-#define GPIO_USART1_RX	GPIO_USART1_RX_1	/* console in from IO */
-#define GPIO_USART1_TX	0			/* USART1 is RX-only */
+/* UARTs */
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_1    /* Console in from IO */
+#define GPIO_USART1_TX   0                   /* USART1 is RX-only */
 
-#define GPIO_USART2_RX	GPIO_USART2_RX_2
-#define GPIO_USART2_TX	GPIO_USART2_TX_2
-#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
-#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+#define GPIO_USART2_RX   GPIO_USART2_RX_2
+#define GPIO_USART2_TX   GPIO_USART2_TX_2
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_2
 
-#define GPIO_USART3_RX	GPIO_USART3_RX_3
-#define GPIO_USART3_TX	GPIO_USART3_TX_3
-#define GPIO_USART3_RTS	GPIO_USART3_RTS_2
-#define GPIO_USART3_CTS	GPIO_USART3_CTS_2
+#define GPIO_USART3_RX   GPIO_USART3_RX_3
+#define GPIO_USART3_TX   GPIO_USART3_TX_3
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_2
 
-#define GPIO_UART4_RX	GPIO_UART4_RX_1
-#define GPIO_UART4_TX	GPIO_UART4_TX_1
+#define GPIO_UART4_RX    GPIO_UART4_RX_1
+#define GPIO_UART4_TX    GPIO_UART4_TX_1
 
-#define GPIO_USART6_RX	GPIO_USART6_RX_1
-#define GPIO_USART6_TX	GPIO_USART6_TX_1
+#define GPIO_USART6_RX   GPIO_USART6_RX_1
+#define GPIO_USART6_TX   GPIO_USART6_TX_1
 
-#define GPIO_UART7_RX	GPIO_UART7_RX_1
-#define GPIO_UART7_TX	GPIO_UART7_TX_1
+#define GPIO_UART7_RX    GPIO_UART7_RX_1
+#define GPIO_UART7_TX    GPIO_UART7_TX_1
 
 /* UART8 has no alternate pin config */
 
 /* UART RX DMA configurations */
+
 #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
 
-/*
- * CAN
+/* CAN
  *
  * CAN1 is routed to the onboard transceiver.
  * CAN2 is routed to the expansion connector.
  */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
-#define GPIO_CAN2_RX	GPIO_CAN2_RX_1
-#define GPIO_CAN2_TX	GPIO_CAN2_TX_2
 
-/*
- * I2C
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_2
+
+/* I2C
  *
  * The optional _GPIO configurations allow the I2C driver to manually
  * reset the bus to clear stuck slaves.  They match the pin configuration,
  * but are normally-high GPIOs.
  */
-#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
-#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
-#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
-
-#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
-#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-
-/*
- * SPI
+
+#define GPIO_I2C1_SCL    GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA    GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO \
+   (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO \
+   (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_I2C2_SCL    GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA    GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO \
+   (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO \
+   (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+
+/* SPI
  *
  * There are sensors on SPI1, and SPI2 is connected to the FRAM.
  */
-#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
-#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2
+
+#define GPIO_SPI4_MISO	GPIO_SPI4_MISO_1
+#define GPIO_SPI4_MOSI	GPIO_SPI4_MOSI_1
+#define GPIO_SPI4_SCK	GPIO_SPI4_SCK_1
+
+/* LED Definitions.  Needed if CONFIG_ARCH_LEDs is defined */
+
+#define LED_STARTED      0
+#define LED_HEAPALLOCATE 0
+#define LED_IRQSENABLED  0
+#define LED_STACKCREATED 1
+#define LED_INIRQ        1
+#define LED_SIGNAL       1
+#define LED_ASSERTION    1
+#define LED_PANIC        1
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
+# define PROBE_2	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
+# define PROBE_3	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
+# define PROBE_4	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
+# define PROBE_5	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
+# define PROBE_6	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
 
-#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
 
 /************************************************************************************
  * Public Data

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

@@ -35,14 +35,14 @@
 
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
-
 include $(TOPDIR)/PX4_Warnings.mk
+include $(TOPDIR)/PX4_Config.mk
 
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
 #
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
 
 include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
@@ -62,17 +62,19 @@ ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mfpu=fpv4-sp-d16 \
 			   -mfloat-abi=hard
 
+# Enable precise stack overflow tracking
 
-# enable precise stack overflow tracking
 ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
 INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
 endif
 
-# pull in *just* libm from the toolchain ... this is grody
+# Pull in *just* libm from the toolchain ... this is grody
+
 LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
 EXTRA_LIBS		+= $(LIBM)
 
-# use our linker script
+# Use our linker script
+
 LDSCRIPT		 = ld.script
 
 ifeq ($(WINTOOL),y)
@@ -94,18 +96,20 @@ else
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
     # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   endif
 endif
 
-# tool versions
+# Tool versions
+
 ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
 ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
 
-# optimisation flags
+# Optimization flags
+
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
@@ -127,7 +131,8 @@ ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
-# this seems to be the only way to add linker flags
+# This seems to be the only way to add linker flags
+
 EXTRA_LIBS		+= --warn-common \
 			   --gc-sections
 
@@ -146,8 +151,8 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
+# Produce partially-linked $1 from files in $2
 
-# produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"
 	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
@@ -157,4 +162,3 @@ HOSTCC			 = gcc
 HOSTINCLUDES		 = -I.
 HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
 HOSTLDFLAGS		 =
-

nuttx-configs/px4fmu-v3/nsh/appconfig

-############################################################################
-# configs/px4fmu/nsh/appconfig
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# 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 NuttX 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.
-#
-############################################################################
-
-# Path to example in apps/examples containing the user_start entry point
-
-CONFIGURED_APPS	+= examples/nsh
-
-# The NSH application library
-CONFIGURED_APPS += nshlib
-CONFIGURED_APPS += system/readline
-
-ifeq ($(CONFIG_CAN),y)
-CONFIGURED_APPS += examples/can
-endif
-
-#ifeq ($(CONFIG_USBDEV),y)
-#ifeq ($(CONFIG_CDCACM),y)
-CONFIGURED_APPS += examples/cdcacm
-#endif
-#endif

nuttx-configs/px4fmu-v3/nsh/setenv.sh

 #!/bin/bash
-# configs/stm3240g-eval/nsh/setenv.sh
+# nuttx-configs/px4fmu-v3/nsh/setenv.sh
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2014 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -47,15 +47,11 @@ if [ -z "${PATH_ORIG}" ]; then
   export PATH_ORIG="${PATH}"
 fi
 
-# This the Cygwin path to the location where I installed the RIDE
-# toolchain under windows.  You will also have to edit this if you install
-# the RIDE toolchain in any other location
-#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
-
 # This the Cygwin path to the location where I installed the CodeSourcery
 # toolchain under windows.  You will also have to edit this if you install
 # the CodeSourcery toolchain in any other location
-export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery_CodeBench_Lite_for_ARM_EABI/bin
 
 # This the Cygwin path to the location where I build the buildroot
 # toolchain.

nuttx-configs/px4fmu-v3/scripts/ld.script

 /****************************************************************************
- * configs/px4fmu/common/ld.script
+ * nuttx-configs/px4fmu-v3/scripts/ld.script
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -60,7 +60,7 @@ OUTPUT_ARCH(arm)
 ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
 EXTERN(_vectors)	/* force the vectors to be included in the output */
 
-/* 
+/*
  * Ensure that abort() is present in the final object.  The exception handling
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
@@ -72,24 +72,24 @@ SECTIONS
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
-                . = ALIGN(32);
-                /*
-                This signature provides the bootloader with a way to delay booting
-                */
-                _bootdelay_signature = ABSOLUTE(.);
-                FILL(0xffecc2925d7d05c5)
-                . += 8;
-		*(.text .text.*)        
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)
-		*(.rodata .rodata.*)        
+		*(.rodata .rodata.*)
 		*(.gnu.linkonce.t.*)
 		*(.got)
 		*(.gcc_except_table)
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
 
-		/* 
+		/*
 		 * This is a hack to make the newlib libm __errno() call
 		 * use the NuttX get_errno_ptr() function.
 		 */

nuttx-configs/px4fmu-v3/src/Makefile

 ############################################################################
-# configs/px4fmu/src/Makefile
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -35,24 +34,24 @@
 
 -include $(TOPDIR)/Make.defs
 
-CFLAGS		+= -I$(TOPDIR)/sched
+CFLAGS += -I$(TOPDIR)/sched
 
-ASRCS		= 
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
+ASRCS =
+AOBJS = $(ASRCS:.S=$(OBJEXT))
 
-CSRCS		= empty.c
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+CSRCS = empty.c
+COBJS = $(CSRCS:.c=$(OBJEXT))
 
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
 
-ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
 ifeq ($(WINTOOL),y)
-  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+            -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+            -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
 else
-  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+  CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
 endif
 
 all: libboard$(LIBEXT)
@@ -80,5 +79,8 @@ distclean: clean
 	$(call DELFILE, Make.dep)
 	$(call DELFILE, .depend)
 
--include Make.dep
+ifneq ($(BOARD_CONTEXT),y)
+context:
+endif
 
+-include Make.dep