From f692ad04d0ea22b8874926e9dc0cac23263bbeae Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 16 Nov 2018 12:52:37 -0500
Subject: [PATCH] boards organization
---
.ci/Jenkinsfile-SITL_tests | 26 +-
.ci/Jenkinsfile-compile | 28 +-
.ci/Jenkinsfile-hardware | 12 +-
.gitmodules | 4 +-
.travis.yml | 2 +-
CMakeLists.txt | 188 +-
Jenkinsfile | 34 +-
Makefile | 61 +-
ROMFS/CMakeLists.txt | 10 +-
ROMFS/px4fmu_common/init.d/rcS | 4 +-
Tools/astyle/files_to_check_code_style.sh | 1 -
Tools/docker_run.sh | 4 +-
Tools/sitl_multiple_run.sh | 4 +-
.../aerotenna/ocpoc/src}/CMakeLists.txt | 4 +-
.../aerotenna/ocpoc/src}/board_config.h | 2 +-
boards/aerotenna/ocpoc/ubuntu.cmake | 86 +
boards/airmind/mindpx-v2/default.cmake | 116 ++
.../airmind/mindpx-v2/firmware.prototype | 0
.../mindpx-v2/nuttx-config}/include/board.h | 0
.../mindpx-v2/nuttx-config}/nsh/defconfig | 2 +-
.../mindpx-v2/nuttx-config/scripts/ld.script | 2 +-
.../airmind/mindpx-v2/src}/CMakeLists.txt | 0
.../airmind/mindpx-v2/src}/board_config.h | 2 +-
.../airmind/mindpx-v2/src}/can.c | 0
.../airmind/mindpx-v2/src}/init.c | 0
.../airmind/mindpx-v2/src}/led.c | 0
.../airmind/mindpx-v2/src}/spi.c | 0
.../airmind/mindpx-v2/src}/timer_config.c | 0
.../airmind/mindpx-v2/src}/usb.c | 0
{cmake => boards/atlflight}/cmake_hexagon | 0
boards/atlflight/eagle/default.cmake | 115 ++
boards/atlflight/eagle/qurt-default.cmake | 83 +
.../atlflight/eagle/src}/CMakeLists.txt | 4 +-
.../atlflight/eagle/src}/board_config.h | 2 +-
.../atlflight/eagle/src}/sitl_led.c | 0
boards/atlflight/excelsior/default.cmake | 115 ++
boards/atlflight/excelsior/qurt-default.cmake | 82 +
.../atlflight/excelsior/src}/board_config.h | 0
boards/atmel/same70xplained/default.cmake | 116 ++
.../atmel/same70xplained/firmware.prototype | 2 +-
.../nuttx-config}/include/board.h | 0
.../nuttx-config}/nsh/defconfig | 4 +-
.../nuttx-config}/scripts/ld.script | 0
.../atmel/same70xplained/src}/CMakeLists.txt | 0
.../atmel/same70xplained/src}/README.md | 4 +-
.../atmel/same70xplained/src}/board_config.h | 2 +-
.../atmel/same70xplained/src}/can.c | 0
.../atmel/same70xplained/src}/init.c | 0
.../atmel/same70xplained/src}/led.c | 0
.../atmel/same70xplained/src}/sdram.c | 0
.../atmel/same70xplained/src}/spi.c | 0
.../atmel/same70xplained/src}/timer_config.c | 0
.../atmel/same70xplained/src}/usb.c | 0
.../auav/esc35-v1/default.cmake | 64 +-
.../auav/esc35-v1/firmware.prototype | 0
.../auav/esc35-v1/nuttx-config}/Kconfig | 0
.../esc35-v1/nuttx-config}/include/README.txt | 0
.../esc35-v1/nuttx-config}/include/board.h | 0
.../auav/esc35-v1/nuttx-config}/nsh/defconfig | 4 +-
.../esc35-v1/nuttx-config}/scripts/ld.script | 0
.../auav/esc35-v1/src}/CMakeLists.txt | 0
.../auav/esc35-v1/src}/board_config.h | 2 +-
.../auav/esc35-v1/src}/init.c | 0
.../auav/esc35-v1/src}/led.c | 0
.../auav/esc35-v1/src}/usb.c | 0
boards/auav/x21/default.cmake | 122 ++
.../auav/x21/firmware.prototype | 0
.../auav/x21/nuttx-config}/include/board.h | 0
.../auav/x21/nuttx-config}/nsh/defconfig | 2 +-
.../auav/x21/nuttx-config}/scripts/ld.script | 16 +-
.../auav/x21/src}/CMakeLists.txt | 0
.../auav/x21/src}/board_config.h | 2 +-
.../auav-x21 => boards/auav/x21/src}/can.c | 0
.../auav-x21 => boards/auav/x21/src}/init.c | 0
.../auav-x21 => boards/auav/x21/src}/led.c | 0
.../auav-x21 => boards/auav/x21/src}/spi.c | 0
.../auav/x21/src}/timer_config.c | 2 +-
.../auav-x21 => boards/auav/x21/src}/usb.c | 2 +-
boards/av/x-v1/default.cmake | 121 ++
.../av/x-v1/firmware.prototype | 0
.../av/x-v1/nuttx-config}/include/board.h | 0
.../av/x-v1/nuttx-config}/nsh/defconfig | 4 +-
.../av/x-v1/nuttx-config}/scripts/ld.script | 2 +-
.../av/x-v1/src}/CMakeLists.txt | 0
.../av/x-v1/src}/board_config.h | 2 +-
.../av-x-v1 => boards/av/x-v1/src}/init.c | 0
.../av-x-v1 => boards/av/x-v1/src}/manifest.c | 0
.../av-x-v1 => boards/av/x-v1/src}/sdio.c | 0
.../av-x-v1 => boards/av/x-v1/src}/spi.c | 0
.../av/x-v1/src}/timer_config.c | 0
boards/beaglebone/blue/cross.cmake | 84 +
boards/beaglebone/blue/native.cmake | 83 +
.../beaglebone/blue/src}/CMakeLists.txt | 2 +-
.../beaglebone/blue/src}/board_config.h | 2 +-
.../beaglebone/blue/src}/init.c | 0
boards/bitcraze/crazyflie/default.cmake | 73 +
.../bitcraze/crazyflie/firmware.prototype | 0
.../crazyflie/nuttx-config}/include/board.h | 0
.../crazyflie/nuttx-config}/nsh/defconfig | 2 +-
.../crazyflie/nuttx-config}/scripts/ld.script | 0
.../bitcraze/crazyflie/src}/CMakeLists.txt | 0
.../bitcraze/crazyflie/src}/board_config.h | 2 +-
.../bitcraze/crazyflie/src}/init.c | 0
.../bitcraze/crazyflie/src}/led.c | 0
.../bitcraze/crazyflie/src}/spi.c | 0
.../bitcraze/crazyflie/src}/timer_config.c | 0
.../bitcraze/crazyflie/src}/usb.c | 0
boards/emlid/navio2/cross.cmake | 94 +
boards/emlid/navio2/native.cmake | 93 +
.../emlid/navio2/src}/CMakeLists.txt | 3 +-
.../emlid/navio2/src}/board_config.h | 6 +-
boards/gumstix/aerocore2/default.cmake | 119 ++
.../gumstix/aerocore2/firmware.prototype | 0
.../gumstix/aerocore2/nuttx-config}/Kconfig | 0
.../aerocore2/nuttx-config}/include/board.h | 0
.../aerocore2/nuttx-config}/nsh/defconfig | 2 +-
.../aerocore2/nuttx-config}/scripts/ld.script | 0
.../gumstix/aerocore2/src}/CMakeLists.txt | 0
.../gumstix/aerocore2/src}/board_config.h | 2 +-
.../gumstix/aerocore2/src}/can.c | 0
.../gumstix/aerocore2/src}/init.c | 0
.../gumstix/aerocore2/src}/led.c | 0
.../gumstix/aerocore2/src}/spi.c | 0
.../gumstix/aerocore2/src}/timer_config.c | 0
.../gumstix/aerocore2/src}/usb.c | 0
boards/intel/aerofc-v1/default.cmake | 101 +
.../intel/aerofc-v1/firmware.prototype | 0
.../intel/aerofc-v1/nuttx-config}/Kconfig | 0
.../aerofc-v1/nuttx-config}/include/board.h | 0
.../aerofc-v1/nuttx-config}/nsh/defconfig | 2 +-
.../aerofc-v1/nuttx-config}/scripts/ld.script | 0
boards/intel/aerofc-v1/rtps.cmake | 104 +
.../intel/aerofc-v1/src}/CMakeLists.txt | 0
.../intel/aerofc-v1/src}/board_config.h | 2 +-
.../intel/aerofc-v1/src}/init.c | 0
.../intel/aerofc-v1/src}/led.c | 0
.../intel/aerofc-v1/src}/spi.c | 0
.../intel/aerofc-v1/src}/timer_config.c | 0
boards/nxp/hlite-v3/default.cmake | 118 ++
.../nxp/hlite-v3/firmware.prototype | 0
.../nxp/hlite-v3/nuttx-config}/Kconfig | 0
.../hlite-v3/nuttx-config}/include/board.h | 0
.../nxp/hlite-v3/nuttx-config}/nsh/defconfig | 0
.../hlite-v3/nuttx-config}/scripts/ld.script | 0
.../nxp/hlite-v3/src}/CMakeLists.txt | 0
.../nxp/hlite-v3/src}/autoleds.c | 0
.../nxp/hlite-v3/src}/automount.c | 0
.../nxp/hlite-v3/src}/board_config.h | 2 +-
.../nxp/hlite-v3/src}/can.c | 0
.../nxp/hlite-v3/src}/init.c | 0
.../nxp/hlite-v3/src}/led.c | 0
.../nxp/hlite-v3/src}/sdhc.c | 0
.../nxp/hlite-v3/src}/spi.c | 0
.../nxp/hlite-v3/src}/timer_config.c | 0
.../nxp/hlite-v3/src}/usb.c | 0
boards/omnibus/f4sd/default.cmake | 113 ++
.../omnibus/f4sd/firmware.prototype | 0
.../f4sd/nuttx-config}/include/board.h | 0
.../omnibus/f4sd/nuttx-config}/nsh/defconfig | 4 +-
.../f4sd/nuttx-config}/scripts/ld.script | 0
.../omnibus/f4sd/src}/CMakeLists.txt | 0
.../omnibus/f4sd/src}/board_config.h | 2 +-
.../omnibus/f4sd/src}/init.c | 0
.../omnibus/f4sd/src}/led.c | 0
.../omnibus/f4sd/src}/spi.c | 0
.../omnibus/f4sd/src}/timer_config.c | 0
.../omnibus/f4sd/src}/usb.c | 0
boards/parrot/bebop/default.cmake | 64 +
.../parrot/bebop/src}/CMakeLists.txt | 3 +-
.../parrot/bebop/src}/board_config.h | 2 +-
.../px4/cannode-v1/default.cmake | 50 +-
.../px4/cannode-v1/firmware.prototype | 0
.../px4/cannode-v1/nuttx-config}/Kconfig | 0
.../nuttx-config}/include/README.txt | 0
.../cannode-v1/nuttx-config}/include/board.h | 0
.../cannode-v1/nuttx-config}/nsh/defconfig | 0
.../nuttx-config}/nsh/defconfig.nonsh | 0
.../nuttx-config}/nsh/defconfig.nsh | 0
.../nuttx-config}/scripts/ld.script | 0
.../px4/cannode-v1/src}/CMakeLists.txt | 0
.../px4/cannode-v1/src}/board_config.h | 2 +-
.../px4/cannode-v1/src}/buttons.c | 0
.../px4/cannode-v1/src}/can.c | 0
.../px4/cannode-v1/src}/init.c | 0
.../px4/cannode-v1/src}/led.c | 0
.../px4/cannode-v1/src}/spi.c | 0
.../px4/esc-v1/default.cmake | 58 +-
.../px4/esc-v1/firmware.prototype | 0
.../px4/esc-v1/nuttx-config}/Kconfig | 0
.../esc-v1/nuttx-config}/include/README.txt | 0
.../px4/esc-v1/nuttx-config}/include/board.h | 0
.../px4/esc-v1/nuttx-config}/nsh/defconfig | 0
.../esc-v1/nuttx-config}/scripts/ld.script | 0
.../px4/esc-v1/src}/CMakeLists.txt | 0
.../px4/esc-v1/src}/board_config.h | 2 +-
.../px4/esc-v1/src}/init.c | 0
.../px4esc-v1 => boards/px4/esc-v1/src}/led.c | 0
.../px4esc-v1 => boards/px4/esc-v1/src}/usb.c | 0
boards/px4/fmu-v2/default.cmake | 121 ++
.../px4/fmu-v2/firmware.prototype | 10 +-
boards/px4/fmu-v2/lpe.cmake | 118 ++
.../px4/fmu-v2/nuttx-config}/Kconfig | 0
.../px4/fmu-v2/nuttx-config}/include/board.h | 0
.../px4/fmu-v2/nuttx-config}/nsh/defconfig | 0
.../fmu-v2/nuttx-config}/scripts/ld.script | 0
.../px4/fmu-v2/src}/CMakeLists.txt | 0
.../px4/fmu-v2/src}/board_config.h | 2 +-
.../px4fmu-v2 => boards/px4/fmu-v2/src}/can.c | 0
.../px4fmu-v2 => boards/px4/fmu-v2/src}/i2c.c | 0
.../px4/fmu-v2/src}/init.c | 0
.../px4fmu-v2 => boards/px4/fmu-v2/src}/led.c | 0
.../px4/fmu-v2/src}/manifest.c | 0
.../px4fmu-v2 => boards/px4/fmu-v2/src}/spi.c | 0
.../px4/fmu-v2/src}/timer_config.c | 0
.../px4fmu-v2 => boards/px4/fmu-v2/src}/usb.c | 0
boards/px4/fmu-v2/test.cmake | 119 ++
boards/px4/fmu-v3/default.cmake | 129 ++
.../px4/fmu-v3/firmware.prototype | 0
.../px4/fmu-v3/nuttx-config}/Kconfig | 2 +-
.../px4/fmu-v3/nuttx-config}/include/board.h | 222 ++-
boards/px4/fmu-v3/nuttx-config/nsh/defconfig | 1688 +++++++++++++++++
.../fmu-v3/nuttx-config}/scripts/ld.script | 18 +-
.../fmu-v3/nuttx-config}/stackcheck/defconfig | 4 +-
boards/px4/fmu-v3/rtps.cmake | 130 ++
.../px4/fmu-v3/src}/CMakeLists.txt | 17 +-
boards/px4/fmu-v3/src/board_config.h | 569 ++++++
.../px4fmu-v4 => boards/px4/fmu-v3/src}/can.c | 0
.../px4/fmu-v3/src/i2c.c | 25 +-
boards/px4/fmu-v3/src/init.c | 570 ++++++
boards/px4/fmu-v3/src/led.c | 96 +
boards/px4/fmu-v3/src/manifest.c | 149 ++
boards/px4/fmu-v3/src/spi.c | 462 +++++
boards/px4/fmu-v3/src/timer_config.c | 126 ++
.../px4/fmu-v3/src}/usb.c | 0
boards/px4/fmu-v3/stackcheck.cmake | 129 ++
boards/px4/fmu-v4/default.cmake | 114 ++
.../px4/fmu-v4/firmware.prototype | 0
.../px4/fmu-v4/nuttx-config}/include/board.h | 0
.../px4/fmu-v4/nuttx-config}/nsh/defconfig | 0
.../fmu-v4/nuttx-config}/scripts/ld.script | 24 +-
.../fmu-v4/nuttx-config}/stackcheck/defconfig | 0
boards/px4/fmu-v4/rtps.cmake | 116 ++
.../px4/fmu-v4/src}/CMakeLists.txt | 0
.../px4/fmu-v4/src}/board_config.h | 2 +-
.../px4/fmu-v4/src}/can.c | 0
.../px4/fmu-v4/src}/init.c | 0
.../px4fmu-v4 => boards/px4/fmu-v4/src}/led.c | 0
.../px4fmu-v4 => boards/px4/fmu-v4/src}/spi.c | 0
.../px4/fmu-v4/src}/timer_config.c | 0
.../px4fmu-v4 => boards/px4/fmu-v4/src}/usb.c | 0
boards/px4/fmu-v4/stackcheck.cmake | 114 ++
boards/px4/fmu-v4pro/default.cmake | 128 ++
.../px4/fmu-v4pro/firmware.prototype | 0
.../px4/fmu-v4pro/nuttx-config}/Kconfig | 0
.../fmu-v4pro/nuttx-config}/include/board.h | 0
.../px4/fmu-v4pro/nuttx-config}/nsh/defconfig | 0
.../fmu-v4pro/nuttx-config}/scripts/ld.script | 16 +-
boards/px4/fmu-v4pro/rtps.cmake | 129 ++
.../px4/fmu-v4pro/src}/CMakeLists.txt | 0
.../px4/fmu-v4pro/src}/board_config.h | 2 +-
.../px4/fmu-v4pro/src}/can.c | 11 +-
.../px4/fmu-v4pro/src}/init.c | 0
.../px4/fmu-v4pro/src}/led.c | 0
.../px4/fmu-v4pro/src}/spi.c | 0
.../px4/fmu-v4pro/src}/timer_config.c | 0
boards/px4/fmu-v4pro/src/usb.c | 107 ++
boards/px4/fmu-v5/default.cmake | 129 ++
.../px4/fmu-v5/firmware.prototype | 0
.../px4/fmu-v5/nuttx-config}/Kconfig | 0
.../px4/fmu-v5/nuttx-config}/include/board.h | 0
.../px4/fmu-v5/nuttx-config}/nsh/defconfig | 0
.../fmu-v5/nuttx-config}/scripts/ld.script | 2 +-
.../fmu-v5/nuttx-config}/stackcheck/defconfig | 0
boards/px4/fmu-v5/rtps.cmake | 127 ++
.../px4/fmu-v5/src}/CMakeLists.txt | 0
.../px4/fmu-v5/src}/board_config.h | 2 +-
.../px4fmu-v5 => boards/px4/fmu-v5/src}/can.c | 0
.../px4/fmu-v5/src}/init.c | 0
.../px4fmu-v5 => boards/px4/fmu-v5/src}/led.c | 0
.../px4/fmu-v5/src}/manifest.c | 0
.../px4/fmu-v5/src}/sdio.c | 0
.../px4fmu-v5 => boards/px4/fmu-v5/src}/spi.c | 0
.../px4/fmu-v5/src}/timer_config.c | 0
.../px4fmu-v5 => boards/px4/fmu-v5/src}/usb.c | 0
boards/px4/fmu-v5/stackcheck.cmake | 126 ++
boards/px4/io-v2/default.cmake | 11 +
.../px4/io-v2/firmware.prototype | 0
.../px4/io-v2/nuttx-config}/include/board.h | 0
.../px4/io-v2/nuttx-config}/nsh/defconfig | 0
.../px4/io-v2/nuttx-config}/scripts/ld.script | 0
.../px4/io-v2/src}/CMakeLists.txt | 0
.../px4/io-v2/src}/board_config.h | 2 +-
.../px4io-v2 => boards/px4/io-v2/src}/init.c | 0
.../px4/io-v2/src}/timer_config.c | 0
boards/px4/raspberrypi/cross.cmake | 81 +
boards/px4/raspberrypi/native.cmake | 80 +
.../px4/raspberrypi/src}/CMakeLists.txt | 3 +-
boards/px4/raspberrypi/src/board_config.h | 57 +
boards/px4/sitl/default.cmake | 96 +
boards/px4/sitl/rtps.cmake | 98 +
.../px4/sitl/src}/CMakeLists.txt | 4 +-
.../px4/sitl/src}/board_config.h | 2 +-
.../eagle => boards/px4/sitl/src}/sitl_led.c | 0
boards/px4/sitl/test.cmake | 96 +
boards/stm/32f4discovery/default.cmake | 106 ++
.../stm/32f4discovery/firmware.prototype | 2 +-
.../nuttx-config}/include/board.h | 0
.../32f4discovery/nuttx-config}/nsh/defconfig | 4 +-
.../nuttx-config}/scripts/ld.script | 0
.../stm/32f4discovery/src}/CMakeLists.txt | 1 +
.../stm/32f4discovery/src}/board_config.h | 2 +-
.../stm/32f4discovery/src}/init.c | 0
.../stm/32f4discovery/src}/led.c | 0
boards/stm/32f4discovery/src/timer_config.c | 76 +
.../stm/32f4discovery/src}/usb.c | 0
boards/stm/nucleo-F767ZI/default.cmake | 115 ++
.../stm/nucleo-F767ZI/firmware.prototype | 4 +-
.../nuttx-config}/include/board.h | 2 +-
.../nucleo-F767ZI/nuttx-config}/nsh/defconfig | 4 +-
.../nuttx-config}/scripts/ld.script | 0
.../stm/nucleo-F767ZI/src}/CMakeLists.txt | 0
.../stm/nucleo-F767ZI/src}/board_config.h | 2 +-
.../stm/nucleo-F767ZI/src}/can.c | 0
.../stm/nucleo-F767ZI/src}/init.c | 0
.../stm/nucleo-F767ZI/src}/led.c | 0
.../stm/nucleo-F767ZI/src}/sdio.c | 0
.../stm/nucleo-F767ZI/src}/spi.c | 0
.../stm/nucleo-F767ZI/src}/timer_config.c | 0
.../stm/nucleo-F767ZI/src}/usb.c | 0
.../thiemar/s2740vc-v1/default.cmake | 44 +-
.../thiemar/s2740vc-v1/firmware.prototype | 0
.../thiemar/s2740vc-v1/nuttx-config}/Kconfig | 0
.../nuttx-config}/include/README.txt | 0
.../s2740vc-v1/nuttx-config}/include/board.h | 0
.../nuttx-config}/nsh/IMPORTANT_README.txt | 0
.../s2740vc-v1/nuttx-config}/nsh/defconfig | 2 +-
.../nuttx-config}/scripts/ld.script | 0
.../thiemar/s2740vc-v1/src}/CMakeLists.txt | 0
.../thiemar/s2740vc-v1/src}/board_config.h | 2 +-
.../thiemar/s2740vc-v1/src}/can.c | 0
.../thiemar/s2740vc-v1/src}/init.c | 0
cmake/configs/nuttx_aerocore2_default.cmake | 135 --
cmake/configs/nuttx_aerofc-v1_default.cmake | 75 -
cmake/configs/nuttx_aerofc-v1_rtps.cmake | 7 -
cmake/configs/nuttx_auav-x21_default.cmake | 158 --
cmake/configs/nuttx_av-x-v1_default.cmake | 154 --
cmake/configs/nuttx_crazyflie_default.cmake | 104 -
cmake/configs/nuttx_mindpx-v2_default.cmake | 150 --
cmake/configs/nuttx_nxphlite-v3_default.cmake | 163 --
.../configs/nuttx_omnibus-f4sd_default.cmake | 143 --
.../nuttx_px4-same70xplained-v1_default.cmake | 122 --
.../nuttx_px4-stm32f4discovery_default.cmake | 41 -
cmake/configs/nuttx_px4fmu-v2_default.cmake | 187 --
cmake/configs/nuttx_px4fmu-v2_lpe.cmake | 16 -
cmake/configs/nuttx_px4fmu-v2_test.cmake | 163 --
cmake/configs/nuttx_px4fmu-v3_default.cmake | 170 --
cmake/configs/nuttx_px4fmu-v3_rtps.cmake | 7 -
.../configs/nuttx_px4fmu-v3_stackcheck.cmake | 128 --
cmake/configs/nuttx_px4fmu-v4_default.cmake | 158 --
cmake/configs/nuttx_px4fmu-v4_rtps.cmake | 5 -
.../configs/nuttx_px4fmu-v4_stackcheck.cmake | 116 --
.../configs/nuttx_px4fmu-v4pro_default.cmake | 162 --
cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake | 5 -
cmake/configs/nuttx_px4fmu-v5_default.cmake | 164 --
cmake/configs/nuttx_px4fmu-v5_rtps.cmake | 5 -
.../configs/nuttx_px4fmu-v5_stackcheck.cmake | 121 --
cmake/configs/nuttx_px4io-v2_default.cmake | 7 -
.../nuttx_px4nucleoF767ZI-v1_default.cmake | 128 --
cmake/configs/posix_bbblue_common.cmake | 104 -
cmake/configs/posix_bbblue_cross.cmake | 3 -
cmake/configs/posix_bbblue_native.cmake | 7 -
cmake/configs/posix_bebop_default.cmake | 75 -
cmake/configs/posix_eagle_default.cmake | 17 -
cmake/configs/posix_eagle_hil.cmake | 38 -
cmake/configs/posix_eagle_legacy.cmake | 15 -
cmake/configs/posix_eagle_muorb.cmake | 19 -
cmake/configs/posix_excelsior_default.cmake | 11 -
cmake/configs/posix_excelsior_legacy.cmake | 14 -
cmake/configs/posix_ocpoc_cross.cmake | 85 -
cmake/configs/posix_ocpoc_ubuntu.cmake | 84 -
cmake/configs/posix_rpi_common.cmake | 103 -
cmake/configs/posix_rpi_cross.cmake | 3 -
cmake/configs/posix_rpi_cross_no_shield.cmake | 19 -
cmake/configs/posix_rpi_native.cmake | 7 -
cmake/configs/posix_sdflight_default.cmake | 66 -
cmake/configs/posix_sdflight_legacy.cmake | 56 -
cmake/configs/posix_sdflight_rtps.cmake | 5 -
cmake/configs/posix_sitl_broadcast.cmake | 3 -
cmake/configs/posix_sitl_default.cmake | 164 --
cmake/configs/posix_sitl_rtps.cmake | 5 -
cmake/configs/posix_sitl_test.cmake | 2 -
cmake/configs/qurt_eagle_default.cmake | 12 -
cmake/configs/qurt_eagle_hello.cmake | 33 -
cmake/configs/qurt_eagle_hil.cmake | 59 -
cmake/configs/qurt_eagle_legacy.cmake | 12 -
cmake/configs/qurt_eagle_muorb.cmake | 38 -
cmake/configs/qurt_eagle_test.cmake | 33 -
cmake/configs/qurt_eagle_travis.cmake | 65 -
cmake/configs/qurt_excelsior_default.cmake | 12 -
cmake/configs/qurt_excelsior_legacy.cmake | 14 -
cmake/configs/qurt_sdflight_default.cmake | 93 -
cmake/configs/qurt_sdflight_legacy.cmake | 88 -
cmake/{common => }/coverage.cmake | 0
cmake/px4_add_board.cmake | 200 ++
cmake/{common => }/px4_base.cmake | 95 +-
cmake/{common => }/px4_git.cmake | 2 +-
cmake/px4_make_uavcan_bootloader.cmake | 99 +
cmake/{common => }/px4_metadata.cmake | 2 +-
cmake/{common => }/sanitizers.cmake | 0
.../Toolchain-arm-linux-gnueabihf.cmake | 30 -
.../toolchains/Toolchain-arm-none-eabi.cmake | 82 -
.../Toolchain-arm-xilinx-linux-gnueabi.cmake | 88 -
.../Toolchain-gcc-arm-linux-gnueabihf.cmake | 74 -
eclipse.cproject | 16 +-
eclipse.project | 4 +-
platforms/nuttx/CMakeLists.txt | 30 +-
platforms/nuttx/Debug/poor-mans-profiler.sh | 2 +-
platforms/nuttx/Images/px4flow-v2.prototype | 13 -
platforms/nuttx/Images/zubaxgnss-v1.prototype | 13 -
platforms/nuttx/NuttX/CMakeLists.txt | 84 +-
.../{nuttx-configs => NuttX}/Make.defs.in | 53 +-
.../include => NuttX}/nsh_romfsimg.h | 0
.../nuttx/NuttX/tools/new_nuttx_px_config.sh | 173 --
.../Generic-arm-none-eabi-gcc-cortex-m3.cmake | 6 +
.../Generic-arm-none-eabi-gcc-cortex-m4.cmake | 6 +
.../Generic-arm-none-eabi-gcc-cortex-m7.cmake | 6 +
.../nuttx/cmake/Toolchain-arm-none-eabi.cmake | 48 +
platforms/nuttx/cmake/px4_add_board_os.cmake | 130 ++
platforms/nuttx/cmake/px4_impl_os.cmake | 160 +-
.../auav-x21/include/nsh_romfsimg.h | 42 -
.../av-x-v1/include/nsh_romfsimg.h | 42 -
.../crazyflie/include/nsh_romfsimg.h | 42 -
.../mindpx-v2/include/nsh_romfsimg.h | 42 -
.../nxphlite-v3/include/nsh_romfsimg.h | 42 -
.../omnibus-f4sd/include/nsh_romfsimg.h | 42 -
.../px4-same70xplained-v1/Kconfig | 22 -
.../include/nsh_romfsimg.h | 42 -
.../px4-same70xplained-v1/nsh/setenv.sh | 80 -
.../scripts/flash-dtcm.ld | 123 --
.../scripts/flash-sram.ld | 120 --
.../px4-same70xplained-v1/scripts/gnu-elf.ld | 129 --
.../scripts/kernel-space.ld | 111 --
.../px4-same70xplained-v1/scripts/memory.ld | 84 -
.../scripts/user-space.ld | 126 --
.../include/nsh_romfsimg.h | 42 -
.../nuttx/nuttx-configs/px4flow-v2/Kconfig | 22 -
.../px4flow-v2/include/README.txt | 2 -
.../nuttx-configs/px4flow-v2/nsh/defconfig | 1004 ----------
.../px4flow-v2/scripts/ld.script | 158 --
.../px4fmu-v2/include/nsh_romfsimg.h | 42 -
.../px4fmu-v4/include/nsh_romfsimg.h | 42 -
.../px4fmu-v4pro/include/nsh_romfsimg.h | 42 -
.../px4fmu-v5/include/nsh_romfsimg.h | 42 -
.../px4nucleoF767ZI-v1/include/nsh_romfsimg.h | 42 -
.../nuttx/nuttx-configs/zubaxgnss-v1/Kconfig | 22 -
.../zubaxgnss-v1/include/README.txt | 4 -
.../zubaxgnss-v1/include/board.h | 251 ---
.../nuttx-configs/zubaxgnss-v1/nsh/defconfig | 1070 -----------
.../zubaxgnss-v1/scripts/ld.script | 153 --
platforms/nuttx/src/px4_layer/CMakeLists.txt | 2 +-
platforms/posix/CMakeLists.txt | 26 +-
...Linux-arm-linux-gnueabihf-cortex-a53.cmake | 6 +
.../Linux-arm-linux-gnueabihf-cortex-a8.cmake | 6 +
.../Linux-arm-linux-gnueabihf-cortex-a9.cmake | 6 +
.../cmake/Toolchain-arm-linux-gnueabihf.cmake | 45 +
.../posix/cmake}/Toolchain-native.cmake | 0
platforms/posix/cmake/px4_add_board_os.cmake | 106 ++
platforms/posix/cmake/px4_impl_os.cmake | 73 +-
platforms/posix/src/px4_layer/CMakeLists.txt | 2 +-
platforms/qurt/CMakeLists.txt | 3 +-
platforms/qurt/cmake/px4_add_board_os.cmake | 101 +
platforms/qurt/cmake/px4_impl_os.cmake | 15 +-
platforms/qurt/include/board_config.h | 2 +-
platforms/qurt/src/px4_layer/CMakeLists.txt | 2 +-
src/drivers/bbblue_adc/CMakeLists.txt | 2 +-
src/drivers/boards/CMakeLists.txt | 9 +-
src/drivers/boards/common/CMakeLists.txt | 2 +-
src/drivers/boards/common/board_common.h | 2 +-
.../boards/common/stm32/CMakeLists.txt | 15 +-
src/drivers/boards/px4flow-v2/board_config.h | 385 ----
src/drivers/boards/px4flow-v2/init.c | 190 --
src/drivers/boards/px4flow-v2/led.c | 192 --
.../boards/zubaxgnss-v1/board_config.h | 247 ---
src/drivers/boards/zubaxgnss-v1/gnss_init.c | 186 --
src/drivers/boards/zubaxgnss-v1/gnss_led.c | 191 --
.../distance_sensor/sf0x/CMakeLists.txt | 5 +-
src/drivers/px4io/CMakeLists.txt | 28 +-
src/lib/cdev/CMakeLists.txt | 2 +-
src/lib/controllib/CMakeLists.txt | 6 +-
src/lib/drivers/device/CMakeLists.txt | 4 +-
src/lib/parameters/CMakeLists.txt | 22 +-
src/lib/rc/CMakeLists.txt | 4 +
src/lib/rc/rc_tests/RCTest.cpp | 1 +
src/modules/commander/CMakeLists.txt | 9 +-
.../failure_detector}/CMakeLists.txt | 8 +-
src/modules/mavlink/CMakeLists.txt | 4 +
src/modules/micrortps_bridge/CMakeLists.txt | 2 +-
src/modules/simulator/CMakeLists.txt | 2 +-
src/modules/systemlib/CMakeLists.txt | 4 +-
src/modules/uORB/CMakeLists.txt | 4 +
src/modules/uavcan/CMakeLists.txt | 17 +-
src/modules/uavcanesc/CMakeLists.txt | 2 +-
src/modules/uavcannode/CMakeLists.txt | 2 +-
src/platforms/common/CMakeLists.txt | 2 +-
.../common/work_queue/CMakeLists.txt | 2 +-
src/systemcmds/tests/CMakeLists.txt | 2 +-
test/rostest_px4_run.sh | 2 +-
507 files changed, 9975 insertions(+), 10989 deletions(-)
rename {src/drivers/boards/rpi => boards/aerotenna/ocpoc/src}/CMakeLists.txt (94%)
rename {src/drivers/boards/ocpoc => boards/aerotenna/ocpoc/src}/board_config.h (98%)
create mode 100644 boards/aerotenna/ocpoc/ubuntu.cmake
create mode 100644 boards/airmind/mindpx-v2/default.cmake
rename platforms/nuttx/Images/mindpx-v2.prototype => boards/airmind/mindpx-v2/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/mindpx-v2 => boards/airmind/mindpx-v2/nuttx-config}/include/board.h (100%)
rename {platforms/nuttx/nuttx-configs/mindpx-v2 => boards/airmind/mindpx-v2/nuttx-config}/nsh/defconfig (99%)
rename platforms/nuttx/nuttx-configs/px4fmu-v2/scripts/ld_full.script => boards/airmind/mindpx-v2/nuttx-config/scripts/ld.script (99%)
rename {src/drivers/boards/mindpx-v2 => boards/airmind/mindpx-v2/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/mindpx-v2 => boards/airmind/mindpx-v2/src}/board_config.h (99%)
rename {src/drivers/boards/mindpx-v2 => boards/airmind/mindpx-v2/src}/can.c (100%)
rename {src/drivers/boards/mindpx-v2 => boards/airmind/mindpx-v2/src}/init.c (100%)
rename {src/drivers/boards/mindpx-v2 => boards/airmind/mindpx-v2/src}/led.c (100%)
rename {src/drivers/boards/mindpx-v2 => boards/airmind/mindpx-v2/src}/spi.c (100%)
rename {src/drivers/boards/mindpx-v2 => boards/airmind/mindpx-v2/src}/timer_config.c (100%)
rename {src/drivers/boards/mindpx-v2 => boards/airmind/mindpx-v2/src}/usb.c (100%)
rename {cmake => boards/atlflight}/cmake_hexagon (100%)
create mode 100644 boards/atlflight/eagle/default.cmake
create mode 100644 boards/atlflight/eagle/qurt-default.cmake
rename {src/drivers/boards/sitl => boards/atlflight/eagle/src}/CMakeLists.txt (94%)
rename {src/drivers/boards/eagle => boards/atlflight/eagle/src}/board_config.h (97%)
rename {src/drivers/boards/sitl => boards/atlflight/eagle/src}/sitl_led.c (100%)
create mode 100644 boards/atlflight/excelsior/default.cmake
create mode 100644 boards/atlflight/excelsior/qurt-default.cmake
rename {src/drivers/boards/excelsior => boards/atlflight/excelsior/src}/board_config.h (100%)
create mode 100644 boards/atmel/same70xplained/default.cmake
rename platforms/nuttx/Images/px4-same70xplained-v1.prototype => boards/atmel/same70xplained/firmware.prototype (87%)
rename {platforms/nuttx/nuttx-configs/px4-same70xplained-v1 => boards/atmel/same70xplained/nuttx-config}/include/board.h (100%)
rename {platforms/nuttx/nuttx-configs/px4-same70xplained-v1 => boards/atmel/same70xplained/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/px4-same70xplained-v1 => boards/atmel/same70xplained/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/README.md (88%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/board_config.h (99%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/can.c (100%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/init.c (100%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/led.c (100%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/sdram.c (100%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/spi.c (100%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/timer_config.c (100%)
rename {src/drivers/boards/px4-same70xplained-v1 => boards/atmel/same70xplained/src}/usb.c (100%)
rename cmake/configs/nuttx_esc35-v1_default.cmake => boards/auav/esc35-v1/default.cmake (60%)
rename platforms/nuttx/Images/esc35-v1.prototype => boards/auav/esc35-v1/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/esc35-v1 => boards/auav/esc35-v1/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/esc35-v1 => boards/auav/esc35-v1/nuttx-config}/include/README.txt (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/esc35-v1 => boards/auav/esc35-v1/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/esc35-v1 => boards/auav/esc35-v1/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/esc35-v1 => boards/auav/esc35-v1/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/esc35-v1 => boards/auav/esc35-v1/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/esc35-v1 => boards/auav/esc35-v1/src}/board_config.h (99%)
rename {src/drivers/boards/esc35-v1 => boards/auav/esc35-v1/src}/init.c (100%)
rename {src/drivers/boards/esc35-v1 => boards/auav/esc35-v1/src}/led.c (100%)
rename {src/drivers/boards/esc35-v1 => boards/auav/esc35-v1/src}/usb.c (100%)
create mode 100644 boards/auav/x21/default.cmake
rename platforms/nuttx/Images/auav-x21.prototype => boards/auav/x21/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/auav-x21 => boards/auav/x21/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/auav-x21 => boards/auav/x21/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/auav-x21 => boards/auav/x21/nuttx-config}/scripts/ld.script (93%)
rename {src/drivers/boards/aerocore2 => boards/auav/x21/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/auav-x21 => boards/auav/x21/src}/board_config.h (99%)
rename {src/drivers/boards/auav-x21 => boards/auav/x21/src}/can.c (100%)
rename {src/drivers/boards/auav-x21 => boards/auav/x21/src}/init.c (100%)
rename {src/drivers/boards/auav-x21 => boards/auav/x21/src}/led.c (100%)
rename {src/drivers/boards/auav-x21 => boards/auav/x21/src}/spi.c (100%)
rename {src/drivers/boards/auav-x21 => boards/auav/x21/src}/timer_config.c (99%)
rename {src/drivers/boards/auav-x21 => boards/auav/x21/src}/usb.c (99%)
create mode 100644 boards/av/x-v1/default.cmake
rename platforms/nuttx/Images/av-x-v1.prototype => boards/av/x-v1/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/av-x-v1 => boards/av/x-v1/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/av-x-v1 => boards/av/x-v1/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/av-x-v1 => boards/av/x-v1/nuttx-config}/scripts/ld.script (99%)
rename {src/drivers/boards/av-x-v1 => boards/av/x-v1/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/av-x-v1 => boards/av/x-v1/src}/board_config.h (99%)
rename {src/drivers/boards/av-x-v1 => boards/av/x-v1/src}/init.c (100%)
rename {src/drivers/boards/av-x-v1 => boards/av/x-v1/src}/manifest.c (100%)
rename {src/drivers/boards/av-x-v1 => boards/av/x-v1/src}/sdio.c (100%)
rename {src/drivers/boards/av-x-v1 => boards/av/x-v1/src}/spi.c (100%)
rename {src/drivers/boards/av-x-v1 => boards/av/x-v1/src}/timer_config.c (100%)
create mode 100644 boards/beaglebone/blue/cross.cmake
create mode 100644 boards/beaglebone/blue/native.cmake
rename {src/drivers/boards/bbblue => boards/beaglebone/blue/src}/CMakeLists.txt (94%)
rename {src/drivers/boards/bbblue => boards/beaglebone/blue/src}/board_config.h (98%)
rename {src/drivers/boards/bbblue => boards/beaglebone/blue/src}/init.c (100%)
create mode 100644 boards/bitcraze/crazyflie/default.cmake
rename platforms/nuttx/Images/crazyflie.prototype => boards/bitcraze/crazyflie/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/crazyflie => boards/bitcraze/crazyflie/nuttx-config}/include/board.h (100%)
rename {platforms/nuttx/nuttx-configs/crazyflie => boards/bitcraze/crazyflie/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/crazyflie => boards/bitcraze/crazyflie/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/crazyflie => boards/bitcraze/crazyflie/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/crazyflie => boards/bitcraze/crazyflie/src}/board_config.h (99%)
rename {src/drivers/boards/crazyflie => boards/bitcraze/crazyflie/src}/init.c (100%)
rename {src/drivers/boards/crazyflie => boards/bitcraze/crazyflie/src}/led.c (100%)
rename {src/drivers/boards/crazyflie => boards/bitcraze/crazyflie/src}/spi.c (100%)
rename {src/drivers/boards/crazyflie => boards/bitcraze/crazyflie/src}/timer_config.c (100%)
rename {src/drivers/boards/crazyflie => boards/bitcraze/crazyflie/src}/usb.c (100%)
create mode 100644 boards/emlid/navio2/cross.cmake
create mode 100644 boards/emlid/navio2/native.cmake
rename {src/drivers/boards/ocpoc => boards/emlid/navio2/src}/CMakeLists.txt (94%)
rename {src/drivers/boards/rpi => boards/emlid/navio2/src}/board_config.h (94%)
create mode 100644 boards/gumstix/aerocore2/default.cmake
rename platforms/nuttx/Images/aerocore2.prototype => boards/gumstix/aerocore2/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/aerocore2 => boards/gumstix/aerocore2/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/aerocore2 => boards/gumstix/aerocore2/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/aerocore2 => boards/gumstix/aerocore2/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/aerocore2 => boards/gumstix/aerocore2/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/auav-x21 => boards/gumstix/aerocore2/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/aerocore2 => boards/gumstix/aerocore2/src}/board_config.h (99%)
rename {src/drivers/boards/aerocore2 => boards/gumstix/aerocore2/src}/can.c (100%)
rename {src/drivers/boards/aerocore2 => boards/gumstix/aerocore2/src}/init.c (100%)
rename {src/drivers/boards/aerocore2 => boards/gumstix/aerocore2/src}/led.c (100%)
rename {src/drivers/boards/aerocore2 => boards/gumstix/aerocore2/src}/spi.c (100%)
rename {src/drivers/boards/aerocore2 => boards/gumstix/aerocore2/src}/timer_config.c (100%)
rename {src/drivers/boards/aerocore2 => boards/gumstix/aerocore2/src}/usb.c (100%)
create mode 100644 boards/intel/aerofc-v1/default.cmake
rename platforms/nuttx/Images/aerofc-v1.prototype => boards/intel/aerofc-v1/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/aerofc-v1 => boards/intel/aerofc-v1/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/aerofc-v1 => boards/intel/aerofc-v1/nuttx-config}/include/board.h (100%)
rename {platforms/nuttx/nuttx-configs/aerofc-v1 => boards/intel/aerofc-v1/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/aerofc-v1 => boards/intel/aerofc-v1/nuttx-config}/scripts/ld.script (100%)
create mode 100644 boards/intel/aerofc-v1/rtps.cmake
rename {src/drivers/boards/aerofc-v1 => boards/intel/aerofc-v1/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/aerofc-v1 => boards/intel/aerofc-v1/src}/board_config.h (99%)
rename {src/drivers/boards/aerofc-v1 => boards/intel/aerofc-v1/src}/init.c (100%)
rename {src/drivers/boards/aerofc-v1 => boards/intel/aerofc-v1/src}/led.c (100%)
rename {src/drivers/boards/aerofc-v1 => boards/intel/aerofc-v1/src}/spi.c (100%)
rename {src/drivers/boards/aerofc-v1 => boards/intel/aerofc-v1/src}/timer_config.c (100%)
create mode 100644 boards/nxp/hlite-v3/default.cmake
rename platforms/nuttx/Images/nxphlite-v3.prototype => boards/nxp/hlite-v3/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/nxphlite-v3 => boards/nxp/hlite-v3/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/nxphlite-v3 => boards/nxp/hlite-v3/nuttx-config}/include/board.h (100%)
rename {platforms/nuttx/nuttx-configs/nxphlite-v3 => boards/nxp/hlite-v3/nuttx-config}/nsh/defconfig (100%)
rename {platforms/nuttx/nuttx-configs/nxphlite-v3 => boards/nxp/hlite-v3/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/autoleds.c (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/automount.c (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/board_config.h (99%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/can.c (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/init.c (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/led.c (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/sdhc.c (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/spi.c (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/timer_config.c (100%)
rename {src/drivers/boards/nxphlite-v3 => boards/nxp/hlite-v3/src}/usb.c (100%)
create mode 100644 boards/omnibus/f4sd/default.cmake
rename platforms/nuttx/Images/omnibus-f4sd.prototype => boards/omnibus/f4sd/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/omnibus-f4sd => boards/omnibus/f4sd/nuttx-config}/include/board.h (100%)
rename {platforms/nuttx/nuttx-configs/omnibus-f4sd => boards/omnibus/f4sd/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/omnibus-f4sd => boards/omnibus/f4sd/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/omnibus-f4sd => boards/omnibus/f4sd/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/omnibus-f4sd => boards/omnibus/f4sd/src}/board_config.h (99%)
rename {src/drivers/boards/omnibus-f4sd => boards/omnibus/f4sd/src}/init.c (100%)
rename {src/drivers/boards/omnibus-f4sd => boards/omnibus/f4sd/src}/led.c (100%)
rename {src/drivers/boards/omnibus-f4sd => boards/omnibus/f4sd/src}/spi.c (100%)
rename {src/drivers/boards/omnibus-f4sd => boards/omnibus/f4sd/src}/timer_config.c (100%)
rename {src/drivers/boards/omnibus-f4sd => boards/omnibus/f4sd/src}/usb.c (100%)
create mode 100644 boards/parrot/bebop/default.cmake
rename {src/drivers/boards/sim => boards/parrot/bebop/src}/CMakeLists.txt (94%)
rename {src/drivers/boards/bebop => boards/parrot/bebop/src}/board_config.h (97%)
rename cmake/configs/nuttx_px4cannode-v1_default.cmake => boards/px4/cannode-v1/default.cmake (71%)
rename platforms/nuttx/Images/px4cannode-v1.prototype => boards/px4/cannode-v1/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/px4cannode-v1 => boards/px4/cannode-v1/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4cannode-v1 => boards/px4/cannode-v1/nuttx-config}/include/README.txt (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4cannode-v1 => boards/px4/cannode-v1/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4cannode-v1 => boards/px4/cannode-v1/nuttx-config}/nsh/defconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4cannode-v1 => boards/px4/cannode-v1/nuttx-config}/nsh/defconfig.nonsh (100%)
rename {platforms/nuttx/nuttx-configs/px4cannode-v1 => boards/px4/cannode-v1/nuttx-config}/nsh/defconfig.nsh (100%)
rename {platforms/nuttx/nuttx-configs/px4cannode-v1 => boards/px4/cannode-v1/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/px4cannode-v1 => boards/px4/cannode-v1/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4cannode-v1 => boards/px4/cannode-v1/src}/board_config.h (99%)
rename {src/drivers/boards/px4cannode-v1 => boards/px4/cannode-v1/src}/buttons.c (100%)
rename {src/drivers/boards/px4cannode-v1 => boards/px4/cannode-v1/src}/can.c (100%)
rename {src/drivers/boards/px4cannode-v1 => boards/px4/cannode-v1/src}/init.c (100%)
rename {src/drivers/boards/px4cannode-v1 => boards/px4/cannode-v1/src}/led.c (100%)
rename {src/drivers/boards/px4cannode-v1 => boards/px4/cannode-v1/src}/spi.c (100%)
rename cmake/configs/nuttx_px4esc-v1_default.cmake => boards/px4/esc-v1/default.cmake (62%)
rename platforms/nuttx/Images/px4esc-v1.prototype => boards/px4/esc-v1/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/px4esc-v1 => boards/px4/esc-v1/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4esc-v1 => boards/px4/esc-v1/nuttx-config}/include/README.txt (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4esc-v1 => boards/px4/esc-v1/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4esc-v1 => boards/px4/esc-v1/nuttx-config}/nsh/defconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4esc-v1 => boards/px4/esc-v1/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/px4esc-v1 => boards/px4/esc-v1/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4esc-v1 => boards/px4/esc-v1/src}/board_config.h (99%)
rename {src/drivers/boards/px4esc-v1 => boards/px4/esc-v1/src}/init.c (100%)
rename {src/drivers/boards/px4esc-v1 => boards/px4/esc-v1/src}/led.c (100%)
rename {src/drivers/boards/px4esc-v1 => boards/px4/esc-v1/src}/usb.c (100%)
create mode 100644 boards/px4/fmu-v2/default.cmake
rename platforms/nuttx/Images/px4fmu-v2.prototype => boards/px4/fmu-v2/firmware.prototype (52%)
create mode 100644 boards/px4/fmu-v2/lpe.cmake
rename {platforms/nuttx/nuttx-configs/px4fmu-v2 => boards/px4/fmu-v2/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v2 => boards/px4/fmu-v2/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4fmu-v2 => boards/px4/fmu-v2/nuttx-config}/nsh/defconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v2 => boards/px4/fmu-v2/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/board_config.h (99%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/can.c (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/i2c.c (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/init.c (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/led.c (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/manifest.c (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/spi.c (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/timer_config.c (100%)
rename {src/drivers/boards/px4fmu-v2 => boards/px4/fmu-v2/src}/usb.c (100%)
create mode 100644 boards/px4/fmu-v2/test.cmake
create mode 100644 boards/px4/fmu-v3/default.cmake
rename platforms/nuttx/Images/px4fmu-v3.prototype => boards/px4/fmu-v3/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1 => boards/px4/fmu-v3/nuttx-config}/Kconfig (94%)
rename {platforms/nuttx/nuttx-configs/px4flow-v2 => boards/px4/fmu-v3/nuttx-config}/include/board.h (62%)
mode change 100755 => 100644
create mode 100644 boards/px4/fmu-v3/nuttx-config/nsh/defconfig
rename {platforms/nuttx/nuttx-configs/px4fmu-v4 => boards/px4/fmu-v3/nuttx-config}/scripts/ld.script (93%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v2 => boards/px4/fmu-v3/nuttx-config}/stackcheck/defconfig (99%)
create mode 100644 boards/px4/fmu-v3/rtps.cmake
rename {src/drivers/boards/zubaxgnss-v1 => boards/px4/fmu-v3/src}/CMakeLists.txt (88%)
create mode 100644 boards/px4/fmu-v3/src/board_config.h
rename {src/drivers/boards/px4fmu-v4 => boards/px4/fmu-v3/src}/can.c (100%)
rename platforms/nuttx/nuttx-configs/aerofc-v1/include/nsh_romfsimg.h => boards/px4/fmu-v3/src/i2c.c (81%)
create mode 100644 boards/px4/fmu-v3/src/init.c
create mode 100644 boards/px4/fmu-v3/src/led.c
create mode 100644 boards/px4/fmu-v3/src/manifest.c
create mode 100644 boards/px4/fmu-v3/src/spi.c
create mode 100644 boards/px4/fmu-v3/src/timer_config.c
rename {src/drivers/boards/px4fmu-v4pro => boards/px4/fmu-v3/src}/usb.c (100%)
create mode 100644 boards/px4/fmu-v3/stackcheck.cmake
create mode 100644 boards/px4/fmu-v4/default.cmake
rename platforms/nuttx/Images/px4fmu-v4.prototype => boards/px4/fmu-v4/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v4 => boards/px4/fmu-v4/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4fmu-v4 => boards/px4/fmu-v4/nuttx-config}/nsh/defconfig (100%)
rename {platforms/nuttx/nuttx-configs/mindpx-v2 => boards/px4/fmu-v4/nuttx-config}/scripts/ld.script (92%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v4 => boards/px4/fmu-v4/nuttx-config}/stackcheck/defconfig (100%)
create mode 100644 boards/px4/fmu-v4/rtps.cmake
rename {src/drivers/boards/px4fmu-v4 => boards/px4/fmu-v4/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4fmu-v4 => boards/px4/fmu-v4/src}/board_config.h (99%)
rename {src/drivers/boards/px4fmu-v4pro => boards/px4/fmu-v4/src}/can.c (100%)
rename {src/drivers/boards/px4fmu-v4 => boards/px4/fmu-v4/src}/init.c (100%)
rename {src/drivers/boards/px4fmu-v4 => boards/px4/fmu-v4/src}/led.c (100%)
rename {src/drivers/boards/px4fmu-v4 => boards/px4/fmu-v4/src}/spi.c (100%)
rename {src/drivers/boards/px4fmu-v4 => boards/px4/fmu-v4/src}/timer_config.c (100%)
rename {src/drivers/boards/px4fmu-v4 => boards/px4/fmu-v4/src}/usb.c (100%)
create mode 100644 boards/px4/fmu-v4/stackcheck.cmake
create mode 100644 boards/px4/fmu-v4pro/default.cmake
rename platforms/nuttx/Images/px4fmu-v4pro.prototype => boards/px4/fmu-v4pro/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v4pro => boards/px4/fmu-v4pro/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v4pro => boards/px4/fmu-v4pro/nuttx-config}/include/board.h (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v4pro => boards/px4/fmu-v4pro/nuttx-config}/nsh/defconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v4pro => boards/px4/fmu-v4pro/nuttx-config}/scripts/ld.script (93%)
create mode 100644 boards/px4/fmu-v4pro/rtps.cmake
rename {src/drivers/boards/px4fmu-v4pro => boards/px4/fmu-v4pro/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4fmu-v4pro => boards/px4/fmu-v4pro/src}/board_config.h (99%)
rename {src/drivers/boards/s2740vc-v1 => boards/px4/fmu-v4pro/src}/can.c (94%)
rename {src/drivers/boards/px4fmu-v4pro => boards/px4/fmu-v4pro/src}/init.c (100%)
rename {src/drivers/boards/px4fmu-v4pro => boards/px4/fmu-v4pro/src}/led.c (100%)
rename {src/drivers/boards/px4fmu-v4pro => boards/px4/fmu-v4pro/src}/spi.c (100%)
rename {src/drivers/boards/px4fmu-v4pro => boards/px4/fmu-v4pro/src}/timer_config.c (100%)
create mode 100644 boards/px4/fmu-v4pro/src/usb.c
create mode 100644 boards/px4/fmu-v5/default.cmake
rename platforms/nuttx/Images/px4fmu-v5.prototype => boards/px4/fmu-v5/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v5 => boards/px4/fmu-v5/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v5 => boards/px4/fmu-v5/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4fmu-v5 => boards/px4/fmu-v5/nuttx-config}/nsh/defconfig (100%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v5 => boards/px4/fmu-v5/nuttx-config}/scripts/ld.script (99%)
rename {platforms/nuttx/nuttx-configs/px4fmu-v5 => boards/px4/fmu-v5/nuttx-config}/stackcheck/defconfig (100%)
create mode 100644 boards/px4/fmu-v5/rtps.cmake
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/board_config.h (99%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/can.c (100%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/init.c (100%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/led.c (100%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/manifest.c (100%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/sdio.c (100%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/spi.c (100%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/timer_config.c (100%)
rename {src/drivers/boards/px4fmu-v5 => boards/px4/fmu-v5/src}/usb.c (100%)
create mode 100644 boards/px4/fmu-v5/stackcheck.cmake
create mode 100644 boards/px4/io-v2/default.cmake
rename platforms/nuttx/Images/px4io-v2.prototype => boards/px4/io-v2/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/px4io-v2 => boards/px4/io-v2/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4io-v2 => boards/px4/io-v2/nuttx-config}/nsh/defconfig (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4io-v2 => boards/px4/io-v2/nuttx-config}/scripts/ld.script (100%)
mode change 100755 => 100644
rename {src/drivers/boards/px4io-v2 => boards/px4/io-v2/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4io-v2 => boards/px4/io-v2/src}/board_config.h (99%)
rename {src/drivers/boards/px4io-v2 => boards/px4/io-v2/src}/init.c (100%)
rename {src/drivers/boards/px4io-v2 => boards/px4/io-v2/src}/timer_config.c (100%)
create mode 100644 boards/px4/raspberrypi/cross.cmake
create mode 100644 boards/px4/raspberrypi/native.cmake
rename {src/drivers/boards/bebop => boards/px4/raspberrypi/src}/CMakeLists.txt (94%)
create mode 100644 boards/px4/raspberrypi/src/board_config.h
create mode 100644 boards/px4/sitl/default.cmake
create mode 100644 boards/px4/sitl/rtps.cmake
rename {src/drivers/boards/eagle => boards/px4/sitl/src}/CMakeLists.txt (94%)
rename {src/drivers/boards/sitl => boards/px4/sitl/src}/board_config.h (98%)
rename {src/drivers/boards/eagle => boards/px4/sitl/src}/sitl_led.c (100%)
create mode 100644 boards/px4/sitl/test.cmake
create mode 100644 boards/stm/32f4discovery/default.cmake
rename platforms/nuttx/Images/px4-stm32f4discovery.prototype => boards/stm/32f4discovery/firmware.prototype (87%)
rename {platforms/nuttx/nuttx-configs/px4-stm32f4discovery => boards/stm/32f4discovery/nuttx-config}/include/board.h (100%)
rename {platforms/nuttx/nuttx-configs/px4-stm32f4discovery => boards/stm/32f4discovery/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/px4-stm32f4discovery => boards/stm/32f4discovery/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/px4-stm32f4discovery => boards/stm/32f4discovery/src}/CMakeLists.txt (99%)
rename {src/drivers/boards/px4-stm32f4discovery => boards/stm/32f4discovery/src}/board_config.h (99%)
rename {src/drivers/boards/px4-stm32f4discovery => boards/stm/32f4discovery/src}/init.c (100%)
rename {src/drivers/boards/px4-stm32f4discovery => boards/stm/32f4discovery/src}/led.c (100%)
create mode 100644 boards/stm/32f4discovery/src/timer_config.c
rename {src/drivers/boards/px4-stm32f4discovery => boards/stm/32f4discovery/src}/usb.c (100%)
create mode 100644 boards/stm/nucleo-F767ZI/default.cmake
rename platforms/nuttx/Images/px4nucleoF767ZI-v1.prototype => boards/stm/nucleo-F767ZI/firmware.prototype (64%)
rename {platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/nuttx-config}/include/board.h (99%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/board_config.h (99%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/can.c (100%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/init.c (100%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/led.c (100%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/sdio.c (100%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/spi.c (100%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/timer_config.c (100%)
rename {src/drivers/boards/px4nucleoF767ZI-v1 => boards/stm/nucleo-F767ZI/src}/usb.c (100%)
rename cmake/configs/nuttx_s2740vc-v1_default.cmake => boards/thiemar/s2740vc-v1/default.cmake (68%)
rename platforms/nuttx/Images/s2740vc-v1.prototype => boards/thiemar/s2740vc-v1/firmware.prototype (100%)
rename {platforms/nuttx/nuttx-configs/s2740vc-v1 => boards/thiemar/s2740vc-v1/nuttx-config}/Kconfig (100%)
rename {platforms/nuttx/nuttx-configs/s2740vc-v1 => boards/thiemar/s2740vc-v1/nuttx-config}/include/README.txt (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/s2740vc-v1 => boards/thiemar/s2740vc-v1/nuttx-config}/include/board.h (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/s2740vc-v1 => boards/thiemar/s2740vc-v1/nuttx-config}/nsh/IMPORTANT_README.txt (100%)
mode change 100755 => 100644
rename {platforms/nuttx/nuttx-configs/s2740vc-v1 => boards/thiemar/s2740vc-v1/nuttx-config}/nsh/defconfig (99%)
rename {platforms/nuttx/nuttx-configs/s2740vc-v1 => boards/thiemar/s2740vc-v1/nuttx-config}/scripts/ld.script (100%)
rename {src/drivers/boards/s2740vc-v1 => boards/thiemar/s2740vc-v1/src}/CMakeLists.txt (100%)
rename {src/drivers/boards/s2740vc-v1 => boards/thiemar/s2740vc-v1/src}/board_config.h (99%)
rename {src/drivers/boards/px4flow-v2 => boards/thiemar/s2740vc-v1/src}/can.c (100%)
rename {src/drivers/boards/s2740vc-v1 => boards/thiemar/s2740vc-v1/src}/init.c (100%)
delete mode 100644 cmake/configs/nuttx_aerocore2_default.cmake
delete mode 100644 cmake/configs/nuttx_aerofc-v1_default.cmake
delete mode 100644 cmake/configs/nuttx_aerofc-v1_rtps.cmake
delete mode 100644 cmake/configs/nuttx_auav-x21_default.cmake
delete mode 100644 cmake/configs/nuttx_av-x-v1_default.cmake
delete mode 100644 cmake/configs/nuttx_crazyflie_default.cmake
delete mode 100644 cmake/configs/nuttx_mindpx-v2_default.cmake
delete mode 100644 cmake/configs/nuttx_nxphlite-v3_default.cmake
delete mode 100644 cmake/configs/nuttx_omnibus-f4sd_default.cmake
delete mode 100644 cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
delete mode 100644 cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v2_default.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v2_lpe.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v2_test.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v3_default.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v3_rtps.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v3_stackcheck.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v4_default.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v4_rtps.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v4_stackcheck.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v4pro_default.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v5_default.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v5_rtps.cmake
delete mode 100644 cmake/configs/nuttx_px4fmu-v5_stackcheck.cmake
delete mode 100644 cmake/configs/nuttx_px4io-v2_default.cmake
delete mode 100644 cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
delete mode 100644 cmake/configs/posix_bbblue_common.cmake
delete mode 100644 cmake/configs/posix_bbblue_cross.cmake
delete mode 100644 cmake/configs/posix_bbblue_native.cmake
delete mode 100644 cmake/configs/posix_bebop_default.cmake
delete mode 100644 cmake/configs/posix_eagle_default.cmake
delete mode 100644 cmake/configs/posix_eagle_hil.cmake
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delete mode 100644 cmake/configs/posix_eagle_muorb.cmake
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delete mode 100644 cmake/configs/posix_ocpoc_ubuntu.cmake
delete mode 100644 cmake/configs/posix_rpi_common.cmake
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delete mode 100644 cmake/configs/posix_sitl_broadcast.cmake
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delete mode 100644 cmake/configs/qurt_eagle_default.cmake
delete mode 100644 cmake/configs/qurt_eagle_hello.cmake
delete mode 100644 cmake/configs/qurt_eagle_hil.cmake
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delete mode 100644 cmake/configs/qurt_eagle_muorb.cmake
delete mode 100644 cmake/configs/qurt_eagle_test.cmake
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delete mode 100644 cmake/configs/qurt_sdflight_default.cmake
delete mode 100644 cmake/configs/qurt_sdflight_legacy.cmake
rename cmake/{common => }/coverage.cmake (100%)
create mode 100644 cmake/px4_add_board.cmake
rename cmake/{common => }/px4_base.cmake (85%)
rename cmake/{common => }/px4_git.cmake (99%)
create mode 100644 cmake/px4_make_uavcan_bootloader.cmake
rename cmake/{common => }/px4_metadata.cmake (98%)
rename cmake/{common => }/sanitizers.cmake (100%)
delete mode 100644 cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
delete mode 100644 cmake/toolchains/Toolchain-arm-none-eabi.cmake
delete mode 100644 cmake/toolchains/Toolchain-arm-xilinx-linux-gnueabi.cmake
delete mode 100644 cmake/toolchains/Toolchain-gcc-arm-linux-gnueabihf.cmake
delete mode 100644 platforms/nuttx/Images/px4flow-v2.prototype
delete mode 100644 platforms/nuttx/Images/zubaxgnss-v1.prototype
rename platforms/nuttx/{nuttx-configs => NuttX}/Make.defs.in (79%)
rename platforms/nuttx/{nuttx-configs/aerocore2/include => NuttX}/nsh_romfsimg.h (100%)
delete mode 100755 platforms/nuttx/NuttX/tools/new_nuttx_px_config.sh
create mode 100644 platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m3.cmake
create mode 100644 platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m4.cmake
create mode 100644 platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake
create mode 100644 platforms/nuttx/cmake/Toolchain-arm-none-eabi.cmake
create mode 100644 platforms/nuttx/cmake/px4_add_board_os.cmake
delete mode 100644 platforms/nuttx/nuttx-configs/auav-x21/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/av-x-v1/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/crazyflie/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/mindpx-v2/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/nxphlite-v3/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/omnibus-f4sd/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/px4-same70xplained-v1/Kconfig
delete mode 100644 platforms/nuttx/nuttx-configs/px4-same70xplained-v1/include/nsh_romfsimg.h
delete mode 100755 platforms/nuttx/nuttx-configs/px4-same70xplained-v1/nsh/setenv.sh
delete mode 100644 platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/flash-dtcm.ld
delete mode 100644 platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/flash-sram.ld
delete mode 100644 platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/gnu-elf.ld
delete mode 100644 platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/kernel-space.ld
delete mode 100644 platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/memory.ld
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delete mode 100644 platforms/nuttx/nuttx-configs/px4-stm32f4discovery/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/px4flow-v2/Kconfig
delete mode 100755 platforms/nuttx/nuttx-configs/px4flow-v2/include/README.txt
delete mode 100644 platforms/nuttx/nuttx-configs/px4flow-v2/nsh/defconfig
delete mode 100644 platforms/nuttx/nuttx-configs/px4flow-v2/scripts/ld.script
delete mode 100644 platforms/nuttx/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/px4fmu-v4/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/px4fmu-v4pro/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/px4fmu-v5/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/include/nsh_romfsimg.h
delete mode 100644 platforms/nuttx/nuttx-configs/zubaxgnss-v1/Kconfig
delete mode 100755 platforms/nuttx/nuttx-configs/zubaxgnss-v1/include/README.txt
delete mode 100755 platforms/nuttx/nuttx-configs/zubaxgnss-v1/include/board.h
delete mode 100644 platforms/nuttx/nuttx-configs/zubaxgnss-v1/nsh/defconfig
delete mode 100644 platforms/nuttx/nuttx-configs/zubaxgnss-v1/scripts/ld.script
create mode 100644 platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a53.cmake
create mode 100644 platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a8.cmake
create mode 100644 platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a9.cmake
create mode 100644 platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake
rename {cmake/toolchains => platforms/posix/cmake}/Toolchain-native.cmake (100%)
create mode 100644 platforms/posix/cmake/px4_add_board_os.cmake
create mode 100644 platforms/qurt/cmake/px4_add_board_os.cmake
delete mode 100644 src/drivers/boards/px4flow-v2/board_config.h
delete mode 100644 src/drivers/boards/px4flow-v2/init.c
delete mode 100644 src/drivers/boards/px4flow-v2/led.c
delete mode 100644 src/drivers/boards/zubaxgnss-v1/board_config.h
delete mode 100644 src/drivers/boards/zubaxgnss-v1/gnss_init.c
delete mode 100644 src/drivers/boards/zubaxgnss-v1/gnss_led.c
rename src/{drivers/boards/px4flow-v2 => modules/commander/failure_detector}/CMakeLists.txt (93%)
diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
index 25a3aafb9c..2d092fec86 100644
--- a/.ci/Jenkinsfile-SITL_tests
+++ b/.ci/Jenkinsfile-SITL_tests
@@ -30,7 +30,7 @@ pipeline {
sh('make distclean')
sh "ccache -z"
sh "git fetch --tags"
- sh('make posix_sitl_default')
+ sh('make px4sitl_default')
sh "ccache -s"
}
}
@@ -47,8 +47,8 @@ pipeline {
stage('unit tests') {
steps {
sh 'export'
- sh 'make posix_sitl_default test_results_junit'
- junit 'build/posix_sitl_default/JUnitTestResults.xml'
+ sh 'make px4sitl_default test_results_junit'
+ junit 'build/px4sitl_default/JUnitTestResults.xml'
}
}
@@ -56,7 +56,7 @@ pipeline {
steps {
sh 'export'
sh "ccache -z"
- sh('make posix_sitl_default sitl_gazebo')
+ sh('make px4sitl_default sitl_gazebo')
sh "ccache -s"
}
}
@@ -64,8 +64,8 @@ pipeline {
stage('package') {
steps {
sh 'export'
- sh('make posix_sitl_default package')
- stash(name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2")
+ sh('make px4sitl_default package')
+ stash(name: "px4_sitl_package", includes: "build/px4sitl_default/*.bz2")
}
}
@@ -176,7 +176,7 @@ pipeline {
steps {
sh 'export'
sh 'make distclean'
- sh 'make posix_sitl_default test_results_junit'
+ sh 'make px4sitl_default test_results_junit'
withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
}
@@ -221,11 +221,11 @@ def createTestNode(Map test_def) {
}
unstash('px4_sitl_package')
- sh('tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2')
+ sh('tar -xjpvf build/px4sitl_default/px4-px4sitl_default*.bz2')
// run test
try {
- sh('px4-posix_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+ sh('px4-px4sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
} catch (exc) {
// save all test artifacts for debugging
@@ -240,7 +240,7 @@ def createTestNode(Map test_def) {
// process log data (with python code coverage)
try {
- sh('coverage run -p px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+ sh('coverage run -p px4-px4sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
} catch (exc) {
// save log analysis artifacts for debugging
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
@@ -249,7 +249,7 @@ def createTestNode(Map test_def) {
}
// upload log to flight review (https://logs.px4.io/) with python code coverage
- sh('coverage run -p px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+ sh('coverage run -p px4-px4sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
// upload python code coverage to codecov.io
sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
@@ -257,7 +257,7 @@ def createTestNode(Map test_def) {
} else { // non code coverage
// process ekf log data
try {
- sh('px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+ sh('px4-px4sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
} catch (exc) {
// save log analysis artifacts for debugging
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
@@ -266,7 +266,7 @@ def createTestNode(Map test_def) {
}
// upload log to flight review (https://logs.px4.io/)
- sh('px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+ sh('px4-px4sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
}
if (!test_ok) {
diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index a0c90fdc89..63d86451a3 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -18,8 +18,8 @@ pipeline {
snapdragon: "lorenzmeier/px4-dev-snapdragon:2018-09-12"
]
- // MAC OSX posix_sitl_default
- build_nodes["posix_sitl_default (OSX)"] = {
+ // MAC OSX px4sitl_default
+ build_nodes["px4sitl_default (OSX)"] = {
node("mac") {
withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
stage("sitl (OSX)") {
@@ -28,7 +28,7 @@ pipeline {
sh('export')
sh('make distclean')
sh('ccache -z')
- sh('make posix_sitl_default')
+ sh('make px4sitl_default')
sh('ccache -s')
sh('make tests')
}
@@ -43,7 +43,7 @@ pipeline {
}
}
- // MAC OSX nuttx_px4fmu-v4pro_default
+ // MAC OSX px4fmu-v4pro_default
build_nodes["px4fmu-v4pro_default (OSX)"] = {
node("mac") {
withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
@@ -53,7 +53,7 @@ pipeline {
sh('export')
sh('make distclean')
sh('ccache -z')
- sh('make nuttx_px4fmu-v4pro_default')
+ sh('make px4fmu-v4pro_default')
sh('ccache -s')
}
catch (exc) {
@@ -69,46 +69,46 @@ pipeline {
// docker builds:
def arch_builds = [
- target: ["posix_sitl_default"],
+ target: ["px4sitl_default"],
image: docker_images.arch,
archive: false
]
def armhf_builds = [
- target: ["posix_ocpoc_ubuntu"],
+ target: ["aerotennaocpoc_ubuntu"],
image: docker_images.armhf,
archive: false
]
def base_builds = [
- target: ["posix_sitl_rtps"],
+ target: ["px4sitl_rtps"],
image: docker_images.base,
archive: false
]
def nuttx_builds_archive = [
target: ["px4fmu-v2_default", "px4fmu-v3_default", "px4fmu-v4_default", "px4fmu-v4pro_default", "px4fmu-v5_default", "px4fmu-v5_rtps", "px4fmu-v5_stackcheck",
- "aerofc-v1_default", "aerocore2_default", "auav-x21_default", "av-x-v1_default", "crazyflie_default", "mindpx-v2_default",
- "nxphlite-v3_default", "omnibus-f4sd_default"],
+ "intelaerofc-v1_default", "gumstixaerocore2_default", "auavx21_default", "avx-v1_default", "bitcrazecrazyflie_default", "airmindmindpx-v2_default",
+ "nxphlite-v3_default", "omnibusf4sd_default"],
image: docker_images.nuttx,
archive: true
]
def nuttx_builds_other = [
- target: ["px4-same70xplained-v1_default", "px4-stm32f4discovery_default", "px4cannode-v1_default",
- "px4esc-v1_default", "px4nucleoF767ZI-v1_default", "s2740vc-v1_default"],
+ target: ["atmelsame70xplained_default", "stm32f4discovery_default", "px4cannode-v1_default",
+ "px4esc-v1_default", "stmnucleo-F767ZI_default", "thiemars2740vc-v1_default"],
image: docker_images.nuttx,
archive: false
]
def rpi_builds = [
- target: ["posix_rpi_cross", "posix_bebop_default"],
+ target: ["emlidnavio2_cross", "parrotbebop_default"],
image: docker_images.rpi,
archive: false
]
def snapdragon_builds = [
- target: ["qurt_eagle_default", "posix_eagle_default"],
+ target: ["atlflighteagle_qurt-default", "atlflighteagle_default"],
image: docker_images.snapdragon,
archive: false
]
diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 5825efe7c7..e95c743d4b 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -18,10 +18,10 @@ pipeline {
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
- sh 'make nuttx_px4fmu-v2_test'
+ sh 'make px4fmu-v2_test'
sh 'make sizes'
sh 'ccache -s'
- stash includes: 'build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf', name: 'px4fmu-v2_test'
+ stash includes: 'build/px4fmu-v2_test/px4fmu-v2_test.elf', name: 'px4fmu-v2_test'
stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v2'
}
post {
@@ -43,10 +43,10 @@ pipeline {
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
- sh 'make nuttx_px4fmu-v4_stackcheck'
+ sh 'make px4fmu-v4_stackcheck'
sh 'make sizes'
sh 'ccache -s'
- stash includes: 'build/nuttx_px4fmu-v4_stackcheck/nuttx_px4fmu-v4_stackcheck.elf', name: 'px4fmu-v4_stackcheck'
+ stash includes: 'build/px4fmu-v4_stackcheck/px4fmu-v4_stackcheck.elf', name: 'px4fmu-v4_stackcheck'
stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v4'
}
post {
@@ -82,7 +82,7 @@ pipeline {
-ex "attach 1" \
-ex "load" \
-ex "kill" \
- build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf
+ build/px4fmu-v2_test/px4fmu-v2_test.elf
'''
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'
@@ -116,7 +116,7 @@ pipeline {
-ex "attach 1" \
-ex "load" \
-ex "kill" \
- build/nuttx_px4fmu-v4_stackcheck/nuttx_px4fmu-v4_stackcheck.elf
+ build/px4fmu-v4_stackcheck/px4fmu-v4_stackcheck.elf
'''
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'
diff --git a/.gitmodules b/.gitmodules
index 20028c8155..112c186ef5 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -34,8 +34,8 @@
path = src/lib/ecl
url = https://github.com/PX4/ecl.git
branch = master
-[submodule "cmake/cmake_hexagon"]
- path = cmake/cmake_hexagon
+[submodule "boards/atlflight/cmake_hexagon"]
+ path = boards/atlflight/cmake_hexagon
url = https://github.com/ATLFlight/cmake_hexagon.git
branch = master
[submodule "src/drivers/gps/devices"]
diff --git a/.travis.yml b/.travis.yml
index fcc1e11f63..53399ae06e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -28,5 +28,5 @@ addons:
description: "Build submitted via Travis CI"
notification_email: ci@px4.io
build_command_prepend: "make distclean"
- build_command: "make posix_sitl_default"
+ build_command: "make px4sitl_default"
branch_pattern: coverity_scan
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b1e00ca630..fce4003d0d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,7 @@
# * Common functions should be included in px_base.cmake.
#
# * OS/ board specific fucntions should be include in
-# px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
+# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
#
# Formatting
# ---------------------------------------------------------------------------
@@ -92,9 +92,9 @@
# ---------------------------------------------------------------------------
#
# * If referencing a string variable, don't put it in quotes.
-# Don't do "${OS}" STREQUAL "posix",
-# instead type ${OS} STREQUAL "posix". This will throw an
-# error when ${OS} is not defined instead of silently
+# Don't do "${PX4_PLATFORM}" STREQUAL "posix",
+# instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
+# error when ${PX4_PLATFORM} is not defined instead of silently
# evaluating to false.
#
#=============================================================================
@@ -104,12 +104,12 @@ cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
#=============================================================================
# git
#
-include(common/px4_git)
+include(px4_git)
execute_process(
COMMAND git describe --always --tags
@@ -132,13 +132,90 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
# configuration
#
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "px4sitl_default" CACHE STRING "desired configuration")
-string(REPLACE "_" ";" config_args ${CONFIG})
-list(GET config_args 0 OS)
-list(GET config_args 1 BOARD)
-list(GET config_args 2 LABEL)
+set(config_module_list)
+set(config_df_driver_list)
+# find PX4 config
+# look for in tree board config that matches CONFIG input
+if(NOT PX4_CONFIG_FILE)
+
+ file(GLOB_RECURSE board_configs
+ RELATIVE "${PX4_SOURCE_DIR}/boards"
+ "boards/*.cmake"
+ )
+
+ set(PX4_CONFIGS ${board_configs} CACHE STRINGS "PX4 board configs" FORCE)
+
+ foreach(filename ${board_configs})
+ # parse input CONFIG into components to match with existing in tree configs
+ # the platform prefix (eg nuttx_) is historical, and removed if present
+ string(REPLACE ".cmake" "" filename_stripped ${filename})
+ string(REPLACE "/" ";" config ${filename_stripped})
+ list(LENGTH config config_len)
+
+ if(${config_len} EQUAL 3)
+
+
+ list(GET config 0 vendor)
+ list(GET config 1 model)
+ list(GET config 2 label)
+
+ set(board "${vendor}${model}")
+
+ # <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
+ # <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
+ if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
+ ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
+ )
+ set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+ break()
+ endif()
+
+ # <BOARD>_<LABEL> (eg px4fmu-v2_default)
+ # <BOARD>_default (eg px4fmu-v2) # allow skipping label if "default"
+ if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
+ ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
+ )
+ set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+ break()
+ endif()
+
+
+ # LEGACY form
+ # <OS>_<BOARD>_<LABEL> (eg nuttx_px4fmu-v2_default)
+ string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
+
+ if ((${config_no_os} MATCHES "${board}_${label}"))
+ set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+ break()
+ endif()
+
+
+ # LEGACY form special case to ease board layout transition (2018-11-18)
+ # match board with model and label only: eg sitl_default -> px4_sitl_default
+ if ((${config_no_os} MATCHES "${model}_${label}"))
+ set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+ break()
+ endif()
+
+ endif()
+
+ endforeach()
+endif()
+
+if(NOT PX4_CONFIG_FILE)
+ message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
+endif()
+
+message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
+include(px4_add_board)
+include(${PX4_CONFIG_FILE})
+message(STATUS "PX4 config: ${PX4_BOARD_VENDOR} ${PX4_BOARD_MODEL} ${PX4_BOARD_LABEL}")
+message(STATUS "PX4 platform: ${PX4_PLATFORM}")
+
+# external modules
set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -147,13 +224,12 @@ endif()
set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
-include(platforms/${OS}/cmake/px4_impl_os.cmake)
-include(configs/${CONFIG})
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
+include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
if (NOT CMAKE_BUILD_TYPE)
- if (${OS} STREQUAL "nuttx")
+ if (${PX4_PLATFORM} STREQUAL "nuttx")
set(PX4_BUILD_TYPE "MinSizeRel")
else()
set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -166,9 +242,8 @@ set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebIn
#=============================================================================
-message(STATUS "PX4 VERSION: ${PX4_GIT_TAG}")
-message(STATUS "CONFIG: ${CONFIG}")
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")
+message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
#=============================================================================
# project definition
@@ -194,10 +269,10 @@ endif()
#=============================================================================
# Setup install paths
-if (${OS} STREQUAL "posix")
+if (${PX4_PLATFORM} STREQUAL "posix")
- include(common/coverage)
- include(common/sanitizers)
+ include(coverage)
+ include(sanitizers)
# Define GNU standard installation directories
include(GNUInstallDirs)
@@ -216,6 +291,7 @@ endif()
set(px4_required_interface
px4_os_prebuild_targets
px4_os_add_flags
+ px4_add_board
)
foreach(cmd ${px4_required_interface})
if (NOT COMMAND ${cmd})
@@ -223,13 +299,6 @@ foreach(cmd ${px4_required_interface})
endif()
endforeach()
-set(px4_required_config config_module_list)
-foreach(conf ${px4_required_config})
- if (NOT DEFINED ${conf})
- message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
- endif()
-endforeach()
-
#=============================================================================
# ccache
#
@@ -276,43 +345,11 @@ else()
px4_find_python_module(jinja2 REQUIRED)
endif()
-#=============================================================================
-# check required toolchain variables
-#
-
-set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
-foreach(var ${required_variables})
- if (NOT ${var})
- message(FATAL_ERROR "Toolchain/config must define ${var}")
- endif()
-endforeach()
-
-# print full c compiler version
-execute_process(COMMAND ${CMAKE_C_COMPILER} --version
- OUTPUT_VARIABLE c_compiler_version
- OUTPUT_STRIP_TRAILING_WHITESPACE
- )
-STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
-message(STATUS "C compiler: ${c_compiler_version_short}")
-
-# print full c++ compiler version
-execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
- OUTPUT_VARIABLE cxx_compiler_version
- OUTPUT_STRIP_TRAILING_WHITESPACE
- )
-STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
-message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
-
-#=============================================================================
-# external libraries
-#
-px4_os_prebuild_targets(OUT prebuild_targets BOARD ${BOARD})
-
#=============================================================================
# build flags
#
px4_os_add_flags(
- BOARD ${BOARD}
+ BOARD ${PX4_BOARD}
C_FLAGS c_flags
CXX_FLAGS cxx_flags
OPTIMIZATION_FLAGS optimization_flags
@@ -328,16 +365,17 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimizatio
#=============================================================================
# message, and airframe generation
#
-include(common/px4_metadata)
+include(px4_metadata)
add_subdirectory(msg EXCLUDE_FROM_ALL)
-px4_generate_airframes_xml(BOARD ${BOARD})
+px4_generate_airframes_xml(BOARD ${PX4_BOARD})
#=============================================================================
# DriverFramework
#
px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+set(OS ${PX4_PLATFORM})
add_subdirectory(src/lib/DriverFramework/framework)
# List the DriverFramework drivers
@@ -398,26 +436,12 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
target_link_libraries(parameters_interface INTERFACE parameters)
# firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${OS})
-
-#=============================================================================
-# generate custom target to print for all executable and module cmake targets
-#
-if (all_posix_cmake_targets)
- list(SORT all_posix_cmake_targets)
- px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
- add_custom_target(list_cmake_targets
- COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
- COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
- VERBATIM
- )
-endif()
-
+add_subdirectory(platforms/${PX4_PLATFORM})
#=============================================================================
# uORB graph generation: add a custom target 'uorb_graph'
#
-set(uorb_graph_config ${BOARD})
+set(uorb_graph_config ${PX4_BOARD})
set(graph_module_list "")
foreach(module ${config_module_list})
@@ -471,10 +495,10 @@ endif()
add_custom_target(metadata_airframes
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
- -v -a ${PX4_SOURCE_DIR}//ROMFS/px4fmu_common/init.d
+ -v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
--markdown ${PX4_BINARY_DIR}/docs/airframes.md
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
- -v -a ${PX4_SOURCE_DIR}//ROMFS/px4fmu_common/init.d
+ -v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
--xml ${PX4_BINARY_DIR}/docs/airframes.xml
COMMENT "Generating full airframe metadata (markdown and xml)"
USES_TERMINAL
@@ -521,7 +545,7 @@ add_custom_target(all_metadata
set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
diff --git a/Jenkinsfile b/Jenkinsfile
index c676a55c3d..ca6342f4ec 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -62,12 +62,12 @@ pipeline {
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
- sh 'make nuttx_px4fmu-v2_default'
- sh 'make nuttx_px4fmu-v2_default bloaty_symbols'
- sh 'make nuttx_px4fmu-v2_default bloaty_compileunits'
- sh 'make nuttx_px4fmu-v2_default bloaty_inlines'
- sh 'make nuttx_px4fmu-v2_default bloaty_templates'
- sh 'make nuttx_px4fmu-v2_default bloaty_compare_master'
+ sh 'make px4fmu-v2_default'
+ sh 'make px4fmu-v2_default bloaty_symbols'
+ sh 'make px4fmu-v2_default bloaty_compileunits'
+ sh 'make px4fmu-v2_default bloaty_inlines'
+ sh 'make px4fmu-v2_default bloaty_templates'
+ sh 'make px4fmu-v2_default bloaty_compare_master'
sh 'make sizes'
sh 'ccache -s'
}
@@ -90,12 +90,12 @@ pipeline {
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
- sh 'make nuttx_px4fmu-v5_default'
- sh 'make nuttx_px4fmu-v5_default bloaty_symbols'
- sh 'make nuttx_px4fmu-v5_default bloaty_compileunits'
- sh 'make nuttx_px4fmu-v5_default bloaty_inlines'
- sh 'make nuttx_px4fmu-v5_default bloaty_templates'
- sh 'make nuttx_px4fmu-v5_default bloaty_compare_master'
+ sh 'make px4fmu-v5_default'
+ sh 'make px4fmu-v5_default bloaty_symbols'
+ sh 'make px4fmu-v5_default bloaty_compileunits'
+ sh 'make px4fmu-v5_default bloaty_inlines'
+ sh 'make px4fmu-v5_default bloaty_templates'
+ sh 'make px4fmu-v5_default bloaty_compare_master'
sh 'make sizes'
sh 'ccache -s'
}
@@ -272,7 +272,7 @@ pipeline {
steps {
sh 'make distclean'
sh 'make airframe_metadata'
- dir('build/posix_sitl_default/docs') {
+ dir('build/px4sitl_default/docs') {
archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
}
@@ -291,7 +291,7 @@ pipeline {
steps {
sh 'make distclean'
sh 'make parameters_metadata'
- dir('build/posix_sitl_default/docs') {
+ dir('build/px4sitl_default/docs') {
archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
}
@@ -310,7 +310,7 @@ pipeline {
steps {
sh 'make distclean'
sh 'make module_documentation'
- dir('build/posix_sitl_default/docs') {
+ dir('build/px4sitl_default/docs') {
archiveArtifacts(artifacts: 'modules/*.md')
stash includes: 'modules/*.md', name: 'metadata_module_documentation'
}
@@ -334,8 +334,8 @@ pipeline {
sh 'make distclean'
sh 'make uorb_graphs'
dir('Tools/uorb_graph') {
- archiveArtifacts(artifacts: 'graph_sitl.json')
- stash includes: 'graph_sitl.json', name: 'uorb_graph'
+ archiveArtifacts(artifacts: 'graph_px4sitl.json')
+ stash includes: 'graph_px4sitl.json', name: 'uorb_graph'
}
}
post {
diff --git a/Makefile b/Makefile
index 2be3424dc5..437d952abb 100644
--- a/Makefile
+++ b/Makefile
@@ -53,11 +53,11 @@ 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/px4fmu-v2_default and then call make
# in that directory with the target upload.
# explicity set default build target
-all: posix_sitl_default
+all: px4sitl_default
# Parsing
# --------------------------------------------------------------------
@@ -156,10 +156,11 @@ define colorecho
+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
endef
-# Get a list of all config targets cmake/configs/*.cmake
-ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)"/cmake/configs -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed -e 's:^.*/::' | sort))
-# Strip off leading nuttx_
-NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
+# Get a list of all config targets boards/*/*.cmake
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\///' | sed -e 's/\//_/g' | sort)
+
+# Strip off default
+CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
# ADD CONFIGS HERE
# --------------------------------------------------------------------
@@ -177,22 +178,26 @@ $(NUTTX_CONFIG_TARGETS):
all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
-posix: posix_sitl_default
-broadcast: posix_sitl_broadcast
+$(CONFIG_TARGETS_DEFAULT):
+ $(call cmake-build,$@_default)
+
+all_default_targets: $(CONFIG_TARGETS_DEFAULT)
+
+posix: px4sitl_default
+posix_sitl_default: px4sitl_default
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast all_nuttx_targets
+.PHONY: all posix posix_sitl_default all_nuttx_targets all_default_targets
# Multi- config targets.
-eagle_default: posix_eagle_default qurt_eagle_default
-eagle_rtps: posix_eagle_rtps qurt_eagle_default
-eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
-excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
+eagle_default: atlflighteagle_default atlflighteagle_qurt-default
+eagle_rtps: atlflighteagle_rtps atlflighteagle_qurt-rtps
+
+excelsior_default: atlflightexcelsior_default atlflightexcelsior_qurt-default
+excelsior_rtps: atlflightexcelsior_rtps atlflightexcelsior_qurt-rtps
-.PHONY: eagle_default eagle_rtps eagle_legacy_default
-.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
# Other targets
# --------------------------------------------------------------------
@@ -213,23 +218,23 @@ px4fmu_firmware: \
sizes
misc_qgc_extra_firmware: \
- check_aerocore2_default \
- check_aerofc-v1_default \
- check_auav-x21_default \
- check_crazyflie_default \
- check_mindpx-v2_default \
+ check_gumstixaerocore2_default \
+ check_intelaerofc-v1_default \
+ check_auavx21_default \
+ check_bitcrazecrazyflie_default \
+ check_airmindmindpx-v2_default \
check_px4fmu-v2_lpe \
sizes
# Other NuttX firmware
alt_firmware: \
check_nxphlite-v3_default \
- check_px4-same70xplained-v1_default \
- check_px4-stm32f4discovery_default \
+ check_atmelsame70xplained_default \
+ check_stm32f4discovery_default \
check_px4cannode-v1_default \
check_px4esc-v1_default \
- check_px4nucleoF767ZI-v1_default \
- check_s2740vc-v1_default \
+ check_stmnucleo-F767ZI_default \
+ check_thiemars2740vc-v1_default \
sizes
# builds with RTPS
@@ -237,7 +242,7 @@ check_rtps: \
check_px4fmu-v3_rtps \
check_px4fmu-v4_rtps \
check_px4fmu-v4pro_rtps \
- check_posix_sitl_rtps \
+ check_px4sitl_rtps \
sizes
.PHONY: sizes check quick_check check_rtps uorb_graphs
@@ -443,4 +448,4 @@ help:
# Print a list of all config targets.
list_config_targets:
- @for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+ @for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
diff --git a/ROMFS/CMakeLists.txt b/ROMFS/CMakeLists.txt
index 1abd3505eb..0b690e804a 100644
--- a/ROMFS/CMakeLists.txt
+++ b/ROMFS/CMakeLists.txt
@@ -87,13 +87,13 @@ add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
--airframes-path ${romfs_gen_root_dir}/init.d
--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
- --board ${BOARD}
+ --board ${PX4_BOARD}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
--rc-dir ${romfs_gen_root_dir}/init.d
--serial-ports ${board_serial_ports} ${added_arguments}
--config-files ${module_config_files} #--verbose
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
- --folder ${romfs_gen_root_dir} --board ${BOARD}
+ --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
DEPENDS
${jinja_templates}
${module_config_files}
@@ -107,15 +107,17 @@ add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}
# copy extras into ROMFS
set(extras_dependencies)
+
# copy px4io binary if configured
-if (config_io_board)
+if(config_io_board)
list(APPEND extras_dependencies
copy_px4io_bin
${fw_io_bin}
)
endif()
-if (config_bl_file)
+
+if(config_bl_file)
file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 02595c3ee3..f5fd17848f 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -71,7 +71,7 @@ set FEXTRAS /fs/microsd/etc/extras.txt
set FRC /fs/microsd/etc/rc.txt
set FMU_ARGS ""
set FMU_MODE pwm
-set IOFW "/etc/extras/px4io-v2.bin"
+set IOFW "/etc/extras/px4io-v2_default.bin"
set IO_PRESENT no
set LOG_FILE /fs/microsd/bootlog.txt
set MAV_TYPE none
@@ -367,7 +367,7 @@ else
#
# Check if PX4IO present and update firmware if needed.
- # Assumption IOFW set to firware file and IO_PRESENT = no
+ # Assumption IOFW set to firmware file and IO_PRESENT = no
#
if [ -f $IOFW ]
diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index cc3226b4d7..c5bc2169ec 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -10,7 +10,6 @@ fi
exec find src platforms \
-path platforms/nuttx/NuttX -prune -o \
- -path platforms/nuttx/nuttx-configs -prune -o \
-path src/lib/DriverFramework -prune -o \
-path src/lib/ecl -prune -o \
-path src/lib/matrix -prune -o \
diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh
index f69da86e1d..8b09932ae5 100755
--- a/Tools/docker_run.sh
+++ b/Tools/docker_run.sh
@@ -5,14 +5,14 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
if [[ $@ =~ .*px4fmu.* ]]; then
# nuttx-px4fmu-v{1,2,3,4,5}
PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2018-11-22"
- elif [[ $@ =~ .*rpi.* ]] || [[ $@ =~ .*bebop.* ]]; then
+ elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
# posix_rpi_cross, posix_bebop_default
PX4_DOCKER_REPO="px4io/px4-dev-raspi:2018-11-22"
elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
# eagle, excelsior
PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2018-09-12"
elif [[ $@ =~ .*ocpoc.* ]]; then
- # posix_ocpoc_ubuntu
+ # aerotennaocpoc_ubuntu
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2018-11-22"
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
# clang tools
diff --git a/Tools/sitl_multiple_run.sh b/Tools/sitl_multiple_run.sh
index 55d58a00a7..317b8f87d7 100755
--- a/Tools/sitl_multiple_run.sh
+++ b/Tools/sitl_multiple_run.sh
@@ -1,6 +1,6 @@
#!/bin/bash
# run multiple instances of the 'px4' binary, but w/o starting the simulator.
-# It assumes px4 is already built, with 'make posix_sitl_default'
+# It assumes px4 is already built, with 'make px4sitl_default'
# The simulator is expected to send to UDP port 14560+i for i in [0, N-1]
# For example jmavsim can be run like this:
@@ -12,7 +12,7 @@ sitl_num=2
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/.."
-build_path=${src_path}/build/posix_sitl_default
+build_path=${src_path}/build/px4sitl_default
echo "killing running instances"
pkill -x px4 || true
diff --git a/src/drivers/boards/rpi/CMakeLists.txt b/boards/aerotenna/ocpoc/src/CMakeLists.txt
similarity index 94%
rename from src/drivers/boards/rpi/CMakeLists.txt
rename to boards/aerotenna/ocpoc/src/CMakeLists.txt
index 01c98806a1..0b4ba0d6ac 100644
--- a/src/drivers/boards/rpi/CMakeLists.txt
+++ b/boards/aerotenna/ocpoc/src/CMakeLists.txt
@@ -30,7 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
+
px4_add_library(drivers_board
- ../common/board_identity.c
+ ${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
)
-
diff --git a/src/drivers/boards/ocpoc/board_config.h b/boards/aerotenna/ocpoc/src/board_config.h
similarity index 98%
rename from src/drivers/boards/ocpoc/board_config.h
rename to boards/aerotenna/ocpoc/src/board_config.h
index d2a5b1005f..573aaa9c63 100644
--- a/src/drivers/boards/ocpoc/board_config.h
+++ b/boards/aerotenna/ocpoc/src/board_config.h
@@ -58,4 +58,4 @@
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
#include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
diff --git a/boards/aerotenna/ocpoc/ubuntu.cmake b/boards/aerotenna/ocpoc/ubuntu.cmake
new file mode 100644
index 0000000000..72cbaf19bc
--- /dev/null
+++ b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -0,0 +1,86 @@
+
+px4_add_board(
+ VENDOR aerotenna
+ MODEL ocpoc
+ LABEL ubuntu
+ PLATFORM posix
+ ARCH cortex-a9
+ TOOLCHAIN Toolchain-arm-linux-gnueabihf
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ linux_pwm_out
+ linux_sbus
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ ocpoc_adc
+ rgbled
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+ mpu9250
+ ms5611
+ hmc5883
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #simulator
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ esc_calib
+ led_control
+ mixer
+ motor_ramp
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake
new file mode 100644
index 0000000000..5efb53b359
--- /dev/null
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -0,0 +1,116 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR airmind
+ MODEL mindpx-v2
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ TESTING
+ UAVCAN_INTERFACES 1
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/l3gd20
+ imu/lsm303d
+ imu/mpu6000
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ mkblctrl
+ oreoled
+ pca9685
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ rc_input
+ rgbled
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/mindpx-v2.prototype b/boards/airmind/mindpx-v2/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/mindpx-v2.prototype
rename to boards/airmind/mindpx-v2/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/mindpx-v2/include/board.h b/boards/airmind/mindpx-v2/nuttx-config/include/board.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/mindpx-v2/include/board.h
rename to boards/airmind/mindpx-v2/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/mindpx-v2/nsh/defconfig b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/mindpx-v2/nsh/defconfig
rename to boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
index 1df40c9596..6fd95f2263 100644
--- a/platforms/nuttx/nuttx-configs/mindpx-v2/nsh/defconfig
+++ b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
@@ -688,7 +688,7 @@ CONFIG_RAM_SIZE=262144
# Board Selection
#
CONFIG_ARCH_BOARD_MINDPX_V2=y
-CONFIG_ARCH_BOARD="mindpx-v2"
+CONFIG_ARCH_BOARD="airmindmindpx-v2"
#
# Custom Board Configuration
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v2/scripts/ld_full.script b/boards/airmind/mindpx-v2/nuttx-config/scripts/ld.script
similarity index 99%
rename from platforms/nuttx/nuttx-configs/px4fmu-v2/scripts/ld_full.script
rename to boards/airmind/mindpx-v2/nuttx-config/scripts/ld.script
index 1a96d0a738..0d19229c01 100644
--- a/platforms/nuttx/nuttx-configs/px4fmu-v2/scripts/ld_full.script
+++ b/boards/airmind/mindpx-v2/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
/****************************************************************************
- * nuttx-configs/px4fmu-v3/scripts/ld.script
+ * scripts/ld.script
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/src/drivers/boards/mindpx-v2/CMakeLists.txt b/boards/airmind/mindpx-v2/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/mindpx-v2/CMakeLists.txt
rename to boards/airmind/mindpx-v2/src/CMakeLists.txt
diff --git a/src/drivers/boards/mindpx-v2/board_config.h b/boards/airmind/mindpx-v2/src/board_config.h
similarity index 99%
rename from src/drivers/boards/mindpx-v2/board_config.h
rename to boards/airmind/mindpx-v2/src/board_config.h
index 62bb6e8a54..a046456a90 100644
--- a/src/drivers/boards/mindpx-v2/board_config.h
+++ b/boards/airmind/mindpx-v2/src/board_config.h
@@ -372,7 +372,7 @@ extern void stm32_usbinitialize(void);
#define board_peripheral_reset(ms)
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/mindpx-v2/can.c b/boards/airmind/mindpx-v2/src/can.c
similarity index 100%
rename from src/drivers/boards/mindpx-v2/can.c
rename to boards/airmind/mindpx-v2/src/can.c
diff --git a/src/drivers/boards/mindpx-v2/init.c b/boards/airmind/mindpx-v2/src/init.c
similarity index 100%
rename from src/drivers/boards/mindpx-v2/init.c
rename to boards/airmind/mindpx-v2/src/init.c
diff --git a/src/drivers/boards/mindpx-v2/led.c b/boards/airmind/mindpx-v2/src/led.c
similarity index 100%
rename from src/drivers/boards/mindpx-v2/led.c
rename to boards/airmind/mindpx-v2/src/led.c
diff --git a/src/drivers/boards/mindpx-v2/spi.c b/boards/airmind/mindpx-v2/src/spi.c
similarity index 100%
rename from src/drivers/boards/mindpx-v2/spi.c
rename to boards/airmind/mindpx-v2/src/spi.c
diff --git a/src/drivers/boards/mindpx-v2/timer_config.c b/boards/airmind/mindpx-v2/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/mindpx-v2/timer_config.c
rename to boards/airmind/mindpx-v2/src/timer_config.c
diff --git a/src/drivers/boards/mindpx-v2/usb.c b/boards/airmind/mindpx-v2/src/usb.c
similarity index 100%
rename from src/drivers/boards/mindpx-v2/usb.c
rename to boards/airmind/mindpx-v2/src/usb.c
diff --git a/cmake/cmake_hexagon b/boards/atlflight/cmake_hexagon
similarity index 100%
rename from cmake/cmake_hexagon
rename to boards/atlflight/cmake_hexagon
diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake
new file mode 100644
index 0000000000..7a6fa1573c
--- /dev/null
+++ b/boards/atlflight/eagle/default.cmake
@@ -0,0 +1,115 @@
+
+# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+ set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+ set(QC_SOC_TARGET "APQ8074")
+endif()
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files. This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used. This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the Snapdragon.
+add_definitions(-D__PX4_POSIX_EAGLE)
+
+px4_add_board(
+ PLATFORM posix
+ VENDOR atlflight
+ MODEL eagle
+ LABEL default
+ TESTING
+ TOOLCHAIN
+ toolchain/Toolchain-arm-linux-gnueabihf
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ linux_sbus
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ rgbled
+ pwm_out_sim
+ qshell/posix
+ #telemetry # all available telemetry drivers
+ vmount
+
+ MODULES
+ muorb/krait
+
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ simulator
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ #bl_update
+ #config
+ #dumpfile
+ esc_calib
+ #hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ #mtd
+ #nshterm
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/boards/atlflight/eagle/qurt-default.cmake b/boards/atlflight/eagle/qurt-default.cmake
new file mode 100644
index 0000000000..8efdc34ee5
--- /dev/null
+++ b/boards/atlflight/eagle/qurt-default.cmake
@@ -0,0 +1,83 @@
+
+# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+ set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+ set(QC_SOC_TARGET "APQ8074")
+endif()
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+ message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+ set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files. This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used. This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+# This definition allows to differentiate the specific board.
+add_definitions(-D__PX4_QURT_EAGLE)
+
+px4_add_board(
+ PLATFORM qurt
+ VENDOR atlflight
+ MODEL eagle
+ LABEL qurt-default
+
+ DRIVERS
+ gps
+ spektrum_rc
+ qshell/qurt
+ snapdragon_pwm_out
+
+ DF_DRIVERS
+ mpu9250
+ bmp280
+ hmc5883
+ trone
+ isl29501
+ ltc2946
+
+ MODULES
+ muorb/adsp
+
+ attitude_estimator_q
+ commander
+ ekf2
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ land_detector
+ landing_target_estimator
+ local_position_estimator
+ mc_att_control
+ mc_pos_control
+ position_estimator_inav
+ sensors
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ param
+ )
diff --git a/src/drivers/boards/sitl/CMakeLists.txt b/boards/atlflight/eagle/src/CMakeLists.txt
similarity index 94%
rename from src/drivers/boards/sitl/CMakeLists.txt
rename to boards/atlflight/eagle/src/CMakeLists.txt
index 0e1bba3e59..03d93f29ec 100644
--- a/src/drivers/boards/sitl/CMakeLists.txt
+++ b/boards/atlflight/eagle/src/CMakeLists.txt
@@ -32,6 +32,6 @@
############################################################################
px4_add_library(drivers_board
+ ${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
sitl_led.c
- ../common/board_identity.c
- )
+)
diff --git a/src/drivers/boards/eagle/board_config.h b/boards/atlflight/eagle/src/board_config.h
similarity index 97%
rename from src/drivers/boards/eagle/board_config.h
rename to boards/atlflight/eagle/src/board_config.h
index 14149e6657..c52a8a473e 100644
--- a/src/drivers/boards/eagle/board_config.h
+++ b/boards/atlflight/eagle/src/board_config.h
@@ -61,4 +61,4 @@
#define PX4_NUMBER_I2C_BUSES 3
#include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
diff --git a/src/drivers/boards/sitl/sitl_led.c b/boards/atlflight/eagle/src/sitl_led.c
similarity index 100%
rename from src/drivers/boards/sitl/sitl_led.c
rename to boards/atlflight/eagle/src/sitl_led.c
diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake
new file mode 100644
index 0000000000..10b66aa1cf
--- /dev/null
+++ b/boards/atlflight/excelsior/default.cmake
@@ -0,0 +1,115 @@
+
+# Excelsior is the code name of a board currently in development.
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+ set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+ set(QC_SOC_TARGET "APQ8074")
+endif()
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files. This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used. This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the Snapdragon.
+add_definitions(-D__PX4_POSIX_EXCELSIOR)
+
+px4_add_board(
+ PLATFORM posix
+ VENDOR atlflight
+ MODEL excelsior
+ LABEL default
+ TESTING
+ TOOLCHAIN
+ toolchain/Toolchain-arm-oemllib32-linux-gnueabi
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ linux_sbus
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ rgbled
+ pwm_out_sim
+ qshell/posix
+ #telemetry # all available telemetry drivers
+ vmount
+
+ MODULES
+ muorb/krait
+
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ simulator
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ #bl_update
+ #config
+ #dumpfile
+ esc_calib
+ #hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ #mtd
+ #nshterm
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/boards/atlflight/excelsior/qurt-default.cmake b/boards/atlflight/excelsior/qurt-default.cmake
new file mode 100644
index 0000000000..7840eae554
--- /dev/null
+++ b/boards/atlflight/excelsior/qurt-default.cmake
@@ -0,0 +1,82 @@
+# Excelsior is the code name of a board currently in development.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+ set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+ set(QC_SOC_TARGET "APQ8074")
+endif()
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+ message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+ set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files. This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used. This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+# This definition allows to differentiate the specific board.
+add_definitions(-D__PX4_QURT_EXCELSIOR)
+
+px4_add_board(
+ PLATFORM qurt
+ VENDOR atlflight
+ MODEL excelsior
+ LABEL qurt-default
+
+ DRIVERS
+ gps
+ spektrum_rc
+ qshell/qurt
+ snapdragon_pwm_out
+
+ DF_DRIVERS
+ mpu9250
+ bmp280
+ hmc5883
+ trone
+ isl29501
+ ltc2946
+
+ MODULES
+ muorb/adsp
+
+ attitude_estimator_q
+ commander
+ ekf2
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ land_detector
+ landing_target_estimator
+ local_position_estimator
+ mc_att_control
+ mc_pos_control
+ position_estimator_inav
+ sensors
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ param
+ )
diff --git a/src/drivers/boards/excelsior/board_config.h b/boards/atlflight/excelsior/src/board_config.h
similarity index 100%
rename from src/drivers/boards/excelsior/board_config.h
rename to boards/atlflight/excelsior/src/board_config.h
diff --git a/boards/atmel/same70xplained/default.cmake b/boards/atmel/same70xplained/default.cmake
new file mode 100644
index 0000000000..78015e0d5a
--- /dev/null
+++ b/boards/atmel/same70xplained/default.cmake
@@ -0,0 +1,116 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR atmel
+ MODEL same70xplained
+ ARCH cortex-m7
+ ROMFS
+ ROMFSROOT px4fmu_common
+ TESTING
+ #UAVCAN_INTERFACES 1
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ #camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/mpu6000
+ imu/mpu9250
+ imu/lsm303d
+ imu/l3gd20
+ irlock
+ magnetometer # all available magnetometer drivers
+ mkblctrl
+ oreoled
+ pca9685
+ #pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ #rc_input
+ rgbled
+ samv7
+ #WIP samv7/adc
+ samv7/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ #test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #WIP uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ #WIP hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ #mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ #usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/px4-same70xplained-v1.prototype b/boards/atmel/same70xplained/firmware.prototype
similarity index 87%
rename from platforms/nuttx/Images/px4-same70xplained-v1.prototype
rename to boards/atmel/same70xplained/firmware.prototype
index 6c809b4a3b..f5596f2ca2 100644
--- a/platforms/nuttx/Images/px4-same70xplained-v1.prototype
+++ b/boards/atmel/same70xplained/firmware.prototype
@@ -4,7 +4,7 @@
"description": "Firmware for the SAME70xplained board",
"image": "",
"build_time": 0,
- "summary": "PX4/SAME70xplained",
+ "summary": "Atmel/SAME70xplained",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2097152,
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/include/board.h b/boards/atmel/same70xplained/nuttx-config/include/board.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4-same70xplained-v1/include/board.h
rename to boards/atmel/same70xplained/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/nsh/defconfig b/boards/atmel/same70xplained/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/px4-same70xplained-v1/nsh/defconfig
rename to boards/atmel/same70xplained/nuttx-config/nsh/defconfig
index faabb2d5e2..b080131854 100644
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/nsh/defconfig
+++ b/boards/atmel/same70xplained/nuttx-config/nsh/defconfig
@@ -427,9 +427,9 @@ CONFIG_RAM_SIZE=393216
# Board Selection
#
# CONFIG_ARCH_BOARD_SAME70_XPLAINED is not set
-CONFIG_ARCH_BOARD_PX4_SAME70XPLAINED_V1=y
+CONFIG_ARCH_BOARD_ATMELSAME70XPLAINED=y
# CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="px4-same70xplained-v1"
+CONFIG_ARCH_BOARD="atmelsame70xplained"
#
# Common Board Options
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/ld.script b/boards/atmel/same70xplained/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/ld.script
rename to boards/atmel/same70xplained/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/px4-same70xplained-v1/CMakeLists.txt b/boards/atmel/same70xplained/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4-same70xplained-v1/CMakeLists.txt
rename to boards/atmel/same70xplained/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4-same70xplained-v1/README.md b/boards/atmel/same70xplained/src/README.md
similarity index 88%
rename from src/drivers/boards/px4-same70xplained-v1/README.md
rename to boards/atmel/same70xplained/src/README.md
index e382599ca7..cfef569764 100644
--- a/src/drivers/boards/px4-same70xplained-v1/README.md
+++ b/boards/atmel/same70xplained/src/README.md
@@ -8,9 +8,9 @@ http://www.atmel.com/tools/ATSAME70-XPLD.aspx
2. git checkout same70xplained
3. make clean
4. git submudule update --init --recursive
-5. make px4-same70xplained-v1_default
+5. make px4same70xplained-v1_default
-The ELF file Firmare will be in `build_px4-same70xplained-v1_default/src/firmware/nuttx/`
+The ELF file Firmare will be in `build/px4same70xplained-v1_default/`
The EFL file name is `firmware_nuttx`
diff --git a/src/drivers/boards/px4-same70xplained-v1/board_config.h b/boards/atmel/same70xplained/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4-same70xplained-v1/board_config.h
rename to boards/atmel/same70xplained/src/board_config.h
index 45dfcc8022..46dc3b8967 100644
--- a/src/drivers/boards/px4-same70xplained-v1/board_config.h
+++ b/boards/atmel/same70xplained/src/board_config.h
@@ -549,7 +549,7 @@ bool sam_writeprotected(int slotno);
int sam_at24config(void);
#endif
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4-same70xplained-v1/can.c b/boards/atmel/same70xplained/src/can.c
similarity index 100%
rename from src/drivers/boards/px4-same70xplained-v1/can.c
rename to boards/atmel/same70xplained/src/can.c
diff --git a/src/drivers/boards/px4-same70xplained-v1/init.c b/boards/atmel/same70xplained/src/init.c
similarity index 100%
rename from src/drivers/boards/px4-same70xplained-v1/init.c
rename to boards/atmel/same70xplained/src/init.c
diff --git a/src/drivers/boards/px4-same70xplained-v1/led.c b/boards/atmel/same70xplained/src/led.c
similarity index 100%
rename from src/drivers/boards/px4-same70xplained-v1/led.c
rename to boards/atmel/same70xplained/src/led.c
diff --git a/src/drivers/boards/px4-same70xplained-v1/sdram.c b/boards/atmel/same70xplained/src/sdram.c
similarity index 100%
rename from src/drivers/boards/px4-same70xplained-v1/sdram.c
rename to boards/atmel/same70xplained/src/sdram.c
diff --git a/src/drivers/boards/px4-same70xplained-v1/spi.c b/boards/atmel/same70xplained/src/spi.c
similarity index 100%
rename from src/drivers/boards/px4-same70xplained-v1/spi.c
rename to boards/atmel/same70xplained/src/spi.c
diff --git a/src/drivers/boards/px4-same70xplained-v1/timer_config.c b/boards/atmel/same70xplained/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/px4-same70xplained-v1/timer_config.c
rename to boards/atmel/same70xplained/src/timer_config.c
diff --git a/src/drivers/boards/px4-same70xplained-v1/usb.c b/boards/atmel/same70xplained/src/usb.c
similarity index 100%
rename from src/drivers/boards/px4-same70xplained-v1/usb.c
rename to boards/atmel/same70xplained/src/usb.c
diff --git a/cmake/configs/nuttx_esc35-v1_default.cmake b/boards/auav/esc35-v1/default.cmake
similarity index 60%
rename from cmake/configs/nuttx_esc35-v1_default.cmake
rename to boards/auav/esc35-v1/default.cmake
index 316814eab2..f99e4bd815 100644
--- a/cmake/configs/nuttx_esc35-v1_default.cmake
+++ b/boards/auav/esc35-v1/default.cmake
@@ -6,8 +6,6 @@ add_definitions(
-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)
@@ -17,17 +15,20 @@ add_definitions(
)
# Bring in common uavcan hardware identity definitions
-include(common/px4_git)
+include(px4_git)
px4_add_git_submodule(TARGET git_uavcan_board_ident PATH "cmake/configs/uavcan_board_ident")
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 ${PX4_BINARY_DIR}/esc35-v1.bin
+include(px4_make_uavcan_bootloader)
+px4_make_uavcan_bootloadable(
+ BOARD auavesc35
+ BIN ${PX4_BINARY_DIR}/auavesc35-v1.bin
HWNAME ${uavcanblid_name}
HW_MAJOR ${uavcanblid_hw_version_major}
HW_MINOR ${uavcanblid_hw_version_minor}
@@ -35,29 +36,30 @@ px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
SW_MINOR ${uavcanblid_sw_version_minor}
)
-set(config_module_list
- #
- # Board support modules
- #
- drivers/stm32
-
- #
- # System commands
- #
- systemcmds/config
- systemcmds/reboot
- systemcmds/top
- systemcmds/param
- systemcmds/ver
-
- #
- # 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
-)
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR auav
+ MODEL esc35-v1
+ ARCH cortex-m4
+
+ DRIVERS
+ bootloaders
+ stm32
+
+ MODULES
+ uavcanesc
+ uavcanesc/nshterm
+ uavcanesc/commands/cfg
+ uavcanesc/commands/selftest
+ uavcanesc/commands/dc
+ uavcanesc/commands/rpm
+ uavcanesc/commands/stat
+
+ SYSTEMCMDS
+ config
+ reboot
+ param
+ top
+ ver
+
+ )
diff --git a/platforms/nuttx/Images/esc35-v1.prototype b/boards/auav/esc35-v1/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/esc35-v1.prototype
rename to boards/auav/esc35-v1/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/esc35-v1/Kconfig b/boards/auav/esc35-v1/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/esc35-v1/Kconfig
rename to boards/auav/esc35-v1/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/esc35-v1/include/README.txt b/boards/auav/esc35-v1/nuttx-config/include/README.txt
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/esc35-v1/include/README.txt
rename to boards/auav/esc35-v1/nuttx-config/include/README.txt
diff --git a/platforms/nuttx/nuttx-configs/esc35-v1/include/board.h b/boards/auav/esc35-v1/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/esc35-v1/include/board.h
rename to boards/auav/esc35-v1/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/esc35-v1/nsh/defconfig b/boards/auav/esc35-v1/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/esc35-v1/nsh/defconfig
rename to boards/auav/esc35-v1/nuttx-config/nsh/defconfig
index e344fbe3f7..f9b2beffe9 100644
--- a/platforms/nuttx/nuttx-configs/esc35-v1/nsh/defconfig
+++ b/boards/auav/esc35-v1/nuttx-config/nsh/defconfig
@@ -559,8 +559,8 @@ CONFIG_RAM_SIZE=131072
#
# Board Selection
#
-CONFIG_ARCH_BOARD_ESC35_V1=y
-CONFIG_ARCH_BOARD="esc35-v1"
+CONFIG_ARCH_BOARD_AUAVESC35_V1=y
+CONFIG_ARCH_BOARD="auavesc35-v1"
#
# Custom Board Configuration
diff --git a/platforms/nuttx/nuttx-configs/esc35-v1/scripts/ld.script b/boards/auav/esc35-v1/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/esc35-v1/scripts/ld.script
rename to boards/auav/esc35-v1/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/esc35-v1/CMakeLists.txt b/boards/auav/esc35-v1/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/esc35-v1/CMakeLists.txt
rename to boards/auav/esc35-v1/src/CMakeLists.txt
diff --git a/src/drivers/boards/esc35-v1/board_config.h b/boards/auav/esc35-v1/src/board_config.h
similarity index 99%
rename from src/drivers/boards/esc35-v1/board_config.h
rename to boards/auav/esc35-v1/src/board_config.h
index 63dedcc7a2..5776c41f59 100644
--- a/src/drivers/boards/esc35-v1/board_config.h
+++ b/boards/auav/esc35-v1/src/board_config.h
@@ -275,7 +275,7 @@ int usbmsc_archinitialize(void);
extern int composite_archinitialize(void);
#endif
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/esc35-v1/init.c b/boards/auav/esc35-v1/src/init.c
similarity index 100%
rename from src/drivers/boards/esc35-v1/init.c
rename to boards/auav/esc35-v1/src/init.c
diff --git a/src/drivers/boards/esc35-v1/led.c b/boards/auav/esc35-v1/src/led.c
similarity index 100%
rename from src/drivers/boards/esc35-v1/led.c
rename to boards/auav/esc35-v1/src/led.c
diff --git a/src/drivers/boards/esc35-v1/usb.c b/boards/auav/esc35-v1/src/usb.c
similarity index 100%
rename from src/drivers/boards/esc35-v1/usb.c
rename to boards/auav/esc35-v1/src/usb.c
diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake
new file mode 100644
index 0000000000..01d545775e
--- /dev/null
+++ b/boards/auav/x21/default.cmake
@@ -0,0 +1,122 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR auav
+ MODEL x21
+ LABEL default
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ UAVCAN_INTERFACES 1
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/mpu6000
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ #pmw3901
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ #rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/auav-x21.prototype b/boards/auav/x21/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/auav-x21.prototype
rename to boards/auav/x21/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/auav-x21/include/board.h b/boards/auav/x21/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/auav-x21/include/board.h
rename to boards/auav/x21/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/auav-x21/nsh/defconfig b/boards/auav/x21/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/auav-x21/nsh/defconfig
rename to boards/auav/x21/nuttx-config/nsh/defconfig
index 04be1628ce..b25df9dc59 100644
--- a/platforms/nuttx/nuttx-configs/auav-x21/nsh/defconfig
+++ b/boards/auav/x21/nuttx-config/nsh/defconfig
@@ -688,7 +688,7 @@ CONFIG_RAM_SIZE=262144
# Board Selection
#
CONFIG_ARCH_BOARD_AUAV_X21=y
-CONFIG_ARCH_BOARD="auav-x21"
+CONFIG_ARCH_BOARD="auavx21"
#
# Custom Board Configuration
diff --git a/platforms/nuttx/nuttx-configs/auav-x21/scripts/ld.script b/boards/auav/x21/nuttx-config/scripts/ld.script
similarity index 93%
rename from platforms/nuttx/nuttx-configs/auav-x21/scripts/ld.script
rename to boards/auav/x21/nuttx-config/scripts/ld.script
index c981791f1f..0d19229c01 100644
--- a/platforms/nuttx/nuttx-configs/auav-x21/scripts/ld.script
+++ b/boards/auav/x21/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
/****************************************************************************
- * configs/auav_x21/common/ld.script
+ * scripts/ld.script
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
@@ -72,13 +72,13 @@ SECTIONS
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
- . = ALIGN(32);
- /*
- This signature provides the bootloader with a way to delay booting
- */
- _bootdelay_signature = ABSOLUTE(.);
- FILL(0xffecc2925d7d05c5)
- . += 8;
+ . = ALIGN(32);
+ /*
+ This signature provides the bootloader with a way to delay booting
+ */
+ _bootdelay_signature = ABSOLUTE(.);
+ FILL(0xffecc2925d7d05c5)
+ . += 8;
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
diff --git a/src/drivers/boards/aerocore2/CMakeLists.txt b/boards/auav/x21/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/aerocore2/CMakeLists.txt
rename to boards/auav/x21/src/CMakeLists.txt
diff --git a/src/drivers/boards/auav-x21/board_config.h b/boards/auav/x21/src/board_config.h
similarity index 99%
rename from src/drivers/boards/auav-x21/board_config.h
rename to boards/auav/x21/src/board_config.h
index 5ebeedba96..0751728e84 100644
--- a/src/drivers/boards/auav-x21/board_config.h
+++ b/boards/auav/x21/src/board_config.h
@@ -300,7 +300,7 @@ extern void stm32_usbinitialize(void);
extern void stm32_spiinitialize(void);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS
diff --git a/src/drivers/boards/auav-x21/can.c b/boards/auav/x21/src/can.c
similarity index 100%
rename from src/drivers/boards/auav-x21/can.c
rename to boards/auav/x21/src/can.c
diff --git a/src/drivers/boards/auav-x21/init.c b/boards/auav/x21/src/init.c
similarity index 100%
rename from src/drivers/boards/auav-x21/init.c
rename to boards/auav/x21/src/init.c
diff --git a/src/drivers/boards/auav-x21/led.c b/boards/auav/x21/src/led.c
similarity index 100%
rename from src/drivers/boards/auav-x21/led.c
rename to boards/auav/x21/src/led.c
diff --git a/src/drivers/boards/auav-x21/spi.c b/boards/auav/x21/src/spi.c
similarity index 100%
rename from src/drivers/boards/auav-x21/spi.c
rename to boards/auav/x21/src/spi.c
diff --git a/src/drivers/boards/auav-x21/timer_config.c b/boards/auav/x21/src/timer_config.c
similarity index 99%
rename from src/drivers/boards/auav-x21/timer_config.c
rename to boards/auav/x21/src/timer_config.c
index b5197dd46d..66f375b0a6 100644
--- a/src/drivers/boards/auav-x21/timer_config.c
+++ b/boards/auav/x21/src/timer_config.c
@@ -48,7 +48,7 @@
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
-#include "../auav-x21/board_config.h"
+#include "board_config.h"
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
diff --git a/src/drivers/boards/auav-x21/usb.c b/boards/auav/x21/src/usb.c
similarity index 99%
rename from src/drivers/boards/auav-x21/usb.c
rename to boards/auav/x21/src/usb.c
index 0e4d8ed279..4d43e8bea2 100644
--- a/src/drivers/boards/auav-x21/usb.c
+++ b/boards/auav/x21/src/usb.c
@@ -54,7 +54,7 @@
#include <up_arch.h>
#include <stm32.h>
-#include "../auav-x21/board_config.h"
+#include "board_config.h"
/************************************************************************************
* Definitions
diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
new file mode 100644
index 0000000000..5f35ca58eb
--- /dev/null
+++ b/boards/av/x-v1/default.cmake
@@ -0,0 +1,121 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR av
+ MODEL x-v1
+ ARCH cortex-m7
+ ROMFS
+ ROMFSROOT px4fmu_common
+ TESTING
+ UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS6
+ TEL1:/dev/ttyS0
+ TEL2:/dev/ttyS1
+ TEL3:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/adis16477
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ #oreoled
+ #pca8574
+ pca9685
+ #pmw3901
+ protocol_splitter
+ #pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ rc_input
+ #rgbled
+ #rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ #stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ #usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/av-x-v1.prototype b/boards/av/x-v1/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/av-x-v1.prototype
rename to boards/av/x-v1/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/av-x-v1/include/board.h b/boards/av/x-v1/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/av-x-v1/include/board.h
rename to boards/av/x-v1/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/av-x-v1/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/av-x-v1/nsh/defconfig
rename to boards/av/x-v1/nuttx-config/nsh/defconfig
index 480d450895..9f8ce9c53e 100644
--- a/platforms/nuttx/nuttx-configs/av-x-v1/nsh/defconfig
+++ b/boards/av/x-v1/nuttx-config/nsh/defconfig
@@ -533,8 +533,8 @@ CONFIG_RAM_SIZE=376832
#
# Board Selection
#
-CONFIG_ARCH_BOARD_AV_X_V1=y
-CONFIG_ARCH_BOARD="av-x-v1"
+CONFIG_ARCH_BOARD_AVX_V1=y
+CONFIG_ARCH_BOARD="avx-v1"
#
# Common Board Options
diff --git a/platforms/nuttx/nuttx-configs/av-x-v1/scripts/ld.script b/boards/av/x-v1/nuttx-config/scripts/ld.script
similarity index 99%
rename from platforms/nuttx/nuttx-configs/av-x-v1/scripts/ld.script
rename to boards/av/x-v1/nuttx-config/scripts/ld.script
index 098afbafd9..fae1d95de0 100644
--- a/platforms/nuttx/nuttx-configs/av-x-v1/scripts/ld.script
+++ b/boards/av/x-v1/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
/****************************************************************************
- * nuttx-configs/av-x/scripts/script.ld
+ * scripts/script.ld
*
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/src/drivers/boards/av-x-v1/CMakeLists.txt b/boards/av/x-v1/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/av-x-v1/CMakeLists.txt
rename to boards/av/x-v1/src/CMakeLists.txt
diff --git a/src/drivers/boards/av-x-v1/board_config.h b/boards/av/x-v1/src/board_config.h
similarity index 99%
rename from src/drivers/boards/av-x-v1/board_config.h
rename to boards/av/x-v1/src/board_config.h
index 75ad3c569c..6c55b92ac7 100644
--- a/src/drivers/boards/av-x-v1/board_config.h
+++ b/boards/av/x-v1/src/board_config.h
@@ -471,7 +471,7 @@ void board_spi_reset(int ms);
int nsh_archinitialize(void);
#endif
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/av-x-v1/init.c b/boards/av/x-v1/src/init.c
similarity index 100%
rename from src/drivers/boards/av-x-v1/init.c
rename to boards/av/x-v1/src/init.c
diff --git a/src/drivers/boards/av-x-v1/manifest.c b/boards/av/x-v1/src/manifest.c
similarity index 100%
rename from src/drivers/boards/av-x-v1/manifest.c
rename to boards/av/x-v1/src/manifest.c
diff --git a/src/drivers/boards/av-x-v1/sdio.c b/boards/av/x-v1/src/sdio.c
similarity index 100%
rename from src/drivers/boards/av-x-v1/sdio.c
rename to boards/av/x-v1/src/sdio.c
diff --git a/src/drivers/boards/av-x-v1/spi.c b/boards/av/x-v1/src/spi.c
similarity index 100%
rename from src/drivers/boards/av-x-v1/spi.c
rename to boards/av/x-v1/src/spi.c
diff --git a/src/drivers/boards/av-x-v1/timer_config.c b/boards/av/x-v1/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/av-x-v1/timer_config.c
rename to boards/av/x-v1/src/timer_config.c
diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake
new file mode 100644
index 0000000000..b94d2670d8
--- /dev/null
+++ b/boards/beaglebone/blue/cross.cmake
@@ -0,0 +1,84 @@
+
+px4_add_board(
+ VENDOR beaglebone
+ MODEL blue
+ LABEL cross
+ PLATFORM posix
+ ARCH cortex-a8
+ TOOLCHAIN Toolchain-arm-linux-gnueabihf
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ linux_gpio
+ linux_pwm_out
+ linux_sbus
+ bbblue_adc
+
+ DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+ mpu9250
+ bmp280
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ esc_calib
+ led_control
+ mixer
+ motor_ramp
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
new file mode 100644
index 0000000000..8cf471663e
--- /dev/null
+++ b/boards/beaglebone/blue/native.cmake
@@ -0,0 +1,83 @@
+
+px4_add_board(
+ VENDOR beaglebone
+ MODEL blue
+ LABEL native
+ PLATFORM posix
+ TOOLCHAIN Toolchain-native
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ linux_gpio
+ linux_pwm_out
+ linux_sbus
+ bbblue_adc
+
+ DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+ mpu9250
+ bmp280
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ esc_calib
+ led_control
+ mixer
+ motor_ramp
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/src/drivers/boards/bbblue/CMakeLists.txt b/boards/beaglebone/blue/src/CMakeLists.txt
similarity index 94%
rename from src/drivers/boards/bbblue/CMakeLists.txt
rename to boards/beaglebone/blue/src/CMakeLists.txt
index d8ae2238c3..5ee92a9916 100644
--- a/src/drivers/boards/bbblue/CMakeLists.txt
+++ b/boards/beaglebone/blue/src/CMakeLists.txt
@@ -35,6 +35,6 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
px4_add_library(drivers_board
init.c
- ../common/board_identity.c
+ ${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
)
diff --git a/src/drivers/boards/bbblue/board_config.h b/boards/beaglebone/blue/src/board_config.h
similarity index 98%
rename from src/drivers/boards/bbblue/board_config.h
rename to boards/beaglebone/blue/src/board_config.h
index e34202172d..efa670c83a 100644
--- a/src/drivers/boards/bbblue/board_config.h
+++ b/boards/beaglebone/blue/src/board_config.h
@@ -66,7 +66,7 @@
#define PX4_NUMBER_I2C_BUSES 1
#include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#ifdef __cplusplus
extern "C" {
diff --git a/src/drivers/boards/bbblue/init.c b/boards/beaglebone/blue/src/init.c
similarity index 100%
rename from src/drivers/boards/bbblue/init.c
rename to boards/beaglebone/blue/src/init.c
diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake
new file mode 100644
index 0000000000..0cbd417131
--- /dev/null
+++ b/boards/bitcraze/crazyflie/default.cmake
@@ -0,0 +1,73 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR bitcraze
+ MODEL crazyflie
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+
+ DRIVERS
+ barometer/lps25h
+ distance_sensor/vl53lxx
+ gps
+ imu/mpu9250
+ pmw3901
+ px4fmu
+ stm32
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ #fw_att_control
+ #fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ syslink
+ #uavcan
+ #vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ #tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ )
diff --git a/platforms/nuttx/Images/crazyflie.prototype b/boards/bitcraze/crazyflie/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/crazyflie.prototype
rename to boards/bitcraze/crazyflie/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/crazyflie/include/board.h b/boards/bitcraze/crazyflie/nuttx-config/include/board.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/crazyflie/include/board.h
rename to boards/bitcraze/crazyflie/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/crazyflie/nsh/defconfig b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/crazyflie/nsh/defconfig
rename to boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
index d9d6eb0128..a236d585e3 100644
--- a/platforms/nuttx/nuttx-configs/crazyflie/nsh/defconfig
+++ b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
@@ -653,7 +653,7 @@ CONFIG_RAM_SIZE=196608
# Board Selection
#
CONFIG_ARCH_BOARD_CRAZYFLIE=y
-CONFIG_ARCH_BOARD="crazyflie"
+CONFIG_ARCH_BOARD="bitcrazecrazyflie"
#
# Custom Board Configuration
diff --git a/platforms/nuttx/nuttx-configs/crazyflie/scripts/ld.script b/boards/bitcraze/crazyflie/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/crazyflie/scripts/ld.script
rename to boards/bitcraze/crazyflie/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/crazyflie/CMakeLists.txt b/boards/bitcraze/crazyflie/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/crazyflie/CMakeLists.txt
rename to boards/bitcraze/crazyflie/src/CMakeLists.txt
diff --git a/src/drivers/boards/crazyflie/board_config.h b/boards/bitcraze/crazyflie/src/board_config.h
similarity index 99%
rename from src/drivers/boards/crazyflie/board_config.h
rename to boards/bitcraze/crazyflie/src/board_config.h
index 5fce4046c2..0b675b83ae 100644
--- a/src/drivers/boards/crazyflie/board_config.h
+++ b/boards/bitcraze/crazyflie/src/board_config.h
@@ -291,7 +291,7 @@ extern int stm32_spi_bus_initialize(void);
void board_spi_reset(int ms);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/crazyflie/init.c b/boards/bitcraze/crazyflie/src/init.c
similarity index 100%
rename from src/drivers/boards/crazyflie/init.c
rename to boards/bitcraze/crazyflie/src/init.c
diff --git a/src/drivers/boards/crazyflie/led.c b/boards/bitcraze/crazyflie/src/led.c
similarity index 100%
rename from src/drivers/boards/crazyflie/led.c
rename to boards/bitcraze/crazyflie/src/led.c
diff --git a/src/drivers/boards/crazyflie/spi.c b/boards/bitcraze/crazyflie/src/spi.c
similarity index 100%
rename from src/drivers/boards/crazyflie/spi.c
rename to boards/bitcraze/crazyflie/src/spi.c
diff --git a/src/drivers/boards/crazyflie/timer_config.c b/boards/bitcraze/crazyflie/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/crazyflie/timer_config.c
rename to boards/bitcraze/crazyflie/src/timer_config.c
diff --git a/src/drivers/boards/crazyflie/usb.c b/boards/bitcraze/crazyflie/src/usb.c
similarity index 100%
rename from src/drivers/boards/crazyflie/usb.c
rename to boards/bitcraze/crazyflie/src/usb.c
diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake
new file mode 100644
index 0000000000..d2da059530
--- /dev/null
+++ b/boards/emlid/navio2/cross.cmake
@@ -0,0 +1,94 @@
+
+px4_add_board(
+ VENDOR emlid
+ MODEL navio2
+ LABEL cross
+ PLATFORM posix
+ ARCH cortex-a53
+ TOOLCHAIN Toolchain-arm-linux-gnueabihf
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ linux_gpio
+ linux_pwm_out
+ linux_sbus
+ navio_adc
+ navio_rgbled
+ navio_sysfs_rc_in
+ rpi_rc_in
+
+ DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+ hmc5883
+ isl29501
+ lsm9ds1
+ mpu9250
+ ms5611
+ trone
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #simulator
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ dyn
+ esc_calib
+ led_control
+ mixer
+ motor_ramp
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
new file mode 100644
index 0000000000..c435f6b3cf
--- /dev/null
+++ b/boards/emlid/navio2/native.cmake
@@ -0,0 +1,93 @@
+
+px4_add_board(
+ VENDOR emlid
+ MODEL navio2
+ LABEL native
+ PLATFORM posix
+ TOOLCHAIN Toolchain-native
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ linux_gpio
+ linux_pwm_out
+ linux_sbus
+ navio_adc
+ navio_rgbled
+ navio_sysfs_rc_in
+ rpi_rc_in
+
+ DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+ hmc5883
+ isl29501
+ lsm9ds1
+ mpu9250
+ ms5611
+ trone
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #simulator
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ dyn
+ esc_calib
+ led_control
+ mixer
+ motor_ramp
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/src/drivers/boards/ocpoc/CMakeLists.txt b/boards/emlid/navio2/src/CMakeLists.txt
similarity index 94%
rename from src/drivers/boards/ocpoc/CMakeLists.txt
rename to boards/emlid/navio2/src/CMakeLists.txt
index d95d0043bc..0b4ba0d6ac 100644
--- a/src/drivers/boards/ocpoc/CMakeLists.txt
+++ b/boards/emlid/navio2/src/CMakeLists.txt
@@ -30,6 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
+
px4_add_library(drivers_board
- ../common/board_identity.c
+ ${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
)
diff --git a/src/drivers/boards/rpi/board_config.h b/boards/emlid/navio2/src/board_config.h
similarity index 94%
rename from src/drivers/boards/rpi/board_config.h
rename to boards/emlid/navio2/src/board_config.h
index dcf2c4b7cf..2cd6af040f 100644
--- a/src/drivers/boards/rpi/board_config.h
+++ b/boards/emlid/navio2/src/board_config.h
@@ -34,7 +34,7 @@
/**
* @file board_config.h
*
- * RPI internal definitions
+ * Emlid Navio2 RPI internal definitions
*/
#pragma once
@@ -42,7 +42,7 @@
#define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_RPI
-#define BOARD_NAME "RPI"
+#define BOARD_NAME "EMLIDNAVIO2"
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
@@ -62,4 +62,4 @@
#define PX4_NUMBER_I2C_BUSES 1
#include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
diff --git a/boards/gumstix/aerocore2/default.cmake b/boards/gumstix/aerocore2/default.cmake
new file mode 100644
index 0000000000..b672ab98d9
--- /dev/null
+++ b/boards/gumstix/aerocore2/default.cmake
@@ -0,0 +1,119 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR gumstix
+ MODEL aerocore2
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ UAVCAN_INTERFACES 1
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+
+ DRIVERS
+ barometer # all available barometer drivers
+ #batt_smbus
+ #blinkm
+ #camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/l3gd20
+ imu/lsm303d
+ #irlock
+ #magnetometer # all available magnetometer drivers
+ #md25
+ #mkblctrl
+ #oreoled
+ #pca8574
+ #pca9685
+ #pmw3901
+ #protocol_splitter
+ #pwm_input
+ pwm_out_sim
+ #px4flow
+ px4fmu
+ rc_input
+ #rgbled
+ #rgbled_pwm
+ #roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ #tap_esc
+ #telemetry # all available telemetry drivers
+ #test_ppm
+ #vmount
+
+ MODULES
+ #attitude_estimator_q
+ #camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ #fw_att_control
+ #fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ #landing_target_estimator
+ load_mon
+ #local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ #position_estimator_inav
+ sensors
+ #uavcan
+ #vtol_att_control
+ #wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ #dumpfile
+ #esc_calib
+ hardfault_log
+ led_control
+ mixer
+ #motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ #sd_bench
+ shutdown
+ #tests # tests and test runner
+ top
+ #topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ #subscriber
+ #uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/aerocore2.prototype b/boards/gumstix/aerocore2/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/aerocore2.prototype
rename to boards/gumstix/aerocore2/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/aerocore2/Kconfig b/boards/gumstix/aerocore2/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/aerocore2/Kconfig
rename to boards/gumstix/aerocore2/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/aerocore2/include/board.h b/boards/gumstix/aerocore2/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/aerocore2/include/board.h
rename to boards/gumstix/aerocore2/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/aerocore2/nsh/defconfig b/boards/gumstix/aerocore2/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/aerocore2/nsh/defconfig
rename to boards/gumstix/aerocore2/nuttx-config/nsh/defconfig
index f0df9c26ab..1a9dd2d0b3 100644
--- a/platforms/nuttx/nuttx-configs/aerocore2/nsh/defconfig
+++ b/boards/gumstix/aerocore2/nuttx-config/nsh/defconfig
@@ -674,7 +674,7 @@ CONFIG_RAM_SIZE=262144
# Board Selection
#
CONFIG_ARCH_BOARD_AEROCORE2=y
-CONFIG_ARCH_BOARD="aerocore2"
+CONFIG_ARCH_BOARD="gumstixaerocore2"
#
# Custom Board Configuration
diff --git a/platforms/nuttx/nuttx-configs/aerocore2/scripts/ld.script b/boards/gumstix/aerocore2/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/aerocore2/scripts/ld.script
rename to boards/gumstix/aerocore2/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/auav-x21/CMakeLists.txt b/boards/gumstix/aerocore2/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/auav-x21/CMakeLists.txt
rename to boards/gumstix/aerocore2/src/CMakeLists.txt
diff --git a/src/drivers/boards/aerocore2/board_config.h b/boards/gumstix/aerocore2/src/board_config.h
similarity index 99%
rename from src/drivers/boards/aerocore2/board_config.h
rename to boards/gumstix/aerocore2/src/board_config.h
index 2843a3793c..2ec3de378e 100644
--- a/src/drivers/boards/aerocore2/board_config.h
+++ b/boards/gumstix/aerocore2/src/board_config.h
@@ -252,7 +252,7 @@ extern void board_spi_reset(int ms);
extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/aerocore2/can.c b/boards/gumstix/aerocore2/src/can.c
similarity index 100%
rename from src/drivers/boards/aerocore2/can.c
rename to boards/gumstix/aerocore2/src/can.c
diff --git a/src/drivers/boards/aerocore2/init.c b/boards/gumstix/aerocore2/src/init.c
similarity index 100%
rename from src/drivers/boards/aerocore2/init.c
rename to boards/gumstix/aerocore2/src/init.c
diff --git a/src/drivers/boards/aerocore2/led.c b/boards/gumstix/aerocore2/src/led.c
similarity index 100%
rename from src/drivers/boards/aerocore2/led.c
rename to boards/gumstix/aerocore2/src/led.c
diff --git a/src/drivers/boards/aerocore2/spi.c b/boards/gumstix/aerocore2/src/spi.c
similarity index 100%
rename from src/drivers/boards/aerocore2/spi.c
rename to boards/gumstix/aerocore2/src/spi.c
diff --git a/src/drivers/boards/aerocore2/timer_config.c b/boards/gumstix/aerocore2/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/aerocore2/timer_config.c
rename to boards/gumstix/aerocore2/src/timer_config.c
diff --git a/src/drivers/boards/aerocore2/usb.c b/boards/gumstix/aerocore2/src/usb.c
similarity index 100%
rename from src/drivers/boards/aerocore2/usb.c
rename to boards/gumstix/aerocore2/src/usb.c
diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake
new file mode 100644
index 0000000000..2517a8187d
--- /dev/null
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -0,0 +1,101 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR intel
+ MODEL aerofc-v1
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS5
+ TEL1:/dev/ttyS3
+ TEL2:/dev/ttyS1
+
+ DRIVERS
+ aerofc_adc
+ barometer/ms5611
+ #camera_trigger
+ #differential_pressure # all available differential pressure drivers
+ distance_sensor
+ gps
+ #irlock
+ imu/mpu9250
+ #magnetometer # all available magnetometer drivers
+ magnetometer/hmc5883
+ magnetometer/ist8310
+ pwm_out_sim
+ #px4flow
+ px4fmu
+ rc_input
+ stm32
+ tap_esc
+ #telemetry # all available telemetry drivers
+ #vmount
+
+ MODULES
+ attitude_estimator_q
+ #camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ #fw_att_control
+ #fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ #position_estimator_inav
+ sensors
+ #uavcan
+ #vtol_att_control
+ #wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ #tests # tests and test runner
+ top
+ #topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ #subscriber
+ #uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/aerofc-v1.prototype b/boards/intel/aerofc-v1/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/aerofc-v1.prototype
rename to boards/intel/aerofc-v1/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/aerofc-v1/Kconfig b/boards/intel/aerofc-v1/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/aerofc-v1/Kconfig
rename to boards/intel/aerofc-v1/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/aerofc-v1/include/board.h b/boards/intel/aerofc-v1/nuttx-config/include/board.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/aerofc-v1/include/board.h
rename to boards/intel/aerofc-v1/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/aerofc-v1/nsh/defconfig b/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/aerofc-v1/nsh/defconfig
rename to boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
index 70201452dd..ee254cb3e4 100644
--- a/platforms/nuttx/nuttx-configs/aerofc-v1/nsh/defconfig
+++ b/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
@@ -671,7 +671,7 @@ CONFIG_RAM_SIZE=262144
# Board Selection
#
CONFIG_ARCH_BOARD_AEROFC_V1=y
-CONFIG_ARCH_BOARD="aerofc-v1"
+CONFIG_ARCH_BOARD="intelaerofc-v1"
#
# Common Board Options
diff --git a/platforms/nuttx/nuttx-configs/aerofc-v1/scripts/ld.script b/boards/intel/aerofc-v1/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/aerofc-v1/scripts/ld.script
rename to boards/intel/aerofc-v1/nuttx-config/scripts/ld.script
diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake
new file mode 100644
index 0000000000..d5f76d4172
--- /dev/null
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -0,0 +1,104 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR intel
+ MODEL aerofc-v1
+ LABEL rtsp
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS5
+ TEL1:/dev/ttyS3
+ TEL2:/dev/ttyS1
+
+ DRIVERS
+ aerofc_adc
+ barometer/ms5611
+ #camera_trigger
+ #differential_pressure # all available differential pressure drivers
+ distance_sensor
+ gps
+ #irlock
+ imu/mpu9250
+ #magnetometer # all available magnetometer drivers
+ magnetometer/hmc5883
+ magnetometer/ist8310
+ protocol_splitter
+ pwm_out_sim
+ #px4flow
+ px4fmu
+ rc_input
+ stm32
+ tap_esc
+ #telemetry # all available telemetry drivers
+ #vmount
+
+ MODULES
+ attitude_estimator_q
+ #camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ #fw_att_control
+ #fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ micrortps_bridge
+ navigator
+ #position_estimator_inav
+ sensors
+ #uavcan
+ #vtol_att_control
+ #wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ #tests # tests and test runner
+ top
+ #topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ #subscriber
+ #uuv_example_app
+
+ )
diff --git a/src/drivers/boards/aerofc-v1/CMakeLists.txt b/boards/intel/aerofc-v1/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/aerofc-v1/CMakeLists.txt
rename to boards/intel/aerofc-v1/src/CMakeLists.txt
diff --git a/src/drivers/boards/aerofc-v1/board_config.h b/boards/intel/aerofc-v1/src/board_config.h
similarity index 99%
rename from src/drivers/boards/aerofc-v1/board_config.h
rename to boards/intel/aerofc-v1/src/board_config.h
index 9b18bd181a..c008a8a1ce 100644
--- a/src/drivers/boards/aerofc-v1/board_config.h
+++ b/boards/intel/aerofc-v1/src/board_config.h
@@ -182,7 +182,7 @@ extern void stm32_spiinitialize(void);
extern int board_sdio_initialize(void);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/aerofc-v1/init.c b/boards/intel/aerofc-v1/src/init.c
similarity index 100%
rename from src/drivers/boards/aerofc-v1/init.c
rename to boards/intel/aerofc-v1/src/init.c
diff --git a/src/drivers/boards/aerofc-v1/led.c b/boards/intel/aerofc-v1/src/led.c
similarity index 100%
rename from src/drivers/boards/aerofc-v1/led.c
rename to boards/intel/aerofc-v1/src/led.c
diff --git a/src/drivers/boards/aerofc-v1/spi.c b/boards/intel/aerofc-v1/src/spi.c
similarity index 100%
rename from src/drivers/boards/aerofc-v1/spi.c
rename to boards/intel/aerofc-v1/src/spi.c
diff --git a/src/drivers/boards/aerofc-v1/timer_config.c b/boards/intel/aerofc-v1/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/aerofc-v1/timer_config.c
rename to boards/intel/aerofc-v1/src/timer_config.c
diff --git a/boards/nxp/hlite-v3/default.cmake b/boards/nxp/hlite-v3/default.cmake
new file mode 100644
index 0000000000..2299590e33
--- /dev/null
+++ b/boards/nxp/hlite-v3/default.cmake
@@ -0,0 +1,118 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR nxp
+ MODEL hlite-v3
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ TESTING
+ UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS4
+
+ DRIVERS
+ barometer # all available barometer drivers
+ barometer/mpl3115a2
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ kinetis
+ kinetis/adc
+ kinetis/tone_alarm
+ #heater
+ #imu # all available imu drivers
+ imu/fxas21002c
+ imu/fxos8701cq
+ imu/l3gd20
+ imu/mpu6000
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ mkblctrl
+ oreoled
+ pca9685
+ #pwm_input # NOT Portable YET drivers
+ pwm_out_sim
+ px4flow
+ px4fmu
+ rc_input
+ rgbled
+ rgbled_pwm
+ tap_esc
+ telemetry # all available telemetry drivers
+ #test_ppm # NOT Portable YET
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ #hardfault_log # Needs bbsrm
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/nxphlite-v3.prototype b/boards/nxp/hlite-v3/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/nxphlite-v3.prototype
rename to boards/nxp/hlite-v3/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/nxphlite-v3/Kconfig b/boards/nxp/hlite-v3/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/nxphlite-v3/Kconfig
rename to boards/nxp/hlite-v3/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/nxphlite-v3/include/board.h b/boards/nxp/hlite-v3/nuttx-config/include/board.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/nxphlite-v3/include/board.h
rename to boards/nxp/hlite-v3/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/nxphlite-v3/nsh/defconfig b/boards/nxp/hlite-v3/nuttx-config/nsh/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/nxphlite-v3/nsh/defconfig
rename to boards/nxp/hlite-v3/nuttx-config/nsh/defconfig
diff --git a/platforms/nuttx/nuttx-configs/nxphlite-v3/scripts/ld.script b/boards/nxp/hlite-v3/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/nxphlite-v3/scripts/ld.script
rename to boards/nxp/hlite-v3/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/nxphlite-v3/CMakeLists.txt b/boards/nxp/hlite-v3/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/CMakeLists.txt
rename to boards/nxp/hlite-v3/src/CMakeLists.txt
diff --git a/src/drivers/boards/nxphlite-v3/autoleds.c b/boards/nxp/hlite-v3/src/autoleds.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/autoleds.c
rename to boards/nxp/hlite-v3/src/autoleds.c
diff --git a/src/drivers/boards/nxphlite-v3/automount.c b/boards/nxp/hlite-v3/src/automount.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/automount.c
rename to boards/nxp/hlite-v3/src/automount.c
diff --git a/src/drivers/boards/nxphlite-v3/board_config.h b/boards/nxp/hlite-v3/src/board_config.h
similarity index 99%
rename from src/drivers/boards/nxphlite-v3/board_config.h
rename to boards/nxp/hlite-v3/src/board_config.h
index e3ab307594..648f8c0e31 100644
--- a/src/drivers/boards/nxphlite-v3/board_config.h
+++ b/boards/nxp/hlite-v3/src/board_config.h
@@ -687,7 +687,7 @@ void nxphlite_automount_event(bool inserted);
void nxphlite_timer_initialize(void);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/nxphlite-v3/can.c b/boards/nxp/hlite-v3/src/can.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/can.c
rename to boards/nxp/hlite-v3/src/can.c
diff --git a/src/drivers/boards/nxphlite-v3/init.c b/boards/nxp/hlite-v3/src/init.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/init.c
rename to boards/nxp/hlite-v3/src/init.c
diff --git a/src/drivers/boards/nxphlite-v3/led.c b/boards/nxp/hlite-v3/src/led.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/led.c
rename to boards/nxp/hlite-v3/src/led.c
diff --git a/src/drivers/boards/nxphlite-v3/sdhc.c b/boards/nxp/hlite-v3/src/sdhc.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/sdhc.c
rename to boards/nxp/hlite-v3/src/sdhc.c
diff --git a/src/drivers/boards/nxphlite-v3/spi.c b/boards/nxp/hlite-v3/src/spi.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/spi.c
rename to boards/nxp/hlite-v3/src/spi.c
diff --git a/src/drivers/boards/nxphlite-v3/timer_config.c b/boards/nxp/hlite-v3/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/timer_config.c
rename to boards/nxp/hlite-v3/src/timer_config.c
diff --git a/src/drivers/boards/nxphlite-v3/usb.c b/boards/nxp/hlite-v3/src/usb.c
similarity index 100%
rename from src/drivers/boards/nxphlite-v3/usb.c
rename to boards/nxp/hlite-v3/src/usb.c
diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake
new file mode 100644
index 0000000000..c65106130c
--- /dev/null
+++ b/boards/omnibus/f4sd/default.cmake
@@ -0,0 +1,113 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR omnibus
+ MODEL f4sd
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+
+ SERIAL_PORTS
+ TEL2:/dev/ttyS1
+ URT6:/dev/ttyS2
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ barometer/bmp280
+ #batt_smbus
+ #blinkm
+ #camera_trigger
+ #differential_pressure # all available differential pressure drivers
+ #distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/mpu6000
+ #irlock
+ #magnetometer # all available magnetometer drivers
+ magnetometer/hmc5883
+ #mkblctrl
+ #oreoled
+ #pca9685
+ #pwm_input
+ #pwm_out_sim
+ px4flow
+ px4fmu
+ rc_input
+ rgbled
+ stm32
+ stm32/adc
+ #stm32/tone_alarm
+ #tap_esc
+ #telemetry # all available telemetry drivers
+ telemetry/frsky_telemetry
+ #test_ppm
+ #vmount
+
+ MODULES
+ attitude_estimator_q
+ #camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ #fw_att_control
+ #fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ #position_estimator_inav
+ sensors
+ #uavcan
+ #vtol_att_control
+ #wind_estimator
+
+ SYSTEMCMDS
+ #bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ #motor_ramp
+ motor_test
+ #mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ #tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ #subscriber
+ #uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/omnibus-f4sd.prototype b/boards/omnibus/f4sd/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/omnibus-f4sd.prototype
rename to boards/omnibus/f4sd/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/omnibus-f4sd/include/board.h b/boards/omnibus/f4sd/nuttx-config/include/board.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/omnibus-f4sd/include/board.h
rename to boards/omnibus/f4sd/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/omnibus-f4sd/nsh/defconfig b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/omnibus-f4sd/nsh/defconfig
rename to boards/omnibus/f4sd/nuttx-config/nsh/defconfig
index b9da4652e7..e5b0d61a8c 100644
--- a/platforms/nuttx/nuttx-configs/omnibus-f4sd/nsh/defconfig
+++ b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
@@ -662,8 +662,8 @@ CONFIG_RAM_SIZE=196608
#
# Board Selection
#
-CONFIG_ARCH_BOARD_OMNIBUS_F4SD=y
-CONFIG_ARCH_BOARD="omnibus-f4sd"
+CONFIG_ARCH_BOARD_OMNIBUSF4SD=y
+CONFIG_ARCH_BOARD="omnibusf4sd"
#
# Custom Board Configuration
diff --git a/platforms/nuttx/nuttx-configs/omnibus-f4sd/scripts/ld.script b/boards/omnibus/f4sd/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/omnibus-f4sd/scripts/ld.script
rename to boards/omnibus/f4sd/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/omnibus-f4sd/CMakeLists.txt b/boards/omnibus/f4sd/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/omnibus-f4sd/CMakeLists.txt
rename to boards/omnibus/f4sd/src/CMakeLists.txt
diff --git a/src/drivers/boards/omnibus-f4sd/board_config.h b/boards/omnibus/f4sd/src/board_config.h
similarity index 99%
rename from src/drivers/boards/omnibus-f4sd/board_config.h
rename to boards/omnibus/f4sd/src/board_config.h
index 26f4f08be7..96a6c63b58 100644
--- a/src/drivers/boards/omnibus-f4sd/board_config.h
+++ b/boards/omnibus/f4sd/src/board_config.h
@@ -321,7 +321,7 @@ extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/omnibus-f4sd/init.c b/boards/omnibus/f4sd/src/init.c
similarity index 100%
rename from src/drivers/boards/omnibus-f4sd/init.c
rename to boards/omnibus/f4sd/src/init.c
diff --git a/src/drivers/boards/omnibus-f4sd/led.c b/boards/omnibus/f4sd/src/led.c
similarity index 100%
rename from src/drivers/boards/omnibus-f4sd/led.c
rename to boards/omnibus/f4sd/src/led.c
diff --git a/src/drivers/boards/omnibus-f4sd/spi.c b/boards/omnibus/f4sd/src/spi.c
similarity index 100%
rename from src/drivers/boards/omnibus-f4sd/spi.c
rename to boards/omnibus/f4sd/src/spi.c
diff --git a/src/drivers/boards/omnibus-f4sd/timer_config.c b/boards/omnibus/f4sd/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/omnibus-f4sd/timer_config.c
rename to boards/omnibus/f4sd/src/timer_config.c
diff --git a/src/drivers/boards/omnibus-f4sd/usb.c b/boards/omnibus/f4sd/src/usb.c
similarity index 100%
rename from src/drivers/boards/omnibus-f4sd/usb.c
rename to boards/omnibus/f4sd/src/usb.c
diff --git a/boards/parrot/bebop/default.cmake b/boards/parrot/bebop/default.cmake
new file mode 100644
index 0000000000..ca5c60b567
--- /dev/null
+++ b/boards/parrot/bebop/default.cmake
@@ -0,0 +1,64 @@
+
+px4_add_board(
+ VENDOR parrot
+ MODEL bebop
+ PLATFORM posix
+ ARCH cortex-a53
+ TOOLCHAIN Toolchain-arm-linux-gnueabihf
+
+ DRIVERS
+ gps
+ linux_sbus
+ pwm_out_sim
+
+ DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
+ ms5607
+ mpu6050
+ ak8963
+ bebop_bus
+ bebop_rangefinder
+ #bebop_flow
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ #fw_att_control
+ #fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ #config
+ esc_calib
+ led_control
+ mixer
+ motor_ramp
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ #tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+ )
diff --git a/src/drivers/boards/sim/CMakeLists.txt b/boards/parrot/bebop/src/CMakeLists.txt
similarity index 94%
rename from src/drivers/boards/sim/CMakeLists.txt
rename to boards/parrot/bebop/src/CMakeLists.txt
index d95d0043bc..0b4ba0d6ac 100644
--- a/src/drivers/boards/sim/CMakeLists.txt
+++ b/boards/parrot/bebop/src/CMakeLists.txt
@@ -30,6 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
+
px4_add_library(drivers_board
- ../common/board_identity.c
+ ${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
)
diff --git a/src/drivers/boards/bebop/board_config.h b/boards/parrot/bebop/src/board_config.h
similarity index 97%
rename from src/drivers/boards/bebop/board_config.h
rename to boards/parrot/bebop/src/board_config.h
index d9a6d0999f..07d6177114 100644
--- a/src/drivers/boards/bebop/board_config.h
+++ b/boards/parrot/bebop/src/board_config.h
@@ -56,4 +56,4 @@
#define PX4_NUMBER_I2C_BUSES 1
#include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
diff --git a/cmake/configs/nuttx_px4cannode-v1_default.cmake b/boards/px4/cannode-v1/default.cmake
similarity index 71%
rename from cmake/configs/nuttx_px4cannode-v1_default.cmake
rename to boards/px4/cannode-v1/default.cmake
index 3db9dfad6c..a139189188 100644
--- a/cmake/configs/nuttx_px4cannode-v1_default.cmake
+++ b/boards/px4/cannode-v1/default.cmake
@@ -4,8 +4,6 @@ add_definitions(
-DPARAM_NO_AUTOSAVE
)
-px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
-
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
@@ -15,16 +13,19 @@ add_definitions(
)
# Bring in common uavcan hardware identity definitions
-include(common/px4_git)
+include(px4_git)
px4_add_git_submodule(TARGET git_uavcan_board_ident PATH "cmake/configs/uavcan_board_ident")
include(configs/uavcan_board_ident/px4cannode-v1)
+
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
-px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
+include(px4_make_uavcan_bootloader)
+px4_make_uavcan_bootloadable(
+ BOARD px4cannode-v1
BIN ${PX4_BINARY_DIR}/px4cannode-v1.bin
HWNAME ${uavcanblid_name}
HW_MAJOR ${uavcanblid_hw_version_major}
@@ -33,24 +34,23 @@ px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
SW_MINOR ${uavcanblid_sw_version_minor}
)
-set(config_module_list
- #
- # Board support modules
- #
- drivers/bootloaders
- drivers/stm32
-
- #
- # System commands
- #
- systemcmds/config
- systemcmds/reboot
- systemcmds/top
- systemcmds/ver
-
- #
- # General system control
- #
- modules/uavcannode
-
-)
\ No newline at end of file
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL cannode-v1
+ ARCH cortex-m3
+
+ DRIVERS
+ bootloaders
+ stm32
+
+ MODULES
+ uavcannode
+
+ SYSTEMCMDS
+ config
+ reboot
+ top
+ ver
+
+ )
diff --git a/platforms/nuttx/Images/px4cannode-v1.prototype b/boards/px4/cannode-v1/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/px4cannode-v1.prototype
rename to boards/px4/cannode-v1/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/px4cannode-v1/Kconfig b/boards/px4/cannode-v1/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4cannode-v1/Kconfig
rename to boards/px4/cannode-v1/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/px4cannode-v1/include/README.txt b/boards/px4/cannode-v1/nuttx-config/include/README.txt
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4cannode-v1/include/README.txt
rename to boards/px4/cannode-v1/nuttx-config/include/README.txt
diff --git a/platforms/nuttx/nuttx-configs/px4cannode-v1/include/board.h b/boards/px4/cannode-v1/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4cannode-v1/include/board.h
rename to boards/px4/cannode-v1/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4cannode-v1/nsh/defconfig b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4cannode-v1/nsh/defconfig
rename to boards/px4/cannode-v1/nuttx-config/nsh/defconfig
diff --git a/platforms/nuttx/nuttx-configs/px4cannode-v1/nsh/defconfig.nonsh b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig.nonsh
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4cannode-v1/nsh/defconfig.nonsh
rename to boards/px4/cannode-v1/nuttx-config/nsh/defconfig.nonsh
diff --git a/platforms/nuttx/nuttx-configs/px4cannode-v1/nsh/defconfig.nsh b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig.nsh
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4cannode-v1/nsh/defconfig.nsh
rename to boards/px4/cannode-v1/nuttx-config/nsh/defconfig.nsh
diff --git a/platforms/nuttx/nuttx-configs/px4cannode-v1/scripts/ld.script b/boards/px4/cannode-v1/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4cannode-v1/scripts/ld.script
rename to boards/px4/cannode-v1/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/px4cannode-v1/CMakeLists.txt b/boards/px4/cannode-v1/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4cannode-v1/CMakeLists.txt
rename to boards/px4/cannode-v1/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4cannode-v1/board_config.h b/boards/px4/cannode-v1/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4cannode-v1/board_config.h
rename to boards/px4/cannode-v1/src/board_config.h
index 496b0e5a87..4b777416a6 100644
--- a/src/drivers/boards/px4cannode-v1/board_config.h
+++ b/boards/px4/cannode-v1/src/board_config.h
@@ -283,7 +283,7 @@ int usbmsc_archinitialize(void);
extern int composite_archinitialize(void);
#endif
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4cannode-v1/buttons.c b/boards/px4/cannode-v1/src/buttons.c
similarity index 100%
rename from src/drivers/boards/px4cannode-v1/buttons.c
rename to boards/px4/cannode-v1/src/buttons.c
diff --git a/src/drivers/boards/px4cannode-v1/can.c b/boards/px4/cannode-v1/src/can.c
similarity index 100%
rename from src/drivers/boards/px4cannode-v1/can.c
rename to boards/px4/cannode-v1/src/can.c
diff --git a/src/drivers/boards/px4cannode-v1/init.c b/boards/px4/cannode-v1/src/init.c
similarity index 100%
rename from src/drivers/boards/px4cannode-v1/init.c
rename to boards/px4/cannode-v1/src/init.c
diff --git a/src/drivers/boards/px4cannode-v1/led.c b/boards/px4/cannode-v1/src/led.c
similarity index 100%
rename from src/drivers/boards/px4cannode-v1/led.c
rename to boards/px4/cannode-v1/src/led.c
diff --git a/src/drivers/boards/px4cannode-v1/spi.c b/boards/px4/cannode-v1/src/spi.c
similarity index 100%
rename from src/drivers/boards/px4cannode-v1/spi.c
rename to boards/px4/cannode-v1/src/spi.c
diff --git a/cmake/configs/nuttx_px4esc-v1_default.cmake b/boards/px4/esc-v1/default.cmake
similarity index 62%
rename from cmake/configs/nuttx_px4esc-v1_default.cmake
rename to boards/px4/esc-v1/default.cmake
index 56b187cef1..8694b3f275 100644
--- a/cmake/configs/nuttx_px4esc-v1_default.cmake
+++ b/boards/px4/esc-v1/default.cmake
@@ -6,8 +6,6 @@ add_definitions(
-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)
@@ -17,16 +15,19 @@ add_definitions(
)
# Bring in common uavcan hardware identity definitions
-include(common/px4_git)
+include(px4_git)
px4_add_git_submodule(TARGET git_uavcan_board_ident PATH "cmake/configs/uavcan_board_ident")
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}
+include(px4_make_uavcan_bootloader)
+px4_make_uavcan_bootloadable(
+ BOARD px4esc-v1
BIN ${PX4_BINARY_DIR}/px4esc-v1.bin
HWNAME ${uavcanblid_name}
HW_MAJOR ${uavcanblid_hw_version_major}
@@ -35,31 +36,30 @@ px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
SW_MINOR ${uavcanblid_sw_version_minor}
)
-set(config_module_list
- #
- # Board support modules
- #
- drivers/bootloaders
- drivers/stm32
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL esc-v1
+ ARCH cortex-m4
- #
- # System commands
- #
- systemcmds/config
- systemcmds/reboot
- systemcmds/top
- systemcmds/param
- systemcmds/ver
+ DRIVERS
+ bootloaders
+ stm32
- #
- # 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
+ uavcanesc/nshterm
+ uavcanesc/commands/cfg
+ uavcanesc/commands/selftest
+ uavcanesc/commands/dc
+ uavcanesc/commands/rpm
+ uavcanesc/commands/stat
-)
\ No newline at end of file
+ SYSTEMCMDS
+ config
+ reboot
+ param
+ top
+ ver
+
+ )
diff --git a/platforms/nuttx/Images/px4esc-v1.prototype b/boards/px4/esc-v1/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/px4esc-v1.prototype
rename to boards/px4/esc-v1/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/px4esc-v1/Kconfig b/boards/px4/esc-v1/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4esc-v1/Kconfig
rename to boards/px4/esc-v1/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/px4esc-v1/include/README.txt b/boards/px4/esc-v1/nuttx-config/include/README.txt
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4esc-v1/include/README.txt
rename to boards/px4/esc-v1/nuttx-config/include/README.txt
diff --git a/platforms/nuttx/nuttx-configs/px4esc-v1/include/board.h b/boards/px4/esc-v1/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4esc-v1/include/board.h
rename to boards/px4/esc-v1/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4esc-v1/nsh/defconfig b/boards/px4/esc-v1/nuttx-config/nsh/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4esc-v1/nsh/defconfig
rename to boards/px4/esc-v1/nuttx-config/nsh/defconfig
diff --git a/platforms/nuttx/nuttx-configs/px4esc-v1/scripts/ld.script b/boards/px4/esc-v1/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4esc-v1/scripts/ld.script
rename to boards/px4/esc-v1/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/px4esc-v1/CMakeLists.txt b/boards/px4/esc-v1/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4esc-v1/CMakeLists.txt
rename to boards/px4/esc-v1/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4esc-v1/board_config.h b/boards/px4/esc-v1/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4esc-v1/board_config.h
rename to boards/px4/esc-v1/src/board_config.h
index 28b9d39cab..33cc7875c7 100644
--- a/src/drivers/boards/px4esc-v1/board_config.h
+++ b/boards/px4/esc-v1/src/board_config.h
@@ -356,7 +356,7 @@ int usbmsc_archinitialize(void);
extern int composite_archinitialize(void);
#endif
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4esc-v1/init.c b/boards/px4/esc-v1/src/init.c
similarity index 100%
rename from src/drivers/boards/px4esc-v1/init.c
rename to boards/px4/esc-v1/src/init.c
diff --git a/src/drivers/boards/px4esc-v1/led.c b/boards/px4/esc-v1/src/led.c
similarity index 100%
rename from src/drivers/boards/px4esc-v1/led.c
rename to boards/px4/esc-v1/src/led.c
diff --git a/src/drivers/boards/px4esc-v1/usb.c b/boards/px4/esc-v1/src/usb.c
similarity index 100%
rename from src/drivers/boards/px4esc-v1/usb.c
rename to boards/px4/esc-v1/src/usb.c
diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake
new file mode 100644
index 0000000000..0331448acb
--- /dev/null
+++ b/boards/px4/fmu-v2/default.cmake
@@ -0,0 +1,121 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v2
+ LABEL default
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
+ IO px4io-v2_default
+ #TESTING
+ CONSTRAINED_FLASH
+ #UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ barometer/ms5611
+ #batt_smbus
+ #blinkm
+ #camera_trigger
+ #differential_pressure # all available differential pressure drivers
+ differential_pressure/ms4525
+ #distance_sensor # all available distance sensor drivers
+ distance_sensor/ll40ls
+ distance_sensor/sf0x
+ gps
+ #heater
+ #imu # all available imu drivers
+ #imu/adis16448
+ imu/l3gd20
+ imu/lsm303d
+ imu/mpu6000
+ imu/mpu9250
+ #iridiumsbd
+ #irlock
+ #magnetometer # all available magnetometer drivers
+ magnetometer/hmc5883
+ #mkblctrl
+ #oreoled
+ #protocol_splitter
+ #pca9685
+ #pwm_input
+ #pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ #tap_esc
+ #telemetry # all available telemetry drivers
+ #test_ppm
+ vmount
+
+ MODULES
+ #attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ #landing_target_estimator
+ load_mon
+ #local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ #position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ #wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ #config
+ #dumpfile
+ #esc_calib
+ hardfault_log
+ #led_control
+ mixer
+ #motor_ramp
+ #motor_test
+ mtd
+ #nshterm
+ param
+ perf
+ pwm
+ reboot
+ #sd_bench
+ #tests # tests and test runner
+ top
+ #topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ )
diff --git a/platforms/nuttx/Images/px4fmu-v2.prototype b/boards/px4/fmu-v2/firmware.prototype
similarity index 52%
rename from platforms/nuttx/Images/px4fmu-v2.prototype
rename to boards/px4/fmu-v2/firmware.prototype
index 07362b57c5..f60598196c 100644
--- a/platforms/nuttx/Images/px4fmu-v2.prototype
+++ b/boards/px4/fmu-v2/firmware.prototype
@@ -1,9 +1,9 @@
{
- "board_id": 9,
- "magic": "PX4FWv1",
- "description": "Firmware for the PX4FMUv2 board",
- "image": "",
- "build_time": 0,
+ "board_id": 9,
+ "magic": "PX4FWv1",
+ "description": "Firmware for the PX4FMUv2 board",
+ "image": "",
+ "build_time": 0,
"summary": "PX4FMUv2",
"version": "0.1",
"image_size": 0,
diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake
new file mode 100644
index 0000000000..0877a4a327
--- /dev/null
+++ b/boards/px4/fmu-v2/lpe.cmake
@@ -0,0 +1,118 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v2
+ LABEL lpe
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
+ IO px4io-v2_default
+ #TESTING
+ #UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ barometer/ms5611
+ #batt_smbus
+ #blinkm
+ camera_trigger
+ #differential_pressure # all available differential pressure drivers
+ #differential_pressure/ms4525
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ #imu/adis16448
+ imu/l3gd20
+ imu/lsm303d
+ imu/mpu6000
+ #imu/mpu9250
+ #iridiumsbd
+ irlock
+ #magnetometer # all available magnetometer drivers
+ magnetometer/hmc5883
+ #mkblctrl
+ #oreoled
+ #protocol_splitter
+ #pca9685
+ #pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ #tap_esc
+ #telemetry # all available telemetry drivers
+ #test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ #ekf2
+ events
+ #fw_att_control
+ #fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ #position_estimator_inav
+ sensors
+ #uavcan
+ #vtol_att_control
+ #wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ #config
+ #dumpfile
+ #esc_calib
+ hardfault_log
+ #led_control
+ mixer
+ #motor_ramp
+ motor_test
+ mtd
+ #nshterm
+ param
+ perf
+ pwm
+ reboot
+ #sd_bench
+ #tests # tests and test runner
+ top
+ #topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ )
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v2/Kconfig b/boards/px4/fmu-v2/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v2/Kconfig
rename to boards/px4/fmu-v2/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v2/include/board.h b/boards/px4/fmu-v2/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v2/include/board.h
rename to boards/px4/fmu-v2/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v2/nsh/defconfig b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v2/nsh/defconfig
rename to boards/px4/fmu-v2/nuttx-config/nsh/defconfig
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v2/scripts/ld.script b/boards/px4/fmu-v2/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v2/scripts/ld.script
rename to boards/px4/fmu-v2/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/px4fmu-v2/CMakeLists.txt b/boards/px4/fmu-v2/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/CMakeLists.txt
rename to boards/px4/fmu-v2/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/boards/px4/fmu-v2/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4fmu-v2/board_config.h
rename to boards/px4/fmu-v2/src/board_config.h
index e3da7692c2..bce4f8f6e4 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/boards/px4/fmu-v2/src/board_config.h
@@ -562,7 +562,7 @@ extern void board_peripheral_reset(int ms);
extern void stm32_usbinitialize(void);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4fmu-v2/can.c b/boards/px4/fmu-v2/src/can.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/can.c
rename to boards/px4/fmu-v2/src/can.c
diff --git a/src/drivers/boards/px4fmu-v2/i2c.c b/boards/px4/fmu-v2/src/i2c.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/i2c.c
rename to boards/px4/fmu-v2/src/i2c.c
diff --git a/src/drivers/boards/px4fmu-v2/init.c b/boards/px4/fmu-v2/src/init.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/init.c
rename to boards/px4/fmu-v2/src/init.c
diff --git a/src/drivers/boards/px4fmu-v2/led.c b/boards/px4/fmu-v2/src/led.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/led.c
rename to boards/px4/fmu-v2/src/led.c
diff --git a/src/drivers/boards/px4fmu-v2/manifest.c b/boards/px4/fmu-v2/src/manifest.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/manifest.c
rename to boards/px4/fmu-v2/src/manifest.c
diff --git a/src/drivers/boards/px4fmu-v2/spi.c b/boards/px4/fmu-v2/src/spi.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/spi.c
rename to boards/px4/fmu-v2/src/spi.c
diff --git a/src/drivers/boards/px4fmu-v2/timer_config.c b/boards/px4/fmu-v2/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/timer_config.c
rename to boards/px4/fmu-v2/src/timer_config.c
diff --git a/src/drivers/boards/px4fmu-v2/usb.c b/boards/px4/fmu-v2/src/usb.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v2/usb.c
rename to boards/px4/fmu-v2/src/usb.c
diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake
new file mode 100644
index 0000000000..5c032c3e01
--- /dev/null
+++ b/boards/px4/fmu-v2/test.cmake
@@ -0,0 +1,119 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v2
+ LABEL test
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_test
+ IO px4io-v2_default
+ TESTING
+ #UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ barometer/ms5611
+ #batt_smbus
+ #blinkm
+ camera_trigger
+ #differential_pressure # all available differential pressure drivers
+ differential_pressure/ms4525
+ #distance_sensor # all available distance sensor drivers
+ distance_sensor/ll40ls
+ distance_sensor/sf0x
+ gps
+ #heater
+ #imu # all available imu drivers
+ #imu/adis16448
+ imu/l3gd20
+ imu/lsm303d
+ imu/mpu6000
+ imu/mpu9250
+ #iridiumsbd
+ #irlock
+ #magnetometer # all available magnetometer drivers
+ magnetometer/hmc5883
+ #mkblctrl
+ #oreoled
+ #protocol_splitter
+ #pca9685
+ #pwm_input
+ #pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ #tap_esc
+ #telemetry # all available telemetry drivers
+ #test_ppm
+ vmount
+
+ MODULES
+ #attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ #ekf2
+ events
+ #fw_att_control
+ #fw_pos_control_l1
+ #gnd_att_control
+ #gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ #local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ #position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ #wind_estimator
+
+ SYSTEMCMDS
+ #bl_update
+ #config
+ #dumpfile
+ #esc_calib
+ hardfault_log
+ #led_control
+ mixer
+ #motor_ramp
+ motor_test
+ mtd
+ #nshterm
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ tests # tests and test runner
+ top
+ #topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ )
diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
new file mode 100644
index 0000000000..b2646ad6d0
--- /dev/null
+++ b/boards/px4/fmu-v3/default.cmake
@@ -0,0 +1,129 @@
+
+# FMUv3 is FMUv2 with access to the full 2MB flash
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v3
+ LABEL default
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/adis16448
+ imu/l3gd20
+ imu/lsm303d
+ imu/mpu6000
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ #pmw3901
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ rgbled_ncp5623c
+ #rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/px4fmu-v3.prototype b/boards/px4/fmu-v3/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/px4fmu-v3.prototype
rename to boards/px4/fmu-v3/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/Kconfig b/boards/px4/fmu-v3/nuttx-config/Kconfig
similarity index 94%
rename from platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/Kconfig
rename to boards/px4/fmu-v3/nuttx-config/Kconfig
index eab8596bb6..f9f0c5e6a8 100644
--- a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/Kconfig
+++ b/boards/px4/fmu-v3/nuttx-config/Kconfig
@@ -3,7 +3,7 @@
# see misc/tools/kconfig-language.txt.
#
-if ARCH_BOARD_PX4NUCLEOF767ZI_V1
+if ARCH_BOARD_PX4FMU_V2
config BOARD_HAS_PROBES
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
diff --git a/platforms/nuttx/nuttx-configs/px4flow-v2/include/board.h b/boards/px4/fmu-v3/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 62%
rename from platforms/nuttx/nuttx-configs/px4flow-v2/include/board.h
rename to boards/px4/fmu-v3/nuttx-config/include/board.h
index 94dbf98b7e..827d4f1221
--- a/platforms/nuttx/nuttx-configs/px4flow-v2/include/board.h
+++ b/boards/px4/fmu-v3/nuttx-config/include/board.h
@@ -1,9 +1,9 @@
/************************************************************************************
- * nuttx-configs/px4flow-v2/include/board.h
+ * nuttx-configs/px4fmu-v3/include/board.h
+ * include/arch/board/board.h
*
- * Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ * Copyright (C) 2009 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
- * David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -34,28 +34,26 @@
*
************************************************************************************/
-#ifndef __CONFIGS_PX4FLOW_V2_INCLUDE_BOARD_H
-#define __CONFIGS_PX4FLOW_V2_INCLUDE_BOARD_H
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
-
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
-#include "stm32_rcc.h"
-#include "stm32_sdio.h"
-#include "stm32.h"
+
+#include <stm32.h>
/************************************************************************************
- * Pre-processor Definitions
+ * Definitions
************************************************************************************/
/* Clocking *************************************************************************/
-/* The PX4FLOW uses a 24MHz crystal connected to the HSE.
+/* The PX4FMUV2 uses a 24MHz crystal connected to the HSE.
*
* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
* System Clock source : PLL (HSE)
@@ -167,79 +165,160 @@
#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
+ * to service FIFOs in interrupt driven mode. These values have not been
+ * tuned!!!
+ *
+ * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
+ */
-/* Leds *************************************************************************/
+#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
-/* LED index values for use with board_setled() */
+/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
-#define BOARD_LED1 0
-#define BOARD_LED_RED BOARD_LED1
-#define BOARD_LED2 1
-#define BOARD_LED_GREEN BOARD_LED2
-#define BOARD_LED3 2
-#define BOARD_LED_BLUE BOARD_LED3
-#define BOARD_NLEDS 3
+#ifdef CONFIG_STM32_SDIO_DMA
+# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
-/* LED bits for use with board_setleds() */
+/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
-#define BOARD_LED_RED_BIT (1 << BOARD_LED_RED)
-#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN)
-#define BOARD_LED_BLUE_BIT (1 << BOARD_LED_BLUE)
+#ifdef CONFIG_STM32_SDIO_DMA
+# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
-/* TODO:define these
- * These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
- *
- * defined. In that case, the usage by the board port is as follows:
- *
- * SYMBOL Meaning LED state
- * Red Green Blue
- * ------------------------ -------------------------- ------ ------ ----*/
-
-#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
-#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
-#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
-#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
-#define LED_INIRQ 4 /* In an interrupt N/C GLOW N/C */
-#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
-#define LED_ASSERTION 6 /* An assertion failed GLOW GLOW N/C */
-#define LED_PANIC 7 /* The system has crashed Blk OFF N/C */
-#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
-
-/*
- * Thus if the blue is statically on, NuttX has successfully booted and is,
- * apparently, running normally. If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
+/* DMA Channl/Stream Selections *****************************************************/
+/* Stream selections are arbitrary for now but might become important in the future
+ * is we set aside more DMA channels/streams.
*
+ * SDIO DMA
+ * Â DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
+ * Â DMAMAP_SDIO_2 = Channel 4, Stream 6
*/
+#define DMAMAP_SDIO DMAMAP_SDIO_1
+
/* 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 */
+
+#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_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_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
*
* 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
+ *
+ * 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
+ *
+ * There are sensors on SPI1, and SPI2 is connected to the FRAM.
+ */
+
+#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_50MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTC | GPIO_PIN2)
-# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTC | GPIO_PIN4)
-# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTC | GPIO_PIN5)
+# 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); } \
- } while(0)
+ 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)
@@ -249,6 +328,8 @@
# define PROBE_MARK(n)
#endif
+
+
/************************************************************************************
* Public Data
************************************************************************************/
@@ -258,8 +339,7 @@
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
-extern "C"
-{
+extern "C" {
#else
#define EXTERN extern
#endif
@@ -277,29 +357,7 @@ extern "C"
*
************************************************************************************/
-void stm32_boardinitialize(void);
-
-/************************************************************************************
- * Name: stm32_ledinit, stm32_setled, and stm32_setleds
- *
- * Description:
- * If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
- * CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to
- * control the LEDs from user applications.
- *
- ************************************************************************************/
-
-#ifndef CONFIG_ARCH_LEDS
-void stm32_led_initialize(void);
-void stm32_setled(int led, bool ledon);
-void stm32_setleds(uint8_t ledset);
-#endif
-
-#if !defined(CONFIG_NSH_LIBRARY)
-int app_archinitialize(void);
-#else
-#define app_archinitialize() (-ENOSYS)
-#endif
+EXTERN void stm32_boardinitialize(void);
#undef EXTERN
#if defined(__cplusplus)
@@ -307,4 +365,4 @@ int app_archinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
-#endif /* __CONFIGS_PX4FLOW_V2_INCLUDE_BOARD_H */
+#endif /* __ARCH_BOARD_BOARD_H */
diff --git a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
new file mode 100644
index 0000000000..629b05cbfe
--- /dev/null
+++ b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
@@ -0,0 +1,1688 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Nuttx/ Configuration
+#
+
+#
+# Build Setup
+#
+# CONFIG_EXPERIMENTAL is not set
+# CONFIG_DEFAULT_SMALL is not set
+CONFIG_HOST_LINUX=y
+# CONFIG_HOST_OSX is not set
+# CONFIG_HOST_WINDOWS is not set
+# CONFIG_HOST_OTHER is not set
+
+#
+# Build Configuration
+#
+CONFIG_APPS_DIR="../apps"
+CONFIG_BUILD_FLAT=y
+# CONFIG_BUILD_2PASS is not set
+
+#
+# Binary Output Formats
+#
+# CONFIG_RRLOAD_BINARY is not set
+# CONFIG_INTELHEX_BINARY is not set
+# CONFIG_MOTOROLA_SREC is not set
+CONFIG_RAW_BINARY=y
+# CONFIG_UBOOT_UIMAGE is not set
+# CONFIG_DFU_BINARY is not set
+
+#
+# Customize Header Files
+#
+# CONFIG_ARCH_STDINT_H is not set
+# CONFIG_ARCH_STDBOOL_H is not set
+CONFIG_ARCH_MATH_H=y
+# CONFIG_ARCH_FLOAT_H is not set
+# CONFIG_ARCH_STDARG_H is not set
+# CONFIG_ARCH_DEBUG_H is not set
+
+#
+# Debug Options
+#
+CONFIG_DEBUG_ALERT=y
+# CONFIG_DEBUG_FEATURES is not set
+CONFIG_ARCH_HAVE_STACKCHECK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_ARCH_HAVE_HEAPCHECK=y
+# CONFIG_HEAP_COLORATION is not set
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_ARCH_HAVE_CUSTOMOPT=y
+CONFIG_DEBUG_NOOPT=y
+# CONFIG_DEBUG_CUSTOMOPT is not set
+# CONFIG_DEBUG_FULLOPT is not set
+
+#
+# System Type
+#
+CONFIG_ARCH_ARM=y
+# CONFIG_ARCH_AVR is not set
+# CONFIG_ARCH_HC is not set
+# CONFIG_ARCH_MIPS is not set
+# CONFIG_ARCH_MISOC is not set
+# CONFIG_ARCH_RENESAS is not set
+# CONFIG_ARCH_RISCV is not set
+# CONFIG_ARCH_SIM is not set
+# CONFIG_ARCH_X86 is not set
+# CONFIG_ARCH_XTENSA is not set
+# CONFIG_ARCH_Z16 is not set
+# CONFIG_ARCH_Z80 is not set
+CONFIG_ARCH="arm"
+
+#
+# ARM Options
+#
+# CONFIG_ARCH_CHIP_A1X is not set
+# CONFIG_ARCH_CHIP_C5471 is not set
+# CONFIG_ARCH_CHIP_DM320 is not set
+# CONFIG_ARCH_CHIP_EFM32 is not set
+# CONFIG_ARCH_CHIP_IMX1 is not set
+# CONFIG_ARCH_CHIP_IMX6 is not set
+# CONFIG_ARCH_CHIP_KINETIS is not set
+# CONFIG_ARCH_CHIP_KL is not set
+# CONFIG_ARCH_CHIP_LC823450 is not set
+# CONFIG_ARCH_CHIP_LM is not set
+# CONFIG_ARCH_CHIP_TIVA is not set
+# CONFIG_ARCH_CHIP_LPC11XX is not set
+# CONFIG_ARCH_CHIP_LPC17XX is not set
+# CONFIG_ARCH_CHIP_LPC214X is not set
+# CONFIG_ARCH_CHIP_LPC2378 is not set
+# CONFIG_ARCH_CHIP_LPC31XX is not set
+# CONFIG_ARCH_CHIP_LPC43XX is not set
+# CONFIG_ARCH_CHIP_MOXART is not set
+# CONFIG_ARCH_CHIP_NUC1XX is not set
+# CONFIG_ARCH_CHIP_SAMA5 is not set
+# CONFIG_ARCH_CHIP_SAMD is not set
+# CONFIG_ARCH_CHIP_SAML is not set
+# CONFIG_ARCH_CHIP_SAM34 is not set
+# CONFIG_ARCH_CHIP_SAMV7 is not set
+CONFIG_ARCH_CHIP_STM32=y
+# CONFIG_ARCH_CHIP_STM32F0 is not set
+# CONFIG_ARCH_CHIP_STM32F7 is not set
+# CONFIG_ARCH_CHIP_STM32L4 is not set
+# CONFIG_ARCH_CHIP_STR71X is not set
+# CONFIG_ARCH_CHIP_TMS570 is not set
+# CONFIG_ARCH_CHIP_XMC4 is not set
+# CONFIG_ARCH_ARM7TDMI is not set
+# CONFIG_ARCH_ARM920T is not set
+# CONFIG_ARCH_ARM926EJS is not set
+# CONFIG_ARCH_ARM1136J is not set
+# CONFIG_ARCH_ARM1156T2 is not set
+# CONFIG_ARCH_ARM1176JZ is not set
+# CONFIG_ARCH_CORTEXM0 is not set
+# CONFIG_ARCH_CORTEXM23 is not set
+# CONFIG_ARCH_CORTEXM3 is not set
+# CONFIG_ARCH_CORTEXM33 is not set
+CONFIG_ARCH_CORTEXM4=y
+# CONFIG_ARCH_CORTEXM7 is not set
+# CONFIG_ARCH_CORTEXA5 is not set
+# CONFIG_ARCH_CORTEXA8 is not set
+# CONFIG_ARCH_CORTEXA9 is not set
+# CONFIG_ARCH_CORTEXR4 is not set
+# CONFIG_ARCH_CORTEXR4F is not set
+# CONFIG_ARCH_CORTEXR5 is not set
+# CONFIG_ARCH_CORTEXR5F is not set
+# CONFIG_ARCH_CORTEXR7 is not set
+# CONFIG_ARCH_CORTEXR7F is not set
+CONFIG_ARCH_FAMILY="armv7-m"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+CONFIG_ARMV7M_CMNVECTOR=y
+# CONFIG_ARMV7M_LAZYFPU is not set
+CONFIG_ARCH_HAVE_FPU=y
+# CONFIG_ARCH_HAVE_DPFPU is not set
+CONFIG_ARCH_FPU=y
+# CONFIG_ARCH_HAVE_TRUSTZONE is not set
+CONFIG_ARM_HAVE_MPU_UNIFIED=y
+# CONFIG_ARM_MPU is not set
+
+#
+# ARMV7M Configuration Options
+#
+# CONFIG_ARMV7M_HAVE_ICACHE is not set
+# CONFIG_ARMV7M_HAVE_DCACHE is not set
+# CONFIG_ARMV7M_HAVE_ITCM is not set
+# CONFIG_ARMV7M_HAVE_DTCM is not set
+# CONFIG_ARMV7M_TOOLCHAIN_IARL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
+# CONFIG_ARMV7M_TOOLCHAIN_CLANGL is not set
+CONFIG_ARMV7M_HAVE_STACKCHECK=y
+# CONFIG_ARMV7M_STACKCHECK is not set
+# CONFIG_ARMV7M_ITMSYSLOG is not set
+CONFIG_SERIAL_TERMIOS=y
+
+#
+# STM32 Configuration Options
+#
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
+# CONFIG_ARCH_CHIP_STM32L152CC is not set
+# CONFIG_ARCH_CHIP_STM32L152RC is not set
+# CONFIG_ARCH_CHIP_STM32L152VC is not set
+# CONFIG_ARCH_CHIP_STM32L162ZD is not set
+# CONFIG_ARCH_CHIP_STM32L162VE is not set
+# CONFIG_ARCH_CHIP_STM32F100C8 is not set
+# CONFIG_ARCH_CHIP_STM32F100CB is not set
+# CONFIG_ARCH_CHIP_STM32F100R8 is not set
+# CONFIG_ARCH_CHIP_STM32F100RB is not set
+# CONFIG_ARCH_CHIP_STM32F100RC is not set
+# CONFIG_ARCH_CHIP_STM32F100RD is not set
+# CONFIG_ARCH_CHIP_STM32F100RE is not set
+# CONFIG_ARCH_CHIP_STM32F100V8 is not set
+# CONFIG_ARCH_CHIP_STM32F100VB is not set
+# CONFIG_ARCH_CHIP_STM32F100VC is not set
+# CONFIG_ARCH_CHIP_STM32F100VD is not set
+# CONFIG_ARCH_CHIP_STM32F100VE is not set
+# CONFIG_ARCH_CHIP_STM32F102CB is not set
+# CONFIG_ARCH_CHIP_STM32F103T8 is not set
+# CONFIG_ARCH_CHIP_STM32F103TB is not set
+# CONFIG_ARCH_CHIP_STM32F103C4 is not set
+# CONFIG_ARCH_CHIP_STM32F103C8 is not set
+# CONFIG_ARCH_CHIP_STM32F103CB is not set
+# CONFIG_ARCH_CHIP_STM32F103R8 is not set
+# CONFIG_ARCH_CHIP_STM32F103RB is not set
+# CONFIG_ARCH_CHIP_STM32F103RC is not set
+# CONFIG_ARCH_CHIP_STM32F103RD is not set
+# CONFIG_ARCH_CHIP_STM32F103RE is not set
+# CONFIG_ARCH_CHIP_STM32F103RG is not set
+# CONFIG_ARCH_CHIP_STM32F103V8 is not set
+# CONFIG_ARCH_CHIP_STM32F103VB is not set
+# CONFIG_ARCH_CHIP_STM32F103VC is not set
+# CONFIG_ARCH_CHIP_STM32F103VE is not set
+# CONFIG_ARCH_CHIP_STM32F103ZE is not set
+# CONFIG_ARCH_CHIP_STM32F105VB is not set
+# CONFIG_ARCH_CHIP_STM32F105RB is not set
+# CONFIG_ARCH_CHIP_STM32F107VC is not set
+# CONFIG_ARCH_CHIP_STM32F205RG is not set
+# CONFIG_ARCH_CHIP_STM32F207IG is not set
+# CONFIG_ARCH_CHIP_STM32F207ZE is not set
+# CONFIG_ARCH_CHIP_STM32F302K6 is not set
+# CONFIG_ARCH_CHIP_STM32F302K8 is not set
+# CONFIG_ARCH_CHIP_STM32F302CB is not set
+# CONFIG_ARCH_CHIP_STM32F302CC is not set
+# CONFIG_ARCH_CHIP_STM32F302RB is not set
+# CONFIG_ARCH_CHIP_STM32F302RC is not set
+# CONFIG_ARCH_CHIP_STM32F302VB is not set
+# CONFIG_ARCH_CHIP_STM32F302VC is not set
+# CONFIG_ARCH_CHIP_STM32F303K6 is not set
+# CONFIG_ARCH_CHIP_STM32F303K8 is not set
+# CONFIG_ARCH_CHIP_STM32F303C6 is not set
+# CONFIG_ARCH_CHIP_STM32F303C8 is not set
+# CONFIG_ARCH_CHIP_STM32F303CB is not set
+# CONFIG_ARCH_CHIP_STM32F303CC is not set
+# CONFIG_ARCH_CHIP_STM32F303RB is not set
+# CONFIG_ARCH_CHIP_STM32F303RC is not set
+# CONFIG_ARCH_CHIP_STM32F303RD is not set
+# CONFIG_ARCH_CHIP_STM32F303RE is not set
+# CONFIG_ARCH_CHIP_STM32F303VB is not set
+# CONFIG_ARCH_CHIP_STM32F303VC is not set
+# CONFIG_ARCH_CHIP_STM32F334K4 is not set
+# CONFIG_ARCH_CHIP_STM32F334K6 is not set
+# CONFIG_ARCH_CHIP_STM32F334K8 is not set
+# CONFIG_ARCH_CHIP_STM32F334C4 is not set
+# CONFIG_ARCH_CHIP_STM32F334C6 is not set
+# CONFIG_ARCH_CHIP_STM32F334C8 is not set
+# CONFIG_ARCH_CHIP_STM32F334R4 is not set
+# CONFIG_ARCH_CHIP_STM32F334R6 is not set
+# CONFIG_ARCH_CHIP_STM32F334R8 is not set
+# CONFIG_ARCH_CHIP_STM32F372C8 is not set
+# CONFIG_ARCH_CHIP_STM32F372R8 is not set
+# CONFIG_ARCH_CHIP_STM32F372V8 is not set
+# CONFIG_ARCH_CHIP_STM32F372CB is not set
+# CONFIG_ARCH_CHIP_STM32F372RB is not set
+# CONFIG_ARCH_CHIP_STM32F372VB is not set
+# CONFIG_ARCH_CHIP_STM32F372CC is not set
+# CONFIG_ARCH_CHIP_STM32F372RC is not set
+# CONFIG_ARCH_CHIP_STM32F372VC is not set
+# CONFIG_ARCH_CHIP_STM32F373C8 is not set
+# CONFIG_ARCH_CHIP_STM32F373R8 is not set
+# CONFIG_ARCH_CHIP_STM32F373V8 is not set
+# CONFIG_ARCH_CHIP_STM32F373CB is not set
+# CONFIG_ARCH_CHIP_STM32F373RB is not set
+# CONFIG_ARCH_CHIP_STM32F373VB is not set
+# CONFIG_ARCH_CHIP_STM32F373CC is not set
+# CONFIG_ARCH_CHIP_STM32F373RC is not set
+# CONFIG_ARCH_CHIP_STM32F373VC is not set
+# CONFIG_ARCH_CHIP_STM32F401RE is not set
+# CONFIG_ARCH_CHIP_STM32F410RB is not set
+# CONFIG_ARCH_CHIP_STM32F411RE is not set
+# CONFIG_ARCH_CHIP_STM32F411VE is not set
+# CONFIG_ARCH_CHIP_STM32F405RG is not set
+# CONFIG_ARCH_CHIP_STM32F405VG is not set
+# CONFIG_ARCH_CHIP_STM32F405ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407VE is not set
+# CONFIG_ARCH_CHIP_STM32F407VG is not set
+# CONFIG_ARCH_CHIP_STM32F407ZE is not set
+# CONFIG_ARCH_CHIP_STM32F407ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407IE is not set
+# CONFIG_ARCH_CHIP_STM32F407IG is not set
+CONFIG_ARCH_CHIP_STM32F427V=y
+# CONFIG_ARCH_CHIP_STM32F427Z is not set
+# CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_ARCH_CHIP_STM32F429V is not set
+# CONFIG_ARCH_CHIP_STM32F429Z is not set
+# CONFIG_ARCH_CHIP_STM32F429I is not set
+# CONFIG_ARCH_CHIP_STM32F429B is not set
+# CONFIG_ARCH_CHIP_STM32F429N is not set
+# CONFIG_ARCH_CHIP_STM32F446M is not set
+# CONFIG_ARCH_CHIP_STM32F446R is not set
+# CONFIG_ARCH_CHIP_STM32F446V is not set
+# CONFIG_ARCH_CHIP_STM32F446Z is not set
+# CONFIG_ARCH_CHIP_STM32F469A is not set
+# CONFIG_ARCH_CHIP_STM32F469I is not set
+# CONFIG_ARCH_CHIP_STM32F469B is not set
+# CONFIG_ARCH_CHIP_STM32F469N is not set
+# CONFIG_STM32_FLASH_CONFIG_DEFAULT is not set
+# CONFIG_STM32_FLASH_CONFIG_4 is not set
+# CONFIG_STM32_FLASH_CONFIG_6 is not set
+# CONFIG_STM32_FLASH_CONFIG_8 is not set
+# CONFIG_STM32_FLASH_CONFIG_B is not set
+# CONFIG_STM32_FLASH_CONFIG_C is not set
+# CONFIG_STM32_FLASH_CONFIG_D is not set
+# CONFIG_STM32_FLASH_CONFIG_E is not set
+# CONFIG_STM32_FLASH_CONFIG_F is not set
+# CONFIG_STM32_FLASH_CONFIG_G is not set
+CONFIG_STM32_FLASH_CONFIG_I=y
+# CONFIG_STM32_STM32L15XX is not set
+# CONFIG_STM32_ENERGYLITE is not set
+# CONFIG_STM32_STM32F10XX is not set
+# CONFIG_STM32_VALUELINE is not set
+# CONFIG_STM32_CONNECTIVITYLINE is not set
+# CONFIG_STM32_PERFORMANCELINE is not set
+# CONFIG_STM32_USBACCESSLINE is not set
+# CONFIG_STM32_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F205 is not set
+# CONFIG_STM32_STM32F207 is not set
+# CONFIG_STM32_STM32F30XX is not set
+# CONFIG_STM32_STM32F302 is not set
+# CONFIG_STM32_STM32F303 is not set
+# CONFIG_STM32_STM32F33XX is not set
+# CONFIG_STM32_STM32F37XX is not set
+CONFIG_STM32_STM32F4XXX=y
+# CONFIG_STM32_STM32F401 is not set
+# CONFIG_STM32_STM32F410 is not set
+# CONFIG_STM32_STM32F411 is not set
+# CONFIG_STM32_STM32F405 is not set
+# CONFIG_STM32_STM32F407 is not set
+CONFIG_STM32_STM32F427=y
+# CONFIG_STM32_STM32F429 is not set
+# CONFIG_STM32_STM32F446 is not set
+# CONFIG_STM32_STM32F469 is not set
+# CONFIG_STM32_DFU is not set
+
+#
+# STM32 Peripheral Support
+#
+CONFIG_STM32_HAVE_CCM=y
+# CONFIG_STM32_HAVE_USBDEV is not set
+CONFIG_STM32_HAVE_OTGFS=y
+CONFIG_STM32_HAVE_FSMC=y
+# CONFIG_STM32_HAVE_HRTIM1 is not set
+# CONFIG_STM32_HAVE_LTDC is not set
+CONFIG_STM32_HAVE_USART3=y
+CONFIG_STM32_HAVE_UART4=y
+CONFIG_STM32_HAVE_UART5=y
+CONFIG_STM32_HAVE_USART6=y
+CONFIG_STM32_HAVE_UART7=y
+CONFIG_STM32_HAVE_UART8=y
+CONFIG_STM32_HAVE_TIM1=y
+# CONFIG_STM32_HAVE_TIM2 is not set
+CONFIG_STM32_HAVE_TIM3=y
+CONFIG_STM32_HAVE_TIM4=y
+CONFIG_STM32_HAVE_TIM5=y
+CONFIG_STM32_HAVE_TIM6=y
+CONFIG_STM32_HAVE_TIM7=y
+CONFIG_STM32_HAVE_TIM8=y
+CONFIG_STM32_HAVE_TIM9=y
+CONFIG_STM32_HAVE_TIM10=y
+CONFIG_STM32_HAVE_TIM11=y
+CONFIG_STM32_HAVE_TIM12=y
+CONFIG_STM32_HAVE_TIM13=y
+CONFIG_STM32_HAVE_TIM14=y
+# CONFIG_STM32_HAVE_TIM15 is not set
+# CONFIG_STM32_HAVE_TIM16 is not set
+# CONFIG_STM32_HAVE_TIM17 is not set
+CONFIG_STM32_HAVE_ADC2=y
+CONFIG_STM32_HAVE_ADC3=y
+# CONFIG_STM32_HAVE_ADC4 is not set
+CONFIG_STM32_HAVE_ADC1_DMA=y
+# CONFIG_STM32_HAVE_ADC2_DMA is not set
+# CONFIG_STM32_HAVE_ADC3_DMA is not set
+# CONFIG_STM32_HAVE_ADC4_DMA is not set
+# CONFIG_STM32_HAVE_SDADC1 is not set
+# CONFIG_STM32_HAVE_SDADC2 is not set
+# CONFIG_STM32_HAVE_SDADC3 is not set
+# CONFIG_STM32_HAVE_SDADC1_DMA is not set
+# CONFIG_STM32_HAVE_SDADC2_DMA is not set
+# CONFIG_STM32_HAVE_SDADC3_DMA is not set
+CONFIG_STM32_HAVE_CAN1=y
+CONFIG_STM32_HAVE_CAN2=y
+# CONFIG_STM32_HAVE_COMP1 is not set
+# CONFIG_STM32_HAVE_COMP2 is not set
+# CONFIG_STM32_HAVE_COMP3 is not set
+# CONFIG_STM32_HAVE_COMP4 is not set
+# CONFIG_STM32_HAVE_COMP5 is not set
+# CONFIG_STM32_HAVE_COMP6 is not set
+# CONFIG_STM32_HAVE_COMP7 is not set
+CONFIG_STM32_HAVE_DAC1=y
+CONFIG_STM32_HAVE_DAC2=y
+CONFIG_STM32_HAVE_RNG=y
+CONFIG_STM32_HAVE_ETHMAC=y
+CONFIG_STM32_HAVE_I2C2=y
+CONFIG_STM32_HAVE_I2C3=y
+CONFIG_STM32_HAVE_SPI2=y
+CONFIG_STM32_HAVE_SPI3=y
+CONFIG_STM32_HAVE_I2S3=y
+CONFIG_STM32_HAVE_SPI4=y
+CONFIG_STM32_HAVE_SPI5=y
+CONFIG_STM32_HAVE_SPI6=y
+# CONFIG_STM32_HAVE_SAIPLL is not set
+# CONFIG_STM32_HAVE_I2SPLL is not set
+# CONFIG_STM32_HAVE_OPAMP1 is not set
+# CONFIG_STM32_HAVE_OPAMP2 is not set
+# CONFIG_STM32_HAVE_OPAMP3 is not set
+# CONFIG_STM32_HAVE_OPAMP4 is not set
+CONFIG_STM32_ADC1=y
+# CONFIG_STM32_ADC2 is not set
+# CONFIG_STM32_ADC3 is not set
+CONFIG_STM32_BKPSRAM=y
+# CONFIG_STM32_CAN1 is not set
+# CONFIG_STM32_CAN2 is not set
+CONFIG_STM32_CCMDATARAM=y
+# CONFIG_STM32_CRC is not set
+# CONFIG_STM32_CRYP is not set
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+# CONFIG_STM32_DAC1 is not set
+# CONFIG_STM32_DAC2 is not set
+# CONFIG_STM32_DCMI is not set
+# CONFIG_STM32_ETHMAC is not set
+# CONFIG_STM32_FSMC is not set
+# CONFIG_STM32_HASH is not set
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+# CONFIG_STM32_I2C3 is not set
+# CONFIG_STM32_OPAMP is not set
+CONFIG_STM32_OTGFS=y
+# CONFIG_STM32_OTGHS is not set
+CONFIG_STM32_PWR=y
+# CONFIG_STM32_RNG is not set
+CONFIG_STM32_SDIO=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI2=y
+# CONFIG_STM32_SPI3 is not set
+# CONFIG_STM32_I2S3 is not set
+CONFIG_STM32_SPI4=y
+# CONFIG_STM32_SPI5 is not set
+# CONFIG_STM32_SPI6 is not set
+CONFIG_STM32_SYSCFG=y
+CONFIG_STM32_TIM1=y
+# CONFIG_STM32_TIM2 is not set
+CONFIG_STM32_TIM3=y
+CONFIG_STM32_TIM4=y
+# CONFIG_STM32_TIM5 is not set
+# CONFIG_STM32_TIM6 is not set
+# CONFIG_STM32_TIM7 is not set
+# CONFIG_STM32_TIM8 is not set
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+# CONFIG_STM32_TIM12 is not set
+# CONFIG_STM32_TIM13 is not set
+# CONFIG_STM32_TIM14 is not set
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_UART4=y
+# CONFIG_STM32_UART5 is not set
+CONFIG_STM32_USART6=y
+CONFIG_STM32_UART7=y
+CONFIG_STM32_UART8=y
+# CONFIG_STM32_IWDG is not set
+CONFIG_STM32_WWDG=y
+CONFIG_STM32_ADC=y
+CONFIG_STM32_SPI=y
+CONFIG_STM32_I2C=y
+# CONFIG_STM32_NOEXT_VECTORS is not set
+
+#
+# Alternate Pin Mapping
+#
+CONFIG_STM32_FLASH_PREFETCH=y
+# CONFIG_STM32_FLASH_WORKAROUND_DATA_CACHE_CORRUPTION_ON_RWW is not set
+# CONFIG_STM32_JTAG_DISABLE is not set
+# CONFIG_STM32_JTAG_FULL_ENABLE is not set
+# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+# CONFIG_STM32_FORCEPOWER is not set
+# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+# CONFIG_STM32_CCM_PROCFS is not set
+CONFIG_STM32_DMACAPABLE=y
+
+#
+# Timer Configuration
+#
+# CONFIG_STM32_ONESHOT is not set
+# CONFIG_STM32_FREERUN is not set
+# CONFIG_STM32_TIM1_PWM is not set
+# CONFIG_STM32_TIM3_PWM is not set
+# CONFIG_STM32_TIM4_PWM is not set
+# CONFIG_STM32_TIM9_PWM is not set
+# CONFIG_STM32_TIM10_PWM is not set
+# CONFIG_STM32_TIM11_PWM is not set
+# CONFIG_STM32_TIM1_ADC is not set
+# CONFIG_STM32_TIM3_ADC is not set
+# CONFIG_STM32_TIM4_ADC is not set
+# CONFIG_STM32_TIM1_CAP is not set
+# CONFIG_STM32_TIM3_CAP is not set
+# CONFIG_STM32_TIM4_CAP is not set
+# CONFIG_STM32_TIM5_CAP is not set
+# CONFIG_STM32_TIM8_CAP is not set
+# CONFIG_STM32_TIM9_CAP is not set
+# CONFIG_STM32_TIM10_CAP is not set
+# CONFIG_STM32_TIM11_CAP is not set
+# CONFIG_STM32_TIM12_CAP is not set
+# CONFIG_STM32_TIM13_CAP is not set
+# CONFIG_STM32_TIM14_CAP is not set
+
+#
+# ADC Configuration
+#
+# CONFIG_STM32_ADC_NO_STARTUP_CONV is not set
+# CONFIG_STM32_ADC1_DMA is not set
+CONFIG_STM32_USART=y
+CONFIG_STM32_SERIALDRIVER=y
+
+#
+# U[S]ART Configuration
+#
+
+#
+# U[S]ART Device Configuration
+#
+CONFIG_STM32_USART1_SERIALDRIVER=y
+# CONFIG_STM32_USART1_1WIREDRIVER is not set
+# CONFIG_USART1_RS485 is not set
+CONFIG_USART1_RXDMA=y
+CONFIG_STM32_USART2_SERIALDRIVER=y
+# CONFIG_STM32_USART2_1WIREDRIVER is not set
+# CONFIG_USART2_RS485 is not set
+CONFIG_USART2_RXDMA=y
+CONFIG_STM32_USART3_SERIALDRIVER=y
+# CONFIG_STM32_USART3_1WIREDRIVER is not set
+# CONFIG_USART3_RS485 is not set
+CONFIG_USART3_RXDMA=y
+CONFIG_STM32_UART4_SERIALDRIVER=y
+# CONFIG_STM32_UART4_1WIREDRIVER is not set
+# CONFIG_UART4_RS485 is not set
+CONFIG_UART4_RXDMA=y
+CONFIG_STM32_USART6_SERIALDRIVER=y
+# CONFIG_STM32_USART6_1WIREDRIVER is not set
+# CONFIG_USART6_RS485 is not set
+CONFIG_USART6_RXDMA=y
+CONFIG_STM32_UART7_SERIALDRIVER=y
+# CONFIG_STM32_UART7_1WIREDRIVER is not set
+# CONFIG_UART7_RS485 is not set
+CONFIG_UART7_RXDMA=y
+CONFIG_STM32_UART8_SERIALDRIVER=y
+# CONFIG_STM32_UART8_1WIREDRIVER is not set
+# CONFIG_UART8_RS485 is not set
+CONFIG_UART8_RXDMA=y
+
+#
+# Serial Driver Configuration
+#
+CONFIG_STM32_SERIAL_RXDMA_BUFFER_SIZE=32
+CONFIG_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+
+#
+# SPI Configuration
+#
+# CONFIG_STM32_SPI_INTERRUPTS is not set
+# CONFIG_STM32_SPI_DMA is not set
+
+#
+# I2C Configuration
+#
+# CONFIG_STM32_I2C_ALT is not set
+# CONFIG_STM32_I2C_DYNTIMEO is not set
+CONFIG_STM32_I2CTIMEOSEC=0
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=10
+# CONFIG_STM32_I2C_DUTY16_9 is not set
+# CONFIG_STM32_I2C_DMA is not set
+
+#
+# SDIO Configuration
+#
+CONFIG_STM32_SDIO_DMA=y
+CONFIG_STM32_SDIO_DMAPRIO=0x00010000
+# CONFIG_STM32_SDIO_WIDTH_D1_ONLY is not set
+CONFIG_STM32_BBSRAM=y
+CONFIG_STM32_BBSRAM_FILES=5
+CONFIG_STM32_SAVE_CRASHDUMP=y
+# CONFIG_STM32_HAVE_RTC_COUNTER is not set
+# CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set
+
+#
+# RTC Configuration
+#
+CONFIG_RTC_MAGIC_REG=1
+CONFIG_RTC_MAGIC=0xfacefeee
+CONFIG_RTC_MAGIC_TIME_SET=0xfacefeef
+# CONFIG_RTC_LSECLOCK is not set
+# CONFIG_RTC_LSICLOCK is not set
+CONFIG_RTC_HSECLOCK=y
+
+#
+# USB FS Host Configuration
+#
+
+#
+# USB HS Host Configuration
+#
+
+#
+# USB Host Debug Configuration
+#
+
+#
+# USB Device Configuration
+#
+# CONFIG_ARCH_TOOLCHAIN_IAR is not set
+CONFIG_ARCH_TOOLCHAIN_GNU=y
+
+#
+# Architecture Options
+#
+# CONFIG_ARCH_NOINTC is not set
+# CONFIG_ARCH_VECNOTIRQ is not set
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_HAVE_IRQPRIO=y
+# CONFIG_ARCH_L2CACHE is not set
+# CONFIG_ARCH_HAVE_COHERENT_DCACHE is not set
+# CONFIG_ARCH_HAVE_ADDRENV is not set
+# CONFIG_ARCH_NEED_ADDRENV_MAPPING is not set
+# CONFIG_ARCH_HAVE_MULTICPU is not set
+CONFIG_ARCH_HAVE_VFORK=y
+# CONFIG_ARCH_HAVE_MMU is not set
+CONFIG_ARCH_HAVE_MPU=y
+# CONFIG_ARCH_NAND_HWECC is not set
+# CONFIG_ARCH_HAVE_EXTCLK is not set
+# CONFIG_ARCH_HAVE_POWEROFF is not set
+CONFIG_ARCH_HAVE_RESET=y
+# CONFIG_ARCH_HAVE_RTC_SUBSECONDS is not set
+# CONFIG_ARCH_USE_MPU is not set
+# CONFIG_ARCH_IRQPRIO is not set
+CONFIG_ARCH_STACKDUMP=y
+# CONFIG_ENDIAN_BIG is not set
+# CONFIG_ARCH_IDLE_CUSTOM is not set
+# CONFIG_ARCH_HAVE_RAMFUNCS is not set
+CONFIG_ARCH_HAVE_RAMVECTORS=y
+# CONFIG_ARCH_RAMVECTORS is not set
+# CONFIG_ARCH_MINIMAL_VECTORTABLE is not set
+
+#
+# Board Settings
+#
+CONFIG_BOARD_LOOPSPERMSEC=16717
+# CONFIG_ARCH_CALIBRATION is not set
+
+#
+# Interrupt options
+#
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+CONFIG_ARCH_INTERRUPTSTACK=750
+CONFIG_ARCH_HAVE_HIPRI_INTERRUPT=y
+# CONFIG_ARCH_HIPRI_INTERRUPT is not set
+
+#
+# Boot options
+#
+# CONFIG_BOOT_RUNFROMEXTSRAM is not set
+CONFIG_BOOT_RUNFROMFLASH=y
+# CONFIG_BOOT_RUNFROMISRAM is not set
+# CONFIG_BOOT_RUNFROMSDRAM is not set
+# CONFIG_BOOT_COPYTORAM is not set
+
+#
+# Boot Memory Configuration
+#
+CONFIG_RAM_START=0x20000000
+CONFIG_RAM_SIZE=262144
+# CONFIG_ARCH_HAVE_SDRAM is not set
+
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_PX4FMU_V3=y
+CONFIG_ARCH_BOARD="px4fmu-v3"
+
+#
+# Custom Board Configuration
+#
+# CONFIG_BOARD_CUSTOM_LEDS is not set
+# CONFIG_BOARD_CUSTOM_BUTTONS is not set
+CONFIG_BOARD_HAS_PROBES=y
+# CONFIG_BOARD_USE_PROBES is not set
+
+#
+# Common Board Options
+#
+
+#
+# Board-Specific Options
+#
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_RESET_ON_CRASH=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+# CONFIG_BOARDCTL_UNIQUEID is not set
+CONFIG_BOARDCTL_USBDEVCTRL=y
+# CONFIG_BOARDCTL_TSCTEST is not set
+# CONFIG_BOARDCTL_GRAPHICS is not set
+# CONFIG_BOARDCTL_IOCTL is not set
+
+#
+# RTOS Features
+#
+# CONFIG_DISABLE_OS_API is not set
+
+#
+# Clocks and Timers
+#
+CONFIG_ARCH_HAVE_TICKLESS=y
+# CONFIG_SCHED_TICKLESS is not set
+CONFIG_USEC_PER_TICK=1000
+# CONFIG_SYSTEM_TIME64 is not set
+# CONFIG_CLOCK_MONOTONIC is not set
+CONFIG_ARCH_HAVE_TIMEKEEPING=y
+# CONFIG_JULIAN_TIME is not set
+CONFIG_START_YEAR=2016
+CONFIG_START_MONTH=11
+CONFIG_START_DAY=30
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=50
+CONFIG_WDOG_INTRESERVE=4
+CONFIG_PREALLOC_TIMERS=50
+
+#
+# Tasks and Scheduling
+#
+# CONFIG_SPINLOCK is not set
+# CONFIG_INIT_NONE is not set
+CONFIG_INIT_ENTRYPOINT=y
+# CONFIG_INIT_FILEPATH is not set
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_RR_INTERVAL=0
+# CONFIG_SCHED_SPORADIC is not set
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_MAX_TASKS=32
+# CONFIG_SCHED_HAVE_PARENT is not set
+CONFIG_SCHED_WAITPID=y
+
+#
+# Pthread Options
+#
+# CONFIG_PTHREAD_MUTEX_TYPES is not set
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+# CONFIG_PTHREAD_MUTEX_UNSAFE is not set
+# CONFIG_PTHREAD_MUTEX_BOTH is not set
+CONFIG_NPTHREAD_KEYS=4
+# CONFIG_PTHREAD_CLEANUP is not set
+# CONFIG_CANCELLATION_POINTS is not set
+
+#
+# Performance Monitoring
+#
+# CONFIG_SCHED_CPULOAD is not set
+CONFIG_SCHED_INSTRUMENTATION=y
+# CONFIG_SCHED_INSTRUMENTATION_PREEMPTION is not set
+# CONFIG_SCHED_INSTRUMENTATION_CSECTION is not set
+# CONFIG_SCHED_INSTRUMENTATION_SPINLOCKS is not set
+# CONFIG_SCHED_INSTRUMENTATION_BUFFER is not set
+
+#
+# Files and I/O
+#
+CONFIG_DEV_CONSOLE=y
+# CONFIG_FDCLONE_DISABLE is not set
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_NFILE_DESCRIPTORS=54
+CONFIG_NFILE_STREAMS=8
+CONFIG_NAME_MAX=32
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=8
+
+#
+# RTOS hooks
+#
+# CONFIG_BOARD_INITIALIZE is not set
+# CONFIG_SCHED_STARTHOOK is not set
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_ATEXIT_MAX=1
+# CONFIG_SCHED_ONEXIT is not set
+# CONFIG_SIG_EVTHREAD is not set
+
+#
+# Signal Numbers
+#
+CONFIG_SIG_SIGUSR1=1
+CONFIG_SIG_SIGUSR2=2
+CONFIG_SIG_SIGALARM=3
+CONFIG_SIG_SIGCONDTIMEDOUT=16
+CONFIG_SIG_SIGWORK=4
+
+#
+# POSIX Message Queue Options
+#
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_MQ_MAXMSGSIZE=32
+# CONFIG_MODULE is not set
+
+#
+# Work queue support
+#
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKPERIOD=5000
+CONFIG_SCHED_HPWORKSTACKSIZE=1800
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPNTHREADS=1
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKPRIOMAX=176
+CONFIG_SCHED_LPWORKPERIOD=50000
+CONFIG_SCHED_LPWORKSTACKSIZE=1800
+
+#
+# Stack and heap information
+#
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_USERMAIN_STACKSIZE=2500
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=2048
+# CONFIG_LIB_SYSCALL is not set
+
+#
+# Device Drivers
+#
+# CONFIG_DISABLE_POLL is not set
+CONFIG_DEV_NULL=y
+# CONFIG_DEV_ZERO is not set
+# CONFIG_DEV_URANDOM is not set
+# CONFIG_DEV_LOOP is not set
+
+#
+# Buffering
+#
+# CONFIG_DRVR_WRITEBUFFER is not set
+# CONFIG_DRVR_READAHEAD is not set
+# CONFIG_RAMDISK is not set
+# CONFIG_CAN is not set
+# CONFIG_ARCH_HAVE_PWM_PULSECOUNT is not set
+# CONFIG_ARCH_HAVE_PWM_MULTICHAN is not set
+# CONFIG_PWM is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
+CONFIG_I2C=y
+# CONFIG_I2C_SLAVE is not set
+# CONFIG_I2C_POLLED is not set
+CONFIG_I2C_RESET=y
+# CONFIG_I2C_TRACE is not set
+# CONFIG_I2C_DRIVER is not set
+# CONFIG_ARCH_HAVE_SPI_CRCGENERATION is not set
+# CONFIG_ARCH_HAVE_SPI_CS_CONTROL is not set
+CONFIG_ARCH_HAVE_SPI_BITORDER=y
+CONFIG_SPI=y
+# CONFIG_SPI_SLAVE is not set
+CONFIG_SPI_EXCHANGE=y
+# CONFIG_SPI_CMDDATA is not set
+# CONFIG_SPI_CALLBACK is not set
+# CONFIG_SPI_HWFEATURES is not set
+# CONFIG_SPI_BITORDER is not set
+# CONFIG_SPI_CS_DELAY_CONTROL is not set
+# CONFIG_SPI_DRIVER is not set
+# CONFIG_SPI_BITBANG is not set
+# CONFIG_I2S is not set
+
+#
+# Timer Driver Support
+#
+# CONFIG_TIMER is not set
+# CONFIG_ONESHOT is not set
+CONFIG_RTC=y
+CONFIG_RTC_DATETIME=y
+# CONFIG_RTC_ALARM is not set
+# CONFIG_RTC_DRIVER is not set
+# CONFIG_RTC_EXTERNAL is not set
+CONFIG_WATCHDOG=y
+CONFIG_WATCHDOG_DEVPATH="/dev/watchdog0"
+# CONFIG_TIMERS_CS2100CP is not set
+# CONFIG_ANALOG is not set
+# CONFIG_DRIVERS_AUDIO is not set
+# CONFIG_DRIVERS_VIDEO is not set
+# CONFIG_BCH is not set
+# CONFIG_INPUT is not set
+
+#
+# IO Expander/GPIO Support
+#
+# CONFIG_IOEXPANDER is not set
+# CONFIG_DEV_GPIO is not set
+
+#
+# LCD Driver Support
+#
+# CONFIG_LCD is not set
+# CONFIG_SLCD is not set
+
+#
+# LED Support
+#
+# CONFIG_LEDS_APA102 is not set
+# CONFIG_RGBLED is not set
+# CONFIG_PCA9635PW is not set
+# CONFIG_NCP5623C is not set
+CONFIG_MMCSD=y
+CONFIG_MMCSD_NSLOTS=1
+# CONFIG_MMCSD_READONLY is not set
+CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_HAVECARDDETECT is not set
+# CONFIG_MMCSD_SPI is not set
+CONFIG_ARCH_HAVE_SDIO=y
+CONFIG_SDIO_DMA=y
+CONFIG_ARCH_HAVE_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_SDIO_PREFLIGHT=y
+# CONFIG_SDIO_MUXBUS is not set
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+# CONFIG_SDIO_WIDTH_D1_ONLY is not set
+# CONFIG_SDIO_BLOCKSETUP is not set
+# CONFIG_MODEM is not set
+CONFIG_MTD=y
+
+#
+# MTD Configuration
+#
+CONFIG_MTD_PARTITION=y
+# CONFIG_MTD_SECT512 is not set
+# CONFIG_MTD_PARTITION_NAMES is not set
+CONFIG_MTD_BYTE_WRITE=y
+# CONFIG_MTD_PROGMEM is not set
+# CONFIG_MTD_CONFIG is not set
+
+#
+# MTD Device Drivers
+#
+# CONFIG_MTD_NAND is not set
+# CONFIG_RAMMTD is not set
+# CONFIG_FILEMTD is not set
+# CONFIG_MTD_AT24XX is not set
+# CONFIG_MTD_AT25 is not set
+# CONFIG_MTD_AT45DB is not set
+# CONFIG_MTD_IS25XP is not set
+# CONFIG_MTD_M25P is not set
+# CONFIG_MTD_MX25L is not set
+# CONFIG_MTD_S25FL1 is not set
+# CONFIG_MTD_N25QXXX is not set
+# CONFIG_MTD_MX25RXX is not set
+# CONFIG_MTD_SMART is not set
+CONFIG_MTD_RAMTRON=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAMTRON_SETSPEED=y
+# CONFIG_RAMTRON_CHUNKING is not set
+# CONFIG_MTD_SST25 is not set
+# CONFIG_MTD_SST25XX is not set
+# CONFIG_MTD_SST26 is not set
+# CONFIG_MTD_SST39FV is not set
+# CONFIG_MTD_W25 is not set
+# CONFIG_EEPROM is not set
+CONFIG_PIPES=y
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_FIFO_SIZE=0
+# CONFIG_PM is not set
+# CONFIG_DRIVERS_SMPS is not set
+# CONFIG_POWER is not set
+# CONFIG_SENSORS is not set
+CONFIG_SERIAL=y
+# CONFIG_DEV_LOWCONSOLE is not set
+CONFIG_SERIAL_REMOVABLE=y
+CONFIG_SERIAL_CONSOLE=y
+# CONFIG_16550_UART is not set
+# CONFIG_UART_SERIALDRIVER is not set
+# CONFIG_UART0_SERIALDRIVER is not set
+# CONFIG_UART1_SERIALDRIVER is not set
+# CONFIG_UART2_SERIALDRIVER is not set
+# CONFIG_UART3_SERIALDRIVER is not set
+CONFIG_UART4_SERIALDRIVER=y
+# CONFIG_UART5_SERIALDRIVER is not set
+# CONFIG_UART6_SERIALDRIVER is not set
+CONFIG_UART7_SERIALDRIVER=y
+CONFIG_UART8_SERIALDRIVER=y
+# CONFIG_SCI0_SERIALDRIVER is not set
+# CONFIG_SCI1_SERIALDRIVER is not set
+# CONFIG_USART0_SERIALDRIVER is not set
+CONFIG_USART1_SERIALDRIVER=y
+CONFIG_USART2_SERIALDRIVER=y
+CONFIG_USART3_SERIALDRIVER=y
+# CONFIG_USART4_SERIALDRIVER is not set
+# CONFIG_USART5_SERIALDRIVER is not set
+CONFIG_USART6_SERIALDRIVER=y
+# CONFIG_USART7_SERIALDRIVER is not set
+# CONFIG_USART8_SERIALDRIVER is not set
+# CONFIG_OTHER_UART_SERIALDRIVER is not set
+CONFIG_MCU_SERIAL=y
+CONFIG_STANDARD_SERIAL=y
+CONFIG_SERIAL_NPOLLWAITERS=2
+CONFIG_SERIAL_IFLOWCONTROL=y
+CONFIG_SERIAL_OFLOWCONTROL=y
+# CONFIG_SERIAL_DMA is not set
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_IFLOWCONTROL_LOWER_WATERMARK=10
+CONFIG_SERIAL_IFLOWCONTROL_UPPER_WATERMARK=90
+CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
+# CONFIG_USART1_SERIAL_CONSOLE is not set
+# CONFIG_USART2_SERIAL_CONSOLE is not set
+# CONFIG_USART3_SERIAL_CONSOLE is not set
+# CONFIG_UART4_SERIAL_CONSOLE is not set
+# CONFIG_USART6_SERIAL_CONSOLE is not set
+CONFIG_UART7_SERIAL_CONSOLE=y
+# CONFIG_UART8_SERIAL_CONSOLE is not set
+# CONFIG_OTHER_SERIAL_CONSOLE is not set
+# CONFIG_NO_SERIAL_CONSOLE is not set
+
+#
+# USART1 Configuration
+#
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART1_BAUD=115200
+CONFIG_USART1_BITS=8
+CONFIG_USART1_PARITY=0
+CONFIG_USART1_2STOP=0
+# CONFIG_USART1_IFLOWCONTROL is not set
+# CONFIG_USART1_OFLOWCONTROL is not set
+# CONFIG_USART1_DMA is not set
+
+#
+# USART2 Configuration
+#
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_BITS=8
+CONFIG_USART2_PARITY=0
+CONFIG_USART2_2STOP=0
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+# CONFIG_USART2_DMA is not set
+
+#
+# USART3 Configuration
+#
+CONFIG_USART3_RXBUFSIZE=300
+CONFIG_USART3_TXBUFSIZE=600
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_BITS=8
+CONFIG_USART3_PARITY=0
+CONFIG_USART3_2STOP=0
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+# CONFIG_USART3_DMA is not set
+
+#
+# UART4 Configuration
+#
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_TXBUFSIZE=300
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_BITS=8
+CONFIG_UART4_PARITY=0
+CONFIG_UART4_2STOP=0
+# CONFIG_UART4_IFLOWCONTROL is not set
+# CONFIG_UART4_OFLOWCONTROL is not set
+# CONFIG_UART4_DMA is not set
+
+#
+# USART6 Configuration
+#
+CONFIG_USART6_RXBUFSIZE=300
+CONFIG_USART6_TXBUFSIZE=300
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_BITS=8
+CONFIG_USART6_PARITY=0
+CONFIG_USART6_2STOP=0
+# CONFIG_USART6_IFLOWCONTROL is not set
+# CONFIG_USART6_OFLOWCONTROL is not set
+# CONFIG_USART6_DMA is not set
+
+#
+# UART7 Configuration
+#
+CONFIG_UART7_RXBUFSIZE=300
+CONFIG_UART7_TXBUFSIZE=300
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_BITS=8
+CONFIG_UART7_PARITY=0
+CONFIG_UART7_2STOP=0
+# CONFIG_UART7_IFLOWCONTROL is not set
+# CONFIG_UART7_OFLOWCONTROL is not set
+# CONFIG_UART7_DMA is not set
+
+#
+# UART8 Configuration
+#
+CONFIG_UART8_RXBUFSIZE=300
+CONFIG_UART8_TXBUFSIZE=300
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_BITS=8
+CONFIG_UART8_PARITY=0
+CONFIG_UART8_2STOP=0
+# CONFIG_UART8_IFLOWCONTROL is not set
+# CONFIG_UART8_OFLOWCONTROL is not set
+# CONFIG_UART8_DMA is not set
+# CONFIG_PSEUDOTERM is not set
+CONFIG_USBDEV=y
+
+#
+# USB Device Controller Driver Options
+#
+# CONFIG_USBDEV_ISOCHRONOUS is not set
+# CONFIG_USBDEV_DUALSPEED is not set
+# CONFIG_USBDEV_SELFPOWERED is not set
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+# CONFIG_USBDEV_DMA is not set
+# CONFIG_ARCH_USBDEV_STALLQUEUE is not set
+# CONFIG_USBDEV_TRACE is not set
+
+#
+# USB Device Class Driver Options
+#
+# CONFIG_USBDEV_COMPOSITE is not set
+# CONFIG_PL2303 is not set
+CONFIG_CDCACM=y
+# CONFIG_CDCACM_CONSOLE is not set
+# CONFIG_CDCACM_IFLOWCONTROL is not set
+CONFIG_CDCACM_EP0MAXPACKET=64
+CONFIG_CDCACM_EPINTIN=1
+CONFIG_CDCACM_EPINTIN_FSSIZE=64
+CONFIG_CDCACM_EPINTIN_HSSIZE=64
+CONFIG_CDCACM_EPBULKOUT=3
+CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
+CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
+CONFIG_CDCACM_EPBULKIN=2
+CONFIG_CDCACM_EPBULKIN_FSSIZE=64
+CONFIG_CDCACM_EPBULKIN_HSSIZE=512
+CONFIG_CDCACM_NRDREQS=4
+CONFIG_CDCACM_NWRREQS=4
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=2000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_PRODUCTID=0x0011
+CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
+# CONFIG_USBMSC is not set
+# CONFIG_RNDIS is not set
+# CONFIG_USBHOST is not set
+# CONFIG_USBMISC is not set
+# CONFIG_HAVE_USBTRACE is not set
+# CONFIG_DRIVERS_WIRELESS is not set
+# CONFIG_DRIVERS_CONTACTLESS is not set
+
+#
+# System Logging
+#
+# CONFIG_ARCH_SYSLOG is not set
+CONFIG_SYSLOG_WRITE=y
+# CONFIG_RAMLOG is not set
+# CONFIG_SYSLOG_BUFFER is not set
+# CONFIG_SYSLOG_INTBUFFER is not set
+# CONFIG_SYSLOG_TIMESTAMP is not set
+CONFIG_SYSLOG_SERIAL_CONSOLE=y
+# CONFIG_SYSLOG_CHAR is not set
+CONFIG_SYSLOG_CONSOLE=y
+# CONFIG_SYSLOG_NONE is not set
+# CONFIG_SYSLOG_FILE is not set
+# CONFIG_SYSLOG_CHARDEV is not set
+
+#
+# Networking Support
+#
+# CONFIG_ARCH_HAVE_NET is not set
+# CONFIG_ARCH_HAVE_PHY is not set
+# CONFIG_NET is not set
+
+#
+# Crypto API
+#
+# CONFIG_CRYPTO is not set
+
+#
+# File Systems
+#
+
+#
+# File system configuration
+#
+# CONFIG_DISABLE_MOUNTPOINT is not set
+# CONFIG_FS_AUTOMOUNTER is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_PSEUDOFS_SOFTLINKS is not set
+CONFIG_FS_READABLE=y
+CONFIG_FS_WRITABLE=y
+# CONFIG_FS_AIO is not set
+# CONFIG_FS_NAMED_SEMAPHORES is not set
+CONFIG_FS_MQUEUE_MPATH="/var/mqueue"
+# CONFIG_FS_RAMMAP is not set
+CONFIG_FS_FAT=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_MAXFNAME=32
+CONFIG_FS_FATTIME=y
+# CONFIG_FAT_FORCE_INDIRECT is not set
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_DIRECT_RETRY=y
+# CONFIG_FS_NXFFS is not set
+CONFIG_FS_ROMFS=y
+# CONFIG_FS_TMPFS is not set
+# CONFIG_FS_SMARTFS is not set
+CONFIG_FS_BINFS=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+
+#
+# Exclude individual procfs entries
+#
+# CONFIG_FS_PROCFS_EXCLUDE_PROCESS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_UPTIME is not set
+# CONFIG_FS_PROCFS_EXCLUDE_MOUNTS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_MTD is not set
+# CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS is not set
+# CONFIG_FS_UNIONFS is not set
+
+#
+# Graphics Support
+#
+# CONFIG_NX is not set
+
+#
+# Memory Management
+#
+# CONFIG_MM_SMALL is not set
+CONFIG_MM_REGIONS=2
+# CONFIG_ARCH_HAVE_HEAP2 is not set
+CONFIG_GRAN=y
+# CONFIG_GRAN_SINGLE is not set
+CONFIG_GRAN_INTR=y
+
+#
+# Common I/O Buffer Support
+#
+# CONFIG_MM_IOB is not set
+
+#
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
+# Wireless Support
+#
+# CONFIG_WIRELESS is not set
+
+#
+# Binary Loader
+#
+# CONFIG_BINFMT_DISABLE is not set
+# CONFIG_BINFMT_EXEPATH is not set
+# CONFIG_NXFLAT is not set
+# CONFIG_ELF is not set
+CONFIG_BUILTIN=y
+# CONFIG_PIC is not set
+# CONFIG_SYMTAB_ORDEREDBYNAME is not set
+
+#
+# Library Routines
+#
+
+#
+# Standard C Library Options
+#
+
+#
+# Standard C I/O
+#
+# CONFIG_STDIO_DISABLE_BUFFERING is not set
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STDIO_LINEBUFFER=y
+CONFIG_NUNGET_CHARS=2
+# CONFIG_NOPRINTF_FIELDWIDTH is not set
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+# CONFIG_LIBC_SCANSET is not set
+# CONFIG_EOL_IS_CR is not set
+# CONFIG_EOL_IS_LF is not set
+# CONFIG_EOL_IS_BOTH_CRLF is not set
+CONFIG_EOL_IS_EITHER_CRLF=y
+
+#
+# Architecture-Specific Support
+#
+CONFIG_ARCH_LOWPUTC=y
+# CONFIG_ARCH_ROMGETC is not set
+CONFIG_LIBC_ARCH_MEMCPY=y
+# CONFIG_LIBC_ARCH_MEMCMP is not set
+# CONFIG_LIBC_ARCH_MEMMOVE is not set
+# CONFIG_LIBC_ARCH_MEMSET is not set
+# CONFIG_LIBC_ARCH_STRCHR is not set
+# CONFIG_LIBC_ARCH_STRCMP is not set
+# CONFIG_LIBC_ARCH_STRCPY is not set
+# CONFIG_LIBC_ARCH_STRNCPY is not set
+# CONFIG_LIBC_ARCH_STRLEN is not set
+# CONFIG_LIBC_ARCH_STRNLEN is not set
+# CONFIG_LIBC_ARCH_ELF is not set
+CONFIG_ARMV7M_MEMCPY=y
+
+#
+# stdlib Options
+#
+CONFIG_LIB_RAND_ORDER=1
+CONFIG_LIB_HOMEDIR="/"
+CONFIG_LIBC_TMPDIR="/tmp"
+CONFIG_LIBC_MAX_TMPFILE=32
+
+#
+# Program Execution Options
+#
+# CONFIG_LIBC_EXECFUNCS is not set
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
+
+#
+# errno Decode Support
+#
+# CONFIG_LIBC_STRERROR is not set
+# CONFIG_LIBC_PERROR_STDOUT is not set
+
+#
+# memcpy/memset Options
+#
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MEMSET_64BIT=y
+# CONFIG_LIBC_DLLFCN is not set
+# CONFIG_LIBC_MODLIB is not set
+# CONFIG_LIBC_WCHAR is not set
+# CONFIG_LIBC_LOCALE is not set
+
+#
+# Time/Time Zone Support
+#
+# CONFIG_LIBC_LOCALTIME is not set
+CONFIG_TIME_EXTENDED=y
+CONFIG_ARCH_HAVE_TLS=y
+
+#
+# Thread Local Storage (TLS)
+#
+# CONFIG_TLS is not set
+
+#
+# Network-Related Options
+#
+# CONFIG_LIBC_IPv4_ADDRCONV is not set
+# CONFIG_LIBC_IPv6_ADDRCONV is not set
+# CONFIG_LIBC_NETDB is not set
+
+#
+# NETDB Support
+#
+# CONFIG_NETDB_HOSTFILE is not set
+# CONFIG_LIBC_IOCTL_VARIADIC is not set
+CONFIG_LIB_SENDFILE_BUFSIZE=512
+
+#
+# Non-standard Library Support
+#
+# CONFIG_LIB_CRC64_FAST is not set
+# CONFIG_LIB_KBDCODEC is not set
+# CONFIG_LIB_SLCDCODEC is not set
+# CONFIG_LIB_HEX2BIN is not set
+
+#
+# Basic CXX Support
+#
+CONFIG_C99_BOOL8=y
+CONFIG_HAVE_CXX=y
+# CONFIG_CXX_NEWLONG is not set
+
+#
+# LLVM C++ Library (libcxx)
+#
+# CONFIG_LIBCXX is not set
+
+#
+# uClibc++ Standard C++ Library
+#
+# CONFIG_UCLIBCXX is not set
+
+#
+# Application Configuration
+#
+
+#
+# Built-In Applications
+#
+CONFIG_BUILTIN_PROXY_STACKSIZE=1024
+
+#
+# CAN Utilities
+#
+# CONFIG_CANUTILS_LIBUAVCAN is not set
+
+#
+# Examples
+#
+# CONFIG_EXAMPLES_APA102 is not set
+# CONFIG_EXAMPLES_CCTYPE is not set
+# CONFIG_EXAMPLES_CHAT is not set
+# CONFIG_EXAMPLES_CONFIGDATA is not set
+# CONFIG_EXAMPLES_CPUHOG is not set
+# CONFIG_EXAMPLES_CXXTEST is not set
+# CONFIG_EXAMPLES_DHCPD is not set
+# CONFIG_EXAMPLES_ELF is not set
+# CONFIG_EXAMPLES_FLOWC is not set
+# CONFIG_EXAMPLES_FSTEST is not set
+# CONFIG_EXAMPLES_FTPC is not set
+# CONFIG_EXAMPLES_FTPD is not set
+# CONFIG_EXAMPLES_HELLO is not set
+# CONFIG_EXAMPLES_HELLOXX is not set
+# CONFIG_EXAMPLES_HIDKBD is not set
+# CONFIG_EXAMPLES_IGMP is not set
+# CONFIG_EXAMPLES_JSON is not set
+# CONFIG_EXAMPLES_MEDIA is not set
+# CONFIG_EXAMPLES_MM is not set
+# CONFIG_EXAMPLES_MODBUS is not set
+# CONFIG_EXAMPLES_MOUNT is not set
+# CONFIG_EXAMPLES_MTDPART is not set
+CONFIG_EXAMPLES_NSH=y
+# CONFIG_EXAMPLES_NSH_CXXINITIALIZE is not set
+# CONFIG_EXAMPLES_NULL is not set
+# CONFIG_EXAMPLES_NXFFS is not set
+# CONFIG_EXAMPLES_NXHELLO is not set
+# CONFIG_EXAMPLES_NXIMAGE is not set
+# CONFIG_EXAMPLES_NX is not set
+# CONFIG_EXAMPLES_NXLINES is not set
+# CONFIG_EXAMPLES_NXTERM is not set
+# CONFIG_EXAMPLES_NXTEXT is not set
+# CONFIG_EXAMPLES_OSTEST is not set
+# CONFIG_EXAMPLES_PCA9635 is not set
+# CONFIG_EXAMPLES_PIPE is not set
+# CONFIG_EXAMPLES_POSIXSPAWN is not set
+# CONFIG_EXAMPLES_POWERMONITOR is not set
+# CONFIG_EXAMPLES_PPPD is not set
+# CONFIG_EXAMPLES_RFID_READUID is not set
+# CONFIG_EXAMPLES_RGBLED is not set
+# CONFIG_EXAMPLES_ROMFS is not set
+# CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERIALBLASTER is not set
+# CONFIG_EXAMPLES_SERIALRX is not set
+# CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMP is not set
+# CONFIG_EXAMPLES_STAT is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
+# CONFIG_EXAMPLES_THTTPD is not set
+# CONFIG_EXAMPLES_TIFF is not set
+# CONFIG_EXAMPLES_TOUCHSCREEN is not set
+# CONFIG_EXAMPLES_UNIONFS is not set
+# CONFIG_EXAMPLES_USBSERIAL is not set
+# CONFIG_EXAMPLES_WATCHDOG is not set
+# CONFIG_EXAMPLES_WEBSERVER is not set
+# CONFIG_EXAMPLES_XBC_TEST is not set
+
+#
+# File System Utilities
+#
+# CONFIG_FSUTILS_FLASH_ERASEALL is not set
+# CONFIG_FSUTILS_INIFILE is not set
+# CONFIG_FSUTILS_PASSWD is not set
+
+#
+# GPS Utilities
+#
+# CONFIG_GPSUTILS_MINMEA_LIB is not set
+
+#
+# Graphics Support
+#
+# CONFIG_TIFF is not set
+# CONFIG_GRAPHICS_TRAVELER is not set
+
+#
+# Interpreters
+#
+# CONFIG_INTERPRETERS_BAS is not set
+# CONFIG_INTERPRETERS_FICL is not set
+# CONFIG_INTERPRETERS_MICROPYTHON is not set
+# CONFIG_INTERPRETERS_MINIBASIC is not set
+# CONFIG_INTERPRETERS_PCODE is not set
+
+#
+# FreeModBus
+#
+# CONFIG_MODBUS is not set
+
+#
+# Network Utilities
+#
+# CONFIG_NETUTILS_CHAT is not set
+# CONFIG_NETUTILS_CODECS is not set
+# CONFIG_NETUTILS_ESP8266 is not set
+# CONFIG_NETUTILS_FTPC is not set
+# CONFIG_NETUTILS_JSON is not set
+# CONFIG_NETUTILS_SMTP is not set
+# CONFIG_NETUTILS_THTTPD is not set
+
+#
+# NSH Library
+#
+CONFIG_NSH_LIBRARY=y
+# CONFIG_NSH_MOTD is not set
+
+#
+# Command Line Configuration
+#
+CONFIG_NSH_READLINE=y
+# CONFIG_NSH_CLE is not set
+CONFIG_NSH_LINELEN=128
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_MAXARGUMENTS=12
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_NESTDEPTH=8
+# CONFIG_NSH_DISABLEBG is not set
+CONFIG_NSH_BUILTIN_APPS=y
+
+#
+# Disable Individual commands
+#
+CONFIG_NSH_DISABLE_BASENAME=y
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+CONFIG_NSH_DISABLE_CMP=y
+# CONFIG_NSH_DISABLE_DATE is not set
+CONFIG_NSH_DISABLE_DD=y
+# CONFIG_NSH_DISABLE_DF is not set
+CONFIG_NSH_DISABLE_DIRNAME=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+CONFIG_NSH_DISABLE_HEXDUMP=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+# CONFIG_NSH_DISABLE_KILL is not set
+CONFIG_NSH_DISABLE_LOSETUP=y
+CONFIG_NSH_DISABLE_LOSMART=y
+# CONFIG_NSH_DISABLE_LS is not set
+CONFIG_NSH_DISABLE_MB=y
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+CONFIG_NSH_DISABLE_MKFIFO=y
+CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_MH=y
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_MW is not set
+CONFIG_NSH_DISABLE_PRINTF=y
+# CONFIG_NSH_DISABLE_PS is not set
+CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
+CONFIG_NSH_DISABLE_PUT=y
+# CONFIG_NSH_DISABLE_PWD is not set
+CONFIG_NSH_DISABLE_REBOOT=y
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SH is not set
+CONFIG_NSH_DISABLE_SHUTDOWN=y
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+CONFIG_NSH_DISABLE_TELNETD=y
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+CONFIG_NSH_DISABLE_UNAME=y
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_NSH_DISABLE_WGET=y
+CONFIG_NSH_DISABLE_XD=y
+CONFIG_NSH_MMCSDMINOR=0
+CONFIG_NSH_MMCSDSLOTNO=0
+
+#
+# Configure Command Options
+#
+# CONFIG_NSH_CMDOPT_DF_H is not set
+CONFIG_NSH_CODECS_BUFSIZE=128
+CONFIG_NSH_PROC_MOUNTPOINT="/proc"
+CONFIG_NSH_FILEIOSIZE=512
+
+#
+# Scripting Support
+#
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+CONFIG_NSH_ROMFSETC=y
+# CONFIG_NSH_ROMFSRC is not set
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=128
+# CONFIG_NSH_DEFAULTROMFS is not set
+CONFIG_NSH_ARCHROMFS=y
+# CONFIG_NSH_CUSTOMROMFS is not set
+CONFIG_NSH_FATDEVNO=1
+CONFIG_NSH_FATSECTSIZE=512
+CONFIG_NSH_FATNSECTORS=1024
+CONFIG_NSH_FATMOUNTPT="/tmp"
+
+#
+# Console Configuration
+#
+CONFIG_NSH_CONSOLE=y
+# CONFIG_NSH_USBCONSOLE is not set
+# CONFIG_NSH_ALTCONDEV is not set
+CONFIG_NSH_ARCHINIT=y
+# CONFIG_NSH_LOGIN is not set
+# CONFIG_NSH_CONSOLE_LOGIN is not set
+
+#
+# NxWidgets/NxWM
+#
+
+#
+# Platform-specific Support
+#
+# CONFIG_PLATFORM_CONFIGDATA is not set
+CONFIG_HAVE_CXXINITIALIZE=y
+
+#
+# System Libraries and NSH Add-Ons
+#
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_CDCACM_DEVMINOR=0
+# CONFIG_SYSTEM_CLE is not set
+# CONFIG_SYSTEM_CUTERM is not set
+# CONFIG_SYSTEM_FLASH_ERASEALL is not set
+# CONFIG_SYSTEM_FREE is not set
+# CONFIG_SYSTEM_HEX2BIN is not set
+# CONFIG_SYSTEM_HEXED is not set
+# CONFIG_SYSTEM_I2CTOOL is not set
+# CONFIG_SYSTEM_INSTALL is not set
+# CONFIG_SYSTEM_RAMTEST is not set
+CONFIG_READLINE_HAVE_EXTMATCH=y
+CONFIG_SYSTEM_READLINE=y
+CONFIG_READLINE_ECHO=y
+# CONFIG_READLINE_TABCOMPLETION is not set
+# CONFIG_READLINE_CMD_HISTORY is not set
+# CONFIG_SYSTEM_STACKMONITOR is not set
+# CONFIG_SYSTEM_SUDOKU is not set
+# CONFIG_SYSTEM_SYSTEM is not set
+# CONFIG_SYSTEM_TEE is not set
+# CONFIG_SYSTEM_UBLOXMODEM is not set
+# CONFIG_SYSTEM_VI is not set
+# CONFIG_SYSTEM_ZMODEM is not set
+
+#
+# Wireless Libraries and NSH Add-Ons
+#
+
+#
+# IEEE 802.15.4 applications
+#
+# CONFIG_IEEE802154_LIBMAC is not set
+# CONFIG_IEEE802154_LIBUTILS is not set
+# CONFIG_IEEE802154_I8SAK is not set
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4/scripts/ld.script b/boards/px4/fmu-v3/nuttx-config/scripts/ld.script
similarity index 93%
rename from platforms/nuttx/nuttx-configs/px4fmu-v4/scripts/ld.script
rename to boards/px4/fmu-v3/nuttx-config/scripts/ld.script
index 6bc104a02e..0d19229c01 100644
--- a/platforms/nuttx/nuttx-configs/px4fmu-v4/scripts/ld.script
+++ b/boards/px4/fmu-v3/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
/****************************************************************************
- * configs/px4fmu/common/ld.script
+ * 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).
*/
@@ -72,13 +72,13 @@ SECTIONS
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
- . = ALIGN(32);
- /*
- This signature provides the bootloader with a way to delay booting
- */
- _bootdelay_signature = ABSOLUTE(.);
- FILL(0xffecc2925d7d05c5)
- . += 8;
+ . = ALIGN(32);
+ /*
+ This signature provides the bootloader with a way to delay booting
+ */
+ _bootdelay_signature = ABSOLUTE(.);
+ FILL(0xffecc2925d7d05c5)
+ . += 8;
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v2/stackcheck/defconfig b/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/px4fmu-v2/stackcheck/defconfig
rename to boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
index e6c0ff74bc..4773d2b3e7 100644
--- a/platforms/nuttx/nuttx-configs/px4fmu-v2/stackcheck/defconfig
+++ b/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
@@ -687,8 +687,8 @@ 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
diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake
new file mode 100644
index 0000000000..21ddccc054
--- /dev/null
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -0,0 +1,130 @@
+
+# FMUv3 is FMUv2 with access to the full 2MB flash
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v3
+ LABEL rtps
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/adis16448
+ imu/l3gd20
+ imu/lsm303d
+ imu/mpu6000
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ #pmw3901
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ rgbled_ncp5623c
+ #rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ micrortps_bridge
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/src/drivers/boards/zubaxgnss-v1/CMakeLists.txt b/boards/px4/fmu-v3/src/CMakeLists.txt
similarity index 88%
rename from src/drivers/boards/zubaxgnss-v1/CMakeLists.txt
rename to boards/px4/fmu-v3/src/CMakeLists.txt
index 2260df1ab4..d482115f8e 100644
--- a/src/drivers/boards/zubaxgnss-v1/CMakeLists.txt
+++ b/boards/px4/fmu-v3/src/CMakeLists.txt
@@ -31,9 +31,22 @@
#
############################################################################
-message(FATAL_ERROR Configuraton is incomplete")
-
px4_add_library(drivers_board
+ can.c
+ i2c.c
init.c
led.c
+ spi.c
+ timer_config.c
+ usb.c
+ manifest.c
+)
+
+target_link_libraries(drivers_board
+ PRIVATE
+ drivers__led # drv_led_start
+ nuttx_apps # up_cxxinitialize
+ nuttx_arch # sdio
+ nuttx_drivers # sdio
+ parameters # param_init
)
diff --git a/boards/px4/fmu-v3/src/board_config.h b/boards/px4/fmu-v3/src/board_config.h
new file mode 100644
index 0000000000..bce4f8f6e4
--- /dev/null
+++ b/boards/px4/fmu-v3/src/board_config.h
@@ -0,0 +1,569 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013-2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * PX4FMUv2 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* Run time Hardware detection */
+#define BOARD_HAS_SIMPLE_HW_VERSIONING 1
+#define HW_VER_PA8 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN8)
+#define HW_VER_PB4 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
+#define HW_VER_PB12 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN12)
+#define HW_VER_PA8_INIT (GPIO_VDD_5V_PERIPH_EN)
+#define HW_VER_PB4_INIT (GPIO_SPI1_EXTI_DRDY_PB4)
+#define HW_VER_PB12_INIT (GPIO_CAN2_RX | GPIO_PULLUP) /* Assume V2 needing pull up */
+#define HW_VER_FMUV2_STATE 0x8 /* PB12:PU:1 PB12:PD:0 PB4:PU:0 PB4PD:0 */
+#define HW_VER_FMUV3_STATE 0xE /* PB12:PU:1 PB12:PD:1 PB4:PU:1 PB4PD:0 */
+#define HW_VER_FMUV2MINI_STATE 0xA /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:0 */
+#define HW_VER_FMUV2X_STATE 0xB /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:1 */
+#define HW_VER_TYPE_INIT {'V','2',0, 0}
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* PX4IO connection configuration */
+#define BOARD_USES_PX4IO_VERSION 2
+#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
+#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
+#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
+#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
+#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
+#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2
+#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
+#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR
+#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN
+#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
+#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
+
+
+/* PX4FMU GPIOs ***********************************************************************************/
+/* LEDs */
+
+#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
+#define BOARD_OVERLOAD_LED LED_AMBER
+
+/*
+ * Define the ability to shut off off the sensor signals
+ * by changing the signals to inputs
+ */
+
+#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz))
+
+/* Due to inconsistent use of chip select and dry signal on
+ * different board that use this build. We are defining the GPIO
+ * inclusive of the SPI port and GPIO to help identify pins the
+ * are part of the sensor Net's controlled by different power
+ * domains.
+ *
+ * Only the GPIO_SPIb_xxx_Ppi will be used in the code to insure this are no
+ * cross connections.
+ *
+ * --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
+ * FMUv2: FmuV3 Cube PixhawkMini
+ * Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
+ * PA5 SPI_INT_SCK
+ * PA6 SPI_INT_MISO
+ * PA7 SPI_INT_MOSI
+ * PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
+ * PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
+ * PB4 ACCEL_DRDY NC NC
+ * PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
+ * PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
+ * PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
+ * PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
+ * PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
+ * PD7 nBARO_CS
+ * PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
+ * PE2 SPI_EXT_SCK NC
+ * PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
+ * PE5 SPI_EXT_MISO NC
+ * PE6 SPI_EXT_MOSI NC
+ *
+ * Notes: Prefixed with @ Does not effect board control
+ * Prefixed with + Input used as Output
+ * Prefixed with - Output used as Input
+ * Prefixed with SPIn: Bus changed
+ *
+ * The board API provides for mechanism to perform a SPI bus reset.
+ * To facilitate a SPI bus reset
+ *
+ * 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
+ * with outputs driven low. (OFFIng)
+ * 2) The power domain of that bus is turned off.
+ * 3) A usleep it done for ms.
+ * 4) The power domain of that bus is turned back on.
+ * 5) The SPIn pins are re-initialized.
+ * 6) The SPI CS, DRDY pins are re-initialized.
+ *
+ * To insure the complete net is de-energized and is not bing back fed, it is important to
+ * note the all signals in the net list of the parts/bus.
+ *
+ * I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
+ * OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
+ *
+ */
+
+
+/*----------------------------------------------------------*/
+/* FMUv2 SPI chip selects and DRDY */
+/*----------------------------------------------------------*/
+
+/* FMUv2 SPI1 chip selects */
+/* PC1 Spare ADC IN10 */
+#define GPIO_SPI1_CS_PC2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI1_CS_PC13 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI1_CS_PC15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI1_CS_PD7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
+
+/* FMUv2 SPI2 chip selects */
+#define GPIO_SPI2_CS_PD10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+
+/* FMUv2 SPI4 chip selects */
+#define GPIO_SPI4_GPIO_PC14 /* !V2M */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_SPI4_NSS_PE4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+
+/* FMUv2 SPI1 chip selects Assignments */
+
+#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2
+#define GPIO_SPI1_CS_GYRO GPIO_SPI1_CS_PC13
+#define GPIO_SPI1_CS_ACCEL_MAG GPIO_SPI1_CS_PC15
+#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7
+
+/* FMUv2 SPI2 chip selects Assignments */
+
+#define GPIO_SPI2_CS_FRAM GPIO_SPI2_CS_PD10
+
+/* FMUv2 SPI4 chip selects Assignments */
+
+#define GPIO_SPI4_GPIO_EXT GPIO_SPI4_GPIO_PC14
+#define GPIO_SPI4_EXT_NSS GPIO_SPI4_NSS_PE4
+
+/* FMUv2 DRDY */
+
+#define GPIO_SPI1_EXTI_DRDY_PB0 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_SPI1_EXTI_DRDY_PB1 /*!V3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_SPI1_EXTI_DRDY_PD15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+
+/* FMUv2 DRDY Assignments */
+
+#define GPIO_SPI1_EXTI_GYRO_DRDY GPIO_SPI1_EXTI_DRDY_PB0
+#define GPIO_SPI1_EXTI_MAG_DRDY GPIO_SPI1_EXTI_DRDY_PB1
+#define GPIO_SPI1_EXTI_ACCEL_DRDY GPIO_SPI1_EXTI_DRDY_PB4
+#define GPIO_SPI1_EXTI_MPU_DRDY GPIO_SPI1_EXTI_DRDY_PD15
+
+/*----------------------------------------------------------*/
+/* End FMUv2 SPI chip selects and DRDY */
+/*----------------------------------------------------------*/
+
+#define PX4_SPI_BUS_SENSORS 1
+#define PX4_SPI_BUS_RAMTRON 2
+#define PX4_SPI_BUS_EXT 4
+#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
+
+/* Use these to select a specific SPI device on SPI1 */
+
+#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
+#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
+#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
+#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
+
+/* FMUv3 SPI on external bus */
+
+#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 1)
+#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 2)
+#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 3)
+#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 4)
+#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 5)
+
+/* I2C busses */
+#define PX4_I2C_BUS_EXPANSION 1
+#define PX4_I2C_BUS_ONBOARD 2
+#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
+
+/*----------------------------------------------------------*/
+/* FMUv3 Cube SPI chip selects and DRDY */
+/*----------------------------------------------------------*/
+/* Due to inconsistent use of chip select and dry signal on
+ * different board that use this build. We are defining the GPIO
+ * inclusive of the SPI port and GPIO to help identify pins the
+ * are part of the sensor Net's controlled by different power
+ * domains.
+ *
+ * --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
+ * FMUv3 Cube: FmuV2 PixhawkMini
+ * Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
+ * PA5 SPI_INT_SCK
+ * PA6 SPI_INT_MISO
+ * PA7 SPI_INT_MOSI
+ * PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
+ * PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
+ * PB4 NC SPI1:ACCEL_DRDY NC
+ * PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
+ * PC2 nMPU_CS @MPU6000 @MPU9250
+ * PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
+ * PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
+ * PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
+ * PD7 nBARO_CS
+ * PD15 nMPU_DRDY @MPU6000 @MPU9250
+ * PE2 SPI_EXT_SCK NC
+ * PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
+ * PE5 SPI_EXT_MISO NC
+ * PE6 SPI_EXT_MOSI NC
+ *
+ *
+ * Notes: Prefixed with @ Does not effect board control
+ * Prefixed with + Input used as Output
+ * Prefixed with - Output used as Input
+ * Prefixed with SPIn: Bus changed
+ *
+ */
+
+/* FMUv3 Cube SPI1 chip selects */
+/* Was a spare ACD IN10 on V2 */
+#define GPIO_SPI1_CS_PC1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_SPI4_CS_PB1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_SPI4_CS_PC13 GPIO_SPI1_CS_PC13
+#define GPIO_SPI4_CS_PC14 GPIO_SPI4_GPIO_PC14
+#define GPIO_SPI4_CS_PC15 GPIO_SPI1_CS_PC15
+
+/* FMUv3 Cube chip selects Assignments */
+/* Cube 2.0 V2.1 */
+#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU600 MPU9250 */
+#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 MS5611 */
+#define GPIO_SPI1_CS_HMC GPIO_SPI1_CS_PC1 /* HMC5983 Removed */
+
+/* N.B. bus moves from SPI1 to SPI4 */
+#define GPIO_SPI4_GYRO_EXT_CS GPIO_SPI4_CS_PC13
+#define GPIO_SPI4_BARO_EXT_CS GPIO_SPI4_CS_PC14
+#define GPIO_SPI4_ACCEL_MAG_EXT_CS GPIO_SPI4_CS_PC15
+
+/* No move */
+#define GPIO_SPI4_MPU_EXT_CS GPIO_SPI4_NSS_PE4
+
+/* FMUv3 DRDY Assignments */
+#define GPIO_SPI4_EXTI_DRDY_PB0 GPIO_SPI1_EXTI_DRDY_PB0
+#define GPIO_SPI4_EXTI_EXTERN_DRDY GPIO_SPI4_EXTI_DRDY_PB0
+#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1
+/* PB1 is an External CS on V3 */
+
+#define PX4_SPIDEV_HMC 5
+
+/*----------------------------------------------------------*/
+/* End FMUv3 Cube SPI chip selects and DRDY */
+/*----------------------------------------------------------*/
+/*----------------------------------------------------------*/
+/* Due to inconsistent use of chip select and dry signal on
+ * different board that use this build. We are defining the GPIO
+ * inclusive of the SPI port and GPIO to help identify pins the
+ * are part of the sensor Net's controlled by different power
+ * domains.
+ *
+ * --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
+ * FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
+ * Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
+ * PA5 SPI_INT_SCK
+ * PA6 SPI_INT_MISO
+ * PA7 SPI_INT_MOSI
+ * PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
+ * PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
+ * PB4 NC SPI1:ACCEL_DRDY NC
+ * PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
+ * PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
+ * PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
+ * PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
+ * PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
+ * PD7 nBARO_CS
+ * PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
+ * PE2 NC SPI_EXT_SCK SPI_EXT_SCK
+ * PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
+ * PE5 NC SPI_EXT_MISO SPI_EXT_MISO
+ * PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
+ *
+ * Notes: Prefixed with @ Does not effect board control
+ * Prefixed with + Input used as Output
+ * Prefixed with - Output used as Input
+ * Prefixed with SPIn: Bus changed
+ *
+ */
+
+/*----------------------------------------------------------*/
+/* FMUv2 PixhawkMini SPI chip selects and DRDY */
+/*----------------------------------------------------------*/
+
+/* FMUv2 PixhawkMini SPI1 chip selects */
+
+/* FMUv3 Cube chip selects Assignments */
+
+#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU9250 */
+#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 */
+#define GPIO_SPI1_CS_20608 GPIO_SPI1_CS_PC15 /* ICM20608 */
+
+/* FMUv3 DRDY Assignments */
+
+/* Pixhawk mini has reused the PC14 GPIO_SPI_CS_EXT1 signal that was associated
+ * with SPI4.
+ */
+#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
+
+#define PX4_SPIDEV_ICM_20608 6 /* ICM_20608 on PC15 */
+
+
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_BATTERY_VOLTAGE_CHANNEL 2
+#define ADC_BATTERY_CURRENT_CHANNEL 3
+#define ADC_5V_RAIL_SENSE 4
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
+
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
+/* User GPIOs
+ *
+ * GPIO0-5 are the PWM servo outputs.
+ */
+#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
+
+/* Power supply control and monitoring GPIOs */
+#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
+#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER 2 /* timer 2 */
+#define TONE_ALARM_CHANNEL 1 /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
+
+/* PWM
+ *
+ * Six PWM outputs are configured.
+ *
+ * Pins:
+ *
+ * CH1 : PE14 : TIM1_CH4
+ * CH2 : PE13 : TIM1_CH3
+ * CH3 : PE11 : TIM1_CH2
+ * CH4 : PE9 : TIM1_CH1
+ * CH5 : PD13 : TIM4_CH2
+ * CH6 : PD14 : TIM4_CH3
+ */
+#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
+#define DIRECT_PWM_OUTPUT_CHANNELS 6
+
+#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2
+#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2
+#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2
+#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2
+#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2
+#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
+#define DIRECT_INPUT_TIMER_CHANNELS 6
+
+/* USB OTG FS
+ *
+ * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
+ */
+#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER 8 /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER 4
+#define PWMIN_TIMER_CHANNEL 2
+#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
+
+#define BOARD_NAME "PX4FMU_V2"
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
+#define BOARD_ADC_SERVO_VALID (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID))
+#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_VDD_USB_VALID))
+#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
+
+#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_FMU_GPIO_TAB { \
+ {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
+ {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
+ {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
+ {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
+ {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
+ {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
+ {0, GPIO_VDD_5V_PERIPH_EN, 0}, \
+ {0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
+ {GPIO_VDD_BRICK_VALID, 0, 0}, \
+ {GPIO_VDD_SERVO_VALID, 0, 0}, \
+ {GPIO_VDD_USB_VALID, 0, 0}, \
+ {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, \
+ {GPIO_VDD_5V_PERIPH_OC, 0, 0}, }
+
+/*
+ * GPIO numbers.
+ *
+ * There are no alternate functions on this board.
+ */
+#define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
+#define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
+#define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
+#define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
+#define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
+#define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
+
+#define GPIO_5V_PERIPH_EN (1<<6) /**< PA8 - !VDD_5V_PERIPH_EN */
+#define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */
+#define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
+#define GPIO_SERVO_VALID (1<<9) /**< PB7 - !VDD_SERVO_VALID */
+#define GPIO_USB_VALID (1<<10) /**< PC0 - !GPIO_VDD_USB_VALID */
+#define GPIO_5V_HIPOWER_OC (1<<11) /**< PE10 - !VDD_5V_HIPOWER_OC */
+#define GPIO_5V_PERIPH_OC (1<<12) /**< PE10 - !VDD_5V_PERIPH_OC */
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+#define BOARD_HAS_ON_RESET 1
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ * Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+/************************************************************************************
+ * Name: stm32_spi_bus_initialize
+ *
+ * Description:
+ * Called to configure SPI Buses.
+ *
+ ************************************************************************************/
+
+extern int stm32_spi_bus_initialize(void);
+
+/****************************************************************************************************
+ * Name: board_spi_reset board_peripheral_reset
+ *
+ * Description:
+ * Called to reset SPI and the perferal bus
+ *
+ ****************************************************************************************************/
+
+void board_spi_reset(int ms);
+extern void board_peripheral_reset(int ms);
+
+/****************************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ * Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_usbinitialize(void);
+
+#include <drivers/boards/common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
diff --git a/src/drivers/boards/px4fmu-v4/can.c b/boards/px4/fmu-v3/src/can.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4/can.c
rename to boards/px4/fmu-v3/src/can.c
diff --git a/platforms/nuttx/nuttx-configs/aerofc-v1/include/nsh_romfsimg.h b/boards/px4/fmu-v3/src/i2c.c
similarity index 81%
rename from platforms/nuttx/nuttx-configs/aerofc-v1/include/nsh_romfsimg.h
rename to boards/px4/fmu-v3/src/i2c.c
index beb1a924cf..55d559976e 100644
--- a/platforms/nuttx/nuttx-configs/aerofc-v1/include/nsh_romfsimg.h
+++ b/boards/px4/fmu-v3/src/i2c.c
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ * 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
@@ -32,11 +32,24 @@
****************************************************************************/
/**
- * nsh_romfsetc.h
+ * @file px4fmu_i2c.c
*
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
+ * Board-specific I2C functions.
*/
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
+#include "board_config.h"
+
+__EXPORT bool px4_i2c_bus_external(int bus)
+{
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ /* All FMUV3 2.1 i2c buses are external */
+ return true;
+
+ } else {
+ if (bus != PX4_I2C_BUS_ONBOARD) {
+ return true;
+ }
+ }
+
+ return false;
+}
diff --git a/boards/px4/fmu-v3/src/init.c b/boards/px4/fmu-v3/src/init.c
new file mode 100644
index 0000000000..a031f8dbfa
--- /dev/null
+++ b/boards/px4/fmu-v3/src/init.c
@@ -0,0 +1,570 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu2_init.c
+ *
+ * PX4FMUv2-specific early startup code. This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <px4_tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include "platform/cxxinitialize.h"
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+#include <systemlib/cpuload.h>
+#include <perf/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <parameters/param.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+# ifdef CONFIG_DEBUG
+# define message(...) syslog(__VA_ARGS__)
+# else
+# define message(...) printf(__VA_ARGS__)
+# endif
+#else
+# ifdef CONFIG_DEBUG
+# define message syslog
+# else
+# define message printf
+# endif
+#endif
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+static int hw_version = 0;
+static int hw_revision = 0;
+static char hw_type[4] = HW_VER_TYPE_INIT;
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+ /* set the peripheral rails off */
+ stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+ stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
+
+ /* wait for the peripheral rail to reach GND */
+ usleep(ms * 1000);
+ warnx("reset done, %d ms", ms);
+
+ /* re-enable power */
+
+ /* switch the peripheral rail back on */
+ stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ * 0 if just resetting
+ *
+ ************************************************************************************/
+
+__EXPORT void board_on_reset(int status)
+{
+ UNUSED(status);
+ /* configure the GPIO pins to outputs and keep them low */
+
+ stm32_configgpio(GPIO_GPIO0_OUTPUT);
+ stm32_configgpio(GPIO_GPIO1_OUTPUT);
+ stm32_configgpio(GPIO_GPIO2_OUTPUT);
+ stm32_configgpio(GPIO_GPIO3_OUTPUT);
+ stm32_configgpio(GPIO_GPIO4_OUTPUT);
+ stm32_configgpio(GPIO_GPIO5_OUTPUT);
+
+ /* On resets invoked from system (not boot) insure we establish a low
+ * output state (discharge the pins) on PWM pins before they become inputs.
+ *
+ * We also delay the onset of the that 3.1 Ms pulse as boot. This has
+ * triggered some ESC to spin. By adding this delay here the reset
+ * is pushed out > 400 ms. So the ESC PWM input can not mistake
+ * the 3.1 Ms pulse as a valid PWM command.
+ *
+ * fixme:Establish in upstream NuttX an CONFIG_IO_INIT_STATE to
+ * the initialize the IO lines in the clock config.
+ *
+ */
+
+ if (status >= 0) {
+ up_mdelay(400);
+
+ /* on reboot (status >= 0) reset sensors and peripherals */
+ board_spi_reset(10);
+ }
+}
+
+/************************************************************************************
+ * Name: determin_hw_version
+ *
+ * Description:
+ *
+ * This function looks at HW deltas to determine what the
+ * build is running on using the following criteria:
+ *
+ * MSN PB12 FMUv2 Cube MINI
+ * CAN2_RX CONECTOR MX30521 NC
+ * PU.PD 1,0 1,1 1,0
+ *
+ * LSN PB4 FMUv2 Cube MINI
+ * ACCEL_DRDY LSM303D NC NC
+ * PU.PD 0,0 1,0 1,0
+
+ * PB12:PB4
+ * ud ud
+ * 10 00 - 0x8 FMUv2
+ * 11 10 - 0xE Cube AKA V2.0
+ * 10 10 - 0xA PixhawkMini
+ * 10 11 - 0xB FMUv2 questionable hardware (should be treated like regular FMUv2)
+ *
+ * This will return OK on success and -1 on not supported
+ *
+ * hw_type Initial state is {'V','2',0, 0}
+ * V 2 - FMUv2
+ * V 3 0 - FMUv3 2.0
+ * V 3 1 - FMUv3 2.1 - not differentiateable,
+ * V 2 M - FMUv2 Mini
+ *
+ ************************************************************************************/
+
+static int determin_hw_version(int *version, int *revision)
+{
+ *revision = 0; /* default revision */
+ int rv = 0;
+ int pos = 0;
+ stm32_configgpio(GPIO_PULLDOWN | (HW_VER_PB4 & ~GPIO_PUPD_MASK));
+ up_udelay(10);
+ rv |= stm32_gpioread(HW_VER_PB4) << pos++;
+ stm32_configgpio(HW_VER_PB4);
+ up_udelay(10);
+ rv |= stm32_gpioread(HW_VER_PB4) << pos++;
+
+ int votes = 16;
+ int ones[2] = {0, 0};
+ int zeros[2] = {0, 0};
+
+ while (votes--) {
+ stm32_configgpio(GPIO_PULLDOWN | (HW_VER_PB12 & ~GPIO_PUPD_MASK));
+ up_udelay(10);
+ stm32_gpioread(HW_VER_PB12) ? ones[0]++ : zeros[0]++;
+ stm32_configgpio(HW_VER_PB12);
+ up_udelay(10);
+ stm32_gpioread(HW_VER_PB12) ? ones[1]++ : zeros[1]++;
+ }
+
+ if (ones[0] > zeros[0]) {
+ rv |= 1 << pos;
+ }
+
+ pos++;
+
+ if (ones[1] > zeros[1]) {
+ rv |= 1 << pos;
+ }
+
+ stm32_configgpio(HW_VER_PB4_INIT);
+ stm32_configgpio(HW_VER_PB12_INIT);
+ *version = rv;
+ return OK;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_type_name
+ *
+ * Description:
+ * Optional returns a string defining the HW type
+ *
+ *
+ ************************************************************************************/
+
+__EXPORT const char *board_get_hw_type_name()
+{
+ return (const char *) hw_type;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_version
+ *
+ * Description:
+ * Optional returns a integer HW version
+ *
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_version()
+{
+ return HW_VER_SIMPLE(hw_version);
+}
+
+/************************************************************************************
+ * Name: board_get_hw_revision
+ *
+ * Description:
+ * Optional returns a integer HW revision
+ *
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_revision()
+{
+ return hw_revision;
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ * All STM32 architectures must provide the following entry point. This entry point
+ * is called early in the intitialization -- after all memory has been configured
+ * and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+ board_on_reset(-1);
+
+ /* configure LEDs */
+ board_autoled_initialize();
+
+ /* configure ADC pins */
+
+ stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
+ stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
+ stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
+ stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
+ stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
+ stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
+
+ /* configure power supply control/sense pins */
+ stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+ stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+ stm32_configgpio(GPIO_VDD_BRICK_VALID);
+ stm32_configgpio(GPIO_VDD_SERVO_VALID);
+ stm32_configgpio(GPIO_VDD_USB_VALID);
+ stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
+ stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
+
+ /*
+ * CAN GPIO config.
+ * Forced pull up on CAN2 is required for FMUv2 where the second interface lacks a transceiver.
+ * If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
+ * fail during initialization.
+ */
+ stm32_configgpio(GPIO_CAN1_RX);
+ stm32_configgpio(GPIO_CAN1_TX);
+ stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
+ stm32_configgpio(GPIO_CAN2_TX);
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ * Perform application specific initialization. This function is never
+ * called directly from application code, but only indirectly via the
+ * (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ * arg - The boardctl() argument is passed to the board_app_initialize()
+ * implementation without modification. The argument has no
+ * meaning to NuttX; the meaning of the argument is a contract
+ * between the board-specific initalization logic and the the
+ * matching application logic. The value cold be such things as a
+ * mode enumeration value, a set of DIP switch switch settings, a
+ * pointer to configuration data read from a file or serial FLASH,
+ * or whatever you would like to do with it. Every implementation
+ * should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ * Zero (OK) is returned on success; a negated errno value is returned on
+ * any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
+static struct sdio_dev_s *sdio;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+ /* run C++ ctors before we go any further */
+ up_cxxinitialize();
+
+#else
+# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
+ /* Ensure the power is on 1 ms before we drive the GPIO pins */
+ usleep(1000);
+
+ if (OK == determin_hw_version(&hw_version, & hw_revision)) {
+ switch (hw_version) {
+ case HW_VER_FMUV2_STATE:
+ break;
+
+ case HW_VER_FMUV3_STATE:
+ hw_type[1]++;
+ hw_type[2] = '0';
+
+ /* Has CAN2 transceiver Remove pull up */
+
+ stm32_configgpio(GPIO_CAN2_RX);
+
+ break;
+
+ case HW_VER_FMUV2MINI_STATE:
+
+ /* Detection for a Pixhack3 */
+
+ stm32_configgpio(HW_VER_PA8);
+ up_udelay(10);
+ bool isph3 = stm32_gpioread(HW_VER_PA8);
+ stm32_configgpio(HW_VER_PA8_INIT);
+
+
+ if (isph3) {
+
+ /* Pixhack3 looks like a FMuV3 Cube */
+
+ hw_version = HW_VER_FMUV3_STATE;
+ hw_type[1]++;
+ hw_type[2] = '0';
+ message("\nPixhack V3 detected, forcing to fmu-v3");
+
+ } else {
+
+ /* It is a mini */
+
+ hw_type[2] = 'M';
+ }
+
+ break;
+
+ default:
+
+ /* questionable px4fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
+
+ message("\nbad version detected, forcing to fmu-v2");
+ hw_version = HW_VER_FMUV2_STATE;
+ break;
+ }
+
+ message("\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
+ }
+
+ /* configure SPI interfaces */
+ stm32_spiinitialize();
+
+ /* configure the high-resolution time/callout interface */
+ hrt_init();
+
+ param_init();
+
+ /* configure the DMA allocator */
+
+ if (board_dma_alloc_init() < 0) {
+ message("DMA alloc FAILED");
+ }
+
+ /* configure CPU load estimation */
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+ cpuload_initialize_once();
+#endif
+
+ /* set up the serial DMA polling */
+ static struct hrt_call serial_dma_call;
+ struct timespec ts;
+
+ /*
+ * Poll at 1ms intervals for received bytes that have not triggered
+ * a DMA event.
+ */
+ ts.tv_sec = 0;
+ ts.tv_nsec = 1000000;
+
+ hrt_call_every(&serial_dma_call,
+ ts_to_abstime(&ts),
+ ts_to_abstime(&ts),
+ (hrt_callout)stm32_serial_dma_poll,
+ NULL);
+
+ /* initial LED state */
+ drv_led_start();
+ led_off(LED_AMBER);
+
+ if (board_hardfault_init(2, true) != 0) {
+ led_on(LED_AMBER);
+ }
+
+ /* Configure SPI-based devices */
+
+ spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
+
+ if (!spi1) {
+ message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
+ led_on(LED_AMBER);
+ return -ENODEV;
+ }
+
+ /* Default SPI1 to 1MHz and de-assert the known chip selects. */
+ SPI_SETFREQUENCY(spi1, 10000000);
+ SPI_SETBITS(spi1, 8);
+ SPI_SETMODE(spi1, SPIDEV_MODE3);
+ up_udelay(20);
+
+ /* Get the SPI port for the FRAM */
+
+ spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
+
+ if (!spi2) {
+ message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
+ led_on(LED_AMBER);
+ return -ENODEV;
+ }
+
+ /* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+ * and de-assert the known chip selects. */
+
+ // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+ SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
+ SPI_SETBITS(spi2, 8);
+ SPI_SETMODE(spi2, SPIDEV_MODE3);
+
+ spi4 = stm32_spibus_initialize(PX4_SPI_BUS_EXT);
+
+ if (!spi4) {
+ message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
+ led_on(LED_AMBER);
+ return -ENODEV;
+ }
+
+ /* Default SPI4 to 1MHz and de-assert the known chip selects. */
+ SPI_SETFREQUENCY(spi4, 10000000);
+ SPI_SETBITS(spi4, 8);
+ SPI_SETMODE(spi4, SPIDEV_MODE3);
+
+#ifdef CONFIG_MMCSD
+ /* First, get an instance of the SDIO interface */
+
+ sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+
+ if (!sdio) {
+ led_on(LED_AMBER);
+ message("[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+ return -ENODEV;
+ }
+
+ /* Now bind the SDIO interface to the MMC/SD driver */
+ int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+
+ if (ret != OK) {
+ led_on(LED_AMBER);
+ message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+ return ret;
+ }
+
+ /* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
+ sdio_mediachange(sdio, true);
+
+#endif
+
+ return OK;
+}
diff --git a/boards/px4/fmu-v3/src/led.c b/boards/px4/fmu-v3/src/led.c
new file mode 100644
index 0000000000..09edb2ba66
--- /dev/null
+++ b/boards/px4/fmu-v3/src/led.c
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu2_led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+__EXPORT void led_init()
+{
+ /* Configure LED1 GPIO for output */
+
+ stm32_configgpio(GPIO_LED1);
+}
+
+__EXPORT void led_on(int led)
+{
+ if (led == 1) {
+ /* Pull down to switch on */
+ stm32_gpiowrite(GPIO_LED1, false);
+ }
+}
+
+__EXPORT void led_off(int led)
+{
+ if (led == 1) {
+ /* Pull up to switch off */
+ stm32_gpiowrite(GPIO_LED1, true);
+ }
+}
+
+__EXPORT void led_toggle(int led)
+{
+ if (led == 1) {
+ if (stm32_gpioread(GPIO_LED1)) {
+ stm32_gpiowrite(GPIO_LED1, false);
+
+ } else {
+ stm32_gpiowrite(GPIO_LED1, true);
+ }
+ }
+}
diff --git a/boards/px4/fmu-v3/src/manifest.c b/boards/px4/fmu-v3/src/manifest.c
new file mode 100644
index 0000000000..7639b59cd3
--- /dev/null
+++ b/boards/px4/fmu-v3/src/manifest.c
@@ -0,0 +1,149 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file manifest.c
+ *
+ * This module supplies the interface to the manifest of hardware that is
+ * optional and dependent on the simple Hardware versioning
+ * BOARD_HAS_SIMPLE_HW_VERSIONING
+ *
+ * The manifest allows the system to know whether a hardware option
+ * say for example the PX4IO is an no-pop option vs it is broken.
+ *
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdbool.h>
+#include "systemlib/px4_macros.h"
+#include "px4_log.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+typedef struct {
+ uint32_t hw_ver_rev; /* the version and revision */
+ const px4_hw_mft_item_t *mft; /* The first entry */
+ uint32_t entries; /* the lenght of the list */
+} px4_hw_mft_list_entry_t;
+
+typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
+#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
+
+static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
+
+static const px4_hw_mft_item_t hw_mft_list_FMUv2[] = {
+ {
+ .present = 1,
+ .mandatory = 1,
+ .connection = px4_hw_con_onboard,
+ },
+};
+
+static const px4_hw_mft_item_t hw_mft_list_FMUv2Mini[] = {
+ {
+ .present = 1,
+ .mandatory = 1,
+ .connection = px4_hw_con_onboard,
+ },
+};
+static const px4_hw_mft_item_t hw_mft_list_FMUv2X[] = {
+ {
+ .present = 1,
+ .mandatory = 1,
+ .connection = px4_hw_con_onboard,
+ },
+};
+static const px4_hw_mft_item_t hw_mft_list_FMUv3[] = {
+ {
+ .present = 1,
+ .mandatory = 1,
+ .connection = px4_hw_con_onboard,
+ },
+};
+
+static px4_hw_mft_list_entry_t mft_lists[] = {
+ {HW_VER_FMUV2, hw_mft_list_FMUv2, arraySize(hw_mft_list_FMUv2)},
+ {HW_VER_FMUV2MINI, hw_mft_list_FMUv2Mini, arraySize(hw_mft_list_FMUv2Mini)},
+ {HW_VER_FMUV2X, hw_mft_list_FMUv2X, arraySize(hw_mft_list_FMUv2X)},
+ {HW_VER_FMUV3, hw_mft_list_FMUv3, arraySize(hw_mft_list_FMUv3)},
+};
+
+/************************************************************************************
+ * Name: board_query_manifest
+ *
+ * Description:
+ * Optional returns manifest item.
+ *
+ * Input Parameters:
+ * manifest_id - the ID for the manifest item to retrieve
+ *
+ * Returned Value:
+ * 0 - item is not in manifest => assume legacy operations
+ * pointer to a manifest item
+ *
+ ************************************************************************************/
+
+__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
+{
+ static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
+
+ if (boards_manifest == px4_hw_mft_list_uninitialized) {
+ uint32_t ver_rev = board_get_hw_version();
+
+ for (unsigned i = 0; i < arraySize(mft_lists); i++) {
+ if (mft_lists[i].hw_ver_rev == ver_rev) {
+ boards_manifest = &mft_lists[i];
+ break;
+ }
+ }
+
+ if (boards_manifest == px4_hw_mft_list_uninitialized) {
+ PX4_ERR("Board %4x is not supported!", ver_rev);
+ }
+ }
+
+ px4_hw_mft_item rv = &device_unsupported;
+
+ if (boards_manifest != px4_hw_mft_list_uninitialized &&
+ id < boards_manifest->entries) {
+ rv = &boards_manifest->mft[id];
+ }
+
+ return rv;
+}
diff --git a/boards/px4/fmu-v3/src/spi.c b/boards/px4/fmu-v3/src/spi.c
new file mode 100644
index 0000000000..ca29b39c32
--- /dev/null
+++ b/boards/px4/fmu-v3/src/spi.c
@@ -0,0 +1,462 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_spi.c
+ *
+ * Board-specific SPI functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+#include <unistd.h>
+
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+
+#include <up_arch.h>
+#include <chip.h>
+#include <stm32.h>
+#include "board_config.h"
+#include <systemlib/err.h>
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ * Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_STM32_SPI1
+/* Verification
+ * PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
+ * driver X X X X X X
+ * local V2 v2 V2 V3 a V2 V2M V2x a a 4
+ */
+static void stm32_spi1_initialize(void)
+{
+ stm32_configgpio(GPIO_SPI1_CS_PC2);
+ stm32_configgpio(GPIO_SPI1_CS_PD7);
+
+ stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);
+
+ if (HW_VER_FMUV2MINI == board_get_hw_version()) {
+ stm32_configgpio(GPIO_SPI1_EXTI_20608_DRDY_PC14);
+ stm32_configgpio(GPIO_SPI1_CS_PC15);
+
+ } else if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_configgpio(GPIO_SPI1_CS_PC1);
+
+ } else {
+ stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
+ stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
+ stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
+ stm32_configgpio(GPIO_SPI1_CS_PC13);
+ stm32_configgpio(GPIO_SPI1_CS_PC15);
+ }
+}
+#endif // CONFIG_STM32_SPI1
+
+#ifdef CONFIG_STM32_SPI4
+/* Verification
+ * PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
+ * driver X X X X X X
+ * local V3 V3 - V3 a V3 V23 V3 - -
+ */
+static void stm32_spi4_initialize(void)
+{
+ stm32_configgpio(GPIO_SPI4_NSS_PE4);
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
+ stm32_configgpio(GPIO_SPI4_CS_PB1);
+ stm32_configgpio(GPIO_SPI4_CS_PC13);
+ stm32_configgpio(GPIO_SPI4_CS_PC15);
+ }
+
+ if (HW_VER_FMUV2MINI != board_get_hw_version()) {
+ stm32_configgpio(GPIO_SPI4_GPIO_PC14);
+ }
+}
+#endif //CONFIG_STM32_SPI4
+
+__EXPORT void stm32_spiinitialize(void)
+{
+#ifdef CONFIG_STM32_SPI1
+ stm32_spi1_initialize();
+#endif
+
+#ifdef CONFIG_STM32_SPI2
+ stm32_configgpio(GPIO_SPI2_CS_PD10);
+#endif
+
+#ifdef CONFIG_STM32_SPI4
+ stm32_spi4_initialize();
+#endif
+}
+
+#ifdef CONFIG_STM32_SPI1
+__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+ /* SPI select is active low, so write !selected to select the device */
+ /* Verification
+ * PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
+ * driver X X X X X X
+ * local - - - V3 a V2 - V2M a - -
+ */
+
+ switch (devid) {
+ case PX4_SPIDEV_GYRO:
+
+ /* Making sure the other peripherals are not selected */
+ if (HW_VER_FMUV2 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
+ }
+
+ if (HW_VER_FMUV3 != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
+ }
+
+ stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
+ stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
+ }
+
+ break;
+
+ case PX4_SPIDEV_ICM_20608:
+ case PX4_SPIDEV_ACCEL_MAG:
+
+ /* Making sure the other peripherals are not selected */
+ if (HW_VER_FMUV2 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
+ }
+
+ if (HW_VER_FMUV3 != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
+ }
+
+ stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
+ stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
+ }
+
+ break;
+
+ case PX4_SPIDEV_BARO:
+
+ /* Making sure the other peripherals are not selected */
+ if (HW_VER_FMUV2 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
+ }
+
+ if (HW_VER_FMUV3 != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
+ }
+
+ stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
+ stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
+ }
+
+ break;
+
+ case PX4_SPIDEV_MPU:
+
+ /* Making sure the other peripherals are not selected */
+ if (HW_VER_FMUV2 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
+ }
+
+ if (HW_VER_FMUV3 != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
+ }
+
+ stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
+ stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
+ }
+
+ break;
+
+ case PX4_SPIDEV_HMC:
+ if (HW_VER_FMUV2 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
+ }
+
+ if (HW_VER_FMUV3 != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
+ }
+
+ stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
+ stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI1_CS_PC1, !selected);
+ }
+
+ break;
+
+ default:
+ break;
+ }
+}
+
+__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+ return SPI_STATUS_PRESENT;
+}
+#endif // CONFIG_STM32_SPI1
+
+#ifdef CONFIG_STM32_SPI2
+__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+ /* there can only be one device on this bus, so always select it */
+ stm32_gpiowrite(GPIO_SPI2_CS_PD10, !selected);
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+ /* FRAM is always present */
+ return SPI_STATUS_PRESENT;
+}
+#endif
+
+
+#ifdef CONFIG_STM32_SPI4
+__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+ /* SPI select is active low, so write !selected to select the device */
+ /* Verification
+ * PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
+ * driver X X X X X X
+ * local - - - - - V3 !V2M V3 - - a
+ */
+
+ switch (devid) {
+ case PX4_SPIDEV_EXT_MPU:
+ /* Making sure the other peripherals are not selected */
+ stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
+
+ if (HW_VER_FMUV2MINI != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
+ }
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
+ stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
+ }
+
+ break;
+
+ case PX4_SPIDEV_EXT_BARO:
+ /* Making sure the other peripherals are not selected */
+ stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
+
+ if (HW_VER_FMUV2MINI != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
+ }
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
+ stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
+ }
+
+ break;
+
+ case PX4_SPIDEV_ICM_20608:
+ case PX4_SPIDEV_EXT_ACCEL_MAG:
+ /* Making sure the other peripherals are not selected */
+ stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
+
+ if (HW_VER_FMUV2MINI != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
+ }
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI4_CS_PC15, !selected);
+ stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
+ }
+
+ break;
+
+ case PX4_SPIDEV_EXT_BMI:
+ case PX4_SPIDEV_EXT_GYRO:
+ /* Making sure the other peripherals are not selected */
+ stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
+
+ if (HW_VER_FMUV2MINI != board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
+ }
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
+ stm32_gpiowrite(GPIO_SPI4_CS_PC13, !selected);
+ }
+
+ break;
+
+ default:
+ break;
+
+ }
+}
+__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+ return SPI_STATUS_PRESENT;
+}
+#endif // CONFIG_STM32_SPI4
+
+/* V2, V2M SPI1 All signals SPI4, V3 ALL signals */
+/* Verification
+ * PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
+ * local A A A A A A V3 A A !V2 A A A V3 V3 V3 V3
+ */
+
+__EXPORT void board_spi_reset(int ms)
+{
+ /* disable SPI bus */
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC2));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC13));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC15));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PD7));
+
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC2), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC13), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC15), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PD7), 0);
+
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
+
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_SCK), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MISO), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MOSI), 0);
+
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15));
+
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);
+
+ if (HW_VER_FMUV2 != board_get_hw_version()) {
+ stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
+ }
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC1));
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC1), 0);
+
+ stm32_configgpio(_PIN_OFF(GPIO_SPI4_NSS_PE4));
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_NSS_PE4), 0);
+
+ stm32_configgpio(_PIN_OFF(GPIO_SPI4_SCK));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI4_MISO));
+ stm32_configgpio(_PIN_OFF(GPIO_SPI4_MOSI));
+
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
+ stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);
+ }
+
+ /* set the sensor rail off */
+ stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+ stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
+
+ /* wait for the sensor rail to reach GND */
+ usleep(ms * 1000);
+ warnx("reset done, %d ms", ms);
+
+ /* re-enable power */
+
+ /* switch the sensor rail back on */
+ stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
+
+ /* wait a bit before starting SPI, different times didn't influence results */
+ usleep(100);
+
+ /* reconfigure the SPI pins */
+ stm32_configgpio(GPIO_SPI1_SCK);
+ stm32_configgpio(GPIO_SPI1_MISO);
+ stm32_configgpio(GPIO_SPI1_MOSI);
+
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ stm32_configgpio(GPIO_SPI4_SCK);
+ stm32_configgpio(GPIO_SPI4_MISO);
+ stm32_configgpio(GPIO_SPI4_MOSI);
+ stm32_spi4_initialize();
+ }
+
+ stm32_spi1_initialize();
+}
+
+__EXPORT bool px4_spi_bus_external(int bus)
+{
+ if (HW_VER_FMUV3 == board_get_hw_version()) {
+ /* all FMUv3 2.1 spi buses are internal */
+ return false;
+
+ } else {
+ if (bus == PX4_SPI_BUS_EXT) {
+ return true;
+ }
+ }
+
+ return false;
+}
diff --git a/boards/px4/fmu-v3/src/timer_config.c b/boards/px4/fmu-v3/src/timer_config.c
new file mode 100644
index 0000000000..5adc4260db
--- /dev/null
+++ b/boards/px4/fmu-v3/src/timer_config.c
@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 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.
+ *
+ ****************************************************************************/
+
+/*
+ * @file px4fmu_timer_config.c
+ *
+ * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <stm32.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
+
+#include "board_config.h"
+
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
+ {
+ .base = STM32_TIM1_BASE,
+ .clock_register = STM32_RCC_APB2ENR,
+ .clock_bit = RCC_APB2ENR_TIM1EN,
+ .clock_freq = STM32_APB2_TIM1_CLKIN,
+ .first_channel_index = 0,
+ .last_channel_index = 3,
+ .handler = io_timer_handler0,
+ .vectorno = STM32_IRQ_TIM1CC,
+
+ },
+ {
+ .base = STM32_TIM4_BASE,
+ .clock_register = STM32_RCC_APB1ENR,
+ .clock_bit = RCC_APB1ENR_TIM4EN,
+ .clock_freq = STM32_APB1_TIM4_CLKIN,
+ .first_channel_index = 4,
+ .last_channel_index = 5,
+ .handler = io_timer_handler1,
+ .vectorno = STM32_IRQ_TIM4
+ }
+};
+
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+ {
+ .gpio_out = GPIO_TIM1_CH4OUT,
+ .gpio_in = GPIO_TIM1_CH4IN,
+ .timer_index = 0,
+ .timer_channel = 4,
+ .ccr_offset = STM32_GTIM_CCR4_OFFSET,
+ .masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
+ },
+ {
+ .gpio_out = GPIO_TIM1_CH3OUT,
+ .gpio_in = GPIO_TIM1_CH3IN,
+ .timer_index = 0,
+ .timer_channel = 3,
+ .ccr_offset = STM32_GTIM_CCR3_OFFSET,
+ .masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
+ },
+ {
+ .gpio_out = GPIO_TIM1_CH2OUT,
+ .gpio_in = GPIO_TIM1_CH2IN,
+ .timer_index = 0,
+ .timer_channel = 2,
+ .ccr_offset = STM32_GTIM_CCR2_OFFSET,
+ .masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
+ },
+ {
+ .gpio_out = GPIO_TIM1_CH1OUT,
+ .gpio_in = GPIO_TIM1_CH1IN,
+ .timer_index = 0,
+ .timer_channel = 1,
+ .ccr_offset = STM32_GTIM_CCR1_OFFSET,
+ .masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
+ },
+ {
+ .gpio_out = GPIO_TIM4_CH2OUT,
+ .gpio_in = GPIO_TIM4_CH2IN,
+ .timer_index = 1,
+ .timer_channel = 2,
+ .ccr_offset = STM32_GTIM_CCR2_OFFSET,
+ .masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
+ },
+ {
+ .gpio_out = GPIO_TIM4_CH3OUT,
+ .gpio_in = GPIO_TIM4_CH3IN,
+ .timer_index = 1,
+ .timer_channel = 3,
+ .ccr_offset = STM32_GTIM_CCR3_OFFSET,
+ .masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
+ }
+};
diff --git a/src/drivers/boards/px4fmu-v4pro/usb.c b/boards/px4/fmu-v3/src/usb.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4pro/usb.c
rename to boards/px4/fmu-v3/src/usb.c
diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake
new file mode 100644
index 0000000000..e0034ddbd0
--- /dev/null
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -0,0 +1,129 @@
+
+# FMUv3 is FMUv2 with access to the full 2MB flash
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v3
+ LABEL stackcheck
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ #UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/adis16448
+ imu/l3gd20
+ imu/lsm303d
+ imu/mpu6000
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ #pmw3901
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ rgbled_ncp5623c
+ #rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ #subscriber
+ #uuv_example_app
+
+ )
diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
new file mode 100644
index 0000000000..5019b220b1
--- /dev/null
+++ b/boards/px4/fmu-v4/default.cmake
@@ -0,0 +1,114 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v4
+ LABEL default
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ TESTING
+ UAVCAN_INTERFACES 1
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ heater
+ imu # all available imu drivers
+ irlock
+ magnetometer # all available magnetometer drivers
+ mkblctrl
+ oreoled
+ pca9685
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ rc_input
+ rgbled
+ rgbled_ncp5623c
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/px4fmu-v4.prototype b/boards/px4/fmu-v4/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/px4fmu-v4.prototype
rename to boards/px4/fmu-v4/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4/include/board.h b/boards/px4/fmu-v4/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v4/include/board.h
rename to boards/px4/fmu-v4/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v4/nsh/defconfig
rename to boards/px4/fmu-v4/nuttx-config/nsh/defconfig
diff --git a/platforms/nuttx/nuttx-configs/mindpx-v2/scripts/ld.script b/boards/px4/fmu-v4/nuttx-config/scripts/ld.script
similarity index 92%
rename from platforms/nuttx/nuttx-configs/mindpx-v2/scripts/ld.script
rename to boards/px4/fmu-v4/nuttx-config/scripts/ld.script
index 133df6022f..0d19229c01 100644
--- a/platforms/nuttx/nuttx-configs/mindpx-v2/scripts/ld.script
+++ b/boards/px4/fmu-v4/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
/****************************************************************************
- * configs/px4fmu/common/ld.script
+ * 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.
*/
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4/stackcheck/defconfig b/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v4/stackcheck/defconfig
rename to boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake
new file mode 100644
index 0000000000..0c2521aef0
--- /dev/null
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -0,0 +1,116 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v4
+ LABEL rtps
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ TESTING
+ UAVCAN_INTERFACES 1
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ heater
+ imu # all available imu drivers
+ irlock
+ magnetometer # all available magnetometer drivers
+ mkblctrl
+ oreoled
+ pca9685
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ rc_input
+ rgbled
+ rgbled_ncp5623c
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ micrortps_bridge
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/src/drivers/boards/px4fmu-v4/CMakeLists.txt b/boards/px4/fmu-v4/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4fmu-v4/CMakeLists.txt
rename to boards/px4/fmu-v4/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4fmu-v4/board_config.h b/boards/px4/fmu-v4/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4fmu-v4/board_config.h
rename to boards/px4/fmu-v4/src/board_config.h
index 95b9c9d9dc..bcfffe64d8 100644
--- a/src/drivers/boards/px4fmu-v4/board_config.h
+++ b/boards/px4/fmu-v4/src/board_config.h
@@ -387,7 +387,7 @@ extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4fmu-v4pro/can.c b/boards/px4/fmu-v4/src/can.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4pro/can.c
rename to boards/px4/fmu-v4/src/can.c
diff --git a/src/drivers/boards/px4fmu-v4/init.c b/boards/px4/fmu-v4/src/init.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4/init.c
rename to boards/px4/fmu-v4/src/init.c
diff --git a/src/drivers/boards/px4fmu-v4/led.c b/boards/px4/fmu-v4/src/led.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4/led.c
rename to boards/px4/fmu-v4/src/led.c
diff --git a/src/drivers/boards/px4fmu-v4/spi.c b/boards/px4/fmu-v4/src/spi.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4/spi.c
rename to boards/px4/fmu-v4/src/spi.c
diff --git a/src/drivers/boards/px4fmu-v4/timer_config.c b/boards/px4/fmu-v4/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4/timer_config.c
rename to boards/px4/fmu-v4/src/timer_config.c
diff --git a/src/drivers/boards/px4fmu-v4/usb.c b/boards/px4/fmu-v4/src/usb.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4/usb.c
rename to boards/px4/fmu-v4/src/usb.c
diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
new file mode 100644
index 0000000000..c41cee1348
--- /dev/null
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -0,0 +1,114 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v4
+ LABEL stackcheck
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ TESTING
+ #UAVCAN_INTERFACES 1
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ heater
+ imu # all available imu drivers
+ irlock
+ magnetometer # all available magnetometer drivers
+ mkblctrl
+ oreoled
+ pca9685
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ rc_input
+ rgbled
+ rgbled_ncp5623c
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ #subscriber
+ #uuv_example_app
+
+ )
diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
new file mode 100644
index 0000000000..25a0f58517
--- /dev/null
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -0,0 +1,128 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v4pro
+ LABEL default
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL3:/dev/ttyS0
+ TEL4:/dev/ttyS6
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/bmi160
+ imu/bma180
+ imu/mpu6000
+ imu/l3gd20
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ #pmw3901
+ #protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ rgbled_ncp5623c
+ #rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/px4fmu-v4pro.prototype b/boards/px4/fmu-v4pro/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/px4fmu-v4pro.prototype
rename to boards/px4/fmu-v4pro/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4pro/Kconfig b/boards/px4/fmu-v4pro/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v4pro/Kconfig
rename to boards/px4/fmu-v4pro/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4pro/include/board.h b/boards/px4/fmu-v4pro/nuttx-config/include/board.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v4pro/include/board.h
rename to boards/px4/fmu-v4pro/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4pro/nsh/defconfig b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v4pro/nsh/defconfig
rename to boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4pro/scripts/ld.script b/boards/px4/fmu-v4pro/nuttx-config/scripts/ld.script
similarity index 93%
rename from platforms/nuttx/nuttx-configs/px4fmu-v4pro/scripts/ld.script
rename to boards/px4/fmu-v4pro/nuttx-config/scripts/ld.script
index c54adf3178..93e1515560 100644
--- a/platforms/nuttx/nuttx-configs/px4fmu-v4pro/scripts/ld.script
+++ b/boards/px4/fmu-v4pro/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
/****************************************************************************
- * configs/px4fmu-v4pro/common/ld.script
+ * scripts/ld.script
*
* Copyright (C) 2011, 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
@@ -72,13 +72,13 @@ SECTIONS
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
- . = ALIGN(32);
- /*
- This signature provides the bootloader with a way to delay booting
- */
- _bootdelay_signature = ABSOLUTE(.);
- FILL(0xffecc2925d7d05c5)
- . += 8;
+ . = ALIGN(32);
+ /*
+ This signature provides the bootloader with a way to delay booting
+ */
+ _bootdelay_signature = ABSOLUTE(.);
+ FILL(0xffecc2925d7d05c5)
+ . += 8;
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake
new file mode 100644
index 0000000000..c03492ba11
--- /dev/null
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -0,0 +1,129 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v4pro
+ LABEL default
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS3
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL3:/dev/ttyS0
+ TEL4:/dev/ttyS6
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/bmi160
+ imu/bma180
+ imu/mpu6000
+ imu/l3gd20
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ #pmw3901
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rgbled
+ rgbled_ncp5623c
+ #rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ micrortps_bridge
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/src/drivers/boards/px4fmu-v4pro/CMakeLists.txt b/boards/px4/fmu-v4pro/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4fmu-v4pro/CMakeLists.txt
rename to boards/px4/fmu-v4pro/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4fmu-v4pro/board_config.h b/boards/px4/fmu-v4pro/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4fmu-v4pro/board_config.h
rename to boards/px4/fmu-v4pro/src/board_config.h
index 7b8913bf6f..745440d696 100644
--- a/src/drivers/boards/px4fmu-v4pro/board_config.h
+++ b/boards/px4/fmu-v4pro/src/board_config.h
@@ -432,7 +432,7 @@ extern void board_peripheral_reset(int ms);
int nsh_archinitialize(void);
#endif
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/s2740vc-v1/can.c b/boards/px4/fmu-v4pro/src/can.c
similarity index 94%
rename from src/drivers/boards/s2740vc-v1/can.c
rename to boards/px4/fmu-v4pro/src/can.c
index cc2e5e4793..7234c4eb8d 100644
--- a/src/drivers/boards/s2740vc-v1/can.c
+++ b/boards/px4/fmu-v4pro/src/can.c
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2012 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
- * @file pxesc_can.c
+ * @file px4fmu_can.c
*
* Board-specific CAN functions.
*/
@@ -56,13 +56,12 @@
#include "stm32_can.h"
#include "board_config.h"
-#if defined(CONFIG_CAN)
+#ifdef CONFIG_CAN
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
-/* The STM32F107VC supports CAN1 and CAN2 */
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
@@ -93,7 +92,7 @@ int can_devinit(void);
*
************************************************************************************/
-__EXPORT int can_devinit(void)
+int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
@@ -128,4 +127,4 @@ __EXPORT int can_devinit(void)
return OK;
}
-#endif /* CONFIG_CAN && CONFIG_STM32_CAN1 */
+#endif
diff --git a/src/drivers/boards/px4fmu-v4pro/init.c b/boards/px4/fmu-v4pro/src/init.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4pro/init.c
rename to boards/px4/fmu-v4pro/src/init.c
diff --git a/src/drivers/boards/px4fmu-v4pro/led.c b/boards/px4/fmu-v4pro/src/led.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4pro/led.c
rename to boards/px4/fmu-v4pro/src/led.c
diff --git a/src/drivers/boards/px4fmu-v4pro/spi.c b/boards/px4/fmu-v4pro/src/spi.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4pro/spi.c
rename to boards/px4/fmu-v4pro/src/spi.c
diff --git a/src/drivers/boards/px4fmu-v4pro/timer_config.c b/boards/px4/fmu-v4pro/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v4pro/timer_config.c
rename to boards/px4/fmu-v4pro/src/timer_config.c
diff --git a/boards/px4/fmu-v4pro/src/usb.c b/boards/px4/fmu-v4pro/src/usb.c
new file mode 100644
index 0000000000..4b455309db
--- /dev/null
+++ b/boards/px4/fmu-v4pro/src/usb.c
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <up_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ * Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+ /* The OTG FS has an internal soft pull-up */
+
+ /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+ stm32_configgpio(GPIO_OTGFS_VBUS);
+ /* XXX We only support device mode
+ stm32_configgpio(GPIO_OTGFS_PWRON);
+ stm32_configgpio(GPIO_OTGFS_OVER);
+ */
+#endif
+}
+
+/************************************************************************************
+ * Name: stm32_usbsuspend
+ *
+ * Description:
+ * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ * used. This function is called whenever the USB enters or leaves suspend mode.
+ * This is an opportunity for the board logic to shutdown clocks, power, etc.
+ * while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+ uinfo("resume: %d\n", resume);
+}
diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
new file mode 100644
index 0000000000..8ede289eab
--- /dev/null
+++ b/boards/px4/fmu-v5/default.cmake
@@ -0,0 +1,129 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v5
+ LABEL default
+ ARCH cortex-m7
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/adis16448
+ imu/bmi055
+ imu/bmi160
+ imu/bma180
+ imu/mpu6000
+ imu/mpu9250
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ pmw3901
+ #protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rc_input
+ rgbled
+ rgbled_ncp5623c
+ rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/px4fmu-v5.prototype b/boards/px4/fmu-v5/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/px4fmu-v5.prototype
rename to boards/px4/fmu-v5/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v5/Kconfig b/boards/px4/fmu-v5/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v5/Kconfig
rename to boards/px4/fmu-v5/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v5/include/board.h b/boards/px4/fmu-v5/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v5/include/board.h
rename to boards/px4/fmu-v5/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v5/nsh/defconfig b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v5/nsh/defconfig
rename to boards/px4/fmu-v5/nuttx-config/nsh/defconfig
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v5/scripts/ld.script b/boards/px4/fmu-v5/nuttx-config/scripts/ld.script
similarity index 99%
rename from platforms/nuttx/nuttx-configs/px4fmu-v5/scripts/ld.script
rename to boards/px4/fmu-v5/nuttx-config/scripts/ld.script
index 3be39dd6c0..fae1d95de0 100644
--- a/platforms/nuttx/nuttx-configs/px4fmu-v5/scripts/ld.script
+++ b/boards/px4/fmu-v5/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
/****************************************************************************
- * nuttx-configs/px4nfmu-v5/scripts/script.ld
+ * scripts/script.ld
*
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v5/stackcheck/defconfig b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4fmu-v5/stackcheck/defconfig
rename to boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake
new file mode 100644
index 0000000000..a4500fb1db
--- /dev/null
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -0,0 +1,127 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v5
+ LABEL rtps
+ ARCH cortex-m7
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/adis16448
+ imu/bmi055
+ imu/mpu6000
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ pmw3901
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rc_input
+ rgbled
+ rgbled_ncp5623c
+ rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ micrortps_bridge
+ navigator
+ position_estimator_inav
+ sensors
+ uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/src/drivers/boards/px4fmu-v5/CMakeLists.txt b/boards/px4/fmu-v5/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/CMakeLists.txt
rename to boards/px4/fmu-v5/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4fmu-v5/board_config.h b/boards/px4/fmu-v5/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4fmu-v5/board_config.h
rename to boards/px4/fmu-v5/src/board_config.h
index f501cefbe6..ebc37ac2ef 100644
--- a/src/drivers/boards/px4fmu-v5/board_config.h
+++ b/boards/px4/fmu-v5/src/board_config.h
@@ -827,7 +827,7 @@ extern void board_peripheral_reset(int ms);
int nsh_archinitialize(void);
#endif
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4fmu-v5/can.c b/boards/px4/fmu-v5/src/can.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/can.c
rename to boards/px4/fmu-v5/src/can.c
diff --git a/src/drivers/boards/px4fmu-v5/init.c b/boards/px4/fmu-v5/src/init.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/init.c
rename to boards/px4/fmu-v5/src/init.c
diff --git a/src/drivers/boards/px4fmu-v5/led.c b/boards/px4/fmu-v5/src/led.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/led.c
rename to boards/px4/fmu-v5/src/led.c
diff --git a/src/drivers/boards/px4fmu-v5/manifest.c b/boards/px4/fmu-v5/src/manifest.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/manifest.c
rename to boards/px4/fmu-v5/src/manifest.c
diff --git a/src/drivers/boards/px4fmu-v5/sdio.c b/boards/px4/fmu-v5/src/sdio.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/sdio.c
rename to boards/px4/fmu-v5/src/sdio.c
diff --git a/src/drivers/boards/px4fmu-v5/spi.c b/boards/px4/fmu-v5/src/spi.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/spi.c
rename to boards/px4/fmu-v5/src/spi.c
diff --git a/src/drivers/boards/px4fmu-v5/timer_config.c b/boards/px4/fmu-v5/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/timer_config.c
rename to boards/px4/fmu-v5/src/timer_config.c
diff --git a/src/drivers/boards/px4fmu-v5/usb.c b/boards/px4/fmu-v5/src/usb.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v5/usb.c
rename to boards/px4/fmu-v5/src/usb.c
diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake
new file mode 100644
index 0000000000..e0c2955a95
--- /dev/null
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -0,0 +1,126 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL fmu-v5
+ LABEL stackcheck
+ ARCH cortex-m7
+ ROMFS
+ ROMFSROOT px4fmu_common
+ IO px4io-v2_default
+ TESTING
+ #UAVCAN_INTERFACES 2
+
+ SERIAL_PORTS
+ GPS1:/dev/ttyS0
+ TEL1:/dev/ttyS1
+ TEL2:/dev/ttyS2
+ TEL4:/dev/ttyS3
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/adis16448
+ imu/bmi055
+ imu/mpu6000
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ pmw3901
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ px4io
+ rc_input
+ rgbled
+ rgbled_ncp5623c
+ rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ #bottle_drop # OBC challenge
+ #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ #rover_steering_control # Rover example app
+ #segway
+ #subscriber
+ #uuv_example_app
+
+ )
diff --git a/boards/px4/io-v2/default.cmake b/boards/px4/io-v2/default.cmake
new file mode 100644
index 0000000000..e855de0a61
--- /dev/null
+++ b/boards/px4/io-v2/default.cmake
@@ -0,0 +1,11 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR px4
+ MODEL io-v2
+ ARCH cortex-m3
+ DRIVERS
+ stm32
+ MODULES
+ px4iofirmware
+ )
diff --git a/platforms/nuttx/Images/px4io-v2.prototype b/boards/px4/io-v2/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/px4io-v2.prototype
rename to boards/px4/io-v2/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/px4io-v2/include/board.h b/boards/px4/io-v2/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4io-v2/include/board.h
rename to boards/px4/io-v2/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4io-v2/nsh/defconfig b/boards/px4/io-v2/nuttx-config/nsh/defconfig
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4io-v2/nsh/defconfig
rename to boards/px4/io-v2/nuttx-config/nsh/defconfig
diff --git a/platforms/nuttx/nuttx-configs/px4io-v2/scripts/ld.script b/boards/px4/io-v2/nuttx-config/scripts/ld.script
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4io-v2/scripts/ld.script
rename to boards/px4/io-v2/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/px4io-v2/CMakeLists.txt b/boards/px4/io-v2/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4io-v2/CMakeLists.txt
rename to boards/px4/io-v2/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4io-v2/board_config.h b/boards/px4/io-v2/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4io-v2/board_config.h
rename to boards/px4/io-v2/src/board_config.h
index c3acc51244..475d450379 100644
--- a/src/drivers/boards/px4io-v2/board_config.h
+++ b/boards/px4/io-v2/src/board_config.h
@@ -47,7 +47,7 @@
#include <nuttx/compiler.h>
#include <stdint.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
/******************************************************************************
* Definitions
diff --git a/src/drivers/boards/px4io-v2/init.c b/boards/px4/io-v2/src/init.c
similarity index 100%
rename from src/drivers/boards/px4io-v2/init.c
rename to boards/px4/io-v2/src/init.c
diff --git a/src/drivers/boards/px4io-v2/timer_config.c b/boards/px4/io-v2/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/px4io-v2/timer_config.c
rename to boards/px4/io-v2/src/timer_config.c
diff --git a/boards/px4/raspberrypi/cross.cmake b/boards/px4/raspberrypi/cross.cmake
new file mode 100644
index 0000000000..9febb1c145
--- /dev/null
+++ b/boards/px4/raspberrypi/cross.cmake
@@ -0,0 +1,81 @@
+
+px4_add_board(
+ VENDOR px4
+ MODEL raspberrypi
+ LABEL cross
+ PLATFORM posix
+ ARCH cortex-a53
+ TOOLCHAIN Toolchain-arm-linux-gnueabihf
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ linux_gpio
+ linux_pwm_out
+ linux_sbus
+ rpi_rc_in
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ dyn
+ esc_calib
+ led_control
+ mixer
+ motor_ramp
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/boards/px4/raspberrypi/native.cmake b/boards/px4/raspberrypi/native.cmake
new file mode 100644
index 0000000000..7b2256704d
--- /dev/null
+++ b/boards/px4/raspberrypi/native.cmake
@@ -0,0 +1,80 @@
+
+px4_add_board(
+ VENDOR px4
+ MODEL raspberrypi
+ LABEL native
+ PLATFORM posix
+ TOOLCHAIN Toolchain-native
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ linux_gpio
+ linux_pwm_out
+ linux_sbus
+ rpi_rc_in
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ dyn
+ esc_calib
+ led_control
+ mixer
+ motor_ramp
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
diff --git a/src/drivers/boards/bebop/CMakeLists.txt b/boards/px4/raspberrypi/src/CMakeLists.txt
similarity index 94%
rename from src/drivers/boards/bebop/CMakeLists.txt
rename to boards/px4/raspberrypi/src/CMakeLists.txt
index d95d0043bc..0b4ba0d6ac 100644
--- a/src/drivers/boards/bebop/CMakeLists.txt
+++ b/boards/px4/raspberrypi/src/CMakeLists.txt
@@ -30,6 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
+
px4_add_library(drivers_board
- ../common/board_identity.c
+ ${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
)
diff --git a/boards/px4/raspberrypi/src/board_config.h b/boards/px4/raspberrypi/src/board_config.h
new file mode 100644
index 0000000000..d43354ba45
--- /dev/null
+++ b/boards/px4/raspberrypi/src/board_config.h
@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * RPI internal definitions
+ */
+
+#pragma once
+
+#define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
+#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_RPI
+
+#define BOARD_NAME "RPI"
+
+#define BOARD_HAS_NO_RESET
+#define BOARD_HAS_NO_BOOTLOADER
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_EXPANSION 1
+#define PX4_NUMBER_I2C_BUSES 1
+
+#include <system_config.h>
+#include <drivers/boards/common/board_common.h>
diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
new file mode 100644
index 0000000000..6d959eecdc
--- /dev/null
+++ b/boards/px4/sitl/default.cmake
@@ -0,0 +1,96 @@
+
+px4_add_board(
+ PLATFORM posix
+ VENDOR px4
+ MODEL sitl
+ LABEL default
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ simulator
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ #bl_update
+ #config
+ #dumpfile
+ dyn
+ esc_calib
+ #hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ #mtd
+ #nshterm
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
+
+set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
+set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
+set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
+
+# If the environment variable 'replay' is defined, we are building with replay
+# support. In this case, we enable the orb publisher rules.
+set(REPLAY_FILE "$ENV{replay}")
+if(REPLAY_FILE)
+ message("Building with uorb publisher rules support")
+ add_definitions(-DORB_USE_PUBLISHER_RULES)
+endif()
diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake
new file mode 100644
index 0000000000..09946119a7
--- /dev/null
+++ b/boards/px4/sitl/rtps.cmake
@@ -0,0 +1,98 @@
+
+px4_add_board(
+ PLATFORM posix
+ VENDOR px4
+ MODEL sitl
+ LABEL rtps
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ #protocol_splitter
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ micrortps_bridge
+ navigator
+ position_estimator_inav
+ sensors
+ simulator
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ #bl_update
+ #config
+ #dumpfile
+ dyn
+ esc_calib
+ #hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ #mtd
+ #nshterm
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
+
+set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
+set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
+set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
+
+# If the environment variable 'replay' is defined, we are building with replay
+# support. In this case, we enable the orb publisher rules.
+set(REPLAY_FILE "$ENV{replay}")
+if(REPLAY_FILE)
+ message("Building with uorb publisher rules support")
+ add_definitions(-DORB_USE_PUBLISHER_RULES)
+endif()
diff --git a/src/drivers/boards/eagle/CMakeLists.txt b/boards/px4/sitl/src/CMakeLists.txt
similarity index 94%
rename from src/drivers/boards/eagle/CMakeLists.txt
rename to boards/px4/sitl/src/CMakeLists.txt
index 2adacda0d3..68f78c4ad7 100644
--- a/src/drivers/boards/eagle/CMakeLists.txt
+++ b/boards/px4/sitl/src/CMakeLists.txt
@@ -32,6 +32,6 @@
############################################################################
px4_add_library(drivers_board
+ ${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
sitl_led.c
- ../common/board_identity.c
- )
+)
diff --git a/src/drivers/boards/sitl/board_config.h b/boards/px4/sitl/src/board_config.h
similarity index 98%
rename from src/drivers/boards/sitl/board_config.h
rename to boards/px4/sitl/src/board_config.h
index ae651192c9..b20098427a 100644
--- a/src/drivers/boards/sitl/board_config.h
+++ b/boards/px4/sitl/src/board_config.h
@@ -61,4 +61,4 @@
#define BOARD_ARMED_STATE_LED LED_GREEN
#include <system_config.h>
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
diff --git a/src/drivers/boards/eagle/sitl_led.c b/boards/px4/sitl/src/sitl_led.c
similarity index 100%
rename from src/drivers/boards/eagle/sitl_led.c
rename to boards/px4/sitl/src/sitl_led.c
diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake
new file mode 100644
index 0000000000..075c9e4710
--- /dev/null
+++ b/boards/px4/sitl/test.cmake
@@ -0,0 +1,96 @@
+
+px4_add_board(
+ PLATFORM posix
+ VENDOR px4
+ MODEL sitl
+ LABEL test
+ TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ batt_smbus
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #imu # all available imu drivers
+ #magnetometer # all available magnetometer drivers
+ pwm_out_sim
+ #telemetry # all available telemetry drivers
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ simulator
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ #bl_update
+ #config
+ #dumpfile
+ dyn
+ esc_calib
+ #hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ #mtd
+ #nshterm
+ param
+ perf
+ pwm
+ reboot
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ )
+
+set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
+set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
+set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
+
+# If the environment variable 'replay' is defined, we are building with replay
+# support. In this case, we enable the orb publisher rules.
+set(REPLAY_FILE "$ENV{replay}")
+if(REPLAY_FILE)
+ message("Building with uorb publisher rules support")
+ add_definitions(-DORB_USE_PUBLISHER_RULES)
+endif()
diff --git a/boards/stm/32f4discovery/default.cmake b/boards/stm/32f4discovery/default.cmake
new file mode 100644
index 0000000000..01be6afbb5
--- /dev/null
+++ b/boards/stm/32f4discovery/default.cmake
@@ -0,0 +1,106 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR stm
+ MODEL 32f4discovery
+ ARCH cortex-m4
+ ROMFS
+ ROMFSROOT px4fmu_common
+ #TESTING
+
+ DRIVERS
+ #barometer # all available barometer drivers
+ #batt_smbus
+ #blinkm
+ #camera_trigger
+ #differential_pressure # all available differential pressure drivers
+ #distance_sensor # all available distance sensor drivers
+ #gps
+ #heater
+ #imu # all available imu drivers
+ #irlock
+ #magnetometer # all available magnetometer drivers
+ #mkblctrl
+ #oreoled
+ #pca9685
+ #pwm_input
+ #pwm_out_sim
+ #px4flow
+ #px4fmu
+ #rc_input
+ #rgbled
+ stm32
+ #stm32/adc
+ #stm32/tone_alarm
+ #tap_esc
+ #telemetry # all available telemetry drivers
+ #test_ppm
+ #vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ #gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ #mc_att_control
+ #mc_pos_control
+ #navigator
+ position_estimator_inav
+ #sensors
+ #uavcan
+ #vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ #tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ #hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/px4-stm32f4discovery.prototype b/boards/stm/32f4discovery/firmware.prototype
similarity index 87%
rename from platforms/nuttx/Images/px4-stm32f4discovery.prototype
rename to boards/stm/32f4discovery/firmware.prototype
index 6670e090e3..cd6b8407ec 100644
--- a/platforms/nuttx/Images/px4-stm32f4discovery.prototype
+++ b/boards/stm/32f4discovery/firmware.prototype
@@ -4,7 +4,7 @@
"description": "Firmware for the STM32F4Discovery board",
"image": "",
"build_time": 0,
- "summary": "PX4/STM32F4Discovery",
+ "summary": "STM32F4Discovery",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1032192,
diff --git a/platforms/nuttx/nuttx-configs/px4-stm32f4discovery/include/board.h b/boards/stm/32f4discovery/nuttx-config/include/board.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4-stm32f4discovery/include/board.h
rename to boards/stm/32f4discovery/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/px4-stm32f4discovery/nsh/defconfig b/boards/stm/32f4discovery/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/px4-stm32f4discovery/nsh/defconfig
rename to boards/stm/32f4discovery/nuttx-config/nsh/defconfig
index 5b2c57f2df..f9cc94f9cf 100644
--- a/platforms/nuttx/nuttx-configs/px4-stm32f4discovery/nsh/defconfig
+++ b/boards/stm/32f4discovery/nuttx-config/nsh/defconfig
@@ -649,8 +649,8 @@ CONFIG_RAM_SIZE=196608
#
# Board Selection
#
-CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY=y
-CONFIG_ARCH_BOARD="px4-stm32f4discovery"
+CONFIG_ARCH_BOARD_STM32F4DISCOVERY=y
+CONFIG_ARCH_BOARD="stm32f4discovery"
#
# Custom Board Configuration
diff --git a/platforms/nuttx/nuttx-configs/px4-stm32f4discovery/scripts/ld.script b/boards/stm/32f4discovery/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4-stm32f4discovery/scripts/ld.script
rename to boards/stm/32f4discovery/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/px4-stm32f4discovery/CMakeLists.txt b/boards/stm/32f4discovery/src/CMakeLists.txt
similarity index 99%
rename from src/drivers/boards/px4-stm32f4discovery/CMakeLists.txt
rename to boards/stm/32f4discovery/src/CMakeLists.txt
index ad53ed10d7..f7a0fb7991 100644
--- a/src/drivers/boards/px4-stm32f4discovery/CMakeLists.txt
+++ b/boards/stm/32f4discovery/src/CMakeLists.txt
@@ -34,6 +34,7 @@
px4_add_library(drivers_board
init.c
led.c
+ timer_config.c
usb.c
)
diff --git a/src/drivers/boards/px4-stm32f4discovery/board_config.h b/boards/stm/32f4discovery/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4-stm32f4discovery/board_config.h
rename to boards/stm/32f4discovery/src/board_config.h
index adc7444503..f83aca7a74 100644
--- a/src/drivers/boards/px4-stm32f4discovery/board_config.h
+++ b/boards/stm/32f4discovery/src/board_config.h
@@ -119,7 +119,7 @@ extern void stm32_spiinitialize(void);
extern void stm32_usbinitialize(void);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4-stm32f4discovery/init.c b/boards/stm/32f4discovery/src/init.c
similarity index 100%
rename from src/drivers/boards/px4-stm32f4discovery/init.c
rename to boards/stm/32f4discovery/src/init.c
diff --git a/src/drivers/boards/px4-stm32f4discovery/led.c b/boards/stm/32f4discovery/src/led.c
similarity index 100%
rename from src/drivers/boards/px4-stm32f4discovery/led.c
rename to boards/stm/32f4discovery/src/led.c
diff --git a/boards/stm/32f4discovery/src/timer_config.c b/boards/stm/32f4discovery/src/timer_config.c
new file mode 100644
index 0000000000..dd9fa6b1c8
--- /dev/null
+++ b/boards/stm/32f4discovery/src/timer_config.c
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 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.
+ *
+ ****************************************************************************/
+
+/*
+ * @file px4stm32f4discovery_timer_config.c
+ *
+ * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
+
+#include "board_config.h"
+
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
+ {
+ .base = 0,
+ .clock_register = 0,
+ .clock_bit = 0,
+ .clock_freq = 0,
+ .first_channel_index = 0,
+ .last_channel_index = 3,
+ .handler = io_timer_handler0,
+ .vectorno = 0,
+
+ },
+};
+
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+ {
+ .gpio_out = 0,//GPIO_TIM1_CH4OUT,
+ .gpio_in = 0,//GPIO_TIM1_CH4IN,
+ .timer_index = 0,
+ .timer_channel = 4,
+ .ccr_offset = 0,
+ .masks = 0
+ },
+};
diff --git a/src/drivers/boards/px4-stm32f4discovery/usb.c b/boards/stm/32f4discovery/src/usb.c
similarity index 100%
rename from src/drivers/boards/px4-stm32f4discovery/usb.c
rename to boards/stm/32f4discovery/src/usb.c
diff --git a/boards/stm/nucleo-F767ZI/default.cmake b/boards/stm/nucleo-F767ZI/default.cmake
new file mode 100644
index 0000000000..52ecd2d18a
--- /dev/null
+++ b/boards/stm/nucleo-F767ZI/default.cmake
@@ -0,0 +1,115 @@
+
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR stm
+ MODEL nucleo-F767ZI
+ ARCH cortex-m7
+ ROMFS
+ ROMFSROOT px4fmu_common
+ TESTING
+ #UAVCAN_INTERFACES 2
+
+ DRIVERS
+ barometer # all available barometer drivers
+ batt_smbus
+ blinkm
+ camera_trigger
+ differential_pressure # all available differential pressure drivers
+ distance_sensor # all available distance sensor drivers
+ gps
+ #heater
+ #imu # all available imu drivers
+ imu/adis16448
+ imu/mpu6000
+ irlock
+ magnetometer # all available magnetometer drivers
+ #md25
+ mkblctrl
+ oreoled
+ pca8574
+ pca9685
+ #pmw3901
+ protocol_splitter
+ pwm_input
+ pwm_out_sim
+ px4flow
+ px4fmu
+ rc_input
+ rgbled
+ #rgbled_pwm
+ roboclaw
+ stm32
+ stm32/adc
+ stm32/tone_alarm
+ tap_esc
+ telemetry # all available telemetry drivers
+ test_ppm
+ vmount
+
+ MODULES
+ attitude_estimator_q
+ camera_feedback
+ commander
+ dataman
+ ekf2
+ events
+ fw_att_control
+ fw_pos_control_l1
+ gnd_att_control
+ gnd_pos_control
+ gpio_led
+ land_detector
+ landing_target_estimator
+ load_mon
+ local_position_estimator
+ logger
+ mavlink
+ mc_att_control
+ mc_pos_control
+ navigator
+ position_estimator_inav
+ sensors
+ #uavcan
+ vtol_att_control
+ wind_estimator
+
+ SYSTEMCMDS
+ bl_update
+ config
+ dumpfile
+ esc_calib
+ hardfault_log
+ led_control
+ mixer
+ motor_ramp
+ motor_test
+ mtd
+ nshterm
+ param
+ perf
+ pwm
+ reboot
+ reflect
+ sd_bench
+ shutdown
+ tests # tests and test runner
+ top
+ topic_listener
+ tune_control
+ usb_connected
+ ver
+
+ EXAMPLES
+ bottle_drop # OBC challenge
+ fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+ hwtest # Hardware test
+ #matlab_csv_serial
+ #publisher
+ px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+ px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+ rover_steering_control # Rover example app
+ segway
+ #subscriber
+ uuv_example_app
+
+ )
diff --git a/platforms/nuttx/Images/px4nucleoF767ZI-v1.prototype b/boards/stm/nucleo-F767ZI/firmware.prototype
similarity index 64%
rename from platforms/nuttx/Images/px4nucleoF767ZI-v1.prototype
rename to boards/stm/nucleo-F767ZI/firmware.prototype
index d5944da4cb..a475f7170a 100644
--- a/platforms/nuttx/Images/px4nucleoF767ZI-v1.prototype
+++ b/boards/stm/nucleo-F767ZI/firmware.prototype
@@ -1,10 +1,10 @@
{
"board_id": 90,
"magic": "PX4FWv1",
- "description": "Firmware for the ST nucleo-144 with STM32FF767ZI-v1 board",
+ "description": "Firmware for the ST nucleo-144 with STM32F767ZI board",
"image": "",
"build_time": 0,
- "summary": "PX4NUCLEOF767ZIv1",
+ "summary": "STMNUCLEO-F767ZI",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2097152,
diff --git a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/include/board.h b/boards/stm/nucleo-F767ZI/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 99%
rename from platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/include/board.h
rename to boards/stm/nucleo-F767ZI/nuttx-config/include/board.h
index f98922fff7..9c231d5e58
--- a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/include/board.h
+++ b/boards/stm/nucleo-F767ZI/nuttx-config/include/board.h
@@ -1,5 +1,5 @@
/************************************************************************************
- * nuttx-configs/px4nucleoF767ZI-v1/include/board.h
+ * nuttx-configs/stmnucleo-F767ZI/include/board.h
*
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
* Authors: David Sidrane <david_s5@nscdg.com>
diff --git a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/nsh/defconfig b/boards/stm/nucleo-F767ZI/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/nsh/defconfig
rename to boards/stm/nucleo-F767ZI/nuttx-config/nsh/defconfig
index 61b5d8d608..5c6526596e 100644
--- a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/nsh/defconfig
+++ b/boards/stm/nucleo-F767ZI/nuttx-config/nsh/defconfig
@@ -503,8 +503,8 @@ CONFIG_RAM_SIZE=245760
#
# Board Selection
#
-CONFIG_ARCH_BOARD_PX4NUCLEOF767ZI_V1=y
-CONFIG_ARCH_BOARD="px4nucleoF767ZI-v1"
+CONFIG_ARCH_BOARD_STMNUCLEO-F767ZI=y
+CONFIG_ARCH_BOARD="stmnucleo-F767ZI"
#
# Common Board Options
diff --git a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/scripts/ld.script b/boards/stm/nucleo-F767ZI/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/scripts/ld.script
rename to boards/stm/nucleo-F767ZI/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/CMakeLists.txt b/boards/stm/nucleo-F767ZI/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/px4nucleoF767ZI-v1/CMakeLists.txt
rename to boards/stm/nucleo-F767ZI/src/CMakeLists.txt
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/board_config.h b/boards/stm/nucleo-F767ZI/src/board_config.h
similarity index 99%
rename from src/drivers/boards/px4nucleoF767ZI-v1/board_config.h
rename to boards/stm/nucleo-F767ZI/src/board_config.h
index 0732fb048b..50279f79e9 100644
--- a/src/drivers/boards/px4nucleoF767ZI-v1/board_config.h
+++ b/boards/stm/nucleo-F767ZI/src/board_config.h
@@ -420,7 +420,7 @@ extern void board_peripheral_reset(int ms);
extern void stm32_usbinitialize(void);
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/can.c b/boards/stm/nucleo-F767ZI/src/can.c
similarity index 100%
rename from src/drivers/boards/px4nucleoF767ZI-v1/can.c
rename to boards/stm/nucleo-F767ZI/src/can.c
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/init.c b/boards/stm/nucleo-F767ZI/src/init.c
similarity index 100%
rename from src/drivers/boards/px4nucleoF767ZI-v1/init.c
rename to boards/stm/nucleo-F767ZI/src/init.c
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/led.c b/boards/stm/nucleo-F767ZI/src/led.c
similarity index 100%
rename from src/drivers/boards/px4nucleoF767ZI-v1/led.c
rename to boards/stm/nucleo-F767ZI/src/led.c
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/sdio.c b/boards/stm/nucleo-F767ZI/src/sdio.c
similarity index 100%
rename from src/drivers/boards/px4nucleoF767ZI-v1/sdio.c
rename to boards/stm/nucleo-F767ZI/src/sdio.c
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/spi.c b/boards/stm/nucleo-F767ZI/src/spi.c
similarity index 100%
rename from src/drivers/boards/px4nucleoF767ZI-v1/spi.c
rename to boards/stm/nucleo-F767ZI/src/spi.c
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/timer_config.c b/boards/stm/nucleo-F767ZI/src/timer_config.c
similarity index 100%
rename from src/drivers/boards/px4nucleoF767ZI-v1/timer_config.c
rename to boards/stm/nucleo-F767ZI/src/timer_config.c
diff --git a/src/drivers/boards/px4nucleoF767ZI-v1/usb.c b/boards/stm/nucleo-F767ZI/src/usb.c
similarity index 100%
rename from src/drivers/boards/px4nucleoF767ZI-v1/usb.c
rename to boards/stm/nucleo-F767ZI/src/usb.c
diff --git a/cmake/configs/nuttx_s2740vc-v1_default.cmake b/boards/thiemar/s2740vc-v1/default.cmake
similarity index 68%
rename from cmake/configs/nuttx_s2740vc-v1_default.cmake
rename to boards/thiemar/s2740vc-v1/default.cmake
index 6413743cf3..5202e28eb6 100644
--- a/cmake/configs/nuttx_s2740vc-v1_default.cmake
+++ b/boards/thiemar/s2740vc-v1/default.cmake
@@ -4,8 +4,6 @@ add_definitions(
-DPARAM_NO_AUTOSAVE
)
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh)
-
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
@@ -15,31 +13,37 @@ add_definitions(
)
# Bring in common uavcan hardware identity definitions
-include(common/px4_git)
+include(px4_git)
px4_add_git_submodule(TARGET git_uavcan_board_ident PATH "cmake/configs/uavcan_board_ident")
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 ${PX4_BINARY_DIR}/s2740vc-v1.bin
+#include(px4_make_uavcan_bootloader)
+#px4_make_uavcan_bootloadable(BOARD ${PX4_BOARD}
+# BIN ${PX4_BINARY_DIR}/platforms/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(config_module_list
- #
- # Board support modules
- #
- drivers/bootloaders
- drivers/stm32
-
- #
- # System commands
- #
- systemcmds/reboot
- systemcmds/top
- systemcmds/config
- systemcmds/ver
-)
\ No newline at end of file
+px4_add_board(
+ PLATFORM nuttx
+ VENDOR thiemar
+ MODEL s2740vc-v1
+ ARCH cortex-m4
+
+ DRIVERS
+ bootloaders
+ stm32
+
+ MODULES
+ #uavcannode
+
+ SYSTEMCMDS
+ config
+ reboot
+ top
+ ver
+
+ )
diff --git a/platforms/nuttx/Images/s2740vc-v1.prototype b/boards/thiemar/s2740vc-v1/firmware.prototype
similarity index 100%
rename from platforms/nuttx/Images/s2740vc-v1.prototype
rename to boards/thiemar/s2740vc-v1/firmware.prototype
diff --git a/platforms/nuttx/nuttx-configs/s2740vc-v1/Kconfig b/boards/thiemar/s2740vc-v1/nuttx-config/Kconfig
similarity index 100%
rename from platforms/nuttx/nuttx-configs/s2740vc-v1/Kconfig
rename to boards/thiemar/s2740vc-v1/nuttx-config/Kconfig
diff --git a/platforms/nuttx/nuttx-configs/s2740vc-v1/include/README.txt b/boards/thiemar/s2740vc-v1/nuttx-config/include/README.txt
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/s2740vc-v1/include/README.txt
rename to boards/thiemar/s2740vc-v1/nuttx-config/include/README.txt
diff --git a/platforms/nuttx/nuttx-configs/s2740vc-v1/include/board.h b/boards/thiemar/s2740vc-v1/nuttx-config/include/board.h
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/s2740vc-v1/include/board.h
rename to boards/thiemar/s2740vc-v1/nuttx-config/include/board.h
diff --git a/platforms/nuttx/nuttx-configs/s2740vc-v1/nsh/IMPORTANT_README.txt b/boards/thiemar/s2740vc-v1/nuttx-config/nsh/IMPORTANT_README.txt
old mode 100755
new mode 100644
similarity index 100%
rename from platforms/nuttx/nuttx-configs/s2740vc-v1/nsh/IMPORTANT_README.txt
rename to boards/thiemar/s2740vc-v1/nuttx-config/nsh/IMPORTANT_README.txt
diff --git a/platforms/nuttx/nuttx-configs/s2740vc-v1/nsh/defconfig b/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
similarity index 99%
rename from platforms/nuttx/nuttx-configs/s2740vc-v1/nsh/defconfig
rename to boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
index 0cc0259eb2..d89ea0a892 100644
--- a/platforms/nuttx/nuttx-configs/s2740vc-v1/nsh/defconfig
+++ b/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
@@ -568,7 +568,7 @@ CONFIG_RAM_SIZE=16384
# Board Selection
#
CONFIG_ARCH_BOARD_S2740VC_V1=y
-CONFIG_ARCH_BOARD="s2740vc-v1"
+CONFIG_ARCH_BOARD="thiemars2740vc-v1"
#
# Custom Board Configuration
diff --git a/platforms/nuttx/nuttx-configs/s2740vc-v1/scripts/ld.script b/boards/thiemar/s2740vc-v1/nuttx-config/scripts/ld.script
similarity index 100%
rename from platforms/nuttx/nuttx-configs/s2740vc-v1/scripts/ld.script
rename to boards/thiemar/s2740vc-v1/nuttx-config/scripts/ld.script
diff --git a/src/drivers/boards/s2740vc-v1/CMakeLists.txt b/boards/thiemar/s2740vc-v1/src/CMakeLists.txt
similarity index 100%
rename from src/drivers/boards/s2740vc-v1/CMakeLists.txt
rename to boards/thiemar/s2740vc-v1/src/CMakeLists.txt
diff --git a/src/drivers/boards/s2740vc-v1/board_config.h b/boards/thiemar/s2740vc-v1/src/board_config.h
similarity index 99%
rename from src/drivers/boards/s2740vc-v1/board_config.h
rename to boards/thiemar/s2740vc-v1/src/board_config.h
index bd5ae893a7..24b3e49664 100644
--- a/src/drivers/boards/s2740vc-v1/board_config.h
+++ b/boards/thiemar/s2740vc-v1/src/board_config.h
@@ -126,7 +126,7 @@ int board_can_initialize(void);
extern int composite_archinitialize(void);
#endif
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
diff --git a/src/drivers/boards/px4flow-v2/can.c b/boards/thiemar/s2740vc-v1/src/can.c
similarity index 100%
rename from src/drivers/boards/px4flow-v2/can.c
rename to boards/thiemar/s2740vc-v1/src/can.c
diff --git a/src/drivers/boards/s2740vc-v1/init.c b/boards/thiemar/s2740vc-v1/src/init.c
similarity index 100%
rename from src/drivers/boards/s2740vc-v1/init.c
rename to boards/thiemar/s2740vc-v1/src/init.c
diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
deleted file mode 100644
index 8a9193059d..0000000000
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ /dev/null
@@ -1,135 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-set(config_uavcan_num_ifaces 1)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS0
- TEL1:/dev/ttyS1
- TEL2:/dev/ttyS2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- #drivers/magnetometer
- #drivers/telemetry
-
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/px4fmu
- drivers/imu/lsm303d
- drivers/imu/l3gd20
- drivers/gps
- drivers/pwm_out_sim
- modules/sensors
- #drivers/pwm_input
- #drivers/camera_trigger
- drivers/rc_input
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/config
- #systemcmds/dumpfile
- #systemcmds/esc_calib
- systemcmds/mixer
- #systemcmds/motor_ramp
- systemcmds/mtd
- systemcmds/nshterm
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/reboot
- #systemcmds/sd_bench
- systemcmds/top
- #systemcmds/topic_listener
- systemcmds/ver
-
- #
- # Testing
- #
- #drivers/distance_sensor/sf0x/sf0x_tests
- #drivers/test_ppm
- #lib/rc/rc_tests
- #modules/commander/commander_tests
- #lib/controllib/controllib_test
- #modules/mavlink/mavlink_tests
- #modules/unit_test
- #modules/uORB/uORB_tests
- #systemcmds/tests
-
- #
- # General system control
- #
- modules/commander
- modules/load_mon
- modules/navigator
- modules/mavlink
- modules/uavcan
- modules/land_detector
-
- #
- # Estimation modules
- #
- #modules/attitude_estimator_q
- #modules/position_estimator_inav
- #modules/local_position_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- #modules/fw_att_control
- #modules/fw_pos_control_l1
- #modules/gnd_att_control
- #modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- #examples/bottle_drop
-
- #
- # Rover apps
- #
- #examples/rover_steering_control
-
- #
- # 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/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
deleted file mode 100644
index 4925f87565..0000000000
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ /dev/null
@@ -1,75 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS5
- TEL1:/dev/ttyS3
- TEL2:/dev/ttyS1)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/aerofc_adc
- drivers/distance_sensor
- drivers/gps
- drivers/barometer/ms5611
- drivers/magnetometer/hmc5883
- drivers/magnetometer/ist8310
- drivers/imu/mpu9250
- drivers/px4fmu
- drivers/stm32
- drivers/pwm_out_sim
- drivers/rc_input
- drivers/tap_esc
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/mixer
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/motor_test
- systemcmds/reboot
- systemcmds/top
- systemcmds/config
- systemcmds/nshterm
- systemcmds/dumpfile
- systemcmds/ver
-
- #
- # General system control
- #
- modules/commander
- modules/load_mon
- modules/navigator
- modules/mavlink
- modules/land_detector
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/mc_att_control
- modules/mc_pos_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-)
diff --git a/cmake/configs/nuttx_aerofc-v1_rtps.cmake b/cmake/configs/nuttx_aerofc-v1_rtps.cmake
deleted file mode 100644
index 585bee9a2f..0000000000
--- a/cmake/configs/nuttx_aerofc-v1_rtps.cmake
+++ /dev/null
@@ -1,7 +0,0 @@
-include(configs/nuttx_aerofc-v1_default)
-
-
-list(APPEND config_module_list
- modules/micrortps_bridge
- drivers/protocol_splitter
-)
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
deleted file mode 100644
index 7d9c276a55..0000000000
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ /dev/null
@@ -1,158 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS3
- TEL1:/dev/ttyS1
- TEL2:/dev/ttyS2)
-
-set(config_uavcan_num_ifaces 1)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/gps
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/irlock
- drivers/mkblctrl
- drivers/oreoled
- drivers/protocol_splitter
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/px4io
- drivers/rgbled
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/config
- systemcmds/dumpfile
- systemcmds/esc_calib
- systemcmds/hardfault_log
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/motor_ramp
- systemcmds/motor_test
- systemcmds/mtd
- systemcmds/nshterm
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- lib/controllib/controllib_test
- #lib/rc/rc_tests
- modules/commander/commander_tests
- modules/mavlink/mavlink_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/mavlink
- modules/navigator
- modules/uavcan
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- examples/bottle_drop
-
- #
- # Rover apps
- #
- examples/rover_steering_control
-
- #
- # Segway
- #
- examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- examples/fixedwing_control
-
- # Hardware test
- examples/hwtest
-)
diff --git a/cmake/configs/nuttx_av-x-v1_default.cmake b/cmake/configs/nuttx_av-x-v1_default.cmake
deleted file mode 100644
index 5b6942882c..0000000000
--- a/cmake/configs/nuttx_av-x-v1_default.cmake
+++ /dev/null
@@ -1,154 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS6
- TEL1:/dev/ttyS0
- TEL2:/dev/ttyS1
- TEL3:/dev/ttyS2
- TEL4:/dev/ttyS3
- )
-
-set(config_uavcan_num_ifaces 1)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/batt_smbus
- drivers/camera_trigger
- drivers/gps
- drivers/imu/adis16477
- #drivers/imu/adis16497
- drivers/irlock
- drivers/mkblctrl
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/rc_input
- drivers/stm32
- drivers/stm32/adc
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # 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/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- #lib/rc/rc_tests
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_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/mavlink
- modules/navigator
- modules/uavcan
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- #examples/bottle_drop
-
- #
- # Rover apps
- #
- #examples/rover_steering_control
-
- #
- # Segway
- #
- #examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- #examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
deleted file mode 100644
index 688e4c2fc8..0000000000
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ /dev/null
@@ -1,104 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/stm32
- drivers/px4fmu
- drivers/imu/mpu9250
- drivers/barometer/lps25h
- drivers/gps
- drivers/distance_sensor/vl53lxx
- drivers/pmw3901
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/mixer
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/esc_calib
- systemcmds/reboot
- systemcmds/top
- systemcmds/config
- systemcmds/nshterm
- systemcmds/mtd
- systemcmds/dumpfile
- systemcmds/ver
- systemcmds/hardfault_log
- systemcmds/topic_listener
- systemcmds/sd_bench
-
- #
- # General system control
- #
- modules/commander
- modules/load_mon
- modules/navigator
- modules/mavlink
- #modules/gpio_led
- modules/land_detector
- modules/syslink
-
- #
- # Estimation modules (EKF/ SO3 / other filters)
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- # modules/segway # XXX Needs GCC 4.7 fix
- # modules/fw_pos_control_l1
- # modules/fw_att_control
- modules/mc_att_control
- modules/mc_pos_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- #examples/bottle_drop
-
- #
- # Rover apps
- #
- #examples/rover_steering_control
-
- #
- # 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/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
deleted file mode 100644
index 7ed3a2ce36..0000000000
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ /dev/null
@@ -1,150 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS3
- TEL1:/dev/ttyS1
- TEL2:/dev/ttyS2)
-
-set(config_uavcan_num_ifaces 1)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/gps
- drivers/imu/l3gd20
- drivers/imu/lsm303d
- #drivers/mkblctrl
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- #drivers/oreoled
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/rgbled
- drivers/rc_input
- #drivers/rgbled_pwm
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/vmount
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/mixer
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/esc_calib
- systemcmds/led_control
- systemcmds/hardfault_log
- systemcmds/reboot
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/top
- systemcmds/config
- systemcmds/nshterm
- systemcmds/mtd
- systemcmds/dumpfile
- systemcmds/ver
- systemcmds/sd_bench
- systemcmds/motor_ramp
-
- #
- # Tests
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_tests
- modules/uORB/uORB_tests
- systemcmds/tests
-
- #
- # General system control
- #
- modules/commander
- modules/events
- modules/load_mon
- modules/navigator
- modules/mavlink
- modules/gpio_led
- modules/uavcan
- modules/land_detector
- modules/camera_feedback
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- #examples/bottle_drop
-
- #
- # Rover apps
- #
- #examples/rover_steering_control
-
- #
- # 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/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake
deleted file mode 100644
index 746fd5e6f1..0000000000
--- a/cmake/configs/nuttx_nxphlite-v3_default.cmake
+++ /dev/null
@@ -1,163 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-set(UAVCAN_PLATFORM kinetis CACHE STRING "uavcan platform")
-set(UAVCAN_TIMER 1)
-set(config_uavcan_num_ifaces 2)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS3
- TEL1:/dev/ttyS4)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/barometer/mpl3115a2
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/imu/fxas21002c
- drivers/imu/fxos8701cq
- drivers/gps
- drivers/kinetis
- drivers/kinetis/adc
- drivers/kinetis/tone_alarm
- drivers/imu/l3gd20
- drivers/mkblctrl
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/oreoled
-# NOT Portable YET drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/rc_input
- drivers/rgbled
- drivers/rgbled_pwm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/config
- systemcmds/dumpfile
- systemcmds/esc_calib
-## Needs bbsrm systemcmds/hardfault_log
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/motor_ramp
- systemcmds/motor_test
- systemcmds/mtd
- systemcmds/nshterm
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/usb_connected
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
-### NOT Portable YET drivers/test_ppm
- #lib/rc/rc_tests
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_tests
- modules/uORB/uORB_tests
- systemcmds/tests
-
- #
- # General system control
- #
- modules/commander
- modules/events
- modules/gpio_led
- modules/land_detector
- modules/load_mon
- modules/mavlink
- modules/navigator
- modules/uavcan
- modules/camera_feedback
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- examples/bottle_drop
-
- #
- # Rover apps
- #
- examples/rover_steering_control
-
- #
- # Segway
- #
- examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- examples/fixedwing_control
-
- # Hardware test
- examples/hwtest
-)
diff --git a/cmake/configs/nuttx_omnibus-f4sd_default.cmake b/cmake/configs/nuttx_omnibus-f4sd_default.cmake
deleted file mode 100644
index 883dda9488..0000000000
--- a/cmake/configs/nuttx_omnibus-f4sd_default.cmake
+++ /dev/null
@@ -1,143 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-# user-configurable UART ports
-set(board_serial_ports
- TEL2:/dev/ttyS1
- URT6:/dev/ttyS2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer/bmp280
- #drivers/differential_pressure
- #drivers/distance_sensor
- drivers/magnetometer/hmc5883
- drivers/telemetry/frsky_telemetry
- drivers/imu/mpu6000
-
- #drivers/batt_smbus
- #drivers/blinkm
- #drivers/camera_trigger
- drivers/gps
- drivers/px4flow
- drivers/px4fmu
- drivers/rc_input
- drivers/rgbled
- drivers/stm32
- drivers/stm32/adc
- #drivers/stm32/tone_alarm
- modules/sensors
-
- #
- # System commands
- #
- #systemcmds/bl_update
- systemcmds/config
- 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/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- ##
- ## Testing
- ##
- #drivers/distance_sensor/sf0x/sf0x_tests
- #drivers/test_ppm
- ##lib/rc/rc_tests
- #modules/commander/commander_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/mavlink
- modules/navigator
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- #modules/wind_estimator
-
- #
- # Vehicle Control
- #
- #modules/fw_att_control
- #modules/fw_pos_control_l1
- #modules/gnd_att_control
- #modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- #modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- ##
- ## OBC challenge
- ##
- #examples/bottle_drop
-
- ##
- ## Rover apps
- ##
- #examples/rover_steering_control
-
- ##
- ## Segway
- ##
- #examples/segway
-
- ##
- ## Demo apps
- ##
-
- ## Tutorial code from
- ## https://px4.io/dev/px4_simple_app
- #examples/px4_simple_app
-
- ## Tutorial code from
- ## https://px4.io/dev/debug_values
- #examples/px4_mavlink_debug
-
- ## Tutorial code from
- ## https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- ## Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
deleted file mode 100644
index 942a5252f7..0000000000
--- a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
+++ /dev/null
@@ -1,122 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-##set(config_uavcan_num_ifaces 2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/samv7
-#WIP drivers/samv7/adc
- drivers/samv7/tone_alarm
- drivers/px4fmu
- drivers/rgbled
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/imu/lsm303d
- drivers/imu/l3gd20
- drivers/gps
-#WIP drivers/pwm_out_sim
- drivers/blinkm
- modules/sensors
- #drivers/mkblctrl
- drivers/px4flow
- drivers/oreoled
-## drivers/gimbal
-#WIP drivers/pwm_input
-#WIP drivers/camera_trigger
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/mixer
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/esc_calib
-#WIP systemcmds/hardfault_log
- systemcmds/reboot
- #systemcmds/topic_listener
- systemcmds/top
- systemcmds/config
- systemcmds/nshterm
-# systemcmds/mtd Excluded until TWIHS works
- systemcmds/dumpfile
- systemcmds/ver
-
- #
- # General system control
- #
- modules/commander
- modules/navigator
- modules/mavlink
- modules/gpio_led
-##WIP modules/uavcan
- modules/land_detector
-
- #
- # Estimation modules (EKF/ SO3 / other filters)
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- # modules/segway # XXX Needs GCC 4.7 fix
- modules/fw_pos_control_l1
- modules/fw_att_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
-## modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- #examples/bottle_drop
-
- #
- # Rover apps
- #
- #examples/rover_steering_control
-
- #
- # 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/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
deleted file mode 100644
index 125e897f5f..0000000000
--- a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+++ /dev/null
@@ -1,41 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/stm32
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/mixer
- systemcmds/param
- systemcmds/perf
- systemcmds/reboot
- systemcmds/top
- systemcmds/config
- systemcmds/nshterm
- systemcmds/ver
-
- #
- # 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/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
deleted file mode 100644
index d1e05012e5..0000000000
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ /dev/null
@@ -1,187 +0,0 @@
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS3
- TEL1:/dev/ttyS1
- TEL2:/dev/ttyS2
- TEL4:/dev/ttyS6)
-
-set(px4_constrained_flash_build 1)
-
-#set(config_uavcan_num_ifaces 2)
-
-set(config_bl_file ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin)
-
-set(config_module_list
- #
- # Board support modules
- #
- #drivers/barometer
- #drivers/differential_pressure
- #drivers/distance_sensor
- #drivers/magnetometer
- #drivers/telemetry
-
- #drivers/barometer/bmp280
- drivers/barometer/ms5611
- #drivers/blinkm
- #drivers/bst
- #drivers/camera_trigger
- #drivers/differential_pressure/ets
- drivers/differential_pressure/ms4525
- #drivers/differential_pressure/ms5525
- #drivers/differential_pressure/sdp3x
- drivers/distance_sensor/ll40ls
- #drivers/distance_sensor/mb12xx
- drivers/distance_sensor/sf0x
- #drivers/distance_sensor/sf1xx
- #drivers/distance_sensor/srf02
- #drivers/distance_sensor/teraranger
- #drivers/distance_sensor/tfmini
- #drivers/distance_sensor/ulanding
- #drivers/frsky_telemetry
- drivers/gps
- #drivers/imu/adis16448
- #drivers/imu/bmi160
- drivers/imu/l3gd20
- drivers/imu/lsm303d
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- #drivers/iridiumsbd
- #drivers/irlock
- drivers/magnetometer/hmc5883
- #drivers/magnetometer/lis3mdl
- #drivers/mb12xx
- #drivers/mkblctrl
- #drivers/oreoled
- #drivers/protocol_splitter
- #drivers/pwm_input
- #drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/px4io
- drivers/rgbled
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- #drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/bl_update
- #systemcmds/config
- #systemcmds/dumpfile
- #systemcmds/esc_calib
- systemcmds/hardfault_log
- #systemcmds/led_control
- systemcmds/mixer
- #systemcmds/motor_ramp
- #systemcmds/motor_test
- systemcmds/mtd
- #systemcmds/nshterm
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/reboot
- #systemcmds/sd_bench
- systemcmds/top
- #systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- #drivers/distance_sensor/sf0x/sf0x_tests
- #drivers/test_ppm
- #lib/controllib/controllib_test
- #lib/rc/rc_tests
- #modules/commander/commander_tests
- #modules/mavlink/mavlink_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/mavlink
- modules/navigator
- #modules/uavcan
-
- #
- # Estimation modules
- #
- #modules/attitude_estimator_q
- modules/ekf2
- #modules/local_position_estimator
- #modules/position_estimator_inav
- #modules/landing_target_estimator
- #modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- #modules/gnd_att_control
- #modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- #examples/bottle_drop
-
- #
- # Rover apps
- #
- #examples/rover_steering_control
-
- #
- # Segway
- #
- #examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- #examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
-
-set(flight_tasks_to_remove Orbit)
diff --git a/cmake/configs/nuttx_px4fmu-v2_lpe.cmake b/cmake/configs/nuttx_px4fmu-v2_lpe.cmake
deleted file mode 100644
index aba466598c..0000000000
--- a/cmake/configs/nuttx_px4fmu-v2_lpe.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-include(configs/nuttx_px4fmu-v2_default)
-
-set(PARAM_DEFAULT_OVERRIDES "{\\\"SYS_MC_EST_GROUP\\\": 1}")
-
-list(REMOVE_ITEM config_module_list
- modules/ekf2
- )
-
-list(APPEND config_module_list
-
- drivers/irlock
-
- modules/attitude_estimator_q
- modules/local_position_estimator
- modules/landing_target_estimator
- )
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
deleted file mode 100644
index 1d0b003007..0000000000
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ /dev/null
@@ -1,163 +0,0 @@
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_test IO px4io-v2)
-
-#set(config_uavcan_num_ifaces 2)
-
-set(config_module_list
- #
- # Board support modules
- #
- #drivers/barometer
- drivers/differential_pressure
- #drivers/magnetometer
- #drivers/telemetry
-
- #drivers/imu/adis16448
- drivers/barometer/ms5611
- #drivers/blinkm
- #drivers/imu/bmi160
- #drivers/barometer/bmp280
- #drivers/bst
- #drivers/camera_trigger
- #drivers/frsky_telemetry
- drivers/gps
- #drivers/iridiumsbd
- #drivers/irlock
- drivers/imu/l3gd20
- drivers/imu/lsm303d
- drivers/magnetometer/hmc5883
- drivers/magnetometer/lis3mdl
- #drivers/mb12xx
- #drivers/mkblctrl
- drivers/imu/mpu6000
- #drivers/imu/mpu9250
- #drivers/oreoled
- #drivers/protocol_splitter
- #drivers/pwm_input
- #drivers/pwm_out_sim
- #drivers/px4flow
- drivers/px4fmu
- drivers/px4io
- drivers/rgbled
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- #drivers/tap_esc
- #drivers/vmount
-
- # distance sensors
- modules/sensors
-
- #
- # System commands
- #
- #systemcmds/bl_update
- #systemcmds/config
- #systemcmds/dumpfile
- #systemcmds/esc_calib
- systemcmds/hardfault_log
- #systemcmds/led_control
- systemcmds/mixer
- #systemcmds/motor_ramp
- #systemcmds/motor_test
- systemcmds/mtd
- #systemcmds/nshterm
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/reboot
- #systemcmds/sd_bench
- systemcmds/top
- #systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- lib/controllib/controllib_test
- #lib/rc/rc_tests
- modules/commander/commander_tests
- modules/mavlink/mavlink_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/mavlink
- modules/navigator
- #modules/uavcan
-
- #
- # Estimation modules
- #
- #modules/attitude_estimator_q
- #modules/ekf2
- #modules/local_position_estimator
- #modules/position_estimator_inav
- #modules/landing_target_estimator
- #modules/wind_estimator
-
- #
- # Vehicle Control
- #
- #modules/fw_att_control
- #modules/fw_pos_control_l1
- #modules/gnd_att_control
- #modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- #modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- #examples/bottle_drop
-
- #
- # Rover apps
- #
- #examples/rover_steering_control
-
- #
- # Segway
- #
- #examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- #examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
deleted file mode 100644
index fadda78865..0000000000
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ /dev/null
@@ -1,170 +0,0 @@
-
-# FMUv3 is FMUv2 with access to the full 2MB flash
-set(BOARD px4fmu-v2 CACHE string "" FORCE)
-set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
-set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
-set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS3
- TEL1:/dev/ttyS1
- TEL2:/dev/ttyS2
- TEL4:/dev/ttyS6)
-
-set(config_uavcan_num_ifaces 2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/gps
- drivers/imu/adis16448
- drivers/imu/bmi160
- drivers/imu/l3gd20
- drivers/imu/lsm303d
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/irlock
- drivers/mkblctrl
- drivers/oreoled
- drivers/protocol_splitter
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/px4io
- drivers/rgbled
- drivers/rgbled_ncp5623c
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/config
- systemcmds/dumpfile
- systemcmds/esc_calib
- systemcmds/hardfault_log
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/motor_ramp
- systemcmds/motor_test
- systemcmds/mtd
- systemcmds/nshterm
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- lib/controllib/controllib_test
- #lib/rc/rc_tests
- modules/commander/commander_tests
- modules/mavlink/mavlink_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/mavlink
- modules/navigator
- modules/uavcan
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- examples/bottle_drop
-
- #
- # Rover apps
- #
- examples/rover_steering_control
-
- #
- # Segway
- #
- examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- examples/fixedwing_control
-
- # Hardware test
- examples/hwtest
-)
diff --git a/cmake/configs/nuttx_px4fmu-v3_rtps.cmake b/cmake/configs/nuttx_px4fmu-v3_rtps.cmake
deleted file mode 100644
index 94a7a090c2..0000000000
--- a/cmake/configs/nuttx_px4fmu-v3_rtps.cmake
+++ /dev/null
@@ -1,7 +0,0 @@
-include(configs/nuttx_px4fmu-v3_default)
-
-set(FW_NAME nuttx_px4fmu-v3_rtps.elf CACHE string "" FORCE)
-
-list(APPEND config_module_list
- modules/micrortps_bridge
-)
diff --git a/cmake/configs/nuttx_px4fmu-v3_stackcheck.cmake b/cmake/configs/nuttx_px4fmu-v3_stackcheck.cmake
deleted file mode 100644
index f3c82a9a61..0000000000
--- a/cmake/configs/nuttx_px4fmu-v3_stackcheck.cmake
+++ /dev/null
@@ -1,128 +0,0 @@
-
-# FMUv3 is FMUv2 with access to the full 2MB flash
-set(BOARD px4fmu-v2 CACHE string "" FORCE)
-set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
-set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
-set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
-
-px4_nuttx_configure(HWCLASS m4 CONFIG stackcheck ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-set(config_uavcan_num_ifaces 2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/gps
- drivers/imu/adis16448
- drivers/imu/bmi160
- drivers/imu/l3gd20
- drivers/imu/lsm303d
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/irlock
- drivers/mkblctrl
- drivers/oreoled
- drivers/protocol_splitter
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/px4io
- drivers/rgbled
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/bl_update
- systemcmds/config
- systemcmds/dumpfile
- systemcmds/esc_calib
- systemcmds/hardfault_log
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/motor_ramp
- systemcmds/motor_test
- systemcmds/mtd
- systemcmds/nshterm
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- lib/controllib/controllib_test
- #lib/rc/rc_tests
- modules/commander/commander_tests
- modules/mavlink/mavlink_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/mavlink
- modules/navigator
- #modules/uavcan
-
- #
- # Estimation modules
- #
- #modules/attitude_estimator_q
- modules/ekf2
- #modules/landing_target_estimator
- #modules/local_position_estimator
- #modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-)
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
deleted file mode 100644
index 56cdb9dfc7..0000000000
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ /dev/null
@@ -1,158 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS3
- TEL1:/dev/ttyS1
- TEL2:/dev/ttyS2)
-
-set(config_uavcan_num_ifaces 1)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
- drivers/imu
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/gps
- drivers/heater
- drivers/irlock
- drivers/mkblctrl
- drivers/oreoled
- drivers/pca9685
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/rgbled
- drivers/rgbled_ncp5623c
- drivers/rc_input
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # 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/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- #lib/rc/rc_tests
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_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/mavlink
- modules/navigator
- modules/uavcan
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- examples/bottle_drop
-
- #
- # Rover apps
- #
- examples/rover_steering_control
-
- #
- # Segway
- #
- examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- examples/fixedwing_control
-
- # Hardware test
- examples/hwtest
-)
diff --git a/cmake/configs/nuttx_px4fmu-v4_rtps.cmake b/cmake/configs/nuttx_px4fmu-v4_rtps.cmake
deleted file mode 100644
index 53e7d10b19..0000000000
--- a/cmake/configs/nuttx_px4fmu-v4_rtps.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-include(configs/nuttx_px4fmu-v4_default)
-
-list(APPEND config_module_list
- modules/micrortps_bridge
-)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v4_stackcheck.cmake b/cmake/configs/nuttx_px4fmu-v4_stackcheck.cmake
deleted file mode 100644
index 63a04c617b..0000000000
--- a/cmake/configs/nuttx_px4fmu-v4_stackcheck.cmake
+++ /dev/null
@@ -1,116 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG stackcheck ROMFS y ROMFSROOT px4fmu_common)
-
-set(config_uavcan_num_ifaces 1)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
- drivers/imu
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/gps
- drivers/irlock
- drivers/mkblctrl
- drivers/oreoled
- drivers/pca9685
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/rgbled
- drivers/rc_input
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # 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/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- #lib/rc/rc_tests
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_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/mavlink
- modules/navigator
- #modules/uavcan
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-)
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
deleted file mode 100644
index 02fd61d13e..0000000000
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ /dev/null
@@ -1,162 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS3
- TEL1:/dev/ttyS1
- TEL2:/dev/ttyS2
- TEL3:/dev/ttyS0
- TEL4:/dev/ttyS6)
-
-set(config_uavcan_num_ifaces 2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/distance_sensor
- drivers/barometer
- drivers/differential_pressure
- drivers/magnetometer
- drivers/telemetry
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/imu/bma180
- drivers/imu/bmi160
- drivers/camera_trigger
- drivers/gps
- drivers/irlock
- drivers/imu/l3gd20
- drivers/mkblctrl
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/oreoled
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/px4io
- drivers/rgbled
- drivers/rgbled_ncp5623c
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # 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/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- #lib/rc/rc_tests
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_tests
- modules/uORB/uORB_tests
- systemcmds/tests
-
- #
- # General system control
- #
- modules/commander
- modules/events
- modules/gpio_led
- modules/land_detector
- modules/load_mon
- modules/mavlink
- modules/navigator
- modules/uavcan
- modules/camera_feedback
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- examples/bottle_drop
-
- #
- # Rover apps
- #
- examples/rover_steering_control
-
- #
- # Segway
- #
- #examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- #examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake b/cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake
deleted file mode 100644
index 1b8c648b03..0000000000
--- a/cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-include(configs/nuttx_px4fmu-v4pro_default)
-
-list(APPEND config_module_list
- modules/micrortps_bridge
-)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
deleted file mode 100644
index 49c991808e..0000000000
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ /dev/null
@@ -1,164 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-# user-configurable UART ports
-set(board_serial_ports
- GPS1:/dev/ttyS0
- TEL1:/dev/ttyS1
- TEL2:/dev/ttyS2
- TEL4:/dev/ttyS3)
-
-set(config_uavcan_num_ifaces 2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/gps
- drivers/imu/bma180
- drivers/imu/bmi055
- drivers/imu/bmi160
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/irlock
- drivers/mkblctrl
- drivers/oreoled
- drivers/pmw3901
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/px4io
- drivers/rc_input
- drivers/rgbled
- drivers/rgbled_ncp5623c
- #drivers/rgbled_pwm # Enable to put the three leds into PWM RGB mode
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # 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/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- #lib/rc/rc_tests
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_tests
- modules/uORB/uORB_tests
- systemcmds/tests
-
- #
- # General system control
- #
- modules/commander
- modules/events
- modules/gpio_led
- modules/land_detector
- modules/load_mon
- modules/mavlink
- modules/navigator
- modules/uavcan
- modules/camera_feedback
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- #examples/bottle_drop
-
- #
- # Rover apps
- #
- #examples/rover_steering_control
-
- #
- # Segway
- #
- #examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- #examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/nuttx_px4fmu-v5_rtps.cmake b/cmake/configs/nuttx_px4fmu-v5_rtps.cmake
deleted file mode 100644
index 3aae172e16..0000000000
--- a/cmake/configs/nuttx_px4fmu-v5_rtps.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-include(configs/nuttx_px4fmu-v5_default)
-
-list(APPEND config_module_list
- modules/micrortps_bridge
-)
diff --git a/cmake/configs/nuttx_px4fmu-v5_stackcheck.cmake b/cmake/configs/nuttx_px4fmu-v5_stackcheck.cmake
deleted file mode 100644
index 6edb640077..0000000000
--- a/cmake/configs/nuttx_px4fmu-v5_stackcheck.cmake
+++ /dev/null
@@ -1,121 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m7 CONFIG stackcheck ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
-
-set(config_uavcan_num_ifaces 2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/batt_smbus
- drivers/blinkm
- drivers/camera_trigger
- drivers/gps
- drivers/imu/bma180
- drivers/imu/bmi055
- drivers/imu/bmi160
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/irlock
- drivers/mkblctrl
- drivers/oreoled
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/px4io
- drivers/rc_input
- drivers/rgbled
- #drivers/rgbled_pwm # Enable to put the three leds into PWM RGB mode
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- drivers/vmount
- modules/sensors
-
- #
- # 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/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- drivers/test_ppm
- #lib/rc/rc_tests
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_tests
- modules/uORB/uORB_tests
- systemcmds/tests
-
- #
- # General system control
- #
- modules/commander
- modules/events
- modules/gpio_led
- modules/land_detector
- modules/load_mon
- modules/mavlink
- modules/navigator
- #modules/uavcan
- modules/camera_feedback
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/landing_target_estimator
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-)
diff --git a/cmake/configs/nuttx_px4io-v2_default.cmake b/cmake/configs/nuttx_px4io-v2_default.cmake
deleted file mode 100644
index ff227dfbb8..0000000000
--- a/cmake/configs/nuttx_px4io-v2_default.cmake
+++ /dev/null
@@ -1,7 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
-
-set(config_module_list
- drivers/stm32
- modules/px4iofirmware
-)
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
deleted file mode 100644
index 49f49b32d6..0000000000
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ /dev/null
@@ -1,128 +0,0 @@
-
-px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-set(config_uavcan_num_ifaces 2)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- drivers/magnetometer
- drivers/telemetry
-
- drivers/imu/adis16448
- drivers/blinkm
- drivers/imu/bma180
- drivers/imu/bmi160
- drivers/camera_trigger
- drivers/gps
- drivers/mkblctrl
- drivers/imu/mpu6000
- drivers/imu/mpu9250
- drivers/oreoled
- drivers/pwm_input
- drivers/pwm_out_sim
- drivers/px4flow
- drivers/px4fmu
- drivers/rgbled
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
- drivers/tap_esc
- modules/sensors
-
- #
- # 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/reboot
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # General system control
- #
- modules/commander
- modules/load_mon
- modules/navigator
- modules/mavlink
- modules/gpio_led
- modules/uavcan
- modules/land_detector
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- # modules/segway # XXX Needs GCC 4.7 fix
- modules/fw_pos_control_l1
- modules/fw_att_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
-
- #
- # OBC challenge
- #
- examples/bottle_drop
-
- #
- # Rover apps
- #
- examples/rover_steering_control
-
- #
- # 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/debug_values
- #examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- #examples/fixedwing_control
-
- # Hardware test
- #examples/hwtest
-)
diff --git a/cmake/configs/posix_bbblue_common.cmake b/cmake/configs/posix_bbblue_common.cmake
deleted file mode 100644
index 8acbc1bf90..0000000000
--- a/cmake/configs/posix_bbblue_common.cmake
+++ /dev/null
@@ -1,104 +0,0 @@
-# This file is shared between posix_bbblue_native.cmake
-# and posix_bbblue_cross.cmake.
-
-
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the bbblue.
-add_definitions(
- -D__PX4_POSIX_BBBLUE
- -D__PX4_POSIX
- -D__DF_LINUX # For DriverFramework
- -D__DF_BBBLUE # For DriverFramework
- -DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library
-# -DDEBUG_BUILD
-)
-
-#optional __DF_BBBLUE_USE_RC_BMP280_IMP
-add_definitions(
- -D__DF_BBBLUE_USE_RC_BMP280_IMP
-)
-
-#optional __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI, default is "SoftAp"
-#add_definitions(
-# -D__PX4_BBBLUE_DEFAULT_MAVLINK_WIFI="wlan"
-#)
-
-
-set(config_module_list
- #
- # Board support modules
- #
- #drivers/barometer
- drivers/batt_smbus
- drivers/differential_pressure
- drivers/distance_sensor
- #drivers/telemetry
- #drivers/boards
-
- modules/sensors
-
- platforms/posix/drivers/df_mpu9250_wrapper
- platforms/posix/drivers/df_bmp280_wrapper
-
- #
- # System commands
- #
- systemcmds/param
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/ver
- systemcmds/esc_calib
- systemcmds/reboot
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/perf
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Library modules
- #
- modules/logger
- modules/commander
- modules/dataman
- modules/land_detector
- modules/navigator
- modules/mavlink
-
- #
- # PX4 drivers
- #
- drivers/linux_sbus
- drivers/gps
- drivers/bbblue_adc
- drivers/linux_gpio
- drivers/linux_pwm_out
- drivers/pwm_out_sim
-
-)
-
-#
-# DriverFramework driver
-#
-set(config_df_driver_list
- mpu9250
- bmp280
-)
diff --git a/cmake/configs/posix_bbblue_cross.cmake b/cmake/configs/posix_bbblue_cross.cmake
deleted file mode 100644
index 99d4c139d9..0000000000
--- a/cmake/configs/posix_bbblue_cross.cmake
+++ /dev/null
@@ -1,3 +0,0 @@
-include(configs/posix_bbblue_common)
-
-SET(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
diff --git a/cmake/configs/posix_bbblue_native.cmake b/cmake/configs/posix_bbblue_native.cmake
deleted file mode 100644
index ab5c8fc2dc..0000000000
--- a/cmake/configs/posix_bbblue_native.cmake
+++ /dev/null
@@ -1,7 +0,0 @@
-include(configs/posix_bbblue_common)
-
-add_definitions(
- -D __DF_BBBLUE
- )
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
deleted file mode 100644
index a31e0e3fd1..0000000000
--- a/cmake/configs/posix_bebop_default.cmake
+++ /dev/null
@@ -1,75 +0,0 @@
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-
-add_definitions(
- -D__PX4_POSIX_BEBOP
- -D__DF_LINUX # Define needed DriverFramework
- -D__DF_BEBOP # Define needed DriverFramework
- )
-
-set(config_module_list
-
- #
- # Board support modules
- #
- drivers/linux_sbus
- modules/sensors
- platforms/posix/drivers/df_ms5607_wrapper
- platforms/posix/drivers/df_mpu6050_wrapper
- platforms/posix/drivers/df_ak8963_wrapper
- platforms/posix/drivers/df_bebop_bus_wrapper
- platforms/posix/drivers/df_bebop_rangefinder_wrapper
- platforms/posix/drivers/bebop_flow
-
- #
- # System commands
- #
- systemcmds/param
- systemcmds/mixer
- systemcmds/ver
- systemcmds/esc_calib
- systemcmds/topic_listener
- systemcmds/perf
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/mc_att_control
- modules/mc_pos_control
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/vtol_att_control
-
- #
- # Library modules
- #
- modules/logger
- modules/commander
- modules/dataman
- modules/land_detector
- modules/navigator
- modules/mavlink
-
- #
- # PX4 drivers
- #
- drivers/gps
-)
-
-set(config_df_driver_list
- ms5607
- mpu6050
- ak8963
- bebop_bus
- bebop_rangefinder
- mt9v117
-)
diff --git a/cmake/configs/posix_eagle_default.cmake b/cmake/configs/posix_eagle_default.cmake
deleted file mode 100644
index be81961425..0000000000
--- a/cmake/configs/posix_eagle_default.cmake
+++ /dev/null
@@ -1,17 +0,0 @@
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-#
-# This cmake config builds for POSIX, so the part of the flight stack running
-# on the Linux side of the Snapdragon.
-include(configs/posix_sdflight_default)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-
-set(CONFIG_SHMEM "1")
-
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the Snapdragon.
-add_definitions(
- -D__PX4_POSIX_EAGLE
-)
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
deleted file mode 100644
index a06450b1d6..0000000000
--- a/cmake/configs/posix_eagle_hil.cmake
+++ /dev/null
@@ -1,38 +0,0 @@
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-
-# Use build stubs unless explicitly set not to
-if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
- set(DSPAL_STUBS_ENABLE "1")
-endif()
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-add_definitions(-DORB_COMMUNICATOR)
-
-set(config_module_list
- drivers/linux_sbus
-
- systemcmds/param
- systemcmds/ver
-
- modules/mavlink
-
- modules/sensors
- modules/dataman
- modules/logger
- modules/simulator
- modules/commander
-
- modules/muorb/krait
- )
-
diff --git a/cmake/configs/posix_eagle_legacy.cmake b/cmake/configs/posix_eagle_legacy.cmake
deleted file mode 100644
index a0a153b83b..0000000000
--- a/cmake/configs/posix_eagle_legacy.cmake
+++ /dev/null
@@ -1,15 +0,0 @@
-# Eagle is the code name of a board currently in development.
-#
-# This cmake config builds for POSIX, so the part of the flight stack running
-# on the Linux side of the Snapdragon.
-
-include(configs/posix_sdflight_legacy)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the Snapdragon.
-add_definitions(
- -D__PX4_POSIX_EAGLE
- -D__USING_SNAPDRAGON_LEGACY_DRIVER
-)
diff --git a/cmake/configs/posix_eagle_muorb.cmake b/cmake/configs/posix_eagle_muorb.cmake
deleted file mode 100644
index ffde3b617c..0000000000
--- a/cmake/configs/posix_eagle_muorb.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-add_definitions(-DORB_COMMUNICATOR)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(config_module_list
- modules/muorb/krait
- )
-
diff --git a/cmake/configs/posix_excelsior_default.cmake b/cmake/configs/posix_excelsior_default.cmake
deleted file mode 100644
index 0717f60beb..0000000000
--- a/cmake/configs/posix_excelsior_default.cmake
+++ /dev/null
@@ -1,11 +0,0 @@
-# Excelsior is the code name of a board currently in development.
-#
-# This cmake config builds for POSIX, so the part of the flight stack running
-# on the Linux side of the Snapdragon.
-include(configs/posix_sdflight_default)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-oemllib32-linux-gnueabi.cmake)
-
-# This definition allows to differentiate the specific board.
-add_definitions(
- -D__PX4_POSIX_EXCELSIOR
-)
diff --git a/cmake/configs/posix_excelsior_legacy.cmake b/cmake/configs/posix_excelsior_legacy.cmake
deleted file mode 100644
index a20628ee94..0000000000
--- a/cmake/configs/posix_excelsior_legacy.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# Excelsior is the code name of a board currently in development.
-#
-# This cmake config builds for POSIX, so the part of the flight stack running
-# on the Linux side of the Snapdragon.
-
-include(configs/posix_sdflight_legacy)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-oemllib32-linux-gnueabi.cmake)
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the Snapdragon.
-add_definitions(
- -D__PX4_POSIX_EXCELSIOR
- -D__USING_SNAPDRAGON_LEGACY_DRIVER
-)
diff --git a/cmake/configs/posix_ocpoc_cross.cmake b/cmake/configs/posix_ocpoc_cross.cmake
deleted file mode 100644
index 0e368554b7..0000000000
--- a/cmake/configs/posix_ocpoc_cross.cmake
+++ /dev/null
@@ -1,85 +0,0 @@
-#set toolchain
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-xilinx-linux-gnueabi.cmake)
-
-set(CMAKE_PROGRAM_PATH
- "${OCPOC_TOOLCHAIN_DIR}"
- ${CMAKE_PROGRAM_PATH}
-)
-
-
-add_definitions(
- -D__PX4_POSIX_OCPOC
- -D__DF_LINUX # For DriverFramework
- -D__DF_OCPOC # For DriverFramework
- -D__PX4_POSIX
-)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/distance_sensor
- modules/sensors
- platforms/posix/drivers/df_mpu9250_wrapper
- platforms/posix/drivers/df_ms5611_wrapper
- platforms/posix/drivers/df_hmc5883_wrapper
-
- #
- # System commands
- #
- systemcmds/param
- systemcmds/mixer
- systemcmds/ver
- systemcmds/esc_calib
- systemcmds/reboot
- systemcmds/topic_listener
- systemcmds/perf
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
- modules/fw_att_control
- modules/fw_pos_control_l1
-
- #
- # Library modules
- #
- modules/logger
- modules/commander
- modules/dataman
- modules/land_detector
- modules/navigator
- modules/mavlink
-
- #
- # PX4 drivers
- #
- drivers/gps
- drivers/ocpoc_adc
- drivers/linux_sbus
- drivers/linux_pwm_out
- drivers/rgbled
-
- examples/px4_simple_app
-)
-
-#
-# DriverFramework driver
-#
-set(config_df_driver_list
- mpu9250
- ms5611
- hmc5883
-)
diff --git a/cmake/configs/posix_ocpoc_ubuntu.cmake b/cmake/configs/posix_ocpoc_ubuntu.cmake
deleted file mode 100644
index 8f3b549c91..0000000000
--- a/cmake/configs/posix_ocpoc_ubuntu.cmake
+++ /dev/null
@@ -1,84 +0,0 @@
-#set toolchain
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-gcc-arm-linux-gnueabihf.cmake)
-
-set(CMAKE_PROGRAM_PATH
- ${CMAKE_PROGRAM_PATH}
-)
-
-
-add_definitions(
- -D__PX4_POSIX_OCPOC
- -D__DF_LINUX # For DriverFramework
- -D__DF_OCPOC # For DriverFramework
- -D__PX4_POSIX
-)
-
-set(config_module_list
- #
- # Board support modules
- #
- drivers/distance_sensor
- modules/sensors
- platforms/posix/drivers/df_mpu9250_wrapper
- platforms/posix/drivers/df_ms5611_wrapper
- platforms/posix/drivers/df_hmc5883_wrapper
-
- #
- # System commands
- #
- systemcmds/param
- systemcmds/mixer
- systemcmds/ver
- systemcmds/esc_calib
- systemcmds/reboot
- systemcmds/topic_listener
- systemcmds/perf
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
- modules/fw_att_control
- modules/fw_pos_control_l1
-
- #
- # Library modules
- #
- modules/logger
- modules/commander
- modules/dataman
- modules/land_detector
- modules/navigator
- modules/mavlink
-
- #
- # PX4 drivers
- #
- drivers/gps
- drivers/ocpoc_adc
- drivers/linux_sbus
- drivers/linux_pwm_out
- drivers/rgbled
-
- examples/px4_simple_app
-)
-
-#
-# DriverFramework driver
-#
-set(config_df_driver_list
- mpu9250
- ms5611
- hmc5883
-)
diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
deleted file mode 100644
index 2b8968b793..0000000000
--- a/cmake/configs/posix_rpi_common.cmake
+++ /dev/null
@@ -1,103 +0,0 @@
-# This file is shared between posix_rpi_native.cmake
-# and posix_rpi_cross.cmake.
-
-
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the RPi.
-add_definitions(
- -D__PX4_POSIX_RPI
- -D__DF_LINUX # For DriverFramework
- -D__DF_RPI # For DriverFramework
-)
-
-
-set(config_module_list
- #
- # Board support modules
- #
- #drivers/barometer
- drivers/batt_smbus
- drivers/differential_pressure
- drivers/distance_sensor
- #drivers/telemetry
-
- modules/sensors
-
- platforms/posix/drivers/df_hmc5883_wrapper
- platforms/posix/drivers/df_isl29501_wrapper
- platforms/posix/drivers/df_lsm9ds1_wrapper
- platforms/posix/drivers/df_mpu9250_wrapper
- platforms/posix/drivers/df_ms5611_wrapper
- platforms/posix/drivers/df_trone_wrapper
-
- #
- # System commands
- #
- systemcmds/param
- systemcmds/dyn
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/ver
- systemcmds/esc_calib
- systemcmds/reboot
- systemcmds/shutdown
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/perf
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Library modules
- #
- modules/logger
- modules/commander
- modules/dataman
- modules/land_detector
- modules/navigator
- modules/mavlink
-
- #
- # PX4 drivers
- #
- drivers/linux_sbus
- drivers/gps
- drivers/navio_adc
- drivers/navio_sysfs_rc_in
- drivers/linux_gpio
- drivers/linux_pwm_out
- drivers/navio_rgbled
- drivers/pwm_out_sim
- drivers/rpi_rc_in
-
-)
-
-#
-# DriverFramework driver
-#
-set(config_df_driver_list
- mpu9250
- lsm9ds1
- ms5611
- hmc5883
- trone
- isl29501
-)
diff --git a/cmake/configs/posix_rpi_cross.cmake b/cmake/configs/posix_rpi_cross.cmake
deleted file mode 100644
index 46626ac8f6..0000000000
--- a/cmake/configs/posix_rpi_cross.cmake
+++ /dev/null
@@ -1,3 +0,0 @@
-include(configs/posix_rpi_common)
-
-SET(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
diff --git a/cmake/configs/posix_rpi_cross_no_shield.cmake b/cmake/configs/posix_rpi_cross_no_shield.cmake
deleted file mode 100644
index d5f89b97b7..0000000000
--- a/cmake/configs/posix_rpi_cross_no_shield.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-# 使用这个文件å¯åœ¨ä¸Šä½æœºäº¤å‰ç¼–译px4firmware
-# use this file to cross compile px4 for raspberry pi without any shield
-include(configs/posix_rpi_common)
-
-add_definitions(
- -D__DF_RPI_SINGLE # For raspberry pi without shield accessory
-)
-
-if("$ENV{RPI_USE_CLANG}" STREQUAL "1")
- set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian-clang.cmake)
-else()
- set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
-endif()
-
-
-set(CMAKE_PROGRAM_PATH
- "${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
- ${CMAKE_PROGRAM_PATH}
-)
diff --git a/cmake/configs/posix_rpi_native.cmake b/cmake/configs/posix_rpi_native.cmake
deleted file mode 100644
index bd677fada3..0000000000
--- a/cmake/configs/posix_rpi_native.cmake
+++ /dev/null
@@ -1,7 +0,0 @@
-include(configs/posix_rpi_common)
-
-add_definitions(
- -D __DF_RPI
- )
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
deleted file mode 100644
index 5aee64186c..0000000000
--- a/cmake/configs/posix_sdflight_default.cmake
+++ /dev/null
@@ -1,66 +0,0 @@
-include(common/px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
-
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files. This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used. This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-set(config_module_list
- drivers/blinkm
- drivers/linux_sbus
- drivers/pwm_out_sim
- drivers/rgbled
- drivers/qshell/posix
-
- systemcmds/param
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/ver
- systemcmds/shutdown
- systemcmds/topic_listener
- systemcmds/tune_control
-
- modules/mavlink
-
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- modules/mc_pos_control
- modules/mc_att_control
-
- modules/muorb/krait
- modules/sensors
- modules/dataman
- modules/logger
- modules/simulator
- modules/commander
- modules/navigator
-)
diff --git a/cmake/configs/posix_sdflight_legacy.cmake b/cmake/configs/posix_sdflight_legacy.cmake
deleted file mode 100644
index 3de331b104..0000000000
--- a/cmake/configs/posix_sdflight_legacy.cmake
+++ /dev/null
@@ -1,56 +0,0 @@
-include(common/px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
-
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files. This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used. This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-set(config_module_list
- drivers/blinkm
- drivers/linux_sbus
- drivers/pwm_out_sim
- drivers/rgbled
- drivers/qshell/posix
-
- systemcmds/param
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/ver
- systemcmds/topic_listener
- systemcmds/tune_control
-
- modules/mavlink
-
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- modules/mc_pos_control
- modules/mc_att_control
-
- modules/muorb/krait
- modules/sensors
- modules/dataman
- modules/logger
- modules/simulator
- modules/commander
- modules/navigator
- )
diff --git a/cmake/configs/posix_sdflight_rtps.cmake b/cmake/configs/posix_sdflight_rtps.cmake
deleted file mode 100644
index 481cb02b39..0000000000
--- a/cmake/configs/posix_sdflight_rtps.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-include(configs/posix_sdflight_default)
-
-list(APPEND config_module_list
- modules/micrortps_bridge
-)
\ No newline at end of file
diff --git a/cmake/configs/posix_sitl_broadcast.cmake b/cmake/configs/posix_sitl_broadcast.cmake
deleted file mode 100644
index 1dd45e0d56..0000000000
--- a/cmake/configs/posix_sitl_broadcast.cmake
+++ /dev/null
@@ -1,3 +0,0 @@
-include(cmake/configs/posix_sitl_default.cmake)
-
-# This config is just the same as posix_sitl_default.
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
deleted file mode 100644
index 7fcd64b75a..0000000000
--- a/cmake/configs/posix_sitl_default.cmake
+++ /dev/null
@@ -1,164 +0,0 @@
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
-
-set(config_module_list
- #drivers/barometer
- drivers/differential_pressure
- drivers/distance_sensor
- #drivers/telemetry
-
- drivers/batt_smbus
- drivers/camera_trigger
- drivers/gps
- drivers/linux_gpio
- drivers/pwm_out_sim
- drivers/vmount
-
- modules/sensors
-
- platforms/posix/drivers/tonealrmsim
-
- #
- # System commands
- #
- #systemcmds/bl_update
- #systemcmds/config
- #systemcmds/dumpfile
- systemcmds/dyn
- systemcmds/esc_calib
- systemcmds/led_control
- systemcmds/mixer
- systemcmds/motor_ramp
- #systemcmds/mtd
- #systemcmds/nshterm
- systemcmds/param
- systemcmds/perf
- systemcmds/pwm
- systemcmds/reboot
- systemcmds/shutdown
- systemcmds/sd_bench
- systemcmds/top
- systemcmds/topic_listener
- systemcmds/tune_control
- systemcmds/ver
-
- #
- # Testing
- #
- drivers/distance_sensor/sf0x/sf0x_tests
- #drivers/test_ppm
- lib/rc/rc_tests
- modules/commander/commander_tests
- lib/controllib/controllib_test
- modules/mavlink/mavlink_tests
- modules/uORB/uORB_tests
- systemcmds/tests
-
- platforms/posix/tests/hello
- platforms/posix/tests/dyn_hello
- platforms/posix/tests/hrt_test
- platforms/posix/tests/vcdev_test
-
- #
- # General system control
- #
- modules/camera_feedback
- modules/commander
- modules/events
- #modules/gpio_led
- modules/land_detector
- modules/load_mon
- modules/mavlink
- modules/navigator
- modules/replay
- modules/simulator
- #modules/uavcan
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/ekf2
- modules/local_position_estimator
- modules/position_estimator_inav
- modules/wind_estimator
-
- #
- # Vehicle Control
- #
- modules/fw_att_control
- modules/fw_pos_control_l1
- modules/gnd_att_control
- modules/gnd_pos_control
- modules/mc_att_control
- modules/mc_pos_control
- modules/vtol_att_control
-
- #
- # Logging
- #
- modules/logger
-
- #
- # Library modules
- #
- modules/dataman
- modules/landing_target_estimator
-
- #
- # OBC challenge
- #
- examples/bottle_drop
-
- #
- # Rover apps
- #
- examples/rover_steering_control
-
- #
- # HippoCampus example (AUV from TUHH)
- #
- examples/uuv_example_app
-
- #
- # Segway
- #
- examples/segway
-
- #
- # Demo apps
- #
-
- # Tutorial code from
- # https://px4.io/dev/px4_simple_app
- examples/px4_simple_app
-
- # Tutorial code from
- # https://px4.io/dev/debug_values
- examples/px4_mavlink_debug
-
- # Tutorial code from
- # https://px4.io/dev/example_fixedwing_control
- examples/fixedwing_control
-
- # Template Module
- templates/module
-
- # Hardware test
- #examples/hwtest
-)
-
-set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
-set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
-
-set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
-set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
-
-# If the environment variable 'replay' is defined, we are building with replay
-# support. In this case, we enable the orb publisher rules.
-set(REPLAY_FILE "$ENV{replay}")
-if(REPLAY_FILE)
- message("Building with uorb publisher rules support")
- add_definitions(-DORB_USE_PUBLISHER_RULES)
-endif()
-
diff --git a/cmake/configs/posix_sitl_rtps.cmake b/cmake/configs/posix_sitl_rtps.cmake
deleted file mode 100644
index e5f793f794..0000000000
--- a/cmake/configs/posix_sitl_rtps.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-include(configs/posix_sitl_default)
-
-list(APPEND config_module_list
- modules/micrortps_bridge
-)
\ No newline at end of file
diff --git a/cmake/configs/posix_sitl_test.cmake b/cmake/configs/posix_sitl_test.cmake
deleted file mode 100644
index ce3ec24a94..0000000000
--- a/cmake/configs/posix_sitl_test.cmake
+++ /dev/null
@@ -1,2 +0,0 @@
-include(cmake/configs/posix_sitl_default.cmake)
-
diff --git a/cmake/configs/qurt_eagle_default.cmake b/cmake/configs/qurt_eagle_default.cmake
deleted file mode 100644
index 31c112d972..0000000000
--- a/cmake/configs/qurt_eagle_default.cmake
+++ /dev/null
@@ -1,12 +0,0 @@
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# The config between different QURT builds is shared.
-include(configs/qurt_sdflight_default)
-
-# This definition allows to differentiate the specific board.
-add_definitions(
- -D__PX4_QURT_EAGLE
-)
diff --git a/cmake/configs/qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
deleted file mode 100644
index 72e4ea88cb..0000000000
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ /dev/null
@@ -1,33 +0,0 @@
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
- message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
- set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(config_module_list
-
- #
- # System commands
- #
- systemcmds/param
-
- #
- # Library modules
- #
- )
-
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
deleted file mode 100644
index b0a2ca0337..0000000000
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ /dev/null
@@ -1,59 +0,0 @@
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
- message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
- set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-add_definitions(-DORB_COMMUNICATOR)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(config_module_list
- drivers/pwm_out_sim
- drivers/rgbled
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/param
- systemcmds/led
- systemcmds/mixer
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/mc_att_control
- modules/mc_pos_control
-
- #
- # Library modules
- #
- modules/commander
-
- #
- # sources for muorb over fastrpc
- #
- modules/muorb/adsp
- )
diff --git a/cmake/configs/qurt_eagle_legacy.cmake b/cmake/configs/qurt_eagle_legacy.cmake
deleted file mode 100644
index 182a867904..0000000000
--- a/cmake/configs/qurt_eagle_legacy.cmake
+++ /dev/null
@@ -1,12 +0,0 @@
-# Eagle is the code name of a board currently in development.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# The config between different QURT builds is shared.
-include(configs/qurt_sdflight_legacy)
-add_definitions(
- -D__USING_SNAPDRAGON_LEGACY_DRIVER
- -D__PX4_QURT
- -D__PX4_QURT_EAGLE
- )
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
deleted file mode 100644
index 6ed966ac0d..0000000000
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ /dev/null
@@ -1,38 +0,0 @@
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
- message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
- set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-add_definitions(-DORB_COMMUNICATOR)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(config_module_list
-
- #
- # System commands
- #
- systemcmds/param
-
- #
- # Library modules
- #
-
- #
- # sources for muorb over fastrpc
- #
- modules/muorb/adsp
- )
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
deleted file mode 100644
index 72e4ea88cb..0000000000
--- a/cmake/configs/qurt_eagle_test.cmake
+++ /dev/null
@@ -1,33 +0,0 @@
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
- message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
- set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(config_module_list
-
- #
- # System commands
- #
- systemcmds/param
-
- #
- # Library modules
- #
- )
-
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
deleted file mode 100644
index f639e66e2c..0000000000
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ /dev/null
@@ -1,65 +0,0 @@
-
-set(CONFIG_SHMEM "1")
-
-# Run a full link with build stubs to make sure qurt target isn't broken
-set(QURT_ENABLE_STUBS "1")
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
- message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
- set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-add_definitions(-DORB_COMMUNICATOR)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(config_module_list
- drivers/pwm_out_sim
- drivers/rgbled
- modules/sensors
-
- #
- # System commands
- #
- systemcmds/param
- systemcmds/led
- systemcmds/mixer
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/mc_att_control
- modules/mc_pos_control
-
- #
- # Library modules
- #
- modules/commander
-
- #
- # sources for muorb over fastrpc
- #
- modules/muorb/adsp
- )
-
diff --git a/cmake/configs/qurt_excelsior_default.cmake b/cmake/configs/qurt_excelsior_default.cmake
deleted file mode 100644
index ccfe80df28..0000000000
--- a/cmake/configs/qurt_excelsior_default.cmake
+++ /dev/null
@@ -1,12 +0,0 @@
-# Excelsior is the code name of a board currently in development.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# The config between different QURT builds is shared.
-include(configs/qurt_sdflight_default)
-
-# This definition allows to differentiate the specific board.
-add_definitions(
- -D__PX4_QURT_EXCELSIOR
-)
diff --git a/cmake/configs/qurt_excelsior_legacy.cmake b/cmake/configs/qurt_excelsior_legacy.cmake
deleted file mode 100644
index e0bc0830b0..0000000000
--- a/cmake/configs/qurt_excelsior_legacy.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# Excelsior is the code name of a board currently in development.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# The config between different QURT builds is shared.
-include(configs/qurt_sdflight_legacy)
-
-add_definitions(
- -D__USING_SNAPDRAGON_LEGACY_DRIVER
- -D__PX4_QURT
- -D__PX4_QURT_EXCELSIOR
- )
-
diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake
deleted file mode 100644
index 77908fdf6a..0000000000
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ /dev/null
@@ -1,93 +0,0 @@
-include(common/px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
-
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
- message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
- set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files. This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used. This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-
-set(config_module_list
- #
- # Board support modules
- #
- modules/sensors
- platforms/posix/drivers/df_mpu9250_wrapper
- platforms/posix/drivers/df_bmp280_wrapper
- platforms/posix/drivers/df_hmc5883_wrapper
- platforms/posix/drivers/df_trone_wrapper
- platforms/posix/drivers/df_isl29501_wrapper
- platforms/posix/drivers/df_ltc2946_wrapper
-
- #
- # System commands
- #
- systemcmds/param
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/mc_att_control
- modules/mc_pos_control
-
- #
- # Library modules
- #
- modules/commander
- modules/land_detector
-
- #
- # PX4 drivers
- #
- drivers/gps
- drivers/spektrum_rc
- drivers/qshell/qurt
- drivers/snapdragon_pwm_out
-
- #
- # sources for muorb over fastrpc
- #
- modules/muorb/adsp
- )
-
-set(config_df_driver_list
- mpu9250
- bmp280
- hmc5883
- trone
- isl29501
- ltc2946
- )
diff --git a/cmake/configs/qurt_sdflight_legacy.cmake b/cmake/configs/qurt_sdflight_legacy.cmake
deleted file mode 100644
index f9d5c39c58..0000000000
--- a/cmake/configs/qurt_sdflight_legacy.cmake
+++ /dev/null
@@ -1,88 +0,0 @@
-include(common/px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
-
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
- message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
- set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
- set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
- set(QC_SOC_TARGET "APQ8074")
-endif()
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files. This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used. This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(config_module_list
- #
- # Board support modules
- #
- modules/sensors
- platforms/posix/drivers/df_mpu9250_wrapper
- platforms/posix/drivers/df_bmp280_wrapper
-
- #
- # System commands
- #
- systemcmds/param
-
- #
- # Estimation modules
- #
- modules/attitude_estimator_q
- modules/position_estimator_inav
- modules/local_position_estimator
- modules/landing_target_estimator
- modules/ekf2
-
- #
- # Vehicle Control
- #
- modules/mc_att_control
- modules/mc_pos_control
-
- #
- # Library modules
- #
- modules/commander
- modules/land_detector
-
- #
- # PX4 drivers
- #
- drivers/gps
- drivers/spektrum_rc
- drivers/qshell/qurt
-
- #
- # FC_ADDON drivers
- #
- platforms/qurt/fc_addon/uart_esc
-
- #
- # sources for muorb over fastrpc
- #
- modules/muorb/adsp
- )
-
-set(config_df_driver_list
- mpu9250
- bmp280
- )
diff --git a/cmake/common/coverage.cmake b/cmake/coverage.cmake
similarity index 100%
rename from cmake/common/coverage.cmake
rename to cmake/coverage.cmake
diff --git a/cmake/px4_add_board.cmake b/cmake/px4_add_board.cmake
new file mode 100644
index 0000000000..df30166b45
--- /dev/null
+++ b/cmake/px4_add_board.cmake
@@ -0,0 +1,200 @@
+############################################################################
+#
+# 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.
+#
+############################################################################
+
+#=============================================================================
+#
+# Defined functions in this file
+#
+# utility functions
+#
+# * px4_add_board
+#
+
+include(px4_base)
+
+#=============================================================================
+#
+# px4_add_board
+#
+# This function creates a PX4 board.
+#
+# Usage:
+# px4_add_module(
+# BOARD <string>
+# OS <string>
+# [ TOOLCHAIN ] <string>
+# )
+#
+# Input:
+# BOARD : name of board
+# OS : posix, nuttx, qurt
+#
+#
+# Example:
+# px4_add_board(
+# BOARD px4fmu-v2_default
+# OS nuttx
+# )
+#
+function(px4_add_board)
+
+ px4_parse_function_args(
+ NAME px4_add_board
+ ONE_VALUE
+ VENDOR
+ MODEL
+ LABEL
+ BOARD_OVERRIDE
+ PLATFORM
+ TOOLCHAIN
+ ARCH
+ ROMFSROOT
+ IO
+ BOOTLOADER
+ UAVCAN_INTERFACES
+ MULTI_VALUE
+ DRIVERS
+ MODULES
+ SYSTEMCMDS
+ EXAMPLES
+ SERIAL_PORTS
+ DF_DRIVERS # DriverFramework drivers
+ OPTIONS
+ CONSTRAINED_FLASH
+ ROMFS
+ TESTING
+ REQUIRED
+ PLATFORM
+ VENDOR
+ MODEL
+ ARGN ${ARGN})
+
+ set(PX4_BOARD_DIR ${CMAKE_CURRENT_LIST_DIR} CACHE STRING "PX4 board directory" FORCE)
+
+ set(PX4_BOARD_VENDOR ${VENDOR} CACHE STRING "PX4 board vendor" FORCE)
+ set(PX4_BOARD_MODEL ${MODEL} CACHE STRING "PX4 board model" FORCE)
+
+ if(BOARD_OVERRIDE)
+ set(PX4_BOARD ${BOARD_OVERRIDE} CACHE STRING "PX4 board" FORCE)
+ else()
+ set(PX4_BOARD ${VENDOR}${MODEL} CACHE STRING "PX4 board" FORCE)
+ endif()
+
+ if(LABEL)
+ set(PX4_BOARD_LABEL ${LABEL} CACHE STRING "PX4 board label" FORCE)
+ else()
+ set(PX4_BOARD_LABEL "default" CACHE STRING "PX4 board label" FORCE)
+ endif()
+
+ # set OS, and append specific platform module path
+ set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
+
+ list(APPEND CMAKE_MODULE_PATH
+ ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake
+ )
+
+ if(ARCH)
+ set(CMAKE_SYSTEM_PROCESSOR ${ARCH} CACHE INTERNAL "system processor" FORCE)
+ endif()
+
+ if(TOOLCHAIN)
+ set(CMAKE_TOOLCHAIN_FILE ${TOOLCHAIN} CACHE INTERNAL "toolchain file" FORCE)
+ endif()
+
+ if(BOOTLOADER)
+ set(config_bl_file ${BOOTLOADER} CACHE INTERNAL "bootloader" FORCE)
+ endif()
+
+ if(SERIAL_PORTS)
+ set(board_serial_ports ${SERIAL_PORTS} PARENT_SCOPE)
+ endif()
+
+ include(px4_add_board_os)
+ px4_add_board_os(${ARGV})
+
+
+ # Modules (includes drivers, examples, modules, systemcmds)
+ set(config_module_list)
+
+ if(DRIVERS)
+ foreach(driver ${DRIVERS})
+ list(APPEND config_module_list drivers/${driver})
+ endforeach()
+ endif()
+
+ if(MODULES)
+ foreach(module ${MODULES})
+ list(APPEND config_module_list modules/${module})
+ endforeach()
+ endif()
+
+ if(SYSTEMCMDS)
+ foreach(systemcmd ${SYSTEMCMDS})
+ list(APPEND config_module_list systemcmds/${systemcmd})
+ endforeach()
+ endif()
+
+ if(EXAMPLES)
+ foreach(example ${EXAMPLES})
+ list(APPEND config_module_list examples/${example})
+ endforeach()
+ endif()
+
+ # DriverFramework drivers
+ if(DF_DRIVERS)
+ set(config_df_driver_list)
+ foreach(driver ${DF_DRIVERS})
+ list(APPEND config_df_driver_list ${driver})
+ list(APPEND config_module_list platforms/posix/drivers/df_${driver}_wrapper)
+ endforeach()
+ set(config_df_driver_list ${config_df_driver_list} PARENT_SCOPE)
+ endif()
+
+ # add board config directory src to build modules
+ file(RELATIVE_PATH board_support_src_rel ${PX4_SOURCE_DIR}/src ${PX4_BOARD_DIR})
+ list(APPEND config_module_list ${board_support_src_rel}/src)
+ include_directories(${CMAKE_CURRENT_LIST_DIR}/src)
+
+ set(config_module_list ${config_module_list} PARENT_SCOPE)
+
+ # OPTIONS
+
+ if(CONSTRAINED_FLASH)
+ set(px4_constrained_flash_build "1" CACHE INTERNAL "constrained flash build" FORCE)
+ endif()
+
+ if(TESTING)
+ set(PX4_TESTING "1" CACHE INTERNAL "testing enabled" FORCE)
+ endif()
+
+endfunction()
diff --git a/cmake/common/px4_base.cmake b/cmake/px4_base.cmake
similarity index 85%
rename from cmake/common/px4_base.cmake
rename to cmake/px4_base.cmake
index 58ed8fe3c6..d6fdbcf866 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/px4_base.cmake
@@ -41,8 +41,6 @@
# * px4_join
# * px4_add_module
# * px4_add_common_flags
-# * px4_add_optimization_flags_for_target
-# * px4_add_executable
# * px4_add_library
#
@@ -95,11 +93,15 @@ include(CMakeParseArguments)
# list: a b c
#
function(px4_parse_function_args)
+
cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
+
if (OUT_UNPARSED_ARGUMENTS)
- message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
+ #message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
+ # TODO: reenable
endif()
+
foreach(arg ${IN_REQUIRED})
if (NOT OUT_${arg})
if (NOT "${OUT_${arg}}" STREQUAL "0")
@@ -107,9 +109,11 @@ function(px4_parse_function_args)
endif()
endif()
endforeach()
+
foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
set(${arg} ${OUT_${arg}} PARENT_SCOPE)
endforeach()
+
endfunction()
#=============================================================================
@@ -205,7 +209,7 @@ function(px4_add_module)
REQUIRED MODULE MAIN
ARGN ${ARGN})
- if(UNITY_BUILD AND (${OS} STREQUAL "nuttx"))
+ if(UNITY_BUILD AND (${PX4_PLATFORM} STREQUAL "nuttx"))
# build standalone test library to catch compilation errors and provide sane output
add_library(${MODULE}_original STATIC EXCLUDE_FROM_ALL ${SRCS})
if(DEPENDS)
@@ -254,8 +258,6 @@ function(px4_add_module)
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
endif()
- px4_add_optimization_flags_for_target(${MODULE})
-
# Pass variable to the parent px4_add_module.
set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
@@ -277,9 +279,9 @@ function(px4_add_module)
endif()
set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
- if(${OS} STREQUAL "qurt")
+ if(${PX4_PLATFORM} STREQUAL "qurt")
set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
- elseif(${OS} STREQUAL "nuttx")
+ elseif(${PX4_PLATFORM} STREQUAL "nuttx")
target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
endif()
@@ -318,12 +320,6 @@ function(px4_add_module)
endif()
endforeach()
- # store module properties in target
- # COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
- # STACK_MAIN, MAIN, PRIORITY are PX4 specific
- if(COMPILE_FLAGS AND ${_no_optimization_for_target})
- px4_strip_optimization(COMPILE_FLAGS ${COMPILE_FLAGS})
- endif()
foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
if (${prop})
set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
@@ -383,7 +379,7 @@ function(px4_add_common_flags)
px4_parse_function_args(
NAME px4_add_common_flags
ONE_VALUE ${inout_vars} BOARD
- REQUIRED ${inout_vars} BOARD
+ REQUIRED ${inout_vars}
ARGN ${ARGN})
set(warnings
@@ -414,7 +410,7 @@ function(px4_add_common_flags)
if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
# QuRT 6.4.X compiler identifies as Clang but does not support this option
- if (NOT ${OS} STREQUAL "qurt")
+ if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
list(APPEND warnings
-Qunused-arguments
-Wno-unused-const-variable
@@ -532,9 +528,7 @@ function(px4_add_common_flags)
${PX4_BINARY_DIR}/src/lib
${PX4_BINARY_DIR}/src/modules
-
${PX4_SOURCE_DIR}/src
- ${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
${PX4_SOURCE_DIR}/src/include
${PX4_SOURCE_DIR}/src/lib
${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
@@ -543,7 +537,7 @@ function(px4_add_common_flags)
${PX4_SOURCE_DIR}/src/platforms
)
- string(TOUPPER ${BOARD} board_upper)
+ string(TOUPPER ${PX4_BOARD} board_upper)
string(REPLACE "-" "_" board_config ${board_upper})
add_definitions(
@@ -560,62 +554,6 @@ function(px4_add_common_flags)
endfunction()
-#=============================================================================
-#
-# px4_strip_optimization
-#
-function(px4_strip_optimization name)
- set(_compile_flags)
- separate_arguments(_args UNIX_COMMAND ${ARGN})
- foreach(_flag ${_args})
- if(NOT "${_flag}" MATCHES "^-O")
- set(_compile_flags "${_compile_flags} ${_flag}")
- endif()
- endforeach()
- string(STRIP "${_compile_flags}" _compile_flags)
- set(${name} "${_compile_flags}" PARENT_SCOPE)
-endfunction()
-
-#=============================================================================
-#
-# px4_add_optimization_flags_for_target
-#
-set(all_posix_cmake_targets "" CACHE INTERNAL "All cmake targets for which optimization can be suppressed")
-function(px4_add_optimization_flags_for_target target)
- set(_no_optimization_for_target FALSE)
- # If the current CONFIG is posix_sitl_* then suppress optimization for certain targets.
- if(CONFIG MATCHES "^posix_sitl_")
- foreach(_regexp $ENV{PX4_NO_OPTIMIZATION})
- if("${target}" MATCHES "${_regexp}")
- set(_no_optimization_for_target TRUE)
- set(_matched_regexp "${_regexp}")
- endif()
- endforeach()
- # Create a full list of targets that optimization can be suppressed for.
- list(APPEND all_posix_cmake_targets ${target})
- set(all_posix_cmake_targets ${all_posix_cmake_targets} CACHE INTERNAL "All cmake targets for which optimization can be suppressed")
- endif()
- if(NOT ${_no_optimization_for_target})
- target_compile_options(${target} PRIVATE ${optimization_flags})
- else()
- message(STATUS "Disabling optimization for target '${target}' because it matches the regexp '${_matched_regexp}' in env var PX4_NO_OPTIMIZATION")
- target_compile_options(${target} PRIVATE -O0)
- endif()
- # Pass variable to the parent px4_add_library.
- set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
-endfunction()
-
-#=============================================================================
-#
-# px4_add_executable
-#
-# Like add_executable but with optimization flag fixup.
-#
-function(px4_add_executable target)
- add_executable(${target} ${ARGN})
- px4_add_optimization_flags_for_target(${target})
-endfunction()
-
#=============================================================================
#
# px4_add_library
@@ -632,12 +570,10 @@ function(px4_add_library target)
target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs)
# TODO: move to platform layer
- if ("${OS}" MATCHES "nuttx")
+ if ("${PX4_PLATFORM}" MATCHES "nuttx")
target_link_libraries(${target} PRIVATE m nuttx_c)
endif()
- 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)
@@ -666,7 +602,7 @@ function(px4_find_python_module module)
"import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))"
RESULT_VARIABLE _${module}_status
OUTPUT_VARIABLE _${module}_location
- ERROR_QUIET
+ ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT _${module}_status)
set(PY_${module_upper} ${_${module}_location} CACHE STRING
@@ -683,4 +619,3 @@ function(px4_find_python_module module)
#message(FATAL_ERROR "python module not found, exiting")
#endif()
endfunction(px4_find_python_module)
-
diff --git a/cmake/common/px4_git.cmake b/cmake/px4_git.cmake
similarity index 99%
rename from cmake/common/px4_git.cmake
rename to cmake/px4_git.cmake
index fe60948f6f..dd29ee7ebf 100644
--- a/cmake/common/px4_git.cmake
+++ b/cmake/px4_git.cmake
@@ -32,7 +32,7 @@
############################################################################
include(CMakeParseArguments)
-include(common/px4_base)
+include(px4_base)
#=============================================================================
#
diff --git a/cmake/px4_make_uavcan_bootloader.cmake b/cmake/px4_make_uavcan_bootloader.cmake
new file mode 100644
index 0000000000..043377e3be
--- /dev/null
+++ b/cmake/px4_make_uavcan_bootloader.cmake
@@ -0,0 +1,99 @@
+############################################################################
+#
+# 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_make_uavcan_bootloadable
+#
+# This function adds a uavcan boot loadable target.
+#
+# Usage:
+# px4_make_uavcan_bootloadable(
+# BOARD <board>
+# BIN <input bin file>)
+# HWNAME <uavcan name>
+# HW_MAJOR <number>
+# HW_MINOR <number>
+# SW_MAJOR <number>
+# SW_MINOR <number>)
+#
+# Input:
+# BOARD : the board
+# BIN : the bin file to generate the bootloadable image from
+# HWNAME : the uavcan name
+# HW_MAJOR : the major hardware revision
+# HW_MINOR : the minor hardware revision
+# SW_MAJOR : the major software revision
+# SW_MINOR : the minor software revision
+#
+# Output:
+# OUT : None
+#
+# Example:
+# px4_make_uavcan_bootloadable(
+# BOARD ${PX4_BOARD}
+# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+# 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}
+# )
+#
+function(px4_make_uavcan_bootloadable)
+ px4_parse_function_args(
+ NAME px4_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 "")
+ set(uavcanbl_git_desc ffffffff)
+ 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}
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
+ -v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
+ DEPENDS ${BIN})
+ add_custom_target(build_uavcan_bl_${PX4_BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
+endfunction()
diff --git a/cmake/common/px4_metadata.cmake b/cmake/px4_metadata.cmake
similarity index 98%
rename from cmake/common/px4_metadata.cmake
rename to cmake/px4_metadata.cmake
index edc1611661..c8f9aecfd0 100644
--- a/cmake/common/px4_metadata.cmake
+++ b/cmake/px4_metadata.cmake
@@ -69,7 +69,7 @@ function(px4_generate_airframes_xml)
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/airframes.xml
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
--airframes-path ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
- --board CONFIG_ARCH_BOARD_${BOARD}
+ --board CONFIG_ARCH_BOARD_${PX4_BOARD}
--xml ${PX4_BINARY_DIR}/airframes.xml
DEPENDS ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
COMMENT "Creating airframes.xml"
diff --git a/cmake/common/sanitizers.cmake b/cmake/sanitizers.cmake
similarity index 100%
rename from cmake/common/sanitizers.cmake
rename to cmake/sanitizers.cmake
diff --git a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
deleted file mode 100644
index 746c776234..0000000000
--- a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
+++ /dev/null
@@ -1,30 +0,0 @@
-# More on cross-compilation: https://cmake.org/cmake/help/latest/manual/cmake-toolchains.7.html
-
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_PROCESSOR arm)
-set(CMAKE_SYSTEM_VERSION 1)
-
-IF (NOT CMAKE_C_COMPILER OR NOT CMAKE_CXX_COMPILER)
- SET(CMAKE_C_COMPILER arm-linux-gnueabihf-gcc)
- SET(CMAKE_CXX_COMPILER arm-linux-gnueabihf-g++)
-ENDIF()
-
-# os tools
-foreach(tool echo grep rm mkdir nm cp touch make unzip)
- string(TOUPPER ${tool} TOOL)
- find_program(${TOOL} ${tool})
- if(NOT ${TOOL})
- message(FATAL_ERROR "could not find ${TOOL}")
- endif()
-endforeach()
-
-FIND_PROGRAM(STRIP_TOOL "arm-linux-gnueabihf-strip")
-
-set(CMAKE_EXE_LINKER_FLAGS "-Wl,-gc-sections")
-#set(CMAKE_C_FLAGS ${C_FLAGS})
-#set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
-
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
diff --git a/cmake/toolchains/Toolchain-arm-none-eabi.cmake b/cmake/toolchains/Toolchain-arm-none-eabi.cmake
deleted file mode 100644
index 07727b2f2d..0000000000
--- a/cmake/toolchains/Toolchain-arm-none-eabi.cmake
+++ /dev/null
@@ -1,82 +0,0 @@
-# defines:
-#
-# NM
-# OBJCOPY
-# LD
-# CXX_COMPILER
-# C_COMPILER
-# CMAKE_SYSTEM_NAME
-# CMAKE_SYSTEM_VERSION
-# LINKER_FLAGS
-# CMAKE_EXE_LINKER_FLAGS
-# CMAKE_FIND_ROOT_PATH
-# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-
-include(CMakeForceCompiler)
-
-# this one is important
-set(CMAKE_SYSTEM_NAME Generic)
-
-# this one not so much
-set(CMAKE_SYSTEM_VERSION 1)
-
-# specify the cross compiler
-find_program(C_COMPILER arm-none-eabi-gcc)
-if(NOT C_COMPILER)
- message(FATAL_ERROR "could not find arm-none-eabi-gcc compiler")
-endif()
-cmake_force_c_compiler(${C_COMPILER} GNU)
-
-find_program(CXX_COMPILER arm-none-eabi-g++)
-if(NOT CXX_COMPILER)
- message(FATAL_ERROR "could not find arm-none-eabi-g++ compiler")
-endif()
-cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
-
-# compiler tools
-foreach(tool objcopy nm ld)
- string(TOUPPER ${tool} TOOL)
- find_program(${TOOL} arm-none-eabi-${tool})
- if(NOT ${TOOL})
- message(FATAL_ERROR "could not find ${tool}")
- endif()
-endforeach()
-
-# optional compiler tools
-foreach(tool gdb gdbtui)
- string(TOUPPER ${tool} TOOL)
- find_program(${TOOL} arm-none-eabi-${tool})
- if(NOT ${TOOL})
- #message(STATUS "could not find ${tool}")
- endif()
-endforeach()
-
-set(cpu_flags)
-if (CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m7")
- set(cpu_flags "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard")
-elseif (CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m4")
- set(cpu_flags "-mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard")
-elseif (CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m3")
- set(cpu_flags "-mcpu=cortex-m3 -mthumb")
-else ()
- message(FATAL_ERROR "Processor not recognised in toolchain file")
-endif()
-
-set(c_flags "-fno-common -ffunction-sections -fdata-sections")
-set(cxx_flags "-fno-common -ffunction-sections -fdata-sections")
-
-set(CMAKE_C_FLAGS "${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))
-
-# search for programs in the build host directories
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
diff --git a/cmake/toolchains/Toolchain-arm-xilinx-linux-gnueabi.cmake b/cmake/toolchains/Toolchain-arm-xilinx-linux-gnueabi.cmake
deleted file mode 100644
index abe00db83b..0000000000
--- a/cmake/toolchains/Toolchain-arm-xilinx-linux-gnueabi.cmake
+++ /dev/null
@@ -1,88 +0,0 @@
-# defines:
-#
-# NM
-# OBJCOPY
-# LD
-# CXX_COMPILER
-# C_COMPILER
-# CMAKE_SYSTEM_NAME
-# CMAKE_SYSTEM_VERSION
-# LINKER_FLAGS
-# CMAKE_EXE_LINKER_FLAGS
-# CMAKE_FIND_ROOT_PATH
-# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-
-include(CMakeForceCompiler)
-
-if ("$ENV{OCPOC_TOOLCHAIN_DIR}" STREQUAL "")
- message(FATAL_ERROR "OCPOC_TOOLCHAIN_DIR not set")
-else()
- set(OCPOC_TOOLCHAIN_DIR $ENV{OCPOC_TOOLCHAIN_DIR})
-endif()
-
-# this one is important
-set(CMAKE_SYSTEM_NAME Generic)
-
-#this one not so much
-set(CMAKE_SYSTEM_VERSION 1)
-
-# specify the cross compiler
-find_program(C_COMPILER arm-xilinx-linux-gnueabi-gcc
- PATHS ${OCPOC_TOOLCHAIN_DIR}
- NO_DEFAULT_PATH
- )
-
-if(NOT C_COMPILER)
- message(FATAL_ERROR "could not find arm-xilinx-linux-gnueabi-gcc compiler")
-endif()
-cmake_force_c_compiler(${C_COMPILER} GNU)
-
-find_program(CXX_COMPILER arm-xilinx-linux-gnueabi-g++
- PATHS ${OCPOC_TOOLCHAIN_DIR}
- NO_DEFAULT_PATH
- )
-
-if(NOT CXX_COMPILER)
- message(FATAL_ERROR "could not find arm-xilinx-linux-gnueabi-g++ compiler")
-endif()
-cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
-
-# compiler tools
-foreach(tool objcopy nm ld)
- string(TOUPPER ${tool} TOOL)
- find_program(${TOOL} arm-xilinx-linux-gnueabi-${tool}
- PATHS ${OCPOC_TOOLCHAIN_DIR}
- NO_DEFAULT_PATH
- )
- if(NOT ${TOOL})
- message(FATAL_ERROR "could not find arm-xilinx-linux-gnueabi-${tool}")
- endif()
-endforeach()
-
-# os tools
-foreach(tool echo grep rm mkdir nm cp touch make unzip)
- string(TOUPPER ${tool} TOOL)
- find_program(${TOOL} ${tool})
- if(NOT ${TOOL})
- message(FATAL_ERROR "could not find ${TOOL}")
- endif()
-endforeach()
-
-set(LINKER_FLAGS "-Wl,-gc-sections")
-set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
-set(CMAKE_C_FLAGS ${C_FLAGS})
-set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
-
-# where is the target environment
-set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
-
-# search for programs in the build host directories
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-
-# enable static linking
-#set(LDFLAGS "--disable-shared")
diff --git a/cmake/toolchains/Toolchain-gcc-arm-linux-gnueabihf.cmake b/cmake/toolchains/Toolchain-gcc-arm-linux-gnueabihf.cmake
deleted file mode 100644
index f190f81ea1..0000000000
--- a/cmake/toolchains/Toolchain-gcc-arm-linux-gnueabihf.cmake
+++ /dev/null
@@ -1,74 +0,0 @@
-# defines:
-#
-# NM
-# OBJCOPY
-# LD
-# CXX_COMPILER
-# C_COMPILER
-# CMAKE_SYSTEM_NAME
-# CMAKE_SYSTEM_VERSION
-# LINKER_FLAGS
-# CMAKE_EXE_LINKER_FLAGS
-# CMAKE_FIND_ROOT_PATH
-# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-
-include(CMakeForceCompiler)
-
-# this one is important
-set(CMAKE_SYSTEM_NAME Generic)
-
-#this one not so much
-set(CMAKE_SYSTEM_VERSION 1)
-
-# specify the cross compiler
-find_program(C_COMPILER arm-linux-gnueabihf-gcc)
-
-if(NOT C_COMPILER)
- message(STATUS "Make sure to: apt-get install arm-linux-gnueabihf-gcc")
- message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
-endif()
-cmake_force_c_compiler(${C_COMPILER} GNU)
-
-find_program(CXX_COMPILER arm-linux-gnueabihf-g++)
-
-if(NOT CXX_COMPILER)
- message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
-endif()
-cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
-
-# compiler tools
-foreach(tool objcopy nm ld)
- string(TOUPPER ${tool} TOOL)
- find_program(${TOOL} arm-linux-gnueabihf-${tool})
- if(NOT ${TOOL})
- message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
- endif()
-endforeach()
-
-# os tools
-foreach(tool echo grep rm mkdir nm cp touch make unzip)
- string(TOUPPER ${tool} TOOL)
- find_program(${TOOL} ${tool})
- if(NOT ${TOOL})
- message(FATAL_ERROR "could not find ${TOOL}")
- endif()
-endforeach()
-
-set(LINKER_FLAGS "-Wl,-gc-sections")
-set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
-set(CMAKE_C_FLAGS ${C_FLAGS})
-set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS} -mfloat-abi=hard -mcpu=cortex-a9 -mfpu=neon-vfpv3 -O3 -funsafe-math-optimizations -mthumb-interwork -ftree-vectorize)
-
-# where is the target environment
-set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
-
-# search for programs in the build host directories
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-
-# enable static linking
-#set(LDFLAGS "--disable-shared")
diff --git a/eclipse.cproject b/eclipse.cproject
index 56a06884bc..dfd1ee0065 100644
--- a/eclipse.cproject
+++ b/eclipse.cproject
@@ -34,8 +34,8 @@
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware/src/include}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware/uORB/topics}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware}""/>
- <listOptionValue builtIn="false" value=""${git_work_tree}/build/posix_sitl_default/""/>
- <listOptionValue builtIn="false" value=""${git_work_tree}/build/posix_sitl_default/src/modules/systemlib/param""/>
+ <listOptionValue builtIn="false" value=""${git_work_tree}/build/px4sitl_default/""/>
+ <listOptionValue builtIn="false" value=""${git_work_tree}/build/px4sitl_default/src/modules/systemlib/param""/>
</option>
<option id="gnu.cpp.compiler.option.preprocessor.def.1050909243" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" valueType="definedSymbols">
<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
@@ -55,8 +55,8 @@
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware/src/include}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware/uORB/topics}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware}""/>
- <listOptionValue builtIn="false" value=""${git_work_tree}/build/posix_sitl_default/""/>
- <listOptionValue builtIn="false" value=""${git_work_tree}/build/posix_sitl_default/src/modules/systemlib/param""/>
+ <listOptionValue builtIn="false" value=""${git_work_tree}/build/px4sitl_default/""/>
+ <listOptionValue builtIn="false" value=""${git_work_tree}/build/px4sitl_default/src/modules/systemlib/param""/>
</option>
<option id="gnu.c.compiler.option.preprocessor.def.symbols.734675451" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" valueType="definedSymbols">
<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
@@ -83,8 +83,8 @@
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware/src/include}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware/uORB/topics}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/PX4-Firmware}""/>
- <listOptionValue builtIn="false" value=""${git_work_tree}/build/posix_sitl_default/""/>
- <listOptionValue builtIn="false" value=""${git_work_tree}/build/posix_sitl_default/src/modules/systemlib/param""/>
+ <listOptionValue builtIn="false" value=""${git_work_tree}/build/px4sitl_default/""/>
+ <listOptionValue builtIn="false" value=""${git_work_tree}/build/px4sitl_default/src/modules/systemlib/param""/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.674673703" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
</tool>
@@ -132,10 +132,10 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
- <target name="posix_sitl_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+ <target name="px4sitl_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
- <buildTarget>posix_sitl_default</buildTarget>
+ <buildTarget>px4sitl_default</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
diff --git a/eclipse.project b/eclipse.project
index 383d0487b8..c9dc730213 100644
--- a/eclipse.project
+++ b/eclipse.project
@@ -59,11 +59,11 @@
<variableList>
<variable>
<name>uORB_LOC</name>
- <value>$%7BPROJECT_LOC%7D/build/posix_sitl_default/uORB</value>
+ <value>$%7BPROJECT_LOC%7D/build/px4sitl_default/uORB</value>
</variable>
<variable>
<name>uORB_SRC</name>
- <value>$%7BPROJECT_LOC%7D/build/posix_sitl_default/msg/topics_sources</value>
+ <value>$%7BPROJECT_LOC%7D/build/px4sitl_default/msg/topics_sources</value>
</variable>
</variableList>
</projectDescription>
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index feeb309cc4..8c514ddba2 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -35,9 +35,7 @@ include(cygwin_cygpath)
add_subdirectory(src)
-if (NOT FW_NAME)
- set(FW_NAME ${CONFIG}.elf)
-endif()
+set(FW_NAME ${PX4_BOARD_VENDOR}${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
add_executable(${FW_NAME} ${PX4_SOURCE_DIR}/src/platforms/empty.c)
add_dependencies(${FW_NAME} git_nuttx nuttx_build)
@@ -66,10 +64,6 @@ if (CONFIG_NET)
target_link_libraries(nuttx_fs INTERFACE nuttx_net)
endif()
-if (NOT LD_SCRIPT)
- set(LD_SCRIPT ld.script)
-endif()
-
file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_DIR})
# only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...)
@@ -95,7 +89,7 @@ target_link_libraries(${FW_NAME} PRIVATE
-fno-exceptions
-fno-rtti
- -Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${BOARD}/scripts/${LD_SCRIPT}
+ -Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${PX4_BOARD}/scripts/ld.script
-Wl,-Map=${CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
@@ -123,31 +117,29 @@ string(REPLACE "nuttx_" "" fw_name_short ${FW_NAME})
set(fw_file ${PX4_BINARY_DIR}/${fw_name_short})
string(REPLACE ".elf" ".px4" fw_file ${fw_file})
-add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${BOARD}.bin
- COMMAND ${OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${BOARD}.bin
+add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
+ COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
DEPENDS ${FW_NAME}
)
-if (NOT FW_PROTOTYPE)
- set(FW_PROTOTYPE ${BOARD})
-endif()
+set(FW_PROTOTYPE ${PX4_BOARD_VENDOR}${PX4_BOARD_MODEL})
if (TARGET parameters_xml AND TARGET airframes_xml)
add_custom_command(OUTPUT ${fw_file}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
- --prototype ${PX4_SOURCE_DIR}/platforms/nuttx/Images/${FW_PROTOTYPE}.prototype
+ --prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
--git_identity ${PX4_SOURCE_DIR}
--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
- --image ${PX4_BINARY_DIR}/${BOARD}.bin > ${fw_file}
- DEPENDS ${PX4_BINARY_DIR}/${BOARD}.bin parameters_xml airframes_xml
+ --image ${PX4_BINARY_DIR}/${PX4_BOARD}.bin > ${fw_file}
+ DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD}.bin parameters_xml airframes_xml
COMMENT "Creating ${fw_file}"
)
add_custom_target(px4 ALL DEPENDS ${fw_file})
# upload helper
- if (${BOARD} STREQUAL "aerofc-v1")
+ if (${PX4_BOARD} STREQUAL "aerofc-v1")
# TODO: should be set only in aero config
add_custom_target(upload
@@ -289,7 +281,7 @@ if (BLOATY_PROGRAM)
# bloaty compare with last master build
add_custom_target(bloaty_compare_master
- COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${FW_NAME} -O master_${FW_NAME}
+ COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/nuttx_${FW_NAME} -O master_${FW_NAME}
COMMAND ${BLOATY_PROGRAM} -d symbols -n 50 -C full -s vm $<TARGET_FILE:${FW_NAME}> -- master_${FW_NAME}
DEPENDS ${FW_NAME}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
@@ -353,7 +345,7 @@ if(black_magic_probe_path)
)
add_custom_target(blackmagic_console
- COMMAND screen -t "${BOARD} console" ${black_magic_probe_console_path} 57600 8N1
+ COMMAND screen -t "${PX4_BOARD} console" ${black_magic_probe_console_path} 57600 8N1
USES_TERMINAL
)
diff --git a/platforms/nuttx/Debug/poor-mans-profiler.sh b/platforms/nuttx/Debug/poor-mans-profiler.sh
index d1a7fd56ae..c5efc21c73 100755
--- a/platforms/nuttx/Debug/poor-mans-profiler.sh
+++ b/platforms/nuttx/Debug/poor-mans-profiler.sh
@@ -77,7 +77,7 @@ do
shift
done
-[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/nuttx_px4fmu-v4_default/nuttx_px4fmu-v4_default.elf"
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/px4fmu-v4_default.elf"
#
# Temporary files
diff --git a/platforms/nuttx/Images/px4flow-v2.prototype b/platforms/nuttx/Images/px4flow-v2.prototype
deleted file mode 100644
index 5027fe8c27..0000000000
--- a/platforms/nuttx/Images/px4flow-v2.prototype
+++ /dev/null
@@ -1,13 +0,0 @@
-{
- "board_id": 24,
- "magic": "FLOWv1",
- "description": "Firmware for the PX4FlowV2 board",
- "image": "",
- "build_time": 0,
- "summary": "PX4FLOWv2",
- "version": "0.1",
- "image_size": 0,
- "image_maxsize": 2080768,
- "git_identity": "",
- "board_revision": 0
-}
diff --git a/platforms/nuttx/Images/zubaxgnss-v1.prototype b/platforms/nuttx/Images/zubaxgnss-v1.prototype
deleted file mode 100644
index 46d8c45f87..0000000000
--- a/platforms/nuttx/Images/zubaxgnss-v1.prototype
+++ /dev/null
@@ -1,13 +0,0 @@
-{
- "board_id": 26,
- "magic": "ZUBAXGNSSFWv1",
- "description": "Firmware for the ZUBAXGNSS board",
- "image": "",
- "build_time": 0,
- "summary": "ZUBAXGNSSv1",
- "version": "0.0",
- "image_size": 0,
- "image_maxsize": 253952,
- "git_identity": "",
- "board_revision": 0
-}
diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index c263436f0d..ffa4312f2d 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -3,17 +3,11 @@ cmake_minimum_required(VERSION 3.2)
px4_add_git_submodule(TARGET git_nuttx PATH "nuttx")
px4_add_git_submodule(TARGET git_nuttx_apps PATH "apps")
-if(NOT BOARD)
- message(FATAL_ERROR "BOARD must be set (eg px4fmu-v2)")
+if(NOT PX4_BOARD)
+ message(FATAL_ERROR "PX4_BOARD must be set (eg px4fmu-v2)")
endif()
-if(NOT nuttx_config_type)
- # default to nsh if not specified
- set(nuttx_config_type "nsh")
-endif()
-
-project(NuttX_${BOARD} LANGUAGES ASM C CXX)
-message(STATUS "NuttX: " ${BOARD} " " ${nuttx_config_type} " " ${CMAKE_SYSTEM_PROCESSOR})
+project(NuttX_${PX4_BOARD} LANGUAGES ASM C CXX)
if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
# copy with rsync and create file dependencies
@@ -39,8 +33,10 @@ file(GLOB_RECURSE copy_apps_files
${CMAKE_CURRENT_SOURCE_DIR}/apps/*)
set(NUTTX_DIR ${CMAKE_CURRENT_BINARY_DIR}/nuttx)
-set(NUTTX_CONFIG_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs)
-configure_file(${NUTTX_CONFIG_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
+set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
+
+set(NUTTX_CONFIGS_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
# copy nuttx to build directory
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/nuttx)
@@ -66,24 +62,23 @@ add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
# copy PX4 board config into nuttx
-file(GLOB_RECURSE board_config_files ${NUTTX_CONFIG_DIR}/${BOARD})
-file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_CONFIG_DIR}/${BOARD})
-file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${NUTTX_DIR}/configs)
add_custom_command(
OUTPUT ${NUTTX_DIR}/.config
- COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig ${NUTTX_DIR}/.config
+ COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
- COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR}/configs/${BOARD}/src
- COMMAND cd ${CMAKE_SOURCE_DIR} && ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
+ COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
+ COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${NUTTX_DIR}/configs/${PX4_BOARD}/
+ COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR}/configs/${PX4_BOARD}/src
+ COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${NUTTX_DIR}/configs/${PX4_BOARD}/include
DEPENDS
- ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
- ${board_config_files}
+ ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+ ${NUTTX_CONFIG_DIR}/include/board.h
+ ${NUTTX_CONFIG_DIR}/scripts/ld.script
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
WORKING_DIRECTORY ${NUTTX_DIR}/tools
- COMMENT "Copying NuttX config ${BOARD} and configuring"
+ COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
)
-add_custom_target(nuttx_configure DEPENDS ${NUTTX_DIR}/.config)
# verbose build settings (V=1 or VERBOSE=1)
option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
@@ -106,11 +101,11 @@ endif()
# context
add_custom_command(OUTPUT ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
COMMAND make ${nuttx_build_options} --no-print-directory context ${nuttx_build_output}
- DEPENDS nuttx_configure ${NUTTX_DIR}/.config
+ DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
-add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h)
+add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h)
# library of NuttX libraries
add_library(nuttx_build INTERFACE)
@@ -126,9 +121,10 @@ if (CONFIG_NSH_LIBRARY)
COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h
COMMAND ${CMAKE_COMMAND} -E touch builtins_clean.stamp
DEPENDS
- nuttx_configure
- nuttx_context
- ${PX4_SOURCE_DIR}/cmake/configs/${CONFIG}.cmake
+ ${NUTTX_DIR}/.config
+ ${NUTTX_DIR}/include/nuttx/version.h
+ ${NUTTX_DIR}/include/nuttx/config.h
+ ${PX4_CONFIG_FILE}
)
foreach(module ${module_libraries})
@@ -140,7 +136,7 @@ if (CONFIG_NSH_LIBRARY)
add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
- DEPENDS nuttx_context builtins_clean.stamp
+ DEPENDS builtins_clean.stamp ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
VERBATIM
)
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat)
@@ -148,7 +144,7 @@ if (CONFIG_NSH_LIBRARY)
add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
- DEPENDS nuttx_context builtins_clean.stamp
+ DEPENDS builtins_clean.stamp ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
VERBATIM
)
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat)
@@ -163,7 +159,7 @@ endif()
add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built
COMMAND find ${APPS_DIR} -name \*.o -delete
COMMAND make ${nuttx_build_options} --no-print-directory -C ../apps TOPDIR="${NUTTX_DIR}" libapps.a ${nuttx_build_output}
- DEPENDS nuttx_context ${nuttx_builtin_list}
+ DEPENDS ${nuttx_builtin_list} ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
@@ -182,7 +178,7 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete
COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output}
- DEPENDS ${nuttx_lib_files} nuttx_context
+ DEPENDS ${nuttx_lib_files} ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
@@ -210,32 +206,32 @@ endif()
# oldconfig helper
add_custom_target(oldconfig
- COMMAND make --no-print-directory --silent -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}/platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
- DEPENDS nuttx_configure
+ COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} oldconfig
+ COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+ COMMAND ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+ DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
- COMMENT "Running NuttX make oldconfig for ${BOARD} with ${nuttx_config_type}"
+ COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# menuconfig helper
add_custom_target(menuconfig
- COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} menuconfig
- COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
- COMMAND cd ${PX4_SOURCE_DIR} && platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
- DEPENDS nuttx_configure
+ COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} menuconfig
+ COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+ COMMAND cd ${PX4_SOURCE_DIR} && platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+ DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
- COMMENT "Running NuttX make menuconfig for ${BOARD} with ${nuttx_config_type}"
+ COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# qconfig helper
add_custom_target(qconfig
- COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} qconfig
- COMMAND cp .config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
- DEPENDS nuttx_configure
+ COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} qconfig
+ COMMAND cp .config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+ DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
- COMMENT "Running NuttX make qconfig for ${BOARD} with ${nuttx_config_type}"
+ COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
diff --git a/platforms/nuttx/nuttx-configs/Make.defs.in b/platforms/nuttx/NuttX/Make.defs.in
similarity index 79%
rename from platforms/nuttx/nuttx-configs/Make.defs.in
rename to platforms/nuttx/NuttX/Make.defs.in
index dc0ec85fdf..6a8234f7c0 100644
--- a/platforms/nuttx/nuttx-configs/Make.defs.in
+++ b/platforms/nuttx/NuttX/Make.defs.in
@@ -36,10 +36,10 @@
include $(TOPDIR)/.config
include $(TOPDIR)/tools/Config.mk
-CC = ${C_COMPILER}
-CXX = ${CXX_COMPILER}
-CPP = ${C_COMPILER} -E
-LD = ${LD}
+CC = ${CMAKE_C_COMPILER}
+CXX = ${CMAKE_CXX_COMPILER}
+CPP = ${CMAKE_C_COMPILER} -E
+LD = ${CMAKE_LD}
AR = ${CMAKE_AR} rcs
NM = ${CMAKE_NM}
OBJCOPY = ${CMAKE_OBJCOPY}
@@ -48,12 +48,10 @@ OBJDUMP = ${CMAKE_OBJDUMP}
# Include paths with Cygwin path conversion
ifneq (, $(findstring CYGWIN, $(shell uname)))
WINTOOL = y
- PX4INCLUDES = -I"$(shell cygpath -w ${PX4_SOURCE_DIR}/src/include)"
- ARCHINCLUDES = $(PX4INCLUDES) -I. -isystem "$(shell cygpath -w $(TOPDIR)/include)"
+ ARCHINCLUDES = -I. -isystem "$(shell cygpath -w $(TOPDIR)/include)"
ARCHXXINCLUDES = $(ARCHINCLUDES) -isystem "$(shell cygpath -w $(TOPDIR)/include/cxx)"
else
- PX4INCLUDES = -I${PX4_SOURCE_DIR}/src/include
- ARCHINCLUDES = $(PX4INCLUDES) -I. -isystem $(TOPDIR)/include
+ ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = $(ARCHINCLUDES) -isystem $(TOPDIR)/include/cxx
endif
@@ -64,20 +62,41 @@ ifeq ($(WINTOOL),y)
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
endif
+FLAGS = -Os -g2 \
+ -fdata-sections \
+ -ffunction-sections \
+ -fno-builtin-printf \
+ -fno-common \
+ -fno-strength-reduce \
+ -fno-strict-aliasing \
+ -fomit-frame-pointer \
+ -Wall \
+ -Werror \
+ -Wextra \
+ -Wlogical-op \
+ -Wno-cpp \
+ -Wno-format-truncation \
+ -Wno-maybe-uninitialized \
+ -Wno-missing-field-initializers \
+ -Wno-sign-compare \
+ -Wno-type-limits \
+ -Wno-unused-parameter \
+ -Wpointer-arith
+
# enable precise stack overflow tracking
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
- INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
+ FLAGS += -finstrument-functions -ffixed-r10
endif
-CFLAGS = -Os -g2 ${CMAKE_C_FLAGS} $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) \
+CFLAGS = $(ARCHINCLUDES) \
+ -std=gnu99 \
+ ${CMAKE_C_FLAGS} \
+ $(FLAGS) \
-Wno-bad-function-cast \
- -Wno-cpp \
-Wno-float-equal \
- -Wno-format-truncation \
-Wno-implicit-fallthrough \
-Wno-implicit-function-declaration \
-Wno-logical-op \
- -Wno-maybe-uninitialized \
-Wno-missing-declarations \
-Wno-missing-field-initializers \
-Wno-missing-prototypes \
@@ -87,11 +106,15 @@ CFLAGS = -Os -g2 ${CMAKE_C_FLAGS} $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) \
-Wno-sign-compare \
-Wno-type-limits
-CXXFLAGS = -Os -g2 ${CMAKE_CXX_FLAGS} $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) \
+CXXFLAGS = $(ARCHXXINCLUDES) \
+ -std=gnu++11 \
+ ${CMAKE_CXX_FLAGS} \
+ $(FLAGS) \
-fcheck-new \
-fno-builtin \
+ -fno-exceptions \
+ -fno-rtti \
-Wno-double-promotion \
- -Wno-maybe-uninitialized \
-Wno-missing-declarations
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
diff --git a/platforms/nuttx/nuttx-configs/aerocore2/include/nsh_romfsimg.h b/platforms/nuttx/NuttX/nsh_romfsimg.h
similarity index 100%
rename from platforms/nuttx/nuttx-configs/aerocore2/include/nsh_romfsimg.h
rename to platforms/nuttx/NuttX/nsh_romfsimg.h
diff --git a/platforms/nuttx/NuttX/tools/new_nuttx_px_config.sh b/platforms/nuttx/NuttX/tools/new_nuttx_px_config.sh
deleted file mode 100755
index 1a24f337ce..0000000000
--- a/platforms/nuttx/NuttX/tools/new_nuttx_px_config.sh
+++ /dev/null
@@ -1,173 +0,0 @@
-#! /bin/bash
-
-function fatal
-{
- echo "$0: ERROR: $*"
- exit 1
-}
-
-# Find out what the base directory is.
-BASEDIR="$(dirname $(dirname $(readlink -en "$0")))"
-echo "BASEDIR=\"$BASEDIR\""
-striplen=$((${#BASEDIR} + 2))
-
-# BASEDIR may not contain a space, that's just too hard to get to work.
-expr index "$BASEDIR" " " >/dev/null && fatal "it is not supported that BASEDIR contains a space."
-
-# Make sure that worked.
-test -f $BASEDIR/cmake/posix/px4_impl_posix.cmake || fatal "Failed to determine BASEDIR: '\$BASEDIR/cmake/posix/px4_impl_posix.cmake' is not a regular file."
-
-# Did we get two arguments?
-if [[ $# -lt 2 ]]; then
- echo "Usage:"
- echo " $0 PROTOTYPE NEWNAME"
- echo
- echo "For example: $0 px4fmu-v4 awesome_new_board-v2"
- exit 1
-fi
-
-# Parse command line parameters.
-oldname=
-newname=
-while [[ $# -gt 0 ]]
-do
- case $1 in
- -*)
- fatal "Unknown option $1"
- ;;
- *)
- if [ -z "$oldname" ]; then
- oldname="$1"
- elif [ -z "$newname" ]; then
- newname="$1"
- else
- fatal "Too many arguments."
- fi
- ;;
- esac
- shift
-done
-
-echo "PROTOTYPE = \"$oldname\""
-
-# Does that look like an existing old name?
-if [ ! -f $BASEDIR/platforms/nuttx/Images/$oldname.prototype ]; then
- fatal "\"$oldname\" doesn't look like an existing board name (there is no $BASEDIR/platforms/nuttx/Images/$oldname.prototype)"
-fi
-if [ ! -d $BASEDIR/src/drivers/boards/$oldname ]; then
- fatal "\"$oldname\" doesn't look like an existing board name (no such directory $BASEDIR/src/drivers/boards/$oldname)"
-fi
-if [ ! -f $BASEDIR/cmake/configs/nuttx_"$oldname"_default.cmake -a ! -f $BASEDIR/cmake/configs/nuttx_"$oldname"_bootloader.cmake ]; then
- fatal "\"$oldname\" doesn't look like an existing board name (there is neither a $BASEDIR/cmake/configs/nuttx_"$oldname"_default.cmake nor a $BASEDIR/cmake/configs/nuttx_"$oldname"_bootloader.cmake)"
-fi
-if [ ! -d $BASEDIR/platforms/nuttx/nuttx-configs/$oldname ]; then
- fatal "\"$oldname\" doesn't look like an existing board name (no such directory $BASEDIR/platforms/nuttx/nuttx-configs/$oldname)"
-fi
-
-# Does the new name look like a new name?
-if [[ $newname =~ ^[[:alnum:]_-]+$ ]]; then
- echo "NEWNAME = \"$newname\""
-else
- fatal "NEWNAME may only contain alpha numeric characters, a dash or an underscore."
-fi
-
-# Change directory to BASEDIR.
-cd "$BASEDIR" || fatal "Could not change directory to $BASEDIR"
-
-# Make sure we don't accidently overwrite stuff.
-if [ -f platforms/nuttx/Images/$newname.prototype -o \
- -f cmake/configs/nuttx_"$newname"_default.cmake -o \
- -f cmake/configs/nuttx_"$newname"_bootloader.cmake -o \
- -d src/drivers/boards/$newname -o \
- -d nuttx-configs/$newname ]; then
- echo "\"$newname\" already exists! Please first delete it with the following command (in $BASEDIR):"
- echo "rm -rf platforms/nuttx/Images/$newname.prototype cmake/configs/nuttx_"$newname"_default.cmake cmake/configs/nuttx_"$newname"_bootloader.cmake src/drivers/boards/$newname nuttx-configs/$newname"
- exit 1
-fi
-
-# Capitalize names.
-oldboard=$(echo "$oldname" | tr '[:lower:]-' '[:upper:]_')
-newboard=$(echo "$newname" | tr '[:lower:]-' '[:upper:]_')
-
-# Do we have a default and/or bootloader?
-[ ! -e cmake/configs/nuttx_"$oldname"_default.cmake ]; have_default=$?
-[ ! -e cmake/configs/nuttx_"$oldname"_bootloader.cmake ]; have_bootloader=$?
-
-function insertAfter # file line newText
-{
- local file="$1" line="$2" newText="$3"
- sed -i -e "/$line/a"$'\\\n'"$newText" "$file"
-}
-
-for k in default bootloader; do
- eval needit=\$have_$k;
- if [[ $needit -eq 1 ]]; then
- # Copy cmake/configs/file(s).
- cp "cmake/configs/nuttx_${oldname}_${k}.cmake" "cmake/configs/nuttx_${newname}_${k}.cmake"
- git add "cmake/configs/nuttx_${newname}_${k}.cmake"
- sed -i -e "s%drivers/boards/${oldname}%drivers/boards/${newname}%" "cmake/configs/nuttx_${newname}_${k}.cmake"
- # If Makefile does not already have it, add 'check_$newname_[default|bootloader]'
- # to targets checks_[default|bootloader]s respectivily.
- if ! grep '^'$'\t'"check_${newname}_${k}"' \\$' Makefile >/dev/null; then
- insertAfter Makefile "^checks_${k}s:" $'\t'"check_${newname}_${k}"' \\'
- fi
- fi
-done
-
-# Copy remaining files.
-cp platforms/nuttx/Images/${oldname}.prototype platforms/nuttx/Images/${newname}.prototype
-git add platforms/nuttx/Images/${newname}.prototype
-cp -r nuttx-configs/${oldname} nuttx-configs/${newname}
-git add nuttx-configs/${newname}
-cp -r src/drivers/boards/${oldname} src/drivers/boards/${newname}
-git add src/drivers/boards/${newname}
-if [[ $have_bootloader -eq 1 ]]; then
- cp cmake/configs/uavcan_board_ident/${oldname}.cmake cmake/configs/uavcan_board_ident/${newname}.cmake
- git add cmake/configs/uavcan_board_ident/${newname}.cmake
- sed -i -r -e 's%\\"([^\\]*)\\"%\\"FIXME (was: \1)\\"%' cmake/configs/uavcan_board_ident/${newname}.cmake
-fi
-
-# Rename certain files.
-
-TYPE_RE='(buttons|can|timer_config|i2c|init|led|pwr|sdio|spi|usb)'
-oldstem=$(find "src/drivers/boards/$oldname" -type f -name '*.c' -o -name '*.cpp' | grep -E "_$TYPE_RE.[cp]*$" | sed -r -e 's%.*/%%;s%_'"$TYPE_RE"'\.[cp]*$%%' | sort -u | head -n 1)
-newstem=$(echo "$newname" | sed -e 's/-v[0-9]*$//' | tr '[:upper:]-' '[:lower:]_')
-
-echo "oldstem=\"$oldstem\""
-echo "newstem=\"$newstem\""
-
-FILES=$(find src/drivers/boards/${newname} -regextype egrep -regex ".*/$oldstem[0-9]*_$TYPE_RE\.[cp]*")
-for f in $FILES; do
- nf=$(echo $f | sed -r -e 's%^(.*/)'"$oldstem"'([0-9]*_'"$TYPE_RE"'\.[cp]*)$%\1'"$newstem"'\2%')
- if [[ "$f" != "$nf" ]]; then
- git mv "$f" "$nf"
- fi
- git add "$nf"
- bf=$(basename "$f")
- bnf=$(basename "$nf")
- sed -i -e "s%$bf%$bnf%" "$nf"
-done
-
-oldconfig=CONFIG_ARCH_BOARD_$oldboard
-newconfig=CONFIG_ARCH_BOARD_$newboard
-
-# Fixup copied files.
-sed -i -r -e 's%(MODULE[[:space:]]+.*)'"$oldname"'%\1'"$newname"'%;s%^([[:space:]]+)'"$oldstem"'([0-9]*_'"$TYPE_RE"'\.)%\1'"$newstem"'\2%' "src/drivers/boards/${newname}/CMakeLists.txt"
-sed -i -r -e 's%"'"$oldboard"'"%"'"$newboard"'"%' "src/drivers/boards/${newname}/board_config.h"
-sed -i -r -e 's%'"$oldname"'%'"$newname"'%' "nuttx-configs/${newname}/nsh/Make.defs"
-sed -i -r -e 's%'"$oldname"'%'"$newname"'%;s%'"$oldconfig"'%'"$newconfig"'%;s%(CONFIG_CDCACM_PRODUCTSTR=)"([^"]*)"%\1"FIXME (was: \2)"%' "nuttx-configs/${newname}/nsh/defconfig"
-
-# If src/modules/gpio_led/gpio_led.c does not already contain it,
-# add defined($newconfig) where defined($oldconfig) exists.
-if ! grep 'defined('"${newconfig}"')' 'src/modules/gpio_led/gpio_led.c' >/dev/null; then
- insertAfter src/modules/gpio_led/gpio_led.c "defined(${oldconfig})"' || \\$' $'\t'"defined(${newconfig})"' || \\'
- sed -i -e 's/\(defined('"${oldconfig}"')$\)/\1 || \\'$'\\n\\t'"defined(${newconfig})/" 'src/modules/gpio_led/gpio_led.c'
-fi
-
-# Make some changes to platforms/nuttx/Images/$(newname).prototype
-sed -i -r -e 's%("(magic|description|summary)": ")([^"]*)(",).*%\1FIXME (was: \3)\4%' "platforms/nuttx/Images/${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" {} \;
-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."
diff --git a/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m3.cmake b/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m3.cmake
new file mode 100644
index 0000000000..7bd10f10c7
--- /dev/null
+++ b/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m3.cmake
@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-m3 -mthumb -march=armv7-m")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
diff --git a/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m4.cmake b/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m4.cmake
new file mode 100644
index 0000000000..65bcaa4e8e
--- /dev/null
+++ b/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m4.cmake
@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
diff --git a/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake b/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake
new file mode 100644
index 0000000000..acf074ed8b
--- /dev/null
+++ b/platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake
@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
diff --git a/platforms/nuttx/cmake/Toolchain-arm-none-eabi.cmake b/platforms/nuttx/cmake/Toolchain-arm-none-eabi.cmake
new file mode 100644
index 0000000000..7378b8b592
--- /dev/null
+++ b/platforms/nuttx/cmake/Toolchain-arm-none-eabi.cmake
@@ -0,0 +1,48 @@
+# arm-none-eabi-gcc toolchain
+
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_VERSION 1)
+
+set(triple arm-none-eabi)
+set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
+set(TOOLCHAIN_PREFIX ${triple})
+
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
+set(CMAKE_C_COMPILER_TARGET ${triple})
+
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
+set(CMAKE_CXX_COMPILER_TARGET ${triple})
+
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+
+# needed for test compilation
+set(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nosys.specs")
+
+# compiler tools
+foreach(tool nm ld objcopy ranlib strip)
+ string(TOUPPER ${tool} TOOL)
+ find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
+ if(CMAKE-${TOOL} MATCHES "NOTFOUND")
+ message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
+ endif()
+endforeach()
+
+set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# os tools
+foreach(tool grep genromfs make)
+ string(TOUPPER ${tool} TOOL)
+ find_program(${TOOL} ${tool})
+ if(NOT ${TOOL})
+ message(FATAL_ERROR "could not find ${tool}")
+ endif()
+endforeach()
+
+# optional compiler tools
+foreach(tool gdb gdbtui)
+ string(TOUPPER ${tool} TOOL)
+ find_program(${TOOL} arm-none-eabi-${tool})
+endforeach()
diff --git a/platforms/nuttx/cmake/px4_add_board_os.cmake b/platforms/nuttx/cmake/px4_add_board_os.cmake
new file mode 100644
index 0000000000..052a4912c9
--- /dev/null
+++ b/platforms/nuttx/cmake/px4_add_board_os.cmake
@@ -0,0 +1,130 @@
+############################################################################
+#
+# Copyright (c) 2018 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.
+#
+############################################################################
+
+#=============================================================================
+#
+# Defined functions in this file
+#
+# utility functions
+#
+# * px4_add_board_os
+#
+
+include(px4_base)
+
+#=============================================================================
+#
+# px4_add_board_os
+#
+# This function creates a PX4 board.
+#
+# Usage:
+# px4_add_board_os(
+# BOARD <string>
+# OS <string>
+# [ TOOLCHAIN ] <string>
+# )
+#
+# Input:
+# BOARD : name of board
+# OS : posix, nuttx, qurt
+#
+#
+# Example:
+# px4_add_board_os(
+# BOARD px4fmu-v2_default
+# OS nuttx
+# )
+#
+function(px4_add_board_os)
+
+ px4_parse_function_args(
+ NAME px4_add_board_os
+ ONE_VALUE
+ VENDOR
+ MODEL
+ LABEL
+ BOARD_OVERRIDE
+ PLATFORM
+ TOOLCHAIN
+ ARCH
+ ROMFSROOT
+ IO
+ BOOTLOADER
+ UAVCAN_INTERFACES
+ MULTI_VALUE
+ DRIVERS
+ MODULES
+ SYSTEMCMDS
+ EXAMPLES
+ SERIAL_PORTS
+ DF_DRIVERS # DriverFramework drivers
+ OPTIONS
+ CONSTRAINED_FLASH
+ ROMFS
+ TESTING
+ ARGN ${ARGN})
+
+ if(NOT CMAKE_TOOLCHAIN_FILE)
+ set(CMAKE_TOOLCHAIN_FILE Toolchain-arm-none-eabi CACHE INTERNAL "toolchain file" FORCE)
+ endif()
+
+ if(LABEL MATCHES "stackcheck")
+ set(NUTTX_CONFIG "stackcheck" CACHE INTERNAL "NuttX config" FORCE)
+ else()
+ set(NUTTX_CONFIG "nsh" CACHE INTERNAL "NuttX config" FORCE)
+ endif()
+
+ # ROMFS
+ if(ROMFS)
+ if (NOT DEFINED ROMFSROOT)
+ set(config_romfs_root px4fmu_common)
+ else()
+ set(config_romfs_root ${ROMFSROOT})
+ endif()
+ set(config_romfs_root ${config_romfs_root} CACHE INTERNAL "ROMFS root" FORCE)
+ endif()
+
+ # IO board placed in ROMFS
+ if(IO)
+ set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
+ endif()
+
+ if(UAVCAN_INTERFACES)
+ set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
+ endif()
+
+ include(px4_impl_os)
+ px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
+
+endfunction()
diff --git a/platforms/nuttx/cmake/px4_impl_os.cmake b/platforms/nuttx/cmake/px4_impl_os.cmake
index d46e0bba64..9472ac7704 100644
--- a/platforms/nuttx/cmake/px4_impl_os.cmake
+++ b/platforms/nuttx/cmake/px4_impl_os.cmake
@@ -35,85 +35,13 @@
#
# Defined functions in this file
#
-# OS Specific Functions
-#
-# * px4_nuttx_make_uavcan_bootloadable
-#
-# Required OS Inteface Functions
+# Required OS Interface Functions
#
# * px4_os_add_flags
# * px4_os_prebuild_targets
#
-include(common/px4_base)
-
-#=============================================================================
-#
-# px4_nuttx_make_uavcan_bootloadable
-#
-# This function adds a uavcan boot loadable target.
-#
-# Usage:
-# px4_nuttx_make_uavcan_bootloadable(
-# BOARD <board>
-# BIN <input bin file>)
-# HWNAME <uavcan name>
-# HW_MAJOR <number>
-# HW_MINOR <number>
-# SW_MAJOR <number>
-# SW_MINOR <number>)
-#
-# Input:
-# BOARD : the board
-# BIN : the bin file to generate the bootloadable image from
-# HWNAME : the uavcan name
-# HW_MAJOR : the major hardware revision
-# HW_MINOR : the minor hardware revision
-# SW_MAJOR : the major software revision
-# SW_MINOR : the minor software revision
-#
-# Output:
-# OUT : None
-#
-# Example:
-# px4_nuttx_make_uavcan_bootloadable(
-# BOARD ${BOARD}
-# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
-# 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}
-# )
-#
-function(px4_nuttx_make_uavcan_bootloadable)
- px4_parse_function_args(
- NAME 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 "")
- set(uavcanbl_git_desc ffffffff)
- 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}
- COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
- -v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
- DEPENDS ${BIN}
- )
- add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
-endfunction()
+include(px4_base)
#=============================================================================
#
@@ -163,11 +91,11 @@ function(px4_os_add_flags)
px4_parse_function_args(
NAME px4_os_add_flags
ONE_VALUE ${inout_vars} BOARD
- REQUIRED ${inout_vars} BOARD
+ REQUIRED ${inout_vars}
ARGN ${ARGN})
px4_add_common_flags(
- BOARD ${BOARD}
+ BOARD ${PX4_BOARD}
C_FLAGS ${C_FLAGS}
CXX_FLAGS ${CXX_FLAGS}
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
@@ -217,7 +145,7 @@ endfunction()
# px4_os_prebuild_targets
#
# This function generates os dependent targets
-
+#
# Usage:
# px4_os_prebuild_targets(
# OUT <out-list_of_targets>
@@ -237,15 +165,15 @@ function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD
- REQUIRED OUT BOARD
+ REQUIRED OUT
ARGN ${ARGN})
- add_library(${OUT} INTERFACE)
- target_link_libraries(${OUT} INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
- add_dependencies(${OUT} DEPENDS nuttx_context uorb_headers)
+ add_library(prebuild_targets INTERFACE)
+ target_link_libraries(prebuild_targets INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
+ add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
# parse nuttx config options for cmake
- file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/${nuttx_config_type}/defconfig ConfigContents)
+ file(STRINGS ${PX4_BOARD_DIR}/nuttx-config/${NUTTX_CONFIG}/defconfig ConfigContents)
foreach(NameAndValue ${ConfigContents})
# Strip leading spaces
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
@@ -261,72 +189,8 @@ function(px4_os_prebuild_targets)
string(REPLACE "\"" "" Value ${Value})
# Set the variable
- set(${Name} ${Value} PARENT_SCOPE)
+ #message(STATUS "${Name} ${Value}")
+ set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
endif()
endforeach()
endfunction()
-
-#=============================================================================
-#
-# px4_nuttx_configure
-#
-# This function sets the nuttx configuration
-#
-# Usage:
-# px4_nuttx_configure(
-# HWCLASS <m3|m4>
-# [ROMFS <y|n>
-# ROMFSROOT <root>]
-# )
-#
-# Input:
-# HWCLASS : the class of hardware
-# 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
-#
-# Output:
-# OUT : None
-#
-# Example:
-# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
-#
-function(px4_nuttx_configure)
- px4_parse_function_args(
- NAME px4_nuttx_configure
- ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT IO
- REQUIRED HWCLASS
- ARGN ${ARGN})
-
- # 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)
-
- if (CONFIG)
- set(nuttx_config_type ${CONFIG})
- set(nuttx_config_type ${nuttx_config_type} PARENT_SCOPE)
- endif()
-
- # ROMFS
- if("${ROMFS}" STREQUAL "y")
- if (NOT DEFINED ROMFSROOT)
- set(config_romfs_root px4fmu_common)
- else()
- set(config_romfs_root ${ROMFSROOT})
- endif()
- set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
- endif()
-
- # IO board placed in ROMFS
- if(config_romfs_root)
- set(config_io_board ${IO} PARENT_SCOPE)
- endif()
-endfunction()
-
diff --git a/platforms/nuttx/nuttx-configs/auav-x21/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/auav-x21/include/nsh_romfsimg.h
deleted file mode 100644
index 15e4e7a8d5..0000000000
--- a/platforms/nuttx/nuttx-configs/auav-x21/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/av-x-v1/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/av-x-v1/include/nsh_romfsimg.h
deleted file mode 100644
index beb1a924cf..0000000000
--- a/platforms/nuttx/nuttx-configs/av-x-v1/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/crazyflie/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/crazyflie/include/nsh_romfsimg.h
deleted file mode 100644
index 15e4e7a8d5..0000000000
--- a/platforms/nuttx/nuttx-configs/crazyflie/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/mindpx-v2/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/mindpx-v2/include/nsh_romfsimg.h
deleted file mode 100644
index 15e4e7a8d5..0000000000
--- a/platforms/nuttx/nuttx-configs/mindpx-v2/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/nxphlite-v3/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/nxphlite-v3/include/nsh_romfsimg.h
deleted file mode 100644
index 78a11ced5e..0000000000
--- a/platforms/nuttx/nuttx-configs/nxphlite-v3/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2016, 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/omnibus-f4sd/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/omnibus-f4sd/include/nsh_romfsimg.h
deleted file mode 100644
index a382a57fa6..0000000000
--- a/platforms/nuttx/nuttx-configs/omnibus-f4sd/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2018 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/Kconfig b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/Kconfig
deleted file mode 100644
index 42f0796535..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/Kconfig
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-
-if ARCH_BOARD_PX4_SAME70XPLAINED_V1
-
-config BOARD_HAS_PROBES
- bool "Board provides GPIO or other Hardware for signaling to timing analyze."
- default y
- ---help---
- This board provides GPIO FMU-CH1-4 as PROBE_1-4 to provide timing signals from selected drivers.
-
-config BOARD_USE_PROBES
- bool "Enable the use the board provided GPIO FMU-CH1-4 as PROBE_1-4 to provide timing signals from selected drivers"
- default n
- depends on BOARD_HAS_PROBES
-
- ---help---
- Select to use GPIO FMU-CH1-4 to provide timing signals from selected drivers.
-
-endif
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/include/nsh_romfsimg.h
deleted file mode 100644
index 15e4e7a8d5..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/nsh/setenv.sh b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/nsh/setenv.sh
deleted file mode 100755
index 45dc13b84f..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/nsh/setenv.sh
+++ /dev/null
@@ -1,80 +0,0 @@
-#!/bin/bash
-# configs/samv7-xult/nsh/Make.defs
-#
-# Copyright (C) 2015 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.
-#
-
-if [ "$_" = "$0" ] ; then
- echo "You must source this script, not run it!" 1>&2
- exit 1
-fi
-
-WD=`pwd`
-if [ ! -x "setenv.sh" ]; then
- echo "This script must be executed from the top-level NuttX build directory"
- exit 1
-fi
-
-if [ -z "${PATH_ORIG}" ]; then
- export PATH_ORIG="${PATH}"
-fi
-
-# This is the Cygwin path to the location where I installed the Atmel GCC
-# toolchain under Windows. You will also have to edit this if you install
-# this toolchain in any other location
-#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Atmel/Atmel Toolchain/ARM GCC/Native/4.7.3.99/arm-gnu-toolchain/bin"
-
-# This is the Cygwin path to the location where I installed the CodeSourcery
-# toolchain under windows. You will also have to edit this if you install
-# the CodeSourcery toolchain in any other location
-#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
-#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
-# export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
-
-# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
-# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
-export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2015q2/bin"
-
-# This is the path to the location where I installed the devkitARM toolchain
-# You can get this free toolchain from http://devkitpro.org/ or http://sourceforge.net/projects/devkitpro/
-#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/devkitARM/bin"
-
-# This is the Cygwin path to the location where I build the buildroot
-# toolchain.
-# export TOOLCHAIN_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
-
-# The same70-xplained/tools directory
-export TOOL_DIR="${WD}/configs/same70-xplained/tools"
-
-# Add the path to the toolchain and tools directory to the PATH varialble
-export PATH="${TOOLCHAIN_BIN}:${TOOL_DIR}:/sbin:/usr/sbin:${PATH_ORIG}"
-
-echo "PATH : ${PATH}"
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/flash-dtcm.ld b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/flash-dtcm.ld
deleted file mode 100644
index 83bb3fb0f8..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/flash-dtcm.ld
+++ /dev/null
@@ -1,123 +0,0 @@
-/****************************************************************************
- * configs/same70-xplained/scripts/flash-dtcm.ld
- *
- * Copyright (C) 2015 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.
- *
- ****************************************************************************/
-
-/* The SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
- * 384Kb of SRAM beginining at 0x2040:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0400:0000 address range (Assuming that ITCM is not enable).
- *
- * NOTE: that the DTCM address of 0x2000:0000 is used for SRAM. If DTCM is
- * disabled, then the accesses will actually occur on the AHB bus.
- */
-
-MEMORY
-{
- flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
- sram (rwx) : ORIGIN = 0x20000000, LENGTH = 384K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-SECTIONS
-{
- .text : {
- _stext = ABSOLUTE(.);
- *(.vectors)
- *(.text .text.*)
- *(.fixup)
- *(.gnu.warning)
- *(.rodata .rodata.*)
- *(.gnu.linkonce.t.*)
- *(.glue_7)
- *(.glue_7t)
- *(.got)
- *(.gcc_except_table)
- *(.gnu.linkonce.r.*)
- _etext = ABSOLUTE(.);
- } > flash
-
- .init_section : {
- _sinit = ABSOLUTE(.);
- *(.init_array .init_array.*)
- _einit = ABSOLUTE(.);
- } > flash
-
- .ARM.extab : {
- *(.ARM.extab*)
- } > flash
-
- __exidx_start = ABSOLUTE(.);
- .ARM.exidx : {
- *(.ARM.exidx*)
- } > flash
- __exidx_end = ABSOLUTE(.);
-
- _eronly = ABSOLUTE(.);
-
- .data : {
- _sdata = ABSOLUTE(.);
- *(.data .data.*)
- *(.gnu.linkonce.d.*)
- CONSTRUCTORS
- _edata = ABSOLUTE(.);
- } > sram AT > flash
-
- .bss : {
- _sbss = ABSOLUTE(.);
- *(.bss .bss.*)
- *(.gnu.linkonce.b.*)
- *(COMMON)
- . = ALIGN(4);
- _ebss = ABSOLUTE(.);
- } > sram
-
- /* Stabs debugging sections. */
- .stab 0 : { *(.stab) }
- .stabstr 0 : { *(.stabstr) }
- .stab.excl 0 : { *(.stab.excl) }
- .stab.exclstr 0 : { *(.stab.exclstr) }
- .stab.index 0 : { *(.stab.index) }
- .stab.indexstr 0 : { *(.stab.indexstr) }
- .comment 0 : { *(.comment) }
- .debug_abbrev 0 : { *(.debug_abbrev) }
- .debug_info 0 : { *(.debug_info) }
- .debug_line 0 : { *(.debug_line) }
- .debug_pubnames 0 : { *(.debug_pubnames) }
- .debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/flash-sram.ld b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/flash-sram.ld
deleted file mode 100644
index 075933f6ae..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/flash-sram.ld
+++ /dev/null
@@ -1,120 +0,0 @@
-/****************************************************************************
- * configs/same70-xplained/scripts/flash-sram.ld
- *
- * Copyright (C) 2015 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.
- *
- ****************************************************************************/
-
-/* The SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
- * 384Kb of SRAM beginining at 0x2040:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0400:0000 address range (Assuming that ITCM is not enable).
- */
-
-MEMORY
-{
- flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
- sram (rwx) : ORIGIN = 0x20400000, LENGTH = 384K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-SECTIONS
-{
- .text : {
- _stext = ABSOLUTE(.);
- *(.vectors)
- *(.text .text.*)
- *(.fixup)
- *(.gnu.warning)
- *(.rodata .rodata.*)
- *(.gnu.linkonce.t.*)
- *(.glue_7)
- *(.glue_7t)
- *(.got)
- *(.gcc_except_table)
- *(.gnu.linkonce.r.*)
- _etext = ABSOLUTE(.);
- } > flash
-
- .init_section : {
- _sinit = ABSOLUTE(.);
- *(.init_array .init_array.*)
- _einit = ABSOLUTE(.);
- } > flash
-
- .ARM.extab : {
- *(.ARM.extab*)
- } > flash
-
- __exidx_start = ABSOLUTE(.);
- .ARM.exidx : {
- *(.ARM.exidx*)
- } > flash
- __exidx_end = ABSOLUTE(.);
-
- _eronly = ABSOLUTE(.);
-
- .data : {
- _sdata = ABSOLUTE(.);
- *(.data .data.*)
- *(.gnu.linkonce.d.*)
- CONSTRUCTORS
- _edata = ABSOLUTE(.);
- } > sram AT > flash
-
- .bss : {
- _sbss = ABSOLUTE(.);
- *(.bss .bss.*)
- *(.gnu.linkonce.b.*)
- *(COMMON)
- . = ALIGN(4);
- _ebss = ABSOLUTE(.);
- } > sram
-
- /* Stabs debugging sections. */
- .stab 0 : { *(.stab) }
- .stabstr 0 : { *(.stabstr) }
- .stab.excl 0 : { *(.stab.excl) }
- .stab.exclstr 0 : { *(.stab.exclstr) }
- .stab.index 0 : { *(.stab.index) }
- .stab.indexstr 0 : { *(.stab.indexstr) }
- .comment 0 : { *(.comment) }
- .debug_abbrev 0 : { *(.debug_abbrev) }
- .debug_info 0 : { *(.debug_info) }
- .debug_line 0 : { *(.debug_line) }
- .debug_pubnames 0 : { *(.debug_pubnames) }
- .debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/gnu-elf.ld b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/gnu-elf.ld
deleted file mode 100644
index d811db5a69..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/gnu-elf.ld
+++ /dev/null
@@ -1,129 +0,0 @@
-/****************************************************************************
- * configs/same70-xplained/scripts/gnu-elf.ld
- *
- * Copyright (C) 2015 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.
- *
- ****************************************************************************/
-
-SECTIONS
-{
- .text 0x00000000 :
- {
- _stext = . ;
- *(.text)
- *(.text.*)
- *(.gnu.warning)
- *(.stub)
- *(.glue_7)
- *(.glue_7t)
- *(.jcr)
-
- /* C++ support: The .init and .fini sections contain specific logic
- * to manage static constructors and destructors.
- */
-
- *(.gnu.linkonce.t.*)
- *(.init) /* Old ABI */
- *(.fini) /* Old ABI */
- _etext = . ;
- }
-
- .rodata :
- {
- _srodata = . ;
- *(.rodata)
- *(.rodata1)
- *(.rodata.*)
- *(.gnu.linkonce.r*)
- _erodata = . ;
- }
-
- .data :
- {
- _sdata = . ;
- *(.data)
- *(.data1)
- *(.data.*)
- *(.gnu.linkonce.d*)
- _edata = . ;
- }
-
- /* C++ support. For each global and static local C++ object,
- * GCC creates a small subroutine to construct the object. Pointers
- * to these routines (not the routines themselves) are stored as
- * simple, linear arrays in the .ctors section of the object file.
- * Similarly, pointers to global/static destructor routines are
- * stored in .dtors.
- */
-
- .ctors :
- {
- _sctors = . ;
- *(.ctors) /* Old ABI: Unallocated */
- *(.init_array) /* New ABI: Allocated */
- _edtors = . ;
- }
-
- .dtors :
- {
- _sdtors = . ;
- *(.dtors) /* Old ABI: Unallocated */
- *(.fini_array) /* New ABI: Allocated */
- _edtors = . ;
- }
-
- .bss :
- {
- _sbss = . ;
- *(.bss)
- *(.bss.*)
- *(.sbss)
- *(.sbss.*)
- *(.gnu.linkonce.b*)
- *(COMMON)
- _ebss = . ;
- }
-
- /* Stabs debugging sections. */
-
- .stab 0 : { *(.stab) }
- .stabstr 0 : { *(.stabstr) }
- .stab.excl 0 : { *(.stab.excl) }
- .stab.exclstr 0 : { *(.stab.exclstr) }
- .stab.index 0 : { *(.stab.index) }
- .stab.indexstr 0 : { *(.stab.indexstr) }
- .comment 0 : { *(.comment) }
- .debug_abbrev 0 : { *(.debug_abbrev) }
- .debug_info 0 : { *(.debug_info) }
- .debug_line 0 : { *(.debug_line) }
- .debug_pubnames 0 : { *(.debug_pubnames) }
- .debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/kernel-space.ld b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/kernel-space.ld
deleted file mode 100644
index 8864c96b9e..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/kernel-space.ld
+++ /dev/null
@@ -1,111 +0,0 @@
-/****************************************************************************
- * configs/same70-xplained/scripts/kernel-space.ld
- *
- * Copyright (C) 2015 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.
- *
- ****************************************************************************/
-
-/* NOTE: This depends on the memory.ld script having been included prior to
- * this script.
- */
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-SECTIONS
-{
- .text : {
- _stext = ABSOLUTE(.);
- *(.vectors)
- *(.text .text.*)
- *(.fixup)
- *(.gnu.warning)
- *(.rodata .rodata.*)
- *(.gnu.linkonce.t.*)
- *(.glue_7)
- *(.glue_7t)
- *(.got)
- *(.gcc_except_table)
- *(.gnu.linkonce.r.*)
- _etext = ABSOLUTE(.);
- } > kflash
-
- .init_section : {
- _sinit = ABSOLUTE(.);
- *(.init_array .init_array.*)
- _einit = ABSOLUTE(.);
- } > kflash
-
- .ARM.extab : {
- *(.ARM.extab*)
- } > kflash
-
- __exidx_start = ABSOLUTE(.);
- .ARM.exidx : {
- *(.ARM.exidx*)
- } > kflash
-
- __exidx_end = ABSOLUTE(.);
-
- _eronly = ABSOLUTE(.);
-
- .data : {
- _sdata = ABSOLUTE(.);
- *(.data .data.*)
- *(.gnu.linkonce.d.*)
- CONSTRUCTORS
- _edata = ABSOLUTE(.);
- } > ksram AT > kflash
-
- .bss : {
- _sbss = ABSOLUTE(.);
- *(.bss .bss.*)
- *(.gnu.linkonce.b.*)
- *(COMMON)
- _ebss = ABSOLUTE(.);
- } > ksram
-
- /* Stabs debugging sections */
-
- .stab 0 : { *(.stab) }
- .stabstr 0 : { *(.stabstr) }
- .stab.excl 0 : { *(.stab.excl) }
- .stab.exclstr 0 : { *(.stab.exclstr) }
- .stab.index 0 : { *(.stab.index) }
- .stab.indexstr 0 : { *(.stab.indexstr) }
- .comment 0 : { *(.comment) }
- .debug_abbrev 0 : { *(.debug_abbrev) }
- .debug_info 0 : { *(.debug_info) }
- .debug_line 0 : { *(.debug_line) }
- .debug_pubnames 0 : { *(.debug_pubnames) }
- .debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/memory.ld b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/memory.ld
deleted file mode 100644
index 65673b3d84..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/memory.ld
+++ /dev/null
@@ -1,84 +0,0 @@
-/****************************************************************************
- * configs/same70-xplained/scripts/memory.ld
- *
- * Copyright (C) 2015 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.
- *
- ****************************************************************************/
-
-/* The SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
- * 384Kb of SRAM beginining at 0x2040:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0400:0000 address range.
- *
- * NOTE: that the DTCM address of 0x2000:0000 is used for SRAM. If DTCM is
- * disabled, then the accesses will actually occur on the AHB bus.
- *
- * The user space partition will be spanned with a single region of size
- * 2**n bytes. The alignment of the user-space region must be the same.
- * As a consequence, as the user-space increases in size, the alignment
- * requirement also increases. The sizes below give the largest possible
- * user address spaces (but leave far too much for the OS).
- *
- * The solution to this wasted memory is to (1) use more than one region to
- * span the user spaces, or (2) poke holes in a larger region to trim it
- * to fit better.
- *
- * A detailed memory map for the 384KB SRAM region is as follows:
- *
- * 0x20000 0000: Kernel .data region. Typical size: 0.1KB
- * ------- ---- Kernel .bss region. Typical size: 1.8KB
- * 0x20000 0800: Kernel IDLE thread stack (approximate). Size is
- * determined by CONFIG_IDLETHREAD_STACKSIZE and
- * adjustments for alignment. Typical is 1KB.
- * ------- ---- Padded to 4KB
- * 0x20002 0000: User .data region. Size is variable.
- * ------- ---- User .bss region Size is variable.
- * 0x20000 2000: Beginning of kernel heap. Size determined by
- * CONFIG_MM_KERNEL_HEAPSIZE.
- * ------- ---- Beginning of user heap. Can vary with other settings.
- * 0x20004 0000: End+1 of mappable internal SRAM
- */
-
-MEMORY
-{
- /* 2048KiB of internal FLASH */
-
- kflash (rx) : ORIGIN = 0x00400000, LENGTH = 1M
- uflash (rx) : ORIGIN = 0x00500000, LENGTH = 1M
-
- /* 384Kb of internal SRAM */
-
- ksram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
- usram (rwx) : ORIGIN = 0x20020000, LENGTH = 128K
- xsram (rwx) : ORIGIN = 0x20040000, LENGTH = 128K
-}
diff --git a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/user-space.ld b/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/user-space.ld
deleted file mode 100644
index bdb149ca83..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-same70xplained-v1/scripts/user-space.ld
+++ /dev/null
@@ -1,126 +0,0 @@
-/****************************************************************************
- * configs/same70-xplained/scripts/user-space.ld
- *
- * Copyright (C) 2015 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.
- *
- ****************************************************************************/
-
-/* NOTE: This depends on the memory.ld script having been included prior to
- * this script.
- */
-
-/* Make sure that the critical memory management functions are in user-space.
- * the user heap memory manager will reside in user-space but be usable both
- * by kernel- and user-space code
- */
-
-EXTERN(umm_initialize)
-EXTERN(umm_addregion)
-EXTERN(umm_trysemaphore)
-EXTERN(umm_givesemaphore)
-
-EXTERN(malloc)
-EXTERN(realloc)
-EXTERN(zalloc)
-EXTERN(free)
-
-OUTPUT_ARCH(arm)
-SECTIONS
-{
- .userspace : {
- *(.userspace)
- } > uflash
-
- .text : {
- _stext = ABSOLUTE(.);
- *(.text .text.*)
- *(.fixup)
- *(.gnu.warning)
- *(.rodata .rodata.*)
- *(.gnu.linkonce.t.*)
- *(.glue_7)
- *(.glue_7t)
- *(.got)
- *(.gcc_except_table)
- *(.gnu.linkonce.r.*)
- _etext = ABSOLUTE(.);
- } > uflash
-
- .init_section : {
- _sinit = ABSOLUTE(.);
- *(.init_array .init_array.*)
- _einit = ABSOLUTE(.);
- } > uflash
-
- .ARM.extab : {
- *(.ARM.extab*)
- } > uflash
-
- __exidx_start = ABSOLUTE(.);
- .ARM.exidx : {
- *(.ARM.exidx*)
- } > uflash
-
- __exidx_end = ABSOLUTE(.);
-
- _eronly = ABSOLUTE(.);
-
- .data : {
- _sdata = ABSOLUTE(.);
- *(.data .data.*)
- *(.gnu.linkonce.d.*)
- CONSTRUCTORS
- _edata = ABSOLUTE(.);
- } > usram AT > uflash
-
- .bss : {
- _sbss = ABSOLUTE(.);
- *(.bss .bss.*)
- *(.gnu.linkonce.b.*)
- *(COMMON)
- _ebss = ABSOLUTE(.);
- } > usram
-
- /* Stabs debugging sections */
-
- .stab 0 : { *(.stab) }
- .stabstr 0 : { *(.stabstr) }
- .stab.excl 0 : { *(.stab.excl) }
- .stab.exclstr 0 : { *(.stab.exclstr) }
- .stab.index 0 : { *(.stab.index) }
- .stab.indexstr 0 : { *(.stab.indexstr) }
- .comment 0 : { *(.comment) }
- .debug_abbrev 0 : { *(.debug_abbrev) }
- .debug_info 0 : { *(.debug_info) }
- .debug_line 0 : { *(.debug_line) }
- .debug_pubnames 0 : { *(.debug_pubnames) }
- .debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/platforms/nuttx/nuttx-configs/px4-stm32f4discovery/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/px4-stm32f4discovery/include/nsh_romfsimg.h
deleted file mode 100644
index 15e4e7a8d5..0000000000
--- a/platforms/nuttx/nuttx-configs/px4-stm32f4discovery/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/px4flow-v2/Kconfig b/platforms/nuttx/nuttx-configs/px4flow-v2/Kconfig
deleted file mode 100644
index 2d524c4685..0000000000
--- a/platforms/nuttx/nuttx-configs/px4flow-v2/Kconfig
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-
-if CONFIG_ARCH_BOARD_PX4FLOW_V2
-
-config BOARD_HAS_PROBES
- bool "Board provides GPIO or other Hardware for signaling to timing analyze."
- default y
- ---help---
- This board provides ADDR[0:2] as PROBE_1-3 to provide timing signals from selected drivers.
-
-config BOARD_USE_PROBES
- bool "Enable the use provides ADDR[0:2] as PROBE_1-3 to provide timing signals from selected drivers"
- default n
- depends on BOARD_HAS_PROBES
-
- ---help---
- Select to use GPIO provides ADDR[0:2] as PROBE_1-3 to provide timing signals from selected drivers.
-
-endif
diff --git a/platforms/nuttx/nuttx-configs/px4flow-v2/include/README.txt b/platforms/nuttx/nuttx-configs/px4flow-v2/include/README.txt
deleted file mode 100755
index 5860f79ae2..0000000000
--- a/platforms/nuttx/nuttx-configs/px4flow-v2/include/README.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-This directory contains header files unique to the
-PX4 Flow V1 board using the STM32F427VIT7 Rev_C silicon (no PB12 silicon bug, full 2M Flash available)
diff --git a/platforms/nuttx/nuttx-configs/px4flow-v2/nsh/defconfig b/platforms/nuttx/nuttx-configs/px4flow-v2/nsh/defconfig
deleted file mode 100644
index 7d076bbd79..0000000000
--- a/platforms/nuttx/nuttx-configs/px4flow-v2/nsh/defconfig
+++ /dev/null
@@ -1,1004 +0,0 @@
-#
-# Automatically generated file; DO NOT EDIT.
-# Nuttx/ Configuration
-#
-
-#
-# Build Setup
-#
-# CONFIG_EXPERIMENTAL is not set
-CONFIG_DEFAULT_SMALL=y
-CONFIG_HOST_LINUX=y
-# CONFIG_HOST_OSX is not set
-# CONFIG_HOST_WINDOWS is not set
-# CONFIG_HOST_OTHER is not set
-
-#
-# Build Configuration
-#
-CONFIG_APPS_DIR="../apps"
-CONFIG_BUILD_FLAT=y
-# CONFIG_BUILD_2PASS is not set
-
-#
-# Binary Output Formats
-#
-# CONFIG_RRLOAD_BINARY is not set
-# CONFIG_INTELHEX_BINARY is not set
-# CONFIG_MOTOROLA_SREC is not set
-CONFIG_RAW_BINARY=y
-# CONFIG_UBOOT_UIMAGE is not set
-
-#
-# Customize Header Files
-#
-# CONFIG_ARCH_STDINT_H is not set
-# CONFIG_ARCH_STDBOOL_H is not set
-CONFIG_ARCH_MATH_H=y
-# CONFIG_ARCH_FLOAT_H is not set
-# CONFIG_ARCH_STDARG_H is not set
-
-#
-# Debug Options
-#
-# CONFIG_DEBUG_FEATURES is not set
-CONFIG_ARCH_HAVE_HEAPCHECK=y
-CONFIG_DEBUG_VERBOSE=y
-
-#
-# Subsystem Debug Options
-#
-# CONFIG_DEBUG_AUDIO is not set
-# CONFIG_DEBUG_BINFMT is not set
-# CONFIG_DEBUG_FS is not set
-# CONFIG_DEBUG_GRAPHICS is not set
-# CONFIG_DEBUG_LIB is not set
-# CONFIG_DEBUG_MM is not set
-# CONFIG_DEBUG_SCHED is not set
-
-#
-# OS Function Debug Options
-#
-# CONFIG_DEBUG_DMA is not set
-# CONFIG_DEBUG_HEAP is not set
-# CONFIG_DEBUG_IRQ is not set
-
-#
-# Driver Debug Options
-#
-# CONFIG_DEBUG_ANALOG is not set
-# CONFIG_DEBUG_GPIO is not set
-CONFIG_ARCH_HAVE_STACKCHECK=y
-CONFIG_STACK_COLORATION=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_ARCH_HAVE_CUSTOMOPT=y
-# CONFIG_DEBUG_NOOPT is not set
-# CONFIG_DEBUG_CUSTOMOPT is not set
-CONFIG_DEBUG_FULLOPT=y
-
-#
-# System Type
-#
-CONFIG_ARCH_ARM=y
-# CONFIG_ARCH_AVR is not set
-# CONFIG_ARCH_HC is not set
-# CONFIG_ARCH_MIPS is not set
-# CONFIG_ARCH_RGMP is not set
-# CONFIG_ARCH_SH is not set
-# CONFIG_ARCH_SIM is not set
-# CONFIG_ARCH_X86 is not set
-# CONFIG_ARCH_Z16 is not set
-# CONFIG_ARCH_Z80 is not set
-CONFIG_ARCH="arm"
-
-#
-# ARM Options
-#
-# CONFIG_ARCH_CHIP_A1X is not set
-# CONFIG_ARCH_CHIP_C5471 is not set
-# CONFIG_ARCH_CHIP_CALYPSO is not set
-# CONFIG_ARCH_CHIP_DM320 is not set
-# CONFIG_ARCH_CHIP_EFM32 is not set
-# CONFIG_ARCH_CHIP_IMX is not set
-# CONFIG_ARCH_CHIP_KINETIS is not set
-# CONFIG_ARCH_CHIP_KL is not set
-# CONFIG_ARCH_CHIP_LM is not set
-# CONFIG_ARCH_CHIP_TIVA is not set
-# CONFIG_ARCH_CHIP_LPC11XX is not set
-# CONFIG_ARCH_CHIP_LPC17XX is not set
-# CONFIG_ARCH_CHIP_LPC214X is not set
-# CONFIG_ARCH_CHIP_LPC2378 is not set
-# CONFIG_ARCH_CHIP_LPC31XX is not set
-# CONFIG_ARCH_CHIP_LPC43XX is not set
-# CONFIG_ARCH_CHIP_NUC1XX is not set
-# CONFIG_ARCH_CHIP_SAMA5 is not set
-# CONFIG_ARCH_CHIP_SAMD is not set
-# CONFIG_ARCH_CHIP_SAML is not set
-# CONFIG_ARCH_CHIP_SAM34 is not set
-# CONFIG_ARCH_CHIP_SAMV7 is not set
-CONFIG_ARCH_CHIP_STM32=y
-# CONFIG_ARCH_CHIP_STM32F7 is not set
-# CONFIG_ARCH_CHIP_STR71X is not set
-# CONFIG_ARCH_CHIP_MOXART is not set
-# CONFIG_ARCH_ARM7TDMI is not set
-# CONFIG_ARCH_ARM926EJS is not set
-# CONFIG_ARCH_ARM920T is not set
-# CONFIG_ARCH_CORTEXM0 is not set
-# CONFIG_ARCH_CORTEXM3 is not set
-CONFIG_ARCH_CORTEXM4=y
-# CONFIG_ARCH_CORTEXM7 is not set
-# CONFIG_ARCH_CORTEXA5 is not set
-# CONFIG_ARCH_CORTEXA8 is not set
-CONFIG_ARCH_FAMILY="armv7-m"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARCH_HAVE_CMNVECTOR=y
-CONFIG_ARMV7M_CMNVECTOR=y
-# CONFIG_ARMV7M_LAZYFPU is not set
-CONFIG_ARCH_HAVE_FPU=y
-# CONFIG_ARCH_HAVE_DPFPU is not set
-CONFIG_ARCH_FPU=y
-# CONFIG_ARMV7M_MPU is not set
-# CONFIG_DEBUG_HARDFAULT is not set
-
-#
-# ARMV7M Configuration Options
-#
-# CONFIG_ARMV7M_HAVE_ICACHE is not set
-# CONFIG_ARMV7M_HAVE_DCACHE is not set
-# CONFIG_ARMV7M_HAVE_ITCM is not set
-# CONFIG_ARMV7M_HAVE_DTCM is not set
-# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
-# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
-CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y
-# CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL is not set
-CONFIG_ARMV7M_HAVE_STACKCHECK=y
-# CONFIG_ARMV7M_STACKCHECK is not set
-# CONFIG_ARMV7M_ITMSYSLOG is not set
-# CONFIG_SERIAL_TERMIOS is not set
-
-#
-# STM32 Configuration Options
-#
-# CONFIG_ARCH_CHIP_STM32L151C6 is not set
-# CONFIG_ARCH_CHIP_STM32L151C8 is not set
-# CONFIG_ARCH_CHIP_STM32L151CB is not set
-# CONFIG_ARCH_CHIP_STM32L151R6 is not set
-# CONFIG_ARCH_CHIP_STM32L151R8 is not set
-# CONFIG_ARCH_CHIP_STM32L151RB is not set
-# CONFIG_ARCH_CHIP_STM32L151V6 is not set
-# CONFIG_ARCH_CHIP_STM32L151V8 is not set
-# CONFIG_ARCH_CHIP_STM32L151VB is not set
-# CONFIG_ARCH_CHIP_STM32L152C6 is not set
-# CONFIG_ARCH_CHIP_STM32L152C8 is not set
-# CONFIG_ARCH_CHIP_STM32L152CB is not set
-# CONFIG_ARCH_CHIP_STM32L152R6 is not set
-# CONFIG_ARCH_CHIP_STM32L152R8 is not set
-# CONFIG_ARCH_CHIP_STM32L152RB is not set
-# CONFIG_ARCH_CHIP_STM32L152V6 is not set
-# CONFIG_ARCH_CHIP_STM32L152V8 is not set
-# CONFIG_ARCH_CHIP_STM32L152VB is not set
-# CONFIG_ARCH_CHIP_STM32L162ZD is not set
-# CONFIG_ARCH_CHIP_STM32L162VE is not set
-# CONFIG_ARCH_CHIP_STM32F100C8 is not set
-# CONFIG_ARCH_CHIP_STM32F100CB is not set
-# CONFIG_ARCH_CHIP_STM32F100R8 is not set
-# CONFIG_ARCH_CHIP_STM32F100RB is not set
-# CONFIG_ARCH_CHIP_STM32F100RC is not set
-# CONFIG_ARCH_CHIP_STM32F100RD is not set
-# CONFIG_ARCH_CHIP_STM32F100RE is not set
-# CONFIG_ARCH_CHIP_STM32F100V8 is not set
-# CONFIG_ARCH_CHIP_STM32F100VB is not set
-# CONFIG_ARCH_CHIP_STM32F100VC is not set
-# CONFIG_ARCH_CHIP_STM32F100VD is not set
-# CONFIG_ARCH_CHIP_STM32F100VE is not set
-# CONFIG_ARCH_CHIP_STM32F102CB is not set
-# CONFIG_ARCH_CHIP_STM32F103T8 is not set
-# CONFIG_ARCH_CHIP_STM32F103TB is not set
-# CONFIG_ARCH_CHIP_STM32F103C4 is not set
-# CONFIG_ARCH_CHIP_STM32F103C8 is not set
-# CONFIG_ARCH_CHIP_STM32F103CB is not set
-# CONFIG_ARCH_CHIP_STM32F103R8 is not set
-# CONFIG_ARCH_CHIP_STM32F103RB is not set
-# CONFIG_ARCH_CHIP_STM32F103RC is not set
-# CONFIG_ARCH_CHIP_STM32F103RD is not set
-# CONFIG_ARCH_CHIP_STM32F103RE is not set
-# CONFIG_ARCH_CHIP_STM32F103RG is not set
-# CONFIG_ARCH_CHIP_STM32F103V8 is not set
-# CONFIG_ARCH_CHIP_STM32F103VB is not set
-# CONFIG_ARCH_CHIP_STM32F103VC is not set
-# CONFIG_ARCH_CHIP_STM32F103VE is not set
-# CONFIG_ARCH_CHIP_STM32F103ZE is not set
-# CONFIG_ARCH_CHIP_STM32F105VB is not set
-# CONFIG_ARCH_CHIP_STM32F107VC is not set
-# CONFIG_ARCH_CHIP_STM32F205RG is not set
-# CONFIG_ARCH_CHIP_STM32F207IG is not set
-# CONFIG_ARCH_CHIP_STM32F207ZE is not set
-# CONFIG_ARCH_CHIP_STM32F302K6 is not set
-# CONFIG_ARCH_CHIP_STM32F302K8 is not set
-# CONFIG_ARCH_CHIP_STM32F302CB is not set
-# CONFIG_ARCH_CHIP_STM32F302CC is not set
-# CONFIG_ARCH_CHIP_STM32F302RB is not set
-# CONFIG_ARCH_CHIP_STM32F302RC is not set
-# CONFIG_ARCH_CHIP_STM32F302VB is not set
-# CONFIG_ARCH_CHIP_STM32F302VC is not set
-# CONFIG_ARCH_CHIP_STM32F303K6 is not set
-# CONFIG_ARCH_CHIP_STM32F303K8 is not set
-# CONFIG_ARCH_CHIP_STM32F303C6 is not set
-# CONFIG_ARCH_CHIP_STM32F303C8 is not set
-# CONFIG_ARCH_CHIP_STM32F303CB is not set
-# CONFIG_ARCH_CHIP_STM32F303CC is not set
-# CONFIG_ARCH_CHIP_STM32F303RB is not set
-# CONFIG_ARCH_CHIP_STM32F303RC is not set
-# CONFIG_ARCH_CHIP_STM32F303RD is not set
-# CONFIG_ARCH_CHIP_STM32F303RE is not set
-# CONFIG_ARCH_CHIP_STM32F303VB is not set
-# CONFIG_ARCH_CHIP_STM32F303VC is not set
-# CONFIG_ARCH_CHIP_STM32F372C8 is not set
-# CONFIG_ARCH_CHIP_STM32F372R8 is not set
-# CONFIG_ARCH_CHIP_STM32F372V8 is not set
-# CONFIG_ARCH_CHIP_STM32F372CB is not set
-# CONFIG_ARCH_CHIP_STM32F372RB is not set
-# CONFIG_ARCH_CHIP_STM32F372VB is not set
-# CONFIG_ARCH_CHIP_STM32F372CC is not set
-# CONFIG_ARCH_CHIP_STM32F372RC is not set
-# CONFIG_ARCH_CHIP_STM32F372VC is not set
-# CONFIG_ARCH_CHIP_STM32F373C8 is not set
-# CONFIG_ARCH_CHIP_STM32F373R8 is not set
-# CONFIG_ARCH_CHIP_STM32F373V8 is not set
-# CONFIG_ARCH_CHIP_STM32F373CB is not set
-# CONFIG_ARCH_CHIP_STM32F373RB is not set
-# CONFIG_ARCH_CHIP_STM32F373VB is not set
-# CONFIG_ARCH_CHIP_STM32F373CC is not set
-# CONFIG_ARCH_CHIP_STM32F373RC is not set
-# CONFIG_ARCH_CHIP_STM32F373VC is not set
-# CONFIG_ARCH_CHIP_STM32F401RE is not set
-# CONFIG_ARCH_CHIP_STM32F411RE is not set
-# CONFIG_ARCH_CHIP_STM32F405RG is not set
-# CONFIG_ARCH_CHIP_STM32F405VG is not set
-# CONFIG_ARCH_CHIP_STM32F405ZG is not set
-# CONFIG_ARCH_CHIP_STM32F407VE is not set
-# CONFIG_ARCH_CHIP_STM32F407VG is not set
-# CONFIG_ARCH_CHIP_STM32F407ZE is not set
-# CONFIG_ARCH_CHIP_STM32F407ZG is not set
-# CONFIG_ARCH_CHIP_STM32F407IE is not set
-# CONFIG_ARCH_CHIP_STM32F407IG is not set
-CONFIG_ARCH_CHIP_STM32F427V=y
-# CONFIG_ARCH_CHIP_STM32F427Z is not set
-# CONFIG_ARCH_CHIP_STM32F427I is not set
-# CONFIG_ARCH_CHIP_STM32F429V is not set
-# CONFIG_ARCH_CHIP_STM32F429Z is not set
-# CONFIG_ARCH_CHIP_STM32F429I is not set
-# CONFIG_ARCH_CHIP_STM32F429B is not set
-# CONFIG_ARCH_CHIP_STM32F429N is not set
-# CONFIG_ARCH_CHIP_STM32F446M is not set
-# CONFIG_ARCH_CHIP_STM32F446R is not set
-# CONFIG_ARCH_CHIP_STM32F446V is not set
-# CONFIG_ARCH_CHIP_STM32F446Z is not set
-# CONFIG_STM32_STM32L15XX is not set
-# CONFIG_STM32_ENERGYLITE is not set
-# CONFIG_STM32_STM32F10XX is not set
-# CONFIG_STM32_VALUELINE is not set
-# CONFIG_STM32_CONNECTIVITYLINE is not set
-# CONFIG_STM32_PERFORMANCELINE is not set
-# CONFIG_STM32_USBACCESSLINE is not set
-# CONFIG_STM32_HIGHDENSITY is not set
-# CONFIG_STM32_MEDIUMDENSITY is not set
-# CONFIG_STM32_LOWDENSITY is not set
-# CONFIG_STM32_STM32F20XX is not set
-# CONFIG_STM32_STM32F205 is not set
-# CONFIG_STM32_STM32F207 is not set
-# CONFIG_STM32_STM32F30XX is not set
-# CONFIG_STM32_STM32F37XX is not set
-CONFIG_STM32_STM32F4XXX=y
-# CONFIG_STM32_STM32F401 is not set
-# CONFIG_STM32_STM32F411 is not set
-# CONFIG_STM32_STM32F405 is not set
-# CONFIG_STM32_STM32F407 is not set
-CONFIG_STM32_STM32F427=y
-# CONFIG_STM32_STM32F429 is not set
-# CONFIG_STM32_STM32F446 is not set
-# CONFIG_STM32_DFU is not set
-
-#
-# STM32 Peripheral Support
-#
-CONFIG_STM32_HAVE_CCM=y
-# CONFIG_STM32_HAVE_USBDEV is not set
-CONFIG_STM32_HAVE_OTGFS=y
-CONFIG_STM32_HAVE_FSMC=y
-CONFIG_STM32_HAVE_USART3=y
-CONFIG_STM32_HAVE_UART4=y
-CONFIG_STM32_HAVE_UART5=y
-CONFIG_STM32_HAVE_USART6=y
-CONFIG_STM32_HAVE_UART7=y
-CONFIG_STM32_HAVE_UART8=y
-CONFIG_STM32_HAVE_TIM1=y
-CONFIG_STM32_HAVE_TIM5=y
-CONFIG_STM32_HAVE_TIM6=y
-CONFIG_STM32_HAVE_TIM7=y
-CONFIG_STM32_HAVE_TIM8=y
-CONFIG_STM32_HAVE_TIM9=y
-CONFIG_STM32_HAVE_TIM10=y
-CONFIG_STM32_HAVE_TIM11=y
-CONFIG_STM32_HAVE_TIM12=y
-CONFIG_STM32_HAVE_TIM13=y
-CONFIG_STM32_HAVE_TIM14=y
-# CONFIG_STM32_HAVE_TIM15 is not set
-# CONFIG_STM32_HAVE_TIM16 is not set
-# CONFIG_STM32_HAVE_TIM17 is not set
-CONFIG_STM32_HAVE_ADC2=y
-CONFIG_STM32_HAVE_ADC3=y
-# CONFIG_STM32_HAVE_ADC4 is not set
-# CONFIG_STM32_HAVE_ADC1_DMA is not set
-# CONFIG_STM32_HAVE_ADC2_DMA is not set
-# CONFIG_STM32_HAVE_ADC3_DMA is not set
-# CONFIG_STM32_HAVE_ADC4_DMA is not set
-CONFIG_STM32_HAVE_CAN1=y
-CONFIG_STM32_HAVE_CAN2=y
-CONFIG_STM32_HAVE_RNG=y
-CONFIG_STM32_HAVE_ETHMAC=y
-CONFIG_STM32_HAVE_SPI2=y
-CONFIG_STM32_HAVE_SPI3=y
-CONFIG_STM32_HAVE_SPI4=y
-CONFIG_STM32_HAVE_SPI5=y
-CONFIG_STM32_HAVE_SPI6=y
-# CONFIG_STM32_HAVE_SAIPLL is not set
-# CONFIG_STM32_HAVE_I2SPLL is not set
-# CONFIG_STM32_ADC1 is not set
-# CONFIG_STM32_ADC2 is not set
-# CONFIG_STM32_ADC3 is not set
-# CONFIG_STM32_BKPSRAM is not set
-# CONFIG_STM32_CAN1 is not set
-# CONFIG_STM32_CAN2 is not set
-# CONFIG_STM32_CCMDATARAM is not set
-# CONFIG_STM32_CRC is not set
-# CONFIG_STM32_CRYP is not set
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-# CONFIG_STM32_DAC1 is not set
-# CONFIG_STM32_DAC2 is not set
-# CONFIG_STM32_DCMI is not set
-# CONFIG_STM32_ETHMAC is not set
-# CONFIG_STM32_FSMC is not set
-# CONFIG_STM32_HASH is not set
-# CONFIG_STM32_I2C1 is not set
-# CONFIG_STM32_I2C2 is not set
-# CONFIG_STM32_I2C3 is not set
-# CONFIG_STM32_OTGFS is not set
-# CONFIG_STM32_OTGHS is not set
-CONFIG_STM32_PWR=y
-# CONFIG_STM32_RNG is not set
-# CONFIG_STM32_SDIO is not set
-# CONFIG_STM32_SPI1 is not set
-# CONFIG_STM32_SPI2 is not set
-# CONFIG_STM32_SPI3 is not set
-# CONFIG_STM32_SPI4 is not set
-# CONFIG_STM32_SPI5 is not set
-# CONFIG_STM32_SPI6 is not set
-CONFIG_STM32_SYSCFG=y
-# CONFIG_STM32_TIM1 is not set
-# CONFIG_STM32_TIM2 is not set
-CONFIG_STM32_TIM3=y
-# CONFIG_STM32_TIM4 is not set
-# CONFIG_STM32_TIM5 is not set
-# CONFIG_STM32_TIM6 is not set
-# CONFIG_STM32_TIM7 is not set
-# CONFIG_STM32_TIM8 is not set
-# CONFIG_STM32_TIM9 is not set
-# CONFIG_STM32_TIM10 is not set
-# CONFIG_STM32_TIM11 is not set
-# CONFIG_STM32_TIM12 is not set
-# CONFIG_STM32_TIM13 is not set
-# CONFIG_STM32_TIM14 is not set
-# CONFIG_STM32_USART1 is not set
-# CONFIG_STM32_USART2 is not set
-CONFIG_STM32_USART3=y
-# CONFIG_STM32_UART4 is not set
-# CONFIG_STM32_UART5 is not set
-# CONFIG_STM32_USART6 is not set
-# CONFIG_STM32_UART7 is not set
-# CONFIG_STM32_UART8 is not set
-# CONFIG_STM32_IWDG is not set
-# CONFIG_STM32_WWDG is not set
-# CONFIG_STM32_NOEXT_VECTORS is not set
-
-#
-# Alternate Pin Mapping
-#
-CONFIG_STM32_FLASH_PREFETCH=y
-# CONFIG_STM32_JTAG_DISABLE is not set
-CONFIG_STM32_JTAG_FULL_ENABLE=y
-# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
-# CONFIG_STM32_JTAG_SW_ENABLE is not set
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_FORCEPOWER=y
-# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
-CONFIG_STM32_CCMEXCLUDE=y
-# CONFIG_STM32_DMACAPABLE is not set
-# CONFIG_STM32_TIM3_PWM is not set
-CONFIG_STM32_USART=y
-CONFIG_STM32_SERIALDRIVER=y
-
-#
-# U[S]ART Configuration
-#
-# CONFIG_USART3_RS485 is not set
-CONFIG_STM32_USART3_SERIALDRIVER=y
-CONFIG_USART3_RXDMA=y
-CONFIG_SERIAL_DISABLE_REORDERING=y
-# CONFIG_STM32_FLOWCONTROL_BROKEN is not set
-# CONFIG_STM32_USART_SINGLEWIRE is not set
-# CONFIG_STM32_HAVE_RTC_COUNTER is not set
-# CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set
-
-#
-# USB FS Host Configuration
-#
-
-#
-# USB HS Host Configuration
-#
-
-#
-# USB Host Debug Configuration
-#
-
-#
-# USB Device Configuration
-#
-
-#
-# Architecture Options
-#
-# CONFIG_ARCH_NOINTC is not set
-# CONFIG_ARCH_VECNOTIRQ is not set
-CONFIG_ARCH_DMA=y
-CONFIG_ARCH_HAVE_IRQPRIO=y
-# CONFIG_ARCH_L2CACHE is not set
-# CONFIG_ARCH_HAVE_COHERENT_DCACHE is not set
-# CONFIG_ARCH_HAVE_ADDRENV is not set
-# CONFIG_ARCH_NEED_ADDRENV_MAPPING is not set
-CONFIG_ARCH_HAVE_VFORK=y
-# CONFIG_ARCH_HAVE_MMU is not set
-CONFIG_ARCH_HAVE_MPU=y
-# CONFIG_ARCH_NAND_HWECC is not set
-# CONFIG_ARCH_HAVE_EXTCLK is not set
-# CONFIG_ARCH_HAVE_POWEROFF is not set
-CONFIG_ARCH_HAVE_RESET=y
-# CONFIG_ARCH_USE_MPU is not set
-# CONFIG_ARCH_IRQPRIO is not set
-CONFIG_ARCH_STACKDUMP=y
-# CONFIG_ENDIAN_BIG is not set
-# CONFIG_ARCH_IDLE_CUSTOM is not set
-# CONFIG_ARCH_HAVE_RAMFUNCS is not set
-CONFIG_ARCH_HAVE_RAMVECTORS=y
-# CONFIG_ARCH_RAMVECTORS is not set
-
-#
-# Board Settings
-#
-CONFIG_BOARD_LOOPSPERMSEC=5483
-# CONFIG_ARCH_CALIBRATION is not set
-
-#
-# Interrupt options
-#
-CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
-CONFIG_ARCH_INTERRUPTSTACK=360
-CONFIG_ARCH_HAVE_HIPRI_INTERRUPT=y
-# CONFIG_ARCH_HIPRI_INTERRUPT is not set
-
-#
-# Boot options
-#
-# CONFIG_BOOT_RUNFROMEXTSRAM is not set
-CONFIG_BOOT_RUNFROMFLASH=y
-# CONFIG_BOOT_RUNFROMISRAM is not set
-# CONFIG_BOOT_RUNFROMSDRAM is not set
-# CONFIG_BOOT_COPYTORAM is not set
-
-#
-# Boot Memory Configuration
-#
-CONFIG_RAM_START=0x20000000
-CONFIG_RAM_SIZE=20480
-# CONFIG_ARCH_HAVE_SDRAM is not set
-
-#
-# Board Selection
-#
-# CONFIG_ARCH_BOARD_MAPLE is not set
-CONFIG_ARCH_BOARD_PX4FLOW_V2=y
-# CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="px4flow-v2"
-
-#
-# Custom Board Configuration
-#
-# CONFIG_BOARD_CRASHDUMP is not set
-# CONFIG_BOARD_CUSTOM_LEDS is not set
-# CONFIG_BOARD_CUSTOM_BUTTONS is not set
-
-#
-# Common Board Options
-#
-CONFIG_ARCH_HAVE_LEDS=y
-CONFIG_ARCH_LEDS=y
-
-#
-# Board-Specific Options
-#
-CONFIG_LIB_BOARDCTL=y
-CONFIG_BOARDCTL_RESET=y
-# CONFIG_BOARDCTL_UNIQUEID is not set
-# CONFIG_BOARDCTL_USBDEVCTRL is not set
-# CONFIG_BOARDCTL_TSCTEST is not set
-# CONFIG_BOARDCTL_ADCTEST is not set
-# CONFIG_BOARDCTL_PWMTEST is not set
-# CONFIG_BOARDCTL_GRAPHICS is not set
-# CONFIG_BOARDCTL_IOCTL is not set
-CONFIG_BOARD_HAS_PROBES=y
-# CONFIG_BOARD_USE_PROBES is not set
-
-#
-# RTOS Features
-#
-# CONFIG_DISABLE_OS_API is not set
-
-#
-# Clocks and Timers
-#
-CONFIG_START_YEAR=2016
-CONFIG_START_MONTH=11
-CONFIG_START_DAY=30
-CONFIG_ARCH_HAVE_TICKLESS=y
-# CONFIG_SCHED_TICKLESS is not set
-CONFIG_USEC_PER_TICK=10000
-# CONFIG_SYSTEM_TIME64 is not set
-# CONFIG_CLOCK_MONOTONIC is not set
-# CONFIG_JULIAN_TIME is not set
-CONFIG_MAX_WDOGPARMS=2
-CONFIG_PREALLOC_WDOGS=4
-CONFIG_WDOG_INTRESERVE=2
-CONFIG_PREALLOC_TIMERS=2
-
-#
-# Tasks and Scheduling
-#
-# CONFIG_INIT_NONE is not set
-CONFIG_INIT_ENTRYPOINT=y
-# CONFIG_INIT_FILEPATH is not set
-CONFIG_USER_ENTRYPOINT="flow_start"
-CONFIG_RR_INTERVAL=0
-# CONFIG_SCHED_SPORADIC is not set
-CONFIG_TASK_NAME_SIZE=12
-CONFIG_MAX_TASKS=4
-# CONFIG_SCHED_HAVE_PARENT is not set
-CONFIG_SCHED_WAITPID=y
-
-#
-# Pthread Options
-#
-# CONFIG_PTHREAD_MUTEX_TYPES is not set
-CONFIG_NPTHREAD_KEYS=0
-
-#
-# Performance Monitoring
-#
-# CONFIG_SCHED_CPULOAD is not set
-CONFIG_SCHED_INSTRUMENTATION=y
-
-#
-# Files and I/O
-#
-CONFIG_DEV_CONSOLE=y
-# CONFIG_FDCLONE_DISABLE is not set
-CONFIG_FDCLONE_STDIO=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=1
-CONFIG_NAME_MAX=8
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_SEM_PREALLOCHOLDERS=4
-CONFIG_SEM_NNESTPRIO=4
-
-#
-# RTOS hooks
-#
-CONFIG_BOARD_INITIALIZE=y
-# CONFIG_BOARD_INITTHREAD is not set
-# CONFIG_SCHED_STARTHOOK is not set
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_ATEXIT_MAX=1
-# CONFIG_SCHED_ONEXIT is not set
-
-#
-# Signal Numbers
-#
-CONFIG_SIG_SIGUSR1=1
-CONFIG_SIG_SIGUSR2=2
-CONFIG_SIG_SIGALARM=3
-CONFIG_SIG_SIGCONDTIMEDOUT=16
-
-#
-# POSIX Message Queue Options
-#
-CONFIG_PREALLOC_MQ_MSGS=4
-CONFIG_MQ_MAXMSGSIZE=8
-
-#
-# Work Queue Support
-#
-# CONFIG_SCHED_WORKQUEUE is not set
-# CONFIG_SCHED_HPWORK is not set
-# CONFIG_SCHED_LPWORK is not set
-
-#
-# Stack and heap information
-#
-CONFIG_IDLETHREAD_STACKSIZE=272
-CONFIG_USERMAIN_STACKSIZE=1024
-CONFIG_PTHREAD_STACK_MIN=516
-CONFIG_PTHREAD_STACK_DEFAULT=516
-# CONFIG_LIB_SYSCALL is not set
-
-#
-# Device Drivers
-#
-# CONFIG_DISABLE_POLL is not set
-# CONFIG_DEV_NULL is not set
-# CONFIG_DEV_ZERO is not set
-# CONFIG_LOOP is not set
-
-#
-# Buffering
-#
-# CONFIG_DRVR_WRITEBUFFER is not set
-# CONFIG_DRVR_READAHEAD is not set
-# CONFIG_RAMDISK is not set
-# CONFIG_CAN is not set
-# CONFIG_ARCH_HAVE_PWM_PULSECOUNT is not set
-# CONFIG_PWM is not set
-CONFIG_ARCH_HAVE_I2CRESET=y
-# CONFIG_I2C is not set
-# CONFIG_SPI is not set
-# CONFIG_I2S is not set
-
-#
-# Timer Driver Support
-#
-# CONFIG_TIMER is not set
-# CONFIG_RTC is not set
-# CONFIG_WATCHDOG is not set
-# CONFIG_ANALOG is not set
-# CONFIG_AUDIO_DEVICES is not set
-# CONFIG_VIDEO_DEVICES is not set
-# CONFIG_BCH is not set
-# CONFIG_INPUT is not set
-# CONFIG_IOEXPANDER is not set
-# CONFIG_LCD is not set
-# CONFIG_MMCSD is not set
-# CONFIG_MTD is not set
-# CONFIG_EEPROM is not set
-# CONFIG_PIPES is not set
-# CONFIG_PM is not set
-# CONFIG_POWER is not set
-# CONFIG_SENSORS is not set
-# CONFIG_SERCOMM_CONSOLE is not set
-CONFIG_SERIAL=y
-# CONFIG_DEV_LOWCONSOLE is not set
-# CONFIG_16550_UART is not set
-# CONFIG_UART_SERIALDRIVER is not set
-# CONFIG_UART0_SERIALDRIVER is not set
-# CONFIG_UART1_SERIALDRIVER is not set
-# CONFIG_UART2_SERIALDRIVER is not set
-# CONFIG_UART3_SERIALDRIVER is not set
-# CONFIG_UART4_SERIALDRIVER is not set
-# CONFIG_UART5_SERIALDRIVER is not set
-# CONFIG_UART6_SERIALDRIVER is not set
-# CONFIG_UART7_SERIALDRIVER is not set
-# CONFIG_UART8_SERIALDRIVER is not set
-# CONFIG_SCI0_SERIALDRIVER is not set
-# CONFIG_SCI1_SERIALDRIVER is not set
-# CONFIG_USART0_SERIALDRIVER is not set
-# CONFIG_USART1_SERIALDRIVER is not set
-# CONFIG_USART2_SERIALDRIVER is not set
-CONFIG_USART3_SERIALDRIVER=y
-# CONFIG_USART4_SERIALDRIVER is not set
-# CONFIG_USART5_SERIALDRIVER is not set
-# CONFIG_USART6_SERIALDRIVER is not set
-# CONFIG_USART7_SERIALDRIVER is not set
-# CONFIG_USART8_SERIALDRIVER is not set
-# CONFIG_OTHER_UART_SERIALDRIVER is not set
-
-#
-# USART Configuration
-#
-CONFIG_MCU_SERIAL=y
-CONFIG_STANDARD_SERIAL=y
-CONFIG_SERIAL_NPOLLWAITERS=2
-# CONFIG_SERIAL_IFLOWCONTROL is not set
-# CONFIG_SERIAL_OFLOWCONTROL is not set
-# CONFIG_SERIAL_TIOCSERGSTRUCT is not set
-CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
-CONFIG_USART3_SERIAL_CONSOLE=y
-# CONFIG_OTHER_SERIAL_CONSOLE is not set
-# CONFIG_NO_SERIAL_CONSOLE is not set
-
-#
-# USART3 Configuration
-#
-CONFIG_USART3_RXBUFSIZE=32
-CONFIG_USART3_TXBUFSIZE=32
-CONFIG_USART3_BAUD=115200
-CONFIG_USART3_BITS=8
-CONFIG_USART3_PARITY=0
-CONFIG_USART3_2STOP=0
-# CONFIG_USART3_IFLOWCONTROL is not set
-# CONFIG_USART3_OFLOWCONTROL is not set
-# CONFIG_USBDEV is not set
-# CONFIG_USBHOST is not set
-# CONFIG_WIRELESS is not set
-
-#
-# System Logging Device Options
-#
-
-#
-# System Logging
-#
-# CONFIG_RAMLOG is not set
-# CONFIG_CONSOLE_SYSLOG is not set
-
-#
-# Networking Support
-#
-# CONFIG_ARCH_HAVE_NET is not set
-# CONFIG_ARCH_HAVE_PHY is not set
-# CONFIG_NET is not set
-
-#
-# Crypto API
-#
-# CONFIG_CRYPTO is not set
-
-#
-# File Systems
-#
-
-#
-# File system configuration
-#
-# CONFIG_DISABLE_MOUNTPOINT is not set
-# CONFIG_FS_AUTOMOUNTER is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_FS_READABLE is not set
-# CONFIG_FS_WRITABLE is not set
-# CONFIG_FS_NAMED_SEMAPHORES is not set
-CONFIG_FS_MQUEUE_MPATH="/var/mqueue"
-# CONFIG_FS_RAMMAP is not set
-# CONFIG_FS_FAT is not set
-# CONFIG_FS_NXFFS is not set
-# CONFIG_FS_ROMFS is not set
-# CONFIG_FS_SMARTFS is not set
-# CONFIG_FS_BINFS is not set
-# CONFIG_FS_PROCFS is not set
-# CONFIG_FS_UNIONFS is not set
-
-#
-# System Logging
-#
-# CONFIG_SYSLOG is not set
-# CONFIG_SYSLOG_TIMESTAMP is not set
-
-#
-# Graphics Support
-#
-# CONFIG_NX is not set
-
-#
-# Memory Management
-#
-# CONFIG_MM_SMALL is not set
-CONFIG_MM_REGIONS=1
-# CONFIG_ARCH_HAVE_HEAP2 is not set
-# CONFIG_GRAN is not set
-
-#
-# Audio Support
-#
-# CONFIG_AUDIO is not set
-
-#
-# Binary Loader
-#
-# CONFIG_BINFMT_DISABLE is not set
-# CONFIG_BINFMT_EXEPATH is not set
-# CONFIG_NXFLAT is not set
-# CONFIG_ELF is not set
-CONFIG_BUILTIN=y
-# CONFIG_PIC is not set
-CONFIG_SYMTAB_ORDEREDBYNAME=y
-
-#
-# Library Routines
-#
-
-#
-# Standard C Library Options
-#
-CONFIG_STDIO_BUFFER_SIZE=64
-CONFIG_STDIO_LINEBUFFER=y
-CONFIG_NUNGET_CHARS=2
-CONFIG_LIB_HOMEDIR="/"
-# CONFIG_NOPRINTF_FIELDWIDTH is not set
-# CONFIG_LIBC_FLOATINGPOINT is not set
-CONFIG_LIBC_LONG_LONG=y
-# CONFIG_LIBC_IOCTL_VARIADIC is not set
-CONFIG_LIB_RAND_ORDER=1
-# CONFIG_EOL_IS_CR is not set
-# CONFIG_EOL_IS_LF is not set
-# CONFIG_EOL_IS_BOTH_CRLF is not set
-CONFIG_EOL_IS_EITHER_CRLF=y
-# CONFIG_LIBC_EXECFUNCS is not set
-CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=394
-CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=394
-# CONFIG_LIBC_STRERROR is not set
-# CONFIG_LIBC_PERROR_STDOUT is not set
-CONFIG_ARCH_LOWPUTC=y
-# CONFIG_LIBC_LOCALTIME is not set
-# CONFIG_TIME_EXTENDED is not set
-CONFIG_LIB_SENDFILE_BUFSIZE=0
-# CONFIG_ARCH_ROMGETC is not set
-# CONFIG_ARCH_OPTIMIZED_FUNCTIONS is not set
-# CONFIG_LIBC_NETDB is not set
-
-#
-# Non-standard Library Support
-#
-# CONFIG_LIB_KBDCODEC is not set
-# CONFIG_LIB_SLCDCODEC is not set
-
-#
-# Basic CXX Support
-#
-CONFIG_C99_BOOL8=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-# CONFIG_CXX_NEWLONG is not set
-
-#
-# uClibc++ Standard C++ Library
-#
-# CONFIG_UCLIBCXX is not set
-
-#
-# Application Configuration
-#
-
-#
-# Built-In Applications
-#
-CONFIG_BUILTIN_PROXY_STACKSIZE=392
-
-#
-# Examples
-#
-# CONFIG_EXAMPLES_BUTTONS is not set
-# CONFIG_EXAMPLES_CONFIGDATA is not set
-# CONFIG_EXAMPLES_CPUHOG is not set
-# CONFIG_EXAMPLES_CXXTEST is not set
-# CONFIG_EXAMPLES_DHCPD is not set
-# CONFIG_EXAMPLES_ELF is not set
-# CONFIG_EXAMPLES_FTPC is not set
-# CONFIG_EXAMPLES_FTPD is not set
-# CONFIG_EXAMPLES_HELLO is not set
-# CONFIG_EXAMPLES_HELLOXX is not set
-# CONFIG_EXAMPLES_JSON is not set
-# CONFIG_EXAMPLES_HIDKBD is not set
-# CONFIG_EXAMPLES_KEYPADTEST is not set
-# CONFIG_EXAMPLES_IGMP is not set
-# CONFIG_EXAMPLES_MM is not set
-# CONFIG_EXAMPLES_MODBUS is not set
-# CONFIG_EXAMPLES_MOUNT is not set
-# CONFIG_EXAMPLES_NRF24L01TERM is not set
-# CONFIG_EXAMPLES_NSH is not set
-CONFIG_EXAMPLES_NULL=y
-# CONFIG_EXAMPLES_NX is not set
-# CONFIG_EXAMPLES_NXTERM is not set
-# CONFIG_EXAMPLES_NXFFS is not set
-# CONFIG_EXAMPLES_NXHELLO is not set
-# CONFIG_EXAMPLES_NXIMAGE is not set
-# CONFIG_EXAMPLES_NXLINES is not set
-# CONFIG_EXAMPLES_NXTEXT is not set
-# CONFIG_EXAMPLES_OSTEST is not set
-# CONFIG_EXAMPLES_PIPE is not set
-# CONFIG_EXAMPLES_POLL is not set
-# CONFIG_EXAMPLES_PPPD is not set
-# CONFIG_EXAMPLES_POSIXSPAWN is not set
-# CONFIG_EXAMPLES_QENCODER is not set
-# CONFIG_EXAMPLES_RGMP is not set
-# CONFIG_EXAMPLES_SENDMAIL is not set
-# CONFIG_EXAMPLES_SERIALBLASTER is not set
-# CONFIG_EXAMPLES_SERIALRX is not set
-# CONFIG_EXAMPLES_SERLOOP is not set
-# CONFIG_EXAMPLES_SLCD is not set
-# CONFIG_EXAMPLES_SMART is not set
-# CONFIG_EXAMPLES_TCPECHO is not set
-# CONFIG_EXAMPLES_TELNETD is not set
-# CONFIG_EXAMPLES_TIFF is not set
-# CONFIG_EXAMPLES_TOUCHSCREEN is not set
-# CONFIG_EXAMPLES_WEBSERVER is not set
-# CONFIG_EXAMPLES_USBSERIAL is not set
-# CONFIG_EXAMPLES_USBTERM is not set
-# CONFIG_EXAMPLES_WATCHDOG is not set
-
-#
-# Graphics Support
-#
-# CONFIG_TIFF is not set
-# CONFIG_GRAPHICS_TRAVELER is not set
-
-#
-# Interpreters
-#
-# CONFIG_INTERPRETERS_FICL is not set
-# CONFIG_INTERPRETERS_PCODE is not set
-# CONFIG_INTERPRETERS_MICROPYTHON is not set
-
-#
-# FreeModBus
-#
-# CONFIG_MODBUS is not set
-
-#
-# Network Utilities
-#
-# CONFIG_NETUTILS_CODECS is not set
-# CONFIG_NETUTILS_FTPC is not set
-# CONFIG_NETUTILS_JSON is not set
-# CONFIG_NETUTILS_SMTP is not set
-
-#
-# NSH Library
-#
-# CONFIG_NSH_LIBRARY is not set
-
-#
-# NxWidgets/NxWM
-#
-
-#
-# Platform-specific Support
-#
-# CONFIG_PLATFORM_CONFIGDATA is not set
-
-#
-# System Libraries and NSH Add-Ons
-#
-# CONFIG_SYSTEM_FREE is not set
-# CONFIG_SYSTEM_CLE is not set
-# CONFIG_SYSTEM_CUTERM is not set
-# CONFIG_SYSTEM_INSTALL is not set
-# CONFIG_SYSTEM_HEX2BIN is not set
-# CONFIG_SYSTEM_INIFILE is not set
-# CONFIG_SYSTEM_RAMTEST is not set
-# CONFIG_READLINE_HAVE_EXTMATCH is not set
-CONFIG_SYSTEM_READLINE=y
-CONFIG_READLINE_ECHO=y
-# CONFIG_READLINE_TABCOMPLETION is not set
-# CONFIG_READLINE_CMD_HISTORY is not set
-# CONFIG_SYSTEM_RAMTRON is not set
-# CONFIG_SYSTEM_SDCARD is not set
-# CONFIG_SYSTEM_SUDOKU is not set
-# CONFIG_SYSTEM_VI is not set
-# CONFIG_SYSTEM_STACKMONITOR is not set
-# CONFIG_SYSTEM_ZMODEM is not set
-
-#
-# The following line is needed because the upstream tools that generates
-# the include/nuttx/include/config.h file adds logic that relies on this
-# and our build flags include -Werror=undef
-#
-CONFIG_NSOCKET_DESCRIPTORS=0
\ No newline at end of file
diff --git a/platforms/nuttx/nuttx-configs/px4flow-v2/scripts/ld.script b/platforms/nuttx/nuttx-configs/px4flow-v2/scripts/ld.script
deleted file mode 100644
index cc7f1f5804..0000000000
--- a/platforms/nuttx/nuttx-configs/px4flow-v2/scripts/ld.script
+++ /dev/null
@@ -1,158 +0,0 @@
-/****************************************************************************
- * nuttx-configs/px4cannode-v1/scripts/ld.script
- *
- * Copyright (C) 2015 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.
- *
- ****************************************************************************/
-
-/* The STM32F427 has 2048KiB of FLASH beginning at address 0x0800:0000 and
- * 256KiB of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112KiB of SRAM beginning at address 0x2000:0000
- * 2) 16KiB of SRAM beginning at address 0x2001:c000
- * 3) 64KiB of SRAM beginning at address 0x2002:0000
- * 4) 64KiB of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The bootloader only uses the first 16KiB of flash.
- */
-
-MEMORY
-{
- flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
- sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
- ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
-}
-
-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).
- */
-EXTERN(abort)
-
-SECTIONS
-{
- .text : {
- _stext = ABSOLUTE(.);
- *(.vectors)
- . = ALIGN(8);
- /*
- * This section positions the app_descriptor_t used
- * by the make_can_boot_descriptor.py tool to set
- * the application image's descriptor so that the
- * uavcan bootloader has the ability to validate the
- * image crc, size etc
- */
- KEEP(*(.app_descriptor))
- *(.text .text.*)
- *(.fixup)
- *(.gnu.warning)
- *(.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.
- */
- __errno = get_errno_ptr;
- } > flash
-
-/*
- * Init functions (static constructors and the like)
- */
- .init_section : {
- _sinit = ABSOLUTE(.);
- KEEP(*(.init_array .init_array.*))
- _einit = ABSOLUTE(.);
- } > flash
-
- /*
- * Construction data for parameters.
- */
- __param ALIGN(4): {
- __param_start = ABSOLUTE(.);
- KEEP(*(__param))
- __param_end = ABSOLUTE(.);
- } > flash
-
- .ARM.extab : {
- *(.ARM.extab*)
- } > flash
-
- __exidx_start = ABSOLUTE(.);
- .ARM.exidx : {
- *(.ARM.exidx*)
- } > flash
- __exidx_end = ABSOLUTE(.);
-
- _eronly = ABSOLUTE(.);
-
- .data : {
- _sdata = ABSOLUTE(.);
- *(.data .data.*)
- *(.gnu.linkonce.d.*)
- CONSTRUCTORS
- _edata = ABSOLUTE(.);
- } > sram AT > flash
-
- .bss : {
- _sbss = ABSOLUTE(.);
- *(.bss .bss.*)
- *(.gnu.linkonce.b.*)
- *(COMMON)
- . = ALIGN(4);
- _ebss = ABSOLUTE(.);
- } > sram
-
- /* Stabs debugging sections. */
- .stab 0 : { *(.stab) }
- .stabstr 0 : { *(.stabstr) }
- .stab.excl 0 : { *(.stab.excl) }
- .stab.exclstr 0 : { *(.stab.exclstr) }
- .stab.index 0 : { *(.stab.index) }
- .stab.indexstr 0 : { *(.stab.indexstr) }
- .comment 0 : { *(.comment) }
- .debug_abbrev 0 : { *(.debug_abbrev) }
- .debug_info 0 : { *(.debug_info) }
- .debug_line 0 : { *(.debug_line) }
- .debug_pubnames 0 : { *(.debug_pubnames) }
- .debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h
deleted file mode 100644
index 15e4e7a8d5..0000000000
--- a/platforms/nuttx/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/px4fmu-v4/include/nsh_romfsimg.h
deleted file mode 100644
index 15e4e7a8d5..0000000000
--- a/platforms/nuttx/nuttx-configs/px4fmu-v4/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v4pro/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/px4fmu-v4pro/include/nsh_romfsimg.h
deleted file mode 100644
index 15e4e7a8d5..0000000000
--- a/platforms/nuttx/nuttx-configs/px4fmu-v4pro/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/px4fmu-v5/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/px4fmu-v5/include/nsh_romfsimg.h
deleted file mode 100644
index beb1a924cf..0000000000
--- a/platforms/nuttx/nuttx-configs/px4fmu-v5/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/include/nsh_romfsimg.h b/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/include/nsh_romfsimg.h
deleted file mode 100644
index beb1a924cf..0000000000
--- a/platforms/nuttx/nuttx-configs/px4nucleoF767ZI-v1/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
-
-extern unsigned char romfs_img[];
-extern unsigned int romfs_img_len;
diff --git a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/Kconfig b/platforms/nuttx/nuttx-configs/zubaxgnss-v1/Kconfig
deleted file mode 100644
index 25a063c823..0000000000
--- a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/Kconfig
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-
-if CONFIG_ARCH_BOARD_ZUBAX_GNSS_V1
-
-config BOARD_HAS_PROBES
- bool "Board provides GPIO or other Hardware for signaling to timing analyze."
- default y
- ---help---
- This board provides GPIO PB5-9 as PROBE_1-5 to provide timing signals from selected drivers.
-
-config BOARD_USE_PROBES
- bool "Enable the use provides GPIO PB5-9 as PROBE_1-5 to provide timing signals from selected drivers"
- default n
- depends on BOARD_HAS_PROBES
-
- ---help---
- Select to use GPIO provides GPIO PB5-9 to provide timing signals from selected drivers.
-
-endif
diff --git a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/include/README.txt b/platforms/nuttx/nuttx-configs/zubaxgnss-v1/include/README.txt
deleted file mode 100755
index faee2376aa..0000000000
--- a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/include/README.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-This directory contains header files unique to the
-Zubax GNSS board
-
-https://github.com/Zubax/zubax_gnss
diff --git a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/include/board.h b/platforms/nuttx/nuttx-configs/zubaxgnss-v1/include/board.h
deleted file mode 100755
index 66af3b4111..0000000000
--- a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/include/board.h
+++ /dev/null
@@ -1,251 +0,0 @@
-/************************************************************************************
- * nuttx-configs/zubaxgnss-v1/include/board.h
- *
- * Copyright (C) 2015 Gregory Nutt. All rights reserved.
- * Author: Gregory Nutt <gnutt@nuttx.org>
- * David Sidrane <david_s5@nscdg.com>
- *
- * 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.
- *
- ************************************************************************************/
-
-#ifndef __CONFIGS_ZUBAXGNSS_V1_INCLUDE_BOARD_H
-#define __CONFIGS_ZUBAXGNSS_V1_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-#include "stm32_rcc.h"
-#include "stm32_sdio.h"
-#include "stm32.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Clocking *************************************************************************/
-
-/* HSI - 8 MHz RC factory-trimmed
- * LSI - 40 KHz RC (30-60KHz, uncalibrated)
- * HSE - On-board crystal frequency is 8MHz
- * LSE - 32.768 kHz
- */
-
-#define STM32_BOARD_XTAL 8000000ul
-
-#define STM32_HSI_FREQUENCY 8000000ul
-#define STM32_LSI_FREQUENCY 40000
-#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY 32768
-
-/* PLL source is HSE/2, PLL multipler is 10: PLL frequency is 8MHz (XTAL) x 10 = 40MHz */
-
-#define STM32_PLL_PREDIV2 RCC_CFGR2_PREDIV2d2 /* 8MHz / 2 => 4MHz */
-#define STM32_PLL_PLL2MUL RCC_CFGR2_PLL2MULx10 /* 4MHz * 10 => 40MHz */
-#define STM32_PLL_PREDIV1 RCC_CFGR2_PREDIV1d5 /* 40MHz / 5 => 8MHz */
-#define STM32_PLL_PLLMUL RCC_CFGR_PLLMUL_CLKx9 /* 8MHz * 9 => 72Mhz */
-#define STM32_PLL_FREQUENCY (9*STM32_BOARD_XTAL)
-
-/* SYCLLK and HCLK are the PLL frequency */
-
-#define STM32_SYSCLK_FREQUENCY STM32_PLL_FREQUENCY
-#define STM32_HCLK_FREQUENCY STM32_PLL_FREQUENCY
-#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
-
-/* APB2 clock (PCLK2) is HCLK (72MHz) */
-
-#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
-#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
-#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-7, 12-14 */
-
-/* APB2 timers 1 and 8 will receive PCLK2. */
-
-#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
-
-/* APB1 clock (PCLK1) is HCLK/2 (36MHz) */
-
-#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2
-#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
-
-/* APB1 timers 2-4 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
-
-/* 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
- */
-
-#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
-
-
-
-/* Leds *************************************************************************/
-
-/* LED index values for use with board_setled() */
-
-#define BOARD_LED2 0
-#define BOARD_LED_GREEN BOARD_LED2 /* INFO */
-#define BOARD_LED3 1
-#define BOARD_LED_RED BOARD_LED3 /* CAN1 */
-#define BOARD_LED4 2
-#define BOARD_LED_BLUE BOARD_LED4 /* CAN2 */
-#define BOARD_NLEDS 3
-
-/* LED bits for use with board_setleds() */
-
-#define BOARD_LED_RED_BIT (1 << BOARD_LED_RED)
-#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN)
-#define BOARD_LED_BLUE_BIT (1 << BOARD_LED_BLUE)
-
-/* TODO:define these
- * These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
- *
- * defined. In that case, the usage by the board port is as follows:
- *
- * SYMBOL Meaning LED state
- * Red Green Blue
- * ------------------------ -------------------------- ------ ------ ----*/
-
-#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
-#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
-#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
-#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
-#define LED_INIRQ 4 /* In an interrupt N/C GLOW N/C */
-#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
-#define LED_ASSERTION 6 /* An assertion failed GLOW GLOW N/C */
-#define LED_PANIC 7 /* The system has crashed Blk OFF N/C */
-#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
-
-/*
- * Thus if the blue is statically on, NuttX has successfully booted and is,
- * apparently, running normally. If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- *
- */
-
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
-# define PROBE_2 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
-# define PROBE_3 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
-
-# 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); } \
- } 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
-
-/************************************************************************************
- * Public Data
- ************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-#undef EXTERN
-#if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C"
-{
-#else
-#define EXTERN extern
-#endif
-
-/************************************************************************************
- * Public Function Prototypes
- ************************************************************************************/
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- * All STM32 architectures must provide the following entry point. This entry point
- * is called early in the initialization -- after all memory has been configured
- * and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-void stm32_boardinitialize(void);
-
-/************************************************************************************
- * Name: stm32_ledinit, stm32_setled, and stm32_setleds
- *
- * Description:
- * If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
- * CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to
- * control the LEDs from user applications.
- *
- ************************************************************************************/
-
-#ifndef CONFIG_ARCH_LEDS
-void stm32_led_initialize(void);
-void stm32_setled(int led, bool ledon);
-void stm32_setleds(uint8_t ledset);
-#endif
-
-#if !defined(CONFIG_NSH_LIBRARY)
-int app_archinitialize(void);
-#else
-#define app_archinitialize() (-ENOSYS)
-#endif
-
-#undef EXTERN
-#if defined(__cplusplus)
-}
-#endif
-
-#endif /* __ASSEMBLY__ */
-#endif /* __CONFIGS_ZUBAXGNSS_V1_INCLUDE_BOARD_H */
diff --git a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/nsh/defconfig b/platforms/nuttx/nuttx-configs/zubaxgnss-v1/nsh/defconfig
deleted file mode 100644
index 92c69269e1..0000000000
--- a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/nsh/defconfig
+++ /dev/null
@@ -1,1070 +0,0 @@
-#
-# Automatically generated file; DO NOT EDIT.
-# Nuttx/ Configuration
-#
-
-#
-# Build Setup
-#
-# CONFIG_EXPERIMENTAL is not set
-CONFIG_DEFAULT_SMALL=y
-CONFIG_HOST_LINUX=y
-# CONFIG_HOST_OSX is not set
-# CONFIG_HOST_WINDOWS is not set
-# CONFIG_HOST_OTHER is not set
-
-#
-# Build Configuration
-#
-CONFIG_APPS_DIR="../apps"
-CONFIG_BUILD_FLAT=y
-# CONFIG_BUILD_2PASS is not set
-
-#
-# Binary Output Formats
-#
-# CONFIG_RRLOAD_BINARY is not set
-# CONFIG_INTELHEX_BINARY is not set
-# CONFIG_MOTOROLA_SREC is not set
-CONFIG_RAW_BINARY=y
-# CONFIG_UBOOT_UIMAGE is not set
-# CONFIG_DFU_BINARY is not set
-
-#
-# Customize Header Files
-#
-# CONFIG_ARCH_STDINT_H is not set
-# CONFIG_ARCH_STDBOOL_H is not set
-# CONFIG_ARCH_MATH_H is not set
-# CONFIG_ARCH_FLOAT_H is not set
-# CONFIG_ARCH_STDARG_H is not set
-# CONFIG_ARCH_DEBUG_H is not set
-
-#
-# Debug Options
-#
-# CONFIG_DEBUG_ALERT is not set
-# CONFIG_DEBUG_FEATURES is not set
-CONFIG_ARCH_HAVE_STACKCHECK=y
-CONFIG_STACK_COLORATION=y
-CONFIG_ARCH_HAVE_HEAPCHECK=y
-# CONFIG_HEAP_COLORATION is not set
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_ARCH_HAVE_CUSTOMOPT=y
-# CONFIG_DEBUG_NOOPT is not set
-CONFIG_DEBUG_CUSTOMOPT=y
-# CONFIG_DEBUG_FULLOPT is not set
-CONFIG_DEBUG_OPTLEVEL="-Os"
-
-#
-# System Type
-#
-CONFIG_ARCH_ARM=y
-# CONFIG_ARCH_AVR is not set
-# CONFIG_ARCH_HC is not set
-# CONFIG_ARCH_MIPS is not set
-# CONFIG_ARCH_MISOC is not set
-# CONFIG_ARCH_RENESAS is not set
-# CONFIG_ARCH_RISCV is not set
-# CONFIG_ARCH_SIM is not set
-# CONFIG_ARCH_X86 is not set
-# CONFIG_ARCH_XTENSA is not set
-# CONFIG_ARCH_Z16 is not set
-# CONFIG_ARCH_Z80 is not set
-CONFIG_ARCH="arm"
-
-#
-# ARM Options
-#
-# CONFIG_ARCH_CHIP_A1X is not set
-# CONFIG_ARCH_CHIP_C5471 is not set
-# CONFIG_ARCH_CHIP_DM320 is not set
-# CONFIG_ARCH_CHIP_EFM32 is not set
-# CONFIG_ARCH_CHIP_IMX1 is not set
-# CONFIG_ARCH_CHIP_IMX6 is not set
-# CONFIG_ARCH_CHIP_KINETIS is not set
-# CONFIG_ARCH_CHIP_KL is not set
-# CONFIG_ARCH_CHIP_LC823450 is not set
-# CONFIG_ARCH_CHIP_LM is not set
-# CONFIG_ARCH_CHIP_TIVA is not set
-# CONFIG_ARCH_CHIP_LPC11XX is not set
-# CONFIG_ARCH_CHIP_LPC17XX is not set
-# CONFIG_ARCH_CHIP_LPC214X is not set
-# CONFIG_ARCH_CHIP_LPC2378 is not set
-# CONFIG_ARCH_CHIP_LPC31XX is not set
-# CONFIG_ARCH_CHIP_LPC43XX is not set
-# CONFIG_ARCH_CHIP_MOXART is not set
-# CONFIG_ARCH_CHIP_NUC1XX is not set
-# CONFIG_ARCH_CHIP_SAMA5 is not set
-# CONFIG_ARCH_CHIP_SAMD is not set
-# CONFIG_ARCH_CHIP_SAML is not set
-# CONFIG_ARCH_CHIP_SAM34 is not set
-# CONFIG_ARCH_CHIP_SAMV7 is not set
-CONFIG_ARCH_CHIP_STM32=y
-# CONFIG_ARCH_CHIP_STM32F0 is not set
-# CONFIG_ARCH_CHIP_STM32F7 is not set
-# CONFIG_ARCH_CHIP_STM32L4 is not set
-# CONFIG_ARCH_CHIP_STR71X is not set
-# CONFIG_ARCH_CHIP_TMS570 is not set
-# CONFIG_ARCH_CHIP_XMC4 is not set
-# CONFIG_ARCH_ARM7TDMI is not set
-# CONFIG_ARCH_ARM926EJS is not set
-# CONFIG_ARCH_ARM920T is not set
-# CONFIG_ARCH_CORTEXM0 is not set
-# CONFIG_ARCH_CORTEXM23 is not set
-CONFIG_ARCH_CORTEXM3=y
-# CONFIG_ARCH_CORTEXM33 is not set
-# CONFIG_ARCH_CORTEXM4 is not set
-# CONFIG_ARCH_CORTEXM7 is not set
-# CONFIG_ARCH_CORTEXA5 is not set
-# CONFIG_ARCH_CORTEXA8 is not set
-# CONFIG_ARCH_CORTEXA9 is not set
-# CONFIG_ARCH_CORTEXR4 is not set
-# CONFIG_ARCH_CORTEXR4F is not set
-# CONFIG_ARCH_CORTEXR5 is not set
-# CONFIG_ARCH_CORTEXR5F is not set
-# CONFIG_ARCH_CORTEXR7 is not set
-# CONFIG_ARCH_CORTEXR7F is not set
-CONFIG_ARCH_FAMILY="armv7-m"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARCH_HAVE_CMNVECTOR=y
-# CONFIG_ARMV7M_CMNVECTOR is not set
-# CONFIG_ARMV7M_LAZYFPU is not set
-# CONFIG_ARCH_HAVE_FPU is not set
-# CONFIG_ARCH_HAVE_DPFPU is not set
-# CONFIG_ARCH_HAVE_TRUSTZONE is not set
-CONFIG_ARM_HAVE_MPU_UNIFIED=y
-# CONFIG_ARM_MPU is not set
-
-#
-# ARMV7M Configuration Options
-#
-# CONFIG_ARMV7M_HAVE_ICACHE is not set
-# CONFIG_ARMV7M_HAVE_DCACHE is not set
-# CONFIG_ARMV7M_HAVE_ITCM is not set
-# CONFIG_ARMV7M_HAVE_DTCM is not set
-# CONFIG_ARMV7M_TOOLCHAIN_IARL is not set
-# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
-# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
-# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
-CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
-# CONFIG_ARMV7M_TOOLCHAIN_CLANGL is not set
-CONFIG_ARMV7M_HAVE_STACKCHECK=y
-# CONFIG_ARMV7M_STACKCHECK is not set
-# CONFIG_ARMV7M_ITMSYSLOG is not set
-
-#
-# STM32 Configuration Options
-#
-# CONFIG_ARCH_CHIP_STM32L151C6 is not set
-# CONFIG_ARCH_CHIP_STM32L151C8 is not set
-# CONFIG_ARCH_CHIP_STM32L151CB is not set
-# CONFIG_ARCH_CHIP_STM32L151R6 is not set
-# CONFIG_ARCH_CHIP_STM32L151R8 is not set
-# CONFIG_ARCH_CHIP_STM32L151RB is not set
-# CONFIG_ARCH_CHIP_STM32L151V6 is not set
-# CONFIG_ARCH_CHIP_STM32L151V8 is not set
-# CONFIG_ARCH_CHIP_STM32L151VB is not set
-# CONFIG_ARCH_CHIP_STM32L152C6 is not set
-# CONFIG_ARCH_CHIP_STM32L152C8 is not set
-# CONFIG_ARCH_CHIP_STM32L152CB is not set
-# CONFIG_ARCH_CHIP_STM32L152R6 is not set
-# CONFIG_ARCH_CHIP_STM32L152R8 is not set
-# CONFIG_ARCH_CHIP_STM32L152RB is not set
-# CONFIG_ARCH_CHIP_STM32L152V6 is not set
-# CONFIG_ARCH_CHIP_STM32L152V8 is not set
-# CONFIG_ARCH_CHIP_STM32L152VB is not set
-# CONFIG_ARCH_CHIP_STM32L152CC is not set
-# CONFIG_ARCH_CHIP_STM32L152RC is not set
-# CONFIG_ARCH_CHIP_STM32L152VC is not set
-# CONFIG_ARCH_CHIP_STM32L162ZD is not set
-# CONFIG_ARCH_CHIP_STM32L162VE is not set
-# CONFIG_ARCH_CHIP_STM32F100C8 is not set
-# CONFIG_ARCH_CHIP_STM32F100CB is not set
-# CONFIG_ARCH_CHIP_STM32F100R8 is not set
-# CONFIG_ARCH_CHIP_STM32F100RB is not set
-# CONFIG_ARCH_CHIP_STM32F100RC is not set
-# CONFIG_ARCH_CHIP_STM32F100RD is not set
-# CONFIG_ARCH_CHIP_STM32F100RE is not set
-# CONFIG_ARCH_CHIP_STM32F100V8 is not set
-# CONFIG_ARCH_CHIP_STM32F100VB is not set
-# CONFIG_ARCH_CHIP_STM32F100VC is not set
-# CONFIG_ARCH_CHIP_STM32F100VD is not set
-# CONFIG_ARCH_CHIP_STM32F100VE is not set
-# CONFIG_ARCH_CHIP_STM32F102CB is not set
-# CONFIG_ARCH_CHIP_STM32F103T8 is not set
-# CONFIG_ARCH_CHIP_STM32F103TB is not set
-# CONFIG_ARCH_CHIP_STM32F103C4 is not set
-# CONFIG_ARCH_CHIP_STM32F103C8 is not set
-# CONFIG_ARCH_CHIP_STM32F103CB is not set
-# CONFIG_ARCH_CHIP_STM32F103R8 is not set
-# CONFIG_ARCH_CHIP_STM32F103RB is not set
-# CONFIG_ARCH_CHIP_STM32F103RC is not set
-# CONFIG_ARCH_CHIP_STM32F103RD is not set
-# CONFIG_ARCH_CHIP_STM32F103RE is not set
-# CONFIG_ARCH_CHIP_STM32F103RG is not set
-# CONFIG_ARCH_CHIP_STM32F103V8 is not set
-# CONFIG_ARCH_CHIP_STM32F103VB is not set
-# CONFIG_ARCH_CHIP_STM32F103VC is not set
-# CONFIG_ARCH_CHIP_STM32F103VE is not set
-# CONFIG_ARCH_CHIP_STM32F103ZE is not set
-CONFIG_ARCH_CHIP_STM32F105VB=y
-# CONFIG_ARCH_CHIP_STM32F105RB is not set
-# CONFIG_ARCH_CHIP_STM32F107VC is not set
-# CONFIG_ARCH_CHIP_STM32F205RG is not set
-# CONFIG_ARCH_CHIP_STM32F207IG is not set
-# CONFIG_ARCH_CHIP_STM32F207ZE is not set
-# CONFIG_ARCH_CHIP_STM32F302K6 is not set
-# CONFIG_ARCH_CHIP_STM32F302K8 is not set
-# CONFIG_ARCH_CHIP_STM32F302CB is not set
-# CONFIG_ARCH_CHIP_STM32F302CC is not set
-# CONFIG_ARCH_CHIP_STM32F302RB is not set
-# CONFIG_ARCH_CHIP_STM32F302RC is not set
-# CONFIG_ARCH_CHIP_STM32F302VB is not set
-# CONFIG_ARCH_CHIP_STM32F302VC is not set
-# CONFIG_ARCH_CHIP_STM32F303K6 is not set
-# CONFIG_ARCH_CHIP_STM32F303K8 is not set
-# CONFIG_ARCH_CHIP_STM32F303C6 is not set
-# CONFIG_ARCH_CHIP_STM32F303C8 is not set
-# CONFIG_ARCH_CHIP_STM32F303CB is not set
-# CONFIG_ARCH_CHIP_STM32F303CC is not set
-# CONFIG_ARCH_CHIP_STM32F303RB is not set
-# CONFIG_ARCH_CHIP_STM32F303RC is not set
-# CONFIG_ARCH_CHIP_STM32F303RD is not set
-# CONFIG_ARCH_CHIP_STM32F303RE is not set
-# CONFIG_ARCH_CHIP_STM32F303VB is not set
-# CONFIG_ARCH_CHIP_STM32F303VC is not set
-# CONFIG_ARCH_CHIP_STM32F334K4 is not set
-# CONFIG_ARCH_CHIP_STM32F334K6 is not set
-# CONFIG_ARCH_CHIP_STM32F334K8 is not set
-# CONFIG_ARCH_CHIP_STM32F334C4 is not set
-# CONFIG_ARCH_CHIP_STM32F334C6 is not set
-# CONFIG_ARCH_CHIP_STM32F334C8 is not set
-# CONFIG_ARCH_CHIP_STM32F334R4 is not set
-# CONFIG_ARCH_CHIP_STM32F334R6 is not set
-# CONFIG_ARCH_CHIP_STM32F334R8 is not set
-# CONFIG_ARCH_CHIP_STM32F372C8 is not set
-# CONFIG_ARCH_CHIP_STM32F372R8 is not set
-# CONFIG_ARCH_CHIP_STM32F372V8 is not set
-# CONFIG_ARCH_CHIP_STM32F372CB is not set
-# CONFIG_ARCH_CHIP_STM32F372RB is not set
-# CONFIG_ARCH_CHIP_STM32F372VB is not set
-# CONFIG_ARCH_CHIP_STM32F372CC is not set
-# CONFIG_ARCH_CHIP_STM32F372RC is not set
-# CONFIG_ARCH_CHIP_STM32F372VC is not set
-# CONFIG_ARCH_CHIP_STM32F373C8 is not set
-# CONFIG_ARCH_CHIP_STM32F373R8 is not set
-# CONFIG_ARCH_CHIP_STM32F373V8 is not set
-# CONFIG_ARCH_CHIP_STM32F373CB is not set
-# CONFIG_ARCH_CHIP_STM32F373RB is not set
-# CONFIG_ARCH_CHIP_STM32F373VB is not set
-# CONFIG_ARCH_CHIP_STM32F373CC is not set
-# CONFIG_ARCH_CHIP_STM32F373RC is not set
-# CONFIG_ARCH_CHIP_STM32F373VC is not set
-# CONFIG_ARCH_CHIP_STM32F401RE is not set
-# CONFIG_ARCH_CHIP_STM32F410RB is not set
-# CONFIG_ARCH_CHIP_STM32F411RE is not set
-# CONFIG_ARCH_CHIP_STM32F411VE is not set
-# CONFIG_ARCH_CHIP_STM32F405RG is not set
-# CONFIG_ARCH_CHIP_STM32F405VG is not set
-# CONFIG_ARCH_CHIP_STM32F405ZG is not set
-# CONFIG_ARCH_CHIP_STM32F407VE is not set
-# CONFIG_ARCH_CHIP_STM32F407VG is not set
-# CONFIG_ARCH_CHIP_STM32F407ZE is not set
-# CONFIG_ARCH_CHIP_STM32F407ZG is not set
-# CONFIG_ARCH_CHIP_STM32F407IE is not set
-# CONFIG_ARCH_CHIP_STM32F407IG is not set
-# CONFIG_ARCH_CHIP_STM32F427V is not set
-# CONFIG_ARCH_CHIP_STM32F427Z is not set
-# CONFIG_ARCH_CHIP_STM32F427I is not set
-# CONFIG_ARCH_CHIP_STM32F429V is not set
-# CONFIG_ARCH_CHIP_STM32F429Z is not set
-# CONFIG_ARCH_CHIP_STM32F429I is not set
-# CONFIG_ARCH_CHIP_STM32F429B is not set
-# CONFIG_ARCH_CHIP_STM32F429N is not set
-# CONFIG_ARCH_CHIP_STM32F446M is not set
-# CONFIG_ARCH_CHIP_STM32F446R is not set
-# CONFIG_ARCH_CHIP_STM32F446V is not set
-# CONFIG_ARCH_CHIP_STM32F446Z is not set
-# CONFIG_ARCH_CHIP_STM32F469A is not set
-# CONFIG_ARCH_CHIP_STM32F469I is not set
-# CONFIG_ARCH_CHIP_STM32F469B is not set
-# CONFIG_ARCH_CHIP_STM32F469N is not set
-CONFIG_STM32_FLASH_CONFIG_DEFAULT=y
-# CONFIG_STM32_FLASH_CONFIG_4 is not set
-# CONFIG_STM32_FLASH_CONFIG_6 is not set
-# CONFIG_STM32_FLASH_CONFIG_8 is not set
-# CONFIG_STM32_FLASH_CONFIG_B is not set
-# CONFIG_STM32_FLASH_CONFIG_C is not set
-# CONFIG_STM32_FLASH_CONFIG_D is not set
-# CONFIG_STM32_FLASH_CONFIG_E is not set
-# CONFIG_STM32_FLASH_CONFIG_F is not set
-# CONFIG_STM32_FLASH_CONFIG_G is not set
-# CONFIG_STM32_FLASH_CONFIG_I is not set
-# CONFIG_STM32_STM32L15XX is not set
-# CONFIG_STM32_ENERGYLITE is not set
-CONFIG_STM32_STM32F10XX=y
-# CONFIG_STM32_VALUELINE is not set
-CONFIG_STM32_CONNECTIVITYLINE=y
-# CONFIG_STM32_PERFORMANCELINE is not set
-# CONFIG_STM32_USBACCESSLINE is not set
-# CONFIG_STM32_HIGHDENSITY is not set
-# CONFIG_STM32_MEDIUMDENSITY is not set
-# CONFIG_STM32_LOWDENSITY is not set
-# CONFIG_STM32_STM32F20XX is not set
-# CONFIG_STM32_STM32F205 is not set
-# CONFIG_STM32_STM32F207 is not set
-# CONFIG_STM32_STM32F30XX is not set
-# CONFIG_STM32_STM32F302 is not set
-# CONFIG_STM32_STM32F303 is not set
-# CONFIG_STM32_STM32F33XX is not set
-# CONFIG_STM32_STM32F37XX is not set
-# CONFIG_STM32_STM32F4XXX is not set
-# CONFIG_STM32_STM32F401 is not set
-# CONFIG_STM32_STM32F410 is not set
-# CONFIG_STM32_STM32F411 is not set
-# CONFIG_STM32_STM32F405 is not set
-# CONFIG_STM32_STM32F407 is not set
-# CONFIG_STM32_STM32F427 is not set
-# CONFIG_STM32_STM32F429 is not set
-# CONFIG_STM32_STM32F446 is not set
-# CONFIG_STM32_STM32F469 is not set
-# CONFIG_STM32_DFU is not set
-
-#
-# STM32 Peripheral Support
-#
-# CONFIG_STM32_HAVE_CCM is not set
-# CONFIG_STM32_HAVE_USBDEV is not set
-CONFIG_STM32_HAVE_OTGFS=y
-# CONFIG_STM32_HAVE_FSMC is not set
-# CONFIG_STM32_HAVE_HRTIM1 is not set
-# CONFIG_STM32_HAVE_LTDC is not set
-CONFIG_STM32_HAVE_USART3=y
-CONFIG_STM32_HAVE_UART4=y
-CONFIG_STM32_HAVE_UART5=y
-# CONFIG_STM32_HAVE_USART6 is not set
-# CONFIG_STM32_HAVE_UART7 is not set
-# CONFIG_STM32_HAVE_UART8 is not set
-CONFIG_STM32_HAVE_TIM1=y
-# CONFIG_STM32_HAVE_TIM2 is not set
-CONFIG_STM32_HAVE_TIM3=y
-CONFIG_STM32_HAVE_TIM4=y
-CONFIG_STM32_HAVE_TIM5=y
-CONFIG_STM32_HAVE_TIM6=y
-CONFIG_STM32_HAVE_TIM7=y
-# CONFIG_STM32_HAVE_TIM8 is not set
-# CONFIG_STM32_HAVE_TIM9 is not set
-# CONFIG_STM32_HAVE_TIM10 is not set
-# CONFIG_STM32_HAVE_TIM11 is not set
-# CONFIG_STM32_HAVE_TIM12 is not set
-# CONFIG_STM32_HAVE_TIM13 is not set
-# CONFIG_STM32_HAVE_TIM14 is not set
-# CONFIG_STM32_HAVE_TIM15 is not set
-# CONFIG_STM32_HAVE_TIM16 is not set
-# CONFIG_STM32_HAVE_TIM17 is not set
-CONFIG_STM32_HAVE_ADC2=y
-# CONFIG_STM32_HAVE_ADC3 is not set
-# CONFIG_STM32_HAVE_ADC4 is not set
-# CONFIG_STM32_HAVE_ADC1_DMA is not set
-# CONFIG_STM32_HAVE_ADC2_DMA is not set
-# CONFIG_STM32_HAVE_ADC3_DMA is not set
-# CONFIG_STM32_HAVE_ADC4_DMA is not set
-# CONFIG_STM32_HAVE_SDADC1 is not set
-# CONFIG_STM32_HAVE_SDADC2 is not set
-# CONFIG_STM32_HAVE_SDADC3 is not set
-# CONFIG_STM32_HAVE_SDADC1_DMA is not set
-# CONFIG_STM32_HAVE_SDADC2_DMA is not set
-# CONFIG_STM32_HAVE_SDADC3_DMA is not set
-CONFIG_STM32_HAVE_CAN1=y
-CONFIG_STM32_HAVE_CAN2=y
-# CONFIG_STM32_HAVE_COMP1 is not set
-# CONFIG_STM32_HAVE_COMP2 is not set
-# CONFIG_STM32_HAVE_COMP3 is not set
-# CONFIG_STM32_HAVE_COMP4 is not set
-# CONFIG_STM32_HAVE_COMP5 is not set
-# CONFIG_STM32_HAVE_COMP6 is not set
-# CONFIG_STM32_HAVE_COMP7 is not set
-CONFIG_STM32_HAVE_DAC1=y
-CONFIG_STM32_HAVE_DAC2=y
-# CONFIG_STM32_HAVE_RNG is not set
-CONFIG_STM32_HAVE_ETHMAC=y
-CONFIG_STM32_HAVE_I2C2=y
-# CONFIG_STM32_HAVE_I2C3 is not set
-CONFIG_STM32_HAVE_SPI2=y
-CONFIG_STM32_HAVE_SPI3=y
-# CONFIG_STM32_HAVE_I2S3 is not set
-# CONFIG_STM32_HAVE_SPI4 is not set
-# CONFIG_STM32_HAVE_SPI5 is not set
-# CONFIG_STM32_HAVE_SPI6 is not set
-# CONFIG_STM32_HAVE_SAIPLL is not set
-# CONFIG_STM32_HAVE_I2SPLL is not set
-# CONFIG_STM32_HAVE_OPAMP1 is not set
-# CONFIG_STM32_HAVE_OPAMP2 is not set
-# CONFIG_STM32_HAVE_OPAMP3 is not set
-# CONFIG_STM32_HAVE_OPAMP4 is not set
-# CONFIG_STM32_ADC1 is not set
-# CONFIG_STM32_ADC2 is not set
-# CONFIG_STM32_BKP is not set
-# CONFIG_STM32_CAN1 is not set
-# CONFIG_STM32_CAN2 is not set
-# CONFIG_STM32_CRC is not set
-# CONFIG_STM32_DMA1 is not set
-# CONFIG_STM32_DMA2 is not set
-# CONFIG_STM32_DAC1 is not set
-# CONFIG_STM32_DAC2 is not set
-# CONFIG_STM32_ETHMAC is not set
-# CONFIG_STM32_I2C1 is not set
-# CONFIG_STM32_I2C2 is not set
-# CONFIG_STM32_OPAMP is not set
-# CONFIG_STM32_OTGFS is not set
-# CONFIG_STM32_PWR is not set
-# CONFIG_STM32_SPI1 is not set
-# CONFIG_STM32_SPI2 is not set
-# CONFIG_STM32_SPI3 is not set
-CONFIG_STM32_SYSCFG=y
-CONFIG_STM32_TIM1=y
-# CONFIG_STM32_TIM2 is not set
-# CONFIG_STM32_TIM3 is not set
-# CONFIG_STM32_TIM4 is not set
-# CONFIG_STM32_TIM5 is not set
-# CONFIG_STM32_TIM6 is not set
-# CONFIG_STM32_TIM7 is not set
-# CONFIG_STM32_USART1 is not set
-# CONFIG_STM32_USART2 is not set
-# CONFIG_STM32_USART3 is not set
-# CONFIG_STM32_UART4 is not set
-# CONFIG_STM32_UART5 is not set
-# CONFIG_STM32_IWDG is not set
-# CONFIG_STM32_WWDG is not set
-CONFIG_STM32_NOEXT_VECTORS=y
-
-#
-# Alternate Pin Mapping
-#
-# CONFIG_STM32_TIM1_NO_REMAP is not set
-# CONFIG_STM32_TIM1_FULL_REMAP is not set
-CONFIG_STM32_TIM1_PARTIAL_REMAP=y
-# CONFIG_STM32_FLASH_WORKAROUND_DATA_CACHE_CORRUPTION_ON_RWW is not set
-# CONFIG_STM32_JTAG_DISABLE is not set
-CONFIG_STM32_JTAG_FULL_ENABLE=y
-# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
-# CONFIG_STM32_JTAG_SW_ENABLE is not set
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-# CONFIG_STM32_FORCEPOWER is not set
-# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
-
-#
-# Timer Configuration
-#
-# CONFIG_STM32_ONESHOT is not set
-# CONFIG_STM32_FREERUN is not set
-# CONFIG_STM32_TIM1_PWM is not set
-# CONFIG_STM32_TIM1_CAP is not set
-# CONFIG_STM32_TIM3_CAP is not set
-# CONFIG_STM32_TIM4_CAP is not set
-# CONFIG_STM32_TIM5_CAP is not set
-CONFIG_STM32_HAVE_RTC_COUNTER=y
-# CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set
-
-#
-# USB FS Host Configuration
-#
-
-#
-# USB HS Host Configuration
-#
-
-#
-# USB Host Debug Configuration
-#
-
-#
-# USB Device Configuration
-#
-# CONFIG_ARCH_TOOLCHAIN_IAR is not set
-CONFIG_ARCH_TOOLCHAIN_GNU=y
-
-#
-# Architecture Options
-#
-# CONFIG_ARCH_NOINTC is not set
-# CONFIG_ARCH_VECNOTIRQ is not set
-# CONFIG_ARCH_DMA is not set
-CONFIG_ARCH_HAVE_IRQPRIO=y
-# CONFIG_ARCH_L2CACHE is not set
-# CONFIG_ARCH_HAVE_COHERENT_DCACHE is not set
-# CONFIG_ARCH_HAVE_ADDRENV is not set
-# CONFIG_ARCH_NEED_ADDRENV_MAPPING is not set
-# CONFIG_ARCH_HAVE_MULTICPU is not set
-CONFIG_ARCH_HAVE_VFORK=y
-# CONFIG_ARCH_HAVE_MMU is not set
-CONFIG_ARCH_HAVE_MPU=y
-# CONFIG_ARCH_NAND_HWECC is not set
-# CONFIG_ARCH_HAVE_EXTCLK is not set
-# CONFIG_ARCH_HAVE_POWEROFF is not set
-CONFIG_ARCH_HAVE_RESET=y
-# CONFIG_ARCH_HAVE_RTC_SUBSECONDS is not set
-# CONFIG_ARCH_USE_MPU is not set
-# CONFIG_ARCH_IRQPRIO is not set
-# CONFIG_ARCH_STACKDUMP is not set
-# CONFIG_ENDIAN_BIG is not set
-# CONFIG_ARCH_IDLE_CUSTOM is not set
-# CONFIG_ARCH_HAVE_RAMFUNCS is not set
-CONFIG_ARCH_HAVE_RAMVECTORS=y
-# CONFIG_ARCH_RAMVECTORS is not set
-# CONFIG_ARCH_MINIMAL_VECTORTABLE is not set
-
-#
-# Board Settings
-#
-CONFIG_BOARD_LOOPSPERMSEC=5483
-# CONFIG_ARCH_CALIBRATION is not set
-
-#
-# Interrupt options
-#
-CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
-CONFIG_ARCH_INTERRUPTSTACK=3072
-CONFIG_ARCH_HAVE_HIPRI_INTERRUPT=y
-# CONFIG_ARCH_HIPRI_INTERRUPT is not set
-
-#
-# Boot options
-#
-# CONFIG_BOOT_RUNFROMEXTSRAM is not set
-CONFIG_BOOT_RUNFROMFLASH=y
-# CONFIG_BOOT_RUNFROMISRAM is not set
-# CONFIG_BOOT_RUNFROMSDRAM is not set
-# CONFIG_BOOT_COPYTORAM is not set
-
-#
-# Boot Memory Configuration
-#
-CONFIG_RAM_START=0x20000000
-CONFIG_RAM_SIZE=20480
-# CONFIG_ARCH_HAVE_SDRAM is not set
-
-#
-# Board Selection
-#
-CONFIG_ARCH_BOARD_ZUBAXGNSS_V1=y
-CONFIG_ARCH_BOARD="zubaxgnss-v1"
-
-#
-# Custom Board Configuration
-#
-# CONFIG_BOARD_CRASHDUMP is not set
-# CONFIG_BOARD_CUSTOM_LEDS is not set
-# CONFIG_BOARD_CUSTOM_BUTTONS is not set
-
-#
-# Common Board Options
-#
-CONFIG_ARCH_HAVE_LEDS=y
-# CONFIG_ARCH_LEDS is not set
-# CONFIG_ARCH_HAVE_BUTTONS is not set
-# CONFIG_ARCH_BUTTONS is not set
-# CONFIG_ARCH_HAVE_IRQBUTTONS is not set
-CONFIG_BOARD_HAS_PROBES=y
-# CONFIG_BOARD_USE_PROBES is not set
-
-#
-# Board-Specific Options
-#
-# CONFIG_BOARD_CRASHDUMP is not set
-# CONFIG_LIB_BOARDCTL is not set
-
-#
-# RTOS Features
-#
-CONFIG_DISABLE_OS_API=y
-CONFIG_DISABLE_POSIX_TIMERS=y
-CONFIG_DISABLE_PTHREAD=y
-CONFIG_DISABLE_SIGNALS=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_ENVIRON=y
-
-#
-# Clocks and Timers
-#
-CONFIG_ARCH_HAVE_TICKLESS=y
-# CONFIG_SCHED_TICKLESS is not set
-CONFIG_USEC_PER_TICK=10000
-# CONFIG_SYSTEM_TIME64 is not set
-# CONFIG_CLOCK_MONOTONIC is not set
-CONFIG_ARCH_HAVE_TIMEKEEPING=y
-# CONFIG_JULIAN_TIME is not set
-CONFIG_START_YEAR=2016
-CONFIG_START_MONTH=11
-CONFIG_START_DAY=30
-CONFIG_MAX_WDOGPARMS=1
-CONFIG_PREALLOC_WDOGS=1
-CONFIG_WDOG_INTRESERVE=0
-CONFIG_PREALLOC_TIMERS=0
-
-#
-# Tasks and Scheduling
-#
-# CONFIG_SPINLOCK is not set
-# CONFIG_INIT_NONE is not set
-CONFIG_INIT_ENTRYPOINT=y
-CONFIG_USER_ENTRYPOINT="main"
-CONFIG_RR_INTERVAL=0
-# CONFIG_SCHED_SPORADIC is not set
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_MAX_TASKS=0
-# CONFIG_SCHED_HAVE_PARENT is not set
-# CONFIG_SCHED_WAITPID is not set
-
-#
-# Performance Monitoring
-#
-# CONFIG_SCHED_CPULOAD is not set
-# CONFIG_SCHED_INSTRUMENTATION is not set
-
-#
-# Files and I/O
-#
-# CONFIG_DEV_CONSOLE is not set
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_NFILE_DESCRIPTORS=0
-CONFIG_NFILE_STREAMS=0
-CONFIG_NAME_MAX=0
-# CONFIG_PRIORITY_INHERITANCE is not set
-
-#
-# RTOS hooks
-#
-# CONFIG_BOARD_INITIALIZE is not set
-# CONFIG_SCHED_STARTHOOK is not set
-# CONFIG_SCHED_ATEXIT is not set
-# CONFIG_SCHED_ONEXIT is not set
-# CONFIG_MODULE is not set
-
-#
-# Work queue support
-#
-
-#
-# Stack and heap information
-#
-CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_USERMAIN_STACKSIZE=880
-CONFIG_PTHREAD_STACK_MIN=256
-CONFIG_PTHREAD_STACK_DEFAULT=464
-# CONFIG_LIB_SYSCALL is not set
-
-#
-# Device Drivers
-#
-CONFIG_DISABLE_POLL=y
-# CONFIG_DEV_NULL is not set
-# CONFIG_DEV_ZERO is not set
-# CONFIG_DEV_URANDOM is not set
-# CONFIG_DEV_LOOP is not set
-
-#
-# Buffering
-#
-# CONFIG_DRVR_WRITEBUFFER is not set
-# CONFIG_DRVR_READAHEAD is not set
-# CONFIG_RAMDISK is not set
-# CONFIG_CAN is not set
-# CONFIG_ARCH_HAVE_PWM_PULSECOUNT is not set
-# CONFIG_ARCH_HAVE_PWM_MULTICHAN is not set
-# CONFIG_PWM is not set
-CONFIG_ARCH_HAVE_I2CRESET=y
-# CONFIG_I2C is not set
-# CONFIG_ARCH_HAVE_SPI_CRCGENERATION is not set
-# CONFIG_ARCH_HAVE_SPI_CS_CONTROL is not set
-CONFIG_ARCH_HAVE_SPI_BITORDER=y
-# CONFIG_SPI is not set
-# CONFIG_I2S is not set
-
-#
-# Timer Driver Support
-#
-# CONFIG_TIMER is not set
-# CONFIG_ONESHOT is not set
-# CONFIG_RTC is not set
-# CONFIG_WATCHDOG is not set
-# CONFIG_ANALOG is not set
-# CONFIG_AUDIO_DEVICES is not set
-# CONFIG_VIDEO_DEVICES is not set
-# CONFIG_BCH is not set
-# CONFIG_INPUT is not set
-
-#
-# IO Expander/GPIO Support
-#
-# CONFIG_IOEXPANDER is not set
-# CONFIG_DEV_GPIO is not set
-
-#
-# LCD Driver Support
-#
-# CONFIG_LCD is not set
-# CONFIG_SLCD is not set
-
-#
-# LED Support
-#
-# CONFIG_RGBLED is not set
-# CONFIG_PCA9635PW is not set
-# CONFIG_NCP5623C is not set
-# CONFIG_MMCSD is not set
-# CONFIG_MODEM is not set
-# CONFIG_MTD is not set
-# CONFIG_EEPROM is not set
-# CONFIG_PIPES is not set
-# CONFIG_PM is not set
-# CONFIG_DRIVERS_SMPS is not set
-# CONFIG_POWER is not set
-# CONFIG_SENSORS is not set
-# CONFIG_SERIAL is not set
-# CONFIG_USBDEV is not set
-# CONFIG_USBHOST is not set
-# CONFIG_USBMISC is not set
-# CONFIG_HAVE_USBTRACE is not set
-# CONFIG_DRIVERS_WIRELESS is not set
-# CONFIG_DRIVERS_CONTACTLESS is not set
-
-#
-# System Logging
-#
-# CONFIG_ARCH_SYSLOG is not set
-# CONFIG_SYSLOG_WRITE is not set
-# CONFIG_RAMLOG is not set
-# CONFIG_SYSLOG_INTBUFFER is not set
-# CONFIG_SYSLOG_TIMESTAMP is not set
-# CONFIG_SYSLOG_SERIAL_CONSOLE is not set
-# CONFIG_SYSLOG_CHAR is not set
-CONFIG_SYSLOG_NONE=y
-# CONFIG_SYSLOG_FILE is not set
-# CONFIG_SYSLOG_CHARDEV is not set
-
-#
-# Networking Support
-#
-# CONFIG_ARCH_HAVE_NET is not set
-# CONFIG_ARCH_HAVE_PHY is not set
-# CONFIG_NET is not set
-
-#
-# Crypto API
-#
-# CONFIG_CRYPTO is not set
-
-#
-# File Systems
-#
-
-#
-# File system configuration
-#
-CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_DISABLE_PSEUDOFS_OPERATIONS=y
-# CONFIG_FS_READABLE is not set
-# CONFIG_FS_WRITABLE is not set
-# CONFIG_FS_NAMED_SEMAPHORES is not set
-# CONFIG_FS_RAMMAP is not set
-# CONFIG_FS_PROCFS is not set
-# CONFIG_FS_UNIONFS is not set
-
-#
-# Graphics Support
-#
-# CONFIG_NX is not set
-
-#
-# Memory Management
-#
-CONFIG_MM_SMALL=y
-CONFIG_MM_REGIONS=1
-# CONFIG_ARCH_HAVE_HEAP2 is not set
-# CONFIG_GRAN is not set
-
-#
-# Common I/O Buffer Support
-#
-# CONFIG_MM_IOB is not set
-
-#
-# Audio Support
-#
-# CONFIG_AUDIO is not set
-
-#
-# Wireless Support
-#
-# CONFIG_WIRELESS is not set
-
-#
-# Binary Loader
-#
-CONFIG_BINFMT_DISABLE=y
-# CONFIG_PIC is not set
-CONFIG_SYMTAB_ORDEREDBYNAME=y
-
-#
-# Library Routines
-#
-
-#
-# Standard C Library Options
-#
-
-#
-# Standard C I/O
-#
-CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_NUNGET_CHARS=0
-# CONFIG_NOPRINTF_FIELDWIDTH is not set
-# CONFIG_LIBC_FLOATINGPOINT is not set
-# CONFIG_LIBC_LONG_LONG is not set
-# CONFIG_LIBC_SCANSET is not set
-# CONFIG_EOL_IS_CR is not set
-# CONFIG_EOL_IS_LF is not set
-# CONFIG_EOL_IS_BOTH_CRLF is not set
-CONFIG_EOL_IS_EITHER_CRLF=y
-# CONFIG_MEMCPY_VIK is not set
-# CONFIG_LIBM is not set
-
-#
-# Architecture-Specific Support
-#
-# CONFIG_ARCH_LOWPUTC is not set
-# CONFIG_ARCH_ROMGETC is not set
-# CONFIG_LIBC_ARCH_MEMCPY is not set
-# CONFIG_LIBC_ARCH_MEMCMP is not set
-# CONFIG_LIBC_ARCH_MEMMOVE is not set
-# CONFIG_LIBC_ARCH_MEMSET is not set
-# CONFIG_LIBC_ARCH_STRCHR is not set
-# CONFIG_LIBC_ARCH_STRCMP is not set
-# CONFIG_LIBC_ARCH_STRCPY is not set
-# CONFIG_LIBC_ARCH_STRNCPY is not set
-# CONFIG_LIBC_ARCH_STRLEN is not set
-# CONFIG_LIBC_ARCH_STRNLEN is not set
-# CONFIG_LIBC_ARCH_ELF is not set
-# CONFIG_ARMV7M_MEMCPY is not set
-
-#
-# stdlib Options
-#
-CONFIG_LIB_RAND_ORDER=1
-
-#
-# Program Execution Options
-#
-CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=768
-CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=768
-
-#
-# errno Decode Support
-#
-# CONFIG_LIBC_STRERROR is not set
-# CONFIG_LIBC_PERROR_STDOUT is not set
-
-#
-# memcpy/memset Options
-#
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MEMSET_64BIT=y
-# CONFIG_LIBC_DLLFCN is not set
-# CONFIG_LIBC_MODLIB is not set
-# CONFIG_LIBC_WCHAR is not set
-# CONFIG_LIBC_LOCALE is not set
-
-#
-# Time/Time Zone Support
-#
-# CONFIG_TIME_EXTENDED is not set
-CONFIG_ARCH_HAVE_TLS=y
-
-#
-# Thread Local Storage (TLS)
-#
-# CONFIG_TLS is not set
-
-#
-# Network-Related Options
-#
-# CONFIG_LIBC_IPv4_ADDRCONV is not set
-# CONFIG_LIBC_IPv6_ADDRCONV is not set
-# CONFIG_LIBC_NETDB is not set
-
-#
-# NETDB Support
-#
-# CONFIG_LIBC_IOCTL_VARIADIC is not set
-CONFIG_LIB_SENDFILE_BUFSIZE=0
-
-#
-# Non-standard Library Support
-#
-# CONFIG_LIB_CRC64_FAST is not set
-# CONFIG_LIB_KBDCODEC is not set
-# CONFIG_LIB_SLCDCODEC is not set
-# CONFIG_LIB_HEX2BIN is not set
-
-#
-# Basic CXX Support
-#
-CONFIG_C99_BOOL8=y
-CONFIG_HAVE_CXX=y
-# CONFIG_CXX_NEWLONG is not set
-
-#
-# LLVM C++ Library (libcxx)
-#
-# CONFIG_LIBCXX is not set
-
-#
-# uClibc++ Standard C++ Library
-#
-# CONFIG_UCLIBCXX is not set
-
-#
-# Application Configuration
-#
-
-#
-# CAN Utilities
-#
-
-#
-# Examples
-#
-# CONFIG_EXAMPLES_CCTYPE is not set
-# CONFIG_EXAMPLES_CHAT is not set
-# CONFIG_EXAMPLES_CONFIGDATA is not set
-# CONFIG_EXAMPLES_CXXTEST is not set
-# CONFIG_EXAMPLES_DHCPD is not set
-# CONFIG_EXAMPLES_ELF is not set
-# CONFIG_EXAMPLES_FTPC is not set
-# CONFIG_EXAMPLES_FTPD is not set
-# CONFIG_EXAMPLES_HELLO is not set
-# CONFIG_EXAMPLES_HELLOXX is not set
-# CONFIG_EXAMPLES_HIDKBD is not set
-# CONFIG_EXAMPLES_IGMP is not set
-# CONFIG_EXAMPLES_JSON is not set
-# CONFIG_EXAMPLES_MEDIA is not set
-# CONFIG_EXAMPLES_MM is not set
-# CONFIG_EXAMPLES_MODBUS is not set
-# CONFIG_EXAMPLES_MOUNT is not set
-# CONFIG_EXAMPLES_NSH is not set
-CONFIG_EXAMPLES_NULL=y
-# CONFIG_EXAMPLES_NXFFS is not set
-# CONFIG_EXAMPLES_NXHELLO is not set
-# CONFIG_EXAMPLES_NXIMAGE is not set
-# CONFIG_EXAMPLES_NX is not set
-# CONFIG_EXAMPLES_NXLINES is not set
-# CONFIG_EXAMPLES_NXTERM is not set
-# CONFIG_EXAMPLES_NXTEXT is not set
-# CONFIG_EXAMPLES_PCA9635 is not set
-# CONFIG_EXAMPLES_POSIXSPAWN is not set
-# CONFIG_EXAMPLES_POWERMONITOR is not set
-# CONFIG_EXAMPLES_PPPD is not set
-# CONFIG_EXAMPLES_RFID_READUID is not set
-# CONFIG_EXAMPLES_RGBLED is not set
-# CONFIG_EXAMPLES_SENDMAIL is not set
-# CONFIG_EXAMPLES_SERIALBLASTER is not set
-# CONFIG_EXAMPLES_SERIALRX is not set
-# CONFIG_EXAMPLES_SERLOOP is not set
-# CONFIG_EXAMPLES_SLCD is not set
-# CONFIG_EXAMPLES_SMART is not set
-# CONFIG_EXAMPLES_SMP is not set
-# CONFIG_EXAMPLES_STAT is not set
-# CONFIG_EXAMPLES_TCPECHO is not set
-# CONFIG_EXAMPLES_TIFF is not set
-# CONFIG_EXAMPLES_TOUCHSCREEN is not set
-# CONFIG_EXAMPLES_WATCHDOG is not set
-# CONFIG_EXAMPLES_WEBSERVER is not set
-# CONFIG_EXAMPLES_XBC_TEST is not set
-
-#
-# File System Utilities
-#
-# CONFIG_FSUTILS_INIFILE is not set
-
-#
-# GPS Utilities
-#
-# CONFIG_GPSUTILS_MINMEA_LIB is not set
-
-#
-# Graphics Support
-#
-# CONFIG_TIFF is not set
-# CONFIG_GRAPHICS_TRAVELER is not set
-
-#
-# Interpreters
-#
-# CONFIG_INTERPRETERS_FICL is not set
-# CONFIG_INTERPRETERS_MICROPYTHON is not set
-# CONFIG_INTERPRETERS_MINIBASIC is not set
-# CONFIG_INTERPRETERS_PCODE is not set
-
-#
-# FreeModBus
-#
-# CONFIG_MODBUS is not set
-
-#
-# Network Utilities
-#
-# CONFIG_NETUTILS_CODECS is not set
-# CONFIG_NETUTILS_ESP8266 is not set
-# CONFIG_NETUTILS_FTPC is not set
-# CONFIG_NETUTILS_JSON is not set
-# CONFIG_NETUTILS_SMTP is not set
-
-#
-# NSH Library
-#
-# CONFIG_NSH_LIBRARY is not set
-
-#
-# NxWidgets/NxWM
-#
-
-#
-# Platform-specific Support
-#
-# CONFIG_PLATFORM_CONFIGDATA is not set
-CONFIG_HAVE_CXXINITIALIZE=y
-
-#
-# System Libraries and NSH Add-Ons
-#
-# CONFIG_SYSTEM_CLE is not set
-# CONFIG_SYSTEM_CUTERM is not set
-# CONFIG_SYSTEM_FREE is not set
-# CONFIG_SYSTEM_HEX2BIN is not set
-# CONFIG_SYSTEM_HEXED is not set
-# CONFIG_SYSTEM_INSTALL is not set
-# CONFIG_SYSTEM_RAMTEST is not set
-# CONFIG_READLINE_HAVE_EXTMATCH is not set
-# CONFIG_SYSTEM_READLINE is not set
-# CONFIG_SYSTEM_STACKMONITOR is not set
-# CONFIG_SYSTEM_SUDOKU is not set
-# CONFIG_SYSTEM_TEE is not set
-# CONFIG_SYSTEM_UBLOXMODEM is not set
-# CONFIG_SYSTEM_VI is not set
-# CONFIG_SYSTEM_ZMODEM is not set
-
-#
-# Wireless Libraries and NSH Add-Ons
-#
-
-#
-# IEEE 802.15.4 applications
-#
-# CONFIG_IEEE802154_LIBMAC is not set
-# CONFIG_IEEE802154_LIBUTILS is not set
-# CONFIG_IEEE802154_I8SAK is not set
diff --git a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/scripts/ld.script b/platforms/nuttx/nuttx-configs/zubaxgnss-v1/scripts/ld.script
deleted file mode 100644
index 6f71caf2ea..0000000000
--- a/platforms/nuttx/nuttx-configs/zubaxgnss-v1/scripts/ld.script
+++ /dev/null
@@ -1,153 +0,0 @@
-/****************************************************************************
- * nuttx-configs/zubaxgnss-v1/scripts/ld.script
- *
- * Copyright (C) 2015 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.
- *
- ****************************************************************************/
-
-/* The STM32F105RCT6 has 256KiB of FLASH beginning at address 0x0800:0000 and
- * 64KiB of SRAM beginning at address 0x2000:0000. When booting from FLASH,
- * FLASH memory is aliased to address 0x0000:0000 where the code expects to
- * begin execution by jumping to the entry point in the 0x0800:0000 address
- * range.
- *
- * The first 8KiB of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
- flash (rx) : ORIGIN = 0x08002000, LENGTH = 248K
- sram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
-}
-
-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).
- */
-EXTERN(abort)
-
-SECTIONS
-{
- .text : {
- _stext = ABSOLUTE(.);
- *(.vectors)
- . = ALIGN(8);
- /*
- * This section positions the app_descriptor_t used
- * by the make_can_boot_descriptor.py tool to set
- * the application image's descriptor so that the
- * uavcan bootloader has the ability to validate the
- * image crc, size etc
- */
- KEEP(*(.app_descriptor))
- *(.text .text.*)
- *(.fixup)
- *(.gnu.warning)
- *(.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.
- */
- __errno = get_errno_ptr;
- } > flash
-
-/*
- * Init functions (static constructors and the like)
- */
- .init_section : {
- _sinit = ABSOLUTE(.);
- KEEP(*(.init_array .init_array.*))
- _einit = ABSOLUTE(.);
- } > flash
-
- /*
- * Construction data for parameters.
- */
- __param ALIGN(4): {
- __param_start = ABSOLUTE(.);
- KEEP(*(__param))
- __param_end = ABSOLUTE(.);
- } > flash
-
- .ARM.extab : {
- *(.ARM.extab*)
- } > flash
-
- __exidx_start = ABSOLUTE(.);
- .ARM.exidx : {
- *(.ARM.exidx*)
- } > flash
- __exidx_end = ABSOLUTE(.);
-
- _eronly = ABSOLUTE(.);
-
- /* The STM32F103CB has 20Kb of SRAM beginning at the following address */
-
- .data : {
- _sdata = ABSOLUTE(.);
- *(.data .data.*)
- *(.gnu.linkonce.d.*)
- CONSTRUCTORS
- _edata = ABSOLUTE(.);
- } > sram AT > flash
-
- .bss : {
- _sbss = ABSOLUTE(.);
- *(.bss .bss.*)
- *(.gnu.linkonce.b.*)
- *(COMMON)
- . = ALIGN(4);
- _ebss = ABSOLUTE(.);
- } > sram
-
- /* Stabs debugging sections. */
- .stab 0 : { *(.stab) }
- .stabstr 0 : { *(.stabstr) }
- .stab.excl 0 : { *(.stab.excl) }
- .stab.exclstr 0 : { *(.stab.exclstr) }
- .stab.index 0 : { *(.stab.index) }
- .stab.indexstr 0 : { *(.stab.indexstr) }
- .comment 0 : { *(.comment) }
- .debug_abbrev 0 : { *(.debug_abbrev) }
- .debug_info 0 : { *(.debug_info) }
- .debug_line 0 : { *(.debug_line) }
- .debug_pubnames 0 : { *(.debug_pubnames) }
- .debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/platforms/nuttx/src/px4_layer/CMakeLists.txt b/platforms/nuttx/src/px4_layer/CMakeLists.txt
index 98f4065751..19dd2da806 100644
--- a/platforms/nuttx/src/px4_layer/CMakeLists.txt
+++ b/platforms/nuttx/src/px4_layer/CMakeLists.txt
@@ -32,7 +32,7 @@
############################################################################
# skip for px4_layer support on an IO board
-if (NOT ${BOARD} MATCHES "px4io")
+if (NOT ${PX4_BOARD} MATCHES "px4io")
add_library(px4_layer
px4_nuttx_tasks.c
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index ef2dbfe39f..c8d56e7c27 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -21,7 +21,7 @@ px4_posix_generate_alias(
PREFIX ${PX4_SHELL_COMMAND_PREFIX}
)
-if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
+if (("${PX4_BOARD}" STREQUAL "atlflighteagle") OR ("${PX4_BOARD}" STREQUAL "atlflightexcelsior"))
include(fastrpc)
include(linux_app)
@@ -55,7 +55,7 @@ if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
)
else()
- px4_add_executable(px4
+ add_executable(px4
src/main.cpp
apps.cpp
)
@@ -101,7 +101,7 @@ px4_posix_generate_symlinks(
TARGET px4
)
-if ("${BOARD}" STREQUAL "rpi")
+if (("${PX4_BOARD}" MATCHES "raspberrypi") OR ("${PX4_BOARD}" MATCHES "navio2"))
add_custom_target(upload
COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@"$ENV{AUTOPILOT_HOST}":/home/pi
DEPENDS px4
@@ -109,7 +109,7 @@ if ("${BOARD}" STREQUAL "rpi")
USES_TERMINAL
)
-elseif ("${BOARD}" STREQUAL "bbblue")
+elseif ("${PX4_BOARD}" MATCHES "bbblue")
target_link_libraries(px4 PRIVATE robotcontrol)
add_custom_target(upload
@@ -119,7 +119,7 @@ elseif ("${BOARD}" STREQUAL "bbblue")
USES_TERMINAL
)
-elseif ("${BOARD}" STREQUAL "bebop")
+elseif ("${PX4_BOARD}" MATCHES "bebop")
add_custom_target(upload
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/. /data/ftp/internal_000
@@ -128,7 +128,7 @@ elseif ("${BOARD}" STREQUAL "bebop")
USES_TERMINAL
)
-elseif ("${BOARD}" STREQUAL "sitl")
+elseif ("${PX4_BOARD}" MATCHES "sitl")
include(sitl_target)
if(BUILD_TESTING)
@@ -178,9 +178,9 @@ elseif ("${BOARD}" STREQUAL "sitl")
# sitl_gazebo built plugins
install(
DIRECTORY
- ${PROJECT_SOURCE_DIR}/build/posix_sitl_default/build_gazebo
+ ${PROJECT_SOURCE_DIR}/build/px4sitl_default/build_gazebo
DESTINATION
- ${PROJECT_NAME}/build/posix_sitl_default
+ ${PROJECT_NAME}/build/px4sitl_default
FILES_MATCHING
PATTERN "CMakeFiles" EXCLUDE
PATTERN "*.so"
@@ -204,14 +204,4 @@ elseif ("${BOARD}" STREQUAL "sitl")
${PROJECT_NAME}/Tools/sitl_gazebo
)
-elseif (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
-
- # package all libs?
- #install(
- # FILES
- # $ENV{HEXAGON_ARM_SYSROOT}/usr/lib/libadsprpc.so
- # DESTINATION
- # lib
- # )
-
endif()
diff --git a/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a53.cmake b/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a53.cmake
new file mode 100644
index 0000000000..0efdba6458
--- /dev/null
+++ b/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a53.cmake
@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-a53 -mfpu=neon -mfloat-abi=hard")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
diff --git a/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a8.cmake b/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a8.cmake
new file mode 100644
index 0000000000..dc2ada647b
--- /dev/null
+++ b/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a8.cmake
@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard -mthumb-interwork")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
diff --git a/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a9.cmake b/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a9.cmake
new file mode 100644
index 0000000000..7b9b3e665f
--- /dev/null
+++ b/platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a9.cmake
@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-a8 -mfpu=neon-vfpv3 -mfloat-abi=hard -mthumb-interwork")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
diff --git a/platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake b/platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake
new file mode 100644
index 0000000000..9f68b2202c
--- /dev/null
+++ b/platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake
@@ -0,0 +1,45 @@
+# arm-linux-gnueabihf-gcc toolchain
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+
+set(triple arm-linux-gnueabihf)
+set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
+set(TOOLCHAIN_PREFIX ${triple})
+
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
+set(CMAKE_C_COMPILER_TARGET ${triple})
+
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
+set(CMAKE_CXX_COMPILER_TARGET ${triple})
+
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+
+# compiler tools
+foreach(tool nm ld objcopy ranlib strip)
+ string(TOUPPER ${tool} TOOL)
+ find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
+ if(CMAKE-${TOOL} MATCHES "NOTFOUND")
+ message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
+ endif()
+endforeach()
+
+set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# os tools
+foreach(tool grep make)
+ string(TOUPPER ${tool} TOOL)
+ find_program(${TOOL} ${tool})
+ if(NOT ${TOOL})
+ message(FATAL_ERROR "could not find ${tool}")
+ endif()
+endforeach()
+
+# optional compiler tools
+foreach(tool gdb gdbtui)
+ string(TOUPPER ${tool} TOOL)
+ find_program(${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
+endforeach()
diff --git a/cmake/toolchains/Toolchain-native.cmake b/platforms/posix/cmake/Toolchain-native.cmake
similarity index 100%
rename from cmake/toolchains/Toolchain-native.cmake
rename to platforms/posix/cmake/Toolchain-native.cmake
diff --git a/platforms/posix/cmake/px4_add_board_os.cmake b/platforms/posix/cmake/px4_add_board_os.cmake
new file mode 100644
index 0000000000..90d4acca8a
--- /dev/null
+++ b/platforms/posix/cmake/px4_add_board_os.cmake
@@ -0,0 +1,106 @@
+############################################################################
+#
+# Copyright (c) 2018 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.
+#
+############################################################################
+
+#=============================================================================
+#
+# Defined functions in this file
+#
+# utility functions
+#
+# * px4_add_board_os
+#
+
+include(px4_base)
+
+#=============================================================================
+#
+# px4_add_board_os
+#
+# This function creates a PX4 board.
+#
+# Usage:
+# px4_add_board_os(
+# BOARD <string>
+# OS <string>
+# [ TOOLCHAIN ] <string>
+# )
+#
+# Input:
+# BOARD : name of board
+# OS : posix, nuttx, qurt
+#
+#
+# Example:
+# px4_add_board_os(
+# BOARD px4fmu-v2_default
+# OS nuttx
+# )
+#
+function(px4_add_board_os)
+
+ px4_parse_function_args(
+ NAME px4_add_board_os
+ ONE_VALUE
+ VENDOR
+ MODEL
+ LABEL
+ PLATFORM
+ TOOLCHAIN
+ ARCH
+ ROMFSROOT
+ IO
+ BOOTLOADER
+ UAVCAN_INTERFACES
+ MULTI_VALUE
+ DRIVERS
+ MODULES
+ SYSTEMCMDS
+ EXAMPLES
+ SERIAL_PORTS
+ DF_DRIVERS # DriverFramework drivers
+ OPTIONS
+ CONSTRAINED_FLASH
+ ROMFS
+ TESTING
+ REQUIRED
+ ARGN ${ARGN})
+
+ if(NOT CMAKE_TOOLCHAIN_FILE)
+ # default to native toolchain
+ set(CMAKE_TOOLCHAIN_FILE Toolchain-native CACHE INTERNAL "toolchain file" FORCE)
+ endif()
+
+ include(px4_impl_os)
+ px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
+
+endfunction()
diff --git a/platforms/posix/cmake/px4_impl_os.cmake b/platforms/posix/cmake/px4_impl_os.cmake
index d21bccd3fc..acbc0d2937 100644
--- a/platforms/posix/cmake/px4_impl_os.cmake
+++ b/platforms/posix/cmake/px4_impl_os.cmake
@@ -45,8 +45,7 @@
# * px4_os_prebuild_targets
#
-include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
+include(px4_base)
# This makes it possible to dynamically load code which depends on symbols
# inside the px4 executable.
@@ -155,9 +154,7 @@ function(px4_posix_generate_alias)
)
endif()
endforeach()
- configure_file(${PX4_SOURCE_DIR}/platforms/posix/src/px4-alias.sh_in
- ${OUT}
- )
+ configure_file(${PX4_SOURCE_DIR}/platforms/posix/src/px4-alias.sh_in ${OUT})
endfunction()
@@ -198,6 +195,7 @@ function(px4_posix_generate_symlinks)
set(${property} ${${property}_DEFAULT})
endif()
endforeach()
+
if (MAIN)
set(ln_name "${PREFIX}${MAIN}")
add_custom_command(TARGET ${TARGET}
@@ -262,7 +260,7 @@ function(px4_os_add_flags)
ARGN ${ARGN})
px4_add_common_flags(
- BOARD ${BOARD}
+ BOARD ${PX4_BOARD}
C_FLAGS ${C_FLAGS}
CXX_FLAGS ${CXX_FLAGS}
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
@@ -292,8 +290,8 @@ function(px4_os_add_flags)
message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
endif()
- EXEC_PROGRAM(uname ARGS -v OUTPUT_VARIABLE DARWIN_VERSION)
- STRING(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
+ execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
+ string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
if (DARWIN_VERSION LESS 16)
add_definitions(
@@ -318,7 +316,7 @@ function(px4_os_add_flags)
endif()
# This block sets added_c_flags (appends to others).
- if ("${BOARD}" STREQUAL "eagle")
+ if ("${PX4_BOARD}" STREQUAL "eagle")
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
@@ -339,7 +337,7 @@ function(px4_os_add_flags)
--sysroot=${HEXAGON_ARM_SYSROOT}
)
# This block sets added_c_flags (appends to others).
- elseif ("${BOARD}" STREQUAL "excelsior")
+ elseif ("${PX4_BOARD}" STREQUAL "excelsior")
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
@@ -359,7 +357,14 @@ function(px4_os_add_flags)
${excelsior_flags}
)
- elseif ("${BOARD}" STREQUAL "rpi")
+ elseif ("${PX4_BOARD}" STREQUAL "rpi")
+
+ add_definitions(
+ -D__PX4_POSIX_RPI
+ -D__DF_LINUX # For DriverFramework
+ -D__DF_RPI # For DriverFramework
+ )
+
set(RPI_COMPILE_FLAGS -mcpu=cortex-a53 -mfpu=neon -mfloat-abi=hard)
list(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})
@@ -387,11 +392,41 @@ function(px4_os_add_flags)
-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
)
ENDIF()
- elseif ("${BOARD}" STREQUAL "bebop")
+ elseif ("${PX4_BOARD}" STREQUAL "bebop")
+
+ add_definitions(
+ -D__PX4_POSIX_BEBOP
+ -D__DF_LINUX # Define needed DriverFramework
+ -D__DF_BEBOP # Define needed DriverFramework
+ )
+
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
list(APPEND added_cxx_flags -Wno-missing-field-initializers)
-
- elseif ("${BOARD}" STREQUAL "bbblue")
+
+ elseif ("${PX4_BOARD}" MATCHES "ocpoc")
+
+ add_definitions(
+ -D__PX4_POSIX_OCPOC
+ -D__DF_LINUX # For DriverFramework
+ -D__DF_OCPOC # For DriverFramework
+ -D__PX4_POSIX
+ )
+
+ elseif ("${PX4_BOARD}" STREQUAL "bbblue")
+
+ add_definitions(
+ -D__PX4_POSIX_BBBLUE
+ -D__PX4_POSIX
+ -D__DF_LINUX # For DriverFramework
+ -D__DF_BBBLUE # For DriverFramework
+ -DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library
+ #-DDEBUG_BUILD
+
+ #optional __DF_BBBLUE_USE_RC_BMP280_IMP
+ -D__DF_BBBLUE_USE_RC_BMP280_IMP
+ -D__PX4_BBBLUE_DEFAULT_MAVLINK_WIFI="wlan"
+ )
+
set(BBBLUE_COMPILE_FLAGS -mcpu=cortex-a8 -mfpu=neon -mfloat-abi=hard -mtune=cortex-a8)
list(APPEND added_c_flags ${BBBLUE_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS})
@@ -414,7 +449,6 @@ function(px4_os_add_flags)
# output
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)
- #message(STATUS "posix: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
endforeach()
@@ -433,7 +467,7 @@ endfunction()
# )
#
# Input:
-# BOARD : board
+# BOARD : board
#
# Output:
# OUT : the target list
@@ -445,9 +479,10 @@ function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD
- REQUIRED OUT BOARD
+ REQUIRED OUT
ARGN ${ARGN})
- add_library(${OUT} INTERFACE)
- add_dependencies(${OUT} DEPENDS uorb_headers)
+ add_library(prebuild_targets INTERFACE)
+ add_dependencies(prebuild_targets DEPENDS uorb_headers)
+
endfunction()
diff --git a/platforms/posix/src/px4_layer/CMakeLists.txt b/platforms/posix/src/px4_layer/CMakeLists.txt
index 661da197fb..bbb71b48a6 100644
--- a/platforms/posix/src/px4_layer/CMakeLists.txt
+++ b/platforms/posix/src/px4_layer/CMakeLists.txt
@@ -33,7 +33,7 @@
set(EXTRA_DEPENDS)
if("${CONFIG_SHMEM}" STREQUAL "1")
- set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+ list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
include(hexagon_sdk)
include_directories(${HEXAGON_SDK_INCLUDES})
include_directories(${PX4_BINARY_DIR}/platforms/posix)
diff --git a/platforms/qurt/CMakeLists.txt b/platforms/qurt/CMakeLists.txt
index 64387f780b..3c46461e2d 100644
--- a/platforms/qurt/CMakeLists.txt
+++ b/platforms/qurt/CMakeLists.txt
@@ -1,4 +1,5 @@
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
include(toolchain/Toolchain-qurt)
include(fastrpc)
include(qurt_lib)
diff --git a/platforms/qurt/cmake/px4_add_board_os.cmake b/platforms/qurt/cmake/px4_add_board_os.cmake
new file mode 100644
index 0000000000..975aec42dd
--- /dev/null
+++ b/platforms/qurt/cmake/px4_add_board_os.cmake
@@ -0,0 +1,101 @@
+############################################################################
+#
+# Copyright (c) 2018 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.
+#
+############################################################################
+
+#=============================================================================
+#
+# Defined functions in this file
+#
+# utility functions
+#
+# * px4_add_board_os
+#
+
+include(px4_base)
+
+#=============================================================================
+#
+# px4_add_board_os
+#
+# This function creates a PX4 board.
+#
+# Usage:
+# px4_add_board_os(
+# BOARD <string>
+# OS <string>
+# [ TOOLCHAIN ] <string>
+# )
+#
+# Input:
+# BOARD : name of board
+# OS : posix, nuttx, qurt
+#
+#
+# Example:
+# px4_add_board_os(
+# BOARD px4fmu-v2_default
+# OS nuttx
+# )
+#
+function(px4_add_board_os)
+
+ px4_parse_function_args(
+ NAME px4_add_board_os
+ ONE_VALUE
+ VENDOR
+ MODEL
+ LABEL
+ PLATFORM
+ TOOLCHAIN
+ ARCH
+ ROMFSROOT
+ IO
+ BOOTLOADER
+ UAVCAN_INTERFACES
+ MULTI_VALUE
+ DRIVERS
+ MODULES
+ SYSTEMCMDS
+ EXAMPLES
+ SERIAL_PORTS
+ DF_DRIVERS # DriverFramework drivers
+ OPTIONS
+ CONSTRAINED_FLASH
+ ROMFS
+ TESTING
+ REQUIRED
+ ARGN ${ARGN})
+
+ include(px4_impl_os)
+ px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
+
+endfunction()
diff --git a/platforms/qurt/cmake/px4_impl_os.cmake b/platforms/qurt/cmake/px4_impl_os.cmake
index d5797f8337..8e4db781e3 100644
--- a/platforms/qurt/cmake/px4_impl_os.cmake
+++ b/platforms/qurt/cmake/px4_impl_os.cmake
@@ -49,8 +49,7 @@
# * px4_os_prebuild_targets
#
-include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
+include(px4_base)
#=============================================================================
#
@@ -152,7 +151,7 @@ function(px4_os_add_flags)
ARGN ${ARGN})
px4_add_common_flags(
- BOARD ${BOARD}
+ BOARD ${PX4_BOARD}
C_FLAGS ${C_FLAGS}
CXX_FLAGS ${CXX_FLAGS}
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
@@ -205,7 +204,6 @@ function(px4_os_add_flags)
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
- #message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
endforeach()
endfunction()
@@ -223,7 +221,7 @@ endfunction()
# )
#
# Input:
-# BOARD : board
+# BOARD : board
#
# Output:
# OUT : the target list
@@ -235,9 +233,10 @@ function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD
- REQUIRED OUT BOARD
+ REQUIRED OUT
ARGN ${ARGN})
- add_library(${OUT} INTERFACE)
- add_dependencies(${OUT} DEPENDS uorb_headers)
+ add_library(prebuild_targets INTERFACE)
+ add_dependencies(prebuild_targets DEPENDS uorb_headers)
+
endfunction()
diff --git a/platforms/qurt/include/board_config.h b/platforms/qurt/include/board_config.h
index 6834fc28c3..7631af9347 100644
--- a/platforms/qurt/include/board_config.h
+++ b/platforms/qurt/include/board_config.h
@@ -13,4 +13,4 @@
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
-#include "../common/board_common.h"
+#include <drivers/boards/common/board_common.h>
diff --git a/platforms/qurt/src/px4_layer/CMakeLists.txt b/platforms/qurt/src/px4_layer/CMakeLists.txt
index b7b1fd83c7..87affa5a40 100644
--- a/platforms/qurt/src/px4_layer/CMakeLists.txt
+++ b/platforms/qurt/src/px4_layer/CMakeLists.txt
@@ -31,7 +31,7 @@
#
############################################################################
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
include(hexagon_sdk)
include_directories(${HEXAGON_8074_INCLUDES})
diff --git a/src/drivers/bbblue_adc/CMakeLists.txt b/src/drivers/bbblue_adc/CMakeLists.txt
index e85e9f45f3..8cb424ec2a 100644
--- a/src/drivers/bbblue_adc/CMakeLists.txt
+++ b/src/drivers/bbblue_adc/CMakeLists.txt
@@ -30,7 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
-if ("${BOARD}" STREQUAL "bbblue")
+if ("${PX4_BOARD}" STREQUAL "bbblue")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
diff --git a/src/drivers/boards/CMakeLists.txt b/src/drivers/boards/CMakeLists.txt
index 3ff910cc31..0b2ad7992e 100644
--- a/src/drivers/boards/CMakeLists.txt
+++ b/src/drivers/boards/CMakeLists.txt
@@ -31,11 +31,4 @@
#
############################################################################
-if (BOARD)
- add_subdirectory(common)
- add_subdirectory(${BOARD})
-else()
- message(FATAL_ERROR "BOARD not defined")
-endif()
-
-
+add_subdirectory(common)
diff --git a/src/drivers/boards/common/CMakeLists.txt b/src/drivers/boards/common/CMakeLists.txt
index ce63d8d4eb..0650762097 100644
--- a/src/drivers/boards/common/CMakeLists.txt
+++ b/src/drivers/boards/common/CMakeLists.txt
@@ -32,7 +32,7 @@
############################################################################
# common board drivers (currently only for nuttx fmu boards)
-if (${OS} MATCHES "nuttx" AND NOT ${BOARD} MATCHES "io")
+if ((${PX4_PLATFORM} MATCHES "nuttx") AND NOT ${PX4_BOARD} MATCHES "io")
px4_add_library(drivers_boards_common
board_crashdump.c
diff --git a/src/drivers/boards/common/board_common.h b/src/drivers/boards/common/board_common.h
index 12bcf0b294..1e4afa8623 100644
--- a/src/drivers/boards/common/board_common.h
+++ b/src/drivers/boards/common/board_common.h
@@ -255,7 +255,7 @@
# else
/* Use PX4IO FW search paths defaults based on version */
# if BOARD_USES_PX4IO_VERSION == 2
-# define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4io-v2.bin", "/fs/microsd/px4io2.bin", "/fs/microsd/px4io.bin", nullptr }
+# define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4io-v2_default.bin", "/fs/microsd/px4io2.bin", "/fs/microsd/px4io.bin", nullptr }
# endif
# endif
#endif
diff --git a/src/drivers/boards/common/stm32/CMakeLists.txt b/src/drivers/boards/common/stm32/CMakeLists.txt
index 088003db7b..11c0107e2b 100644
--- a/src/drivers/boards/common/stm32/CMakeLists.txt
+++ b/src/drivers/boards/common/stm32/CMakeLists.txt
@@ -31,18 +31,11 @@
#
############################################################################
-set(SRCS
+add_library(drivers_boards_common_arch
board_identity.c
+ board_mcu_version.c
+ board_reset.c
+ board_hw_rev_ver.c
)
-
-if (NOT ${LABEL} STREQUAL "bootloader")
- list(APPEND SRCS
- board_mcu_version.c
- board_reset.c
- board_hw_rev_ver.c
- )
-endif()
-
-add_library(drivers_boards_common_arch ${SRCS})
add_dependencies(drivers_boards_common_arch prebuild_targets)
target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)
diff --git a/src/drivers/boards/px4flow-v2/board_config.h b/src/drivers/boards/px4flow-v2/board_config.h
deleted file mode 100644
index a9241548db..0000000000
--- a/src/drivers/boards/px4flow-v2/board_config.h
+++ /dev/null
@@ -1,385 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2012-2015 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * PX4FLOWv2 internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-#if STM32_NSPI < 1
-# undef CONFIG_STM32_SPI1
-# undef CONFIG_STM32_SPI2
-#elif STM32_NSPI < 2
-# undef CONFIG_STM32_SPI2
-#endif
-
-/* High-resolution timer
- */
-#define HRT_TIMER 8 /* use timer1 for the HRT */
-#define HRT_TIMER_CHANNEL 8 /* use capture/compare channel */
-
-/* GPIO ***********************************************************************
- *
- * GPIO Function MPU Board
- * Pin # Name
- * -- ----- -------------------------------- ----------------------
- *
- * PA[00] PA0/TIM2_CH1/TIM5_CH1/USART2_CTS/UART4_TX 23 TIM5_CH1
- * PA[01] PA1/TIM2_CH2/TIM5_CH2/USART2_RTS/UART4_RX 24 TIM5_CH2 NC.
- * PA[02] PA2/TIM2_CH3/TIM5_CH3/TIM9_CH1/USART2_TX 25 TIM5_CH3_EXPOSURE
- * PA[03] PA3/TIM2_CH4/TIM5_CH4/TIM9_CH2/USART2_RX 26 TIM5_CH4_STANDBY
- * PA[04] PA4/SPI1_NSS/SPI3_NSS/DCMI_HSYNC/LCD_VSYNC 29 DCMI_HSYNC
- * PA[05] PA5/TIM2_CH1/TIM2_ETR/TIM8_CH1N/SPI1_SCK 30 CAM_NRESET
- * PA[06] PA6/TIM3_CH1/SPI1_MISO/TIM13_CH1/DCMI_PIXCLK 31 DCMI_PIXCK
- * PA[07] PA7/TIM1,8_CH1N/TIM3_CH2/SPI1_MOSI/TIM14_CH1 32 SPI1_MOSI---
- * PA[08] PA8/MCO1/TIM1_CH1/I2C3_SCL/USART1_CK/LCD_R6/ 67 MPU_CS
- * PA[09] PA9/TIM1_CH2/USART1_TX/DCMI_D0/OTG_FS_VBUS 68 VBUS
- * PA[10] PA10/TIM1_CH3/USART1_RX/OTG_FS_ID/DCMI_D1 69 OTG_FS_ID
- * PA[11] PA11/TIM1_CH4/USART1_CTS/CAN1_RX/LCD_R4/OTG_FS_DM 70 OTG_FS_N
- * PA[12] PA12/TIM1_ETR/USART1_RTS/CAN1_TX/LCD_R5/OTG_FS_DP 71 OTG_FS_P
- * PA[13] PA13/JTMS-SWDIO 72 JTMS-SWDIO
- * PA[14] PA14/JTCK-SWCLK 76 JTCK-SWCLK
- * PA[15] PA15/JTDI/TIM2_CH1/TIM2_ETR/SPI1_NSS 77 JTDI
- *
- */
-/*
- * PB[00] PB0/TIM1_CH2N/TIM3_CH3/TIM8_CH2N/OTG_HS_ULPI_D1 35 PRES_DRDY---
- * PB[01] PB1/TIM1,8_CH3N/TIM3_CH4/LCD_R6/OTG_HS_ULPI_D2 36 MAG_DRDY---
- * PB[02] PB2/BOOT1 37 PB2-BOOT1
- * PB[03] PB3/JTDO/TRACESWO/TIM2_CH2/SPI1_SCK/SPI3_SCK 89 JTDO
- * PB[04] PB4/NJTRST/TIM3_CH1/SPI1_MISO/SPI3_MISO 90 JTRST
- * PB[05] PB5/TIM3_CH2/SPI1_MOSI/SPI3_MOSI/CAN2_RX/DCMI_D10 91 PCM1_D10 N.C
- * PB[06] PB6/TIM4_CH1/I2C1_SCL/USART1_TX/CAN2_TX/DCMI_D5 92 PCMI_D5
- * PB[07] PB7/TIM4_CH2/I2C1_SDA/USART1_RX/FMC_NL/DCMI_VSYNC 93 DCMI_VSYNC
- * PB[08] PB8/TIM4_CH3/TIM10_CH1/I2C1_SCL/CAN1_RX/DCMI_D6 95 J2C1_SCL
- * PB[09] PB9/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX/ 96 J2C1_SDA
- * PB[10] PB10/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX 47 J2C2_SCL
- * PB[11] PB11/TIM2_CH4/I2C2_SDA/USART3_RX/OTG_HS_ULPI_D4 48 J2C2_SDA
- * PB[12] PB12/TIM1_BKIN/I2C2_SMBA/SPI2_NSS/CAN2_RX 51 SPI2_NSS
- * PB[13] PB13/TIM1_CH1N/SPI2_SCK/USART3_CTS/CAN2_TX 52 SPI2_SCK
- * PB[14] PB14/TIM1,8_CH2N/SPI2_MISO/USART3_RTS/TIM12_CH1 53 SPI2_MISO
- * PB[15] PB15/TIM1_CH3N/TIM8_CH3N/SPI2_MOSI/TIM12_CH2 54 SPI2_MOSI
-
-
- * PC[00] PC0/OTG_HS_ULPI_STP/FMC_SDNWE 15 ADC123_IN10
- * PC[01] PC1/ETH_MDC 16 ADC123_IN11
- * PC[02] PC2/SPI2_MISO/I2S2ext_SD 17 ADC123_IN12
- * PC[03] PC3/SPI2_MOSI/I2S2_SD 18 ADC123_IN13
- * PC[04] PC4/ETH_MII_RXD0/ETH_RMII_RXD0 33 ADC123_IN4
- * PC[05] PC5/ETH_MII_RXD1/ETH_RMII_RXD1 34 ADC123_IN5
- * PC[06] PC6/TIM3_CH1/TIM8_CH1/USART6_TX/SDIO_D6/DCMI_D0 63 DCMI_O0
- * PC[07] PC7/TIM3_CH2/TIM8_CH2/USART6_RX/SDIO_D7/DCMI_D1 64 DCMI_O1
- * PC[08] PC8/TIM3_CH3/TIM8_CH3/USART6_CK/SDIO_D0/DCMI_D2 65 TIM8_CH3_MASTERCLOCK
- * PC[09] PC9/MCO2/TIM3_CH3/TIM8_CH4/SDIO_D1/DCMI_D3 66 TIM8_CH4_LED_OUT
- * PC[10] PC10/SPI3_SCK/USART3_TX/UART4_TX/SDIO_D2/DCMI_D8 78 DCMI_D8
- * PC[11] PC11/SPI3_MISO/USART3_RX/UART4_RX/SDIO_D3DCMI_D4 78 UART4_RX
- * PC[12] PC12/SPI3_MOSI/USART3_CK/UART5_TX/SDIO_CK/DCMI_D9 80 DCMI_09
- * PC[13] PC13 7 ADDR0 NC
- * PC[14] PC14 8 ADDR1 NC
- * PC[15] PC15 9 ADDR2 NC
-
- * PD[00] PD0/CAN1_RX/FMC_D2 81 CAN1_RX
- * PD[01] PD1/CAN1_TX/FMC_D3 82 CAN1_TX
- * PD[02] PD2/TIM3_ETR/UARTS_RX/SDIO_CMD/DCMI_D11 83 DCMI_D11_UARTS_RX NC
- * PD[03] PD3/SPI2_SCK/USART2_CTS/FMC_CLK/DCMI_D5/LCD_G7 84 UART5_CTS
- * PD[04] PD4/USART2_RTS/FMC_NOE 85 USART2_RTS
- * PD[05] PD5/USART2_TX/FMC_NWE 86 USART2_TX
- * PD[06] PD6/SPI3_MOSI/SAI1_SD_A/USART2_RX/DCMI_D10/LCD_B2 87 USART2_RX
- * PD[07] PD7/USART2_CK/FMC_NE1/FMC_NCE2 88 USART2_CK NC
- * PD[08] PD8/USART3_TX/FMC_D13 55 USART3_TX
- * PD[09] PD9/USART3_RX/FMC_D14 56 USART3_RX
- * PD[10] PD10/USART3_CK/FMC_D15/LCD_B3 57 USART3_CK
- * PD[11] PD11/USART3_CTS/FMC_A16 58 USART3_CTS
- * PD[12] PD12/TIM4_CH1/USART3_RTS/FMC_A17 59 USART3_RTS
- * PD[13] PD13/TIM4_CH2/FMC_A18 60 PWM
- * PD[14] PD14/TIM4_CH3/FMC_D0 61 POWER
- * PD[15] PD15/TIM4_CH4/FMC_D1 62 PWM_EN
-
- * PE[00] PE0/TIM4_ETR/UART8_RX/FMC_NBL0/DCMI_D2 97 DCMI_D2
- * PE[01] PE1/UART8_Tx/FMC_NBL1/DCMI_D3 98 DCMI_D3
- * PE[02] PE2/TRACECLK/SPI4_SCK/SAI1_MCLK_A/FMC_A23 1 LED_AMBER
- * PE[03] PE3/TRACED0/SAI1_SD_B/FMC_A19 2 LED_BLUE
- * PE[04] PE4/TRACED1/SPI4_NSS/SAI1_FS_A/DCMI_D4/LCD_B0 3 DCMI_D4
- * PE[05] PE5/TRACED2/TIM9_CH1/SPI4_MISO/DCMI_D6/LCD_G0 4 DCMI_D6
- * PE[06] PE6/TRACED3/TIM9_CH2/SPI4_MOSI/DCMI_D7/LCD_G1 5 DCMI_D7
- * PE[07] PE7/TIM1_ETR/UART7_Rx/FMC_D4 38 LED RED
- * PE[08] PE8/TIM1_CH1N/UART7_Tx/FMC_D5 39 US_FN1
- * PE[09] PE9/TIM1_CH1/FMC_D6 40 RED_LED
- * PE[10] PE10/TIM1_CH2N/FMC_D7 41 US_EN2
- * PE[11] PE11/TIM1_CH2/8PI4_NSS/FMC_D8/LCD_G3 42 GREEN_LED
- * PE[12] PE12/TIM1_CH3N/SPI4_SCK/FMC_D9/LCD_B4 43 UDD_3U3
- * PE[13] PE13/TIM1_CH3/SPI4_MISO/FMC_D10/LCD_DE 44 BLUE_LED
- * PE[14] PE14/TIM1_CH4/SPI4_MOSI/FMC_D11/LCD_CLK 45 GND
- * PE[15] PE15/TIM1_BKIN/FMC_D12/LCD_R7 46 GND
-*/
-
-
-
-
-/* GPIO ***********************************************************************
- *
- * GPIO Function MPU Board
- * Pin # Name
- * -- ----- -------------------------------- ----------------------
- *
- * PB0
- */
-
-/* GPIO ***********************************************************************
- *
- * GPIO Function MPU Board
- * Pin # Name
- * -- ----- -------------------------------- ----------------------
- *
- * PC0
- */
-
-/* CAN ************************************************************************ *
- *
- * GPIO Function MPU Board
- * Pin # Name
- * -- ----- -------------------------------- ------------------------
- *
- * PD[00] PD0/TIM4_CH3/I2C1_SCL/CAN1_RX 81 CAN1_RX
- * PD[01] PD1/TIM4_CH4/I2C1_SDA/CAN1_TX 82 CAN1_TX
- *
- */
-
-/* GPIO ***********************************************************************
- *
- * GPIO Function MPU Board
- * Pin # Name
- * -- ----- -------------------------------- ----------------------
- *
- */
-
-#define GPIO_WAIT_GETNODEINFO (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN13)
-
-
-/* LEDs ***********************************************************************
- *
- * GPIO Function MPU Board
- * Pin # Name
- * -- ----- -------------------------------- ----------------------
- * PE[09] PE9/TIM1_CH1/FMC_D6 40 RED_LED
- * PE[11] PE11/TIM1_CH2/8PI4_NSS/FMC_D8/LCD_G3 42 GREEN_LED
- * PE[13] PE13/TIM1_CH3/SPI4_MISO/FMC_D10/LCD_DE 44 BLUE_LED
- *
- */
-
-#define GPIO_LED1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
- GPIO_PORTE | GPIO_PIN9 | GPIO_OUTPUT_SET)
-#define GPIO_LED2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
- GPIO_PORTE | GPIO_PIN11 | GPIO_OUTPUT_SET)
-#define GPIO_LED3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
- GPIO_PORTE | GPIO_PIN13 | GPIO_OUTPUT_SET)
-
-#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2 /* Red */
-#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2 /* Green */
-#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2 /* Blue */
-
-#define MIS_WIRED_V20
-/* todo:remove this */
-#if defined(MIS_WIRED_V20)
-#pragma message "Built with MIS_WIRED_V20 set Fix this when New HW comes out"
-/* The first proto (PCB) had red and Blow swapped */
-# define GPIO_LED_RED GPIO_LED3
-# define GPIO_LED_GREEN GPIO_LED2
-# define GPIO_LED_BLUE GPIO_LED1
-#else
-/* This is the corrected wiring */
-# define GPIO_LED_RED GPIO_LED1
-# define GPIO_LED_GREEN GPIO_LED2
-# define GPIO_LED_BLUE GPIO_LED3
-#endif
-
-#define BOARD_NAME "PX4FLOW_V2"
-
-__BEGIN_DECLS
-
-/************************************************************************************
- * Public Types
- ************************************************************************************/
-
-/************************************************************************************
- * Public data
- ************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- * Called to configure SPI chip select GPIO pins.
- *
- ************************************************************************************/
-
-#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
- defined(CONFIG_STM32_SPI3)
-void weak_function board_spiinitialize(void);
-#endif
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- * Called to setup USB-related GPIO pins.
- *
- ************************************************************************************/
-
-void stm32_usbinitialize(void);
-
-/************************************************************************************
- * Name: stm32_usb_set_pwr_callback()
- *
- * Description:
- * Called to setup set a call back for USB power state changes.
- *
- * Inputs:
- * pwr_changed_handler: An interrupt handler that will be called on VBUS power
- * state changes.
- *
- ************************************************************************************/
-
-void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
-
-/****************************************************************************
- * Name: stm32_led_initialize
- *
- * Description:
- * This functions is called very early in initialization to perform board-
- * specific initialization of LED-related resources. This includes such
- * things as, for example, configure GPIO pins to drive the LEDs and also
- * putting the LEDs in their correct initial state.
- *
- * NOTE: In most architectures, LED initialization() is called from
- * board-specific initialization and should, therefore, have the name
- * <arch>_led_intialize(). But there are a few architectures where the
- * LED initialization function is still called from common chip
- * architecture logic. This interface is not, however, a common board
- * interface in any event and the name board_autoled_initialization is
- * deprecated.
- *
- * Input Parameters:
- * None
- *
- * Returned Value:
- * None
- *
- ****************************************************************************/
-
-#ifdef CONFIG_ARCH_LEDS
-void board_autoled_initialize(void);
-#endif
-
-/************************************************************************************
- * Name: stm32_can_initialize
- *
- * Description:
- * Called at application startup time to initialize the CAN functionality.
- *
- ************************************************************************************/
-
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
-int board_can_initialize(void);
-#endif
-
-/************************************************************************************
- * Name: board_button_initialize
- *
- * Description:
- * Called at application startup time to initialize the Buttons functionality.
- *
- ************************************************************************************/
-
-#if defined(CONFIG_ARCH_BUTTONS)
-void board_button_initialize(void);
-#endif
-
-/****************************************************************************
- * Name: usbmsc_archinitialize
- *
- * Description:
- * Called from the application system/usbmc or the boards_nsh if the
- * application is not included.
- * Perform architecture specific initialization. This function must
- * configure the block device to export via USB. This function must be
- * provided by architecture-specific logic in order to use this add-on.
- *
- ****************************************************************************/
-
-#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
-int usbmsc_archinitialize(void);
-#endif
-
-/****************************************************************************
- * Name: composite_archinitialize
- *
- * Description:
- * Called from the application system/composite or the boards_nsh if the
- * application is not included.
- * Perform architecture specific initialization. This function must
- * configure the block device to export via USB. This function must be
- * provided by architecture-specific logic in order to use this add-on.
- *
- ****************************************************************************/
-
-#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
-extern int composite_archinitialize(void);
-#endif
-
-#include "../common/board_common.h"
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
diff --git a/src/drivers/boards/px4flow-v2/init.c b/src/drivers/boards/px4flow-v2/init.c
deleted file mode 100644
index 2ff3fb6e54..0000000000
--- a/src/drivers/boards/px4flow-v2/init.c
+++ /dev/null
@@ -1,190 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2012-2015 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.
- *
- ****************************************************************************/
-
-/**
- * @file px4flow_init.c
- *
- * PX4FLOW-specific early startup code. This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include "platform/cxxinitialize.h"
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/i2c/i2c_master.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-
-#include <stm32.h>
-#include "board_config.h"
-#include "stm32_uart.h"
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-
-#include <systemlib/cpuload.h>
-
-#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
-#endif
-
-#include "board_config.h"
-
-/* todo: This is constant but not proper */
-__BEGIN_DECLS
-extern void led_off(int led);
-__END_DECLS
-
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/* Debug ********************************************************************/
-
-/****************************************************************************
- * Protected Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- * All STM32 architectures must provide the following entry point. This entry point
- * is called early in the initialization -- after all memory has been configured
- * and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
- /* configure LEDs */
- board_autoled_initialize();
-#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
- defined(CONFIG_STM32_SPI3)
- board_spiinitialize();
-#endif
-}
-
-
-__EXPORT void board_initialize(void)
-{
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- * Perform application specific initialization. This function is never
- * called directly from application code, but only indirectly via the
- * (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- * arg - The boardctl() argument is passed to the board_app_initialize()
- * implementation without modification. The argument has no
- * meaning to NuttX; the meaning of the argument is a contract
- * between the board-specific initalization logic and the the
- * matching application logic. The value cold be such things as a
- * mode enumeration value, a set of DIP switch switch settings, a
- * pointer to configuration data read from a file or serial FLASH,
- * or whatever you would like to do with it. Every implementation
- * should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- * Zero (OK) is returned on success; a negated errno value is returned on
- * any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
- int result = OK;
-
-#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
-
- /* run C++ ctors before we go any further */
-
- up_cxxinitialize();
-
-# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
-# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
-# endif
-
-#else
-# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
-#endif
-
- /* configure the high-resolution time/callout interface */
- hrt_init();
-
- /* set up the serial DMA polling */
- static struct hrt_call serial_dma_call;
- struct timespec ts;
-
- /*
- * Poll at 1ms intervals for received bytes that have not triggered
- * a DMA event.
- */
- ts.tv_sec = 0;
- ts.tv_nsec = 1000000;
-
- hrt_call_every(&serial_dma_call,
- ts_to_abstime(&ts),
- ts_to_abstime(&ts),
- (hrt_callout)stm32_serial_dma_poll,
- NULL);
-
- return result;
-}
diff --git a/src/drivers/boards/px4flow-v2/led.c b/src/drivers/boards/px4flow-v2/led.c
deleted file mode 100644
index decfad3ac5..0000000000
--- a/src/drivers/boards/px4flow-v2/led.c
+++ /dev/null
@@ -1,192 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2012-2015 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.
- *
- ****************************************************************************/
-
-/**
- * @file px4flow_led.c
- *
- * PX4ESC LED backend.
- */
-
-#include <px4_config.h>
-
-#include <stdbool.h>
-#include <nuttx/board.h>
-
-#include "stm32.h"
-#include "board_config.h"
-
-#include <arch/board/board.h>
-
-#include <systemlib/px4_macros.h>
-
-/*
- * Ideally we'd be able to get these from up_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-static uint16_t g_ledmap[] = {
- GPIO_LED_RED, // Indexed by BOARD_LED_RED
- GPIO_LED_GREEN, // Indexed by BOARD_LED_GREEN
- GPIO_LED_BLUE, // Indexed by BOARD_LED_BLUE
-};
-
-__EXPORT void led_init(void)
-{
- /* Configure LED GPIOs for output */
- for (size_t l = 0; l < arraySize(g_ledmap); l++) {
- stm32_configgpio(g_ledmap[l]);
- }
-}
-
-__EXPORT void board_autoled_initialize(void)
-{
- led_init();
-}
-
-static void phy_set_led(int led, bool state)
-{
- /* Pull Down to switch on */
- stm32_gpiowrite(g_ledmap[led], !state);
-}
-
-static bool phy_get_led(int led)
-{
-
- return !stm32_gpioread(g_ledmap[led]);
-}
-
-__EXPORT void led_on(int led)
-{
- phy_set_led(led, true);
-}
-
-__EXPORT void led_off(int led)
-{
- phy_set_led(led, false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-
- phy_set_led(led, !phy_get_led(led));
-}
-
-static bool g_initialized;
-
-// Nuttx Usages
-
-__EXPORT
-void board_autoled_on(int led)
-{
- switch (led) {
- default:
- case LED_STARTED:
- case LED_HEAPALLOCATE:
- phy_set_led(BOARD_LED_BLUE, true);
- break;
-
- case LED_IRQSENABLED:
- phy_set_led(BOARD_LED_GREEN, true);
- break;
-
- case LED_STACKCREATED:
- phy_set_led(BOARD_LED_GREEN, true);
- phy_set_led(BOARD_LED_BLUE, true);
- g_initialized = true;
- break;
-
- case LED_INIRQ:
- case LED_SIGNAL:
- phy_set_led(BOARD_LED_GREEN, true);
- break;
-
- case LED_ASSERTION:
- phy_set_led(BOARD_LED_RED, true);
- phy_set_led(BOARD_LED_GREEN, true);
- break;
-
- case LED_PANIC:
- phy_set_led(BOARD_LED_RED, true);
- break;
-
- case LED_IDLE : /* IDLE */
- phy_set_led(BOARD_LED_RED, true);
- phy_set_led(BOARD_LED_BLUE, true);
- break;
- }
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-
-__EXPORT void board_autoled_off(int led)
-{
- switch (led) {
- default:
- case LED_STARTED:
- case LED_HEAPALLOCATE:
- case LED_IRQSENABLED:
- phy_set_led(BOARD_LED_BLUE, false);
-
- case LED_STACKCREATED:
- break;
-
- case LED_INIRQ:
- case LED_SIGNAL:
- case LED_ASSERTION:
- phy_set_led(BOARD_LED_RED, false);
- phy_set_led(BOARD_LED_GREEN, false);
-
- break;
-
- case LED_PANIC:
- phy_set_led(BOARD_LED_RED, false);
- phy_set_led(BOARD_LED_GREEN, false);
- break;
-
- case LED_IDLE: /* IDLE */
- phy_set_led(BOARD_LED_GREEN, g_initialized);
- break;
- }
-}
diff --git a/src/drivers/boards/zubaxgnss-v1/board_config.h b/src/drivers/boards/zubaxgnss-v1/board_config.h
deleted file mode 100644
index d0fe26efaf..0000000000
--- a/src/drivers/boards/zubaxgnss-v1/board_config.h
+++ /dev/null
@@ -1,247 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2012-2015 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * ZUBAXGNSSv1 internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-#if STM32_NSPI < 1
-# undef CONFIG_STM32_SPI1
-# undef CONFIG_STM32_SPI2
-#elif STM32_NSPI < 2
-# undef CONFIG_STM32_SPI2
-#endif
-
-/* High-resolution timer
- */
-#define HRT_TIMER 1 /* use timer1 for the HRT */
-#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
-#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
-#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTB|GPIO_PIN12)
-
-/* LEDs ***********************************************************************
- *
- * GPIO Function MPU Board
- * Pin # Name
- * -- ----- -------------------------------- ----------------------
- *
- * PB[00] ADC12_IN8/TIM3_CH3/ETH_MII_RXD2/TIM1_CH2N 26 LED4
- * PC[04] ADC12_IN14/ETH_MII_RXD0(8)/ETH_RMII_RXD0 24 LED3
- * PC[05] ADC12_IN15/ETH_MII_RXD1(8)/ETH_RMII_RXD1 25 LED2
- */
-
-#define GPIO_LED2 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
- GPIO_PORTC | GPIO_PIN5 | GPIO_OUTPUT_CLEAR)
-#define GPIO_LED_CAN1 GPIO_LED2
-
-#define GPIO_LED3 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
- GPIO_PORTC | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
-#define GPIO_LED_CAN2 GPIO_LED3
-
-#define GPIO_LED4 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
- GPIO_PORTB | GPIO_PIN0 | GPIO_OUTPUT_CLEAR)
-#define GPIO_LED_INFO GPIO_LED4
-
-/* SPI ***************************************************************************
- *
- * GPIO Function MPU Board
- * Pin # Name
- * -- ----- -------------------------------- ----------------------------
- *
- * PC[09] PA4/SPI1_NSS/USART2_CK/ADC4 20 D10(#SS1)
- * PD[02] PD2/TIM3_ETR 54 D25(MMC_CS)
- */
-
-#define GPIO_SPI1_SSn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
- GPIO_PORTA | GPIO_PIN4 | GPIO_OUTPUT_SET)
-#define USER_CSn GPIO_SPI1_SSn
-
-__BEGIN_DECLS
-
-/************************************************************************************
- * Public Types
- ************************************************************************************/
-
-/************************************************************************************
- * Public data
- ************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- * Called to configure SPI chip select GPIO pins.
- *
- ************************************************************************************/
-
-#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
- defined(CONFIG_STM32_SPI3)
-void weak_function board_spiinitialize(void);
-#endif
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- * Called to setup USB-related GPIO pins.
- *
- ************************************************************************************/
-
-void stm32_usbinitialize(void);
-
-/************************************************************************************
- * Name: stm32_usb_set_pwr_callback()
- *
- * Description:
- * Called to setup set a call back for USB power state changes.
- *
- * Inputs:
- * pwr_changed_handler: An interrupt handler that will be called on VBUS power
- * state changes.
- *
- ************************************************************************************/
-
-void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
-
-/****************************************************************************
- * Name: stm32_led_initialize
- *
- * Description:
- * This functions is called very early in initialization to perform board-
- * specific initialization of LED-related resources. This includes such
- * things as, for example, configure GPIO pins to drive the LEDs and also
- * putting the LEDs in their correct initial state.
- *
- * NOTE: In most architectures, LED initialization() is called from
- * board-specific initialization and should, therefore, have the name
- * <arch>_led_intialize(). But there are a few architectures where the
- * LED initialization function is still called from common chip
- * architecture logic. This interface is not, however, a common board
- * interface in any event and the name board_autoled_initialization is
- * deprecated.
- *
- * Input Parameters:
- * None
- *
- * Returned Value:
- * None
- *
- ****************************************************************************/
-
-#ifdef CONFIG_ARCH_LEDS
-void board_autoled_initialize(void);
-#endif
-
-/************************************************************************************
- * Name: stm32_can_initialize
- *
- * Description:
- * Called at application startup time to initialize the CAN functionality.
- *
- ************************************************************************************/
-
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
-int board_can_initialize(void);
-#endif
-
-/************************************************************************************
- * Name: board_button_initialize
- *
- * Description:
- * Called at application startup time to initialize the Buttons functionality.
- *
- ************************************************************************************/
-
-#if defined(CONFIG_ARCH_BUTTONS)
-void board_button_initialize(void);
-#endif
-
-/****************************************************************************
- * Name: usbmsc_archinitialize
- *
- * Description:
- * Called from the application system/usbmc or the boards_nsh if the
- * application is not included.
- * Perform architecture specific initialization. This function must
- * configure the block device to export via USB. This function must be
- * provided by architecture-specific logic in order to use this add-on.
- *
- ****************************************************************************/
-
-#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
-int usbmsc_archinitialize(void);
-#endif
-
-/****************************************************************************
- * Name: composite_archinitialize
- *
- * Description:
- * Called from the application system/composite or the boards_nsh if the
- * application is not included.
- * Perform architecture specific initialization. This function must
- * configure the block device to export via USB. This function must be
- * provided by architecture-specific logic in order to use this add-on.
- *
- ****************************************************************************/
-
-#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
-extern int composite_archinitialize(void);
-#endif
-
-#include "../common/board_common.h"
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
diff --git a/src/drivers/boards/zubaxgnss-v1/gnss_init.c b/src/drivers/boards/zubaxgnss-v1/gnss_init.c
deleted file mode 100644
index 55a101a3ae..0000000000
--- a/src/drivers/boards/zubaxgnss-v1/gnss_init.c
+++ /dev/null
@@ -1,186 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2012-2015 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.
- *
- ****************************************************************************/
-
-/**
- * @file zubax_gnss_init.c
- *
- * ZUBAXGNSS-specific early startup code. This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include "platform/cxxinitialize.h"
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/i2c/i2c_master.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-
-#include <stm32.h>
-#include "board_config.h"
-#include "stm32_uart.h"
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-
-#include <systemlib/cpuload.h>
-
-#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
-#endif
-
-#include "board_config.h"
-
-/* todo: This is constant but not proper */
-__BEGIN_DECLS
-extern void led_off(int led);
-__END_DECLS
-
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/* Debug ********************************************************************/
-
-/****************************************************************************
- * Protected Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- * All STM32 architectures must provide the following entry point. This entry point
- * is called early in the initialization -- after all memory has been configured
- * and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
- /* configure LEDs */
- board_autoled_initialize();
-}
-
-
-__EXPORT void board_initialize(void)
-{
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- * Perform application specific initialization. This function is never
- * called directly from application code, but only indirectly via the
- * (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- * arg - The boardctl() argument is passed to the board_app_initialize()
- * implementation without modification. The argument has no
- * meaning to NuttX; the meaning of the argument is a contract
- * between the board-specific initalization logic and the the
- * matching application logic. The value cold be such things as a
- * mode enumeration value, a set of DIP switch switch settings, a
- * pointer to configuration data read from a file or serial FLASH,
- * or whatever you would like to do with it. Every implementation
- * should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- * Zero (OK) is returned on success; a negated errno value is returned on
- * any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
- int result = OK;
-
-#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
-
- /* run C++ ctors before we go any further */
-
- up_cxxinitialize();
-
-# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
-# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
-# endif
-
-#else
-# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
-#endif
-
- /* configure the high-resolution time/callout interface */
- hrt_init();
-
- /* set up the serial DMA polling */
- static struct hrt_call serial_dma_call;
- struct timespec ts;
-
- /*
- * Poll at 1ms intervals for received bytes that have not triggered
- * a DMA event.
- */
- ts.tv_sec = 0;
- ts.tv_nsec = 1000000;
-
- hrt_call_every(&serial_dma_call,
- ts_to_abstime(&ts),
- ts_to_abstime(&ts),
- (hrt_callout)stm32_serial_dma_poll,
- NULL);
-
- return result;
-}
diff --git a/src/drivers/boards/zubaxgnss-v1/gnss_led.c b/src/drivers/boards/zubaxgnss-v1/gnss_led.c
deleted file mode 100644
index a3558ce795..0000000000
--- a/src/drivers/boards/zubaxgnss-v1/gnss_led.c
+++ /dev/null
@@ -1,191 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2012-2015 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.
- *
- ****************************************************************************/
-
-/**
- * @file zubax_gnss_led.c
- *
- * zubax_gnss LED backend.
- */
-
-#include <px4_config.h>
-
-#include <stdbool.h>
-#include <nuttx/board.h>
-
-#include "stm32.h"
-#include "board_config.h"
-
-#include <arch/board/board.h>
-
-#include <systemlib/px4_macros.h>
-
-/*
- * Ideally we'd be able to get these from up_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-static uint16_t g_ledmap[] = {
- GPIO_LED_INFO, // Indexed by BOARD_LED_GREEN
- GPIO_LED_CAN1, // Indexed by BOARD_LED_RED
- GPIO_LED_CAN2, // Indexed by BOARD_LED_BLUE - yes Blue
-};
-
-__EXPORT void led_init(void)
-{
- /* Configure LED1-2 GPIOs for output */
- for (size_t l = 0; l < arraySize(g_ledmap); l++) {
- stm32_configgpio(g_ledmap[l]);
- }
-}
-
-__EXPORT void board_autoled_initialize(void)
-{
- led_init();
-}
-
-static void phy_set_led(int led, bool state)
-{
- /* Pull Up to switch on */
- stm32_gpiowrite(g_ledmap[led], state);
-}
-
-static bool phy_get_led(int led)
-{
-
- return !stm32_gpioread(g_ledmap[led]);
-}
-
-__EXPORT void led_on(int led)
-{
- phy_set_led(led, true);
-}
-
-__EXPORT void led_off(int led)
-{
- phy_set_led(led, false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-
- phy_set_led(led, !phy_get_led(led));
-}
-
-static bool g_initialized;
-
-// Nuttx Usages
-
-void board_autoled_on(int led)
-{
- switch (led) {
- default:
- case LED_STARTED:
- case LED_HEAPALLOCATE:
- phy_set_led(BOARD_LED_BLUE, true);
- break;
-
- case LED_IRQSENABLED:
- phy_set_led(BOARD_LED_GREEN, true);
- break;
-
- case LED_STACKCREATED:
- phy_set_led(BOARD_LED_GREEN, true);
- phy_set_led(BOARD_LED_BLUE, true);
- g_initialized = true;
- break;
-
- case LED_INIRQ:
- case LED_SIGNAL:
- phy_set_led(BOARD_LED_GREEN, true);
- break;
-
- case LED_ASSERTION:
- phy_set_led(BOARD_LED_RED, true);
- phy_set_led(BOARD_LED_GREEN, true);
- break;
-
- case LED_PANIC:
- phy_set_led(BOARD_LED_RED, true);
- break;
-
- case LED_IDLE : /* IDLE */
- phy_set_led(BOARD_LED_RED, true);
- phy_set_led(BOARD_LED_BLUE, true);
- break;
- }
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-
-__EXPORT void board_autoled_off(int led)
-{
- switch (led) {
- default:
- case LED_STARTED:
- case LED_HEAPALLOCATE:
- case LED_IRQSENABLED:
- phy_set_led(BOARD_LED_BLUE, false);
-
- case LED_STACKCREATED:
- break;
-
- case LED_INIRQ:
- case LED_SIGNAL:
- case LED_ASSERTION:
- phy_set_led(BOARD_LED_RED, false);
- phy_set_led(BOARD_LED_GREEN, false);
-
- break;
-
- case LED_PANIC:
- phy_set_led(BOARD_LED_RED, false);
- phy_set_led(BOARD_LED_GREEN, false);
- break;
-
- case LED_IDLE: /* IDLE */
- phy_set_led(BOARD_LED_GREEN, g_initialized);
- break;
- }
-}
diff --git a/src/drivers/distance_sensor/sf0x/CMakeLists.txt b/src/drivers/distance_sensor/sf0x/CMakeLists.txt
index f26411f4b2..a40f07907d 100644
--- a/src/drivers/distance_sensor/sf0x/CMakeLists.txt
+++ b/src/drivers/distance_sensor/sf0x/CMakeLists.txt
@@ -33,12 +33,13 @@
px4_add_module(
MODULE drivers__sf0x
MAIN sf0x
- COMPILE_FLAGS
SRCS
sf0x.cpp
sf0x_parser.cpp
MODULE_CONFIG
module.yaml
- DEPENDS
)
+if(PX4_TESTING)
+ add_subdirectory(sf0x_tests)
+endif()
diff --git a/src/drivers/px4io/CMakeLists.txt b/src/drivers/px4io/CMakeLists.txt
index 13461cfdde..9a3a040b34 100644
--- a/src/drivers/px4io/CMakeLists.txt
+++ b/src/drivers/px4io/CMakeLists.txt
@@ -49,20 +49,20 @@ px4_add_module(
# include the px4io binary in ROMFS
message(STATUS "Building and including ${config_io_board}")
-set(fw_io_exe "${PX4_SOURCE_DIR}/build/nuttx_${config_io_board}_default/nuttx_${config_io_board}_default.elf")
-set(fw_io_bin "${PX4_BINARY_DIR}/romfs_extras/${config_io_board}.bin" CACHE FILEPATH "px4io binary path")
+include(ExternalProject)
+ExternalProject_Add(px4io_firmware
+ SOURCE_DIR ${CMAKE_SOURCE_DIR}
+ DOWNLOAD_COMMAND ""
+ UPDATE_COMMAND ""
+ CMAKE_ARGS -DCONFIG=${config_io_board}
+ INSTALL_COMMAND ""
+ USES_TERMINAL_BUILD true
+)
-file(GLOB_RECURSE px4io_driver_files ${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/*)
-file(GLOB_RECURSE px4io_config_files ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/configs/${config_io_board}/*)
-file(GLOB_RECURSE px4io_firmware_files ${PX4_SOURCE_DIR}/src/modules/px4iofirmware/*)
-file(GLOB_RECURSE px4io_rc_files ${PX4_SOURCE_DIR}/src/lib/rc/*)
-add_custom_command(OUTPUT ${fw_io_exe}
- COMMAND make --no-print-directory nuttx_${config_io_board}_default
- DEPENDS ${px4io_driver_files} ${px4io_config_files} ${px4io_firmware_files} ${px4io_rc_files}
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
- COMMENT "Building ${config_io_board}"
- USES_TERMINAL
- )
+ExternalProject_Get_Property(px4io_firmware BINARY_DIR)
+
+set(fw_io_exe "${BINARY_DIR}/${config_io_board}.elf")
+set(fw_io_bin "${PX4_BINARY_DIR}/romfs_extras/${config_io_board}.bin" CACHE FILEPATH "px4io binary path")
file(RELATIVE_PATH fw_io_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${fw_io_exe})
file(RELATIVE_PATH fw_io_bin_relative ${CMAKE_CURRENT_BINARY_DIR} ${fw_io_bin})
@@ -70,7 +70,7 @@ file(RELATIVE_PATH fw_io_bin_relative ${CMAKE_CURRENT_BINARY_DIR} ${fw_io_bin})
add_custom_command(OUTPUT ${fw_io_bin}
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras
COMMAND ${CMAKE_OBJCOPY} -O binary ${fw_io_exe_relative} ${fw_io_bin_relative}
- DEPENDS ${fw_io_exe}
+ DEPENDS px4io_firmware
COMMENT "Copying ${config_io_board} to ROMFS extras"
)
add_custom_target(copy_px4io_bin DEPENDS ${fw_io_bin})
diff --git a/src/lib/cdev/CMakeLists.txt b/src/lib/cdev/CMakeLists.txt
index 1f5a981fd4..1f65c76cc4 100644
--- a/src/lib/cdev/CMakeLists.txt
+++ b/src/lib/cdev/CMakeLists.txt
@@ -32,7 +32,7 @@
############################################################################
set(SRCS_PLATFORM)
-if (${OS} STREQUAL "nuttx")
+if (${PX4_PLATFORM} STREQUAL "nuttx")
list(APPEND SRCS_PLATFORM
nuttx/cdev_platform.cpp
)
diff --git a/src/lib/controllib/CMakeLists.txt b/src/lib/controllib/CMakeLists.txt
index e3077f2253..860ce49e15 100644
--- a/src/lib/controllib/CMakeLists.txt
+++ b/src/lib/controllib/CMakeLists.txt
@@ -42,4 +42,8 @@ px4_add_library(controllib
BlockLimitSym.cpp
BlockLowPass.cpp
BlockLowPass2.cpp
-)
\ No newline at end of file
+)
+
+if(PX4_TESTING)
+ add_subdirectory(controllib_test)
+endif()
diff --git a/src/lib/drivers/device/CMakeLists.txt b/src/lib/drivers/device/CMakeLists.txt
index e175e467b7..e6dca23d79 100644
--- a/src/lib/drivers/device/CMakeLists.txt
+++ b/src/lib/drivers/device/CMakeLists.txt
@@ -32,7 +32,7 @@
############################################################################
set(SRCS_PLATFORM)
-if (${OS} STREQUAL "nuttx")
+if (${PX4_PLATFORM} STREQUAL "nuttx")
if ("${CONFIG_I2C}" STREQUAL "y")
list(APPEND SRCS_PLATFORM nuttx/I2C.cpp)
endif()
@@ -53,7 +53,7 @@ px4_add_library(drivers__device
${SRCS_PLATFORM}
)
-if (${OS} STREQUAL "nuttx")
+if (${PX4_PLATFORM} STREQUAL "nuttx")
target_link_libraries(drivers__device PRIVATE nuttx_arch)
endif()
diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
index 79684d6810..bfac359edb 100644
--- a/src/lib/parameters/CMakeLists.txt
+++ b/src/lib/parameters/CMakeLists.txt
@@ -39,6 +39,7 @@ endif()
# get full path for each module
get_property(module_list GLOBAL PROPERTY PX4_MODULE_PATHS)
+
if (DISABLE_PARAMS_MODULE_SCOPING)
# search all directories with .c files (potentially containing parameters)
file(GLOB_RECURSE new_list
@@ -49,20 +50,7 @@ if (DISABLE_PARAMS_MODULE_SCOPING)
get_filename_component(dir_path ${file_path} PATH)
list(APPEND module_list "${dir_path}")
endforeach()
- list(REMOVE_DUPLICATES module_list)
else()
- foreach(module ${config_module_list})
- # include all subdirectories as well
- file(GLOB children RELATIVE ${PX4_SOURCE_DIR}/src/${module} ${PX4_SOURCE_DIR}/src/${module}/*)
- foreach(child ${children})
- if(IS_DIRECTORY ${PX4_SOURCE_DIR}/src/${module}/${child})
- list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module}/${child})
- endif()
- endforeach()
-
- list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
- endforeach()
-
list(APPEND module_list ${external_module_paths})
endif()
@@ -96,7 +84,7 @@ add_custom_command(OUTPUT ${parameters_xml}
--xml ${parameters_xml}
--inject-xml ${CMAKE_CURRENT_SOURCE_DIR}/parameters_injected.xml
--overrides ${PARAM_DEFAULT_OVERRIDES}
- --board ${BOARD}
+ --board ${PX4_BOARD}
#--verbose
DEPENDS
${param_src_files}
@@ -132,12 +120,12 @@ else()
list(APPEND SRCS parameters.cpp)
endif()
-if(${OS} STREQUAL "nuttx")
+if(${PX4_PLATFORM} STREQUAL "nuttx")
add_subdirectory(flashparams)
endif()
# TODO: find a better way to do this
-if (NOT "${CONFIG}" MATCHES "px4io")
+if (NOT "${PX4_BOARD}" MATCHES "px4io")
add_library(parameters
${SRCS}
px4_parameters.c
@@ -157,6 +145,6 @@ else()
endif()
add_dependencies(parameters prebuild_targets)
-if(${OS} STREQUAL "nuttx")
+if(${PX4_PLATFORM} STREQUAL "nuttx")
target_link_libraries(parameters PRIVATE flashparams tinybson)
endif()
diff --git a/src/lib/rc/CMakeLists.txt b/src/lib/rc/CMakeLists.txt
index a517286221..1295729495 100644
--- a/src/lib/rc/CMakeLists.txt
+++ b/src/lib/rc/CMakeLists.txt
@@ -41,3 +41,7 @@ add_library(rc
)
target_compile_options(rc PRIVATE -Wno-unused-result)
target_link_libraries(rc PRIVATE prebuild_targets)
+
+if(PX4_TESTING AND (${PX4_PLATFORM} MATCHES "posix"))
+ add_subdirectory(rc_tests)
+endif()
diff --git a/src/lib/rc/rc_tests/RCTest.cpp b/src/lib/rc/rc_tests/RCTest.cpp
index ba6fba2046..edc757f6d0 100644
--- a/src/lib/rc/rc_tests/RCTest.cpp
+++ b/src/lib/rc/rc_tests/RCTest.cpp
@@ -3,6 +3,7 @@
#include <systemlib/err.h>
#include <stdio.h>
+#include <string.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt
index a60fe3a828..83708af04d 100644
--- a/src/modules/commander/CMakeLists.txt
+++ b/src/modules/commander/CMakeLists.txt
@@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
+
+add_subdirectory(failure_detector)
+
px4_add_module(
MODULE modules__commander
MAIN commander
@@ -52,10 +55,14 @@ px4_add_module(
rc_calibration.cpp
rc_check.cpp
state_machine_helper.cpp
- failure_detector/FailureDetector.cpp
DEPENDS
circuit_breaker
df_driver_framework
+ failure_detector
git_ecl
ecl_geo
)
+
+if(PX4_TESTING)
+ add_subdirectory(commander_tests)
+endif()
diff --git a/src/drivers/boards/px4flow-v2/CMakeLists.txt b/src/modules/commander/failure_detector/CMakeLists.txt
similarity index 93%
rename from src/drivers/boards/px4flow-v2/CMakeLists.txt
rename to src/modules/commander/failure_detector/CMakeLists.txt
index bb7b1066a3..8c68bc6d71 100644
--- a/src/drivers/boards/px4flow-v2/CMakeLists.txt
+++ b/src/modules/commander/failure_detector/CMakeLists.txt
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2018 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
@@ -31,8 +31,6 @@
#
############################################################################
-px4_add_library(drivers_board
- can.c
- init.c
- led.c
+px4_add_library(failure_detector
+ FailureDetector.cpp
)
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index 1b82aee2fa..5aecb2a653 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -70,3 +70,7 @@ px4_add_module(
version
UNITY_BUILD
)
+
+if(PX4_TESTING)
+ add_subdirectory(mavlink_tests)
+endif()
diff --git a/src/modules/micrortps_bridge/CMakeLists.txt b/src/modules/micrortps_bridge/CMakeLists.txt
index 364f5b2325..533ee53ebb 100644
--- a/src/modules/micrortps_bridge/CMakeLists.txt
+++ b/src/modules/micrortps_bridge/CMakeLists.txt
@@ -76,7 +76,7 @@ if (GENERATE_RTPS_BRIDGE)
###############################################################################
# micro-cdr serialization
###############################################################################
- include(common/px4_git)
+ include(px4_git)
px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
add_subdirectory(micro-CDR)
diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt
index 437a418658..f47d3da71e 100644
--- a/src/modules/simulator/CMakeLists.txt
+++ b/src/modules/simulator/CMakeLists.txt
@@ -48,7 +48,7 @@ configure_file(simulator_config.h.in simulator_config.h @ONLY)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
set(SIMULATOR_SRCS simulator.cpp)
-if (NOT ${OS} STREQUAL "qurt")
+if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
list(APPEND SIMULATOR_SRCS
simulator_mavlink.cpp)
endif()
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt
index 0427d42f1c..1dccad1454 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@@ -40,7 +40,7 @@ set(SRCS
otp.c
)
-if(${OS} STREQUAL "nuttx")
+if(${PX4_PLATFORM} STREQUAL "nuttx")
list(APPEND SRCS
print_load_nuttx.c
)
@@ -51,7 +51,7 @@ else()
endif()
# TODO: find a better way to do this
-if (NOT "${CONFIG}" MATCHES "px4io")
+if (NOT "${PX4_BOARD}" MATCHES "px4io")
px4_add_library(systemlib ${SRCS})
else()
add_library(systemlib ${PX4_SOURCE_DIR}/src/platforms/empty.c)
diff --git a/src/modules/uORB/CMakeLists.txt b/src/modules/uORB/CMakeLists.txt
index af1ad1be3e..8ffeeffebe 100644
--- a/src/modules/uORB/CMakeLists.txt
+++ b/src/modules/uORB/CMakeLists.txt
@@ -50,3 +50,7 @@ px4_add_module(
DEPENDS
uorb_msgs
)
+
+if(PX4_TESTING)
+ add_subdirectory(uORB_tests)
+endif()
diff --git a/src/modules/uavcan/CMakeLists.txt b/src/modules/uavcan/CMakeLists.txt
index 7e3b2208f6..0a6fb2427e 100644
--- a/src/modules/uavcan/CMakeLists.txt
+++ b/src/modules/uavcan/CMakeLists.txt
@@ -35,21 +35,22 @@ px4_add_git_submodule(TARGET git_uavcan PATH "libuavcan")
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
-# The default is the stm32
-if(NOT UAVCAN_PLATFORM)
- set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
-endif()
+if(CONFIG_ARCH_CHIP)
-# The default timer the 5
-if(NOT UAVCAN_TIMER)
- set(UAVCAN_TIMER 5)
+ if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
+ set(UAVCAN_PLATFORM "kinetis")
+ set(UAVCAN_TIMER 1)
+ elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
+ set(UAVCAN_PLATFORM "stm32")
+ set(UAVCAN_TIMER 5) # The default timer the 5
+ endif()
endif()
if(NOT config_uavcan_num_ifaces)
message(FATAL_ERROR "config_uavcan_num_ifaces not set")
endif()
-string(TOUPPER "${OS}" OS_UPPER)
+string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
string(TOUPPER "${UAVCAN_PLATFORM}" UAVCAN_PLATFORM_UPPER)
add_definitions(
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
diff --git a/src/modules/uavcanesc/CMakeLists.txt b/src/modules/uavcanesc/CMakeLists.txt
index e9f94456af..e7af4c6c90 100644
--- a/src/modules/uavcanesc/CMakeLists.txt
+++ b/src/modules/uavcanesc/CMakeLists.txt
@@ -36,7 +36,7 @@ px4_add_git_submodule(TARGET git_uavcan PATH "../uavcan/libuavcan")
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
-string(TOUPPER "${OS}" OS_UPPER)
+string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
add_definitions(
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
diff --git a/src/modules/uavcannode/CMakeLists.txt b/src/modules/uavcannode/CMakeLists.txt
index bf6373edbf..863a19e44b 100644
--- a/src/modules/uavcannode/CMakeLists.txt
+++ b/src/modules/uavcannode/CMakeLists.txt
@@ -36,7 +36,7 @@ px4_add_git_submodule(TARGET git_uavcan PATH "../uavcan/libuavcan")
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
-string(TOUPPER "${OS}" OS_UPPER)
+string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
add_definitions(
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
diff --git a/src/platforms/common/CMakeLists.txt b/src/platforms/common/CMakeLists.txt
index fcd2eb5b04..5639e5b915 100644
--- a/src/platforms/common/CMakeLists.txt
+++ b/src/platforms/common/CMakeLists.txt
@@ -33,7 +33,7 @@
set(SRCS)
-if (NOT "${OS}" MATCHES "qurt" AND NOT "${CONFIG}" MATCHES "px4io")
+if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
list(APPEND SRCS
px4_log.c
)
diff --git a/src/platforms/common/work_queue/CMakeLists.txt b/src/platforms/common/work_queue/CMakeLists.txt
index 22eef45761..f47f0b5829 100644
--- a/src/platforms/common/work_queue/CMakeLists.txt
+++ b/src/platforms/common/work_queue/CMakeLists.txt
@@ -32,7 +32,7 @@
############################################################################
# nuttx uses internal work queue currently
-if (NOT "${OS}" MATCHES "nuttx")
+if (NOT "${PX4_PLATFORM}" MATCHES "nuttx")
add_library(work_queue
dq_addlast.c
diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt
index 2914e58fef..88ff7ce09b 100644
--- a/src/systemcmds/tests/CMakeLists.txt
+++ b/src/systemcmds/tests/CMakeLists.txt
@@ -75,7 +75,7 @@ set(srcs
tests_main.c
)
-if(${OS} STREQUAL "nuttx")
+if(${PX4_PLATFORM} STREQUAL "nuttx")
list(APPEND srcs
test_time.c
test_uart_break.c
diff --git a/test/rostest_px4_run.sh b/test/rostest_px4_run.sh
index c80c2ab7eb..44f4f8b882 100755
--- a/test/rostest_px4_run.sh
+++ b/test/rostest_px4_run.sh
@@ -4,7 +4,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
PX4_SRC_DIR=${DIR}/..
source /opt/ros/kinetic/setup.bash
-source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/posix_sitl_default
+source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/sitl_gazebo
--
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