From 0b54bb99f91032c76427a0060062a0bbc354a523 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 17 Apr 2016 00:27:54 -0400
Subject: [PATCH] NuttX quiet build

cmake combine NuttX copy and export

-NuttX wasn't recopying if it fails to compile
---
 CMakeLists.txt                                |  4 +-
 Makefile                                      |  2 +-
 Tools/px_process_airframes.py                 |  9 +--
 Tools/px_process_params.py                    |  7 +-
 Tools/px_romfs_pruner.py                      |  2 +-
 cmake/common/px4_base.cmake                   |  2 +-
 cmake/nuttx/px4_impl_nuttx.cmake              | 24 +++----
 nuttx-configs/PX4_Warnings.mk                 | 72 +++++++++++++++++++
 nuttx-configs/aerocore/nsh/Make.defs          | 43 +++--------
 nuttx-configs/mindpx-v2/nsh/Make.defs         | 39 +++-------
 .../px4-stm32f4discovery/nsh/Make.defs        | 49 ++++---------
 .../px4-stm32f4discovery/nsh/defconfig        |  3 +-
 nuttx-configs/px4fmu-v1/nsh/Make.defs         | 37 +++-------
 nuttx-configs/px4fmu-v2/nsh/Make.defs         | 37 +++-------
 nuttx-configs/px4fmu-v4/nsh/Make.defs         | 29 ++------
 nuttx-configs/px4io-v1/nsh/Make.defs          | 39 ++++------
 nuttx-configs/px4io-v2/nsh/Make.defs          | 39 ++++------
 17 files changed, 183 insertions(+), 254 deletions(-)
 create mode 100644 nuttx-configs/PX4_Warnings.mk

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bc598472c1..fc5bc249a2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -298,7 +298,7 @@ px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
 
 include_directories(${include_dirs})
-message("INCLUDE_DIRS=${include_dirs}")
+#message("INCLUDE_DIRS=${include_dirs}")
 link_directories(${link_dirs})
 add_definitions(${definitions})
 
@@ -333,7 +333,7 @@ execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
 #=============================================================================
 # DriverFramework Drivers
 #
-message("ADDING DRIVERS")
+#message("ADDING DRIVERS")
 set(df_driver_libs)
 foreach(driver ${config_df_driver_list})
 	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
diff --git a/Makefile b/Makefile
index 5fc9451695..532a825a5a 100644
--- a/Makefile
+++ b/Makefile
@@ -111,7 +111,7 @@ define cmake-build
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
 +@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
 +@Tools/check_submodules.sh
-+$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
++@(echo PX4 CONFIG: $@ && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
 # create empty targets to avoid msgs for targets passed to cmake
diff --git a/Tools/px_process_airframes.py b/Tools/px_process_airframes.py
index 7d7d28a2b2..aa7e57a8c8 100755
--- a/Tools/px_process_airframes.py
+++ b/Tools/px_process_airframes.py
@@ -71,6 +71,7 @@ def main():
                          const="",
                          metavar="BOARD",
                          help="Board to create airframes xml for")
+    parser.add_argument("-v", "--verbose", help="verbose output")
     args = parser.parse_args()
 
     # Check for valid command
@@ -84,7 +85,7 @@ def main():
     parser = srcparser.SourceParser()
 
     # Scan directories, and parse the files
-    print("Scanning source path " + args.airframes_path)
+    if args.verbose: print("Scanning source path " + args.airframes_path)
     if not scanner.ScanDir(args.airframes_path, parser):
         sys.exit(1)
     # We can't validate yet
@@ -94,16 +95,16 @@ def main():
 
     # Output to XML file
     if args.xml:
-        print("Creating XML file " + args.xml)
+        if args.verbose: print("Creating XML file " + args.xml)
         out = xmlout.XMLOutput(param_groups, args.board)
         out.Save(args.xml)
 
     if args.start_script:
-        print("Creating start script " + args.start_script)
+        if args.verbose: print("Creating start script " + args.start_script)
         out = rcout.RCOutput(param_groups, args.board)
         out.Save(args.start_script)
 
-    print("All done!")
+    if (args.verbose): print("All done!")
 
 
 if __name__ == "__main__":
diff --git a/Tools/px_process_params.py b/Tools/px_process_params.py
index fcd5b994e9..29206275bf 100644
--- a/Tools/px_process_params.py
+++ b/Tools/px_process_params.py
@@ -107,6 +107,7 @@ def main():
                         metavar="SUMMARY",
                         default="Automagically updated parameter documentation from code.",
                         help="DokuWiki page edit summary")
+    parser.add_argument("-v", "--verbose", help="verbose output")
     args = parser.parse_args()
 
     # Check for valid command
@@ -120,7 +121,7 @@ def main():
     parser = srcparser.SourceParser()
 
     # Scan directories, and parse the files
-    print("Scanning source path " + args.src_path)
+    if (args.verbose): print("Scanning source path " + args.src_path)
     if not scanner.ScanDir(args.src_path, parser):
         sys.exit(1)
     if not parser.Validate():
@@ -129,7 +130,7 @@ def main():
 
     # Output to XML file
     if args.xml:
-        print("Creating XML file " + args.xml)
+        if args.verbose: print("Creating XML file " + args.xml)
         out = xmlout.XMLOutput(param_groups, args.board, os.path.join(args.src_path, args.inject_xml))
         out.Save(args.xml)
 
@@ -147,7 +148,7 @@ def main():
             else:
                 print("Error: You need to specify DokuWiki XML-RPC username and password!")
 
-    print("All done!")
+    #print("All done!")
 
 
 if __name__ == "__main__":
diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py
index 67f0b57cbf..5ac8fc2801 100644
--- a/Tools/px_romfs_pruner.py
+++ b/Tools/px_romfs_pruner.py
@@ -53,7 +53,7 @@ def main():
                         help="ROMFS scratch folder.")
     args = parser.parse_args()
 
-    print("Pruning ROMFS files.")
+    #print("Pruning ROMFS files.")
 
     # go through
     for (root, dirs, files) in os.walk(args.folder):
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index f4caf0c420..30ccd86b5d 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -773,7 +773,7 @@ function(px4_create_git_hash_header)
 		OUTPUT_STRIP_TRAILING_WHITESPACE
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
-	message(STATUS "GIT_DESC = ${git_desc}")
+	#message(STATUS "GIT_DESC = ${git_desc}")
 	set(git_desc_short)
 	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
 	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index e1c7fc3696..fb0b81711d 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -202,28 +202,22 @@ function(px4_nuttx_add_export)
 	    add_dependencies(nuttx_patch nuttx_patch_${patch_name})
 	endforeach()
 
-	# copy
-	add_custom_command(OUTPUT nuttx_copy_${CONFIG}.stamp
-		COMMAND ${MKDIR} -p ${CMAKE_BINARY_DIR}/${CONFIG}
+	# copy and export
+	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
+	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
 		COMMAND ${MKDIR} -p ${nuttx_src}
 		COMMAND ${CP} -a ${CMAKE_SOURCE_DIR}/NuttX/. ${nuttx_src}/
 		COMMAND ${RM} -rf ${nuttx_src}/.git
-		COMMAND ${TOUCH} nuttx_copy_${CONFIG}.stamp
-		DEPENDS ${DEPENDS})
-	add_custom_target(__nuttx_copy_${CONFIG}
-		DEPENDS nuttx_copy_${CONFIG}.stamp __nuttx_patch_${CONFIG})
-
-	# export
-	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
-	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
-		COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
+		#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
+		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
 		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
 		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh
-		COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
-		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > /dev/null
+		#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
+		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
 		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
-		DEPENDS ${config_files} ${DEPENDS} __nuttx_copy_${CONFIG})
+		DEPENDS ${config_files} ${DEPENDS}
+		COMMENT "Building NuttX for ${CONFIG}")
 
 	# extract
 	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
diff --git a/nuttx-configs/PX4_Warnings.mk b/nuttx-configs/PX4_Warnings.mk
new file mode 100644
index 0000000000..9d19fc2e6a
--- /dev/null
+++ b/nuttx-configs/PX4_Warnings.mk
@@ -0,0 +1,72 @@
+############################################################################
+# configs/PX4_Warnings.mk
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+PX4_ARCHWARNINGS = -Wall \
+                   -Wextra \
+                   -Wdouble-promotion \
+                   -Wframe-larger-than=1024 \
+                   -Wlogical-op \
+                   -Wpacked \
+                   -Wpointer-arith \
+                   -Wshadow \
+                   -Wno-sign-compare \
+                   -Wno-unused-parameter
+
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+PX4_ARCHCWARNINGS = $(ARCHWARNINGS) \
+                   -Wbad-function-cast \
+                   -Wmissing-parameter-type \
+                   -Wnested-externs \
+                   -Wstrict-prototypes \
+                   -Wno-bad-function-cast \
+                   -Wno-cpp \
+                   -Wno-implicit-function-declaration \
+                   -Wno-maybe-uninitialized \
+                   -Wno-missing-field-initializers \
+                   -Wno-nested-externs \
+                   -Wno-old-style-declaration \
+                   -Wno-pointer-sign \
+                   -Wno-type-limits \
+                   -Wno-unused-but-set-variable \
+                   -Wno-unused-function \
+                   -Wno-unused-label \
+                   -Wno-unused-variable
+
+PX4_ARCHWARNINGSXX = $(ARCHWARNINGS) \
+                   -Wno-cpp \
+                   -Wno-psabi
diff --git a/nuttx-configs/aerocore/nsh/Make.defs b/nuttx-configs/aerocore/nsh/Make.defs
index 3808fc1cfd..96eedc3665 100644
--- a/nuttx-configs/aerocore/nsh/Make.defs
+++ b/nuttx-configs/aerocore/nsh/Make.defs
@@ -36,6 +36,8 @@
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 
+include $(TOPDIR)/PX4_Warnings.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
@@ -53,7 +55,7 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
-MAXOPTIMIZATION		 = -O3
+MAXOPTIMIZATION		 = -Os
 ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mthumb \
 			   -march=armv7e-m \
@@ -91,7 +93,7 @@ else
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
-    # Linux/Cygwin-native toolchain 
+    # Linux/Cygwin-native toolchain
     MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
@@ -108,10 +110,10 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
@@ -119,32 +121,9 @@ endif
 
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-			   -Wno-sign-compare \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wfloat-equal \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wmissing-declarations \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-psabi
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
diff --git a/nuttx-configs/mindpx-v2/nsh/Make.defs b/nuttx-configs/mindpx-v2/nsh/Make.defs
index a09e6794e3..75a3e4c282 100644
--- a/nuttx-configs/mindpx-v2/nsh/Make.defs
+++ b/nuttx-configs/mindpx-v2/nsh/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# configs/px4fmu-v2/nsh/Make.defs
+# configs/mindpx-v2/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -36,6 +36,8 @@
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 
+include $(TOPDIR)/PX4_Warnings.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
@@ -91,7 +93,7 @@ else
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
-    # Linux/Cygwin-native toolchain 
+    # Linux/Cygwin-native toolchain
     MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
@@ -108,10 +110,10 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
@@ -119,28 +121,9 @@ endif
 
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-			   -Wno-sign-compare \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wnested-externs
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-psabi
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
diff --git a/nuttx-configs/px4-stm32f4discovery/nsh/Make.defs b/nuttx-configs/px4-stm32f4discovery/nsh/Make.defs
index e70320aaa4..b08b8934d8 100644
--- a/nuttx-configs/px4-stm32f4discovery/nsh/Make.defs
+++ b/nuttx-configs/px4-stm32f4discovery/nsh/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# configs/px4fmu-v2/nsh/Make.defs
+# configs/px4-stm32f4discovery/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -36,6 +36,8 @@
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 
+include $(TOPDIR)/PX4_Warnings.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
@@ -53,7 +55,7 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
-MAXOPTIMIZATION		 = -O3
+MAXOPTIMIZATION		 = -Os
 ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mthumb \
 			   -march=armv7e-m \
@@ -62,8 +64,9 @@ ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 
 
 # enable precise stack overflow tracking
-INSTRUMENTATIONDEFINES	 = -finstrument-functions \
-			   -ffixed-r10
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
+endif
 
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
@@ -90,7 +93,7 @@ else
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
-    # Linux/Cygwin-native toolchain 
+    # Linux/Cygwin-native toolchain
     MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
@@ -107,10 +110,10 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
@@ -118,31 +121,9 @@ endif
 
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wfloat-equal \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wmissing-declarations \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-psabi
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
diff --git a/nuttx-configs/px4-stm32f4discovery/nsh/defconfig b/nuttx-configs/px4-stm32f4discovery/nsh/defconfig
index 7be5399629..5285fae077 100644
--- a/nuttx-configs/px4-stm32f4discovery/nsh/defconfig
+++ b/nuttx-configs/px4-stm32f4discovery/nsh/defconfig
@@ -283,8 +283,7 @@ CONFIG_STM32_USART_SINGLEWIRE=y
 #
 # CONFIG_STM32_I2C_DYNTIMEO is not set
 CONFIG_STM32_I2CTIMEOSEC=0
-CONFIG_STM32_I2CTIMEOMS=500
-CONFIG_STM32_I2CTIMEOTICKS=500
+CONFIG_STM32_I2CTIMEOMS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 
 #
diff --git a/nuttx-configs/px4fmu-v1/nsh/Make.defs b/nuttx-configs/px4fmu-v1/nsh/Make.defs
index a1439476aa..6f21d09777 100644
--- a/nuttx-configs/px4fmu-v1/nsh/Make.defs
+++ b/nuttx-configs/px4fmu-v1/nsh/Make.defs
@@ -36,6 +36,8 @@
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 
+include $(TOPDIR)/PX4_Warnings.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
@@ -91,7 +93,7 @@ else
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
-    # Linux/Cygwin-native toolchain 
+    # Linux/Cygwin-native toolchain
     MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
@@ -108,10 +110,10 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
@@ -119,28 +121,9 @@ endif
 
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-			   -Wno-sign-compare \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wnested-externs
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-psabi
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs
index a09e6794e3..44afda73e0 100644
--- a/nuttx-configs/px4fmu-v2/nsh/Make.defs
+++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs
@@ -36,6 +36,8 @@
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 
+include $(TOPDIR)/PX4_Warnings.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
@@ -91,7 +93,7 @@ else
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
-    # Linux/Cygwin-native toolchain 
+    # Linux/Cygwin-native toolchain
     MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
@@ -108,10 +110,10 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
@@ -119,28 +121,9 @@ endif
 
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-			   -Wno-sign-compare \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wnested-externs
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-psabi
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
diff --git a/nuttx-configs/px4fmu-v4/nsh/Make.defs b/nuttx-configs/px4fmu-v4/nsh/Make.defs
index 6177f4c36d..bd3f2a3c15 100644
--- a/nuttx-configs/px4fmu-v4/nsh/Make.defs
+++ b/nuttx-configs/px4fmu-v4/nsh/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# configs/px4fmu-v2/nsh/Make.defs
+# configs/px4fmu-v4/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -36,6 +36,8 @@
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 
+include $(TOPDIR)/PX4_Warnings.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
@@ -119,28 +121,9 @@ endif
 
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-			   -Wno-sign-compare \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wnested-externs
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-psabi
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
diff --git a/nuttx-configs/px4io-v1/nsh/Make.defs b/nuttx-configs/px4io-v1/nsh/Make.defs
index df1110fc61..a04fee665e 100644
--- a/nuttx-configs/px4io-v1/nsh/Make.defs
+++ b/nuttx-configs/px4io-v1/nsh/Make.defs
@@ -36,6 +36,8 @@
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 
+include $(TOPDIR)/PX4_Warnings.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
@@ -84,7 +86,7 @@ else
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
-    # Linux/Cygwin-native toolchain 
+    # Linux/Cygwin-native toolchain
     MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
@@ -101,10 +103,10 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
@@ -112,28 +114,10 @@ endif
 
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-         -Wno-sign-compare \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wnested-externs
-ARCHWARNINGSXX		 = $(ARCHWARNINGS)
-ARCHDEFINES		 = 
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
+ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
 # this seems to be the only way to add linker flags
@@ -155,6 +139,7 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
+
 # produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"
diff --git a/nuttx-configs/px4io-v2/nsh/Make.defs b/nuttx-configs/px4io-v2/nsh/Make.defs
index 23ebca902a..9b7a226b9e 100644
--- a/nuttx-configs/px4io-v2/nsh/Make.defs
+++ b/nuttx-configs/px4io-v2/nsh/Make.defs
@@ -36,6 +36,8 @@
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 
+include $(TOPDIR)/PX4_Warnings.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
@@ -84,7 +86,7 @@ else
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
-    # Linux/Cygwin-native toolchain 
+    # Linux/Cygwin-native toolchain
     MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
@@ -101,10 +103,10 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
@@ -112,28 +114,10 @@ endif
 
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-         -Wno-sign-compare \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wnested-externs
-ARCHWARNINGSXX		 = $(ARCHWARNINGS)
-ARCHDEFINES		 = 
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
+ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
 # this seems to be the only way to add linker flags
@@ -155,6 +139,7 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
+
 # produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"