Added defautl config for nuttx, nuttx now works over usb.

CMakeLists.txt

@@ -178,17 +178,17 @@ endforeach()
 #=============================================================================
 # git
 #
-if (${OS} STREQUAL "nuttx")
-	px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
-endif()
 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
 px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/lib/uavcan")
 if (NOT ${OS} STREQUAL "qurt")
 	px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
 endif()
-
+if(${OS} STREQUAL "nuttx")
+	px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+endif()
 add_custom_target(submodule_clean
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	COMMAND git submodule deinit -f .

Makefile

@@ -1,35 +1,62 @@
 d=$(PWD)
 
-
+#----------------------------------------------------------------------------
+# OS: nuttx BOARD: px4fmu-v2 LABEL: simple
+#
 nuttx_px4fmu-v2_simple:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
 		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-arm-none-eabi.cmake \
 		-DOS=nuttx -DBOARD=px4fmu-v2 -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP 
-px4fmu-v2_simple: nuttx_px4fmu-v2_simple
+nuttx_px4fmu-v2_simple_upload: nuttx_px4fmu-v2_simple
+	make -C build_$< upload
+nuttx_px4fmu-v2_simple_test: nuttx_px4fmu-v2_simple
+	make -C build_$< test
 
+
+#----------------------------------------------------------------------------
+# OS: nuttx BOARD: px4fmu-v2 LABEL: default
+#
+nuttx_px4fmu-v2_default:
+	mkdir -p $d/build_$@ && cd $d/build_$@ && \
+		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-arm-none-eabi.cmake \
+		-DOS=nuttx -DBOARD=px4fmu-v2 -DLABEL=default && \
+		make -s && ctest -V && cpack -G ZIP 
+nuttx_px4fmu-v2_default_upload: nuttx_px4fmu-v2_default
+	make -C build_$< upload
+nuttx_px4fmu-v2_default_test: nuttx_px4fmu-v2_default
+	make -C build_$< test
+
+#----------------------------------------------------------------------------
+# OS: nuttx BOARD: sim LABEL: simple
+#
 nuttx_sim_simple:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
 		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-native.cmake \
 		-DOS=nuttx -DBOARD=sim -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP 
 
-nuttx_px4fmu-v2_simple_upload: nuttx_px4fmu-v2_simple
+#----------------------------------------------------------------------------
-	cd $d/build_$< && make upload
+# OS: posix BOARD: sitl LABEL: simple
-px4fmu-v2_simple_upload: nuttx_px4fmu-v2_simple_upload
+#
-
 posix_sitl_simple:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
 		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-posix-clang-native.cmake \
 		-DOS=posix -DBOARD=sitl -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP
 
+#----------------------------------------------------------------------------
+# OS: qurt BOARD: hil LABEL: simple
+#
 qurt_hil_simple:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
 		cmake .. -DQURT_ENABLE_STUBS=1 -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-hexagon.cmake \
 		-DOS=qurt -DBOARD=hil -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP
 
+#----------------------------------------------------------------------------
+# misc targets
+#
 clean:
 	rm -rf build_*/
 

cmake/configs/config_nuttx_px4fmu-v2_default.cmake

@@ -0,0 +1,185 @@
+include(nuttx/px4_impl_nuttx)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+
+		#
+		# Board support modules
+		#
+		drivers/device
+		drivers/stm32
+		drivers/stm32/adc
+		drivers/stm32/tone_alarm
+		drivers/led
+		drivers/px4fmu
+		drivers/px4io
+		drivers/boards/px4fmu-v2
+		drivers/rgbled
+		drivers/mpu6000
+		drivers/mpu9250
+		drivers/lsm303d
+		drivers/l3gd20
+		drivers/hmc5883
+		drivers/ms5611
+		drivers/mb12xx
+		drivers/sf0x
+		drivers/ll40ls
+		drivers/trone
+		drivers/gps
+		drivers/pwm_out_sim
+		drivers/hott
+		drivers/hott/hott_telemetry
+		drivers/hott/hott_sensors
+		drivers/blinkm
+		drivers/airspeed
+		drivers/ets_airspeed
+		drivers/meas_airspeed
+		drivers/frsky_telemetry
+		modules/sensors
+		drivers/mkblctrl
+		drivers/px4flow
+		drivers/oreoled
+		drivers/gimbal
+		drivers/pwm_input
+		drivers/camera_trigger
+
+		#
+		# 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
+
+		#
+		# General system control
+		#
+		modules/commander
+		modules/navigator
+		modules/mavlink
+		modules/gpio_led
+		#modules/uavcan # have to fix CMakeLists.txt
+		modules/land_detector
+
+		#
+		# Estimation modules (EKF/ SO3 / other filters)
+		#
+		# Too high RAM usage due to static allocations
+		# modules/attitude_estimator_ekf
+		modules/attitude_estimator_q
+		modules/ekf_att_pos_estimator
+		modules/position_estimator_inav
+
+		#
+		# 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/sdlog2
+
+		#
+		# Library modules
+		#
+		modules/systemlib
+		modules/systemlib/mixer
+		modules/controllib
+		modules/uORB
+		modules/dataman
+
+		#
+		# Libraries
+		#
+		#lib/mathlib/CMSIS
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/ecl
+		lib/external_lgpl
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+		lib/launchdetection
+		platforms/nuttx
+
+		# had to add for cmake, not sure why wasn't in original config
+		platforms/common 
+		platforms/nuttx/px4_layer
+
+		#
+		# OBC challenge
+		#
+		modules/bottle_drop
+
+		#
+		# PX4 flow estimator, good for indoors
+		#
+		examples/flow_position_estimator
+
+		#
+		# 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/daemon
+		#examples/px4_daemon_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
+	)
+
+	# TODO convert rest of makefile config below
+
+	# Generate parameter XML file
+	#GEN_PARAM_XML = 1
+
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
+function(px4_nuttx_builtin_extra_commands out)
+
+	add_custom_target(sercon_main)
+	set_target_properties(sercon_main PROPERTIES
+		MAIN "sercon" STACK "2048")
+
+	add_custom_target(serdis_main)
+	set_target_properties(serdis_main PROPERTIES
+		MAIN "serdis" STACK "2048")
+
+	set(${out} sercon_main serdis_main PARENT_SCOPE)
+
+endfunction()

cmake/configs/config_nuttx_px4fmu-v2_simple.cmake

@@ -3,21 +3,139 @@ include(nuttx/px4_impl_nuttx)
 function(px4_set_config_modules out_module_list)
 
 	set(config_module_list
-		platforms/nuttx
+
-		platforms/nuttx/px4_layer
+		#
-		platforms/common
+		# Board support modules
-		drivers/led
+		#
 		drivers/device
-		modules/systemlib
-		modules/uORB
-		examples/px4_simple_app
-		drivers/boards/px4fmu-v2
 		drivers/stm32
+		drivers/stm32/adc
+		drivers/stm32/tone_alarm
+		drivers/led
+		drivers/px4fmu
+		drivers/px4io
+		drivers/boards/px4fmu-v2
+		drivers/rgbled
+		drivers/mpu6000
+		drivers/mpu9250
+		drivers/lsm303d
+		drivers/l3gd20
+		drivers/hmc5883
+		drivers/ms5611
+		drivers/mb12xx
+		drivers/sf0x
+		drivers/ll40ls
+		drivers/trone
+		drivers/gps
+		drivers/pwm_out_sim
+		drivers/hott
+		drivers/hott/hott_telemetry
+		drivers/hott/hott_sensors
+		drivers/blinkm
+		drivers/airspeed
+		drivers/ets_airspeed
+		drivers/meas_airspeed
+		drivers/frsky_telemetry
+		modules/sensors
+		drivers/mkblctrl
+		drivers/px4flow
+		drivers/oreoled
+		drivers/gimbal
+		drivers/pwm_input
+		drivers/camera_trigger
+
+		#
+		# 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
+
+		#
+		# Logging
+		#
+		modules/sdlog2
+
+		#
+		# Library modules
+		#
+		modules/systemlib
+		modules/systemlib/mixer
+		modules/controllib
+		modules/uORB
+		modules/dataman
+
+		#
+		# Libraries
+		#
+		#lib/mathlib/CMSIS
+		lib/mathlib
 		lib/mathlib/math/filter
+		lib/ecl
+		lib/external_lgpl
+		lib/geo
+		lib/geo_lookup
 		lib/conversion
-		)
+		lib/launchdetection
+		platforms/nuttx
+
+		# had to add for cmake, not sure why wasn't in original config
+		platforms/common 
+		platforms/nuttx/px4_layer
+
+		#
+		# 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/daemon
+		examples/px4_daemon_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
+	)
+
+	# TODO convert rest of makefile config below
+
+	# Generate parameter XML file
+	#GEN_PARAM_XML = 1
 
 	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
 
+function(px4_nuttx_builtin_extra_commands out)
+
+	add_custom_target(sercon_main)
+	set_target_properties(sercon_main PROPERTIES
+		MAIN "sercon" STACK "2048")
+
+	add_custom_target(serdis_main)
+	set_target_properties(serdis_main PROPERTIES
+		MAIN "serdis" STACK "2048")
+
+	set(${out} sercon_main serdis_main PARENT_SCOPE)
+
+endfunction()

cmake/nuttx/px4_impl_nuttx.cmake

@@ -96,7 +96,7 @@ endfunction()
 #	px4_nuttx_generate_builtin_commands
 #
 #	This function generates the builtin_commands.c src for nuttx
-
+#
 #	Usage:
 #		px4_nuttx_generate_builtin_commands(
 #			MODULE_LIST <in-list>
@@ -119,10 +119,12 @@ function(px4_nuttx_generate_builtin_commands)
 		MULTI_VALUE MODULE_LIST
 		REQUIRED MODULE_LIST OUT
 		ARGN ${ARGN})
+	message(STATUS "argn: ${ARGN}")
 	set(builtin_apps_string)
 	set(builtin_apps_decl_string)
 	set(command_count 0)
 	foreach(module ${MODULE_LIST})
+		message("generating builtin for: ${module}")
 		# default
 		set(MAIN_DEFAULT MAIN-NOTFOUND)
 		set(STACK_DEFAULT 1024)

src/drivers/boards/px4fmu-v2/px4fmu2_init.c

@@ -210,17 +210,18 @@ static struct sdio_dev_s *sdio;
 
 #include <math.h>
 
-#ifdef __cplusplus
+/* TODO XXX commented this out to get cmake build working */
-__EXPORT int matherr(struct __exception *e)
+/*#ifdef __cplusplus*/
-{
+/*__EXPORT int matherr(struct __exception *e)*/
-	return 1;
+/*{*/
-}
+	/*return 1;*/
-#else
+/*}*/
-__EXPORT int matherr(struct exception *e)
+/*#else*/
-{
+/*__EXPORT int matherr(struct exception *e)*/
-	return 1;
+/*{*/
-}
+	/*return 1;*/
-#endif
+/*}*/
+/*#endif*/
 
 __EXPORT int nsh_archinitialize(void)
 {

src/firmware/nuttx/CMakeLists.txt

@@ -1,6 +1,9 @@
+px4_nuttx_builtin_extra_commands(builtin_extra_cmds)
+message(STATUS "builtin extra: ${builtin_extra_cmds}")
+
 px4_nuttx_generate_builtin_commands(
 	OUT builtin_commands.c
-	MODULE_LIST ${module_libraries})
+	MODULE_LIST ${module_libraries} ${builtin_extra_cmds})
 
 px4_nuttx_generate_romfs(OUT romfs.o
 	ROOT ROMFS/px4fmu_common)
@@ -15,9 +18,12 @@ set(main_link_flags
 px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
 set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
 
+set(cmsis_lib ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a)
+
 target_link_libraries(firmware_nuttx
 	-Wl,--start-group
 	${module_libraries}
+	${cmsis_lib}
 	apps nuttx nosys m gcc
 	-Wl,--end-group)
 

src/modules/uavcan/CMakeLists.txt

@@ -37,11 +37,61 @@ px4_add_module(
 	COMPILE_FLAGS
 		-O3
 	SRCS
+
+		# Main
 		uavcan_main.cpp
 		uavcan_servers.cpp
 		uavcan_clock.cpp
 		uavcan_params.c
+
+		# Actuators
+		actuators/esc.cpp
+
+		# Sensors
+		sensors/sensor_bridge.cpp
+		sensors/gnss.cpp
+		sensors/mag.cpp
+		sensors/baro.cpp
+
 	DEPENDS
 		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 
+
+# TODO convert rest of module.mk
+
+##
+## libuavcan
+##
+#include $(PX4_LIB_DIR)uavcan/libuavcan/include.mk
+## Use the relitive path to keep the genrated files in the BUILD_DIR
+#SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
+#INCLUDE_DIRS += $(LIBUAVCAN_INC)
+## Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
+## because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
+#override EXTRADEFINES := $(EXTRADEFINES) \
+#-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
+#-DUAVCAN_NO_ASSERTIONS \
+#-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 \
+#-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
+
+##
+## libuavcan drivers for STM32
+##
+#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/stm32/driver/include.mk
+## Use the relitive path to keep the genrated files in the BUILD_DIR
+#SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_STM32_SRC))
+#INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
+#override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2
+
+##
+## libuavcan drivers for posix
+##
+#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/posix/include.mk
+#INCLUDE_DIRS += $(LIBUAVCAN_POSIX_INC)
+
+##
+## Invoke DSDL compiler
+##
+#$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
+#INCLUDE_DIRS += dsdlc_generated
+## vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/platforms/common/CMakeLists.txt

@@ -34,6 +34,7 @@ set(depends
 	msg_gen
 	prebuild_targets
 	git_mavlink
+	git_uavcan
 	)
 
 if(${OS} STREQUAL "posix" OR ${BOARD} STREQUAL "sim")