NuttX cmake support optional compressed defconfigs

src/drivers/boards/common/CMakeLists.txt

@@ -34,7 +34,7 @@
 # common board drivers (currently only for nuttx fmu boards)
 if ((${PX4_PLATFORM} MATCHES "nuttx") AND NOT ${PX4_BOARD} MATCHES "io")
 
-	px4_add_library(drivers_boards_common
+	add_library(drivers_boards_common
 		board_crashdump.c
 		board_dma_alloc.c
 		board_gpio_init.c

src/drivers/boards/common/board_crashdump.c

@@ -1,8 +1,6 @@
 #ifdef CONFIG_BOARD_CRASHDUMP
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <board_config.h>
 
 #include <stdio.h>
 #include <stdbool.h>
@@ -67,8 +65,8 @@ int board_hardfault_init(int display_to_console, bool allow_prompt)
 
 	if (hadCrash == OK) {
 
-		PX4_ERR("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
-			" while booting to review!\n");
+		syslog(LOG_ERR, "[boot] There is a hard fault logged. Hold down the SPACE BAR," \
+		       " while booting to review!\n");
 
 		/* Yes. So add one to the boot count - this will be reset after a successful
 		 * commit to SD
@@ -104,9 +102,9 @@ int board_hardfault_init(int display_to_console, bool allow_prompt)
 				hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
 			}
 
-			PX4_ERR("[boot] There were %d reboots with Hard fault that were not committed to disk%s\n",
-				reboots,
-				(bytesWaiting == 0 ? "" : " - Boot halted Due to Key Press\n"));
+			syslog(LOG_ERR, "[boot] There were %d reboots with Hard fault that were not committed to disk%s\n",
+			       reboots,
+			       (bytesWaiting == 0 ? "" : " - Boot halted Due to Key Press\n"));
 
 
 			/* For those of you with a debugger set a break point on up_assert and
@@ -155,9 +153,9 @@ int board_hardfault_init(int display_to_console, bool allow_prompt)
 						break;
 					} // Inner Switch
 
-					PX4_INFO("\nEnter B - Continue booting\n" \
-						 "Enter C - Clear the fault log\n" \
-						 "Enter D - Dump fault log\n\n?>");
+					syslog(LOG_INFO, "\nEnter B - Continue booting\n" \
+					       "Enter C - Clear the fault log\n" \
+					       "Enter D - Dump fault log\n\n?>");
 					fflush(stdout);
 
 read:

src/lib/cdev/CDev.cpp

@@ -55,7 +55,7 @@ CDev::CDev(const char *devname) :
 	int ret = px4_sem_init(&_lock, 0, 1);
 
 	if (ret != 0) {
-		PX4_ERR("SEM INIT FAIL: ret %d", ret);
+		PX4_DEBUG("SEM INIT FAIL: ret %d", ret);
 	}
 }
 

src/modules/uORB/CMakeLists.txt

@@ -31,26 +31,30 @@
 #
 ############################################################################
 
-# this includes the generated topics directory
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-
-px4_add_module(
-	MODULE modules__uORB
-	MAIN uorb
-	STACK_MAIN 2100
-	SRCS
-		Publication.cpp
-		Subscription.cpp
-		uORB.cpp
-		uORBDeviceMaster.cpp
-		uORBDeviceNode.cpp
-		uORBMain.cpp
-		uORBManager.cpp
-		uORBUtils.cpp
-	DEPENDS
-		uorb_msgs
-	)
-
-if(PX4_TESTING)
-	add_subdirectory(uORB_tests)
+if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to platform layer)
+	
+	# this includes the generated topics directory
+	include_directories(${CMAKE_CURRENT_BINARY_DIR})
+	
+	px4_add_module(
+		MODULE modules__uORB
+		MAIN uorb
+		STACK_MAIN 2100
+		SRCS
+			Publication.cpp
+			Subscription.cpp
+			uORB.cpp
+			uORBDeviceMaster.cpp
+			uORBDeviceNode.cpp
+			uORBMain.cpp
+			uORBManager.cpp
+			uORBUtils.cpp
+		DEPENDS
+			cdev
+			uorb_msgs
+		)
+	
+	if(PX4_TESTING)
+		add_subdirectory(uORB_tests)
+	endif()
 endif()

src/platforms/common/CMakeLists.txt

@@ -39,12 +39,17 @@ if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
 		)
 endif()
 
-px4_add_library(px4_platform
+add_library(px4_platform
 	module.cpp
 	px4_getopt.c
 	px4_cli.cpp
 	shutdown.cpp
 	${SRCS}
 	)
+add_dependencies(px4_platform prebuild_targets)
+
+if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
+	target_link_libraries(px4_platform PRIVATE modules__uORB) # px4_log awkward dependency with uORB, TODO: orb should part of the platform layer
+endif()
 
 add_subdirectory(work_queue)

src/platforms/common/module.cpp

@@ -36,6 +36,10 @@
  * Implementation of the API declared in px4_module.h.
  */
 
+#ifndef MODULE_NAME
+#define MODULE_NAME "module"
+#endif
+
 #include <px4_module.h>
 #include <px4_log.h>
 

src/platforms/common/px4_cli.cpp

@@ -33,6 +33,11 @@
 
 #include <parameters/param.h>
 #include <px4_cli.h>
+
+#ifndef MODULE_NAME
+#define MODULE_NAME "cli"
+#endif
+
 #include <px4_log.h>
 
 #include <cstring>

src/platforms/common/px4_log.c

@@ -36,6 +36,10 @@
 #include <stdlib.h>
 #include <string.h>
 
+#ifndef MODULE_NAME
+#define MODULE_NAME "log"
+#endif
+
 #include <px4_log.h>
 #if defined(__PX4_POSIX)
 #if !defined(__PX4_CYGWIN)

src/platforms/common/shutdown.cpp

@@ -37,10 +37,17 @@
  */
 
 #include <board_config.h>
-#include <px4_log.h>
+
 #include <px4_workqueue.h>
 #include <px4_shutdown.h>
 #include <px4_tasks.h>
+
+#ifndef MODULE_NAME
+#define MODULE_NAME "shutdown"
+#endif
+
+#include <px4_log.h>
+
 #include <stdint.h>
 #include <errno.h>
 #include <pthread.h>