Work on px4io firmware building.

src/drivers/ms5611/CMakeLists.txt

@@ -30,15 +30,29 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+set(srcs
+	ms5611_spi.cpp
+	ms5611_i2c.cpp
+	)
+
+if(${OS} STREQUAL "nuttx")
+	list(APPEND srcs
+		ms5611_nuttx.cpp
+		)
+else()
+	list(APPEND srcs
+		ms5611_posix.cpp
+		ms5611_sim.cpp
+		)
+
+endif()
+
 px4_add_module(
 	MODULE drivers__ms5611
 	MAIN ms5611
 	COMPILE_FLAGS
 		-Os
-	SRCS
-		ms5611_nuttx.cpp
-		ms5611_spi.cpp
-		ms5611_i2c.cpp
+	SRCS ${srcs}
 	DEPENDS
 		platforms__common
 	)

src/firmware/nuttx/CMakeLists.txt

@@ -13,44 +13,57 @@ add_executable(firmware_nuttx
 	builtin_commands.c
 	romfs.o)
 set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
-set(main_link_flags
-	"-T${nuttx_export_dir}/build/ld.script"
-	"-Wl,-Map=${CMAKE_BINARY_DIR}/main.map"
-	)
-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)
+set(link_libs
+	apps nuttx m gcc
+	)
+
+if(NOT ${BOARD} STREQUAL "sim")
+	list(APPEND link_libs nosys)
+	set(main_link_flags
+		"-T${nuttx_export_dir}/build/ld.script"
+		"-Wl,-Map=${CMAKE_BINARY_DIR}/${BOARD}/main.map"
+		)
+	px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
+	set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
+endif()
+
+set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${target_name}.px4)
 
 target_link_libraries(firmware_nuttx
 	-Wl,--start-group
 	${module_libraries}
-	${cmsis_lib}
-	apps nuttx nosys m gcc
+	${config_extra_libs}
+	${link_libs}
 	-Wl,--end-group)
 
-set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
-
 add_custom_target(check_weak
-	COMMAND ${NM} firmware_nuttx | grep " w "
+	COMMAND ${NM} firmware_nuttx | ${GREP} " w " | cat
 	DEPENDS firmware_nuttx
+	VERBATIM
 	)
 
-px4_nuttx_add_firmware(OUT ${fw_file}
-	EXE firmware_nuttx
-	${config_firmware_options}
-	)
+if(NOT ${BOARD} STREQUAL "sim")
+	set(fw_file
+		${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
 
-configure_file(gdbinit.in .gdbinit)
+	px4_nuttx_add_firmware(OUT ${fw_file}
+		BOARD ${BOARD}
+		EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		${config_firmware_options}
+		)
 
-add_custom_target(debug
-	COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
-	DEPENDS firmware_nuttx
-		${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
-	)
+	configure_file(gdbinit.in .gdbinit)
 
-px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
-	BUNDLE ${fw_file})
+	add_custom_target(debug
+		COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		DEPENDS firmware_nuttx
+			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+		)
+
+	px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
+		BUNDLE ${fw_file})
+endif()
 
 install(FILES ${fw_file} DESTINATION .)
 

src/modules/px4iofirmware/CMakeLists.txt

@@ -30,27 +30,108 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
-	MODULE modules__px4iofirmware
-	SRCS
-		adc.c
-		controls.c
-		dsm.c
-		px4io.c
-		registers.c
-		safety.c
-		sbus.c
-		../systemlib/up_cxxinitialize.c
-		../systemlib/perf_counter.c
-		mixer.cpp
-		../systemlib/mixer/mixer.cpp
-		../systemlib/mixer/mixer_group.cpp
-		../systemlib/mixer/mixer_multirotor.cpp
-		../systemlib/mixer/mixer_simple.cpp
-		../systemlib/pwm_limit/pwm_limit.c
-		../../lib/rc/st24.c
-		../../lib/rc/sumd.c
-	DEPENDS
-		platforms__common
+
+# kill all flags above us, this is a different board (io)
+set_directory_properties(PROPERTIES
+	INCLUDE_DIRECTORIES ""
+	LINK_DIRECTORIES ""
+	COMPILE_DEFINITIONS ""
 	)
+set(c_flags)
+set(exe_linker_flags)
+set(cxx_flags)
+set(include_dirs)
+set(link_dirs)
+set(definitions)
+
+px4_os_prebuild_targets(OUT io_prebuild_targets
+	BOARD ${config_io_board}
+	THREADS ${THREADS})
+
+px4_os_add_flags(
+	BOARD ${config_io_board}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)
+
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
+
+include_directories(
+	${include_dirs}
+	${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
+	)
+link_directories(${link_dirs})
+add_definitions(${definitions})
+
+set(srcs
+	adc.c
+	controls.c
+	dsm.c
+	px4io.c
+	registers.c
+	safety.c
+	sbus.c
+	../systemlib/up_cxxinitialize.c
+	../systemlib/perf_counter.c
+	mixer.cpp
+	../systemlib/mixer/mixer.cpp
+	../systemlib/mixer/mixer_group.cpp
+	../systemlib/mixer/mixer_multirotor.cpp
+	../systemlib/mixer/mixer_simple.cpp
+	../systemlib/pwm_limit/pwm_limit.c
+	../../lib/rc/st24.c
+	../../lib/rc/sumd.c
+	../../drivers/stm32/drv_hrt.c
+	../../drivers/stm32/drv_pwm_servo.c
+	../../drivers/boards/${config_io_board}/px4iov2_init.c
+	../../drivers/boards/${config_io_board}/px4iov2_pwm_servo.c
+	)
+
+if(${config_io_board} STREQUAL "px4io-v1")
+	list(APPEND srcs
+		i2c.c
+		)
+elseif(${config_io_board} STREQUAL "px4io-v2")
+	list(APPEND srcs
+		serial.c
+		../systemlib/hx_stream.c
+		)
+endif()
+
+add_executable(firmware_io_nuttx
+	${srcs})
+
+add_dependencies(firmware_io_nuttx
+	nuttx_export_${config_io_board}
+	msg_gen
+	io_prebuild_targets
+	)
+
+set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
+set(main_link_flags
+	"-T${nuttx_export_dir}/build/ld.script"
+	"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
+	)
+px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
+set_target_properties(firmware_io_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
+
+set(io_fw_file ${CMAKE_CURRENT_BINARY_DIR}/${config_io_board}.px4)
+
+target_link_libraries(firmware_io_nuttx
+	-Wl,--start-group
+	apps nuttx nosys m gcc
+	${config_io_extra_libs}
+	-Wl,--end-group)
+
+px4_nuttx_add_firmware(OUT ${io_fw_file}
+	BOARD ${config_io_board}
+	EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_io_nuttx
+	${config_firmware_options}
+	)
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/systemcmds/tests/CMakeLists.txt

@@ -30,6 +30,43 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(srcs
+	test_adc.c
+	test_bson.c
+	test_float.c
+	test_gpio.c
+	test_hott_telemetry.c
+	test_hrt.c
+	test_int.c
+	test_jig_voltages.c
+	test_led.c
+	test_sensors.c
+	test_servo.c
+	test_sleep.c
+	test_uart_baudchange.c
+	test_uart_console.c
+	test_uart_loopback.c
+	test_uart_send.c
+	test_mixer.cpp
+	test_mathlib.cpp
+	test_file.c
+	test_file2.c
+	tests_main.c
+	test_param.c
+	test_ppm_loopback.c
+	test_rc.c
+	test_conv.cpp
+	test_mount.c
+	test_eigen.cpp
+	)
+
+if(${OS} STREQUAL "nuttx")
+	list(APPEND srcs
+		test_time.c
+		)
+endif()
+
 px4_add_module(
 	MODULE systemcmds__tests
 	MAIN tests
@@ -37,34 +74,7 @@ px4_add_module(
 	COMPILE_FLAGS
 		-Wframe-larger-than=6000
 		-O0
-	SRCS
-		test_adc.c
-		test_bson.c
-		test_float.c
-		test_gpio.c
-		test_hott_telemetry.c
-		test_hrt.c
-		test_int.c
-		test_jig_voltages.c
-		test_led.c
-		test_sensors.c
-		test_servo.c
-		test_sleep.c
-		test_uart_baudchange.c
-		test_uart_console.c
-		test_uart_loopback.c
-		test_uart_send.c
-		test_mixer.cpp
-		test_mathlib.cpp
-		test_file.c
-		test_file2.c
-		tests_main.c
-		test_param.c
-		test_ppm_loopback.c
-		test_rc.c
-		test_conv.cpp
-		test_mount.c
-		test_eigen.cpp
+	SRCS ${srcs}
 	DEPENDS
 		platforms__common
 	)