Working on param xml gen. Haven't updated qurt config yet.

CMakeLists.txt

@@ -130,7 +130,7 @@ endif()
 set(px4_required_functions
 	px4_os_prebuild_targets
 	px4_os_add_flags
-	px4_set_config_modules
+	px4_get_config
 	)
 foreach(cmd ${px4_required_functions})
 	if(NOT COMMAND ${cmd})
@@ -235,7 +235,7 @@ px4_generate_messages(TARGET msg_gen
 #=============================================================================
 # subdirectories
 #
-px4_set_config_modules(config_modules)
+px4_get_config(OUT_MODULES config_modules)
 set(module_libraries)
 foreach(module ${config_modules})
 	add_subdirectory(src/${module})

cmake/configs/config_nuttx_px4fmu-v2_default.cmake

@@ -1,9 +1,13 @@
 include(nuttx/px4_impl_nuttx)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ARGN ${ARGN})
 
 	set(config_module_list
-
 		#
 		# Board support modules
 		#
@@ -161,25 +165,39 @@ function(px4_set_config_modules out_module_list)
 		#examples/hwtest
 	)
 
-	# TODO convert rest of makefile config below
+	set(firmware_options
+		PARAM_XML # generate param xml
+		)
 
-	# Generate parameter XML file
+	set(extra_cmds serdis_main sercon_main)
-	#GEN_PARAM_XML = 1
 
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	# output
+	if(OUT_MODULES)
+		set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
+	endif()
+
+	if (OUT_FW_OPTS)
+		set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
+	endif()
 
 endfunction()
 
-function(px4_nuttx_builtin_extra_commands out)
+function(px4_add_extra_builtin_cmds)
 
-	add_custom_target(sercon_main)
+	px4_parse_function_args(
-	set_target_properties(sercon_main PROPERTIES
+		NAME px4_add_extra_builtin_cmds
+		ONE_VALUE OUT
+		REQUIRED OUT
+		ARGN ${ARGN})
+
+	add_custom_target(sercon)
+	set_target_properties(sercon PROPERTIES
 		MAIN "sercon" STACK "2048")
 
-	add_custom_target(serdis_main)
+	add_custom_target(serdis)
-	set_target_properties(serdis_main PROPERTIES
+	set_target_properties(serdis PROPERTIES
 		MAIN "serdis" STACK "2048")
 
-	set(${out} sercon_main serdis_main PARENT_SCOPE)
+	set(${OUT} sercon serdis PARENT_SCOPE)
 
 endfunction()

cmake/configs/config_nuttx_px4fmu-v2_simple.cmake

@@ -1,6 +1,11 @@
 include(nuttx/px4_impl_nuttx)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ARGN ${ARGN})
 
 	set(config_module_list
 
@@ -117,25 +122,39 @@ function(px4_set_config_modules out_module_list)
 		examples/hwtest
 	)
 
-	# TODO convert rest of makefile config below
+	set(firmware_options
+		PARAM_XML # generate param xml
+		)
 
-	# Generate parameter XML file
+	set(extra_cmds serdis_main sercon_main)
-	#GEN_PARAM_XML = 1
 
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	# output
+	if(OUT_MODULES)
+		set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
+	endif()
+
+	if (OUT_FW_OPTS)
+		set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
+	endif()
 
 endfunction()
 
-function(px4_nuttx_builtin_extra_commands out)
+function(px4_add_extra_builtin_cmds)
 
-	add_custom_target(sercon_main)
+	px4_parse_function_args(
-	set_target_properties(sercon_main PROPERTIES
+		NAME px4_add_extra_builtin_cmds
+		ONE_VALUE OUT
+		REQUIRED OUT
+		ARGN ${ARGN})
+
+	add_custom_target(sercon)
+	set_target_properties(sercon PROPERTIES
 		MAIN "sercon" STACK "2048")
 
-	add_custom_target(serdis_main)
+	add_custom_target(serdis)
-	set_target_properties(serdis_main PROPERTIES
+	set_target_properties(serdis PROPERTIES
 		MAIN "serdis" STACK "2048")
 
-	set(${out} sercon_main serdis_main PARENT_SCOPE)
+	set(${OUT} sercon serdis PARENT_SCOPE)
 
 endfunction()

cmake/configs/config_posix_sitl_simple.cmake

@@ -1,6 +1,11 @@
 include(posix/px4_impl_posix)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/led
@@ -54,7 +59,39 @@ function(px4_set_config_modules out_module_list)
 		lib/launchdetection
 		)
 
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(firmware_options
+		PARAM_XML # generate param xml
+		)
+
+	set(extra_cmds serdis_main sercon_main)
+
+	# output
+	if(OUT_MODULES)
+		set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
+	endif()
+
+	if (OUT_FW_OPTS)
+		set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
+	endif()
 
 endfunction()
 
+function(px4_add_extra_builtin_cmds)
+
+	px4_parse_function_args(
+		NAME px4_add_extra_builtin_cmds
+		ONE_VALUE OUT
+		REQUIRED OUT
+		ARGN ${ARGN})
+
+	add_custom_target(sercon)
+	set_target_properties(sercon PROPERTIES
+		MAIN "sercon" STACK "2048")
+
+	add_custom_target(serdis)
+	set_target_properties(serdis PROPERTIES
+		MAIN "serdis" STACK "2048")
+
+	set(${OUT} sercon serdis PARENT_SCOPE)
+
+endfunction()

cmake/nuttx/px4_impl_nuttx.cmake

@@ -79,16 +79,40 @@ function(px4_nuttx_add_firmware)
 		REQUIRED EXE
 		ARGN ${ARGN})
 
+	set(process_params ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py)
+	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+
+
 	#TODO handle param_xml
-	add_custom_command(OUTPUT ${OUT}
+	if(PARAM_XML)
-		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
+		add_custom_command(OUTPUT ${OUT}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
+			COMMAND ${process_params}
-			--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
+				--src-path ${CMAKE_SOURCE_DIR}/src
-			--git_identity ${CMAKE_SOURCE_DIR}
+				--board CONFIG_ARCH_BOARD_${BOARD} --xml
-			--image ${EXE}.bin > ${OUT}
+			COMMAND ${process_airframes}
-		DEPENDS ${EXE}
+				-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+				--board CONFIG_ARCH_BOARD_${BOARD} --xml
-		)
+			COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
+			COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
+				--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
+				--git_identity ${CMAKE_SOURCE_DIR}
+				--parameter_xml parameters.xml
+				--airframe_xml airframe.xml
+				--image ${EXE}.bin > ${OUT}
+			DEPENDS ${EXE}
+			WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+			)
+	else()
+		add_custom_command(OUTPUT ${OUT}
+			COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
+			COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
+				--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
+				--git_identity ${CMAKE_SOURCE_DIR}
+				--image ${EXE}.bin > ${OUT}
+			DEPENDS ${EXE}
+			WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+			)
+	endif()
 endfunction()
 
 #=============================================================================

makefiles/CMakeLists.txt

@@ -1,38 +0,0 @@
-############################################################################
-#
-#   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_add_module(
-	MODULE 
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/firmware/nuttx/CMakeLists.txt

@@ -1,9 +1,9 @@
-px4_nuttx_builtin_extra_commands(builtin_extra_cmds)
+px4_add_extra_builtin_cmds(OUT extra_builtins)
-message(STATUS "builtin extra: ${builtin_extra_cmds}")
 
 px4_nuttx_generate_builtin_commands(
 	OUT builtin_commands.c
-	MODULE_LIST ${module_libraries} ${builtin_extra_cmds})
+	MODULE_LIST ${module_libraries} ${extra_builtins}
+	)
 
 px4_nuttx_generate_romfs(OUT romfs.o
 	ROOT ROMFS/px4fmu_common)
@@ -27,8 +27,11 @@ target_link_libraries(firmware_nuttx
 	apps nuttx nosys m gcc
 	-Wl,--end-group)
 
+px4_get_config(OUT_FW_OPTS fw_opts)
 px4_nuttx_add_firmware(OUT ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4
-	EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx)
+	EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+	${fw_opts}
+	)
 
 px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
 	BUNDLE ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4)