Merge branch 'export-build' of https://github.com/PX4/Firmware into fmuv2_bringup

src/drivers/boards/px4fmu/px4fmu_can.c

@@ -141,4 +141,4 @@ int can_devinit(void)
 	return OK;
 }
 
-#endif
+#endif

src/drivers/boards/px4fmu/px4fmu_led.c

@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+#include "up_internal.h"
+#include "stm32_internal.h"
+#include "px4fmu_internal.h"
+
+__EXPORT void up_ledinit()
+{
+	/* Configure LED1-2 GPIOs for output */
+
+	stm32_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED2);
+}
+
+__EXPORT void up_ledon(int led)
+{
+	if (led == 0)
+	{
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
+	if (led == 1)
+	{
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED2, false);
+	}
+}
+
+__EXPORT void up_ledoff(int led)
+{
+	if (led == 0)
+	{
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
+	if (led == 1)
+	{
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED2, true);
+	}
+}

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -46,6 +46,7 @@
 #include <stdbool.h>
 #include <poll.h>
 #include <fcntl.h>
+#include <v1.0/common/mavlink.h>
 #include <float.h>
 #include <nuttx/sched.h>
 #include <sys/prctl.h>
@@ -65,11 +66,17 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 #include "codegen/attitudeKalmanfilter_initialize.h"
 #include "codegen/attitudeKalmanfilter.h"
 #include "attitude_estimator_ekf_params.h"
+#ifdef __cplusplus
+}
+#endif
 
-__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
+extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
@@ -264,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* Main loop*/
 	while (!thread_should_exit) {
 
-		struct pollfd fds[2] = {
-			{ .fd = sub_raw,   .events = POLLIN },
-			{ .fd = sub_params, .events = POLLIN }
-		};
+		struct pollfd fds[2];
+		fds[0].fd = sub_raw;
+		fds[0].events = POLLIN;
+		fds[1].fd = sub_params;
+		fds[1].events = POLLIN;
 		int ret = poll(fds, 2, 1000);
 
 		if (ret < 0) {

src/modules/attitude_estimator_ekf/module.mk

@@ -1,6 +1,6 @@
 
 MODULE_NAME	 = attitude_estimator_ekf
-SRCS		 = attitude_estimator_ekf_main.c \
+SRCS		 = attitude_estimator_ekf_main.cpp \
 			   attitude_estimator_ekf_params.c \
 			   codegen/attitudeKalmanfilter_initialize.c \
 			   codegen/attitudeKalmanfilter_terminate.c \