Cleanup of module building.

src/CMakeLists.txt

@@ -1,9 +0,0 @@
-add_subdirectory(./lib)
-add_subdirectory(./drivers)
-add_subdirectory(./platforms)
-add_subdirectory(./systemcmds)
-add_subdirectory(./examples)
-add_subdirectory(./modules)
-add_subdirectory(./firmware/${OS})
-
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/CMakeLists.txt

@@ -1,55 +0,0 @@
-set(directories
-	./roboclaw
-	./device
-	./px4io
-	./boards/px4fmu-v2
-	./boards/px4-stm32f4discovery
-	./boards/px4io-v2
-	./boards/px4io-v1
-	./boards/px4fmu-v1
-	./boards/aerocore
-	./boards/sitl
-	./mpu6000
-	./gimbal
-	./camera_trigger
-	./pwm_input
-	./pwm_out_sim
-	./pca9685
-	./mkblctrl
-	./sf0x
-	./hott/hott_telemetry
-	./hott/hott_sensors
-	./hott
-	./ms5611
-	./led
-	./irlock
-	./bma180
-	./l3gd20
-	./blinkm
-	./md25
-	./lsm303d
-	./pca8574
-	./mb12xx
-	./trone
-	./airspeed
-	./rgbled
-	./frsky_telemetry
-	./meas_airspeed
-	./px4flow
-	./mpu9250
-	./gps
-	./ets_airspeed
-	./ll40ls
-	./ardrone_interface
-	./hmc5883
-	./px4fmu
-	./stm32/tone_alarm
-	./stm32/adc
-	./stm32
-	./oreoled
-	./batt_smbus
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/drivers/device/CMakeLists.txt

@@ -35,13 +35,17 @@ set(SRCS)
 
 if(${OS} STREQUAL "nuttx")
 	list(APPEND SRCS
-		device_nuttx.cpp
-		cdev.cpp
-		i2c_nuttx.cpp
-		pio.cpp
-		spi.cpp
 		ringbuffer.cpp
 	)
+	if (NOT ${BOARD} STREQUAL "sim")
+		list(APPEND SRCS
+			device_nuttx.cpp
+			cdev.cpp
+			i2c_nuttx.cpp
+			pio.cpp
+			spi.cpp
+		)
+	endif()
 else()
 	list(APPEND SRCS
 		device_posix.cpp

src/examples/CMakeLists.txt

@@ -1,16 +0,0 @@
-set(directories
-	./px4_simple_app
-	./fixedwing_control
-	./rover_steering_control
-	./px4_mavlink_debug
-	./px4_daemon_app
-	./flow_position_estimator
-	./matlab_csv_serial
-	./subscriber
-	./hwtest
-	./publisher
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/firmware/nuttx/CMakeLists.txt

@@ -1,30 +1,29 @@
 # a list of modules that will be linked to main
-set(module_list)
+set(module_list
+	platforms__nuttx
+	platforms__nuttx__px4_layer
+	platforms__common
+	drivers__led
+	drivers__device
+	modules__systemlib
+	modules__uORB
+	)
 
 if (${LABEL} STREQUAL "simple")
 	list(APPEND module_list
-		drivers__led
-		drivers__device
-		platforms__common
-		modules__systemlib
-		modules__uORB
 		examples__px4_simple_app
-		lib__mathlib__math__filter
-		lib__conversion
 	)
 endif()
 
-if (${LABEL} STREQUAL "simple")
-	list(APPEND module_list ${module_list_simple})
+if(${BOARD} STREQUAL "px4fmu-v2")
+	list(APPEND module_list
+		drivers__boards__px4fmu-v2
+		drivers__stm32
+		lib__mathlib__math__filter
+		lib__conversion
+		)
 endif()
 
-list(APPEND module_list
-	platforms__nuttx
-	platforms__nuttx__px4_layer
-	drivers__boards__px4fmu-v2
-	drivers__stm32
-)
-
 px4_nuttx_generate_builtin_commands(
 	OUT builtin_commands.c
 	MODULE_LIST ${module_list})

src/firmware/posix/CMakeLists.txt

@@ -1,21 +1,8 @@
-include(px4_base)
-
-set(module_dir_list)
-set(module_list)
-px4_posix_add_modules(module_dir_list ${BOARD})
-message(STATUS "module list: ${module_dir_list}")
-
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-foreach(directory ${module_dir_list})
-	message(STATUS "directory: ${directory}")
-	px4_mangle_name(${directory} mangled_name)
-	list(APPEND module_list
-		${mangled_name})
-endforeach()
 px4_posix_generate_builtin_commands(
 	OUT apps.h
-	MODULE_LIST ${module_list})
+	MODULE_LIST ${module_libraries})
 
 add_executable(mainapp
 	${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
@@ -30,7 +17,7 @@ set_target_properties(mainapp PROPERTIES LINK_FLAGS ${main_link_flags})
 
 target_link_libraries(mainapp
 	-Wl,--start-group
-	${module_list}
+	${module_libraries}
 	pthread m
 	-Wl,--end-group
 	)

src/lib/CMakeLists.txt

@@ -1,15 +0,0 @@
-set(directories
-	./external_lgpl
-	./geo
-	./launchdetection
-	./mathlib/math/filter
-	./mathlib
-	./rc
-	./geo_lookup
-	./ecl
-	./conversion
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/lib/mathlib/math/filter/LowPassFilter2p.cpp

@@ -41,6 +41,10 @@
 #include "LowPassFilter2p.hpp"
 #include "math.h"
 
+#ifndef M_PI_F
+#define M_PI_F 3.14159f
+#endif
+
 namespace math
 {
 

src/modules/CMakeLists.txt

@@ -1,40 +0,0 @@
-set(directories
-	./navigator
-	./segway
-	./fw_pos_control_l1
-	./uavcan
-	./position_estimator_inav
-	./px4iofirmware
-	./gpio_led
-	./dataman
-	./fixedwing_backside
-	./uORB
-	./land_detector
-	./muorb/krait
-	./muorb/adsp
-	./simulator
-	./ekf_att_pos_estimator
-	./mc_pos_control
-	./attitude_estimator_ekf
-	./sensors
-	./vtol_att_control
-	./fw_att_control
-	./unit_test
-	./mc_att_control_multiplatform
-	./commander/commander_tests
-	./commander
-	./mavlink/mavlink_tests
-	./mavlink
-	./mc_att_control
-	./bottle_drop
-	./systemlib/mixer
-	./systemlib
-	./mc_pos_control_multiplatform
-	./sdlog2
-	./controllib
-	./attitude_estimator_q
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/modules/systemlib/mcu_version.c

@@ -62,7 +62,7 @@
 /** Copy the 96bit MCU Unique ID into the provided pointer */
 void mcu_unique_id(uint32_t *uid_96_bit)
 {
-#ifdef __PX4_NUTTX
+#ifdef CONFIG_ARCH_CHIP_STM32
 	uid_96_bit[0] = getreg32(UNIQUE_ID);
 	uid_96_bit[1] = getreg32(UNIQUE_ID + 4);
 	uid_96_bit[2] = getreg32(UNIQUE_ID + 8);

src/modules/systemlib/printload.c

@@ -261,7 +261,11 @@ void print_load(uint64_t t, int fd, struct print_load_s *print_state)
 				stack_size - stack_free,
 				stack_size,
 				system_load.tasks[i].tcb->sched_priority,
+#if CONFIG_ARCH_BOARD_SIM
+				0);
+#else
 				system_load.tasks[i].tcb->base_priority);
+#endif
 
 #if CONFIG_RR_INTERVAL > 0
 			/* print scheduling info with RR time slice */

src/platforms/CMakeLists.txt

@@ -1,26 +0,0 @@
-set(directories
-	./posix/tests/hrt_test
-	./posix/tests/wqueue
-	./posix/tests/hello
-	./posix/tests/muorb
-	./posix/tests/vcdev_test
-	./posix/work_queue
-	./posix/px4_layer
-	./posix/drivers/adcsim
-	./posix/drivers/gpssim
-	./posix/drivers/tonealrmsim
-	./posix/drivers/accelsim
-	./posix/drivers/airspeedsim
-	./posix/drivers/barosim
-	./posix/drivers/gyrosim
-	./qurt/tests/hello
-	./qurt/tests/muorb
-	./qurt/px4_layer
-	./common
-	./nuttx/px4_layer
-	./nuttx
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/platforms/common/CMakeLists.txt

@@ -33,10 +33,11 @@
 set(depends
 	msg_gen
 	prebuild_targets
+	git_mavlink
 	)
 
-if(${OS} STREQUAL "posix")
-	list(APPEND depends git_eigen git_mavlink)
+if(${OS} STREQUAL "posix" OR ${BOARD} STREQUAL "sim")
+	list(APPEND depends git_eigen)
 endif()
 
 px4_add_module(

src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c

@@ -50,7 +50,9 @@
 #include <sys/stat.h>
 #include <sys/types.h>
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 #include <stm32_pwr.h>
+#endif
 
 #include <systemlib/systemlib.h>
 
@@ -61,7 +63,9 @@ void
 px4_systemreset(bool to_bootloader)
 {
 	if (to_bootloader) {
+#ifndef CONFIG_ARCH_BOARD_SIM
 		stm32_pwr_enablebkp();
+#endif
 
 		/* XXX wow, this is evil - write a magic number into backup register zero */
 		*(uint32_t *)0x40002850 = 0xb007b007;

src/platforms/px4_subscriber.h

@@ -38,8 +38,10 @@
  */
 #pragma once
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 #include <functional>
 #include <type_traits>
+#endif
 
 #if defined(__PX4_ROS)
 /* includes when building for ros */
@@ -219,10 +221,12 @@ public:
 protected:
 	uORB::SubscriptionBase * _uorb_sub;	/**< Handle to the subscription */
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 	typename std::remove_reference<decltype(((T*)nullptr)->data())>::type getUORBData()
 	{
 		return (typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub;
 	}
+#endif
 
 	/**
 	 * Get void pointer to last message value
@@ -242,8 +246,13 @@ public:
 	 * @param cbf		Callback, executed on receiving a new message
 	 * @param interval	Minimal interval between calls to callback
 	 */
-	SubscriberUORBCallback(unsigned interval,
-			       std::function<void(const T &)> cbf) :
+	SubscriberUORBCallback(unsigned interval
+#ifndef CONFIG_ARCH_BOARD_SIM
+			       ,std::function<void(const T &)> cbf)
+#else
+		)
+#endif
+		:
 		SubscriberUORB<T>(interval),
 		_cbf(cbf)
 	{}
@@ -277,7 +286,9 @@ public:
 	};
 
 protected:
+#ifndef CONFIG_ARCH_BOARD_SIM
 	std::function<void(const T &)> _cbf;	/**< Callback that the user provided on the subscription */
+#endif
 };
 #endif
 

src/systemcmds/CMakeLists.txt

@@ -1,26 +0,0 @@
-
-set(directories
-	./mtd
-	./ver
-	./mixer
-	./tests
-	./nshterm
-	./config
-	./top
-	./bl_update
-	./reboot
-	./i2c
-	./param
-	./reflect
-	./usb_connected
-	./motor_test
-	./esc_calib
-	./perf
-	./topic_listener
-	./dumpfile
-	./pwm
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()