boards organization

src/modules/commander/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+add_subdirectory(failure_detector)
+
 px4_add_module(
 	MODULE modules__commander
 	MAIN commander
@@ -52,10 +55,14 @@ px4_add_module(
 		rc_calibration.cpp
 		rc_check.cpp
 		state_machine_helper.cpp
-		failure_detector/FailureDetector.cpp
 	DEPENDS
 		circuit_breaker
 		df_driver_framework
+		failure_detector
 		git_ecl
 		ecl_geo
 	)
+
+if(PX4_TESTING)
+	add_subdirectory(commander_tests)
+endif()

src/modules/commander/failure_detector/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2018 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_library(failure_detector
+	FailureDetector.cpp
+)

src/modules/mavlink/CMakeLists.txt

@@ -70,3 +70,7 @@ px4_add_module(
 		version
 	UNITY_BUILD
 	)
+
+if(PX4_TESTING)
+	add_subdirectory(mavlink_tests)
+endif()

src/modules/micrortps_bridge/CMakeLists.txt

@@ -76,7 +76,7 @@ if (GENERATE_RTPS_BRIDGE)
 	###############################################################################
 	# micro-cdr serialization
 	###############################################################################
-	include(common/px4_git)
+	include(px4_git)
 	px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
 	add_subdirectory(micro-CDR)
 

src/modules/simulator/CMakeLists.txt

@@ -48,7 +48,7 @@ configure_file(simulator_config.h.in simulator_config.h @ONLY)
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 set(SIMULATOR_SRCS simulator.cpp)
-if (NOT ${OS} STREQUAL "qurt")
+if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
 	list(APPEND SIMULATOR_SRCS
 		simulator_mavlink.cpp)
 endif()

src/modules/systemlib/CMakeLists.txt

@@ -40,7 +40,7 @@ set(SRCS
 	otp.c
 	)
 
-if(${OS} STREQUAL "nuttx")
+if(${PX4_PLATFORM} STREQUAL "nuttx")
 	list(APPEND SRCS
 		print_load_nuttx.c
 		)
@@ -51,7 +51,7 @@ else()
 endif()
 
 # TODO: find a better way to do this
-if (NOT "${CONFIG}" MATCHES "px4io")
+if (NOT "${PX4_BOARD}" MATCHES "px4io")
 	px4_add_library(systemlib ${SRCS})
 else()
 	add_library(systemlib ${PX4_SOURCE_DIR}/src/platforms/empty.c)

src/modules/uORB/CMakeLists.txt

@@ -50,3 +50,7 @@ px4_add_module(
 	DEPENDS
 		uorb_msgs
 	)
+
+if(PX4_TESTING)
+	add_subdirectory(uORB_tests)
+endif()

src/modules/uavcan/CMakeLists.txt

@@ -35,21 +35,22 @@ px4_add_git_submodule(TARGET git_uavcan PATH "libuavcan")
 
 set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
 
-# The default is the stm32
-if(NOT UAVCAN_PLATFORM)
-	set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
-endif()
+if(CONFIG_ARCH_CHIP)
 
-# The default timer the 5
-if(NOT UAVCAN_TIMER)
-	set(UAVCAN_TIMER 5)
+	if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
+		set(UAVCAN_PLATFORM "kinetis")
+		set(UAVCAN_TIMER 1)
+	elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
+		set(UAVCAN_PLATFORM "stm32")
+		set(UAVCAN_TIMER 5) # The default timer the 5
+	endif()
 endif()
 
 if(NOT config_uavcan_num_ifaces)
 	message(FATAL_ERROR "config_uavcan_num_ifaces not set")
 endif()
 
-string(TOUPPER "${OS}" OS_UPPER)
+string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
 string(TOUPPER "${UAVCAN_PLATFORM}" UAVCAN_PLATFORM_UPPER)
 add_definitions(
 		-DUAVCAN_CPP_VERSION=UAVCAN_CPP03

src/modules/uavcanesc/CMakeLists.txt

@@ -36,7 +36,7 @@ px4_add_git_submodule(TARGET git_uavcan PATH "../uavcan/libuavcan")
 set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
 set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
 
-string(TOUPPER "${OS}" OS_UPPER)
+string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
 add_definitions(
 		-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
 		-DUAVCAN_MAX_NETWORK_SIZE_HINT=16

src/modules/uavcannode/CMakeLists.txt

@@ -36,7 +36,7 @@ px4_add_git_submodule(TARGET git_uavcan PATH "../uavcan/libuavcan")
 set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
 set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
 
-string(TOUPPER "${OS}" OS_UPPER)
+string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
 add_definitions(
 		-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
 		-DUAVCAN_MAX_NETWORK_SIZE_HINT=16