implement dummy helloworld app

6 files changed, 177 insertions, 87 deletions

diff --git a/ROMFS/px4fmu_trifle/init.d/rcS b/ROMFS/px4fmu_trifle/init.d/rcS
new file mode 100644
index 000000000..3a027bb05
--- /dev/null
+++ b/ROMFS/px4fmu_trifle/init.d/rcS
@@ -0,0 +1,2 @@
+#!nsh
+# empty
\ No newline at end of file
diff --git a/makefiles/config_trifle_default.mk b/makefiles/config_trifle_default.mk
index cc5c60ea4..471c210d5 100644
--- a/makefiles/config_trifle_default.mk
+++ b/makefiles/config_trifle_default.mk
@@ -5,12 +5,13 @@
 #
 # Use the configuration's ROMFS
 #
-#ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_trifle
 
 #
 # Board support modules
 #
 MODULES		+= drivers/boards/trifle
+MODULES		+= modules/helloworld
 #MODULES		+= drivers/device
 #MODULES		+= drivers/stm32
 #MODULES		+= drivers/stm32/adc
@@ -164,14 +165,16 @@ GEN_PARAM_XML = 1
 #
 # In general, these should move to modules over time.
 #
+# NOTE: however, at least one built-in command has to be specified below in order
+# to include commands above.
+#
 # Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
 # to make the table a bit more readable.
 #
-#define _B
-#	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-#endef
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
 
 #                  command                 priority                   stack  entrypoint
-#BUILTIN_COMMANDS := \
-#	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-#	$(call _B, serdis,                 ,                          2048,  serdis_main                )
+BUILTIN_COMMANDS := \
+	$(call _B, sysinfo	,                 ,                          2048,  sysinfo_main        )
diff --git a/nuttx-configs/trifle/nsh/Make.defs b/nuttx-configs/trifle/nsh/Make.defs
index f74420de3..b53e02e60 100644
--- a/nuttx-configs/trifle/nsh/Make.defs
+++ b/nuttx-configs/trifle/nsh/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# configs/kwikstik-k40/ostest/Make.defs
+# configs/px4fmu-v2/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -35,83 +35,146 @@
 
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+
 include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+# XXX due to a bug in clock initialization, only -Os is allowed
+MAXOPTIMIZATION		 = -Os
+ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfloat-abi=soft
+
+
+# enable precise stack overflow tracking
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
+endif
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS		+= $(LIBM)
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
 ifeq ($(WINTOOL),y)
   # Windows-native toolchains
-  DIRLINK = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK = $(TOPDIR)/tools/unlink.sh
-  MKDEP = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/ld.script}"
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
 else
-  # Linux/Cygwin-native toolchain
-  MKDEP = $(TOPDIR)/tools/mkdeps.sh
-  ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
-  ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-  ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/ld.script
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain 
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  endif
 endif
 
-CC = $(CROSSDEV)gcc
-CXX = $(CROSSDEV)g++
-CPP = $(CROSSDEV)gcc -E
-LD = $(CROSSDEV)ld
-AR = $(CROSSDEV)ar rcs
-NM = $(CROSSDEV)nm
-OBJCOPY = $(CROSSDEV)objcopy
-OBJDUMP = $(CROSSDEV)objdump
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
 
-ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
 
-ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
-  ARCHOPTIMIZATION = -g
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
 endif
 
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = -Wall \
+			   -Wno-sign-compare \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
 
-# XXX WARNING
-#
-# The below optimization level, -Os, is very important. If this level
-# is not used, the clock configuration funtion in NuttX will never return!
-# See kinesis_setdividers in NuttX/nuttx/arch/arm/src/kinetis/kinetis_clockconfig.c
-#
-ifneq ($(CONFIG_DEBUG_NOOPT),y)
-  ARCHOPTIMIZATION += -Os -fno-strict-aliasing -fno-strength-reduce -fomit-frame-pointer
-endif
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-psabi
+ARCHDEFINES		 =
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
 
-ARCHCFLAGS = -fno-builtin
-ARCHCXXFLAGS = -fno-builtin -fno-exceptions
-ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow
-ARCHWARNINGSXX = -Wall -Wshadow
-ARCHDEFINES =
-ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
-
-CFLAGS = $(ARCHCFLAGS) $(ARCHWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1 = -r -d -warn-common
-NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
-LDNXFLATFLAGS = -e main -s 2048
-
-OBJEXT = .o
-LIBEXT = .a
-EXEEXT =
-
-ifneq ($(CROSSDEV),arm-nuttx-elf-)
-  LDFLAGS += -nostartfiles -nodefaultlibs
-endif
-ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
-  LDFLAGS += -g
-endif
 
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
 
-HOSTCC = gcc
-HOSTINCLUDES = -I.
-HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS =
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
 
diff --git a/nuttx-configs/trifle/nsh/defconfig b/nuttx-configs/trifle/nsh/defconfig
index 8d9e198df..f46649cfb 100644
--- a/nuttx-configs/trifle/nsh/defconfig
+++ b/nuttx-configs/trifle/nsh/defconfig
@@ -22,7 +22,7 @@ CONFIG_HOST_LINUX=y
 # Binary Output Formats
 #
 # CONFIG_RRLOAD_BINARY is not set
-CONFIG_INTELHEX_BINARY=y
+# CONFIG_INTELHEX_BINARY is not set
 # CONFIG_MOTOROLA_SREC is not set
 CONFIG_RAW_BINARY=y
 
@@ -247,7 +247,8 @@ CONFIG_DEV_CONSOLE=y
 CONFIG_SDCLONE_DISABLE=y
 # CONFIG_SCHED_WAITPID is not set
 # CONFIG_SCHED_STARTHOOK is not set
-# CONFIG_SCHED_ATEXIT is not set
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_ATEXIT_MAX=1
 # CONFIG_SCHED_ONEXIT is not set
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_DISABLE_OS_API=y
@@ -361,9 +362,18 @@ CONFIG_UART0_2STOP=0
 #
 # File system configuration
 #
-CONFIG_DISABLE_MOUNTPOINT=y
+# CONFIG_DISABLE_MOUNTPOINT is not set
 # CONFIG_FS_RAMMAP is not set
-# CONFIG_FS_BINFS is not set
+# CONFIG_FS_FAT is not set
+CONFIG_FS_NXFFS=y
+CONFIG_NXFFS_PREALLOCATED=y
+CONFIG_NXFFS_ERASEDSTATE=0xff
+CONFIG_NXFFS_PACKTHRESHOLD=32
+CONFIG_NXFFS_MAXNAMLEN=32
+CONFIG_NXFFS_TAILTHRESHOLD=2048
+CONFIG_FS_ROMFS=y
+# CONFIG_FS_SMARTFS is not set
+CONFIG_FS_BINFS=y
 
 #
 # System Logging
@@ -417,9 +427,7 @@ CONFIG_LIB_RAND_ORDER=1
 # CONFIG_EOL_IS_LF is not set
 # CONFIG_EOL_IS_BOTH_CRLF is not set
 CONFIG_EOL_IS_EITHER_CRLF=y
-CONFIG_LIBC_EXECFUNCS=y
-CONFIG_EXECFUNCS_SYMTAB="g_symtab"
-CONFIG_EXECFUNCS_NSYMBOLS=0
+# CONFIG_LIBC_EXECFUNCS is not set
 CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
 CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
 CONFIG_LIBC_STRERROR=y
@@ -483,12 +491,7 @@ CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_NXIMAGE is not set
 # CONFIG_EXAMPLES_NXLINES is not set
 # CONFIG_EXAMPLES_NXTEXT is not set
-CONFIG_EXAMPLES_OSTEST=y
-CONFIG_EXAMPLES_OSTEST_LOOPS=1
-CONFIG_EXAMPLES_OSTEST_STACKSIZE=8192
-CONFIG_EXAMPLES_OSTEST_NBARRIER_THREADS=8
-CONFIG_EXAMPLES_OSTEST_RR_RANGE=10000
-CONFIG_EXAMPLES_OSTEST_RR_RUNS=10
+# CONFIG_EXAMPLES_OSTEST is not set
 # CONFIG_EXAMPLES_PASHELLO is not set
 # CONFIG_EXAMPLES_PIPE is not set
 # CONFIG_EXAMPLES_POSIXSPAWN is not set
@@ -554,7 +557,6 @@ CONFIG_EXAMPLES_OSTEST_RR_RUNS=10
 #
 CONFIG_NSH_LIBRARY=y
 CONFIG_NSH_BUILTIN_APPS=y
-# CONFIG_NSH_FILE_APPS is not set
 
 #
 # Disable Individual commands
@@ -611,6 +613,13 @@ CONFIG_NSH_MAXARGUMENTS=6
 CONFIG_NSH_NESTDEPTH=3
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLEBG is not set
+CONFIG_NSH_ROMFSETC=y
+# CONFIG_NSH_ROMFSRC is not set
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=64
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_CONSOLE=y
 
 #
@@ -669,7 +678,7 @@ CONFIG_READLINE_ECHO=y
 #
 # Sysinfo
 #
-# CONFIG_SYSTEM_SYSINFO is not set
+CONFIG_SYSTEM_SYSINFO=y
 
 #
 # USB Monitor
diff --git a/src/modules/helloworld/helloworld.c b/src/modules/helloworld/helloworld.c
new file mode 100644
index 000000000..5b5912125
--- /dev/null
+++ b/src/modules/helloworld/helloworld.c
@@ -0,0 +1,10 @@
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <errno.h>
+
+__EXPORT int helloworld_main(int argc, char *argv[]);
+
+int helloworld_main(int argc, char *argv[]) {
+  printf("Hello world!\n");
+  return 0;
+}
diff --git a/src/modules/helloworld/module.mk b/src/modules/helloworld/module.mk
new file mode 100644
index 000000000..f117ae447
--- /dev/null
+++ b/src/modules/helloworld/module.mk
@@ -0,0 +1,3 @@
+
+MODULE_COMMAND	= helloworld
+SRCS		= helloworld.c