Merge working changes into export-build branch.

9 files changed, 123 insertions, 56 deletions

diff --git a/makefiles/board_px4fmu.mk b/makefiles/board_px4fmu.mk
index 959e4ed26..837069644 100644
--- a/makefiles/board_px4fmu.mk
+++ b/makefiles/board_px4fmu.mk
@@ -1,5 +1,5 @@
 #
-# Platform-specific definitions for the PX4FMU
+# Board-specific definitions for the PX4FMU
 #
 
 #
diff --git a/makefiles/board_px4io.mk b/makefiles/board_px4io.mk
index 275014aba..b0eb2dae7 100644
--- a/makefiles/board_px4io.mk
+++ b/makefiles/board_px4io.mk
@@ -1,5 +1,5 @@
 #
-# Platform-specific definitions for the PX4IO
+# Board-specific definitions for the PX4IO
 #
 
 #
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index a6d766511..3f634d72c 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -5,7 +5,26 @@
 #
 # Use the configuration's ROMFS.
 #
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/$(CONFIG)
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+
+#
+# Board support modules
+#
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/boards/px4fmu
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/ardrone_interface
+MODULES		+= systemcmds/eeprom
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+
+#
+# Estimation modules (EKF / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
 
 #
 # Transitional support - add commands from the NuttX export archive.
@@ -22,25 +41,19 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, adc,                    ,                          2048,  adc_main                   ) \
-	$(call _B, ardrone_interface,      SCHED_PRIORITY_MAX-15,     2048,  ardrone_interface_main     ) \
-	$(call _B, attitude_estimator_ekf, ,                          2048,  attitude_estimator_ekf_main) \
 	$(call _B, bl_update,              ,                          4096,  bl_update_main             ) \
 	$(call _B, blinkm,                 ,                          2048,  blinkm_main                ) \
 	$(call _B, bma180,                 ,                          2048,  bma180_main                ) \
 	$(call _B, boardinfo,              ,                          2048,  boardinfo_main             ) \
-	$(call _B, commander,              SCHED_PRIORITY_MAX-30,     2048,  commander_main             ) \
 	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
 	$(call _B, delay_test,             ,                          2048,  delay_test_main            ) \
-	$(call _B, eeprom,                 ,                          4096,  eeprom_main                ) \
 	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
 	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
-	$(call _B, fmu,                    ,                          2048,  fmu_main                   ) \
 	$(call _B, gps,                    ,                          2048,  gps_main                   ) \
 	$(call _B, hil,                    ,                          2048,  hil_main                   ) \
 	$(call _B, hmc5883,                ,                          4096,  hmc5883_main               ) \
 	$(call _B, hott_telemetry,         ,                          2048,  hott_telemetry_main        ) \
 	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
-	$(call _B, l3gd20,                 ,                          2048,  l3gd20_main                ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
 	$(call _B, mavlink,                ,                          2048,  mavlink_main               ) \
 	$(call _B, mavlink_onboard,        ,                          2048,  mavlink_onboard_main       ) \
@@ -62,4 +75,5 @@ BUILTIN_COMMANDS := \
 	$(call _B, tests,                  ,                          12000, tests_main                 ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
 	$(call _B, top,                    SCHED_PRIORITY_DEFAULT-10, 3000,  top_main                   ) \
+	$(call _B, param,                  SCHED_PRIORITY_DEFAULT-10, 2048,  param_main                 ) \
 	$(call _B, uorb,                   ,                          4096,  uorb_main                  )
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index dad57d531..fff0e1c65 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -64,7 +64,16 @@
 #	path to this file.
 #
 # CONFIG:
-#	Used to set the output filename; defaults to 'firmware'.
+#	Used when searching for the configuration file, and available
+#	to module Makefiles to select optional features.
+#	If not set, CONFIG_FILE must be set and CONFIG will be derived
+#	automatically from it.
+#
+# CONFIG_FILE:
+#	If set, overrides the configuration file search logic. Sets
+#	CONFIG to the name of the configuration file, strips any
+#	leading config_ prefix and any suffix. e.g. config_board_foo.mk
+#	results in CONFIG being set to 'board_foo'.
 #
 # WORK_DIR:
 #	Sets the directory in which the firmware will be built. Defaults
@@ -92,11 +101,14 @@
 # If PX4_BASE wasn't set previously, work out what it should be
 # and set it here now.
 #
-MK_DIR	?= $(dir $(lastword $(MAKEFILE_LIST)))
+MK_DIR			?= $(dir $(lastword $(MAKEFILE_LIST)))
 ifeq ($(PX4_BASE),)
 export PX4_BASE		:= $(abspath $(MK_DIR)/..)
 endif
 $(info %  PX4_BASE            = $(PX4_BASE))
+ifneq ($(words $(PX4_BASE)),1)
+$(error Cannot build when the PX4_BASE path contains one or more space characters.)
+endif
 
 #
 # Set a default target so that included makefiles or errors here don't 
@@ -115,13 +127,14 @@ include $(MK_DIR)/setup.mk
 #
 # Locate the configuration file
 #
+ifneq ($(CONFIG_FILE),)
+CONFIG			:= $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
+else
+CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)
+endif
 ifeq ($(CONFIG),)
 $(error Missing configuration name or file (specify with CONFIG=<config>))
 endif
-CONFIG_FILE		:= $(firstword $(wildcard $(CONFIG)) $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk))
-ifeq ($(CONFIG_FILE),)
-$(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONFIG).mk)
-endif
 export CONFIG
 include $(CONFIG_FILE)
 $(info %  CONFIG              = $(CONFIG))
@@ -211,10 +224,7 @@ MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
 $(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
 $(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
-	@$(ECHO) %%
-	@$(ECHO) %% Building module using $(mkfile)
-	@$(ECHO) %%
-	$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
 		MODULE_WORK_DIR=$(dir $@) \
 		MODULE_OBJ=$@ \
 		MODULE_MK=$(mkfile) \
@@ -230,7 +240,7 @@ $(MODULE_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_CLEANS):	mkfile = $(patsubst %clean,%module.mk,$(relpath))
 $(MODULE_CLEANS):
 	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
 	MODULE_WORK_DIR=$(dir $@) \
 	MODULE_MK=$(mkfile) \
 	clean
@@ -246,6 +256,9 @@ include $(PX4_MK_DIR)/nuttx.mk
 ################################################################################
 
 ifneq ($(ROMFS_ROOT),)
+ifeq ($(wildcard $(ROMFS_ROOT)),)
+$(error ROMFS_ROOT specifies a directory that does not exist)
+endif
 
 #
 # Note that there is no support for more than one root directory or constructing
@@ -272,7 +285,7 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
 
 # Generate the ROMFS image from the root
 $(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
-	@$(ECHO) %% generating $@
+	@$(ECHO) "ROMFS:   $@"
 	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
 
 EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
@@ -298,10 +311,12 @@ endif
 #
 BUILTIN_CSRC		 = $(WORK_DIR)builtin_commands.c
 
-# add command definitions from modules
-BUILTIN_COMMAND_FILES	:= $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)
-BUILTIN_COMMANDS	+= $(subst COMMAND.,,$(notdir $(BUILTIN_COMMAND_FILES)))
+# command definitions from modules (may be empty at Makefile parsing time...)
+MODULE_COMMANDS		 = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
 
+# We must have at least one pre-defined builtin command in order to generate
+# any of this.
+#
 ifneq ($(BUILTIN_COMMANDS),)
 
 # (BUILTIN_PROTO,<cmdspec>,<outputfile>)
@@ -315,17 +330,19 @@ define BUILTIN_DEF
 endef
 
 # Don't generate until modules have updated their command files
-$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(BUILTIN_COMMAND_FILES)
-	@$(ECHO) %% generating $@
+$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
+	@$(ECHO) "CMDS:    $@"
 	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
 	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
 	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
 	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
 	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
 	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
 	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
 	$(Q) $(ECHO) '};' >> $@
-	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@
+	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
 
 SRCS			+= $(BUILTIN_CSRC)
 
@@ -358,7 +375,7 @@ endif
 #
 PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
 PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
-PRODUCT_SYM		 = $(WORK_DIR)firmware.sym
+PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
 
 .PHONY:			firmware
 firmware:		$(PRODUCT_BUNDLE)
@@ -393,10 +410,10 @@ $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 		--git_identity $(PX4_BASE) \
 		--image $< > $@
 
-$(PRODUCT_BIN):		$(PRODUCT_SYM)
+$(PRODUCT_BIN):		$(PRODUCT_ELF)
 	$(call SYM_TO_BIN,$<,$@)
 
-$(PRODUCT_SYM):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
 	$(call LINK,$@,$(OBJS) $(MODULE_OBJS))
 
 #
@@ -407,17 +424,19 @@ $(PRODUCT_SYM):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKF
 upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
 	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
 		METHOD=serial \
-		PRODUCT=$(PRODUCT) \
+		CONFIG=$(CONFIG) \
+		BOARD=$(BOARD) \
 		BUNDLE=$(PRODUCT_BUNDLE) \
 		BIN=$(PRODUCT_BIN)
 
 .PHONY: clean
 clean:			$(MODULE_CLEANS)
 	@$(ECHO) %% cleaning
-	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
+	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
 	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
 	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
 
+
 #
 # DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
 #
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 8b01d0a12..538f6d318 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -75,6 +75,18 @@
 #	the list should be formatted as: 
 #		<command>.<priority>.<stacksize>.<entrypoint>
 #
+# INCLUDE_DIRS		(optional, must be appended)
+#
+#	The list of directories searched for include files. If non-standard
+#	includes (e.g. those from another module) are required, paths to search
+#	can be added here.
+#
+# DEFAULT_VISIBILITY	(optional)
+#
+#	If not set, global symbols defined in a module will not be visible 
+#	outside the module. Symbols that should be globally visible must be
+#	marked __EXPORT.
+#	If set, global symbols defined in a module will be globally visible.
 #
 
 #
@@ -96,12 +108,7 @@
 ifeq ($(MODULE_MK),)
 $(error No module makefile specified)
 endif
-$(info %  MODULE_MK           = $(MODULE_MK))
-
-#
-# Get path and tool config
-#
-include $(PX4_BASE)/makefiles/setup.mk
+$(info %% MODULE_MK           = $(MODULE_MK))
 
 #
 # Get the board/toolchain config
@@ -144,13 +151,26 @@ MODULE_COMMAND_FILES	:= $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODU
 $(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
 $(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
 $(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
-	@$(ECHO) COMMAND:    $(command)
 	@$(REMOVE) -f $(exclude)
 	@$(MKDIR) -p $(dir $@)
+	@echo "CMD:     $(command)"
 	$(Q) $(TOUCH) $@
 endif
 
 ################################################################################
+# Adjust compilation flags to implement EXPORT
+################################################################################
+
+ifeq ($(DEFAULT_VISIBILITY),)
+DEFAULT_VISIBILITY = hidden
+else
+DEFAULT_VISIBILITY = default
+endif
+
+CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
+CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
+
+################################################################################
 # Build rules
 ################################################################################
 
diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk
index c6e2c86d1..346735a02 100644
--- a/makefiles/nuttx.mk
+++ b/makefiles/nuttx.mk
@@ -63,7 +63,10 @@ LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
 #
 # Add directories from the NuttX export to the relevant search paths
 #
-INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include
+INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
+			   $(NUTTX_EXPORT_DIR)arch/chip \
+			   $(NUTTX_EXPORT_DIR)arch/common
+
 LIB_DIRS		+= $(NUTTX_EXPORT_DIR)libs
 LIBS			+= -lapps -lnuttx
 LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
@@ -71,5 +74,5 @@ LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
 
 $(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
 	@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
-	$(Q) $(UNZIP) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
+	$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
 	$(Q) $(TOUCH) $@
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 8e7a00ef4..b798f7cab 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -41,7 +41,8 @@
 # the number of duplicate slashes we have lying around in paths,
 # and is consistent with joining the results of $(dir) and $(notdir).
 #
-export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src/modules)/
+export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
+export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/nuttx)/
 export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/apps)/
@@ -52,23 +53,32 @@ export BUILD_DIR	 = $(abspath $(PX4_BASE)/Build)/
 export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
 
 #
+# Default include paths
+#
+export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
+			   $(PX4_INCLUDE_DIR)
+
+# Include from legacy app/library path
+export INCLUDE_DIRS	+= $(NUTTX_APP_SRC)
+
+#
 # Tools
 #
-MKFW			 = $(PX4_BASE)/Tools/px_mkfw.py
-UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
-COPY			 = cp
-REMOVE			 = rm -f
-RMDIR			 = rm -rf
-GENROMFS		 = genromfs
-TOUCH			 = touch
-MKDIR			 = mkdir
-ECHO			 = echo
-UNZIP			 = unzip
+export MKFW		 = $(PX4_BASE)/Tools/px_mkfw.py
+export UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
+export COPY		 = cp
+export REMOVE		 = rm -f
+export RMDIR		 = rm -rf
+export GENROMFS		 = genromfs
+export TOUCH		 = touch
+export MKDIR		 = mkdir
+export ECHO		 = echo
+export UNZIP_CMD	 = unzip
 
 #
 # Host-specific paths, hacks and fixups
 #
-SYSTYPE			:= $(shell uname -s)
+export SYSTYPE		:= $(shell uname -s)
 
 ifeq ($(SYSTYPE),Darwin)
 # Eclipse may not have the toolchain on its path.
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index d214006be..5e6a5bf04 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -157,6 +157,7 @@ CXXFLAGS		 = $(ARCHCXXFLAGS) \
 			   $(INSTRUMENTATIONDEFINES) \
 			   $(ARCHDEFINES) \
 			   $(EXTRADEFINES) \
+			   -DCONFIG_WCHAR_BUILTIN \
 			   $(addprefix -I,$(INCLUDE_DIRS))
 
 # Flags we pass to the assembler
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index 5308aaa3e..f23d6ae41 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -21,11 +21,11 @@ ifeq ($(SERIAL_PORTS),)
 SERIAL_PORTS		 = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
 endif
 
-.PHONY:	all upload-$(METHOD)-$(PRODUCT)
-all:	upload-$(METHOD)-$(PRODUCT)
+.PHONY:	all upload-$(METHOD)-$(BOARD)
+all:	upload-$(METHOD)-$(BOARD)
 
 upload-serial-px4fmu:	$(BUNDLE) $(UPLOADER)
-	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(PRODUCT_BUNDLE)
+	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 #
 # JTAG firmware uploading with OpenOCD