Fresh import of the PX4 firmware sources.

1 files changed, 635 insertions, 0 deletions

diff --git a/nuttx/Makefile b/nuttx/Makefile
new file mode 100644
index 000000000..ea83d69ee
--- /dev/null
+++ b/nuttx/Makefile
@@ -0,0 +1,635 @@
+############################################################################
+# Makefile
+#
+#   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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 NuttX 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.
+#
+############################################################################
+
+TOPDIR		:= ${shell pwd | sed -e 's/ /\\ /g'}
+-include ${TOPDIR}/.config
+-include ${TOPDIR}/Make.defs
+
+# Default tools
+
+ifeq ($(DIRLINK),)
+DIRLINK		= $(TOPDIR)/tools/link.sh
+DIRUNLINK	= $(TOPDIR)/tools/unlink.sh
+endif
+
+# This define is passed as EXTRADEFINES for kernel-mode builds.  It is also passed
+# during PASS1 (but not PASS2) context and depend targets.
+
+KDEFINE		= ${shell $(TOPDIR)/tools/define.sh $(CC) __KERNEL__}
+
+# Process architecture and board-specific directories
+
+ARCH_DIR	= arch/$(CONFIG_ARCH)
+ARCH_SRC	= $(ARCH_DIR)/src
+ARCH_INC	= $(ARCH_DIR)/include
+BOARD_DIR	= configs/$(CONFIG_ARCH_BOARD)
+
+# Add-on directories.  These may or may not be in place in the
+# NuttX source tree (they must be specifically installed)
+#
+# CONFIG_APPS_DIR can be over-ridden from the command line or in the .config file.
+# The default value of CONFIG_APPS_DIR is ../apps.  Ultimately, the application
+# will be built if APPDIR is defined.  APPDIR will be defined if a directory containing
+# a Makefile is found at the path provided by CONFIG_APPS_DIR
+
+ifeq ($(CONFIG_APPS_DIR),)
+CONFIG_APPS_DIR	= ../apps
+endif
+APPDIR		:= ${shell if [ -r $(CONFIG_APPS_DIR)/Makefile ]; then echo "$(CONFIG_APPS_DIR)"; fi}
+
+# All add-on directories.
+#
+# NUTTX_ADDONS is the list of directories built into the NuttX kernel.
+# USER_ADDONS is the list of directories that will be built into the user application
+
+NUTTX_ADDONS	:= $(NX_DIR)
+USER_ADDONS		:=
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USER_ADDONS	+= $(APPDIR)
+else
+NUTTX_ADDONS	+= $(APPDIR)
+endif
+
+# Lists of build directories.
+#
+# FSDIRS depend on file descriptor support; NONFSDIRS do not (except for parts
+#   of FSDIRS).  We will exclude FSDIRS from the build if file descriptor
+#   support is disabled
+# CONTEXTDIRS include directories that have special, one-time pre-build
+#   requirements.  Normally this includes things like auto-generation of
+#   configuration specific files or creation of configurable symbolic links
+# USERDIRS - When NuttX is build is a monolithic kernel, this provides the
+#   list of directories that must be built
+# OTHERDIRS - These are directories that are not built but probably should
+#   be cleaned to prevent garbarge from collecting in them when changing
+#   configurations.
+
+NONFSDIRS	= sched $(ARCH_SRC) $(NUTTX_ADDONS)
+FSDIRS		= fs drivers binfmt
+CONTEXTDIRS	= $(APPDIR)
+USERDIRS	=
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+
+NONFSDIRS	+= syscall
+CONTEXTDIRS	+= syscall
+USERDIRS	+= syscall lib mm $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+USERDIRS	+= libxx
+endif
+
+else
+
+NONFSDIRS	+= lib mm
+OTHERDIRS	+= syscall $(USER_ADDONS)
+ifeq ($(CONFIG_HAVE_CXX),y)
+NONFSDIRS	+= libxx
+else
+OTHERDIRS	+= libxx
+endif
+
+endif
+
+ifeq ($(CONFIG_NX),y)
+NONFSDIRS	+= graphics
+CONTEXTDIRS	+= graphics
+else
+OTHERDIRS	+= graphics
+endif
+
+# CLEANDIRS are the directories that will clean in.  These are
+#   all directories that we know about.
+# KERNDEPDIRS are the directories in which we will build target dependencies.
+#   If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing kernel files.
+# USERDEPDIRS. If NuttX and applications are built separately (CONFIG_NUTTX_KERNEL),
+#   then this holds only the directories containing user files.
+
+CLEANDIRS	= $(NONFSDIRS) $(FSDIRS) $(USERDIRS) $(OTHERDIRS)
+KERNDEPDIRS	= $(NONFSDIRS)
+USERDEPDIRS	= $(USERDIRS)
+
+# Add file system directories to KERNDEPDIRS (they are already in CLEANDIRS)
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifeq ($(CONFIG_NET),y)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+KERNDEPDIRS	+= fs
+endif
+KERNDEPDIRS	+= drivers
+endif
+else
+KERNDEPDIRS	+= $(FSDIRS)
+endif
+
+# Add networking directories to KERNDEPDIRS and CLEANDIRS
+
+ifeq ($(CONFIG_NET),y)
+KERNDEPDIRS	+= net
+endif
+CLEANDIRS	+= net
+
+#
+# Extra objects used in the final link.
+#
+# Pass 1 1ncremental (relative) link objects should be put into the
+# processor-specific source directory (where other link objects will
+# be created).  If the pass1 obect is an archive, it could go anywhere.
+
+ifeq ($(CONFIG_BUILD_2PASS),y)
+EXTRA_OBJS	+= $(CONFIG_PASS1_OBJECT)
+endif
+
+# NUTTXLIBS is the list of NuttX libraries that is passed to the
+#   processor-specific Makefile to build the final NuttX target.
+#   Libraries in FSDIRS are excluded if file descriptor support
+#   is disabled.
+# USERLIBS is the list of libraries used to build the final user-space
+#   application
+
+NUTTXLIBS	= sched/libsched$(LIBEXT) $(ARCH_SRC)/libarch$(LIBEXT)
+USERLIBS	=
+
+# Add libraries for syscall support.  The C library will be needed by
+# both the kernel- and user-space builds.  For now, the memory manager (mm)
+# is placed in user space (only).
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+NUTTXLIBS	+= syscall/libstubs$(LIBEXT) lib/libklib$(LIBEXT)
+USERLIBS	+= syscall/libproxies$(LIBEXT) lib/libulib$(LIBEXT) mm/libmm$(LIBEXT)
+else
+NUTTXLIBS	+= mm/libmm$(LIBEXT) lib/liblib$(LIBEXT)
+endif
+
+# Add libraries for C++ support.  CXX, CXXFLAGS, and COMPILEXX must
+# be defined in Make.defs for this to work!
+
+ifeq ($(CONFIG_HAVE_CXX),y)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS	+= libxx/liblibxx$(LIBEXT)
+else
+NUTTXLIBS	+= libxx/liblibxx$(LIBEXT)
+endif
+endif
+
+# Add library for application support.
+
+ifneq ($(APPDIR),)
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+USERLIBS	+= $(APPDIR)/libapps$(LIBEXT)
+else
+NUTTXLIBS	+= $(APPDIR)/libapps$(LIBEXT)
+endif
+endif
+
+# Add libraries for network support
+
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS	+= net/libnet$(LIBEXT)
+endif
+
+# Add libraries for file system support
+
+ifeq ($(CONFIG_NFILE_DESCRIPTORS),0)
+ifneq ($(CONFIG_NSOCKET_DESCRIPTORS),0)
+NUTTXLIBS	+= fs/libfs$(LIBEXT)
+endif
+ifeq ($(CONFIG_NET),y)
+NUTTXLIBS	+= drivers/libdrivers$(LIBEXT)
+endif
+else
+NUTTXLIBS	+= fs/libfs$(LIBEXT) drivers/libdrivers$(LIBEXT) binfmt/libbinfmt$(LIBEXT)
+endif
+
+# Add libraries for the NX graphics sub-system
+
+ifneq ($(NX_DIR),)
+NUTTXLIBS	+= $(NX_DIR)/libnx$(LIBEXT)
+endif
+
+ifeq ($(CONFIG_NX),y)
+NUTTXLIBS        += graphics/libgraphics$(LIBEXT)
+endif
+
+# This is the name of the final target (relative to the top level directorty)
+
+BIN		= nuttx$(EXEEXT)
+
+all: $(BIN)
+.PHONY: context clean_context check_context export subdir_clean clean subdir_distclean distclean apps_clean apps_distclean
+
+# Target used to copy include/nuttx/math.h.  If CONFIG_ARCH_MATH_H is
+# defined, then there is an architecture specific math.h header file
+# that will be included indirectly from include/math.h.  But first, we
+# have to copy math.h from include/nuttx/. to include/.
+
+ifeq ($(CONFIG_ARCH_MATH_H),y)
+include/math.h: include/nuttx/math.h
+	@cp -f include/nuttx/math.h include/math.h
+else
+include/math.h:
+endif
+
+# Target used to copy include/nuttx/stdarg.h.  If CONFIG_ARCH_STDARG_H is
+# defined, then there is an architecture specific stdarg.h header file
+# that will be included indirectly from include/stdarg.h.  But first, we
+# have to copy stdarg.h from include/nuttx/. to include/.
+
+ifeq ($(CONFIG_ARCH_STDARG_H),y)
+include/stdarg.h: include/nuttx/stdarg.h
+	@cp -f include/nuttx/stdarg.h include/stdarg.h
+else
+include/stdarg.h:
+endif
+
+# Targets used to build include/nuttx/version.h.  Creation of version.h is
+# part of the overall NuttX configuration sequency.  Notice that the
+# tools/mkversion tool is cuilt and used to create include/nuttx/version.h
+
+tools/mkversion:
+	@$(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkversion
+
+$(TOPDIR)/.version:
+	@if [ ! -f .version ]; then \
+		echo "No .version file found, creating one"; \
+		tools/version.sh -v 0.0 -b 0 .version; \
+		chmod 755 .version; \
+	fi
+
+include/nuttx/version.h: $(TOPDIR)/.version tools/mkversion
+	@tools/mkversion $(TOPDIR) > include/nuttx/version.h
+
+# Targets used to build include/nuttx/config.h.  Creation of config.h is
+# part of the overall NuttX configuration sequency.  Notice that the
+# tools/mkconfig tool is cuilt and used to create include/nuttx/config.h
+
+tools/mkconfig:
+	@$(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)"  mkconfig
+
+include/nuttx/config.h: $(TOPDIR)/.config tools/mkconfig
+	@tools/mkconfig $(TOPDIR) > include/nuttx/config.h
+
+# dirlinks, and helpers
+#
+# Directories links.  Most of establishing the NuttX configuration involves
+# setting up symbolic links with 'generic' directory names to specific,
+# configured directories.
+#
+# Link the apps/include directory to include/apps
+
+include/apps: Make.defs
+ifneq ($(APPDIR),)
+	@if [ -d $(TOPDIR)/$(APPDIR)/include ]; then \
+		$(DIRLINK) $(TOPDIR)/$(APPDIR)/include include/apps; \
+	fi
+endif
+
+# Link the arch/<arch-name>/include directory to include/arch
+
+include/arch: Make.defs
+	@$(DIRLINK) $(TOPDIR)/$(ARCH_DIR)/include include/arch
+
+# Link the configs/<board-name>/include directory to include/arch/board
+
+include/arch/board: include/arch Make.defs include/arch
+	@$(DIRLINK) $(TOPDIR)/$(BOARD_DIR)/include include/arch/board
+
+# Link the configs/<board-name>/src dir to arch/<arch-name>/src/board
+
+$(ARCH_SRC)/board: Make.defs
+	@$(DIRLINK) $(TOPDIR)/$(BOARD_DIR)/src $(ARCH_SRC)/board
+
+# Link arch/<arch-name>/include/<chip-name> to arch/<arch-name>/include/chip
+
+$(ARCH_SRC)/chip: Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@$(DIRLINK) $(TOPDIR)/$(ARCH_SRC)/$(CONFIG_ARCH_CHIP) $(ARCH_SRC)/chip
+endif
+
+# Link arch/<arch-name>/src/<chip-name> to arch/<arch-name>/src/chip
+
+include/arch/chip: include/arch Make.defs
+ifneq ($(CONFIG_ARCH_CHIP),)
+	@$(DIRLINK) $(TOPDIR)/$(ARCH_INC)/$(CONFIG_ARCH_CHIP) include/arch/chip
+endif
+
+dirlinks: include/arch include/arch/board include/arch/chip $(ARCH_SRC)/board $(ARCH_SRC)/chip include/apps
+
+# context
+#
+# The context target is invoked on each target build to assure that NuttX is
+# properly configured.  The basic configuration steps include creation of the
+# the config.h and version.h header files in the include/nuttx directory and
+# the establishment of symbolic links to configured directories.
+
+context: check_context include/nuttx/config.h include/nuttx/version.h include/math.h include/stdarg.h dirlinks
+	@for dir in $(CONTEXTDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" context; \
+	done
+
+# clean_context
+#
+# This is part of the distclean target.  It removes all of the header files
+# and symbolic links created by the context target.
+
+clean_context:
+	@rm -f include/nuttx/config.h
+	@rm -f include/nuttx/version.h
+	@rm -f include/math.h
+	@rm -f include/stdarg.h
+	@$(DIRUNLINK) include/arch/board
+	@$(DIRUNLINK) include/arch/chip
+	@$(DIRUNLINK) include/arch
+	@$(DIRUNLINK) $(ARCH_SRC)/board
+	@$(DIRUNLINK) $(ARCH_SRC)/chip
+	@$(DIRUNLINK) include/apps
+
+# check_context
+#
+# This target checks if NuttX has been configured.  NuttX is configured using
+# the script tools/configure.sh.  That script will install certain files in
+# the top-level NuttX build directory.  This target verifies that those
+# configuration files have been installed and that NuttX is ready to be built.
+
+check_context:
+	@if [ ! -e ${TOPDIR}/.config -o ! -e ${TOPDIR}/Make.defs ]; then \
+		echo "" ; echo "Nuttx has not been configured:" ; \
+		echo "  cd tools; ./configure.sh <target>" ; echo "" ; \
+		exit 1 ; \
+	fi
+
+# Archive targets.  The target build sequency will first create a series of
+# libraries, one per configured source file directory.  The final NuttX
+# execution will then be built from those libraries.  The following targets
+# built those libraries.
+#
+# Possible kernel-mode builds
+
+lib/libklib$(LIBEXT): context
+	@$(MAKE) -C lib TOPDIR="$(TOPDIR)" libklib$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+sched/libsched$(LIBEXT): context
+	@$(MAKE) -C sched TOPDIR="$(TOPDIR)" libsched$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+$(ARCH_SRC)/libarch$(LIBEXT): context
+	@$(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" libarch$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+net/libnet$(LIBEXT): context
+	@$(MAKE) -C net TOPDIR="$(TOPDIR)" libnet$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+fs/libfs$(LIBEXT): context
+	@$(MAKE) -C fs TOPDIR="$(TOPDIR)" libfs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+drivers/libdrivers$(LIBEXT): context
+	@$(MAKE) -C drivers TOPDIR="$(TOPDIR)" libdrivers$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+binfmt/libbinfmt$(LIBEXT): context
+	@$(MAKE) -C binfmt TOPDIR="$(TOPDIR)" libbinfmt$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+graphics/libgraphics$(LIBEXT): context
+	@$(MAKE) -C graphics TOPDIR="$(TOPDIR)" libgraphics$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+syscall/libstubs$(LIBEXT): context
+	@$(MAKE) -C syscall TOPDIR="$(TOPDIR)" libstubs$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+# Possible user-mode builds
+
+lib/libulib$(LIBEXT): context
+	@$(MAKE) -C lib TOPDIR="$(TOPDIR)" libulib$(LIBEXT)
+
+libxx/liblibxx$(LIBEXT): context
+	@$(MAKE) -C libxx TOPDIR="$(TOPDIR)" liblibxx$(LIBEXT)
+
+mm/libmm$(LIBEXT): context
+	@$(MAKE) -C mm TOPDIR="$(TOPDIR)" libmm$(LIBEXT) EXTRADEFINES=$(KDEFINE)
+
+$(APPDIR)/libapps$(LIBEXT): context
+	@$(MAKE) -C $(APPDIR) TOPDIR="$(TOPDIR)" libapps$(LIBEXT)
+
+syscall/libproxies$(LIBEXT): context
+	@$(MAKE) -C syscall TOPDIR="$(TOPDIR)" libproxies$(LIBEXT)
+
+# Possible non-kernel builds
+
+lib/liblib$(LIBEXT): context
+	@$(MAKE) -C lib TOPDIR="$(TOPDIR)" liblib$(LIBEXT)
+
+# pass1 and pass2
+#
+# If the 2 pass build option is selected, then this pass1 target is
+# configured to built before the pass2 target.  This pass1 target may, as an
+# example, build an extra link object (CONFIG_PASS1_OBJECT) which may be an
+# incremental (relative) link object, but could be a static library (archive);
+# some modification to this Makefile would be required if CONFIG_PASS1_OBJECT
+# is an archive.  Exactly what is performed during pass1 or what it generates
+# is unknown to this makefule unless CONFIG_PASS1_OBJECT is defined.
+
+pass1deps: context pass1dep $(USERLIBS)
+
+pass1: pass1deps
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	@if [ -z "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR not defined"; \
+		exit 1; \
+	fi
+	@if [ ! -d "$(CONFIG_PASS1_BUILDIR)" ]; then \
+		echo "ERROR: CONFIG_PASS1_BUILDIR does not exist"; \
+		exit 1; \
+	fi
+	@if [ ! -f "$(CONFIG_PASS1_BUILDIR)/Makefile" ]; then \
+		echo "ERROR: No Makefile in CONFIG_PASS1_BUILDIR"; \
+		exit 1; \
+	fi
+	@$(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" LINKLIBS="$(NUTTXLIBS)" USERLIBS="$(USERLIBS)" "$(CONFIG_PASS1_TARGET)"
+endif
+
+pass2deps: context pass2dep $(NUTTXLIBS)
+
+pass2: pass2deps
+	@$(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" EXTRA_OBJS="$(EXTRA_OBJS)" LINKLIBS="$(NUTTXLIBS)" EXTRADEFINES=$(KDEFINE) $(BIN)
+	@if [ -w /tftpboot ] ; then \
+		cp -f $(BIN) /tftpboot/$(BIN).${CONFIG_ARCH}; \
+	fi
+ifeq ($(CONFIG_RRLOAD_BINARY),y)
+	@echo "MK: $(BIN).rr"
+	@$(TOPDIR)/tools/mkimage.sh --Prefix $(CROSSDEV) $(BIN) $(BIN).rr
+	@if [ -w /tftpboot ] ; then \
+		cp -f $(BIN).rr /tftpboot/$\(BIN).rr.$(CONFIG_ARCH); \
+	fi
+endif
+ifeq ($(CONFIG_INTELHEX_BINARY),y)
+	@echo "CP: $(BIN).hex"
+	@$(OBJCOPY) $(OBJCOPYARGS) -O ihex $(BIN) $(BIN).hex
+endif
+ifeq ($(CONFIG_MOTOROLA_SREC),y)
+	@echo "CP: $(BIN).srec"
+	@$(OBJCOPY) $(OBJCOPYARGS) -O srec $(BIN) $(BIN).srec
+endif
+ifeq ($(CONFIG_RAW_BINARY),y)
+	@echo "CP: $(BIN).bin"
+	@$(OBJCOPY) $(OBJCOPYARGS) -O binary $(BIN) $(BIN).bin
+endif
+
+# $(BIN)
+#
+# Create the final NuttX executable in a two pass build process.  In the
+# normal case, all pass1 and pass2 dependencies are created then pass1
+# and pass2 targets are built.  However, in some cases, you may need to build
+# pass1 depenencies and pass1 first, then build pass2 dependencies and pass2.
+# in that case, execute 'make pass1 pass2' from the command line.
+
+$(BIN): pass1deps pass2deps pass1 pass2
+
+# download
+#
+# This is a helper target that will rebuild NuttX and download it to the target
+# system in one step.  The operation of this target depends completely upon
+# implementation of the DOWNLOAD command in the user Make.defs file.  It will
+# generate an error an error if the DOWNLOAD command is not defined.
+
+download: $(BIN)
+	$(call DOWNLOAD, $<)
+
+# pass1dep: Create pass1 build dependencies
+# pass2dep: Create pass2 build dependencies
+
+pass1dep: context
+	@for dir in $(USERDEPDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" depend ; \
+	done
+
+pass2dep: context
+	@for dir in $(KERNDEPDIRS) ; do \
+		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" EXTRADEFINES=$(KDEFINE) depend; \
+	done
+
+# Configuration targets
+#
+# These targets depend on the kconfig-frontends packages.  To use these, you
+# must first download and install the kconfig-frontends package from this
+# location: http://ymorin.is-a-geek.org/projects/kconfig-frontends.  See
+# misc/tools/README.txt for additional information.
+
+config:
+	@APPSDIR=${CONFIG_APPS_DIR} conf Kconfig
+
+oldconfig:
+	@APPSDIR=${CONFIG_APPS_DIR} conf --oldconfig Kconfig
+
+menuconfig:
+	@APPSDIR=${CONFIG_APPS_DIR} mconf Kconfig
+
+# export
+#
+# The export target will package the NuttX libraries and header files into
+# an exportable package.  Caveats: (1) These needs some extension for the KERNEL
+# build; it needs to receive USERLIBS and create a libuser.a). (2) The logic
+# in tools/mkexport.sh only supports GCC and, for example, explicitly assumes
+# that the archiver is 'ar'
+
+export: pass2deps
+	@tools/mkexport.sh -w$(WINTOOL) -t "$(TOPDIR)" -l "$(NUTTXLIBS)"
+
+# General housekeeping targets:  dependencies, cleaning, etc.
+#
+# depend:    Create both PASS1 and PASS2 dependencies
+# clean:     Removes derived object files, archives, executables, and
+#            temporary files, but retains the configuration and context
+#            files and directories.
+# distclean: Does 'clean' then also removes all configuration and context
+#            files.  This essentially restores the directory structure
+#            to its original, unconfigured stated.
+
+depend: pass1dep pass2dep
+
+subdir_clean:
+	@for dir in $(CLEANDIRS) ; do \
+		if [ -e $$dir/Makefile ]; then \
+			$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" clean ; \
+		fi \
+	done
+	@$(MAKE) -C tools -f Makefile.host TOPDIR="$(TOPDIR)" clean
+	@$(MAKE) -C mm -f Makefile.test TOPDIR="$(TOPDIR)" clean
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	@$(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" clean
+endif
+
+clean: subdir_clean
+	@rm -f $(BIN) nuttx.* mm_test *.map _SAVED_APPS_config *~
+	@rm -f nuttx-export*
+
+subdir_distclean:
+	@for dir in $(CLEANDIRS) ; do \
+		if [ -e $$dir/Makefile ]; then \
+			$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" distclean ; \
+		fi \
+	done
+
+distclean: clean subdir_distclean clean_context
+ifeq ($(CONFIG_BUILD_2PASS),y)
+	@$(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" distclean
+endif
+	@rm -f Make.defs setenv.sh .config
+
+# Application housekeeping targets.  The APPDIR variable refers to the user
+# application directory.  A sample apps/ directory is included with NuttX,
+# however, this is not treated as part of NuttX and may be replaced with a
+# different application directory.  For the most part, the application
+# directory is treated like any other build directory in this script.  However,
+# as a convenience, the following targets are included to support housekeeping
+# functions in the user application directory from the NuttX build directory.
+#
+# apps_clean:     Perform the clean operation only in the user application
+#                 directory
+# apps_distclean: Perform the distclean operation only in the user application
+#                 directory.  Note that the apps/.config file is preserved
+#                 so that this is not a "full" distclean but more of a
+#                 configuration "reset."
+
+apps_clean:
+ifneq ($(APPDIR),)
+	@$(MAKE) -C "$(TOPDIR)/$(APPDIR)" TOPDIR="$(TOPDIR)" clean
+endif
+
+apps_distclean:
+ifneq ($(APPDIR),)
+	@cp "$(TOPDIR)/$(APPDIR)/.config" _SAVED_APPS_config || \
+		{ echo "Copy of $(APPDIR)/.config failed" ; exit 1 ; }
+	@$(MAKE) -C "$(TOPDIR)/$(APPDIR)" TOPDIR="$(TOPDIR)" distclean
+	@mv _SAVED_APPS_config "$(TOPDIR)/$(APPDIR)/.config" || \
+		{ echo "Copy of _SAVED_APPS_config failed" ; exit 1 ; }
+endif
+