Merge remote-tracking branch 'upstream/nuttx_bringup' into ros_messagelayer_merge_attctl_functionptr_nuttx_bringup

Conflicts:
	NuttX
	makefiles/config_px4fmu-v2_default.mk

1 files changed, 20 insertions, 5 deletions

diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c
index 1ce235da8..91dbe4b81 100644
--- a/src/drivers/boards/aerocore/aerocore_init.c
+++ b/src/drivers/boards/aerocore/aerocore_init.c
@@ -53,11 +53,11 @@
 #include <errno.h>
 
 #include <nuttx/arch.h>
-#include <nuttx/spi.h>
+#include <nuttx/spi/spi.h>
 #include <nuttx/i2c.h>
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
-#include <nuttx/gran.h>
+#include <nuttx/mm/gran.h>
 
 #include <stm32.h>
 #include "board_config.h"
@@ -191,7 +191,7 @@ stm32_boardinitialize(void)
 	stm32_spiinitialize();
 
 	/* configure LEDs */
-	up_ledinit();
+	board_led_initialize();
 }
 
 /****************************************************************************
@@ -228,6 +228,21 @@ __EXPORT int nsh_archinitialize(void)
 	stm32_configgpio(GPIO_ADC1_IN12);	/* J1 breakout */
 	stm32_configgpio(GPIO_ADC1_IN13);	/* J1 breakout */
 
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+	/* run C++ ctors before we go any further */
+
+	up_cxxinitialize();
+
+#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
+
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
@@ -264,7 +279,7 @@ __EXPORT int nsh_archinitialize(void)
 	spi3 = up_spiinitialize(3);
 	if (!spi3) {
 		message("[boot] FAILED to initialize SPI port 3\n");
-		up_ledon(LED_AMBER);
+		board_led_on(LED_AMBER);
 		return -ENODEV;
 	}
 	/* Default: 1MHz, 8 bits, Mode 3 */
@@ -281,7 +296,7 @@ __EXPORT int nsh_archinitialize(void)
 	spi4 = up_spiinitialize(4);
 	if (!spi4) {
 		message("[boot] FAILED to initialize SPI port 4\n");
-		up_ledon(LED_AMBER);
+		board_led_on(LED_AMBER);
 		return -ENODEV;
 	}
 	/* Default: ~10MHz, 8 bits, Mode 3 */