Cleanup of module building.

CMakeLists.txt

@@ -57,7 +57,7 @@
 # ---------------------------------------------------------------------------
 #
 # * Use px4_parse_function_args to parse functions and check for required
-#   arguments.
+#   arguments. Unless there is only one argument in the function and it is clear.
 #
 # * Never use macros. They allow overwriting global variables and this
 #	makes variable declarations hard to locate.
@@ -112,22 +112,21 @@ set(package-contact "px4users@googlegroups.com")
 # set module path
 message("OS = ${OS}")
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/${OS})
 
 # prefer board implementation module over os implmementation module
-set(board_impl_module px4_impl_${OS}_${BOARD})
+set(config_module "configs/config_${OS}_${BOARD}_${LABEL}")
-set(os_impl_module px4_impl_${OS})
+set(config_path "${CMAKE_SOURCE_DIR}/cmake/${config_module}.cmake")
-if (EXISTS ${board_impl_module})
+if (EXISTS ${config_path})
-	set(impl_module ${board_impl_module})
+	include(${config_module})
 else()
-	set(impl_module ${os_impl_module})
+	message(FATAL_ERROR "build config not found: ${config_path}")
 endif()
-include(${impl_module})
 
 # require px4 module interface
 set(px4_required_functions
 	px4_os_prebuild_targets
 	px4_os_add_flags
+	px4_set_config_modules
 	)
 foreach(cmd ${px4_required_functions})
 	if(NOT COMMAND ${cmd})
@@ -232,15 +231,20 @@ px4_generate_messages(TARGET msg_gen
 #=============================================================================
 # subdirectories
 #
-add_subdirectory(src)
+px4_set_config_modules(config_modules)
+set(module_libraries)
+foreach(module ${config_modules})
+	add_subdirectory(src/${module})
+	px4_mangle_name(${module} mangled_name)
+	list(APPEND module_libraries ${mangled_name})
+	message(STATUS "adding module: ${module}")
+endforeach()
 
-# set the overall objective of the build
+add_subdirectory(src/firmware/${OS})
-add_custom_target(ALL firmware_${OS})
 
 #=============================================================================
 # generate git version
 #
-include(px4_git_hash)
 px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
 
 #=============================================================================

Makefile

@@ -1,30 +1,33 @@
 d=$(PWD)
 
-px4fmu-v2_simple:
+
+nuttx_px4fmu-v2_simple:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
-		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-arm-none-eabi.cmake \
+		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-arm-none-eabi.cmake \
 		-DOS=nuttx -DBOARD=px4fmu-v2 -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP 
+px4fmu-v2_simple: nuttx_px4fmu-v2_simple
 
-nuttx-sim-simple:
+nuttx_sim_simple:
 	echo "nuttx-sim-simple is a work in progress"
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
-		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-native.cmake \
+		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-native.cmake \
 		-DOS=nuttx -DBOARD=sim -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP 
 
-px4fmu-v2_simple-upload: px4fmu-v2_simple
+nuttx_px4fmu-v2_simple_upload: nuttx_px4fmu-v2_simple
 	cd $d/build_$< && make upload
+px4fmu-v2_simple_upload: px4fmu-v2_simple_upload
 
-posix-sitl_simple:
+posix_sitl_simple:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
-		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-posix-clang-native.cmake \
+		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-posix-clang-native.cmake \
 		-DOS=posix -DBOARD=sitl -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP
 
-qurt-hil_simple:
+qurt_hil_simple:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
-		cmake .. -DQURT_ENABLE_STUBS=1 -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-hexagon.cmake \
+		cmake .. -DQURT_ENABLE_STUBS=1 -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-hexagon.cmake \
 		-DOS=qurt -DBOARD=hil -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP
 

cmake/common/px4_base.cmake

@@ -640,4 +640,36 @@ function(px4_mangle_name dirname newname)
 	set(${newname} ${tmp} PARENT_SCOPE)
 endfunction()
 
+#=============================================================================
+#
+#	px4_create_git_hash_header
+#
+#	Create a header file containing the git hash of the current tree
+#
+#	Usage:
+#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
+#
+#	Input:
+#		HEADER 		: path of the header file to generate
+#
+#	Example:
+#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
+#
+function(px4_create_git_hash_header)
+	px4_parse_function_args(
+		NAME px4_create_git_hash_header
+		ONE_VALUE HEADER 
+		REQUIRED HEADER 
+		ARGN ${ARGN})
+	execute_process(
+		COMMAND git log -n 1 --pretty=format:"%H"
+		OUTPUT_VARIABLE git_desc
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+	message(STATUS "GIT_DESC = ${git_desc}")
+	set(git_desc_short)
+	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+endfunction()
+
 # vim: set noet fenc=utf-8 ff=unix nowrap:

cmake/configs/config_nuttx_px4fmu-v2_simple.cmake

@@ -0,0 +1,23 @@
+include(nuttx/px4_impl_nuttx)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		platforms/nuttx
+		platforms/nuttx/px4_layer
+		platforms/common
+		drivers/led
+		drivers/device
+		modules/systemlib
+		modules/uORB
+		examples/px4_simple_app
+		drivers/boards/px4fmu-v2
+		drivers/stm32
+		lib/mathlib/math/filter
+		lib/conversion
+		)
+
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+

cmake/configs/config_posix_sitl_simple.cmake

@@ -1,4 +1,7 @@
+include(posix/px4_impl_posix)
+
 function(px4_set_config_modules out_module_list)
+
 	set(config_module_list
 		drivers/led
 		drivers/device
@@ -39,7 +42,6 @@ function(px4_set_config_modules out_module_list)
 		modules/fw_pos_control_l1
 		modules/dataman
 		modules/sdlog2
-		modules/simulator
 		modules/commander
 		modules/controllib
 		lib/mathlib
@@ -51,7 +53,8 @@ function(px4_set_config_modules out_module_list)
 		lib/geo_lookup
 		lib/launchdetection
 		)
-	message(STATUS "modules: ${config_module_list}")
+
 	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
 endfunction()
 

cmake/configs/config_qurt_hil_simple.cmake

@@ -80,7 +80,6 @@ function(px4_set_config_modules out_module_list)
 	#
 		modules/muorb/adsp
 		)
-	message(STATUS "modules: ${config_module_list}")
 	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
 endfunction()
 

cmake/nuttx/px4_impl_nuttx.cmake

@@ -49,7 +49,7 @@
 #		* px4_os_prebuild_targets
 #
 
-include(px4_base)
+include(common/px4_base)
 
 #=============================================================================
 #

cmake/posix/px4_impl_posix.cmake

@@ -48,7 +48,7 @@
 #		* px4_os_prebuild_targets
 #
 
-include(px4_base)
+include(common/px4_base)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix/configs)
 

cmake/px4_git_hash.cmake

@@ -1,31 +0,0 @@
-#=============================================================================
-#
-#	px4_create_git_hash_header
-#
-#	Create a header file containing the git hash of the current tree
-#
-#	Usage:
-#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
-#
-#	Input:
-#		HEADER 		: path of the header file to generate
-#
-#	Example:
-#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
-#
-function(px4_create_git_hash_header)
-	px4_parse_function_args(
-		NAME px4_create_git_hash_header
-		ONE_VALUE HEADER 
-		REQUIRED HEADER 
-		ARGN ${ARGN})
-	execute_process(
-		COMMAND git log -n 1 --pretty=format:"%H"
-		OUTPUT_VARIABLE git_desc
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-	message(STATUS "GIT_DESC = ${git_desc}")
-	set(git_desc_short)
-	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/build_git_version.h.in ${HEADER} @ONLY)
-endfunction()

cmake/qurt/px4_impl_qurt.cmake

@@ -49,7 +49,7 @@
 #		* px4_os_prebuild_targets
 #
 
-include(px4_base)
+include(common/px4_base)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt/configs)
 include(qurt_funcs)

cmake/scripts/convert_modules_to_cmake.py

@@ -19,7 +19,7 @@ parser.add_argument('--backup', help='create backup of existing files if overwri
 parser.set_defaults(overwrite=False, backup=False)
 args = parser.parse_args()
 
-cmake_template = jinja2.Template(open('cmake/cmake_lists.jinja', 'r').read())
+cmake_template = jinja2.Template(open('cmake/scripts/cmake_lists.jinja', 'r').read())
 
 module_files = []
 for root, dirnames, filenames in os.walk(args.path):

cmake/toolchains/Toolchain-hexagon.cmake

@@ -32,7 +32,7 @@
 include(CMakeForceCompiler)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-include(px4_base)
+include(common/px4_base)
 
 if(NOT HEXAGON_TOOLS_ROOT)
 	set(HEXAGON_TOOLS_ROOT /opt/6.4.05)

nuttx-configs/sim/nsh/defconfig

@@ -118,7 +118,7 @@ CONFIG_NSH_MMCSDMINOR=0
 #
 CONFIG_MSEC_PER_TICK=10
 CONFIG_RR_INTERVAL=0
-# CONFIG_SCHED_INSTRUMENTATION is not set
+CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_TASK_NAME_SIZE=32
 CONFIG_SCHED_HAVE_PARENT=y
 # CONFIG_SCHED_CHILD_STATUS is not set
@@ -182,7 +182,7 @@ CONFIG_PTHREAD_STACK_DEFAULT=8192
 #
 # Device Drivers
 #
-CONFIG_DISABLE_POLL=y
+#CONFIG_DISABLE_POLL is not set
 CONFIG_DEV_NULL=y
 # CONFIG_DEV_ZERO is not set
 # CONFIG_LOOP is not set

src/CMakeLists.txt

@@ -1,9 +0,0 @@
-add_subdirectory(./lib)
-add_subdirectory(./drivers)
-add_subdirectory(./platforms)
-add_subdirectory(./systemcmds)
-add_subdirectory(./examples)
-add_subdirectory(./modules)
-add_subdirectory(./firmware/${OS})
-
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/CMakeLists.txt

@@ -1,55 +0,0 @@
-set(directories
-	./roboclaw
-	./device
-	./px4io
-	./boards/px4fmu-v2
-	./boards/px4-stm32f4discovery
-	./boards/px4io-v2
-	./boards/px4io-v1
-	./boards/px4fmu-v1
-	./boards/aerocore
-	./boards/sitl
-	./mpu6000
-	./gimbal
-	./camera_trigger
-	./pwm_input
-	./pwm_out_sim
-	./pca9685
-	./mkblctrl
-	./sf0x
-	./hott/hott_telemetry
-	./hott/hott_sensors
-	./hott
-	./ms5611
-	./led
-	./irlock
-	./bma180
-	./l3gd20
-	./blinkm
-	./md25
-	./lsm303d
-	./pca8574
-	./mb12xx
-	./trone
-	./airspeed
-	./rgbled
-	./frsky_telemetry
-	./meas_airspeed
-	./px4flow
-	./mpu9250
-	./gps
-	./ets_airspeed
-	./ll40ls
-	./ardrone_interface
-	./hmc5883
-	./px4fmu
-	./stm32/tone_alarm
-	./stm32/adc
-	./stm32
-	./oreoled
-	./batt_smbus
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/drivers/device/CMakeLists.txt

@@ -35,13 +35,17 @@ set(SRCS)
 
 if(${OS} STREQUAL "nuttx")
 	list(APPEND SRCS
-		device_nuttx.cpp
-		cdev.cpp
-		i2c_nuttx.cpp
-		pio.cpp
-		spi.cpp
 		ringbuffer.cpp
 	)
+	if (NOT ${BOARD} STREQUAL "sim")
+		list(APPEND SRCS
+			device_nuttx.cpp
+			cdev.cpp
+			i2c_nuttx.cpp
+			pio.cpp
+			spi.cpp
+		)
+	endif()
 else()
 	list(APPEND SRCS
 		device_posix.cpp

src/examples/CMakeLists.txt

@@ -1,16 +0,0 @@
-set(directories
-	./px4_simple_app
-	./fixedwing_control
-	./rover_steering_control
-	./px4_mavlink_debug
-	./px4_daemon_app
-	./flow_position_estimator
-	./matlab_csv_serial
-	./subscriber
-	./hwtest
-	./publisher
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/firmware/nuttx/CMakeLists.txt

@@ -1,30 +1,29 @@
 # a list of modules that will be linked to main
-set(module_list)
+set(module_list
+	platforms__nuttx
+	platforms__nuttx__px4_layer
+	platforms__common
+	drivers__led
+	drivers__device
+	modules__systemlib
+	modules__uORB
+	)
 
 if (${LABEL} STREQUAL "simple")
 	list(APPEND module_list
-		drivers__led
-		drivers__device
-		platforms__common
-		modules__systemlib
-		modules__uORB
 		examples__px4_simple_app
-		lib__mathlib__math__filter
-		lib__conversion
 	)
 endif()
 
-if (${LABEL} STREQUAL "simple")
+if(${BOARD} STREQUAL "px4fmu-v2")
-	list(APPEND module_list ${module_list_simple})
+	list(APPEND module_list
+		drivers__boards__px4fmu-v2
+		drivers__stm32
+		lib__mathlib__math__filter
+		lib__conversion
+		)
 endif()
 
-list(APPEND module_list
-	platforms__nuttx
-	platforms__nuttx__px4_layer
-	drivers__boards__px4fmu-v2
-	drivers__stm32
-)
-
 px4_nuttx_generate_builtin_commands(
 	OUT builtin_commands.c
 	MODULE_LIST ${module_list})

src/firmware/posix/CMakeLists.txt

@@ -1,21 +1,8 @@
-include(px4_base)
-
-set(module_dir_list)
-set(module_list)
-px4_posix_add_modules(module_dir_list ${BOARD})
-message(STATUS "module list: ${module_dir_list}")
-
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-foreach(directory ${module_dir_list})
-	message(STATUS "directory: ${directory}")
-	px4_mangle_name(${directory} mangled_name)
-	list(APPEND module_list
-		${mangled_name})
-endforeach()
 px4_posix_generate_builtin_commands(
 	OUT apps.h
-	MODULE_LIST ${module_list})
+	MODULE_LIST ${module_libraries})
 
 add_executable(mainapp
 	${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
@@ -30,7 +17,7 @@ set_target_properties(mainapp PROPERTIES LINK_FLAGS ${main_link_flags})
 
 target_link_libraries(mainapp
 	-Wl,--start-group
-	${module_list}
+	${module_libraries}
 	pthread m
 	-Wl,--end-group
 	)

src/lib/CMakeLists.txt

@@ -1,15 +0,0 @@
-set(directories
-	./external_lgpl
-	./geo
-	./launchdetection
-	./mathlib/math/filter
-	./mathlib
-	./rc
-	./geo_lookup
-	./ecl
-	./conversion
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/lib/mathlib/math/filter/LowPassFilter2p.cpp

@@ -41,6 +41,10 @@
 #include "LowPassFilter2p.hpp"
 #include "math.h"
 
+#ifndef M_PI_F
+#define M_PI_F 3.14159f
+#endif
+
 namespace math
 {
 

src/modules/CMakeLists.txt

@@ -1,40 +0,0 @@
-set(directories
-	./navigator
-	./segway
-	./fw_pos_control_l1
-	./uavcan
-	./position_estimator_inav
-	./px4iofirmware
-	./gpio_led
-	./dataman
-	./fixedwing_backside
-	./uORB
-	./land_detector
-	./muorb/krait
-	./muorb/adsp
-	./simulator
-	./ekf_att_pos_estimator
-	./mc_pos_control
-	./attitude_estimator_ekf
-	./sensors
-	./vtol_att_control
-	./fw_att_control
-	./unit_test
-	./mc_att_control_multiplatform
-	./commander/commander_tests
-	./commander
-	./mavlink/mavlink_tests
-	./mavlink
-	./mc_att_control
-	./bottle_drop
-	./systemlib/mixer
-	./systemlib
-	./mc_pos_control_multiplatform
-	./sdlog2
-	./controllib
-	./attitude_estimator_q
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/modules/systemlib/mcu_version.c

@@ -62,7 +62,7 @@
 /** Copy the 96bit MCU Unique ID into the provided pointer */
 void mcu_unique_id(uint32_t *uid_96_bit)
 {
-#ifdef __PX4_NUTTX
+#ifdef CONFIG_ARCH_CHIP_STM32
 	uid_96_bit[0] = getreg32(UNIQUE_ID);
 	uid_96_bit[1] = getreg32(UNIQUE_ID + 4);
 	uid_96_bit[2] = getreg32(UNIQUE_ID + 8);

src/modules/systemlib/printload.c

@@ -261,7 +261,11 @@ void print_load(uint64_t t, int fd, struct print_load_s *print_state)
 				stack_size - stack_free,
 				stack_size,
 				system_load.tasks[i].tcb->sched_priority,
+#if CONFIG_ARCH_BOARD_SIM
+				0);
+#else
 				system_load.tasks[i].tcb->base_priority);
+#endif
 
 #if CONFIG_RR_INTERVAL > 0
 			/* print scheduling info with RR time slice */

src/platforms/CMakeLists.txt

@@ -1,26 +0,0 @@
-set(directories
-	./posix/tests/hrt_test
-	./posix/tests/wqueue
-	./posix/tests/hello
-	./posix/tests/muorb
-	./posix/tests/vcdev_test
-	./posix/work_queue
-	./posix/px4_layer
-	./posix/drivers/adcsim
-	./posix/drivers/gpssim
-	./posix/drivers/tonealrmsim
-	./posix/drivers/accelsim
-	./posix/drivers/airspeedsim
-	./posix/drivers/barosim
-	./posix/drivers/gyrosim
-	./qurt/tests/hello
-	./qurt/tests/muorb
-	./qurt/px4_layer
-	./common
-	./nuttx/px4_layer
-	./nuttx
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()

src/platforms/common/CMakeLists.txt

@@ -33,10 +33,11 @@
 set(depends
 	msg_gen
 	prebuild_targets
+	git_mavlink
 	)
 
-if(${OS} STREQUAL "posix")
+if(${OS} STREQUAL "posix" OR ${BOARD} STREQUAL "sim")
-	list(APPEND depends git_eigen git_mavlink)
+	list(APPEND depends git_eigen)
 endif()
 
 px4_add_module(

src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c

@@ -50,7 +50,9 @@
 #include <sys/stat.h>
 #include <sys/types.h>
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 #include <stm32_pwr.h>
+#endif
 
 #include <systemlib/systemlib.h>
 
@@ -61,7 +63,9 @@ void
 px4_systemreset(bool to_bootloader)
 {
 	if (to_bootloader) {
+#ifndef CONFIG_ARCH_BOARD_SIM
 		stm32_pwr_enablebkp();
+#endif
 
 		/* XXX wow, this is evil - write a magic number into backup register zero */
 		*(uint32_t *)0x40002850 = 0xb007b007;

src/platforms/px4_subscriber.h

@@ -38,8 +38,10 @@
  */
 #pragma once
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 #include <functional>
 #include <type_traits>
+#endif
 
 #if defined(__PX4_ROS)
 /* includes when building for ros */
@@ -219,10 +221,12 @@ public:
 protected:
 	uORB::SubscriptionBase * _uorb_sub;	/**< Handle to the subscription */
 
+#ifndef CONFIG_ARCH_BOARD_SIM
 	typename std::remove_reference<decltype(((T*)nullptr)->data())>::type getUORBData()
 	{
 		return (typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub;
 	}
+#endif
 
 	/**
 	 * Get void pointer to last message value
@@ -242,8 +246,13 @@ public:
 	 * @param cbf		Callback, executed on receiving a new message
 	 * @param interval	Minimal interval between calls to callback
 	 */
-	SubscriberUORBCallback(unsigned interval,
+	SubscriberUORBCallback(unsigned interval
-			       std::function<void(const T &)> cbf) :
+#ifndef CONFIG_ARCH_BOARD_SIM
+			       ,std::function<void(const T &)> cbf)
+#else
+		)
+#endif
+		:
 		SubscriberUORB<T>(interval),
 		_cbf(cbf)
 	{}
@@ -277,7 +286,9 @@ public:
 	};
 
 protected:
+#ifndef CONFIG_ARCH_BOARD_SIM
 	std::function<void(const T &)> _cbf;	/**< Callback that the user provided on the subscription */
+#endif
 };
 #endif
 

src/systemcmds/CMakeLists.txt

@@ -1,26 +0,0 @@
-
-set(directories
-	./mtd
-	./ver
-	./mixer
-	./tests
-	./nshterm
-	./config
-	./top
-	./bl_update
-	./reboot
-	./i2c
-	./param
-	./reflect
-	./usb_connected
-	./motor_test
-	./esc_calib
-	./perf
-	./topic_listener
-	./dumpfile
-	./pwm
-	)
-
-foreach(directory ${directories})
-	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
-endforeach()