cmake px4_add_board document and cleanup

boards/aerotenna/ocpoc/ubuntu.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	MODEL ocpoc
 	LABEL ubuntu
 	PLATFORM posix
-	ARCH cortex-a9
+	PROCESSOR cortex-a9
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 

boards/airmind/mindpx-v2/default.cmake

@@ -4,8 +4,7 @@ px4_add_board(
 	VENDOR airmind
 	MODEL mindpx-v2
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 1

boards/atmel/same70xplained/default.cmake

@@ -3,8 +3,8 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR atmel
 	MODEL same70xplained
-	ARCH cortex-m7
+	TOOLCHAIN arm-none-eabi
-	ROMFS
+	PROCESSOR cortex-m7
 	ROMFSROOT px4fmu_common
 	TESTING
 	#UAVCAN_INTERFACES 1

boards/auav/esc35-v1/default.cmake

@@ -41,7 +41,7 @@ px4_add_board(
 	VENDOR auav
 	MODEL esc35-v1
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
 
 	DRIVERS
 		bootloaders

boards/auav/x21/default.cmake

@@ -3,10 +3,8 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR auav
 	MODEL x21
-	LABEL default
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING

boards/av/x-v1/default.cmake

@@ -3,8 +3,8 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR av
 	MODEL x-v1
-	ARCH cortex-m7
+	TOOLCHAIN arm-none-eabi
-	ROMFS
+	PROCESSOR cortex-m7
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 2

boards/beaglebone/blue/cross.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	MODEL blue
 	LABEL cross
 	PLATFORM posix
-	ARCH cortex-a8
+	PROCESSOR cortex-a8
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 

boards/bitcraze/crazyflie/default.cmake

@@ -4,8 +4,7 @@ px4_add_board(
 	VENDOR bitcraze
 	MODEL crazyflie
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 
 	DRIVERS

boards/emlid/navio2/cross.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	MODEL navio2
 	LABEL cross
 	PLATFORM posix
-	ARCH cortex-a53
+	PROCESSOR cortex-a53
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 

boards/gumstix/aerocore2/default.cmake

@@ -4,8 +4,7 @@ px4_add_board(
 	VENDOR gumstix
 	MODEL aerocore2
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	UAVCAN_INTERFACES 1
 

boards/intel/aerofc-v1/default.cmake

@@ -4,8 +4,7 @@ px4_add_board(
 	VENDOR intel
 	MODEL aerofc-v1
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 
 	SERIAL_PORTS

boards/intel/aerofc-v1/rtps.cmake

@@ -5,8 +5,7 @@ px4_add_board(
 	MODEL aerofc-v1
 	LABEL rtsp
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 
 	SERIAL_PORTS

boards/nxp/hlite-v3/default.cmake

@@ -4,8 +4,7 @@ px4_add_board(
 	VENDOR nxp
 	MODEL hlite-v3
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 2

boards/omnibus/f4sd/default.cmake

@@ -4,8 +4,7 @@ px4_add_board(
 	VENDOR omnibus
 	MODEL f4sd
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 
 	SERIAL_PORTS

boards/parrot/bebop/default.cmake

@@ -3,7 +3,7 @@ px4_add_board(
 	VENDOR parrot
 	MODEL bebop
 	PLATFORM posix
-	ARCH cortex-a53
+	PROCESSOR cortex-a53
 	TOOLCHAIN arm-linux-gnueabihf
 
 	DRIVERS

boards/px4/cannode-v1/default.cmake

@@ -39,7 +39,7 @@ px4_add_board(
 	VENDOR px4
 	MODEL cannode-v1
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m3
+	PROCESSOR cortex-m3
 
 	DRIVERS
 		bootloaders

boards/px4/esc-v1/default.cmake

@@ -41,7 +41,7 @@ px4_add_board(
 	VENDOR px4
 	MODEL esc-v1
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
 
 	DRIVERS
 		bootloaders

boards/px4/fmu-v2/default.cmake

@@ -3,10 +3,8 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR px4
 	MODEL fmu-v2
-	LABEL default
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
 	IO px4_io-v2_default

boards/px4/fmu-v2/lpe.cmake

@@ -5,8 +5,7 @@ px4_add_board(
 	MODEL fmu-v2
 	LABEL lpe
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
 	IO px4_io-v2_default

boards/px4/fmu-v2/test.cmake

@@ -5,8 +5,7 @@ px4_add_board(
 	MODEL fmu-v2
 	LABEL test
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_test
 	IO px4_io-v2_default
 	TESTING

boards/px4/fmu-v3/default.cmake

@@ -7,8 +7,7 @@ px4_add_board(
 	MODEL fmu-v3
 	LABEL default
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING

boards/px4/fmu-v3/rtps.cmake

@@ -7,8 +7,7 @@ px4_add_board(
 	MODEL fmu-v3
 	LABEL rtps
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING

boards/px4/fmu-v3/stackcheck.cmake

@@ -7,8 +7,7 @@ px4_add_board(
 	MODEL fmu-v3
 	LABEL stackcheck
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING

boards/px4/fmu-v4/default.cmake

@@ -5,8 +5,7 @@ px4_add_board(
 	MODEL fmu-v4
 	LABEL default
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 1

boards/px4/fmu-v4/rtps.cmake

@@ -5,8 +5,7 @@ px4_add_board(
 	MODEL fmu-v4
 	LABEL rtps
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 1

boards/px4/fmu-v4/stackcheck.cmake

@@ -5,8 +5,7 @@ px4_add_board(
 	MODEL fmu-v4
 	LABEL stackcheck
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	TESTING
 	#UAVCAN_INTERFACES 1

boards/px4/fmu-v4pro/default.cmake

@@ -5,8 +5,7 @@ px4_add_board(
 	MODEL fmu-v4pro
 	LABEL default
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING

boards/px4/fmu-v4pro/rtps.cmake

@@ -5,8 +5,7 @@ px4_add_board(
 	MODEL fmu-v4pro
 	LABEL default
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING

boards/px4/fmu-v5/default.cmake

@@ -3,9 +3,8 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR px4
 	MODEL fmu-v5
-	LABEL default
+	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m7
+	PROCESSOR cortex-m7
-	ROMFS
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING

boards/px4/fmu-v5/rtps.cmake

@@ -4,8 +4,8 @@ px4_add_board(
 	VENDOR px4
 	MODEL fmu-v5
 	LABEL rtps
-	ARCH cortex-m7
+	TOOLCHAIN arm-none-eabi
-	ROMFS
+	PROCESSOR cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING
@@ -29,7 +29,10 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/adis16448
 		imu/bmi055
+		imu/bmi160
+		imu/bma180
 		imu/mpu6000
+		imu/mpu9250
 		irlock
 		magnetometer # all available magnetometer drivers
 		#md25

boards/px4/fmu-v5/stackcheck.cmake

@@ -4,8 +4,8 @@ px4_add_board(
 	VENDOR px4
 	MODEL fmu-v5
 	LABEL stackcheck
-	ARCH cortex-m7
+	TOOLCHAIN arm-none-eabi
-	ROMFS
+	PROCESSOR cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING
@@ -29,7 +29,10 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/adis16448
 		imu/bmi055
+		#imu/bmi160
+		#imu/bma180
 		imu/mpu6000
+		#imu/mpu9250
 		irlock
 		magnetometer # all available magnetometer drivers
 		#md25

boards/px4/io-v2/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR px4
 	MODEL io-v2
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m3
+	PROCESSOR cortex-m3
 	DRIVERS
 		stm32
 	MODULES

boards/px4/raspberrypi/cross.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	MODEL raspberrypi
 	LABEL cross
 	PLATFORM posix
-	ARCH cortex-a53
+	PROCESSOR cortex-a53
 	TOOLCHAIN Toolchain-arm-linux-gnueabihf
 	TESTING
 

boards/stm/32f4discovery/default.cmake

@@ -4,8 +4,7 @@ px4_add_board(
 	VENDOR stm
 	MODEL 32f4discovery
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
-	ROMFS
 	ROMFSROOT px4fmu_common
 	#TESTING
 

boards/stm/nucleo-F767ZI/default.cmake

@@ -3,8 +3,8 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR stm
 	MODEL nucleo-F767ZI
-	ARCH cortex-m7
+	TOOLCHAIN arm-none-eabi
-	ROMFS
+	PROCESSOR cortex-m7
 	ROMFSROOT px4fmu_common
 	TESTING
 	#UAVCAN_INTERFACES 2

boards/thiemar/s2740vc-v1/default.cmake

@@ -32,7 +32,7 @@ px4_add_board(
 	VENDOR thiemar
 	MODEL s2740vc-v1
 	TOOLCHAIN arm-none-eabi
-	ARCH cortex-m4
+	PROCESSOR cortex-m4
 
 	DRIVERS
 		bootloaders

cmake/px4_add_board.cmake

@@ -40,21 +40,91 @@ include(px4_base)
 #	This function creates a PX4 board.
 #
 #	Usage:
-#		px4_add_module(
+#		px4_add_board(
-#			BOARD <string>
+#			PLATFORM <string>
-#			OS <string>
+#			VENDOR <string>
-#			[ TOOLCHAIN ] <string>
+#			MODEL <string>
+#			[ LABEL <string> ]
+#			[ TOOLCHAIN <string> ]
+#			[ PROCESSOR <string> ]
+#			[ ROMFSROOT <string> ]
+#			[ IO <string> ]
+#			[ BOOTLOADER <string> ]
+#			[ UAVCAN_INTERFACES <string> ]
+#			[ DRIVERS <list> ]
+#			[ MODULES <list> ]
+#			[ SYSTEMCMDS <list> ]
+#			[ EXAMPLES <list> ]
+#			[ SERIAL_PORTS <list> ]
+#			[ DF_DRIVERS <list> ]
+#			[ CONSTRAINED_FLASH ]
+#			[ TESTING ]
 #			)
 #
 #	Input:
-#		BOARD		: name of board
+#		PLATFORM		: PX4 platform name (posix, nuttx, qurt)
-#		OS			: posix, nuttx, qurt
+#		VENDOR			: name of board vendor/manufacturer/brand/etc
+#		MODEL			: name of board model
+#		LABEL			: optional label, set to default if not specified
+#		TOOLCHAIN		: cmake toolchain
+#		PROCESSOR		: name of the CPU CMake is building for (used by the toolchain)
+#		ROMFSROOT		: relative path to the ROMFS root directory (currently NuttX only)
+#		IO			: name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
+#		BOOTLOADER		: bootloader file to include for flashing via bl_update (currently NuttX only)
+#		UAVCAN_INTERFACES	: number of interfaces for UAVCAN
+#		DRIVERS			: list of drivers to build for this board (relative to src/drivers)
+#		MODULES			: list of modules to build for this board (relative to src/modules)
+#		SYSTEMCMDS		: list of system commands to build for this board (relative to src/systemcmds)
+#		EXAMPLES		: list of example modules to build for this board (relative to src/examples)
+#		SERIAL_PORTS		: mapping of user configurable serial ports and param facing name
+#		DF_DRIVERS		: list of DriverFramework device drivers (includes DriverFramework driver and wrapper)
+#		CONSTRAINED_FLASH	: flag to enable constrained flash options (eg limit init script status text)
+#		TESTING			: flag to enable automatic inclusion of PX4 testing modules
 #
 #
 #	Example:
 #		px4_add_board(
-#			BOARD px4_fmu-v2_default
+#			PLATFORM nuttx
-#			OS nuttx
+#			VENDOR px4
+#			MODEL fmu-v5
+#			TOOLCHAIN arm-none-eabi
+#			PROCESSOR cortex-m7
+#			ROMFSROOT px4fmu_common
+#			IO px4_io-v2_default
+#			SERIAL_PORTS
+#				GPS1:/dev/ttyS0
+#				TEL1:/dev/ttyS1
+#				TEL2:/dev/ttyS2
+#				TEL4:/dev/ttyS3
+#			DRIVERS
+#				barometer/ms5611
+#				gps
+#				imu/bmi055
+#				imu/mpu6000
+#				magnetometer/ist8310
+#				px4fmu
+#				px4io
+#				rgbled
+#			MODULES
+#				commander
+#				ekf2
+#				land_detector
+#				mavlink
+#				mc_att_control
+#				mc_pos_control
+#				navigator
+#				sensors
+#			MODULES
+#				mixer
+#				mtd
+#				param
+#				perf
+#				pwm
+#				reboot
+#				shutdown
+#				top
+#				topic_listener
+#				tune_control
 #			)
 #
 function(px4_add_board)
@@ -62,13 +132,12 @@ function(px4_add_board)
 	px4_parse_function_args(
 		NAME px4_add_board
 		ONE_VALUE
+			PLATFORM
 			VENDOR
 			MODEL
 			LABEL
-			BOARD_OVERRIDE
-			PLATFORM
 			TOOLCHAIN
-			ARCH
+			PROCESSOR
 			ROMFSROOT
 			IO
 			BOOTLOADER
@@ -79,10 +148,9 @@ function(px4_add_board)
 			SYSTEMCMDS
 			EXAMPLES
 			SERIAL_PORTS
-			DF_DRIVERS # DriverFramework drivers
+			DF_DRIVERS
 		OPTIONS
 			CONSTRAINED_FLASH
-			ROMFS
 			TESTING
 		REQUIRED
 			PLATFORM
@@ -109,13 +177,10 @@ function(px4_add_board)
 
 	# set OS, and append specific platform module path
 	set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
+	list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
 
-	list(APPEND CMAKE_MODULE_PATH
+	if(PROCESSOR)
-		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake
+		set(CMAKE_SYSTEM_PROCESSOR ${PROCESSOR} CACHE INTERNAL "system processor" FORCE)
-		)
-
-	if(ARCH)
-		set(CMAKE_SYSTEM_PROCESSOR ${ARCH} CACHE INTERNAL "system processor" FORCE)
 	endif()
 
 	if(TOOLCHAIN)
@@ -131,18 +196,13 @@ function(px4_add_board)
 	endif()
 
 	# ROMFS
-	if(ROMFS)
+	if(ROMFSROOT)
-		if (PX4_PLATFORM MATCHES "NuttX" AND NOT DEFINED ROMFSROOT)
+		set(config_romfs_root ${ROMFSROOT} CACHE INTERNAL "ROMFS root" FORCE)
-			set(config_romfs_root px4fmu_common)
-		else()
-			set(config_romfs_root ${ROMFSROOT})
-		endif()
-		set(config_romfs_root ${config_romfs_root} CACHE INTERNAL "ROMFS root" FORCE)
-	endif()
 
-	# IO board (placed in ROMFS)
+		# IO board (placed in ROMFS)
-	if(IO)
+		if(IO)
-		set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
+			set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
+		endif()
 	endif()
 
 	if(UAVCAN_INTERFACES)

cmake/px4_base.cmake

@@ -157,7 +157,7 @@ endfunction()
 #
 #	Usage:
 #		px4_add_module(MODULE <string>
-#			[ MAIN <string> ]
+#			MAIN <string>
 #			[ STACK <string> ] !!!!!DEPRECATED, USE STACK_MAIN INSTEAD!!!!!!!!!
 #			[ STACK_MAIN <string> ]
 #			[ STACK_MAX <string> ]
@@ -172,7 +172,7 @@ endfunction()
 #
 #	Input:
 #		MODULE			: unique name of module
-#		MAIN			: entry point, if not given, assumed to be library
+#		MAIN			: entry point
 #		STACK			: deprecated use stack main instead
 #		STACK_MAIN		: size of stack for main function
 #		STACK_MAX		: maximum stack size of any frame
@@ -555,7 +555,7 @@ function(px4_add_common_flags)
 	string(REPLACE "-" "_" board_config ${board_upper})
 
 	add_definitions(
-		-DCONFIG_ARCH_BOARD_${board_config}
+		-DCONFIG_PROCESSOR_BOARD_${board_config}
 		-D__STDC_FORMAT_MACROS
 		)