cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

CMakeLists.txt

@@ -69,7 +69,7 @@
 #
 # * Avoid use of global variables in functions. Functions in a nested
 #	scope may use global variables, but this makes it difficult to
-#	resuse functions.
+#	reuse functions.
 #
 # Included CMake Files
 # ---------------------------------------------------------------------------
@@ -99,18 +99,12 @@
 #
 #=============================================================================
 
-# Warning: Changing this modifies CMake's internal workings
-# and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 
 #=============================================================================
 # git
@@ -124,14 +118,16 @@ execute_process(
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
-px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
-px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
+                 BRIEF_DOCS "PX4 module libs"
-
-define_property(GLOBAL PROPERTY PX4_LIBRARIES
-                 BRIEF_DOCS "PX4 libs"
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
+define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
+                 BRIEF_DOCS "PX4 module paths"
+                 FULL_DOCS "List of paths to all PX4 modules"
+                 )
+
 #=============================================================================
 # configuration
 #
@@ -142,10 +138,6 @@ string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
-set(target_name "${OS}_${BOARD}_${LABEL}")
-
-file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
-set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 
 set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
 set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
@@ -155,22 +147,14 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
+include(configs/${CONFIG})
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
 
-include(platforms/${OS}/cmake/px4_impl_os.cmake)
+# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
-set(config_module "configs/${CONFIG}")
-include(${config_module})
-
-include(common/coverage)
-include(common/sanitizers)
-
-# CMake build type
-# Debug Release RelWithDebInfo MinSizeRel Coverage
 if (NOT CMAKE_BUILD_TYPE)
 	if (${OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "bebop")
-		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
 	endif()
@@ -180,12 +164,10 @@ endif()
 
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
 
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
-
 #=============================================================================
 
 message(STATUS "PX4 VERSION: ${git_tag}")
-message(STATUS "CONFIG: ${target_name}")
+message(STATUS "CONFIG: ${CONFIG}")
 message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
@@ -195,20 +177,23 @@ project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+
 #=============================================================================
 
-# The URL for the elf file for crash logging
-if (DEFINED ENV{BUILD_URI})
-	set(BUILD_URI $ENV{BUILD_URI})
-else()
-	set(BUILD_URI "localhost")
-endif()
-
-add_definitions(-DBUILD_URI=${BUILD_URI})
-
 # Setup install paths
 if (${OS} STREQUAL "posix")
 
+	include(common/coverage)
+	include(common/sanitizers)
+
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
 
@@ -229,20 +214,17 @@ set(px4_required_interface
 	)
 foreach(cmd ${px4_required_interface})
 	if (NOT COMMAND ${cmd})
-		message(FATAL_ERROR "${config_module} must implement ${cmd}")
+		message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
 	endif()
 endforeach()
 
 set(px4_required_config config_module_list)
 foreach(conf ${px4_required_config})
 	if (NOT DEFINED ${conf})
-		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
+		message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
 	endif()
 endforeach()
 
-# force static lib build
-set(BUILD_SHARED_LIBS OFF)
-
 #=============================================================================
 # ccache
 #
@@ -250,7 +232,6 @@ option(CCACHE "Use ccache if available" ON)
 find_program(CCACHE_PROGRAM ccache)
 if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-else()
 endif()
 
 #=============================================================================
@@ -271,23 +252,10 @@ endif()
 find_package(PythonInterp REQUIRED)
 px4_find_python_module(jinja2 REQUIRED)
 
-#=============================================================================
-# generate compile command database
-#
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
 #=============================================================================
 # check required toolchain variables
 #
 
-# PX4 requires c++11
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-# PX4 requires c99
-set(CMAKE_C_STANDARD 99)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-
 set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
 foreach(var ${required_variables})
 	if (NOT ${var})
@@ -335,24 +303,20 @@ px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker
 px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
 
-include_directories(${include_dirs} ${CMAKE_CURRENT_BINARY_DIR}/src/modules/systemlib/param)
-link_directories(${link_dirs})
-add_definitions(${definitions})
-
 #=============================================================================
 # message, and airframe generation
 #
 include(common/px4_metadata)
 
-add_subdirectory(msg)
+add_subdirectory(msg EXCLUDE_FROM_ALL)
 
 px4_generate_airframes_xml(BOARD ${BOARD})
 
 #=============================================================================
 # DriverFramework
 #
-
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+add_subdirectory(src/lib/DriverFramework/framework)
 
 # List the DriverFramework drivers
 if (DEFINED config_df_driver_list)
@@ -369,7 +333,6 @@ endforeach()
 #=============================================================================
 # external projects
 #
-
 set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
@@ -397,12 +360,22 @@ endif()
 #=============================================================================
 # subdirectories
 #
-add_subdirectory(src/platforms/common)
+add_library(parameters_interface INTERFACE)
+add_subdirectory(src/lib EXCLUDE_FROM_ALL)
+add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
+add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
+add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
 
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
+# must be the last module before firmware
+add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
+target_link_libraries(parameters_interface INTERFACE parameters)
+
+# firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${OS})
 
 #=============================================================================
@@ -450,14 +423,14 @@ set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(short-description "The px4 autopilot.")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
 set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")
+
 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
 	find_program(DPKG_PROGRAM dpkg)
 	if (EXISTS ${DPKG_PROGRAM})
@@ -465,5 +438,3 @@ if ("${CMAKE_SYSTEM}" MATCHES "Linux")
 	endif()
 endif()
 include(CPack)
-
-# vim: set noet fenc=utf-8 ff=unix ft=cmake :

Makefile

@@ -252,8 +252,8 @@ coverity_scan: posix_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
 
 parameters_metadata:
-	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --markdown
-	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
+	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --xml
 
 airframe_metadata:
 	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown

cmake/common/px4_base.cmake

@@ -195,10 +195,22 @@ function(px4_add_module)
 		ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
 		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
 		OPTIONS EXTERNAL
-		REQUIRED MODULE
+		REQUIRED MODULE MAIN
 		ARGN ${ARGN})
 
-	px4_add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
+	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
+
+	# all modules can potentially use parameters and uORB
+	add_dependencies(${MODULE} uorb_headers)
+	target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface platforms__common px4_layer systemlib)
+
+	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
+	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
+
+	px4_add_optimization_flags_for_target(${MODULE})
+
+	# Pass variable to the parent px4_add_module.
+	set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
 
 	# set defaults if not set
 	set(MAIN_DEFAULT MAIN-NOTFOUND)
@@ -240,7 +252,16 @@ function(px4_add_module)
 	endif()
 
 	if(DEPENDS)
-		add_dependencies(${MODULE} ${DEPENDS})
+		# using target_link_libraries for dependencies provides linking
+		#  as well as interface include and libraries
+		foreach(dep ${DEPENDS})
+			get_target_property(dep_type ${dep} TYPE)
+			if (${dep_type} STREQUAL "STATIC_LIBRARY")
+				target_link_libraries(${MODULE} PRIVATE ${dep})
+			else()
+				add_dependencies(${MODULE} ${dep})
+			endif()
+		endforeach()
 	endif()
 
 	# join list variables to get ready to send to compiler
@@ -425,6 +446,10 @@ function(px4_add_common_flags)
 				-fdiagnostics-color=always
 			)
 		endif()
+
+		list(APPEND cxx_warnings
+			-Wno-format-truncation # TODO: fix
+		)
 	endif()
 
 	set(visibility_flags
@@ -450,10 +475,13 @@ function(px4_add_common_flags)
 		${_optimization_flags}
 		)
 
-	set(added_include_dirs
+	include_directories(
 		${PX4_BINARY_DIR}
 		${PX4_BINARY_DIR}/src
+		${PX4_BINARY_DIR}/src/lib
 		${PX4_BINARY_DIR}/src/modules
+
+
 		${PX4_SOURCE_DIR}/src
 		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
 		${PX4_SOURCE_DIR}/src/include
@@ -464,13 +492,10 @@ function(px4_add_common_flags)
 		${PX4_SOURCE_DIR}/src/platforms
 		)
 
-	set(added_link_dirs) # none used currently
-	set(added_exe_linker_flags)
-
 	string(TOUPPER ${BOARD} board_upper)
 	string(REPLACE "-" "_" board_config ${board_upper})
 
-	set(added_definitions
+	add_definitions(
 		-DCONFIG_ARCH_BOARD_${board_config}
 		-D__STDC_FORMAT_MACROS
 		)
@@ -548,13 +573,25 @@ endfunction()
 #
 function(px4_add_library target)
 	add_library(${target} ${ARGN})
-	add_dependencies(${target} prebuild_targets)
+
+	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
+
+	# all PX4 libraries have access to parameters and uORB
+	add_dependencies(${target} uorb_headers)
+	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs)
+
+	# TODO: move to platform layer
+	if ("${OS}" MATCHES "nuttx")
+		target_link_libraries(${target} PRIVATE m nuttx_c)
+	endif()
+
 	px4_add_optimization_flags_for_target(${target})
 
 	# Pass variable to the parent px4_add_module.
 	set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
 
 	set_property(GLOBAL APPEND PROPERTY PX4_LIBRARIES ${target})
+	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
 endfunction()
 
 #=============================================================================
@@ -596,4 +633,3 @@ function(px4_find_python_module module)
 	#endif()
 endfunction(px4_find_python_module)
 
-# vim: set noet fenc=utf-8 ff=unix nowrap:

cmake/configs/nuttx_aerocore2_default.cmake

@@ -13,18 +13,14 @@ set(config_module_list
 	#drivers/magnetometer
 	#drivers/telemetry
 
-	drivers/device
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
-	drivers/led
 	drivers/px4fmu
-	drivers/boards
 	drivers/imu/lsm303d
 	drivers/imu/l3gd20
 	drivers/gps
 	drivers/pwm_out_sim
-	drivers/airspeed
 	modules/sensors
 	#drivers/pwm_input
 	#drivers/camera_trigger
@@ -100,27 +96,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -8,11 +8,8 @@ set(config_module_list
 	# Board support modules
 	#
 	drivers/aerofc_adc
-	drivers/boards
-	drivers/device
 	drivers/distance_sensor
 	drivers/gps
-	drivers/led
 	drivers/barometer/ms5611
 	drivers/magnetometer/hmc5883
 	drivers/magnetometer/ist8310
@@ -70,21 +67,5 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/version
-	lib/FlightTasks
 )

cmake/configs/nuttx_auav-x21_default.cmake

@@ -13,14 +13,10 @@ set(config_module_list
 	drivers/magnetometer
 	drivers/telemetry
 
-	drivers/airspeed
 	drivers/batt_smbus
 	drivers/blinkm
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/gps
-	drivers/led
 	drivers/mkblctrl
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
@@ -113,26 +109,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_crazyflie_default.cmake

@@ -5,11 +5,8 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
 	drivers/stm32
-	drivers/led
 	drivers/px4fmu
-	drivers/boards
 	drivers/imu/mpu9250
 	drivers/barometer/lps25h
 	drivers/gps
@@ -71,25 +68,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/version
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_esc35-v1_default.cmake

@@ -39,9 +39,6 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/boards
-	drivers/device
-	drivers/led
 	drivers/stm32
 
 	#
@@ -63,12 +60,4 @@ set(config_module_list
 	modules/uavcanesc/commands/dc
 	modules/uavcanesc/commands/rpm
 	modules/uavcanesc/commands/stat
-
-	#
-	# Library modules
-	#
-	lib/version
-	modules/systemlib
-	modules/systemlib/param
-	modules/uORB
 )

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -13,16 +13,12 @@ set(config_module_list
 	drivers/magnetometer
 	drivers/telemetry
 
-	drivers/airspeed
 	drivers/batt_smbus
 	drivers/blinkm
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/gps
 	#drivers/hott
 	drivers/imu/l3gd20
-	drivers/led
 	drivers/imu/lsm303d
 	#drivers/mkblctrl
 	drivers/imu/mpu6000
@@ -117,27 +113,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_nxphlite-v3_default.cmake

@@ -13,13 +13,10 @@ set(config_module_list
 	drivers/magnetometer
 	drivers/telemetry
 
-	drivers/airspeed
 	drivers/barometer/mpl3115a2
 	drivers/batt_smbus
 	drivers/blinkm
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/imu/fxas21002c
 	drivers/imu/fxos8701cq
 	drivers/gps
@@ -27,7 +24,6 @@ set(config_module_list
 	drivers/kinetis/adc
 	drivers/kinetis/tone_alarm
 	drivers/imu/l3gd20
-	drivers/led
 	drivers/mkblctrl
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
@@ -121,27 +117,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/ecl
-	lib/conversion
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/DriverFramework/framework
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4-same70xplained-v1_default.cmake

@@ -13,13 +13,10 @@ set(config_module_list
 	drivers/magnetometer
 	drivers/telemetry
 
-	drivers/device
 	drivers/samv7
 #WIP 	drivers/samv7/adc
 	drivers/samv7/tone_alarm
-	drivers/led
 	drivers/px4fmu
-	drivers/boards
 	drivers/rgbled
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
@@ -28,7 +25,6 @@ set(config_module_list
 	drivers/gps
 #WIP 	drivers/pwm_out_sim
 	drivers/blinkm
-	drivers/airspeed
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
@@ -94,26 +90,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/version
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -5,10 +5,7 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
 	drivers/stm32
-	drivers/led
-	drivers/boards
 
 	#
 	# System commands
@@ -23,25 +20,6 @@ set(config_module_list
 	systemcmds/nshterm
 	systemcmds/ver
 
-	#
-	# Library modules
-	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	#lib/mathlib/CMSIS
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/mathlib
-	lib/mixer
-	lib/version
-
 	#
 	# Demo apps
 	#

cmake/configs/nuttx_px4cannode-v1_default.cmake

@@ -37,10 +37,7 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/boards
 	drivers/bootloaders
-	drivers/device
-	drivers/led
 	drivers/stm32
 
 	#
@@ -56,12 +53,4 @@ set(config_module_list
 	#
 	modules/uavcannode
 
-	#
-	# Library modules
-	#
-	lib/version
-	modules/systemlib
-	modules/systemlib/param
-	modules/uORB
-
 )

cmake/configs/nuttx_px4esc-v1_default.cmake

@@ -39,10 +39,7 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/boards
 	drivers/bootloaders
-	drivers/device
-	drivers/led
 	drivers/stm32
 
 	#
@@ -65,12 +62,4 @@ set(config_module_list
 	modules/uavcanesc/commands/rpm
 	modules/uavcanesc/commands/stat
 
-	#
-	# Library modules
-	#
-	lib/version
-	modules/systemlib
-	modules/systemlib/param
-	modules/uORB
-
 )

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -12,22 +12,18 @@ set(config_module_list
 	#drivers/telemetry
 
 	#drivers/imu/adis16448
-	drivers/airspeed
 	drivers/barometer/ms5611
 	#drivers/blinkm
 	#drivers/imu/bmi160
 	#drivers/barometer/bmp280
-	drivers/boards
 	#drivers/bst
 	drivers/camera_trigger
-	drivers/device
 	#drivers/frsky_telemetry
 	drivers/gps
 	#drivers/hott
 	#drivers/iridiumsbd
 	#drivers/irlock
 	drivers/imu/l3gd20
-	drivers/led
 	drivers/imu/lsm303d
 	drivers/magnetometer/hmc5883
 	drivers/magnetometer/lis3mdl
@@ -142,24 +138,6 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/systemlib
-	modules/systemlib/param
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	#lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
 
 	#
 	# OBC challenge

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -12,22 +12,18 @@ set(config_module_list
 	#drivers/telemetry
 
 	#drivers/imu/adis16448
-	drivers/airspeed
 	drivers/barometer/ms5611
 	#drivers/blinkm
 	#drivers/imu/bmi160
 	#drivers/barometer/bmp280
-	drivers/boards
 	#drivers/bst
 	#drivers/camera_trigger
-	drivers/device
 	#drivers/frsky_telemetry
 	drivers/gps
 	#drivers/hott
 	#drivers/iridiumsbd
 	#drivers/irlock
 	drivers/imu/l3gd20
-	drivers/led
 	drivers/imu/lsm303d
 	drivers/magnetometer/hmc5883
 	drivers/magnetometer/lis3mdl
@@ -133,24 +129,6 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/systemlib
-	modules/systemlib/param
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	#lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
 
 	#
 	# OBC challenge

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -19,12 +19,9 @@ set(config_module_list
 	drivers/magnetometer
 	drivers/telemetry
 
-	drivers/airspeed
 	drivers/batt_smbus
 	drivers/blinkm
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/gps
 	drivers/imu/adis16448
 	drivers/imu/bmi160
@@ -33,7 +30,6 @@ set(config_module_list
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
 	drivers/irlock
-	drivers/led
 	drivers/mkblctrl
 	drivers/oreoled
 	drivers/protocol_splitter
@@ -131,24 +127,6 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/systemlib
-	modules/systemlib/param
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
 
 	#
 	# OBC challenge

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -14,15 +14,11 @@ set(config_module_list
 	drivers/telemetry
 	drivers/imu
 
-	drivers/airspeed
 	drivers/batt_smbus
 	drivers/blinkm
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/gps
 	drivers/irlock
-	drivers/led
 	drivers/mkblctrl
 	drivers/oreoled
 	drivers/pca9685
@@ -117,27 +113,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -13,18 +13,14 @@ set(config_module_list
 	drivers/magnetometer
 	drivers/telemetry
 
-	drivers/airspeed
 	drivers/batt_smbus
 	drivers/blinkm
 	drivers/imu/bma180
 	drivers/imu/bmi160
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/gps
 	drivers/irlock
 	drivers/imu/l3gd20
-	drivers/led
 	drivers/mkblctrl
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
@@ -122,24 +118,6 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
 
 	#
 	# OBC challenge

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -13,18 +13,14 @@ set(config_module_list
 	drivers/magnetometer
 	drivers/telemetry
 
-	drivers/airspeed
 	drivers/batt_smbus
 	drivers/blinkm
 	drivers/imu/bma180
 	drivers/imu/bmi055
 	drivers/imu/bmi160
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/gps
 	drivers/irlock
-	drivers/led
 	drivers/mkblctrl
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
@@ -123,25 +119,6 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
 
 	#
 	# OBC challenge

cmake/configs/nuttx_px4io-v2_default.cmake

@@ -2,9 +2,6 @@
 px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
 
 set(config_module_list
-	drivers/boards/px4io-v2
 	drivers/stm32
-	lib/mixer
-	lib/rc
 	modules/px4iofirmware
 )

cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake

@@ -14,15 +14,11 @@ set(config_module_list
 	drivers/telemetry
 
 	drivers/imu/adis16448
-	drivers/airspeed
 	drivers/blinkm
 	drivers/imu/bma180
 	drivers/imu/bmi160
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/gps
-	drivers/led
 	drivers/mkblctrl
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
@@ -100,27 +96,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_s2740vc-v1_default.cmake

@@ -6,9 +6,7 @@ add_definitions(
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh)
 
-#
 # UAVCAN boot loadable Module ID
-
 set(uavcanblid_sw_version_major 0)
 set(uavcanblid_sw_version_minor 1)
 add_definitions(
@@ -16,9 +14,7 @@ add_definitions(
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
 	)
 
-#
 # Bring in common uavcan hardware identity definitions
-#
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_uavcan_board_ident PATH "cmake/configs/uavcan_board_ident")
 include(configs/uavcan_board_ident/s2740vc-v1)
@@ -33,14 +29,11 @@ include(configs/uavcan_board_ident/s2740vc-v1)
 # SW_MINOR ${uavcanblid_sw_version_minor})
 
 set(config_module_list
-
 	#
 	# Board support modules
 	#
-
+	drivers/bootloaders
 	drivers/stm32
-	drivers/led
-	drivers/boards
 
 	#
 	# System commands
@@ -49,15 +42,4 @@ set(config_module_list
 	systemcmds/top
 	systemcmds/config
 	systemcmds/ver
-
+)
-	#
-	# General system control
-	#
-
-	#
-	# Library modules
-	#
-	modules/systemlib/param
-	modules/systemlib
-	lib/version
-)

cmake/configs/nuttx_tap-v1_default.cmake

@@ -7,13 +7,9 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/airspeed
-	drivers/boards
-	drivers/device
 	drivers/barometer
 	drivers/differential_pressure
 	drivers/gps
-	drivers/led
 	drivers/magnetometer/hmc5883
 	drivers/imu/mpu6000
 	drivers/px4fmu
@@ -77,24 +73,5 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
 )

cmake/configs/posix_bebop_default.cmake

@@ -12,7 +12,6 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
 	drivers/linux_sbus
 	modules/sensors
 	platforms/posix/drivers/df_ms5607_wrapper
@@ -56,9 +55,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 	modules/land_detector
 	modules/navigator
@@ -68,19 +64,6 @@ set(config_module_list
 	# PX4 drivers
 	#
 	drivers/gps
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/version
-	lib/FlightTasks
 )
 
 set(config_df_driver_list

cmake/configs/posix_eagle_hil.cmake

@@ -18,9 +18,6 @@ else()
 endif()
 
 set(config_module_list
-	drivers/device
-	drivers/boards
-	drivers/led
 	drivers/linux_sbus
 
 	systemcmds/param
@@ -28,9 +25,6 @@ set(config_module_list
 
 	modules/mavlink
 
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/sensors
 	modules/dataman
 	modules/sdlog2
@@ -38,13 +32,6 @@ set(config_module_list
 	modules/simulator
 	modules/commander
 
-	lib/controllib
-	lib/mathlib
-	lib/ecl
-	lib/conversion
-	lib/version
-	lib/DriverFramework/framework
-
 	modules/muorb/krait
 	)
 

cmake/configs/posix_eagle_muorb.cmake

@@ -13,12 +13,6 @@ else()
 endif()
 
 set(config_module_list
-	drivers/device
-
-	modules/uORB
-
-	lib/DriverFramework/framework
-
 	modules/muorb/krait
 	)
 

cmake/configs/posix_ocpoc_cross.cmake

@@ -18,7 +18,6 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
 	platforms/posix/drivers/df_ms5611_wrapper
@@ -59,9 +58,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 	modules/land_detector
 	modules/navigator
@@ -76,21 +72,6 @@ set(config_module_list
 	drivers/linux_pwm_out
 	drivers/rgbled
 	drivers/ulanding
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/version
-	lib/FlightTasks
 	
 	examples/px4_simple_app
 )

cmake/configs/posix_ocpoc_ubuntu.cmake

@@ -17,7 +17,6 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
 	drivers/distance_sensor
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
@@ -59,9 +58,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 	modules/land_detector
 	modules/navigator
@@ -75,21 +71,6 @@ set(config_module_list
 	drivers/linux_sbus
 	drivers/linux_pwm_out
 	drivers/rgbled
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/version
-	lib/FlightTasks
 	
 	examples/px4_simple_app
 )

cmake/configs/posix_rpi_common.cmake

@@ -15,10 +15,8 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/airspeed
 	#drivers/barometer
 	drivers/batt_smbus
-	drivers/device
 	drivers/differential_pressure
 	drivers/distance_sensor
 	#drivers/telemetry
@@ -71,9 +69,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
 	modules/land_detector
 	modules/navigator
@@ -92,20 +87,6 @@ set(config_module_list
 	drivers/pwm_out_sim
 	drivers/rpi_rc_in
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
 )
 
 #

cmake/configs/posix_sdflight_default.cmake

@@ -30,13 +30,10 @@ endif()
 set(CONFIG_SHMEM "1")
 
 set(config_module_list
-	drivers/device
 	drivers/blinkm
 	drivers/linux_sbus
 	drivers/pwm_out_sim
 	drivers/rgbled
-	drivers/led
-	drivers/boards
 	drivers/qshell/posix
 
 	systemcmds/param
@@ -57,9 +54,6 @@ set(config_module_list
 	modules/mc_pos_control
 	modules/mc_att_control
 
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/muorb/krait
 	modules/sensors
 	modules/dataman
@@ -68,16 +62,4 @@ set(config_module_list
 	modules/simulator
 	modules/commander
 	modules/navigator
-
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
 )

cmake/configs/posix_sdflight_legacy.cmake

@@ -22,13 +22,10 @@ set(CONFIG_SHMEM "1")
 
 
 set(config_module_list
-	drivers/device
 	drivers/blinkm
 	drivers/linux_sbus
 	drivers/pwm_out_sim
 	drivers/rgbled
-	drivers/led
-	drivers/boards
 	drivers/qshell/posix
 
 	systemcmds/param
@@ -49,9 +46,6 @@ set(config_module_list
 	modules/mc_pos_control
 	modules/mc_att_control
 
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/muorb/krait
 	modules/sensors
 	modules/dataman
@@ -60,15 +54,4 @@ set(config_module_list
 	modules/simulator
 	modules/commander
 	modules/navigator
-
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
 	)

cmake/configs/posix_sitl_default.cmake

@@ -7,24 +7,15 @@ set(config_module_list
 	drivers/distance_sensor
 	#drivers/telemetry
 
-	drivers/airspeed
 	drivers/batt_smbus
-	drivers/boards
 	drivers/camera_trigger
-	drivers/device
 	drivers/gps
 	drivers/linux_gpio
 	drivers/pwm_out_sim
 	drivers/vmount
 
 	modules/sensors
-	platforms/posix/drivers/accelsim
+
-	platforms/posix/drivers/adcsim
-	platforms/posix/drivers/airspeedsim
-	platforms/posix/drivers/barosim
-	platforms/posix/drivers/gpssim
-	platforms/posix/drivers/gyrosim
-	platforms/posix/drivers/ledsim
 	platforms/posix/drivers/tonealrmsim
 
 	#
@@ -111,27 +102,8 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/landing_target_estimator
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mixer
-	lib/mathlib
-	lib/rc
-	lib/terrain_estimation
-	lib/tunes
-	lib/version
-	lib/FlightTasks
-
 	#
 	# OBC challenge
 	#

cmake/configs/posix_sitl_replay.cmake

@@ -2,25 +2,14 @@
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
-	drivers/device
 	drivers/boards/sitl
 	systemcmds/param
 	systemcmds/ver
 	systemcmds/perf
-	modules/uORB
-	modules/systemlib/param
-	modules/systemlib
 	modules/ekf2
 	modules/ekf2_replay
 	modules/sdlog2
 	modules/logger
-	lib/controllib
-	lib/mathlib
-	lib/conversion
-	lib/ecl
-	lib/version
-	lib/DriverFramework/framework
-	lib/micro-CDR
 	)
 
 set(config_extra_builtin_cmds

cmake/configs/qurt_eagle_hello.cmake

@@ -20,7 +20,6 @@ include(qurt_flags)
 include_directories(${HEXAGON_SDK_INCLUDES})
 
 set(config_module_list
-	drivers/device
 
 	#
 	# System commands
@@ -30,8 +29,5 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	)
 

cmake/configs/qurt_eagle_hil.cmake

@@ -20,10 +20,7 @@ include(qurt_flags)
 include_directories(${HEXAGON_SDK_INCLUDES})
 
 set(config_module_list
-	drivers/device
-	drivers/boards
 	drivers/pwm_out_sim
-	drivers/led
 	drivers/rgbled
 	modules/sensors
 
@@ -52,23 +49,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/commander
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/version
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_eagle_muorb.cmake

@@ -20,7 +20,6 @@ include(qurt_flags)
 include_directories(${HEXAGON_SDK_INCLUDES})
 
 set(config_module_list
-	drivers/device
 
 	#
 	# System commands
@@ -30,17 +29,6 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	lib/mathlib
-	lib/conversion
-	lib/version
-	lib/DriverFramework/framework
 
 	#
 	# sources for muorb over fastrpc

cmake/configs/qurt_eagle_test.cmake

@@ -20,7 +20,6 @@ include(qurt_flags)
 include_directories(${HEXAGON_SDK_INCLUDES})
 
 set(config_module_list
-	drivers/device
 
 	#
 	# System commands
@@ -30,16 +29,5 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/mathlib
-	lib/mixer
 	)
 

cmake/configs/qurt_eagle_travis.cmake

@@ -25,10 +25,7 @@ include(qurt_flags)
 include_directories(${HEXAGON_SDK_INCLUDES})
 
 set(config_module_list
-	drivers/device
-	drivers/boards
 	drivers/pwm_out_sim
-	drivers/led
 	drivers/rgbled
 	modules/sensors
 
@@ -57,24 +54,8 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/commander
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/led
-	lib/mathlib
-	lib/mixer
-	lib/terrain_estimation
-	lib/version
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_sdflight_default.cmake

@@ -34,7 +34,6 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
 	platforms/posix/drivers/df_bmp280_wrapper
@@ -66,9 +65,6 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/commander
 	modules/land_detector
 
@@ -80,20 +76,6 @@ set(config_module_list
 	drivers/qshell/qurt
 	drivers/snapdragon_pwm_out
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/version
-	lib/FlightTasks
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_sdflight_legacy.cmake

@@ -33,7 +33,6 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
 	platforms/posix/drivers/df_bmp280_wrapper
@@ -61,9 +60,6 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/commander
 	modules/land_detector
 
@@ -79,19 +75,6 @@ set(config_module_list
 	#
 	platforms/qurt/fc_addon/uart_esc
 
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/mathlib
-	lib/mixer
-	lib/rc
-	lib/terrain_estimation
-	lib/version
-
 	#
 	# sources for muorb over fastrpc
 	#

msg/CMakeLists.txt

@@ -196,5 +196,5 @@ add_custom_command(OUTPUT ${uorb_sources}
 	VERBATIM
 	)
 
-px4_add_library(uorb_msgs ${uorb_sources})
+add_library(uorb_msgs ${uorb_sources})
-add_dependencies(uorb_msgs uorb_headers)
+add_dependencies(uorb_msgs prebuild_targets uorb_headers)

platforms/nuttx/CMakeLists.txt

@@ -42,7 +42,7 @@ endif()
 add_executable(${FW_NAME} ${PX4_SOURCE_DIR}/src/platforms/empty.c)
 add_dependencies(${FW_NAME} git_nuttx nuttx_build)
 
-get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
+get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
 # build NuttX
 add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
@@ -76,24 +76,41 @@ file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_D
 # because even relative linker script paths are different for linux, mac and windows
 CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG)
 
-target_link_libraries(${FW_NAME}
+target_link_libraries(nuttx_arch
+	INTERFACE
+		drivers_board
+		drivers_arch
+		drivers_boards_common
+		drivers_boards_common_arch
+)
+
+target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
+target_link_libraries(nuttx_cxx INTERFACE nuttx_c)
+
+target_link_libraries(${FW_NAME} PRIVATE
+
+	-nodefaultlibs
+	-nostdlib
+
+	-fno-exceptions
+	-fno-rtti
 
 	-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${BOARD}/scripts/${LD_SCRIPT}
 	-Wl,-Map=${CONFIG}.map
-	-Wl,--warn-common,--gc-sections
+	-Wl,--warn-common
+	-Wl,--gc-sections
 
 	-Wl,--start-group
-		${module_libraries}
+	${nuttx_libs}
-		${nuttx_libs}
 	-Wl,--end-group
-
-	m
-	gcc
 	)
 
+target_link_libraries(${FW_NAME} PRIVATE ${module_libraries})
+target_link_libraries(${FW_NAME} PRIVATE modules__uORB)
+
 if (config_romfs_root)
 	add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
-	target_link_libraries(${FW_NAME} romfs)
+	target_link_libraries(${FW_NAME} PRIVATE romfs)
 endif()
 
 # create px4 file (combined firmware and metadata)
@@ -212,4 +229,3 @@ add_custom_target(profile
 	DEPENDS ${FW_NAME} ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh
 	USES_TERMINAL
 	)
-

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -110,7 +110,8 @@ function(px4_nuttx_make_uavcan_bootloadable)
 	add_custom_command(OUTPUT ${uavcan_bl_imange_name}
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
 			-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
-		DEPENDS ${BIN})
+		DEPENDS ${BIN}
+		)
 	add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
 endfunction()
 
@@ -188,11 +189,11 @@ function(px4_os_add_flags)
 		${PX4_BINARY_DIR}/NuttX/apps/include
 		)
 
-	#set(added_exe_linker_flags)
+	add_definitions(
-	#set(added_link_dirs ${nuttx_export_dir}/libs)
+		-D__PX4_NUTTX
-	set(added_definitions -D__PX4_NUTTX)
+		-D__DF_NUTTX
+		)
 
-	list(APPEND added_definitions -D__DF_NUTTX)
 
 	if("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
 		set(instrument_flags
@@ -240,7 +241,9 @@ function(px4_os_prebuild_targets)
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 
-	add_custom_target(${OUT} DEPENDS nuttx_context uorb_headers)
+	add_library(${OUT} INTERFACE)
+	target_link_libraries(${OUT} INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
+	add_dependencies(${OUT} DEPENDS nuttx_context uorb_headers)
 
 	# parse nuttx config options for cmake
 	file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/nsh/defconfig ConfigContents)
@@ -323,4 +326,3 @@ function(px4_nuttx_configure)
 	endif()
 endfunction()
 
-# vim: set noet fenc=utf-8 ff=unix nowrap:

platforms/nuttx/src/px4_layer/CMakeLists.txt

@@ -34,12 +34,12 @@
 # skip for px4_layer support on an IO board
 if (NOT ${BOARD} MATCHES "px4io")
 
-	px4_add_module(
+	add_library(px4_layer
-		MODULE platform_px4_layer
+		px4_nuttx_tasks.c
-		SRCS
+		px4_nuttx_impl.cpp
-			px4_nuttx_tasks.c
+	)
-			px4_nuttx_impl.cpp
+	target_link_libraries(px4_layer PRIVATE nuttx_sched drivers_boards_common_arch)
-		DEPENDS
+else()
-			prebuild_targets
+	add_library(px4_layer ${PX4_SOURCE_DIR}/src/platforms/empty.c)
-		)
 endif()
+add_dependencies(px4_layer prebuild_targets)

platforms/posix/CMakeLists.txt

@@ -3,7 +3,7 @@ add_subdirectory(src)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
+get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
 px4_posix_generate_builtin_commands(
 	OUT apps
@@ -46,23 +46,19 @@ else()
 		apps.cpp
 		)
 
-	if (APPLE)
+	target_link_libraries(px4
-		target_link_libraries(px4
+		PRIVATE
 			${module_libraries}
 			df_driver_framework
 			${df_driver_libs}
 			pthread m
-		)
+	)
-	else()
+
-		target_link_libraries(px4
+	if (NOT APPLE)
-			-Wl,--start-group
+		target_link_libraries(px4 PRIVATE rt)
-				${module_libraries}
-				df_driver_framework
-				${df_driver_libs}
-				pthread m rt
-			-Wl,--end-group
-		)
 	endif()
+
+	target_link_libraries(px4 PRIVATE modules__uORB)
 endif()
 
 if ("${BOARD}" STREQUAL "rpi")
@@ -99,5 +95,3 @@ endif()
 install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
-
-

platforms/posix/cmake/px4_impl_os.cmake

@@ -164,21 +164,19 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-        set(added_include_dirs
-		platforms/posix/include
-		)
-
-	# This block sets added_definitions and added_cxx_flags.
 	set(added_c_flags)
 	set(added_cxx_flags)
 	set(added_exe_linker_flags)
-	set(added_definitions
+
+	add_definitions(
 		-D__PX4_POSIX
 		-Dnoreturn_function=__attribute__\(\(noreturn\)\)
 		)
+		
+	include_directories(platforms/posix/include)
 
 	if(UNIX AND APPLE)
-		list(APPEND added_definitions
+		add_definitions(
 			-D__PX4_DARWIN
 			-D__DF_DARWIN
 			)
@@ -191,7 +189,7 @@ function(px4_os_add_flags)
 		STRING(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
 		# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
 		if (DARWIN_VERSION LESS 16)
-			list(APPEND added_definitions
+			add_definitions(
 				-DCLOCK_MONOTONIC=1
 				-DCLOCK_REALTIME=0
 				-D__PX4_APPLE_LEGACY
@@ -199,14 +197,14 @@ function(px4_os_add_flags)
 		endif()
 
 	elseif(CYGWIN)
-		list(APPEND added_definitions
+		add_definitions(
 			-D__PX4_CYGWIN
 			-D_GNU_SOURCE
 			-D__USE_LINUX_IOCTL_DEFS
 			-U __CUSTOM_FILE_IO__
 			)
 	else()
-		list(APPEND added_definitions
+		add_definitions(
 			-D__PX4_LINUX
 			-D__DF_LINUX
 			)
@@ -316,5 +314,6 @@ function(px4_os_prebuild_targets)
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 
-	add_custom_target(${OUT} DEPENDS uorb_headers)
+	add_library(${OUT} INTERFACE)
+	add_dependencies(${OUT} DEPENDS uorb_headers)
 endfunction()

platforms/posix/src/px4_layer/CMakeLists.txt

@@ -45,17 +45,16 @@ if("${CONFIG_SHMEM}" STREQUAL "1")
 	set(EXTRA_DEPENDS generate_px4muorb_stubs)
 endif()
 
-px4_add_module(
+add_library(px4_layer
-	MODULE platforms__posix__px4_layer
+	px4_posix_impl.cpp
-	COMPILE_FLAGS
+	px4_posix_tasks.cpp
-	SRCS
+	px4_sem.cpp
-		px4_posix_impl.cpp
+	lib_crc32.c
-		px4_posix_tasks.cpp
+	drv_hrt.c
-		px4_sem.cpp
+	${SHMEM_SRCS}
-		lib_crc32.c
+)
-		drv_hrt.c
+target_link_libraries(px4_layer PRIVATE work_queue)
-		${SHMEM_SRCS}
+
-	DEPENDS
+if (EXTRA_DEPENDS)
-		platforms__common
+	add_dependencies(px4_layer ${EXTRA_DEPENDS})
-		${EXTRA_DEPENDS}
+endif()
-	)

platforms/posix/src/px4_layer/px4_posix_impl.cpp

@@ -46,7 +46,7 @@
 #include <signal.h>
 #include <errno.h>
 #include <unistd.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include "hrt_work.h"
 #include <drivers/drv_hrt.h>
 #include "px4_time.h"

platforms/posix/src/px4_layer/shmem_posix.c

@@ -48,7 +48,7 @@
 #include <sys/mman.h>
 #include <sys/ioctl.h>
 
-#include "systemlib/param/param.h"
+#include <parameters/param.h>
 
 #include <shmem.h>
 #include "px4muorb.h"

platforms/qurt/CMakeLists.txt

@@ -10,33 +10,31 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
 
-get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
+get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
 px4_qurt_generate_builtin_commands(
 	OUT ${PX4_BINARY_DIR}/apps
-	MODULE_LIST ${module_libraries})
+	MODULE_LIST ${module_libraries}
+)
 
 FASTRPC_STUB_GEN(px4muorb.idl)
 
 # Enable build without HexagonSDK to check link dependencies
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
+
 	add_definitions(-D QURT_EXE_BUILD=1)
+
 	include_directories(
                 ${CMAKE_CURRENT_BINARY_DIR}
                 ${FASTRPC_DSP_INCLUDES}
                 )
 
 	add_executable(px4
-		${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
 		${PX4_BINARY_DIR}/apps.cpp
-		)
+		${PX4_BINARY_DIR}/platforms/qurt/px4muorb_skel.c
+	)
 
-	target_link_libraries(px4
+	target_link_libraries(px4 PRIVATE ${module_libraries} ${df_driver_libs})
-		-Wl,--start-group
-			${module_libraries}
-			${df_driver_libs}
-		-Wl,--end-group
-		)
 else()
 	# Generate the DSP lib and stubs but not the apps side executable
 	# The Apps side executable is generated via the posix_eagle_xxxx target
@@ -58,6 +56,6 @@ else()
 		DEPENDS px4 px4muorb_skel
 		COMMENT "uploading px4"
 		USES_TERMINAL
-		)
+	)
-			 
+
 endif()

platforms/qurt/cmake/px4_impl_os.cmake

@@ -162,7 +162,7 @@ function(px4_os_add_flags)
 		DEFINITIONS ${DEFINITIONS})
 
 	set(DSPAL_ROOT src/lib/DriverFramework/dspal)
-	set(added_include_dirs
+	include_directories(
 		${DSPAL_ROOT}/include
 		${DSPAL_ROOT}/mpu_spi/inc
 		${DSPAL_ROOT}/sys
@@ -173,7 +173,7 @@ function(px4_os_add_flags)
 		platforms/qurt/include
 		)
 
-	set(added_definitions
+	add_definitions(
 		-D__DF_QURT # For DriverFramework
 		-D__PX4_POSIX
 		-D__PX4_QURT
@@ -195,8 +195,8 @@ function(px4_os_add_flags)
 		)
 
 	# Clear -rdynamic flag which fails for hexagon
-	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
+	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
-	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
+	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)
 
 	set(DF_TARGET "qurt" PARENT_SCOPE)
 
@@ -238,8 +238,6 @@ function(px4_os_prebuild_targets)
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 
-	add_custom_target(${OUT} DEPENDS git_driverframework uorb_headers)
+	add_library(${OUT} INTERFACE)
-
+	add_dependencies(${OUT} DEPENDS uorb_headers)
 endfunction()
-
-# vim: set noet fenc=utf-8 ff=unix nowrap:

platforms/qurt/src/px4_layer/CMakeLists.txt

@@ -30,6 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)
 
@@ -52,12 +53,8 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 		)
 endif()
 
-px4_add_module(
+add_library(px4_layer
-	MODULE platforms_px4_layer
+	${QURT_LAYER_SRCS}
-	COMPILE_FLAGS
+	${CONFIG_SRC}
-	SRCS
+)
-		${QURT_LAYER_SRCS}
+add_dependencies(px4_layer uorb_msgs) # dataman requires mission
-		${CONFIG_SRC}
-	DEPENDS
-		platforms__common
-	)

platforms/qurt/src/px4_layer/px4_qurt_impl.cpp

@@ -48,7 +48,7 @@
 #include <errno.h>
 #include <unistd.h>
 #include <semaphore.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include "hrt_work.h"
 #include "px4_log.h"
 

platforms/qurt/src/px4_layer/shmem_qurt.c

@@ -41,7 +41,7 @@
 #include <sys/stat.h>
 #include <atomic_ops.h>
 
-#include "systemlib/param/param.h"
+#include <parameters/param.h>
 
 #include <shmem.h>
 #include <drivers/drv_hrt.h>

src/drivers/aerofc_adc/CMakeLists.txt

@@ -37,6 +37,4 @@ px4_add_module(
 	SRCS
 		aerofc_adc.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/barometer/bmp280/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		bmp280_i2c.cpp
 		bmp280.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/barometer/bmp280/bmp280.cpp

@@ -66,7 +66,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/device/ringbuffer.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 

src/drivers/barometer/lps25h/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		lps25h_spi.cpp
 
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/barometer/lps25h/lps25h.cpp

@@ -60,7 +60,7 @@
 
 #include <board_config.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <drivers/drv_baro.h>

src/drivers/barometer/mpl3115a2/CMakeLists.txt

@@ -42,6 +42,5 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS ${srcs}
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/barometer/mpl3115a2/mpl3115a2.cpp

@@ -70,7 +70,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/device/ringbuffer.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <platforms/px4_getopt.h>
 

src/drivers/barometer/ms5611/CMakeLists.txt

@@ -43,6 +43,5 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS ${srcs}
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/barometer/ms5611/ms5611.cpp

@@ -64,7 +64,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/device/ringbuffer.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <platforms/px4_getopt.h>
 

src/drivers/batt_smbus/CMakeLists.txt

@@ -37,5 +37,4 @@ px4_add_module(
 	SRCS
 		batt_smbus.cpp
 	DEPENDS
-		platforms__common
 	)

src/drivers/batt_smbus/batt_smbus.cpp

@@ -51,7 +51,7 @@
 #include <drivers/drv_hrt.h>
 #include <px4_config.h>
 #include <px4_workqueue.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/uORB.h>

src/drivers/blinkm/CMakeLists.txt

@@ -37,6 +37,5 @@ px4_add_module(
 	SRCS
 		blinkm.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/drivers/blinkm/blinkm.cpp

@@ -110,7 +110,7 @@
 
 #include <px4_workqueue.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 

src/drivers/boards/aerocore2/CMakeLists.txt

@@ -39,3 +39,11 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/aerocore2/init.c

@@ -69,10 +69,10 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/aerofc-v1/CMakeLists.txt

@@ -38,3 +38,10 @@ px4_add_library(drivers_board
 	spi.c
 	timer_config.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		parameters # param_init
+		modules__dataman # dm_flash_sector_description_set
+)

src/drivers/boards/aerofc-v1/init.c

@@ -74,10 +74,10 @@
 #include <systemlib/err.h>
 #include <systemlib/hardfault_log.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 # if defined(FLASH_BASED_PARAMS)
-#  include <systemlib/flashparams/flashfs.h>
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 /****************************************************************************

src/drivers/boards/auav-x21/CMakeLists.txt

@@ -39,3 +39,11 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/auav-x21/init.c

@@ -73,13 +73,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/common/CMakeLists.txt

@@ -31,13 +31,14 @@
 #
 ############################################################################
 
-if (${OS} MATCHES "nuttx")
+# common board drivers (currently only for nuttx fmu boards)
-	px4_add_library(boards_common
+if (${OS} MATCHES "nuttx" AND NOT ${BOARD} MATCHES "io")
+
+	px4_add_library(drivers_boards_common
 		board_crashdump.c
 		board_dma_alloc.c
 		board_gpio_init.c
 		)
-	add_dependencies(boards_common nuttx_build)
 
 	if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
 		add_subdirectory(kinetis)
@@ -46,4 +47,16 @@ if (${OS} MATCHES "nuttx")
 	elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
 		add_subdirectory(stm32)
 	endif()
-endif()
+
+	target_link_libraries(drivers_boards_common
+		PRIVATE
+			drivers_boards_common_arch
+			nuttx_arch # bbsram
+			nuttx_mm # dma gran alloc
+			systemlib
+		)
+
+else()
+	add_library(drivers_boards_common INTERFACE)
+	add_library(drivers_boards_common_arch INTERFACE)
+endif()

src/drivers/boards/common/board_dma_alloc.c

@@ -48,7 +48,7 @@
 #include <errno.h>
 #include <nuttx/mm/gran.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 /************************************************************************************
  * Definitions

src/drivers/boards/common/kinetis/CMakeLists.txt

@@ -31,9 +31,10 @@
 #
 ############################################################################
 
-px4_add_library(board_kinetis
+add_library(drivers_boards_common_arch
 	board_identity.c
 	board_mcu_version.c
 	board_reset.c
 	)
-add_dependencies(board_kinetis nuttx_build)
+add_dependencies(drivers_boards_common_arch prebuild_targets)
+target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)

src/drivers/boards/common/samv7/CMakeLists.txt

@@ -31,9 +31,10 @@
 #
 ############################################################################
 
-px4_add_library(board_samv7
+add_library(drivers_boards_common_arch
 	board_identity.c
 	board_mcu_version.c
 	board_reset.c
-	)
+)
-add_dependencies(board_samv7 nuttx_build)
+add_dependencies(drivers_boards_common_arch prebuild_targets)
+target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)

src/drivers/boards/common/stm32/CMakeLists.txt

@@ -43,5 +43,6 @@ if (NOT ${LABEL} STREQUAL "bootloader")
 		)
 endif()
 
-px4_add_library(board_stm32 ${SRCS})
+add_library(drivers_boards_common_arch ${SRCS})
-add_dependencies(board_stm32 nuttx_build)
+add_dependencies(drivers_boards_common_arch prebuild_targets)
+target_link_libraries(drivers_boards_common_arch PRIVATE nuttx_arch)

src/drivers/boards/common/stm32/board_reset.c

@@ -79,7 +79,10 @@ void board_system_reset(int status)
 #if defined(BOARD_HAS_ON_RESET)
 	board_on_reset(status);
 #endif
+
+#ifdef CONFIG_BOARDCTL_RESET
 	board_reset(status);
+#endif
 
 	while (1);
 }

src/drivers/boards/crazyflie/CMakeLists.txt

@@ -37,3 +37,9 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		parameters # param_init
+)

src/drivers/boards/crazyflie/init.c

@@ -71,7 +71,7 @@
 #include <systemlib/err.h>
 #include <systemlib/hardfault_log.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/eagle/CMakeLists.txt

@@ -30,12 +30,5 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
+
-	MODULE drivers__boards__sitl
+px4_add_library(drivers_board sitl_led.c)
-	COMPILE_FLAGS
-	SRCS
-		sitl_led.c
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/boards/esc35-v1/CMakeLists.txt

@@ -40,3 +40,8 @@ px4_add_library(drivers_board
 	led.c
 	usb.c
 )
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		parameters # param_init
+)

src/drivers/boards/esc35-v1/init.c

@@ -69,14 +69,14 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #include <systemlib/systemlib.h>
 #endif
 
-#if defined(FLASH_BASED_PARAMS)
+# if defined(FLASH_BASED_PARAMS)
-# include <systemlib/flashparams/flashfs.h>
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 #include "board_config.h"

src/drivers/boards/mindpx-v2/CMakeLists.txt

@@ -39,3 +39,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/mindpx-v2/init.c

@@ -74,12 +74,12 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/nxphlite-v3/CMakeLists.txt

@@ -42,3 +42,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/nxphlite-v3/init.c

@@ -73,7 +73,7 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #if defined(CONFIG_KINETIS_BBSRAM) //fixme:Need BBSRAM

src/drivers/boards/px4-same70xplained-v1/CMakeLists.txt

@@ -40,3 +40,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)

src/drivers/boards/px4-same70xplained-v1/init.c

@@ -75,13 +75,13 @@
 
 #include <systemlib/px4_macros.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <systemlib/hardfault_log.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/px4-stm32f4discovery/CMakeLists.txt

@@ -36,3 +36,12 @@ px4_add_library(drivers_board
 	led.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/px4-stm32f4discovery/init.c

@@ -71,8 +71,8 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /****************************************************************************
  * Pre-Processor Definitions

src/drivers/boards/px4cannode-v1/CMakeLists.txt

@@ -38,3 +38,12 @@ px4_add_library(drivers_board
 	led.c
 	spi.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/px4cannode-v1/init.c

@@ -69,7 +69,7 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #include <systemlib/systemlib.h>

src/drivers/boards/px4esc-v1/CMakeLists.txt

@@ -36,3 +36,10 @@ px4_add_library(drivers_board
 	led.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_apps # up_cxxinitialize
+		drivers__led # drv_led_start
+		parameters # param_init
+	)

src/drivers/boards/px4esc-v1/init.c

@@ -69,14 +69,14 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/cpuload.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #include <systemlib/systemlib.h>
 #endif
 
-#if defined(FLASH_BASED_PARAMS)
+# if defined(FLASH_BASED_PARAMS)
-# include <systemlib/flashparams/flashfs.h>
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 #include "board_config.h"

src/drivers/boards/px4fmu-v2/CMakeLists.txt

@@ -40,3 +40,12 @@ px4_add_library(drivers_board
 	timer_config.c
 	usb.c
 )
+
+target_link_libraries(drivers_board
+	PRIVATE
+		drivers__led # drv_led_start
+		nuttx_apps # up_cxxinitialize
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		parameters # param_init
+)