James Goppert
10 years ago
6 changed files with 406 additions and 76 deletions
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############################################################################ |
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# |
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# Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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#============================================================================= |
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# |
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# Defined functions in this file |
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# |
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# OS Specific Functions |
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# |
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# * px4_qurt_add_firmware |
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# * px4_qurt_generate_builtin_commands |
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# * px4_qurt_add_export |
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# * px4_qurt_generate_romfs |
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# |
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# Required OS Inteface Functions |
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# |
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# * px4_os_add_flags |
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# * px4_os_prebuild_targets |
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# |
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include(px4_base) |
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt) |
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt/configs) |
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include(qurt_funcs) |
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#============================================================================= |
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# |
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# px4_qurt_generate_builtin_commands |
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# |
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# This function generates the builtin_commands.c src for qurt |
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# |
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# Usage: |
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# px4_qurt_generate_builtin_commands( |
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# MODULE_LIST <in-list> |
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# OUT <file>) |
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# |
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# Input: |
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# MODULE_LIST : list of modules |
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# |
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# Output: |
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# OUT : generated builtin_commands.c src |
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# |
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# Example: |
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# px4_qurt_generate_builtin_commands( |
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# OUT <generated-src> MODULE_LIST px4_simple_app) |
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# |
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function(px4_qurt_generate_builtin_commands) |
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px4_parse_function_args( |
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NAME px4_qurt_generate_builtin_commands |
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ONE_VALUE OUT |
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MULTI_VALUE MODULE_LIST |
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REQUIRED MODULE_LIST OUT |
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ARGN ${ARGN}) |
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set(builtin_apps_string) |
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set(builtin_apps_decl_string) |
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set(command_count 0) |
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foreach(module ${MODULE_LIST}) |
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# default |
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set(MAIN_DEFAULT MAIN-NOTFOUND) |
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set(STACK_DEFAULT 1024) |
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set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT) |
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foreach(property MAIN STACK PRIORITY) |
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get_target_property(${property} ${module} ${property}) |
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if(NOT ${property}) |
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set(${property} ${${property}_DEFAULT}) |
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endif() |
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endforeach() |
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if (MAIN) |
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set(builtin_apps_string |
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"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n") |
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set(builtin_apps_decl_string |
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"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n") |
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math(EXPR command_count "${command_count}+1") |
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endif() |
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endforeach() |
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configure_file(${CMAKE_SOURCE_DIR}/cmake/builtin_commands.c.cmake |
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${OUT}) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_os_add_flags |
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# |
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# Set ths qurt build flags. |
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# |
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# Usage: |
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# px4_os_add_flags( |
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# C_FLAGS <inout-variable> |
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# CXX_FLAGS <inout-variable> |
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# EXE_LINKER_FLAGS <inout-variable> |
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# INCLUDE_DIRS <inout-variable> |
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# LINK_DIRS <inout-variable> |
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# DEFINITIONS <inout-variable>) |
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# |
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# Input: |
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# BOARD : flags depend on board/qurt config |
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# |
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# Input/Output: (appends to existing variable) |
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# C_FLAGS : c compile flags variable |
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# CXX_FLAGS : c++ compile flags variable |
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# EXE_LINKER_FLAGS : executable linker flags variable |
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# INCLUDE_DIRS : include directories |
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# LINK_DIRS : link directories |
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# DEFINITIONS : definitions |
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# |
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# Example: |
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# px4_os_add_flags( |
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# C_FLAGS CMAKE_C_FLAGS |
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# CXX_FLAGS CMAKE_CXX_FLAGS |
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# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS |
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# INCLUDES <list>) |
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# |
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function(px4_os_add_flags) |
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set(inout_vars |
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C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS) |
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px4_parse_function_args( |
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NAME px4_add_flags |
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ONE_VALUE ${inout_vars} BOARD |
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REQUIRED ${inout_vars} BOARD |
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ARGN ${ARGN}) |
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px4_add_common_flags( |
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BOARD ${BOARD} |
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C_FLAGS ${C_FLAGS} |
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CXX_FLAGS ${CXX_FLAGS} |
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EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS} |
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INCLUDE_DIRS ${INCLUDE_DIRS} |
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LINK_DIRS ${LINK_DIRS} |
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DEFINITIONS ${DEFINITIONS}) |
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set(DSPAL_ROOT src/lib/dspal) |
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set(added_include_dirs |
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${DSPAL_ROOT}/include |
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${DSPAL_ROOT}/sys |
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${DSPAL_ROOT}/sys/sys |
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${DSPAL_ROOT}/mpu_spi/inc |
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${DSPAL_ROOT}/uart_esc/inc |
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src/platforms/qurt/include |
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src/platforms/posix/include |
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src/lib/eigen-3.2 |
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) |
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set(added_definitions |
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-D__PX4_QURT |
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-D__PX4_POSIX |
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-include ${PX4_INCLUDE_DIR}visibility.h |
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) |
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# Add the toolchain specific flags |
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set(added_cflags ${QURT_CMAKE_C_FLAGS}) |
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set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS}) |
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# FIXME @jgoppert - how to work around issues like this? |
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# Without changing global variables? |
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# Clear -rdynamic flag which fails for hexagon |
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set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "") |
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set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "") |
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# output |
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foreach(var ${inout_vars}) |
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string(TOLOWER ${var} lower_var) |
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set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE) |
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#message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)") |
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endforeach() |
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endfunction() |
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#============================================================================= |
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# |
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# px4_os_prebuild_targets |
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# |
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# This function generates os dependent targets |
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# |
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# Usage: |
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# px4_os_prebuild_targets( |
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# OUT <out-list_of_targets> |
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# BOARD <in-string> |
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# ) |
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# |
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# Input: |
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# BOARD : board |
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# THREADS : number of threads for building |
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# |
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# Output: |
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# OUT : the target list |
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# |
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# Example: |
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# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2) |
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# |
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function(px4_os_prebuild_targets) |
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px4_parse_function_args( |
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NAME px4_os_prebuild_targets |
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ONE_VALUE OUT BOARD THREADS |
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REQUIRED OUT BOARD |
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ARGN ${ARGN}) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_qurt_add_modules |
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# |
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# This function adds target modules |
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# |
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# Usage: |
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# px4_os_prebuild_targets( |
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# OUT <out-list_of_targets> |
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# BOARD <in-string> |
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# ) |
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# |
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# Input: |
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# BOARD : board |
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# |
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# Output: |
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# MODULE_LIST : the updated module list |
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# |
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# Example: |
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# px4_qurt_add_modules(MODULE_LIST module_list BOARD hil) |
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# |
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function(px4_qurt_add_modules out_modules BOARD) |
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include(config-qurt-${BOARD}) |
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set(config_modules) |
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px4_set_config_modules(config_modules) |
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set(${out_modules} ${out_modules} ${config_modules} PARENT_SCOPE) |
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endfunction() |
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# vim: set noet fenc=utf-8 ff=unix nowrap: |
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@@ -0,0 +1,85 @@
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function(px4_set_config_modules out_module_list) |
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set(config_module_list |
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drivers/device |
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drivers/boards/sitl |
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drivers/pwm_out_sim |
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drivers/led |
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drivers/rgbled |
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modules/sensors |
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# drivers/blinkm |
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# drivers/ms5611 |
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# |
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# System commands |
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# |
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systemcmds/param |
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systemcmds/mixer |
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# |
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# General system control |
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# |
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# modules/mavlink |
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# |
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# Estimation modules (EKF/ SO3 / other filters) |
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# |
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# modules/attitude_estimator_ekf |
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modules/ekf_att_pos_estimator |
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modules/attitude_estimator_q |
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modules/position_estimator_inav |
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# |
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# Vehicle Control |
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# |
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modules/mc_att_control |
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modules/mc_pos_control |
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# |
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# Library modules |
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# |
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modules/systemlib |
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modules/systemlib/mixer |
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modules/uORB |
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#MODULES += modules/dataman |
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#MODULES += modules/sdlog2 |
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#MODULES += modules/simulator |
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modules/commander |
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# |
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# Libraries |
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# |
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lib/mathlib |
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lib/mathlib/math/filter |
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lib/geo |
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lib/geo_lookup |
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lib/conversion |
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modules/controllib |
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# |
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# QuRT port |
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# |
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platforms/qurt/px4_layer |
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platforms/posix/work_queue |
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# platforms/posix/drivers/accelsim |
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# platforms/posix/drivers/gyrosim |
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# platforms/posix/drivers/adcsim |
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# platforms/posix/drivers/barosim |
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# |
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# Unit tests |
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# |
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# platforms/qurt/tests/muorb |
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# platforms/posix/tests/vcdev_test |
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# platforms/posix/tests/hrt_test |
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# platforms/posix/tests/wqueue |
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# |
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# sources for muorb over fastrpc |
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# |
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modules/muorb/adsp/ |
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) |
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message(STATUS "modules: ${config_module_list}") |
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set(${out_module_list} ${config_module_list} PARENT_SCOPE) |
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endfunction() |
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