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cmake add libuavcan as subdirectory 

-move uavcan submodule to src/modules/uavcan/libuavcan
-adding libuavcan as a subdirectory simplifies inheriting all compile
flags and include paths
sbg
Daniel Agar 9 years ago
parent
cc3695d0b7
commit
5865dc6434
10 changed files with 32 additions and 68 deletions
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  1. 4
      .gitmodules
  2. 2
      CMakeLists.txt
  3. 4
      Makefile
  4. 2
      Tools/check_code_style.sh
  5. 4
      cmake/common/px4_base.cmake
  6. 4
      cmake/configs/nuttx_px4fmu-v2_default.cmake
  7. 2
      nuttx-configs/px4fmu-v2/nsh/defconfig
  8. 1
      src/lib/uavcan
  9. 76
      src/modules/uavcan/CMakeLists.txt
  10. 1
      src/modules/uavcan/libuavcan

4
.gitmodules vendored
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@ -4,8 +4,8 @@
[submodule "NuttX"] [submodule "NuttX"]
path = NuttX path = NuttX
url = git://github.com/PX4/NuttX.git url = git://github.com/PX4/NuttX.git
[submodule "src/lib/uavcan"] [submodule "src/modules/uavcan/libuavcan"]
path = src/lib/uavcan path = src/modules/uavcan/libuavcan
url = git://github.com/UAVCAN/libuavcan.git url = git://github.com/UAVCAN/libuavcan.git
[submodule "Tools/genmsg"] [submodule "Tools/genmsg"]
path = Tools/genmsg path = Tools/genmsg

2
CMakeLists.txt
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@ -224,7 +224,7 @@ px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp") px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0") px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest") px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
px4_add_git_submodule(TARGET git_uavcan PATH "src/lib/uavcan") px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen") px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
px4_add_git_submodule(TARGET git_nuttx PATH "NuttX") px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal") px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")

4
Makefile
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@ -177,9 +177,9 @@ distclean: clean
@cd NuttX @cd NuttX
@git clean -d -f -x @git clean -d -f -x
@cd .. @cd ..
@cd src/lib/uavcan @cd src/modules/uavcan/libuavcan
@git clean -d -f -x @git clean -d -f -x
@cd ../../.. @cd ../../../..
# targets handled by cmake # targets handled by cmake
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan

2
Tools/check_code_style.sh
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@ -25,7 +25,7 @@ for fn in $(find src/examples \
-path './NuttX' -prune -o \ -path './NuttX' -prune -o \
-path './src/lib/eigen' -prune -o \ -path './src/lib/eigen' -prune -o \
-path './src/lib/mathlib/CMSIS' -prune -o \ -path './src/lib/mathlib/CMSIS' -prune -o \
-path './src/lib/uavcan' -prune -o \ -path './src/modules/uavcan/libuavcan' -prune -o \
-path './src/modules/attitude_estimator_ekf/codegen' -prune -o \ -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-path './src/modules/ekf_att_pos_estimator' -prune -o \ -path './src/modules/ekf_att_pos_estimator' -prune -o \
-path './src/modules/sdlog2' -prune -o \ -path './src/modules/sdlog2' -prune -o \

4
cmake/common/px4_base.cmake
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@ -138,8 +138,7 @@ function(px4_add_git_submodule)
string(REPLACE "/" "_" NAME ${PATH}) string(REPLACE "/" "_" NAME ${PATH})
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_${NAME}.stamp add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_${NAME}.stamp
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMAND git submodule init ${PATH} COMMAND git submodule update --init --recursive -f ${PATH}
COMMAND git submodule update -f ${PATH}
COMMAND touch ${CMAKE_BINARY_DIR}/git_${NAME}.stamp COMMAND touch ${CMAKE_BINARY_DIR}/git_${NAME}.stamp
) )
add_custom_target(${TARGET} add_custom_target(${TARGET}
@ -544,7 +543,6 @@ function(px4_add_common_flags)
endif() endif()
set(c_warnings set(c_warnings
-Wbad-function-cast
-Wstrict-prototypes -Wstrict-prototypes
-Wmissing-prototypes -Wmissing-prototypes
-Wnested-externs -Wnested-externs

4
cmake/configs/nuttx_px4fmu-v2_default.cmake
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@ -168,8 +168,8 @@ set(config_io_board
set(config_extra_libs set(config_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
libuavcan.a uavcan
libuavcan_stm32_driver.a uavcan_stm32_driver
) )
set(config_io_extra_libs set(config_io_extra_libs

2
nuttx-configs/px4fmu-v2/nsh/defconfig
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@ -1064,3 +1064,5 @@ CONFIG_SYSTEM_SYSINFO=y
# #
# USB Monitor # USB Monitor
# #
CONFIG_NSOCKET_DESCRIPTORS=0

1
src/lib/uavcan

@ -1 +0,0 @@
Subproject commit 86c3397b1b423eeed86f21c8b08c8acfbd5add96

76
src/modules/uavcan/CMakeLists.txt
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@ -31,65 +31,30 @@
# #
############################################################################ ############################################################################
# uavcan project set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(uavcan_c_flags ${c_flags}) set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
list(REMOVE_ITEM uavcan_c_flags -std=gnu++0x -D__CUSTOM_FILE_IO__)
set(uavcan_cxx_flags ${cxx_flags})
list(REMOVE_ITEM uavcan_cxx_flags -std=gnu++0x -std=c++11 -Wundef -Werror -D__CUSTOM_FILE_IO__)
set(uavcan_deps git_uavcan)
set(uavcan_platform generic)
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
string(TOUPPER "${OS}" OS_UPPER) string(TOUPPER "${OS}" OS_UPPER)
add_definitions(
set(uavcan_definitions -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_NO_ASSERTIONS -DUAVCAN_MAX_NETWORK_SIZE_HINT=16
-DUAVCAN_STM32_NUM_IFACES=2 -DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-DUAVCAN_USE_EXTERNAL_SNPRINT -DUAVCAN_NO_ASSERTIONS
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 -DUAVCAN_PLATFORM=stm32
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16 -DUAVCAN_STM32_${OS_UPPER}=1
-DUAVCAN_STM32_TIMER_NUMBER=5 -DUAVCAN_STM32_NUM_IFACES=2
-DUAVCAN_STM32_${OS_UPPER}=1 -DUAVCAN_STM32_TIMER_NUMBER=5
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
)
set(uavcan_extra_flags ${uavcan_definitions} -I${CMAKE_SOURCE_DIR}/src/include)
if (${OS} STREQUAL "nuttx")
set(uavcan_platform stm32)
list(APPEND uavcan_extra_flags
-I${nuttx_export_dir}/include
-I${nuttx_export_dir}/include/cxx
-I${nuttx_export_dir}/arch/chip
-I${nuttx_export_dir}/arch/common
)
list(APPEND uavcan_deps nuttx_export_${BOARD})
endif()
list(APPEND uavcan_c_flags ${uavcan_extra_flags})
list(APPEND uavcan_cxx_flags ${uavcan_extra_flags})
px4_join(OUT uavcan_c_flags LIST "${uavcan_c_flags}" GLUE " ")
px4_join(OUT uavcan_cxx_flags LIST "${uavcan_cxx_flags}" GLUE " ")
externalproject_add(libuavcan
DEPENDS ${uavcan_deps}
DOWNLOAD_COMMAND ""
UPDATE_COMMAND git submodule update --init
LOG_INSTALL 1
SOURCE_DIR ${CMAKE_SOURCE_DIR}/src/lib/uavcan
CMAKE_ARGS -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-DUAVCAN_USE_CPP03=ON -DUAVCAN_USE_CPP03=ON
-DUAVCAN_PLATFORM=${uavcan_platform} -DUAVCAN_USE_EXTERNAL_SNPRINT
-DUAVCAN_OS=${OS} )
-DCMAKE_CXX_FLAGS=${uavcan_cxx_flags}
-DCMAKE_C_FLAGS=${uavcan_c_flags}
-DCMAKE_INSTALL_PREFIX=${ep_base}/Install
)
string(TOUPPER ${OS} OS_UPPER) add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan platforms__nuttx)
add_definitions(${uavcan_definitions}) include_directories(libuavcan/libuavcan/include)
include_directories(libuavcan/libuavcan/include/dsdlc_generated)
include_directories(libuavcan/libuavcan_drivers/posix/include)
include_directories(libuavcan/libuavcan_drivers/stm32/driver/include)
px4_add_module( px4_add_module(
MODULE modules__uavcan MODULE modules__uavcan
@ -100,7 +65,6 @@ px4_add_module(
-Wno-deprecated-declarations -Wno-deprecated-declarations
-O3 -O3
SRCS SRCS
# Main # Main
uavcan_main.cpp uavcan_main.cpp
uavcan_servers.cpp uavcan_servers.cpp
@ -117,7 +81,7 @@ px4_add_module(
DEPENDS DEPENDS
platforms__common platforms__common
libuavcan uavcan
) )
## vim: set noet ft=cmake fenc=utf-8 ff=unix : ## vim: set noet ft=cmake fenc=utf-8 ff=unix :

1
src/modules/uavcan/libuavcan

@ -0,0 +1 @@
Subproject commit 0643879922239930cf7482777356f06891c26616
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