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Work on px4io firmware building.

sbg
James Goppert 10 years ago
parent
be45c2e0a9
commit
676a3d230c
15 changed files with 275 additions and 127 deletions
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  1. 1
      .gitignore
  2. 11
      CMakeLists.txt
  3. 6
      Makefile
  4. 18
      cmake/common/px4_base.cmake
  5. 12
      cmake/configs/nuttx_px4fmu-v2_default.cmake
  6. 13
      cmake/configs/nuttx_px4fmu-v2_simple.cmake
  7. 27
      cmake/configs/nuttx_sim_simple.cmake
  8. 36
      cmake/nuttx/px4_impl_nuttx.cmake
  9. 2
      cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
  10. 2
      cmake/toolchains/Toolchain-arm-none-eabi.cmake
  11. 2
      cmake/toolchains/Toolchain-native.cmake
  12. 22
      src/drivers/ms5611/CMakeLists.txt
  13. 59
      src/firmware/nuttx/CMakeLists.txt
  14. 125
      src/modules/px4iofirmware/CMakeLists.txt
  15. 66
      src/systemcmds/tests/CMakeLists.txt

1
.gitignore vendored
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@ -54,3 +54,4 @@ src/platforms/posix/px4_messages/ @@ -54,3 +54,4 @@ src/platforms/posix/px4_messages/
src/platforms/posix-arm/px4_messages/
src/platforms/qurt/px4_messages/
ROMFS/*/*/rc.autostart
rootfs/

11
CMakeLists.txt
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@ -92,6 +92,8 @@ @@ -92,6 +92,8 @@
# Included CMake Files
# ---------------------------------------------------------------------------
#
# * All variables in config files must have the prefix "config_".
#
# * Never set global variables in an included cmake file,
# you may only define functions. This excludes config and Toolchain files.
# This makes it clear to the user when variables are being set or targets
@ -121,6 +123,9 @@ cmake_minimum_required(VERSION 2.8 FATAL_ERROR) @@ -121,6 +123,9 @@ cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
# parameters
#
set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
@ -178,8 +183,9 @@ string(REPLACE "_" ";" config_args ${CONFIG}) @@ -178,8 +183,9 @@ 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}")
message(STATUS "OS=${OS} BOARD=${BOARD} LABEL=${LABEL}")
message(STATUS "${target_name}")
#=============================================================================
# programs
@ -271,6 +277,9 @@ foreach(module ${config_module_list}) @@ -271,6 +277,9 @@ foreach(module ${config_module_list})
endforeach()
add_subdirectory(src/firmware/${OS})
if (config_io_board)
#add_subdirectory(src/modules/px4iofirmware)
endif()
#=============================================================================
# generate git version

6
Makefile
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@ -92,13 +92,13 @@ qurt_eagle_travis: @@ -92,13 +92,13 @@ qurt_eagle_travis:
posix: posix_sitl_simple
sitl_quad:
sitl_quad: posix
Tools/sitl_run.sh posix-configs/SITL/init/rcS
sitl_plane:
sitl_plane: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
sitl_ros:
sitl_ros: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
# Other targets

18
cmake/common/px4_base.cmake
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@ -103,7 +103,7 @@ function(px4_parse_function_args) @@ -103,7 +103,7 @@ function(px4_parse_function_args)
endif()
foreach(arg ${IN_REQUIRED})
if (NOT OUT_${arg})
message(FATAL_ERROR "${IN_NAME} requires argument ${arg}, ARGN: ${IN_ARGN}")
message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
endif()
endforeach()
foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
@ -593,25 +593,25 @@ function(px4_add_common_flags) @@ -593,25 +593,25 @@ function(px4_add_common_flags)
)
set(added_include_dirs
src
${CMAKE_SOURCE_DIR}/src
${CMAKE_BINARY_DIR}
${CMAKE_BINARY_DIR}/src
src/modules
src/include
src/lib
src/platforms
${CMAKE_SOURCE_DIR}/src/modules
${CMAKE_SOURCE_DIR}/src/include
${CMAKE_SOURCE_DIR}/src/lib
${CMAKE_SOURCE_DIR}/src/platforms
# TODO Build/versioning was in Makefile,
# do we need this, how does it work with cmake
src/drivers/boards/${BOARD}
${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
${CMAKE_BINARY_DIR}
${CMAKE_BINARY_DIR}/src/modules/px4_messages
${CMAKE_BINARY_DIR}/src/modules
mavlink/include/mavlink
${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
)
if (NOT ${OS} STREQUAL "qurt")
list(APPEND added_include_dirs
src/lib/eigen
${CMAKE_SOURCE_DIR}/src/lib/eigen
)
endif()

12
cmake/configs/nuttx_px4fmu-v2_default.cmake
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@ -165,6 +165,18 @@ set(config_extra_builtin_cmds @@ -165,6 +165,18 @@ set(config_extra_builtin_cmds
sercon
)
set(config_io_board
px4io-v2
)
set(config_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
)
set(config_io_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
MAIN "sercon" STACK "2048")

13
cmake/configs/nuttx_px4fmu-v2_simple.cmake
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@ -3,7 +3,6 @@ include(nuttx/px4_impl_nuttx) @@ -3,7 +3,6 @@ include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
# Board support modules
#
@ -127,6 +126,18 @@ set(config_extra_builtin_cmds @@ -127,6 +126,18 @@ set(config_extra_builtin_cmds
sercon
)
set(config_io_board
px4io-v2
)
set(config_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
)
set(config_io_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
MAIN "sercon" STACK "2048")

27
cmake/configs/nuttx_sim_simple.cmake
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@ -5,16 +5,16 @@ message(WARNING "this is a work in progress and doesn't build yet") @@ -5,16 +5,16 @@ message(WARNING "this is a work in progress and doesn't build yet")
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
platforms/nuttx
platforms/nuttx/px4_layer
#platforms/nuttx
#platforms/nuttx/px4_layer
platforms/common
drivers/led
#drivers/led
drivers/device
modules/systemlib
modules/uORB
examples/px4_simple_app
lib/mathlib/math/filter
lib/conversion
#modules/systemlib
#modules/uORB
#examples/px4_simple_app
#lib/mathlib/math/filter
#lib/conversion
)
set(config_firmware_options
@ -22,15 +22,4 @@ set(config_firmware_options @@ -22,15 +22,4 @@ set(config_firmware_options
)
set(config_extra_builtin_cmds
serdis
sercon
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
MAIN "sercon" STACK "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
MAIN "serdis" STACK "2048")

36
cmake/nuttx/px4_impl_nuttx.cmake
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@ -61,6 +61,7 @@ include(common/px4_base) @@ -61,6 +61,7 @@ include(common/px4_base)
#
# Input:
# EXE : the executable to generate the firmware from
# BOARD : the board
#
# Options:
# PARAM_XML : toggles generation of param_xml
@ -74,9 +75,9 @@ include(common/px4_base) @@ -74,9 +75,9 @@ include(common/px4_base)
function(px4_nuttx_add_firmware)
px4_parse_function_args(
NAME px4_nuttx_add_firmware
ONE_VALUE OUT EXE
ONE_VALUE BOARD OUT EXE
OPTIONS PARAM_XML
REQUIRED EXE
REQUIRED OUT EXE BOARD
ARGN ${ARGN})
set(process_params ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py)
@ -111,7 +112,7 @@ function(px4_nuttx_add_firmware) @@ -111,7 +112,7 @@ function(px4_nuttx_add_firmware)
DEPENDS ${EXE}
)
endif()
add_custom_target(build_firmware ALL DEPENDS ${OUT})
add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
endfunction()
#=============================================================================
@ -246,14 +247,14 @@ function(px4_nuttx_add_export) @@ -246,14 +247,14 @@ function(px4_nuttx_add_export)
DEPENDS ${DEPENDS} __nuttx_copy_${CONFIG})
# extract
add_custom_command(OUTPUT nuttx_export_${BOARD}.stamp
add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
COMMAND ${UNZIP} ${BOARD}.export -d ${nuttx_src}
COMMAND ${TOUCH} nuttx_export_${BOARD}.stamp
DEPENDS ${DEPENDS} ${BOARD}.export)
COMMAND ${UNZIP} ${CONFIG}.export -d ${nuttx_src}
COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
DEPENDS ${DEPENDS} ${CONFIG}.export)
add_custom_target(${OUT}
DEPENDS nuttx_export_${BOARD}.stamp)
DEPENDS nuttx_export_${CONFIG}.stamp)
endfunction()
@ -406,17 +407,24 @@ function(px4_os_add_flags) @@ -406,17 +407,24 @@ function(px4_os_add_flags)
set(added_exe_linker_flags) # none currently
if ("${BOARD}" STREQUAL "px4fmu-v2")
set(arm_build_flags
set(cpu_flags)
if (${BOARD} STREQUAL "px4fmu-v2")
set(cpu_flags
-mcpu=cortex-m4
-mthumb
-march=armv7e-m
-mfpu=fpv4-sp-d16
-mfloat-abi=hard
)
list(APPEND c_flags ${arm_build_flags})
list(APPEND cxx_flags ${arm_build_flags})
elseif (${BOARD} STREQUAL "px4io-v2")
set(cpu_flags
-mcpu=cortex-m3
-mthumb
-march=armv7-m
)
endif()
list(APPEND c_flags ${cpu_flags})
list(APPEND cxx_flags ${cpu_flags})
# output
foreach(var ${inout_vars})
@ -455,11 +463,11 @@ function(px4_os_prebuild_targets) @@ -455,11 +463,11 @@ function(px4_os_prebuild_targets)
ONE_VALUE OUT BOARD THREADS
REQUIRED OUT BOARD
ARGN ${ARGN})
px4_nuttx_add_export(OUT nuttx_export
px4_nuttx_add_export(OUT nuttx_export_${BOARD}
CONFIG ${BOARD}
THREADS ${THREADS}
DEPENDS git_nuttx)
add_custom_target(${OUT} DEPENDS nuttx_export)
add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
endfunction()
# vim: set noet fenc=utf-8 ff=unix nowrap:

2
cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
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@ -46,7 +46,7 @@ foreach(tool objcopy nm ld) @@ -46,7 +46,7 @@ foreach(tool objcopy nm ld)
endforeach()
# os tools
foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} ${tool})
if(NOT ${TOOL})

2
cmake/toolchains/Toolchain-arm-none-eabi.cmake
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@ -46,7 +46,7 @@ foreach(tool objcopy nm ld gdb) @@ -46,7 +46,7 @@ foreach(tool objcopy nm ld gdb)
endforeach()
# os tools
foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} ${tool})
if(NOT ${TOOL})

2
cmake/toolchains/Toolchain-native.cmake
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@ -8,7 +8,7 @@ foreach(tool nm ld) @@ -8,7 +8,7 @@ foreach(tool nm ld)
endforeach()
# os tools
foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} ${tool})
if(NOT ${TOOL})

22
src/drivers/ms5611/CMakeLists.txt
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@ -30,15 +30,29 @@ @@ -30,15 +30,29 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(srcs
ms5611_spi.cpp
ms5611_i2c.cpp
)
if(${OS} STREQUAL "nuttx")
list(APPEND srcs
ms5611_nuttx.cpp
)
else()
list(APPEND srcs
ms5611_posix.cpp
ms5611_sim.cpp
)
endif()
px4_add_module(
MODULE drivers__ms5611
MAIN ms5611
COMPILE_FLAGS
-Os
SRCS
ms5611_nuttx.cpp
ms5611_spi.cpp
ms5611_i2c.cpp
SRCS ${srcs}
DEPENDS
platforms__common
)

59
src/firmware/nuttx/CMakeLists.txt
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@ -13,44 +13,57 @@ add_executable(firmware_nuttx @@ -13,44 +13,57 @@ add_executable(firmware_nuttx
builtin_commands.c
romfs.o)
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
"-Wl,-Map=${CMAKE_BINARY_DIR}/main.map"
set(link_libs
apps nuttx m gcc
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
set(cmsis_lib ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a)
if(NOT ${BOARD} STREQUAL "sim")
list(APPEND link_libs nosys)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
"-Wl,-Map=${CMAKE_BINARY_DIR}/${BOARD}/main.map"
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
endif()
set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${target_name}.px4)
target_link_libraries(firmware_nuttx
-Wl,--start-group
${module_libraries}
${cmsis_lib}
apps nuttx nosys m gcc
${config_extra_libs}
${link_libs}
-Wl,--end-group)
set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
add_custom_target(check_weak
COMMAND ${NM} firmware_nuttx | grep " w "
COMMAND ${NM} firmware_nuttx | ${GREP} " w " | cat
DEPENDS firmware_nuttx
VERBATIM
)
px4_nuttx_add_firmware(OUT ${fw_file}
EXE firmware_nuttx
${config_firmware_options}
)
if(NOT ${BOARD} STREQUAL "sim")
set(fw_file
${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
configure_file(gdbinit.in .gdbinit)
px4_nuttx_add_firmware(OUT ${fw_file}
BOARD ${BOARD}
EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
${config_firmware_options}
)
add_custom_target(debug
COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
configure_file(gdbinit.in .gdbinit)
add_custom_target(debug
COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
BUNDLE ${fw_file})
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
BUNDLE ${fw_file})
endif()
install(FILES ${fw_file} DESTINATION .)

125
src/modules/px4iofirmware/CMakeLists.txt
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@ -30,27 +30,108 @@ @@ -30,27 +30,108 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__px4iofirmware
SRCS
adc.c
controls.c
dsm.c
px4io.c
registers.c
safety.c
sbus.c
../systemlib/up_cxxinitialize.c
../systemlib/perf_counter.c
mixer.cpp
../systemlib/mixer/mixer.cpp
../systemlib/mixer/mixer_group.cpp
../systemlib/mixer/mixer_multirotor.cpp
../systemlib/mixer/mixer_simple.cpp
../systemlib/pwm_limit/pwm_limit.c
../../lib/rc/st24.c
../../lib/rc/sumd.c
DEPENDS
platforms__common
# kill all flags above us, this is a different board (io)
set_directory_properties(PROPERTIES
INCLUDE_DIRECTORIES ""
LINK_DIRECTORIES ""
COMPILE_DEFINITIONS ""
)
set(c_flags)
set(exe_linker_flags)
set(cxx_flags)
set(include_dirs)
set(link_dirs)
set(definitions)
px4_os_prebuild_targets(OUT io_prebuild_targets
BOARD ${config_io_board}
THREADS ${THREADS})
px4_os_add_flags(
BOARD ${config_io_board}
C_FLAGS c_flags
CXX_FLAGS cxx_flags
EXE_LINKER_FLAGS exe_linker_flags
INCLUDE_DIRS include_dirs
LINK_DIRS link_dirs
DEFINITIONS definitions)
px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
include_directories(
${include_dirs}
${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
)
link_directories(${link_dirs})
add_definitions(${definitions})
set(srcs
adc.c
controls.c
dsm.c
px4io.c
registers.c
safety.c
sbus.c
../systemlib/up_cxxinitialize.c
../systemlib/perf_counter.c
mixer.cpp
../systemlib/mixer/mixer.cpp
../systemlib/mixer/mixer_group.cpp
../systemlib/mixer/mixer_multirotor.cpp
../systemlib/mixer/mixer_simple.cpp
../systemlib/pwm_limit/pwm_limit.c
../../lib/rc/st24.c
../../lib/rc/sumd.c
../../drivers/stm32/drv_hrt.c
../../drivers/stm32/drv_pwm_servo.c
../../drivers/boards/${config_io_board}/px4iov2_init.c
../../drivers/boards/${config_io_board}/px4iov2_pwm_servo.c
)
if(${config_io_board} STREQUAL "px4io-v1")
list(APPEND srcs
i2c.c
)
elseif(${config_io_board} STREQUAL "px4io-v2")
list(APPEND srcs
serial.c
../systemlib/hx_stream.c
)
endif()
add_executable(firmware_io_nuttx
${srcs})
add_dependencies(firmware_io_nuttx
nuttx_export_${config_io_board}
msg_gen
io_prebuild_targets
)
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
set_target_properties(firmware_io_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
set(io_fw_file ${CMAKE_CURRENT_BINARY_DIR}/${config_io_board}.px4)
target_link_libraries(firmware_io_nuttx
-Wl,--start-group
apps nuttx nosys m gcc
${config_io_extra_libs}
-Wl,--end-group)
px4_nuttx_add_firmware(OUT ${io_fw_file}
BOARD ${config_io_board}
EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_io_nuttx
${config_firmware_options}
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

66
src/systemcmds/tests/CMakeLists.txt
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@ -30,6 +30,43 @@ @@ -30,6 +30,43 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(srcs
test_adc.c
test_bson.c
test_float.c
test_gpio.c
test_hott_telemetry.c
test_hrt.c
test_int.c
test_jig_voltages.c
test_led.c
test_sensors.c
test_servo.c
test_sleep.c
test_uart_baudchange.c
test_uart_console.c
test_uart_loopback.c
test_uart_send.c
test_mixer.cpp
test_mathlib.cpp
test_file.c
test_file2.c
tests_main.c
test_param.c
test_ppm_loopback.c
test_rc.c
test_conv.cpp
test_mount.c
test_eigen.cpp
)
if(${OS} STREQUAL "nuttx")
list(APPEND srcs
test_time.c
)
endif()
px4_add_module(
MODULE systemcmds__tests
MAIN tests
@ -37,34 +74,7 @@ px4_add_module( @@ -37,34 +74,7 @@ px4_add_module(
COMPILE_FLAGS
-Wframe-larger-than=6000
-O0
SRCS
test_adc.c
test_bson.c
test_float.c
test_gpio.c
test_hott_telemetry.c
test_hrt.c
test_int.c
test_jig_voltages.c
test_led.c
test_sensors.c
test_servo.c
test_sleep.c
test_uart_baudchange.c
test_uart_console.c
test_uart_loopback.c
test_uart_send.c
test_mixer.cpp
test_mathlib.cpp
test_file.c
test_file2.c
tests_main.c
test_param.c
test_ppm_loopback.c
test_rc.c
test_conv.cpp
test_mount.c
test_eigen.cpp
SRCS ${srcs}
DEPENDS
platforms__common
)

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