zhangfan
8 years ago
committed by
Beat Küng
3 changed files with 334 additions and 0 deletions
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# 使用这个文件可在上位机交叉编译px4firmware |
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include(posix/px4_impl_posix) |
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# This definition allows to differentiate if this just the usual POSIX build |
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# or if it is for the RPi. |
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add_definitions( |
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-D__PX4_POSIX_RPI |
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-D__DF_LINUX # For DriverFramework |
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-D__DF_RPI # For raspberry pi |
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-D__DF_RPI_SINGLE # For raspberry pi alone |
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) |
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# 硬件驱动模块 |
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set(config_module_list |
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# |
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# Board support modules |
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# |
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drivers/device |
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modules/sensors |
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platforms/posix/drivers/df_mpu9250_wrapper |
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platforms/posix/drivers/df_ms5611_wrapper |
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platforms/posix/drivers/df_trone_wrapper |
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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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systemcmds/ver |
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systemcmds/esc_calib |
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systemcmds/reboot |
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systemcmds/topic_listener |
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systemcmds/perf |
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# |
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# Estimation modules |
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# |
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modules/attitude_estimator_q |
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modules/position_estimator_inav |
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modules/local_position_estimator |
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modules/ekf2 |
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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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modules/fw_att_control |
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modules/fw_pos_control_l1 |
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modules/vtol_att_control |
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# |
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# Library modules |
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# |
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modules/sdlog2 |
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modules/logger |
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modules/commander |
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modules/param |
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modules/systemlib |
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modules/systemlib/mixer |
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modules/uORB |
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modules/dataman |
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modules/land_detector |
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modules/navigator |
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modules/mavlink |
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# |
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# PX4 drivers |
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# |
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drivers/gps |
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drivers/rpi_rc_in |
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drivers/rpi_pca9685_pwm_out |
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# |
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# Libraries |
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# |
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lib/controllib |
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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/ecl |
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lib/geo_lookup |
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lib/launchdetection |
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lib/external_lgpl |
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lib/conversion |
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lib/terrain_estimation |
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lib/runway_takeoff |
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lib/tailsitter_recovery |
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lib/DriverFramework/framework |
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# |
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# POSIX |
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# |
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platforms/common |
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platforms/posix/px4_layer |
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platforms/posix/work_queue |
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) |
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# |
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# DriverFramework driver |
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# |
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set(config_df_driver_list |
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mpu9250 |
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ms5611 |
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trone |
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#isl29501 |
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) |
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# 设定交叉工具链 |
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-bcm2835-linx-gnueabihf-raspbian.cmake) |
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#set(CMAKE_PROGRAM_PATH |
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# "${RPI_TOOLCHAIN_DIR}/arm-bcm2835-linux-gnueabihf/bin" |
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# ${CMAKE_PROGRAM_PATH} |
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#)*/ |
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# This file is shared between posix_rpi_native.cmake |
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# and posix_rpi_cross.cmake. |
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include(posix/px4_impl_posix) |
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# This definition allows to differentiate if this just the usual POSIX build |
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# or if it is for the RPi. |
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add_definitions( |
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-D__PX4_POSIX_RPI |
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-D__DF_LINUX # For DriverFramework |
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-D__DF_RPI # For raspberry pi |
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) |
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|
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set(config_module_list |
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# |
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# Board support modules |
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# |
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drivers/device |
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modules/sensors |
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platforms/posix/drivers/df_mpu9250_wrapper |
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#platforms/posix/drivers/df_lsm9ds1_wrapper |
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platforms/posix/drivers/df_ms5611_wrapper |
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#platforms/posix/drivers/df_hmc5883_wrapper |
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platforms/posix/drivers/df_trone_wrapper |
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#platforms/posix/drivers/df_isl29501_wrapper |
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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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systemcmds/ver |
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systemcmds/esc_calib |
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systemcmds/reboot |
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systemcmds/topic_listener |
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systemcmds/perf |
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|
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# |
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# Estimation modules |
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# |
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modules/attitude_estimator_q |
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modules/position_estimator_inav |
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modules/local_position_estimator |
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modules/ekf2 |
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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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modules/fw_att_control |
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modules/fw_pos_control_l1 |
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modules/vtol_att_control |
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# |
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# Library modules |
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# |
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modules/sdlog2 |
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modules/logger |
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modules/commander |
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modules/param |
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modules/systemlib |
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modules/systemlib/mixer |
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modules/uORB |
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modules/dataman |
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modules/land_detector |
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modules/navigator |
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modules/mavlink |
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# |
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# PX4 drivers |
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# |
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drivers/gps |
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drivers/rpi_rc_in |
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drivers/rpi_pca9685_pwm_out |
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#drivers/navio_sysfs_rc_in |
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#drivers/navio_sysfs_pwm_out |
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#drivers/navio_gpio |
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#drivers/navio_rgbled |
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# |
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# Libraries |
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# |
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lib/controllib |
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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/ecl |
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lib/geo_lookup |
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lib/launchdetection |
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lib/external_lgpl |
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lib/conversion |
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lib/terrain_estimation |
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lib/runway_takeoff |
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lib/tailsitter_recovery |
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lib/DriverFramework/framework |
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# |
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# POSIX |
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# |
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platforms/common |
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platforms/posix/px4_layer |
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platforms/posix/work_queue |
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) |
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# |
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# DriverFramework driver |
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# |
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set(config_df_driver_list |
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mpu9250 |
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#lsm9ds1 |
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ms5611 |
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#hmc5883 |
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trone |
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#isl29501 |
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) |
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake) |
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@@ -0,0 +1,99 @@
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# defines: |
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# |
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# NM |
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# OBJCOPY |
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# LD |
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# CXX_COMPILER |
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# C_COMPILER |
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# CMAKE_SYSTEM_NAME |
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# CMAKE_SYSTEM_VERSION |
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# LINKER_FLAGS |
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# CMAKE_EXE_LINKER_FLAGS |
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# CMAKE_FIND_ROOT_PATH |
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# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM |
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# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY |
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# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE |
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include(CMakeForceCompiler) |
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if ("$ENV{RPI_TOOLCHAIN_DIR}" STREQUAL "") |
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message(FATAL_ERROR "RPI_TOOLCHAIN_DIR not set") |
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else() |
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set(RPI_TOOLCHAIN_DIR $ENV{RPI_TOOLCHAIN_DIR}) |
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endif() |
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if ("$ENV{CROSS_COMPILE_PREFIX}" STREQUAL "") |
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message(FATAL_ERROR "CROSS_COMPILE_PREFIX not set") |
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else() |
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set(CROSS_COMPILE_PREFIX $ENV{CROSS_COMPILE_PREFIX}) |
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endif() |
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# this one is important |
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set(CMAKE_SYSTEM_NAME Generic) |
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#this one not so much |
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set(CMAKE_SYSTEM_VERSION 1) |
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# specify the cross compiler |
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find_program(C_COMPILER ${CROSS_COMPILE_PREFIX}-gcc |
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PATHS ${RPI_TOOLCHAIN_DIR}/bin |
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NO_DEFAULT_PATH |
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) |
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if(NOT C_COMPILER) |
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message(FATAL_ERROR "could not find ${CROSS_COMPILE_PREFIX}-gcc compiler") |
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endif() |
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cmake_force_c_compiler(${C_COMPILER} GNU) |
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find_program(CXX_COMPILER ${CROSS_COMPILE_PREFIX}-g++ |
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PATHS ${RPI_TOOLCHAIN_DIR}/bin |
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NO_DEFAULT_PATH |
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) |
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if(NOT CXX_COMPILER) |
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message(FATAL_ERROR "could not find ${CROSS_COMPILE_PREFIX}-g++ compiler") |
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endif() |
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cmake_force_cxx_compiler(${CXX_COMPILER} GNU) |
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# compiler tools |
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foreach(tool objcopy nm ld) |
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string(TOUPPER ${tool} TOOL) |
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find_program(${TOOL} ${CROSS_COMPILE_PREFIX}-${tool} |
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PATHS ${RPI_TOOLCHAIN_DIR}/bin |
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NO_DEFAULT_PATH |
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) |
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if(NOT ${TOOL}) |
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message(FATAL_ERROR "could not find ${CROSS_COMPILE_PREFIX}-${tool}") |
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endif() |
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endforeach() |
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# os tools |
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foreach(tool echo grep rm mkdir nm cp touch make unzip) |
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string(TOUPPER ${tool} TOOL) |
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find_program(${TOOL} ${tool}) |
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if(NOT ${TOOL}) |
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message(FATAL_ERROR "could not find ${TOOL}") |
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endif() |
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endforeach() |
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add_definitions( |
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-D __DF_RPI |
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) |
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set(LINKER_FLAGS "-Wl,-gc-sections") |
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set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS}) |
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set(CMAKE_C_FLAGS ${C_FLAGS}) |
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set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS}) |
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# where is the target environment |
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set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH)) |
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# search for programs in the build host directories |
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) |
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# for libraries and headers in the target directories |
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) |
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) |
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