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@ -40,21 +40,91 @@ include(px4_base)
@@ -40,21 +40,91 @@ include(px4_base)
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# This function creates a PX4 board. |
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# |
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# Usage: |
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# px4_add_module( |
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# BOARD <string> |
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# OS <string> |
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# [ TOOLCHAIN ] <string> |
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# px4_add_board( |
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# PLATFORM <string> |
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# VENDOR <string> |
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# MODEL <string> |
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# [ LABEL <string> ] |
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# [ TOOLCHAIN <string> ] |
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# [ PROCESSOR <string> ] |
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# [ ROMFSROOT <string> ] |
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# [ IO <string> ] |
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# [ BOOTLOADER <string> ] |
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# [ UAVCAN_INTERFACES <string> ] |
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# [ DRIVERS <list> ] |
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# [ MODULES <list> ] |
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# [ SYSTEMCMDS <list> ] |
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# [ EXAMPLES <list> ] |
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# [ SERIAL_PORTS <list> ] |
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# [ DF_DRIVERS <list> ] |
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# [ CONSTRAINED_FLASH ] |
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# [ TESTING ] |
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# ) |
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# |
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# Input: |
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# BOARD : name of board |
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# OS : posix, nuttx, qurt |
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# PLATFORM : PX4 platform name (posix, nuttx, qurt) |
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# VENDOR : name of board vendor/manufacturer/brand/etc |
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# MODEL : name of board model |
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# LABEL : optional label, set to default if not specified |
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# TOOLCHAIN : cmake toolchain |
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# PROCESSOR : name of the CPU CMake is building for (used by the toolchain) |
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# ROMFSROOT : relative path to the ROMFS root directory (currently NuttX only) |
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# IO : name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT) |
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# BOOTLOADER : bootloader file to include for flashing via bl_update (currently NuttX only) |
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# UAVCAN_INTERFACES : number of interfaces for UAVCAN |
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# DRIVERS : list of drivers to build for this board (relative to src/drivers) |
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# MODULES : list of modules to build for this board (relative to src/modules) |
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# SYSTEMCMDS : list of system commands to build for this board (relative to src/systemcmds) |
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# EXAMPLES : list of example modules to build for this board (relative to src/examples) |
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# SERIAL_PORTS : mapping of user configurable serial ports and param facing name |
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# DF_DRIVERS : list of DriverFramework device drivers (includes DriverFramework driver and wrapper) |
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# CONSTRAINED_FLASH : flag to enable constrained flash options (eg limit init script status text) |
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# TESTING : flag to enable automatic inclusion of PX4 testing modules |
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# |
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# |
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# Example: |
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# px4_add_board( |
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# BOARD px4_fmu-v2_default |
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# OS nuttx |
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# PLATFORM nuttx |
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# VENDOR px4 |
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# MODEL fmu-v5 |
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# TOOLCHAIN arm-none-eabi |
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# PROCESSOR cortex-m7 |
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# ROMFSROOT px4fmu_common |
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# IO px4_io-v2_default |
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# SERIAL_PORTS |
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# GPS1:/dev/ttyS0 |
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# TEL1:/dev/ttyS1 |
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# TEL2:/dev/ttyS2 |
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# TEL4:/dev/ttyS3 |
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# DRIVERS |
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# barometer/ms5611 |
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# gps |
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# imu/bmi055 |
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# imu/mpu6000 |
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# magnetometer/ist8310 |
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# px4fmu |
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# px4io |
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# rgbled |
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# MODULES |
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# commander |
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# ekf2 |
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# land_detector |
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# mavlink |
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# mc_att_control |
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# mc_pos_control |
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# navigator |
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# sensors |
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# MODULES |
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# mixer |
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# mtd |
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# param |
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# perf |
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# pwm |
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# reboot |
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# shutdown |
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# top |
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# topic_listener |
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# tune_control |
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# ) |
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# |
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function(px4_add_board) |
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@ -62,13 +132,12 @@ function(px4_add_board)
@@ -62,13 +132,12 @@ function(px4_add_board)
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px4_parse_function_args( |
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NAME px4_add_board |
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ONE_VALUE |
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PLATFORM |
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VENDOR |
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MODEL |
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LABEL |
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BOARD_OVERRIDE |
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PLATFORM |
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TOOLCHAIN |
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ARCH |
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PROCESSOR |
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ROMFSROOT |
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IO |
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BOOTLOADER |
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@ -79,10 +148,9 @@ function(px4_add_board)
@@ -79,10 +148,9 @@ function(px4_add_board)
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SYSTEMCMDS |
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EXAMPLES |
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SERIAL_PORTS |
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DF_DRIVERS # DriverFramework drivers |
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DF_DRIVERS |
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OPTIONS |
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CONSTRAINED_FLASH |
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ROMFS |
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TESTING |
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REQUIRED |
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PLATFORM |
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@ -109,13 +177,10 @@ function(px4_add_board)
@@ -109,13 +177,10 @@ function(px4_add_board)
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# set OS, and append specific platform module path |
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set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE) |
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake) |
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list(APPEND CMAKE_MODULE_PATH |
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${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake |
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) |
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if(ARCH) |
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set(CMAKE_SYSTEM_PROCESSOR ${ARCH} CACHE INTERNAL "system processor" FORCE) |
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if(PROCESSOR) |
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set(CMAKE_SYSTEM_PROCESSOR ${PROCESSOR} CACHE INTERNAL "system processor" FORCE) |
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endif() |
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if(TOOLCHAIN) |
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@ -131,18 +196,13 @@ function(px4_add_board)
@@ -131,18 +196,13 @@ function(px4_add_board)
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endif() |
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# ROMFS |
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if(ROMFS) |
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if (PX4_PLATFORM MATCHES "NuttX" AND NOT DEFINED ROMFSROOT) |
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set(config_romfs_root px4fmu_common) |
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else() |
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set(config_romfs_root ${ROMFSROOT}) |
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endif() |
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set(config_romfs_root ${config_romfs_root} CACHE INTERNAL "ROMFS root" FORCE) |
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endif() |
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if(ROMFSROOT) |
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set(config_romfs_root ${ROMFSROOT} CACHE INTERNAL "ROMFS root" FORCE) |
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# IO board (placed in ROMFS) |
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if(IO) |
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set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE) |
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# IO board (placed in ROMFS) |
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if(IO) |
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set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE) |
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endif() |
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endif() |
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if(UAVCAN_INTERFACES) |
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Daniel Agar
6 years ago
committed by
David Sidrane