From ef587c9593ca96b8f1aa7c39930c5191b84d22a8 Mon Sep 17 00:00:00 2001
From: crossa <421395590@qq.com>
Date: Fri, 5 May 2017 22:21:45 +0800
Subject: [PATCH] Add -D__DF_RPI_SINGLE in posix_rpi_common.cmake Add
 -D__DF_RPI in posix_rpi_common.cmake Add rpi_rc_in and rpi_pca9685_pwm_out 
 driver in posix_rpi_common.cmake Rename
 posix_rpi_cross_without_navio_or_pxfmini to posix_rpi_cross_no_shield.cmake

---
 cmake/configs/posix_rpi_common.cmake          |   2 +
 cmake/configs/posix_rpi_cross_no_shield.cmake |  14 +++
 .../posix_rpi_cross_without_navio_or_pxfmini  | 114 ------------------
 3 files changed, 16 insertions(+), 114 deletions(-)
 create mode 100644 cmake/configs/posix_rpi_cross_no_shield.cmake
 delete mode 100644 cmake/configs/posix_rpi_cross_without_navio_or_pxfmini

diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
index 70478b09a6..0b38d03424 100644
--- a/cmake/configs/posix_rpi_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -81,6 +81,8 @@ set(config_module_list
 	drivers/linux_gpio
 	drivers/navio_rgbled
 	drivers/pwm_out_sim
+	drivers/rpi_rc_in
+	drivers/rpi_pca9685_pwm_out
 
 	#
 	# Libraries
diff --git a/cmake/configs/posix_rpi_cross_no_shield.cmake b/cmake/configs/posix_rpi_cross_no_shield.cmake
new file mode 100644
index 0000000000..c299e21b7c
--- /dev/null
+++ b/cmake/configs/posix_rpi_cross_no_shield.cmake
@@ -0,0 +1,14 @@
+# 使用这个文件可在上位机交叉编译px4firmware
+# use this file to cross compile px4  for raspberry pi without any shield
+include(configs/posix_rpi_common)
+
+if("$ENV{RPI_USE_CLANG}" STREQUAL "1")
+        set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian-clang.cmake)
+else()
+        set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+endif()
+
+set(CMAKE_PROGRAM_PATH
+        "${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
+        ${CMAKE_PROGRAM_PATH}
+)
diff --git a/cmake/configs/posix_rpi_cross_without_navio_or_pxfmini b/cmake/configs/posix_rpi_cross_without_navio_or_pxfmini
deleted file mode 100644
index 09df3e4a29..0000000000
--- a/cmake/configs/posix_rpi_cross_without_navio_or_pxfmini
+++ /dev/null
@@ -1,114 +0,0 @@
-# 使用这个文件可在上位机交叉编译px4firmware
-# use this file to cross compile px4 without navio or pxfmini for raspberry pi
-include(posix/px4_impl_posix)
-
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the RPi.
-add_definitions(
-	-D__PX4_POSIX_RPI
-	-D__DF_LINUX # For DriverFramework
-	-D__DF_RPI # For raspberry pi
-	-D__DF_RPI_SINGLE # For raspberry pi alone(without pxfmini or navio)
-)
-
-# 硬件驱动模块
-# Setup module and driver
-set(config_module_list
-	#
-	# Board support modules
-	#
-	drivers/device
-	modules/sensors
-	platforms/posix/drivers/df_mpu9250_wrapper
-	platforms/posix/drivers/df_ms5611_wrapper
-	platforms/posix/drivers/df_trone_wrapper
-
-	#
-	# System commands
-	#
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
-	systemcmds/esc_calib
-	systemcmds/reboot
-	systemcmds/topic_listener
-	systemcmds/perf
-
-	#
-	# Estimation modules
-	#
-	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/local_position_estimator
-	modules/ekf2
-
-	#
-	# Vehicle Control
-	#
-	modules/mc_att_control
-	modules/mc_pos_control
-	modules/fw_att_control
-	modules/fw_pos_control_l1
-	modules/vtol_att_control
-
-	#
-	# Library modules
-	#
-	modules/sdlog2
-	modules/logger
-	modules/commander
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/dataman
-	modules/land_detector
-	modules/navigator
-	modules/mavlink
-
-	#
-	# PX4 drivers
-	#
-	drivers/gps
-	drivers/rpi_rc_in
-	drivers/rpi_pca9685_pwm_out
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/geo
-	lib/ecl
-	lib/geo_lookup
-	lib/launchdetection
-	lib/external_lgpl
-	lib/conversion
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/DriverFramework/framework
-
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-)
-
-#
-# DriverFramework driver
-#
-set(config_df_driver_list
-	mpu9250
-	ms5611
-	trone
-)
-
-# 设定交叉工具链
-# Setup toolchain 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
-
-