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679 lines
20 KiB
679 lines
20 KiB
############################################################################ |
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# |
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# Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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#============================================================================= |
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# |
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# Defined functions in this file |
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# |
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# OS Specific Functions |
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# |
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# * px4_nuttx_add_firmware |
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# * px4_nuttx_make_uavcan_bootloadable |
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# * px4_nuttx_generate_builtin_commands |
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# * px4_nuttx_add_export |
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# * px4_nuttx_add_romfs |
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# |
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# Required OS Inteface Functions |
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# |
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# * px4_os_add_flags |
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# * px4_os_prebuild_targets |
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# |
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include(common/px4_base) |
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#============================================================================= |
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# |
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# px4_nuttx_add_firmware |
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# |
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# This function adds a nuttx firmware target. |
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# |
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# Usage: |
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# px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable> |
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# PARAM_XML <param_xml> AIRFRAMES_XML <airframes_xml>) |
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# |
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# Input: |
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# EXE : the executable to generate the firmware from |
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# BOARD : the board |
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# PARAM_XML : param xml file (optional) |
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# AIRFRAMES_XML : airframes xml file (optional) |
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# |
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# Output: |
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# OUT : the generated firmware target |
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# |
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# Example: |
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# px4_nuttx_add_firmware(TARGET fw_test EXE test) |
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# |
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function(px4_nuttx_add_firmware) |
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px4_parse_function_args( |
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NAME px4_nuttx_add_firmware |
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ONE_VALUE BOARD OUT EXE PARAM_XML AIRFRAMES_XML |
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REQUIRED OUT EXE BOARD |
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ARGN ${ARGN}) |
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set(extra_args) |
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if (PARAM_XML) |
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list(APPEND extra_args |
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--parameter_xml ${PARAM_XML} |
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) |
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endif() |
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if (AIRFRAMES_XML) |
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list(APPEND extra_args |
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--airframe_xml ${AIRFRAMES_XML} |
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) |
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endif() |
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add_custom_command(OUTPUT ${OUT} ${EXE}.bin |
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py |
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--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype |
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--git_identity ${PX4_SOURCE_DIR} |
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${extra_args} |
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--image ${EXE}.bin > ${OUT} |
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DEPENDS ${EXE} |
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) |
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add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT}) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_nuttx_make_uavcan_bootloadable |
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# |
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# This function adds a uavcan boot loadable target. |
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# |
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# Usage: |
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# px4_nuttx_make_uavcan_bootloadable( |
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# BOARD <board> |
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# BIN <input bin file>) |
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# HWNAME <uavcan name> |
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# HW_MAJOR <number> |
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# HW_MINOR <number> |
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# SW_MAJOR <number> |
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# SW_MINOR <number>) |
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# |
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# Input: |
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# BOARD : the board |
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# BIN : the bin file to generate the bootloadable image from |
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# HWNAME : the uavcan name |
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# HW_MAJOR : the major hardware revision |
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# HW_MINOR : the minor hardware revision |
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# SW_MAJOR : the major software revision |
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# SW_MINOR : the minor software revision |
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# |
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# Output: |
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# OUT : None |
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# |
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# Example: |
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# px4_nuttx_make_uavcan_bootloadable( |
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# BOARD ${BOARD} |
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# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx |
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# HWNAME ${uavcanblid_name} |
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# HW_MAJOR ${uavcanblid_hw_version_major} |
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# HW_MINOR ${uavcanblid_hw_version_minor} |
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# SW_MAJOR ${uavcanblid_sw_version_major} |
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# SW_MINOR ${uavcanblid_sw_version_minor} |
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# ) |
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# |
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function(px4_nuttx_make_uavcan_bootloadable) |
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px4_parse_function_args( |
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NAME px4_nuttx_make_uavcan_bootloadable |
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ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR |
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REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR |
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ARGN ${ARGN}) |
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string(REPLACE "\"" "" HWNAME ${HWNAME}) |
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execute_process( |
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COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit |
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OUTPUT_VARIABLE uavcanbl_git_desc |
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OUTPUT_STRIP_TRAILING_WHITESPACE |
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} |
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) |
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if ("${uavcanbl_git_desc}" STREQUAL "") |
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set(uavcanbl_git_desc ffffffff) |
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endif() |
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set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin) |
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message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}") |
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add_custom_command(OUTPUT ${uavcan_bl_imange_name} |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py |
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-v --use-git-hash ${BIN} ${uavcan_bl_imange_name} |
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DEPENDS ${BIN}) |
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add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name}) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_nuttx_generate_builtin_commands |
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# |
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# This function generates the builtin_commands.c src for nuttx |
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# |
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# Usage: |
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# px4_nuttx_generate_builtin_commands( |
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# MODULE_LIST <in-list> |
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# OUT <file>) |
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# |
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# Input: |
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# MODULE_LIST : list of modules |
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# |
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# Output: |
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# OUT : generated builtin_commands.c src |
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# |
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# Example: |
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# px4_nuttx_generate_builtin_commands( |
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# OUT <generated-src> MODULE_LIST px4_simple_app) |
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# |
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function(px4_nuttx_generate_builtin_commands) |
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px4_parse_function_args( |
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NAME px4_nuttx_generate_builtin_commands |
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ONE_VALUE OUT |
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MULTI_VALUE MODULE_LIST |
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REQUIRED MODULE_LIST OUT |
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ARGN ${ARGN}) |
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set(builtin_apps_string) |
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set(builtin_apps_decl_string) |
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set(command_count 0) |
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foreach(module ${MODULE_LIST}) |
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foreach(property MAIN STACK_MAIN PRIORITY) |
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get_target_property(${property} ${module} ${property}) |
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endforeach() |
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if (MAIN) |
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set(builtin_apps_string |
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"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main},\n") |
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set(builtin_apps_decl_string |
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"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n") |
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math(EXPR command_count "${command_count}+1") |
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endif() |
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endforeach() |
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configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in |
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${OUT}) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_nuttx_add_export |
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# |
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# This function generates a nuttx export. |
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# |
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# Usage: |
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# px4_nuttx_add_export( |
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# OUT <out-target> |
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# CONFIG <in-string> |
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# DEPENDS <in-list>) |
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# |
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# Input: |
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# CONFIG : the board to generate the export for |
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# DEPENDS : dependencies |
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# |
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# Output: |
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# OUT : the export target |
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# |
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# Example: |
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# px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2) |
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# |
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function(px4_nuttx_add_export) |
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px4_parse_function_args( |
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NAME px4_nuttx_add_export |
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ONE_VALUE OUT CONFIG THREADS |
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MULTI_VALUE DEPENDS |
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REQUIRED OUT CONFIG THREADS |
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ARGN ${ARGN}) |
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set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX) |
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# all patches |
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file(GLOB nuttx_patches ${PX4_SOURCE_DIR}/nuttx-patches/*.patch) |
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# copy |
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file(GLOB_RECURSE nuttx_all_files ${PX4_SOURCE_DIR}/NuttX/*) |
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file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX) |
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add_custom_command(OUTPUT ${PX4_BINARY_DIR}/nuttx_copy_${CONFIG}.stamp |
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COMMAND ${MKDIR} -p ${nuttx_src} |
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COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/ |
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COMMAND ${TOUCH} ${PX4_BINARY_DIR}/nuttx_copy_${CONFIG}.stamp |
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DEPENDS ${DEPENDS} ${nuttx_patches} ${nuttx_all_files} |
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COMMENT "Copying NuttX for ${CONFIG} with ${config_nuttx_config}" |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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) |
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add_custom_target(nuttx_copy_${CONFIG} DEPENDS ${PX4_BINARY_DIR}/nuttx_copy_${CONFIG}.stamp) |
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# patch |
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add_custom_target(nuttx_patch_${CONFIG}) |
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foreach(patch ${nuttx_patches}) |
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get_filename_component(patch_file_name ${patch} NAME) |
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message(STATUS "${CONFIG} NuttX patch: nuttx-patches/${patch_file_name}") |
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string(REPLACE "/" "_" patch_name "nuttx_patch_${patch_file_name}-${CONFIG}") |
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set(patch_stamp ${nuttx_src}/${patch_name}.stamp) |
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add_custom_command(OUTPUT ${patch_stamp} |
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COMMAND ${PATCH} -d ${nuttx_src} -s -p1 -N < ${patch} |
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COMMAND ${TOUCH} ${patch_stamp} |
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DEPENDS ${DEPENDS} nuttx_copy_${CONFIG} ${patch} |
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COMMENT "Applying ${patch}") |
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add_custom_target(${patch_name} DEPENDS ${patch_stamp}) |
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add_dependencies(nuttx_patch_${CONFIG} ${patch_name}) |
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endforeach() |
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# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes |
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# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG} |
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file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig" |
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hw_stack_check_${CONFIG} |
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REGEX "CONFIG_ARMV7M_STACKCHECK=y" |
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) |
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if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y") |
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set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE) |
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endif() |
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# configure |
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file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*) |
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add_custom_command(OUTPUT ${nuttx_src}/nuttx/.config |
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COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/*.mk ${nuttx_src}/nuttx/ |
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COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs |
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COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/${config_nuttx_config} |
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DEPENDS ${DEPENDS} nuttx_patch_${CONFIG} ${config_files} |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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COMMENT "Configuring NuttX for ${CONFIG} with ${config_nuttx_config}") |
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# manual reconfigure helpers |
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add_custom_target(oldconfig_${CONFIG} |
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COMMAND cd ${nuttx_src}/nuttx |
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COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig |
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COMMAND ${CP} ${nuttx_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig |
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COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig |
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DEPENDS ${nuttx_src}/nuttx/.config |
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COMMENT "Running NuttX make oldconfig for ${CONFIG} with ${config_nuttx_config}" |
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USES_TERMINAL) |
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add_custom_target(menuconfig_${CONFIG} |
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COMMAND cd ${nuttx_src}/nuttx |
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COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig |
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COMMAND ${CP} ${nuttx_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig |
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COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig |
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DEPENDS ${nuttx_src}/nuttx/.config |
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COMMENT "Running NuttX make menuconfig for ${CONFIG} with ${config_nuttx_config}" |
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USES_TERMINAL) |
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# build and export |
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add_custom_command(OUTPUT ${nuttx_src}/nuttx/nuttx-export/include/nuttx/config.h |
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COMMAND ${RM} -rf ${nuttx_src}/nuttx/nuttx-export |
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COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log |
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DEPENDS ${DEPENDS} ${nuttx_src}/nuttx/.config |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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COMMENT "Building NuttX for ${CONFIG} with ${config_nuttx_config}") |
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add_custom_target(${OUT} DEPENDS ${nuttx_src}/nuttx/nuttx-export/include/nuttx/config.h) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_nuttx_create_bin |
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# |
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# The functions generates a bin image for nuttx. |
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# |
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# Usage: |
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# px4_nuttx_create_bin(BIN <out-file> EXE <in-file>) |
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# |
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# Input: |
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# EXE : the exe file |
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# |
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# Output: |
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# OUT : the binary output file |
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# |
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# Example: |
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# px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe) |
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# |
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function(px4_nuttx_create_bin) |
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px4_parse_function_args( |
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NAME px4_nuttx_create_bin |
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ONE_VALUE EXE OUT |
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REQUIRED EXE OUT |
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ARGN ${ARGN}) |
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add_custom_command(OUTPUT ${OUT} |
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin |
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DEPENDS ${EXE}) |
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set(${OUT} ${${OUT}} PARENT_SCOPE) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_nuttx_add_romfs |
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# |
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# The functions creates a ROMFS filesystem for nuttx. |
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# |
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# Usage: |
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# px4_nuttx_add_romfs( |
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# OUT <out-target> |
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# ROOT <in-directory> |
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# EXTRAS <in-list>) |
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# |
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# Input: |
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# ROOT : the root of the ROMFS |
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# EXTRAS : list of extra files |
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# |
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# Output: |
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# OUT : the ROMFS library target |
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# |
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# Example: |
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# px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board") |
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# |
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function(px4_nuttx_add_romfs) |
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px4_parse_function_args( |
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NAME px4_nuttx_add_romfs |
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ONE_VALUE OUT ROOT |
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MULTI_VALUE EXTRAS |
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REQUIRED OUT ROOT |
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ARGN ${ARGN}) |
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set(romfs_used y PARENT_SCOPE) |
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set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT}) |
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set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT}) |
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set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py) |
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set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py) |
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set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py) |
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set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras) |
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file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*) |
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set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py) |
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set(extras) |
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foreach(extra ${EXTRAS}) |
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get_filename_component(file_name ${extra} NAME) |
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set(file_dest ${extras_dir}/${file_name}) |
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add_custom_command(OUTPUT ${file_dest} |
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COMMAND cmake -E copy ${extra} ${file_dest} |
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DEPENDS ${extra} |
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) |
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list(APPEND extras ${file_dest}) |
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endforeach() |
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add_custom_target(collect_extras DEPENDS ${extras}) |
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add_custom_command(OUTPUT romfs.o |
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COMMAND cmake -E remove_directory ${romfs_temp_dir} |
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COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir} |
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COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras |
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COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart} |
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-a ${romfs_temp_dir}/init.d |
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-s ${romfs_temp_dir}/init.d/rc.autostart |
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--board ${BOARD} |
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COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner} |
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--folder ${romfs_temp_dir} |
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--board ${BOARD} |
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COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin |
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-d ${romfs_temp_dir} -V "NSHInitVol" |
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#COMMAND cmake -E remove_directory ${romfs_temp_dir} |
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COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj} |
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--ld ${LD} --c_flags ${CMAKE_C_FLAGS} |
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--include_path "${PX4_SOURCE_DIR}/src/include" |
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--c_compiler ${CMAKE_C_COMPILER} |
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--nm ${NM} --objcopy ${OBJCOPY} |
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--obj romfs.o |
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--var romfs_img |
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--bin romfs.bin |
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DEPENDS ${romfs_src_files} ${extras} |
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} |
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) |
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add_library(${OUT} STATIC romfs.o) |
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set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C) |
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set(${OUT} ${${OUT}} PARENT_SCOPE) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_os_add_flags |
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# |
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# Set the nuttx build flags. |
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# |
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# Usage: |
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# px4_os_add_flags( |
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# C_FLAGS <inout-variable> |
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# CXX_FLAGS <inout-variable> |
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# OPTIMIZATION_FLAGS <inout-variable> |
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# EXE_LINKER_FLAGS <inout-variable> |
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# INCLUDE_DIRS <inout-variable> |
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# LINK_DIRS <inout-variable> |
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# DEFINITIONS <inout-variable>) |
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# |
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# Input: |
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# BOARD : flags depend on board/nuttx config |
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# |
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# Input/Output: (appends to existing variable) |
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# C_FLAGS : c compile flags variable |
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# CXX_FLAGS : c++ compile flags variable |
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# OPTIMIZATION_FLAGS : optimization compile flags variable |
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# EXE_LINKER_FLAGS : executable linker flags variable |
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# INCLUDE_DIRS : include directories |
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# LINK_DIRS : link directories |
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# DEFINITIONS : definitions |
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# |
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# Note that EXE_LINKER_FLAGS is not suitable for adding libraries because |
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# these flags are added before any of the object files and static libraries. |
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# Add libraries in src/firmware/nuttx/CMakeLists.txt. |
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# |
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# Example: |
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# px4_os_add_flags( |
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# C_FLAGS CMAKE_C_FLAGS |
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# CXX_FLAGS CMAKE_CXX_FLAGS |
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# OPTIMIZATION_FLAGS optimization_flags |
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# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS |
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# INCLUDES <list>) |
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# |
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function(px4_os_add_flags) |
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set(inout_vars |
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C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS) |
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px4_parse_function_args( |
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NAME px4_os_add_flags |
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ONE_VALUE ${inout_vars} BOARD |
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REQUIRED ${inout_vars} BOARD |
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ARGN ${ARGN}) |
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px4_add_common_flags( |
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BOARD ${BOARD} |
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C_FLAGS ${C_FLAGS} |
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CXX_FLAGS ${CXX_FLAGS} |
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OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS} |
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EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS} |
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INCLUDE_DIRS ${INCLUDE_DIRS} |
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LINK_DIRS ${LINK_DIRS} |
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DEFINITIONS ${DEFINITIONS}) |
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set(nuttx_export_root ${PX4_BINARY_DIR}/${BOARD}/NuttX) |
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set(nuttx_export_dir ${nuttx_export_root}/nuttx/nuttx-export) |
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set(added_include_dirs |
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${nuttx_export_dir}/include |
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${nuttx_export_dir}/include/cxx |
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${nuttx_export_dir}/arch/chip |
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${nuttx_export_dir}/arch/common |
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${nuttx_export_dir}/arch/armv7-m |
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${nuttx_export_root}/apps/include |
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) |
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set(added_link_dirs |
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${nuttx_export_dir}/libs |
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) |
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set(added_definitions |
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-D__PX4_NUTTX |
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) |
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if(NOT "${config_nuttx_config}" STREQUAL "bootloader") |
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list(APPEND added_definitions -D__DF_NUTTX) |
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endif() |
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set(added_c_flags |
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-nodefaultlibs |
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-nostdlib |
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) |
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set(added_cxx_flags |
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-nodefaultlibs |
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-nostdlib |
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) |
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set(added_exe_linker_flags) # none currently |
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set(instrument_flags) |
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if ("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y") |
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set(instrument_flags |
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-finstrument-functions |
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-ffixed-r10 |
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) |
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list(APPEND c_flags ${instrument_flags}) |
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list(APPEND cxx_flags ${instrument_flags}) |
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endif() |
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set(cpu_flags) |
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if (${config_nuttx_hw} STREQUAL "m7") |
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set(cpu_flags |
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-mcpu=cortex-m7 |
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-mthumb |
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-mfpu=fpv5-sp-d16 |
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-mfloat-abi=hard |
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) |
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elseif (${config_nuttx_hw} STREQUAL "m4") |
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set(cpu_flags |
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-mcpu=cortex-m4 |
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-mthumb |
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-march=armv7e-m |
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-mfpu=fpv4-sp-d16 |
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-mfloat-abi=hard |
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) |
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elseif (${config_nuttx_hw} STREQUAL "m3") |
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set(cpu_flags |
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-mcpu=cortex-m3 |
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-mthumb |
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-march=armv7-m |
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) |
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endif() |
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list(APPEND c_flags ${cpu_flags}) |
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list(APPEND cxx_flags ${cpu_flags}) |
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# output |
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foreach(var ${inout_vars}) |
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string(TOLOWER ${var} lower_var) |
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set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE) |
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#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)") |
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endforeach() |
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endfunction() |
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#============================================================================= |
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# |
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# px4_os_prebuild_targets |
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# |
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# This function generates os dependent targets |
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# Usage: |
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# px4_os_prebuild_targets( |
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# OUT <out-list_of_targets> |
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# BOARD <in-string> |
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# ) |
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# |
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# Input: |
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# BOARD : board |
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# THREADS : number of threads for building |
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# |
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# Output: |
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# OUT : the target list |
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# |
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# Example: |
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# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2) |
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# |
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function(px4_os_prebuild_targets) |
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px4_parse_function_args( |
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NAME px4_os_prebuild_targets |
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ONE_VALUE OUT BOARD THREADS |
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REQUIRED OUT BOARD |
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ARGN ${ARGN}) |
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px4_nuttx_add_export(OUT nuttx_export_${BOARD} |
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CONFIG ${BOARD} |
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THREADS ${THREADS} |
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DEPENDS git_nuttx) |
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add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD}) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_nuttx_configure |
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# |
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# This function sets the nuttx configuration |
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# |
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# Usage: |
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# px4_nuttx_configure( |
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# HWCLASS <m3|m4> |
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# CONFIG <nsh|bootloader |
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# [ROMFS <y|n> |
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# ROMFSROOT <root>] |
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# ) |
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# |
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# Input: |
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# HWCLASS : the class of hardware |
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# CONFIG : the nuttx condufiguration to use |
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# ROMFS : whether or not to use incllude theROMFS |
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# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common |
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# |
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# Output: |
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# OUT : None |
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# |
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# Example: |
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# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y) |
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# |
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function(px4_nuttx_configure) |
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px4_parse_function_args( |
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NAME px4_nuttx_configure |
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ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT |
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REQUIRED HWCLASS CONFIG |
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ARGN ${ARGN}) |
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set(config_nuttx_config ${CONFIG} PARENT_SCOPE) |
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set(config_nuttx_hw ${HWCLASS} PARENT_SCOPE) |
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if ("${ROMFS}" STREQUAL "y") |
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set(romfs_used ${ROMFS} PARENT_SCOPE) |
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if (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(HASROMFS "with ROMFS on ${config_romfs_root}") |
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set(config_romfs_root ${config_romfs_root} PARENT_SCOPE) |
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endif() |
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message(STATUS "Nuttx build for ${BOARD} on ${HWCLASS} hardware, using ${CONFIG} ${HASROMFS}") |
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endfunction() |
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# vim: set noet fenc=utf-8 ff=unix nowrap:
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