You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
548 lines
15 KiB
548 lines
15 KiB
############################################################################ |
|
# |
|
# Copyright (c) 2015 PX4 Development Team. All rights reserved. |
|
# |
|
# Redistribution and use in source and binary forms, with or without |
|
# modification, are permitted provided that the following conditions |
|
# are met: |
|
# |
|
# 1. Redistributions of source code must retain the above copyright |
|
# notice, this list of conditions and the following disclaimer. |
|
# 2. Redistributions in binary form must reproduce the above copyright |
|
# notice, this list of conditions and the following disclaimer in |
|
# the documentation and/or other materials provided with the |
|
# distribution. |
|
# 3. Neither the name PX4 nor the names of its contributors may be |
|
# used to endorse or promote products derived from this software |
|
# without specific prior written permission. |
|
# |
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
# POSSIBILITY OF SUCH DAMAGE. |
|
# |
|
############################################################################ |
|
|
|
#============================================================================= |
|
# |
|
# Defined functions in this file |
|
# |
|
# OS Specific Functions |
|
# |
|
# * px4_nuttx_add_firmware |
|
# * px4_nuttx_generate_builtin_commands |
|
# * px4_nuttx_add_export |
|
# * px4_nuttx_add_romfs |
|
# |
|
# Required OS Inteface Functions |
|
# |
|
# * px4_os_add_flags |
|
# * px4_os_prebuild_targets |
|
# |
|
|
|
include(common/px4_base) |
|
|
|
#============================================================================= |
|
# |
|
# px4_nuttx_add_firmware |
|
# |
|
# This function adds a nuttx firmware target. |
|
# |
|
# Usage: |
|
# px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable> |
|
# PARAM_XML <param_xml> AIRFRAMES_XML <airframes_xml>) |
|
# |
|
# Input: |
|
# EXE : the executable to generate the firmware from |
|
# BOARD : the board |
|
# PARAM_XML : param xml file (optional) |
|
# AIRFRAMES_XML : airframes xml file (optional) |
|
# |
|
# Output: |
|
# OUT : the generated firmware target |
|
# |
|
# Example: |
|
# px4_nuttx_add_firmware(TARGET fw_test EXE test) |
|
# |
|
function(px4_nuttx_add_firmware) |
|
px4_parse_function_args( |
|
NAME px4_nuttx_add_firmware |
|
ONE_VALUE BOARD OUT EXE PARAM_XML AIRFRAMES_XML |
|
REQUIRED OUT EXE BOARD |
|
ARGN ${ARGN}) |
|
|
|
set(extra_args) |
|
|
|
if (PARAM_XML) |
|
list(APPEND extra_args |
|
--parameter_xml ${PARAM_XML} |
|
) |
|
endif() |
|
|
|
if (AIRFRAMES_XML) |
|
list(APPEND extra_args |
|
--airframe_xml ${AIRFRAMES_XML} |
|
) |
|
endif() |
|
|
|
add_custom_command(OUTPUT ${OUT} |
|
COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin |
|
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py |
|
--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype |
|
--git_identity ${CMAKE_SOURCE_DIR} |
|
${extra_args} |
|
--image ${EXE}.bin > ${OUT} |
|
DEPENDS ${EXE} |
|
) |
|
add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT}) |
|
endfunction() |
|
|
|
#============================================================================= |
|
# |
|
# px4_nuttx_generate_builtin_commands |
|
# |
|
# This function generates the builtin_commands.c src for nuttx |
|
# |
|
# Usage: |
|
# px4_nuttx_generate_builtin_commands( |
|
# MODULE_LIST <in-list> |
|
# OUT <file>) |
|
# |
|
# Input: |
|
# MODULE_LIST : list of modules |
|
# |
|
# Output: |
|
# OUT : generated builtin_commands.c src |
|
# |
|
# Example: |
|
# px4_nuttx_generate_builtin_commands( |
|
# OUT <generated-src> MODULE_LIST px4_simple_app) |
|
# |
|
function(px4_nuttx_generate_builtin_commands) |
|
px4_parse_function_args( |
|
NAME px4_nuttx_generate_builtin_commands |
|
ONE_VALUE OUT |
|
MULTI_VALUE MODULE_LIST |
|
REQUIRED MODULE_LIST OUT |
|
ARGN ${ARGN}) |
|
set(builtin_apps_string) |
|
set(builtin_apps_decl_string) |
|
set(command_count 0) |
|
foreach(module ${MODULE_LIST}) |
|
#message("generating builtin for: ${module}") |
|
# default |
|
set(MAIN_DEFAULT MAIN-NOTFOUND) |
|
set(STACK_DEFAULT 1024) |
|
set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT) |
|
foreach(property MAIN STACK PRIORITY) |
|
get_target_property(${property} ${module} ${property}) |
|
if(NOT ${property}) |
|
set(${property} ${${property}_DEFAULT}) |
|
endif() |
|
endforeach() |
|
if (MAIN) |
|
set(builtin_apps_string |
|
"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n") |
|
set(builtin_apps_decl_string |
|
"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n") |
|
math(EXPR command_count "${command_count}+1") |
|
endif() |
|
endforeach() |
|
configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in |
|
${OUT}) |
|
endfunction() |
|
|
|
#============================================================================= |
|
# |
|
# px4_nuttx_add_export |
|
# |
|
# This function generates a nuttx export. |
|
# |
|
# Usage: |
|
# px4_nuttx_add_export( |
|
# OUT <out-target> |
|
# CONFIG <in-string> |
|
# DEPENDS <in-list>) |
|
# |
|
# Input: |
|
# CONFIG : the board to generate the export for |
|
# DEPENDS : dependencies |
|
# |
|
# Output: |
|
# OUT : the export target |
|
# |
|
# Example: |
|
# px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2) |
|
# |
|
function(px4_nuttx_add_export) |
|
|
|
px4_parse_function_args( |
|
NAME px4_nuttx_add_export |
|
ONE_VALUE OUT CONFIG THREADS |
|
MULTI_VALUE DEPENDS |
|
REQUIRED OUT CONFIG THREADS |
|
ARGN ${ARGN}) |
|
|
|
set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX) |
|
|
|
# patch |
|
add_custom_target(__nuttx_patch_${CONFIG}) |
|
file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR} |
|
${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch) |
|
foreach(patch ${nuttx_patches}) |
|
string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}") |
|
message(STATUS "nuttx-patch: ${patch}") |
|
add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp |
|
COMMAND ${PATCH} -p0 -N < ${CMAKE_SOURCE_DIR}/${patch} |
|
COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp |
|
DEPENDS ${DEPENDS} |
|
) |
|
add_custom_target(nuttx_patch_${patch_name} |
|
DEPENDS nuttx_patch_${patch_name}.stamp) |
|
add_dependencies(nuttx_patch nuttx_patch_${patch_name}) |
|
endforeach() |
|
|
|
# copy |
|
add_custom_command(OUTPUT nuttx_copy_${CONFIG}.stamp |
|
COMMAND ${MKDIR} -p ${CMAKE_BINARY_DIR}/${CONFIG} |
|
COMMAND ${MKDIR} -p ${nuttx_src} |
|
COMMAND ${CP} -a ${CMAKE_SOURCE_DIR}/NuttX/. ${nuttx_src}/ |
|
COMMAND ${RM} -rf ${nuttx_src}/.git |
|
COMMAND ${TOUCH} nuttx_copy_${CONFIG}.stamp |
|
DEPENDS ${DEPENDS}) |
|
add_custom_target(__nuttx_copy_${CONFIG} |
|
DEPENDS nuttx_copy_${CONFIG}.stamp __nuttx_patch_${CONFIG}) |
|
|
|
# export |
|
file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*) |
|
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export |
|
COMMAND ${ECHO} Configuring NuttX for ${CONFIG} |
|
COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean |
|
COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs |
|
COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh |
|
COMMAND ${ECHO} Exporting NuttX for ${CONFIG} |
|
COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > /dev/null |
|
COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export |
|
DEPENDS ${config_files} ${DEPENDS} __nuttx_copy_${CONFIG}) |
|
|
|
# extract |
|
add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp |
|
COMMAND ${RM} -rf ${nuttx_src}/nuttx-export |
|
COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src} |
|
COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp |
|
DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export) |
|
|
|
add_custom_target(${OUT} |
|
DEPENDS nuttx_export_${CONFIG}.stamp) |
|
|
|
endfunction() |
|
|
|
#============================================================================= |
|
# |
|
# px4_nuttx_create_bin |
|
# |
|
# The functions generates a bin image for nuttx. |
|
# |
|
# Usage: |
|
# px4_nuttx_create_bin(BIN <out-file> EXE <in-file>) |
|
# |
|
# Input: |
|
# EXE : the exe file |
|
# |
|
# Output: |
|
# OUT : the binary output file |
|
# |
|
# Example: |
|
# px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe) |
|
# |
|
function(px4_nuttx_create_bin) |
|
|
|
px4_parse_function_args( |
|
NAME px4_nuttx_create_bin |
|
ONE_VALUE EXE OUT |
|
REQUIRED EXE OUT |
|
ARGN ${ARGN}) |
|
|
|
add_custom_command(OUTPUT ${OUT} |
|
COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin |
|
DEPENDS ${EXE}) |
|
|
|
set(${OUT} ${${OUT}} PARENT_SCOPE) |
|
|
|
endfunction() |
|
|
|
|
|
#============================================================================= |
|
# |
|
# px4_nuttx_add_romfs |
|
# |
|
# The functions creates a ROMFS filesystem for nuttx. |
|
# |
|
# Usage: |
|
# px4_nuttx_add_romfs( |
|
# OUT <out-target> |
|
# ROOT <in-directory> |
|
# EXTRAS <in-list>) |
|
# |
|
# Input: |
|
# ROOT : the root of the ROMFS |
|
# EXTRAS : list of extra files |
|
# |
|
# Output: |
|
# OUT : the ROMFS library target |
|
# |
|
# Example: |
|
# px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board") |
|
# |
|
function(px4_nuttx_add_romfs) |
|
|
|
px4_parse_function_args( |
|
NAME px4_nuttx_add_romfs |
|
ONE_VALUE OUT ROOT |
|
MULTI_VALUE EXTRAS |
|
REQUIRED OUT ROOT |
|
ARGN ${ARGN}) |
|
|
|
set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT}) |
|
set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT}) |
|
set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py) |
|
set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py) |
|
set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py) |
|
set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras) |
|
|
|
file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*) |
|
|
|
set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py) |
|
|
|
|
|
set(extras) |
|
foreach(extra ${EXTRAS}) |
|
get_filename_component(file_name ${extra} NAME) |
|
set(file_dest ${extras_dir}/${file_name}) |
|
add_custom_command(OUTPUT ${file_dest} |
|
COMMAND cmake -E copy ${extra} ${file_dest} |
|
DEPENDS ${extra} |
|
) |
|
list(APPEND extras ${file_dest}) |
|
endforeach() |
|
add_custom_target(collect_extras DEPENDS ${extras}) |
|
|
|
add_custom_command(OUTPUT romfs.o |
|
COMMAND cmake -E remove_directory ${romfs_temp_dir} |
|
COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir} |
|
COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras |
|
COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart} |
|
-a ${romfs_temp_dir}/init.d |
|
-s ${romfs_temp_dir}/init.d/rc.autostart |
|
COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner} |
|
--folder ${romfs_temp_dir} |
|
COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin |
|
-d ${romfs_temp_dir} -V "NSHInitVol" |
|
#COMMAND cmake -E remove_directory ${romfs_temp_dir} |
|
COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj} |
|
--ld ${LD} --c_flags ${CMAKE_C_FLAGS} |
|
--include_path "${CMAKE_SOURCE_DIR}/src/include" |
|
--c_compiler ${CMAKE_C_COMPILER} |
|
--nm ${NM} --objcopy ${OBJCOPY} |
|
--obj romfs.o |
|
--var romfs_img |
|
--bin romfs.bin |
|
DEPENDS ${romfs_src_files} ${extras} |
|
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} |
|
) |
|
add_library(${OUT} STATIC romfs.o) |
|
set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C) |
|
set(${OUT} ${${OUT}} PARENT_SCOPE) |
|
|
|
endfunction() |
|
|
|
#============================================================================= |
|
# |
|
# px4_os_add_flags |
|
# |
|
# Set ths nuttx build flags. |
|
# |
|
# Usage: |
|
# px4_os_add_flags( |
|
# C_FLAGS <inout-variable> |
|
# CXX_FLAGS <inout-variable> |
|
# EXE_LINKER_FLAGS <inout-variable> |
|
# INCLUDE_DIRS <inout-variable> |
|
# LINK_DIRS <inout-variable> |
|
# DEFINITIONS <inout-variable>) |
|
# |
|
# Input: |
|
# BOARD : flags depend on board/nuttx config |
|
# |
|
# Input/Output: (appends to existing variable) |
|
# C_FLAGS : c compile flags variable |
|
# CXX_FLAGS : c++ compile flags variable |
|
# EXE_LINKER_FLAGS : executable linker flags variable |
|
# INCLUDE_DIRS : include directories |
|
# LINK_DIRS : link directories |
|
# DEFINITIONS : definitions |
|
# |
|
# Example: |
|
# px4_os_add_flags( |
|
# C_FLAGS CMAKE_C_FLAGS |
|
# CXX_FLAGS CMAKE_CXX_FLAGS |
|
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS |
|
# INCLUDES <list>) |
|
# |
|
function(px4_os_add_flags) |
|
|
|
set(inout_vars |
|
C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS) |
|
|
|
px4_parse_function_args( |
|
NAME px4_add_flags |
|
ONE_VALUE ${inout_vars} BOARD |
|
REQUIRED ${inout_vars} BOARD |
|
ARGN ${ARGN}) |
|
|
|
px4_add_common_flags( |
|
BOARD ${BOARD} |
|
C_FLAGS ${C_FLAGS} |
|
CXX_FLAGS ${CXX_FLAGS} |
|
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS} |
|
INCLUDE_DIRS ${INCLUDE_DIRS} |
|
LINK_DIRS ${LINK_DIRS} |
|
DEFINITIONS ${DEFINITIONS}) |
|
|
|
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export) |
|
set(added_include_dirs |
|
${nuttx_export_dir}/include |
|
${nuttx_export_dir}/include/cxx |
|
${nuttx_export_dir}/arch/chip |
|
${nuttx_export_dir}/arch/common |
|
) |
|
set(added_link_dirs |
|
${nuttx_export_dir}/libs |
|
) |
|
set(added_definitions |
|
-D__PX4_NUTTX |
|
-D__DF_NUTTX |
|
) |
|
set(added_c_flags |
|
-nodefaultlibs |
|
-nostdlib |
|
) |
|
set(added_cxx_flags |
|
-nodefaultlibs |
|
-nostdlib |
|
) |
|
|
|
set(added_exe_linker_flags) # none currently |
|
|
|
set(cpu_flags) |
|
if (${BOARD} STREQUAL "px4fmu-v1") |
|
set(cpu_flags |
|
-mcpu=cortex-m4 |
|
-mthumb |
|
-march=armv7e-m |
|
-mfpu=fpv4-sp-d16 |
|
-mfloat-abi=hard |
|
) |
|
elseif (${BOARD} STREQUAL "px4fmu-v2") |
|
set(cpu_flags |
|
-mcpu=cortex-m4 |
|
-mthumb |
|
-march=armv7e-m |
|
-mfpu=fpv4-sp-d16 |
|
-mfloat-abi=hard |
|
) |
|
elseif (${BOARD} STREQUAL "px4fmu-v4") |
|
set(cpu_flags |
|
-mcpu=cortex-m4 |
|
-mthumb |
|
-march=armv7e-m |
|
-mfpu=fpv4-sp-d16 |
|
-mfloat-abi=hard |
|
) |
|
elseif (${BOARD} STREQUAL "px4-stm32f4discovery") |
|
set(cpu_flags |
|
-mcpu=cortex-m4 |
|
-mthumb |
|
-march=armv7e-m |
|
-mfpu=fpv4-sp-d16 |
|
-mfloat-abi=hard |
|
) |
|
elseif (${BOARD} STREQUAL "aerocore") |
|
set(cpu_flags |
|
-mcpu=cortex-m4 |
|
-mthumb |
|
-march=armv7e-m |
|
-mfpu=fpv4-sp-d16 |
|
-mfloat-abi=hard |
|
) |
|
elseif (${BOARD} STREQUAL "px4io-v1") |
|
set(cpu_flags |
|
-mcpu=cortex-m3 |
|
-mthumb |
|
-march=armv7-m |
|
) |
|
elseif (${BOARD} STREQUAL "px4io-v2") |
|
set(cpu_flags |
|
-mcpu=cortex-m3 |
|
-mthumb |
|
-march=armv7-m |
|
) |
|
endif() |
|
list(APPEND c_flags ${cpu_flags}) |
|
list(APPEND cxx_flags ${cpu_flags}) |
|
|
|
# output |
|
foreach(var ${inout_vars}) |
|
string(TOLOWER ${var} lower_var) |
|
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE) |
|
#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)") |
|
endforeach() |
|
|
|
set(DF_TARGET "nuttx" PARENT_SCOPE) |
|
|
|
endfunction() |
|
|
|
#============================================================================= |
|
# |
|
# px4_os_prebuild_targets |
|
# |
|
# This function generates os dependent targets |
|
|
|
# Usage: |
|
# px4_os_prebuild_targets( |
|
# OUT <out-list_of_targets> |
|
# BOARD <in-string> |
|
# ) |
|
# |
|
# Input: |
|
# BOARD : board |
|
# THREADS : number of threads for building |
|
# |
|
# Output: |
|
# OUT : the target list |
|
# |
|
# Example: |
|
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2) |
|
# |
|
function(px4_os_prebuild_targets) |
|
px4_parse_function_args( |
|
NAME px4_os_prebuild_targets |
|
ONE_VALUE OUT BOARD THREADS |
|
REQUIRED OUT BOARD |
|
ARGN ${ARGN}) |
|
px4_nuttx_add_export(OUT nuttx_export_${BOARD} |
|
CONFIG ${BOARD} |
|
THREADS ${THREADS} |
|
DEPENDS git_nuttx) |
|
add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD}) |
|
endfunction() |
|
|
|
# vim: set noet fenc=utf-8 ff=unix nowrap:
|
|
|