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326 lines
9.6 KiB
326 lines
9.6 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_make_uavcan_bootloadable |
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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_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_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 ${DEFINITIONS}) |
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include_directories(BEFORE SYSTEM |
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${PX4_BINARY_DIR}/NuttX/nuttx/include |
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${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx |
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) |
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include_directories( |
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${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/armv7-m |
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${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/chip |
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${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/common |
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${PX4_BINARY_DIR}/NuttX/apps/include |
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) |
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#set(added_exe_linker_flags) |
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#set(added_link_dirs ${nuttx_export_dir}/libs) |
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set(added_definitions -D__PX4_NUTTX) |
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list(APPEND added_definitions -D__DF_NUTTX) |
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if("${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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# 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 ${ARGN}) |
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add_custom_target(${OUT} DEPENDS nuttx_context uorb_headers) |
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# parse nuttx config options for cmake |
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file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/nsh/defconfig ConfigContents) |
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foreach(NameAndValue ${ConfigContents}) |
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# Strip leading spaces |
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string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue}) |
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# Find variable name |
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string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue}) |
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if (Name) |
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# Find the value |
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string(REPLACE "${Name}=" "" Value ${NameAndValue}) |
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# remove extra quotes |
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string(REPLACE "\"" "" Value ${Value}) |
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# Set the variable |
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set(${Name} ${Value} PARENT_SCOPE) |
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endif() |
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endforeach() |
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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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# [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 configuration 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 IO |
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REQUIRED HWCLASS |
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ARGN ${ARGN}) |
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# HWCLASS -> CMAKE_SYSTEM_PROCESSOR |
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if(HWCLASS STREQUAL "m7") |
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m7" PARENT_SCOPE) |
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elseif(HWCLASS STREQUAL "m4") |
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m4" PARENT_SCOPE) |
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elseif(HWCLASS STREQUAL "m3") |
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m3" PARENT_SCOPE) |
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endif() |
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set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE) |
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE) |
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# ROMFS |
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if("${ROMFS}" STREQUAL "y") |
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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(config_romfs_root ${config_romfs_root} PARENT_SCOPE) |
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endif() |
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# IO board placed in ROMFS |
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if(config_romfs_root) |
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set(config_io_board ${IO} PARENT_SCOPE) |
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endif() |
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endfunction() |
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# vim: set noet fenc=utf-8 ff=unix nowrap:
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