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319 lines
9.5 KiB
319 lines
9.5 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_posix_generate_builtin_commands |
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# |
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# Required OS Interface 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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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix) |
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#============================================================================= |
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# |
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# px4_posix_generate_builtin_commands |
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# |
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# This function generates the builtin_commands.c src for posix |
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# |
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# Usage: |
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# px4_posix_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 : stem of generated apps.cpp/apps.h ("apps") |
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# |
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# Example: |
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# px4_posix_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_posix_generate_builtin_commands) |
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px4_parse_function_args( |
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NAME px4_posix_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 ${MODULE_LIST}) |
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# default |
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set(MAIN_DEFAULT MAIN-NOTFOUND) |
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set(STACK_DEFAULT 1024) |
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set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT) |
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foreach(property MAIN STACK PRIORITY) |
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get_target_property(${property} ${module} ${property}) |
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if(NOT ${property}) |
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set(${property} ${${property}_DEFAULT}) |
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endif() |
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endforeach() |
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if (MAIN) |
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set(builtin_apps_string |
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"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n") |
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set(builtin_apps_decl_string |
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"${builtin_apps_decl_string}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}/src/platforms/apps.cpp.in ${OUT}.cpp) |
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configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h) |
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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 posix 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/posix 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/posix/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(added_c_flags) |
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set(added_cxx_flags) |
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set(added_exe_linker_flags) |
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add_definitions( |
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-D__PX4_POSIX |
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-Dnoreturn_function=__attribute__\(\(noreturn\)\) |
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) |
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include_directories(platforms/posix/include) |
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if(UNIX AND APPLE) |
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add_definitions( |
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-D__PX4_DARWIN |
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-D__DF_DARWIN |
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) |
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if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0) |
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message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}") |
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endif() |
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EXEC_PROGRAM(uname ARGS -v OUTPUT_VARIABLE DARWIN_VERSION) |
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STRING(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION}) |
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# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}") |
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if (DARWIN_VERSION LESS 16) |
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add_definitions( |
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-DCLOCK_MONOTONIC=1 |
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-DCLOCK_REALTIME=0 |
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-D__PX4_APPLE_LEGACY |
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) |
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endif() |
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elseif(CYGWIN) |
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add_definitions( |
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-D__PX4_CYGWIN |
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-D_GNU_SOURCE |
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-D__USE_LINUX_IOCTL_DEFS |
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-U __CUSTOM_FILE_IO__ |
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) |
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else() |
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add_definitions( |
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-D__PX4_LINUX |
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-D__DF_LINUX |
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) |
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endif() |
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# This block sets added_c_flags (appends to others). |
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if ("${BOARD}" STREQUAL "eagle") |
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if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "") |
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message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set") |
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else() |
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set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT}) |
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endif() |
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# Add the toolchain specific flags |
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list(APPEND added_c_flags --sysroot=${HEXAGON_ARM_SYSROOT}) |
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list(APPEND added_cxx_flags --sysroot=${HEXAGON_ARM_SYSROOT}) |
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list(APPEND added_exe_linker_flags |
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-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib |
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-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib |
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--sysroot=${HEXAGON_ARM_SYSROOT} |
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) |
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# This block sets added_c_flags (appends to others). |
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elseif ("${BOARD}" STREQUAL "excelsior") |
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if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "") |
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message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set") |
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else() |
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set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT}) |
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endif() |
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set(excelsior_flags --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork) |
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# Add the toolchain specific flags |
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list(APPEND added_c_flags ${excelsior_flags}) |
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list(APPEND added_cxx_flags ${excelsior_flags}) |
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list(APPEND added_exe_linker_flags |
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-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/usr/lib |
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-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/lib |
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${excelsior_flags} |
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) |
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elseif ("${BOARD}" STREQUAL "rpi") |
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set(RPI_COMPILE_FLAGS -mcpu=cortex-a53 -mfpu=neon -mfloat-abi=hard) |
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list(APPEND added_c_flags ${RPI_COMPILE_FLAGS}) |
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list(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS}) |
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find_program(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER}) |
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GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY) |
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GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE) |
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IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang") |
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set(CLANG_COMPILE_FLAGS |
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--target=arm-pc-linux-gnueabihf |
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-ccc-gcc-name arm-linux-gnueabihf-gcc |
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--sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc |
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-I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/ |
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) |
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list(APPEND added_c_flags ${CLANG_COMPILE_FLAGS}) |
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list(APPEND added_cxx_flags ${CLANG_COMPILE_FLAGS}) |
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list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS} |
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-B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib |
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-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib |
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) |
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ENDIF() |
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endif() |
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# output |
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foreach(var ${inout_vars}) |
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string(TOLOWER ${var} lower_var) |
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#message(STATUS "posix: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)") |
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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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# |
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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 ${ARGN}) |
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add_library(${OUT} INTERFACE) |
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add_dependencies(${OUT} DEPENDS uorb_headers) |
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endfunction()
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