James Goppert
13 years ago
5 changed files with 381 additions and 46 deletions
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set(CMAKE_TOOLCHAIN_FILE cmake/ArduinoToolchain.cmake) # Arduino Toolchain |
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cmake_minimum_required(VERSION 2.8) |
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project(ArduPilotMega C CXX) |
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# set these for release |
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set(PROJECT_VERSION_MAJOR "2") |
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set(PROJECT_VERSION_MINOR "3") |
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set(PROJECT_VERSION_PATCH "3") |
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set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}") |
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# macro path |
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../cmake/modules") |
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# disallow in-source build |
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include(MacroEnsureOutOfSourceBuild) |
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macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build. |
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Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.") |
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# macros |
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include(CMakeParseArguments) |
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include(APMOption) |
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# options |
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apm_option("APM_PROGRAMMING_PORT" TYPE STRING |
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DESCRIPTION "Programming upload port?" |
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DEFAULT "/dev/ttyUSB0") |
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apm_option("APM_BOARD" TYPE STRING |
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DESCRIPTION "ArduPilotMega board?" |
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DEFAULT "mega2560" |
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OPTIONS "mega" "mega2560") |
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apm_option("APM_PROJECT" TYPE STRING |
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DESCRIPTION "ArduPilotMega project to build?" |
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DEFAULT "ArduPlane" |
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OPTIONS "ArduPlane" "ArduCopter") |
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include(options.cmake) |
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# modify flags from default toolchain flags |
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set(APM_OPT_FLAGS "-Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2") |
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${APM_OPT_FLAGS}") |
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${APM_OPT_FLAGS} -Wno-reorder") |
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${APM_OPT_FLAGS} -Wl,--relax") |
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# build apm project |
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set(${APM_PROJECT}_SKETCH ${CMAKE_SOURCE_DIR}/${APM_PROJECT}) |
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set(${APM_PROJECT}_BOARD ${APM_BOARD}) |
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set(${APM_PROJECT}_PORT ${APM_PROGRAMMING_PORT}) |
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generate_arduino_firmware(${APM_PROJECT}) |
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# packaging settings |
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set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "A universal autopilot system for the ArduPilotMega board.") |
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set(CPACK_PACKAGE_VENDOR "DIYDRONES") |
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set(CPACK_DEBIAN_PACKAGE_MAINTAINER "james.goppert@gmail.com") |
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set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com") |
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set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/README.txt") |
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set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/COPYING.txt") |
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set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/README.txt") |
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set(CPACK_PACKAGE_VERSION_MAJOR "${APPLICATION_VERSION_MAJOR}") |
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set(CPACK_PACKAGE_VERSION_MINOR "${APPLICATION_VERSION_MINOR}") |
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set(CPACK_PACKAGE_VERSION_PATCH "${APPLICATION_VERSION_PATCH}") |
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set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") |
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set(CPACK_SET_DESTDIR TRUE) |
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set(CPACK_SOURCE_IGNORE_FILES ${CPACK_SOURCE_IGNORE_FILES} |
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/.git/;/build/;~$;.*\\\\.bin$;.*\\\\.swp$) |
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set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") |
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set(CPACK_SOURCE_GENERATOR "ZIP") |
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set(CPACK_GENERATOR "ZIP") |
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set(CPACK_PACKAGE_NAME "${APM_PROJECT}_${BOARD}_${HIL_MODE}") |
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include(CPack) |
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@ -1,27 +1,36 @@
@@ -1,27 +1,36 @@
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macro(apm_option NAME) |
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function(apm_option NAME) |
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cmake_parse_arguments(ARG |
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"ADVANCED" |
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"TYPE;DESCRIPTION;DEFAULT" "OPTIONS" ${ARGN}) |
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"TYPE;DESCRIPTION;DEFAULT" "OPTIONS;DEPENDS" ${ARGN}) |
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if ("${ARG_TYPE}" STREQUAL "BOOL") |
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set("${NAME}" "${ARG_DEFAULT}" CACHE BOOL "${ARG_DESCRIPTION}") |
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elseif ( ("${ARG_TYPE}" STREQUAL "STRING") OR ("${ARG_TYPE}" STREQUAL "COMBO")) |
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set("${NAME}" "${ARG_DEFAULT}" CACHE STRING "${ARG_DESCRIPTION}") |
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else() |
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message(FATAL_ERROR "unknown type: \""${ARG_TYPE}"\" for add_option(${NAME}...") |
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endif() |
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#message(STATUS "parsing argument: ${NAME}") |
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if ("${ARG_TYPE}" STREQUAL "COMBO") |
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if ("${ARG_OPTIONS}" STREQUAL "") |
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message(FATAL_ERROR "must set OPTIONS for add_option(${NAME}...") |
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else() |
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set_property(CACHE "${NAME}" PROPERTY STRINGS "${ARG_OPTIONS}") |
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# if option dependencies not met, hide the option |
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foreach(DEPEND ${ARG_DEPENDS}) |
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if (NOT ${${DEPEND}}) |
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#message(STATUS "\tfailed dep: ${DEPEND}") |
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set(ARG_TYPE "INTERNAL") |
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set("${NAME}" "${ARG_DEFAULT}" CACHE INTERNAL "${ARG_DESCRIPTION}" FORCE) |
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return() |
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endif() |
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endforeach() |
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# set variable |
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set("${NAME}" "${ARG_DEFAULT}" CACHE "${ARG_TYPE}" "${ARG_DESCRIPTION}") |
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# force variable reinit if it was internal (hidden) |
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get_property(VAR_TYPE CACHE ${NAME} PROPERTY TYPE) |
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if ("${VAR_TYPE}" STREQUAL "INTERNAL") |
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message(STATUS "\tVAR_TYPE: ${VAR_TYPE}") |
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set("${NAME}" "${ARG_DEFAULT}" CACHE "${ARG_TYPE}" "${ARG_DESCRIPTION}" FORCE) |
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endif() |
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if (ARG_ADVANCED) |
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# set options for combo box |
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set_property(CACHE "${NAME}" PROPERTY STRINGS ${ARG_OPTIONS}) |
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# mark as advanced if advanced option given |
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if(ARG_ADVANCED) |
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mark_as_advanced(FORCE "${NAME}") |
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endif() |
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endmacro() |
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endfunction() |
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# options |
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#bool_option(LOGGING DESCRIPTION "Logging support?" DEFAULT OFF) |
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#bool_option(GPS "Gps support?" ON) |
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#option(CLI_SLIDER "Command-line-interface slider support?" OFF) |
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#option(APM2 "Build for APM 2.0" OFF) |
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# set booleans for project |
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foreach(PROJECT_NAME "ArduPlane;ArduCopter") |
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if ("${APM_PROJECT}" STREQUAL "${PROJECT_NAME}") |
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set(IS_${PROJECT_NAME} true) |
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else() |
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set(IS_${PROJECT_NAME} false) |
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endif() |
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endforeach() |
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if (IS_ARDUCOPTER) |
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endif() |
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apm_option("APM_FRAME" TYPE STRING |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Vehicle type?" |
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DEFAULT "PLANE_FRAME" |
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OPTIONS |
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"PLANE FRAME" |
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"HELI_FRAME" |
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"HEXA_FRAME" |
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"OCTA_FRAME" |
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"Y6_FRAME" |
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) |
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apm_option("GPS_PROTOCOL" TYPE STRING |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "GPS protocol?" |
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DEFAULT "GPS_PROTOCOL_AUTO" |
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OPTIONS |
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"GPS_PROTOOCL_NONE" |
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"GPS_PROTOCOL_AUTO" |
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"GPS_PROTOCOL_NONE" |
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"GPS_PROTOCOL_IMU" |
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"GPS_PROTOCOL_MTK" |
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"GPS_PROTOCOL_MTK16" |
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"GPS_PROTOCOL_UBLOX" |
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"GPS_PROTOCOL_SIRF" |
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"GPS_PROTOCOL_NMEA") |
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apm_option("AIRSPEED_SENSOR" TYPE BOOL |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Enable airspeed sensor?" |
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DEFAULT OFF) |
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apm_option("AIRSPEED_RATIO" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Airspeed ratio?" |
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DEFAULT "1.9936") |
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apm_option("MAGNETOMETER" TYPE BOOL |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Enable airspeed sensor?" |
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DEFAULT OFF) |
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apm_option("MAG_ORIENTATION" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Magnetometer orientation?" |
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DEFAULT "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD" |
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OPTIONS |
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"AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD" |
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"AP_COMPASS_COMPONENTS_DOWN_PINS_BACK" |
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"AP_COMPASS_COMPONENTS_UP_PINS_FORWARD" |
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"AP_COMPASS_COMPONENTS_UP_PINS_BACK") |
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apm_option("HIL_MODE" TYPE STRING |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Hardware-in-the-loop- mode?" |
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DEFAULT "HIL_MODE_DISABLED" |
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OPTIONS |
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"HIL_MODE_DISABLED" |
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"HIL_MODE_ATTITUDE" |
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"HIL_MODE_SENSORS") |
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apm_option("HIL_PORT" TYPE STRING |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Port for Hardware-in-the-loop communication" |
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DEFAULT "0" |
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OPTIONS "0" "1" "2" "3") |
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apm_option("HIL_PROTOCOL" TYPE STRING |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Hardware-in-the-loop protocol?" |
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DEFAULT "HIL_PROTOCOL_MAVLINK" |
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OPTIONS "HIL_PROTOCOL_MAVLINK" "HIL_PROTOCOL_XPLANE") |
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apm_option("GPS_PROTOCOL" TYPE STRING |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Ground station protocol?" |
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DEFAULT "GCS_PROTOCOL_MAVLINK" |
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OPTIONS "GCS_PROTOCOL_NONE" "GCS_PROTOCOL_MAVLINK") |
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apm_option("GCS_PORT" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Ground station port?" |
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DESCRIPTION "3" |
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OPTIONS "0" "1" "2" "3") |
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apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "MAVLink System ID?" |
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DESCRIPTION "1") |
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apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Serial 0 baudrate?" |
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DEFAULT "115200" |
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OPTIONS "57600" "115200") |
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apm_option("SERIAL3_BAUD" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Serial 3 baudrate?" |
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DEFAULT "57600" |
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OPTIONS "57600" "115200") |
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apm_option("BATTERY_EVENT" TYPE BOOL ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Enable low voltage/ high discharge warnings?" |
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DEFAULT OFF) |
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apm_option("LOW_VOLTAGE" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Voltage to consider low (volts)?" |
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DEFAULT "9.6") |
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apm_option("VOLT_DIV_RATIO" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Voltage division ratio?" |
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DEFAULT "3.56") |
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apm_option("CUR_AMPS_PER_VOLT" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Current amps/volt?" |
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DEFAULT "27.32") |
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apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Current amps offset?" |
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DEFAULT "0.0") |
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apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED |
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DEPENDS IS_ARDUPLANE |
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DESCRIPTION "Current amps offset?" |
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DEFAULT "0.0") |
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#set(CUR_AMPS_PER_VOLT "27.32" CACHE STRING "Current amps/volt?") |
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#set(CUR_AMPS_OFFSET "0.0" CACHE STRING "Current amps offset?") |
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#set(HIGH_DISCHARGE "1760" CACHE STRING "What to consider high discharge rate (milliamp-hours)?") |
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#set(INPUT_VOLTAGE "4.68" CACHE STRING "Voltage measured at the processor (volts)?") |
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#set(FLIGHT_MODE_CHANNEL "8" CACHE STRING "The radio channel to control the flight mode.") |
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#set_property(CACHE FLIGHT_MODE_CHANNEL PROPERTY STRINGS 1 2 3 4 5 6 7 8) |
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#set(FLIGHT_MODES MANUAL STABILIZE FLY_BY_WIRE_A FLY_BY_WIRE_B RTL AUTO LOITER CIRCLE) |
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#set(FLIGHT_MODE_1 "RTL" CACHE STRING "Flight mode for radio position 1 (1165 ms)?") |
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#set_property(CACHE FLIGHT_MODE_1 PROPERTY STRINGS ${FLIGHT_MODES}) |
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#set(FLIGHT_MODE_2 "RTL" CACHE STRING "Flight mode for radio position 2 (1295 ms)?") |
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#set_property(CACHE FLIGHT_MODE_2 PROPERTY STRINGS ${FLIGHT_MODES}) |
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#set(FLIGHT_MODE_3 "STABILIZE" CACHE STRING "Flight mode for radio position 3 (1425 ms)?") |
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#set_property(CACHE FLIGHT_MODE_3 PROPERTY STRINGS ${FLIGHT_MODES}) |
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#set(FLIGHT_MODE_4 "STABILIZE" CACHE STRING "Flight mode for radio position 4 (1555 ms)?") |
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#set_property(CACHE FLIGHT_MODE_4 PROPERTY STRINGS ${FLIGHT_MODES}) |
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#set(FLIGHT_MODE_5 "MANUAL" CACHE STRING "Flight mode for radio position 5 (FAILSAFE if using channel 8) (1685 ms)?") |
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#set_property(CACHE FLIGHT_MODE_5 PROPERTY STRINGS ${FLIGHT_MODES}) |
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#set(FLIGHT_MODE_6 "MANUAL" CACHE STRING "Flight mode for radio position 6 (FAILSAFE is using channel 8) (1815 ms)?") |
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#set_property(CACHE FLIGHT_MODE_6 PROPERTY STRINGS ${FLIGHT_MODES}) |
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#set(FLAP_1_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?") |
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#set(FLAP_1_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?") |
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#set(FLAP_2_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?") |
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#set(FLAP_2_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?") |
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#set(THROTTLE_FAILSAFE "ENABLED" CACHE STRING "Enable throttle shuttoff when radio below failsafe value?") |
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#set_property(CACHE THROTTLE_FAILSAFE PROPERTY STRINGS ENABLED DISABLED) |
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#set(THROTTLE_FS_VALUE "950" CACHE STRING "Radio value at which to disable throttle (ms).") |
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#set(GCS_HEARTBEAT_FAILSAFE "DISABLED" CACHE STRING "Enable failsafe when ground station communication lost?") |
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#set_property(CACHE GCS_HEARTBEAT_FAILSAFE PROPERTY STRINGS ENABLED DISABLED) |
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#set(SHORT_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL, then return to AUTO/LOITER") |
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#set(LONG_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL") |
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#set(AUTO_TRIM "DISABLED" CACHE STRING "Update trim with manual radio input when leaving MANUAL mode?") |
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#set_property(CACHE AUTO_TRIM PROPERTY STRINGS ENABLED DISABLED) |
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#set(THROTTLE_REVERSE "DISABLED" CACHE STRING "Reverse throttle output signal?") |
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#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED) |
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#set(ENABLE_STICK_MIXING "DISABLED" CACHE STRING "Enable manual input in autopilot modes?") |
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#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED) |
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#set(THROTTLE_OUT "ENABLED" CACHE STRING "Disabled throttle output? (useful for debugging)?") |
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#set_property(CACHE THROTTLE_OUT PROPERTY STRINGS ENABLED DISABLED) |
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#set(GROUND_START_DELAY "0" CACHE STRING "Delay between power-up and IMU calibration (s)?") |
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#set(ENABLE_AIR_START "DISABLED" CACHE STRING "Enable in-air restart?") |
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#set_property(CACHE ENABLE_AIR_START PROPERTY STRINGS ENABLED DISABLED) |
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