mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Work on config only for cmake arguments.
This commit is contained in:
James Goppert
parent
97cb25254d
commit
07851b79c2
138
CMakeLists.txt
138
CMakeLists.txt
@ -95,8 +95,51 @@
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#
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#=============================================================================
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cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
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#=============================================================================
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# parameters
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#
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set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
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file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
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set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
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set(THREADS "4" CACHE STRING
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"number of threads to use for external build processes")
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#=============================================================================
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# configuration
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#
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# must come before project to set toolchain
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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set(config_module "configs/${CONFIG}")
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include(${config_module})
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# require px4 module interface
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set(px4_required_interface
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px4_os_prebuild_targets
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px4_os_add_flags
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)
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foreach(cmd ${px4_required_interface})
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if(NOT COMMAND ${cmd})
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message(FATAL_ERROR "${config_module} must implement ${cmd}")
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endif()
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endforeach()
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set(px4_required_config
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config_firmware_options
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config_extra_builtin_cmds
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config_module_list
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)
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foreach(conf ${px4_required_config})
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if(NOT DEFINED ${conf})
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message(FATAL_ERROR "${config_module} must define ${conf}")
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endif()
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endforeach()
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#=============================================================================
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# project definition
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#
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project(px4 CXX C ASM)
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if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
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cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
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@ -109,69 +152,16 @@ set(verion_patch 2)
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set(version "${version_major}.${version_minor}.${version_patch}")
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set(package-contact "px4users@googlegroups.com")
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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string(REPLACE "_" ";" config_args ${CONFIG})
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list(GET config_args 0 OS)
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list(GET config_args 1 BOARD)
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list(GET config_args 2 LABEL)
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#=============================================================================
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# Validate build configuration and build
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#
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if (NOT NESTED_CMAKE_CALL)
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message(STATUS "IN TOP")
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if (EXISTS ${CMAKE_SOURCE_DIR}/cmake/configs/${CONFIG}.cmake)
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# Get the toolchain information
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include(configs/${CONFIG})
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else()
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message(FATAL_ERROR "build config not found: ${CONFIG}.cmake")
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endif()
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if (NOT "${USE_TOOLCHAIN}" STREQUAL "")
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set(TOOLCHAIN -DCMAKE_TOOLCHAIN_FILE=${CMAKE_SOURCE_DIR}/cmake/toolchains/${USE_TOOLCHAIN}.cmake)
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endif()
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string(REPLACE "_" ";" TARGET_PARAMS ${CONFIG})
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list(GET TARGET_PARAMS 0 OS)
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list(GET TARGET_PARAMS 1 BOARD)
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list(GET TARGET_PARAMS 2 LABEL)
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execute_process( COMMAND ${CMAKE_COMMAND} -E make_directory ${CONFIG} )
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set(NESTED_CMAKE_CALL 1)
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message(STATUS "Before")
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execute_process(WORKING_DIRECTORY ${CONFIG}
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COMMAND ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR} -DNESTED_CMAKE_CALL=TRUE ${TOOLCHAIN} -DOS=${OS} -DBOARD=${BOARD} -DLABEL=${LABEL}
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)
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execute_process( WORKING_DIRECTORY ${CONFIG}
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COMMAND make -s
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)
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message(STATUS "${CMAKE_COMMAND} VERBOSE=1 ${CMAKE_SOURCE_DIR} ${TOOLCHAIN} -DOS=${OS} -DBOARD=${BOARD} -DLABEL=${LABEL}")
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return()
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endif(NOT NESTED_CMAKE_CALL)
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message(STATUS "TARGET: OS(${OS})-BOARD(${BOARD})-LABEL(${LABEL})")
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#=============================================================================
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# cmake modules
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#
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# set module path
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message("OS = ${OS}")
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# prefer board implementation module over os implmementation module
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set(config_module "configs/config_${OS}_${BOARD}_${LABEL}")
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set(config_path "${CMAKE_SOURCE_DIR}/cmake/${config_module}.cmake")
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if (EXISTS ${config_path})
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include(${config_module})
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else()
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message(FATAL_ERROR "build config not found: ${config_path}")
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endif()
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# require px4 module interface
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set(px4_required_functions
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px4_os_prebuild_targets
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px4_os_add_flags
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px4_get_config
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)
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foreach(cmd ${px4_required_functions})
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if(NOT COMMAND ${cmd})
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message(FATAL_ERROR "cmake/${impl_module} must implement ${cmd}")
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endif()
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endforeach()
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# other modules
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enable_testing()
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#=============================================================================
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@ -179,32 +169,15 @@ enable_testing()
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#
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find_package(PythonInterp REQUIRED)
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#=============================================================================
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# parameters
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#
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set(OS "posix" CACHE STRING "desired operating system")
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set_property(CACHE OS PROPERTY STRINGS nuttx posix qurt)
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set(BOARD "sitl" CACHE STRING "target board")
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set_property(CACHE BOARD PROPERTY STRINGS px4fmu-v2 sitl)
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set(LABEL "simple" CACHE STRING "module set label")
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set_property(CACHE LABEL PROPERTY STRINGS simple default)
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set(THREADS "4" CACHE STRING
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"number of threads to use for external build processes")
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set(required_toolchain_variables
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CMAKE_C_COMPILER_ID
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)
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#=============================================================================
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# check required toolchain variables
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#
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foreach(var ${required_toolchain_variables})
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set(required_variables
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CMAKE_C_COMPILER_ID
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)
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foreach(var ${required_variables})
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if (NOT ${var})
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message(FATAL_ERROR "Toolchain must define ${var}")
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message(FATAL_ERROR "Toolchain/config must define ${var}")
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endif()
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endforeach()
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@ -267,9 +240,8 @@ px4_generate_messages(TARGET msg_gen
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#=============================================================================
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# subdirectories
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#
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px4_get_config(OUT_MODULES config_modules)
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set(module_libraries)
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foreach(module ${config_modules})
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foreach(module ${config_module_list})
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add_subdirectory(src/${module})
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px4_mangle_name(${module} mangled_name)
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list(APPEND module_libraries ${mangled_name})
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17
Makefile
17
Makefile
@ -59,10 +59,8 @@ ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
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# --------------------------------------------------------------------
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# define a make function to describe how to build a cmake config
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define cmake-build
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mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && \
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cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/$(1).cmake \
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-DOS=$(2) -DBOARD=$(3) -DLABEL=$(4) && \
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make -s $(ARGS)
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mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -DCONFIG=$(1)
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make -C $(PWD)/build_$@ -s $(ARGS)
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endef
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@ -71,20 +69,19 @@ endef
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# Do not put any spaces between function arguments.
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px4fmu-v2_default:
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$(call cmake-build,Toolchain-arm-none-eabi,nuttx,px4fmu-v2,default)
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$(call cmake-build,nuttx_px4fmu-v2_default)
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px4fmu-v2_simple:
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$(call cmake-build,Toolchain-arm-none-eabi,nuttx,px4fmu-v2,default)
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$(call cmake-build,nuttx_px4fmu-v2_simple)
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nuttx_sim_simple:
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$(call cmake-build,Toolchain-native,nuttx,sim,default)
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$(call cmake-build,$@)
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posix_sitl_simple:
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$(call cmake-build,Toolchain-posix-clang-native,posix,sitl,simple)
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$(call cmake-build,$@)
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qurt_eagle_travis:
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$(call cmake-build,Toolchain-hexagon,qurt,eagle,travis)
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$(call cmake-build,$@)
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# Other targets
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# --------------------------------------------------------------------
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@ -1,203 +1,178 @@
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include(nuttx/px4_impl_nuttx)
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function(px4_get_config)
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set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)
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px4_parse_function_args(
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NAME px4_set_config_modules
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ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
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ARGN ${ARGN})
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set(config_module_list
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#
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# Board support modules
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#
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drivers/device
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/tone_alarm
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drivers/led
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drivers/px4fmu
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drivers/px4io
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drivers/boards/px4fmu-v2
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drivers/rgbled
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drivers/mpu6000
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drivers/mpu9250
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drivers/lsm303d
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drivers/l3gd20
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drivers/hmc5883
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drivers/ms5611
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drivers/mb12xx
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drivers/sf0x
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drivers/ll40ls
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drivers/trone
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drivers/gps
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drivers/pwm_out_sim
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drivers/hott
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drivers/hott/hott_telemetry
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drivers/hott/hott_sensors
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drivers/blinkm
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drivers/airspeed
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drivers/ets_airspeed
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drivers/meas_airspeed
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drivers/frsky_telemetry
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modules/sensors
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drivers/mkblctrl
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drivers/px4flow
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drivers/oreoled
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drivers/gimbal
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drivers/pwm_input
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drivers/camera_trigger
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set(config_module_list
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#
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# Board support modules
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#
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drivers/device
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/tone_alarm
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drivers/led
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drivers/px4fmu
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drivers/px4io
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drivers/boards/px4fmu-v2
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drivers/rgbled
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drivers/mpu6000
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drivers/mpu9250
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drivers/lsm303d
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drivers/l3gd20
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drivers/hmc5883
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drivers/ms5611
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drivers/mb12xx
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drivers/sf0x
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drivers/ll40ls
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drivers/trone
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drivers/gps
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drivers/pwm_out_sim
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drivers/hott
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drivers/hott/hott_telemetry
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drivers/hott/hott_sensors
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drivers/blinkm
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drivers/airspeed
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drivers/ets_airspeed
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drivers/meas_airspeed
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drivers/frsky_telemetry
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modules/sensors
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drivers/mkblctrl
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drivers/px4flow
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drivers/oreoled
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drivers/gimbal
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drivers/pwm_input
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drivers/camera_trigger
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#
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# System commands
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#
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systemcmds/bl_update
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systemcmds/mixer
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systemcmds/param
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systemcmds/perf
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systemcmds/pwm
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systemcmds/esc_calib
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systemcmds/reboot
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systemcmds/top
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systemcmds/config
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systemcmds/nshterm
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systemcmds/mtd
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systemcmds/dumpfile
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systemcmds/ver
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#
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# System commands
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#
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systemcmds/bl_update
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systemcmds/mixer
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systemcmds/param
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systemcmds/perf
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systemcmds/pwm
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systemcmds/esc_calib
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systemcmds/reboot
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systemcmds/top
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systemcmds/config
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systemcmds/nshterm
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systemcmds/mtd
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systemcmds/dumpfile
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systemcmds/ver
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#
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# General system control
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#
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modules/commander
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modules/navigator
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modules/mavlink
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modules/gpio_led
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#modules/uavcan # have to fix CMakeLists.txt
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modules/land_detector
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#
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# General system control
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#
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modules/commander
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modules/navigator
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modules/mavlink
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modules/gpio_led
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#modules/uavcan # have to fix CMakeLists.txt
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modules/land_detector
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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# Too high RAM usage due to static allocations
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# modules/attitude_estimator_ekf
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modules/attitude_estimator_q
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modules/ekf_att_pos_estimator
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modules/position_estimator_inav
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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# Too high RAM usage due to static allocations
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# modules/attitude_estimator_ekf
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modules/attitude_estimator_q
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modules/ekf_att_pos_estimator
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modules/position_estimator_inav
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#
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# Vehicle Control
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#
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# modules/segway # XXX Needs GCC 4.7 fix
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modules/fw_pos_control_l1
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modules/fw_att_control
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modules/mc_att_control
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modules/mc_pos_control
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modules/vtol_att_control
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#
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# Vehicle Control
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#
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# modules/segway # XXX Needs GCC 4.7 fix
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modules/fw_pos_control_l1
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modules/fw_att_control
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modules/mc_att_control
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modules/mc_pos_control
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modules/vtol_att_control
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#
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# Logging
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#
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modules/sdlog2
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#
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# Logging
|
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#
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modules/sdlog2
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#
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# Library modules
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#
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modules/systemlib
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modules/systemlib/mixer
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modules/controllib
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modules/uORB
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modules/dataman
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#
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# Library modules
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#
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||||
modules/systemlib
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modules/systemlib/mixer
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modules/controllib
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modules/uORB
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modules/dataman
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#
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# Libraries
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#
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#lib/mathlib/CMSIS
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lib/mathlib
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lib/mathlib/math/filter
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lib/ecl
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lib/external_lgpl
|
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lib/geo
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lib/geo_lookup
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lib/conversion
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lib/launchdetection
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||||
platforms/nuttx
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#
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# Libraries
|
||||
#
|
||||
#lib/mathlib/CMSIS
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lib/mathlib
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lib/mathlib/math/filter
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lib/ecl
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lib/external_lgpl
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lib/geo
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||||
lib/geo_lookup
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lib/conversion
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lib/launchdetection
|
||||
platforms/nuttx
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# had to add for cmake, not sure why wasn't in original config
|
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platforms/common
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platforms/nuttx/px4_layer
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|
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# had to add for cmake, not sure why wasn't in original config
|
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platforms/common
|
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platforms/nuttx/px4_layer
|
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#
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||||
# OBC challenge
|
||||
#
|
||||
modules/bottle_drop
|
||||
|
||||
#
|
||||
# OBC challenge
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||||
#
|
||||
modules/bottle_drop
|
||||
#
|
||||
# PX4 flow estimator, good for indoors
|
||||
#
|
||||
examples/flow_position_estimator
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||||
|
||||
#
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# PX4 flow estimator, good for indoors
|
||||
#
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examples/flow_position_estimator
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||||
#
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# Rover apps
|
||||
#
|
||||
examples/rover_steering_control
|
||||
|
||||
#
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# Rover apps
|
||||
#
|
||||
examples/rover_steering_control
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||||
#
|
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# Demo apps
|
||||
#
|
||||
#examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/px4_simple_app
|
||||
#examples/px4_simple_app
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#examples/math_demo
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||||
# Tutorial code from
|
||||
# https://px4.io/dev/px4_simple_app
|
||||
#examples/px4_simple_app
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/daemon
|
||||
#examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/daemon
|
||||
#examples/px4_daemon_app
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/debug_values
|
||||
#examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/debug_values
|
||||
#examples/px4_mavlink_debug
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/example_fixedwing_control
|
||||
#examples/fixedwing_control
|
||||
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/example_fixedwing_control
|
||||
#examples/fixedwing_control
|
||||
# Hardware test
|
||||
#examples/hwtest
|
||||
)
|
||||
|
||||
# Hardware test
|
||||
#examples/hwtest
|
||||
set(config_firmware_options
|
||||
PARAM_XML # generate param xml
|
||||
)
|
||||
|
||||
set(firmware_options
|
||||
PARAM_XML # generate param xml
|
||||
)
|
||||
set(config_extra_builtin_cmds
|
||||
serdis_main
|
||||
sercon_main
|
||||
)
|
||||
|
||||
set(extra_cmds serdis_main sercon_main)
|
||||
add_custom_target(sercon)
|
||||
set_target_properties(sercon PROPERTIES
|
||||
MAIN "sercon" STACK "2048")
|
||||
|
||||
# output
|
||||
if(OUT_MODULES)
|
||||
set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
|
||||
endif()
|
||||
|
||||
if (OUT_FW_OPTS)
|
||||
set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
|
||||
endif()
|
||||
|
||||
endfunction()
|
||||
|
||||
function(px4_add_extra_builtin_cmds)
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_extra_builtin_cmds
|
||||
ONE_VALUE OUT
|
||||
REQUIRED OUT
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(sercon)
|
||||
set_target_properties(sercon PROPERTIES
|
||||
MAIN "sercon" STACK "2048")
|
||||
|
||||
add_custom_target(serdis)
|
||||
set_target_properties(serdis PROPERTIES
|
||||
MAIN "serdis" STACK "2048")
|
||||
|
||||
set(${OUT} sercon serdis PARENT_SCOPE)
|
||||
|
||||
endfunction()
|
||||
add_custom_target(serdis)
|
||||
set_target_properties(serdis PROPERTIES
|
||||
MAIN "serdis" STACK "2048")
|
||||
|
||||
@ -143,7 +143,6 @@ function(px4_nuttx_generate_builtin_commands)
|
||||
MULTI_VALUE MODULE_LIST
|
||||
REQUIRED MODULE_LIST OUT
|
||||
ARGN ${ARGN})
|
||||
message(STATUS "argn: ${ARGN}")
|
||||
set(builtin_apps_string)
|
||||
set(builtin_apps_decl_string)
|
||||
set(command_count 0)
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
px4_add_extra_builtin_cmds(OUT extra_builtins)
|
||||
|
||||
px4_nuttx_generate_builtin_commands(
|
||||
OUT builtin_commands.c
|
||||
MODULE_LIST ${module_libraries} ${extra_builtins}
|
||||
MODULE_LIST
|
||||
${module_libraries}
|
||||
${config_extra_builtins_cmds}
|
||||
)
|
||||
|
||||
px4_nuttx_generate_romfs(OUT romfs.o
|
||||
@ -27,10 +27,9 @@ target_link_libraries(firmware_nuttx
|
||||
apps nuttx nosys m gcc
|
||||
-Wl,--end-group)
|
||||
|
||||
px4_get_config(OUT_FW_OPTS fw_opts)
|
||||
px4_nuttx_add_firmware(OUT ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4
|
||||
EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
|
||||
${fw_opts}
|
||||
${config_firmware_options}
|
||||
)
|
||||
|
||||
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user