mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:48:52 +08:00
Added cross-compiling support.
This commit is contained in:
James Goppert
+1
-1
@@ -4,7 +4,7 @@
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lib*.so
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lib*.so.*
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*.a
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build
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build*/
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.dep
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__pycache__
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*.pyc
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+61
-15
@@ -4,29 +4,75 @@
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cmake_minimum_required(VERSION 2.8)
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if(DEFINED CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Debug Release RelWithDebInfo MinSizeRel")
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else()
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set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Debug Release RelWithDebInfo MinSizeRel")
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endif()
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project(uavcan C CXX)
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project(uavcan)
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#=============================================================================
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# build options
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#
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# options are listed in a table format below
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set(opts
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# name: type: default value: string options list : description
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"CMAKE_BUILD_TYPE:STRING:RelWithDebInfo:Debug Release RelWithDebInfo MinSizeRel:Build type."
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"CMAKE_CXX_FLAGS:STRING:::C++ flags."
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"CMAKE_C_FLAGS:STRING:::C flags."
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"UAVCAN_USE_CPP03:BOOL:OFF::Use cpp03 standard."
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"UAVCAN_PLATFORM:STRING:generic:generic linux stm32:Platform."
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)
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foreach(_opt ${opts})
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# arguments are : delimited
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string(REPLACE ":" ";" _opt ${_opt})
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list(GET _opt 0 _name)
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list(GET _opt 1 _type)
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list(GET _opt 2 _default)
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list(GET _opt 3 _options)
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list(GET _opt 4 _descr)
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# options are space delimited
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string(REPLACE " " ";" _options "${_options}")
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# if a default has not already been defined, use default from table
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if(NOT DEFINED DEFAULT_${_name})
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set(DEFAULT_${_name} ${_default})
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endif()
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# option has not been set already or it is empty, set it with the default
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if(NOT DEFINED ${_name} OR ${_name} STREQUAL "")
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set(${_name} ${DEFAULT_${_name}})
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endif()
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# create a cache from the variable and force it to set
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message(STATUS "${_name}\t: ${${_name}} : ${_descr}")
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set("${_name}" "${${_name}}" CACHE "${_type}" "${_descr}" FORCE)
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# if an options list is provided for the cache, set it
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if("${_type}" STREQUAL "STRING" AND NOT "${_options}" STREQUAL "")
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set_property(CACHE ${_name} PROPERTY STRINGS ${_options})
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endif()
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endforeach()
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#=============================================================================
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# set flags
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#
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include_directories(
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./libuavcan/include/
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./libuavcan/include/dsdlc_generated
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)
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#=============================================================================
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# install
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#
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# DSDL definitions
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#
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install(DIRECTORY dsdl DESTINATION share/uavcan)
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#=============================================================================
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# subdirectories
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#
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# libuavcan
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#
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# library
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add_subdirectory(libuavcan)
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#
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# libuavcan drivers
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#
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if (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
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# drivers
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add_subdirectory(libuavcan_drivers/posix)
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if (${UAVCAN_PLATFORM} STREQUAL "linux")
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message(STATUS "Adding Linux support library")
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add_subdirectory(libuavcan_drivers/posix)
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add_subdirectory(libuavcan_drivers/linux)
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endif ()
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elseif(${UAVCAN_PLATFORM} STREQUAL "stm32")
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add_subdirectory(libuavcan_drivers/stm32/driver)
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endif()
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# vim: set et ft=cmake fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
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@@ -47,6 +47,15 @@ make -j8
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sudo make install
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```
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For cross-compiling the procedure is similar.
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```bash
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mkdir build
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cd build
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cmake .. -D CMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-stm32-cortex-m4.cmake
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make -j8
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```
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The following components will be installed into the system:
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* Libuavcan headers and the static library
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@@ -0,0 +1,173 @@
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# defines:
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#
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# NM
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# OBJCOPY
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# LD
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# CXX_COMPILER
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# C_COMPILER
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# CMAKE_SYSTEM_NAME
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# CMAKE_SYSTEM_VERSION
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# GENROMFS
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# LINKER_FLAGS
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# CMAKE_EXE_LINKER_FLAGS
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# CMAKE_FIND_ROOT_PATH
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# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
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# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
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# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
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include(CMakeForceCompiler)
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# this one is important
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set(CMAKE_SYSTEM_NAME Generic)
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#this one not so much
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set(CMAKE_SYSTEM_VERSION 1)
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# specify the cross compiler
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find_program(C_COMPILER arm-none-eabi-gcc)
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if(NOT C_COMPILER)
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message(FATAL_ERROR "could not find arm-none-eabi-gcc compiler")
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endif()
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cmake_force_c_compiler(${C_COMPILER} GNU)
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find_program(CXX_COMPILER arm-none-eabi-g++)
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if(NOT CXX_COMPILER)
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message(FATAL_ERROR "could not find arm-none-eabi-g++ compiler")
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endif()
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cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
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set(LINKER_FLAGS "-Wl,-gc-sections")
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set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
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# where is the target environment
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set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
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# search for programs in the build host directories
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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# for libraries and headers in the target directories
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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set(warnings
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-Wall
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-Wno-sign-compare
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-Wextra
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#-Wshadow # very verbose due to eigen
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-Wfloat-equal
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-Wpointer-arith
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-Wmissing-declarations
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-Wpacked
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-Wno-unused-parameter
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-Werror=format-security
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-Werror=array-bounds
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-Wfatal-errors
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-Werror=unused-variable
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-Werror=reorder
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-Werror=uninitialized
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-Werror=init-self
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#-Wcast-qual - generates spurious noreturn attribute warnings,
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# try again later
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#-Wconversion - would be nice, but too many "risky-but-safe"
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# conversions in the code
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#-Wcast-align - would help catch bad casts in some cases,
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# but generates too many false positives
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)
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set(max_optimization -Os)
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set(optimization_flags
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-fno-strict-aliasing
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-fomit-frame-pointer
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-funsafe-math-optimizations
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-ffunction-sections
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-fdata-sections
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)
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set(c_warnings
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-Wbad-function-cast
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-Wstrict-prototypes
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-Wmissing-prototypes
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-Wnested-externs
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)
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set(c_compile_flags
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-g
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-fno-common
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-nodefaultlibs
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-nostdlib
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-DCONFIG_WCHAR_BUILTIN
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)
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set(cxx_warnings
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-Wno-missing-field-initializers
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)
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set(cxx_compile_flags
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-g
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-fno-exceptions
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-fno-rtti
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-fno-threadsafe-statics
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-DCONFIG_WCHAR_BUILTIN
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-nodefaultlibs
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-nostdlib
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)
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set(cpu_flags
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-mcpu=cortex-m4
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-mthumb
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-march=armv7e-m
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-mfpu=fpv4-sp-d16
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-mfloat-abi=hard
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)
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find_path(NUTTX_EXPORT_DIR libs/libnuttx.a
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PATHS
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$ENV{HOME}/git/px4/Firmware/build_px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export
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NO_DEFAULT_PATH
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NO_CMAKE_FIND_ROOT_PATH
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)
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if(NOT NUTTX_EXPORT_DIR)
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message(FATAL_ERROR "failed to find NUTTX_EXPORT_DIR, please set")
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else()
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message(STATUS "nuttx export: ${NUTTX_EXPORT_DIR}")
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endif()
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set(uavcan_extra_flags
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-DUAVCAN_NO_ASSERTIONS
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-DUAVCAN_STM32_NUM_IFACES=2
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-DUAVCAN_USE_EXTERNAL_SNPRINT
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-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
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-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
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-DUAVCAN_STM32_TIMER_NUMBER=5
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-DUAVCAN_STM32_NUTTX=1
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-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
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-I${NUTTX_EXPORT_DIR}/include
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-I${NUTTX_EXPORT_DIR}/include/cxx
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-I${NUTTX_EXPORT_DIR}/arch/chip
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-I${NUTTX_EXPORT_DIR}/arch/common
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)
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set(added_c_flags
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${cpu_flags}
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${c_compile_flags}
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${warnings}
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${c_warnings}
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${max_optimization}
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${optimization_flags}
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${uavcan_extra_flags}
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)
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set(added_cxx_flags
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${cpu_flags}
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${cxx_compile_flags}
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${warnings}
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${cxx_warnings}
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${max_optimization}
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${optimization_flags}
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${uavcan_extra_flags}
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)
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string (REPLACE ";" " " DEFAULT_CMAKE_CXX_FLAGS "${added_cxx_flags}")
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string (REPLACE ";" " " DEFAULT_CMAKE_C_FLAGS "${added_c_flags}")
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set(DEFAULT_CMAKE_BUILD_TYPE "RelWithDebInfo")
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set(DEFAULT_UAVCAN_PLATFORM "stm32")
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set(DEFAULT_UAVCAN_USE_CPP03 ON)
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@@ -43,7 +43,7 @@ include_directories(${DSDLC_OUTPUT})
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#
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if (COMPILER_IS_GCC_COMPATIBLE)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wundef")
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if (USE_CPP03)
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if (UAVCAN_USE_CPP03)
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message(STATUS "Using C++03")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++03 -Wno-variadic-macros -Wno-long-long")
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else ()
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@@ -128,3 +128,5 @@ if (DEBUG_BUILD)
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else ()
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message(STATUS "Release build type: " ${CMAKE_BUILD_TYPE})
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endif ()
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# vim: set et ft=cmake fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
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@@ -0,0 +1,18 @@
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include_directories(
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./src
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./include
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)
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add_library(uavcan_stm32_driver STATIC
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./src/uc_stm32_can.cpp
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./src/uc_stm32_clock.cpp
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./src/uc_stm32_thread.cpp
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)
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add_dependencies(uavcan_stm32_driver uavcan)
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install(DIRECTORY include/uavcan_stm32 DESTINATION include)
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install(TARGETS uavcan_stm32_driver DESTINATION lib)
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# vim: set et ft=cmake fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :)
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