mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Support for os abstraction.
This commit is contained in:
James Goppert
parent
1d6b31d196
commit
29520c0834
@ -56,6 +56,9 @@
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# Functions/Macros
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# ---------------------------------------------------------------------------
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#
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# * Use px4_parse_function_args to parse functions and check for required
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# arguments.
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#
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# * Never use macros. They allow overwriting global variables and this
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# makes variable declarations hard to locate.
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#
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@ -107,9 +110,17 @@ set(package-contact "px4users@googlegroups.com")
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#
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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include(px4_utils)
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include(px4_nuttx_utils)
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include(px4_${OS}_utils)
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set(px4_required_functions
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px4_os_add_firmware
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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_functions})
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if(NOT COMMAND ${cmd})
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message(FATAL_ERROR "cmake/px4_${OS}_utils.cmake must implement ${cmd}")
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endif()
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endforeach()
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#=============================================================================
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# parameters
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@ -124,8 +135,8 @@ set_property(CACHE BOARD PROPERTY STRINGS px4fmu-v2 sitl)
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set(LABEL "simple" CACHE STRING "module set label")
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set_property(CACHE LABEL PROPERTY STRINGS simple default)
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set(NUTTX_BUILD_THREADS "4" CACHE STRING
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"number of threads to use when building NuttX")
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set(THREADS "4" CACHE STRING
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"number of threads to use for external build processes")
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set(required_toolchain_variables
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CMAKE_C_COMPILER_ID
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@ -159,40 +170,25 @@ add_custom_target(submodule_clean
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#=============================================================================
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# external libraries
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#
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if(${OS} STREQUAL "nuttx")
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px4_nuttx_add_export(OUT nuttx_export
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CONFIG ${BOARD}
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THREADS ${NUTTX_BUILD_THREADS}
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DEPENDS git_nuttx)
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endif()
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px4_os_prebuild_targets(OUT prebuild_targets
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BOARD ${BOARD}
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THREADS ${THREADS})
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#=============================================================================
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# build flags
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#
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px4_add_common_flags(
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px4_os_add_flags(
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BOARD ${BOARD}
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C_FLAGS c_flags
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CXX_FLAGS cxx_flags
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EXE_LINKER_FLAGS exe_linker_flags
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INCLUDE_DIRS include_dirs
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LINK_DIRS link_dirs
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DEFINITIONS definitions)
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if(${OS} STREQUAL "nuttx")
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px4_add_nuttx_flags(
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BOARD ${BOARD}
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C_FLAGS c_flags
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CXX_FLAGS cxx_flags
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EXE_LINKER_FLAGS exe_linker_flags
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INCLUDE_DIRS include_dirs
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LINK_DIRS link_dirs
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DEFINITIONS definitions)
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endif()
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px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
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px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
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px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
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include_directories(${include_dirs})
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link_directories(${link_dirs})
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add_definitions(${definitions})
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@ -31,9 +31,28 @@
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#
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############################################################################
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#=============================================================================
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#
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# Defined functions in this file
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#
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# OS Specific Functions
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#
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# * px4_nuttx_add_firmware
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# * px4_nuttx_generate_builtin_commands
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# * px4_nuttx_add_export
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# * px4_nuttx_generate_romfs
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#
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# Required OS Inteface Functions
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#
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# * px4_os_add_flags
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# * px4_os_prebuild_targets
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#
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include(px4_utils)
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_nuttx_add_firmware
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#
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# This function adds a nuttx firmware target.
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@ -53,7 +72,6 @@ include(px4_utils)
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# Example:
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# px4_nuttx_add_firmware(TARGET fw_test EXE test)
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#
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#----------------------------------------------------------------------------
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function(px4_nuttx_add_firmware)
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px4_parse_function_args(
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NAME px4_nuttx_add_firmware
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@ -74,7 +92,8 @@ function(px4_nuttx_add_firmware)
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)
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_nuttx_generate_builtin_commands
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#
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# This function generates the builtin_commands.c src for nuttx
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@ -91,9 +110,9 @@ endfunction()
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# OUT : generated builtin_commands.c src
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#
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# Example:
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# px4_nuttx_generate_builtin_commands(OUT <generated-src> MODULE_LIST px4_simple_app)
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# px4_nuttx_generate_builtin_commands(
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# OUT <generated-src> MODULE_LIST px4_simple_app)
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#
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#----------------------------------------------------------------------------
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function(px4_nuttx_generate_builtin_commands)
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px4_parse_function_args(
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NAME px4_nuttx_generate_builtin_commands
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@ -127,11 +146,12 @@ function(px4_nuttx_generate_builtin_commands)
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${OUT})
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_nuttx_add_export
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#
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# This function generates a nuttx export.
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#
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# Usage:
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# px4_nuttx_add_export(
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# OUT <out-target>
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@ -148,7 +168,6 @@ endfunction()
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# Example:
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# px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2)
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#
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#----------------------------------------------------------------------------
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function(px4_nuttx_add_export)
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px4_parse_function_args(
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@ -215,7 +234,8 @@ function(px4_nuttx_add_export)
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_nuttx_generate_romfs
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#
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# The functions generates the ROMFS filesystem for nuttx.
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@ -232,7 +252,6 @@ endfunction()
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# Example:
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# px4_nuttx_generate_romfs(OUT my_romfs ROOT "ROMFS/my_board")
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#
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#----------------------------------------------------------------------------
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function(px4_nuttx_generate_romfs)
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px4_parse_function_args(
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@ -257,13 +276,14 @@ function(px4_nuttx_generate_romfs)
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endfunction()
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#----------------------------------------------------------------------------
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# px4_add_nuttx_flags
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#=============================================================================
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#
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# px4_add_flags
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#
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# Set ths nuttx build flags.
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#
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# Usage:
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# px4_add_nuttx_flags(
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# px4_add_flags(
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# C_FLAGS <inout-variable>
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# CXX_FLAGS <inout-variable>
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# EXE_LINKER_FLAGS <inout-variable>
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@ -273,7 +293,7 @@ endfunction()
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#
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# Input:
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# BOARD : flags depend on board/nuttx config
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#
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# Input/Output: (appends to existing variable)
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# C_FLAGS : c compile flags variable
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# CXX_FLAGS : c++ compile flags variable
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@ -283,24 +303,32 @@ endfunction()
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# DEFINITIONS : definitions
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#
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# Example:
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# px4_add_nuttx_flags(
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# px4_add_flags(
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# C_FLAGS CMAKE_C_FLAGS
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# CXX_FLAGS CMAKE_CXX_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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#----------------------------------------------------------------------------
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function(px4_add_nuttx_flags)
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function(px4_add_flags)
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set(inout_vars
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C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
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px4_parse_function_args(
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NAME px4_add_nuttx_flags
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NAME px4_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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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(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
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set(added_include_dirs
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${nuttx_export_dir}/include
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@ -341,8 +369,44 @@ function(px4_add_nuttx_flags)
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foreach(var ${inout_vars})
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string(TOLOWER ${var} lower_var)
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set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
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message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
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endforeach()
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endfunction()
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#=============================================================================
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#
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# px4_prebuild_targets
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#
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# This function generates os dependent targets
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# Usage:
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# px4_os_prebuild_targets(
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# OUT <out-list_of_targets>
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# BOARD <in-string>
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# )
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#
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# Input:
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# BOARD : board
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# THREADS : number of threads for building
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#
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# Output:
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# OUT : the target list
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#
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# Example:
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# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
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#
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function(px4_prebuild_targets)
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px4_parse_function_args(
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NAME px4_add_os_libraries
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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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px4_nuttx_add_export(OUT nuttx_export
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CONFIG ${BOARD}
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THREADS ${THREADS}
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DEPENDS git_nuttx)
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add_custom_target(${OUT} DEPENDS nuttx_export)
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endfunction()
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# vim: set noet fenc=utf-8 ff=unix nowrap:
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@ -31,9 +31,26 @@
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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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# utility functions
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#
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# * px4_parse_function_args
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# * px4_add_git_submodule
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# * px4_prepend_string
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# * px4_join
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# * px4_add_module
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# * px4_generate_messages
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# * px4_add_upload
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# * px4_add_common_flags
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#
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include(CMakeParseArguments)
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_parse_function_args
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#
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# This function simpliies usage of the cmake_parse_arguments module.
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@ -78,7 +95,6 @@ include(CMakeParseArguments)
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# name: hello
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# list: a b c
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#
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#----------------------------------------------------------------------------
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function(px4_parse_function_args)
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cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
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cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
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@ -95,13 +111,14 @@ function(px4_parse_function_args)
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endforeach()
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endfunction()
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#----------------------------------------------------------------------------
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# add_git_submodule
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#=============================================================================
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#
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# px4_add_git_submodule
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#
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# This function add a git submodule target.
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#
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# Usage:
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# add_git_submodule(TARGET <target> PATH <path>)
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# px4_add_git_submodule(TARGET <target> PATH <path>)
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#
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# Input:
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# PATH : git submodule path
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@ -110,9 +127,8 @@ endfunction()
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# TARGET : git target
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#
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# Example:
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# add_git_submodule(TARGET git_nuttx PATH "NuttX")
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# px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
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#
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#----------------------------------------------------------------------------
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function(px4_add_git_submodule)
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px4_parse_function_args(
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NAME px4_add_git_submodule
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@ -131,7 +147,8 @@ function(px4_add_git_submodule)
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)
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_prepend_string
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#
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# This function prepends a string to a list
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@ -152,7 +169,6 @@ endfunction()
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# path/to/src/file1.cpp
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# path/to/src/file2.cpp
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#
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#----------------------------------------------------------------------------
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function(px4_prepend_string)
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px4_parse_function_args(
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NAME px4_prepend_string
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@ -167,7 +183,8 @@ function(px4_prepend_string)
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set(${OUT} ${${OUT}} PARENT_SCOPE)
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_join
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#
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# This function joins a list with a given separator. If list is not
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@ -188,7 +205,6 @@ endfunction()
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# test_join would then be:
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# "a;b;c"
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#
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#----------------------------------------------------------------------------
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function(px4_join)
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px4_parse_function_args(
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NAME px4_join
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@ -200,7 +216,8 @@ function(px4_join)
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set(${OUT} ${_TMP_STR} PARENT_SCOPE)
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_add_module
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#
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# This function builds a static library from a module description.
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@ -236,7 +253,6 @@ endfunction()
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# git_nuttx
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# )
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#
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#----------------------------------------------------------------------------
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function(px4_add_module)
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px4_parse_function_args(
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NAME px4_add_module
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@ -264,11 +280,12 @@ function(px4_add_module)
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set_target_properties(${MODULE} PROPERTIES LINK_INTERFACE_MULTIPLICITY 4)
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_generate_messages
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#
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# This function generates source code from ROS msg definitions.
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#
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# Usage:
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# px4_generate_messages(TARGET <target> MSGS <msg-files>)
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#
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@ -286,7 +303,6 @@ endfunction()
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# [ DEPENDS <dependencies> ]
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# )
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#
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#----------------------------------------------------------------------------
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function(px4_generate_messages)
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px4_parse_function_args(
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NAME px4_generate_messages
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@ -349,11 +365,12 @@ function(px4_generate_messages)
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DEPENDS ${msg_multi_files_out} ${msg_files_out})
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
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# px4_add_upload
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#
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# This function generates source code from ROS msg definitions.
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#
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# Usage:
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# px4_add_upload(OUT <target> BUNDLE <file.px4>)
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#
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@ -370,7 +387,6 @@ endfunction()
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# BUNDLE main.px4
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# )
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#
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#----------------------------------------------------------------------------
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function(px4_add_upload)
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px4_parse_function_args(
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NAME px4_generate_messages
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@ -403,13 +419,15 @@ function(px4_add_upload)
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)
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endfunction()
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#----------------------------------------------------------------------------
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#=============================================================================
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#
|
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# px4_add_common_flags
|
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#
|
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# Set ths default build flags.
|
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#
|
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# Usage:
|
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# px4_add_common_flags(
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# BOARD <in-string>
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# C_FLAGS <inout-variable>
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# CXX_FLAGS <inout-variable>
|
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# EXE_LINKER_FLAGS <inout-variable>
|
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@ -417,6 +435,9 @@ endfunction()
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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 : board
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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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@ -427,12 +448,12 @@ endfunction()
|
||||
#
|
||||
# Example:
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# px4_add_common_flags(
|
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# BOARD px4fmu-v2
|
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# C_FLAGS CMAKE_C_FLAGS
|
||||
# CXX_FLAGS CMAKE_CXX_FLAGS
|
||||
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
|
||||
# INCLUDES <list>)
|
||||
#
|
||||
#----------------------------------------------------------------------------
|
||||
function(px4_add_common_flags)
|
||||
|
||||
set(inout_vars
|
||||
@ -440,8 +461,8 @@ function(px4_add_common_flags)
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_common_flags
|
||||
ONE_VALUE ${inout_vars}
|
||||
REQUIRED ${inout_vars}
|
||||
ONE_VALUE ${inout_vars} BOARD
|
||||
REQUIRED ${inout_vars} BOARD
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(warnings
|
||||
@ -569,8 +590,10 @@ function(px4_add_common_flags)
|
||||
|
||||
set(added_link_dirs) # none used currently
|
||||
|
||||
string(TOUPPER ${BOARD} board_upper)
|
||||
string(REPLACE "-" "_" board_config ${board_upper})
|
||||
set(added_definitions
|
||||
-DCONFIG_ARCH_BOARD_${BOARD_CONFIG}
|
||||
-DCONFIG_ARCH_BOARD_${board_config}
|
||||
)
|
||||
|
||||
set(added_exe_link_flags
|
||||
@ -582,13 +605,9 @@ function(px4_add_common_flags)
|
||||
foreach(var ${inout_vars})
|
||||
string(TOLOWER ${var} lower_var)
|
||||
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
||||
message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
||||
endforeach()
|
||||
|
||||
endfunction()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# vim: set noet fenc=utf-8 ff=unix nowrap:
|
||||
|
||||
@ -64,7 +64,7 @@ if (${OS} STREQUAL "nuttx")
|
||||
px4_nuttx_add_firmware(OUT fw_main.px4 EXE main)
|
||||
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD} BUNDLE fw_main.px4)
|
||||
|
||||
px4_nuttx_generate_romfs(OUT romfs.img ROOT ROMFS/px4fmu_common)
|
||||
px4_generate_romfs(OUT romfs.img ROOT ROMFS/px4fmu_common)
|
||||
|
||||
endif()
|
||||
|
||||
|
||||
@ -33,10 +33,9 @@
|
||||
set(depends
|
||||
msg_gen
|
||||
)
|
||||
if(${OS} STREQUAL "nuttx")
|
||||
list(APPEND depends
|
||||
nuttx_export
|
||||
)
|
||||
|
||||
if (prebuild_targets)
|
||||
list(APPEND depends prebuild_targets)
|
||||
endif()
|
||||
|
||||
px4_add_module(
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user