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selectively increase optimization -Os -> -O2

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- targetted at modules/libraries that benefit without drastically
increasing flash usage
 - ignored on boards with CONSTRAINED_FLASH set
This commit is contained in:
Daniel Agar 2020-06-03 18:11:32 -04:00
parent 7f73b9a131
commit 31fe7af454
26 changed files with 71 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
CMakeLists.txt
View File

@ -181,6 +181,18 @@ if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
endif()
if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
set(MAX_CUSTOM_OPT_LEVEL -O0)
elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
set(MAX_CUSTOM_OPT_LEVEL -O1)
else()
if(px4_constrained_flash_build)
set(MAX_CUSTOM_OPT_LEVEL -Os)
else()
set(MAX_CUSTOM_OPT_LEVEL -O2)
endif()
endif()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")

1
boards/bitcraze/crazyflie/default.cmake
View File

@ -6,6 +6,7 @@ px4_add_board(
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
ROMFSROOT px4fmu_common
CONSTRAINED_FLASH
DRIVERS
barometer/lps25h
distance_sensor/vl53l0x

12
boards/holybro/durandal-v1/stackcheck.cmake
View File

@ -7,7 +7,7 @@ px4_add_board(
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
#BUILD_BOOTLOADER
IO px4_io-v2_default
TESTING
# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN
@ -23,7 +23,7 @@ px4_add_board(
batt_smbus
#camera_capture
#camera_trigger
differential_pressure # all available differential pressure drivers
#differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
#dshot
gps
@ -65,6 +65,7 @@ px4_add_board(
commander
dataman
ekf2
#esc_battery
events
fw_att_control
fw_pos_control_l1
@ -78,16 +79,17 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
#rover_pos_control
sensors
#sih
temperature_compensation
vmount
#temperature_compensation
#vmount
vtol_att_control
SYSTEMCMDS
bl_update
#bl_update
dmesg
dumpfile
esc_calib

1
boards/holybro/kakutef7/default.cmake
View File

@ -7,6 +7,7 @@ px4_add_board(
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
CONSTRAINED_FLASH
SERIAL_PORTS
TEL1:/dev/ttyS0 # UART1
TEL2:/dev/ttyS1 # UART2

12
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -47,7 +47,7 @@ px4_add_board(
#pca9685
#power_monitor/ina226
#protocol_splitter
pwm_input
#pwm_input
pwm_out_sim
pwm_out
px4io
@ -61,7 +61,7 @@ px4_add_board(
#uavcan
MODULES
airspeed_selector
attitude_estimator_q
#attitude_estimator_q
battery_status
#camera_feedback
commander
@ -84,11 +84,11 @@ px4_add_board(
#micrortps_bridge
navigator
rc_update
rover_pos_control
#rover_pos_control
sensors
sih
temperature_compensation
vmount
#sih
#temperature_compensation
#vmount
vtol_att_control
SYSTEMCMDS
bl_update

1
boards/px4/io-v2/default.cmake
View File

@ -4,6 +4,7 @@ px4_add_board(
VENDOR px4
MODEL io-v2
TOOLCHAIN arm-none-eabi
CONSTRAINED_FLASH
ARCHITECTURE cortex-m3
DRIVERS
MODULES

2
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
View File

@ -65,7 +65,7 @@ static constexpr wq_config_t I2C3{"wq:I2C3", 1472, -11};
static constexpr wq_config_t I2C4{"wq:I2C4", 1472, -12};
// PX4 att/pos controllers, highest priority after sensors.
static constexpr wq_config_t attitude_ctrl{"wq:attitude_ctrl", 1536, -13};
static constexpr wq_config_t attitude_ctrl{"wq:attitude_ctrl", 1600, -13};
static constexpr wq_config_t navigation_and_controllers{"wq:navigation_and_controllers", 7200, -14};
static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -15};

1
platforms/common/px4_work_queue/CMakeLists.txt
View File

@ -43,4 +43,5 @@ if(PX4_TESTING)
add_subdirectory(test)
endif()
target_compile_options(px4_work_queue PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_link_libraries(px4_work_queue PRIVATE px4_platform)

2
platforms/nuttx/src/px4/common/CMakeLists.txt
View File

@ -32,7 +32,7 @@
############################################################################
# skip for px4_layer support on an IO board
if (NOT ${PX4_BOARD} MATCHES "px4_io")
if(NOT PX4_BOARD MATCHES "px4_io")
add_library(px4_layer
board_crashdump.c

1
platforms/nuttx/src/px4/stm/stm32_common/dshot/CMakeLists.txt
View File

@ -34,3 +34,4 @@
px4_add_library(arch_dshot
dshot.c
)
target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

7
platforms/nuttx/src/px4/stm/stm32_common/hrt/CMakeLists.txt
View File

@ -34,5 +34,8 @@
px4_add_library(arch_hrt
hrt.c
)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable
target_compile_options(arch_hrt
PRIVATE
${MAX_CUSTOM_OPT_LEVEL}
-Wno-cast-align # TODO: fix and enable
)

3
platforms/nuttx/src/px4/stm/stm32_common/io_pins/CMakeLists.txt
View File

@ -32,8 +32,9 @@
############################################################################
px4_add_library(arch_io_pins
input_capture.c
io_timer.c
pwm_servo.c
pwm_trigger.c
input_capture.c
)
target_compile_options(arch_io_pins PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

1
platforms/nuttx/src/px4/stm/stm32_common/spi/CMakeLists.txt
View File

@ -34,3 +34,4 @@
px4_add_library(arch_spi
spi.cpp
)
target_compile_options(arch_spi PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

8
src/lib/drivers/accelerometer/CMakeLists.txt
View File

@ -35,9 +35,5 @@ px4_add_library(drivers_accelerometer
PX4Accelerometer.cpp
PX4Accelerometer.hpp
)
target_link_libraries(drivers_accelerometer
PRIVATE
conversion
drivers__device
mathlib
)
target_compile_options(drivers_accelerometer PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_link_libraries(drivers_accelerometer PRIVATE conversion drivers__device)

1
src/lib/drivers/gyroscope/CMakeLists.txt
View File

@ -35,4 +35,5 @@ px4_add_library(drivers_gyroscope
PX4Gyroscope.cpp
PX4Gyroscope.hpp
)
target_compile_options(drivers_gyroscope PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_link_libraries(drivers_gyroscope PRIVATE conversion drivers__device)

3
src/lib/perf/CMakeLists.txt
View File

@ -32,4 +32,5 @@
############################################################################
add_library(perf perf_counter.cpp)
add_dependencies(perf prebuild_targets)
add_dependencies(perf prebuild_targets)
target_compile_options(perf PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

5
src/lib/systemlib/CMakeLists.txt
View File

@ -33,13 +33,17 @@
set(SRCS
conversions.c
conversions.h
crc.c
crc.h
mavlink_log.cpp
mavlink_log.h
)
if(${PX4_PLATFORM} STREQUAL "nuttx")
list(APPEND SRCS
cpuload.c
cpuload.h
print_load_nuttx.c
otp.c
)
@ -50,3 +54,4 @@ else()
endif()
px4_add_library(systemlib ${SRCS})
target_compile_options(systemlib PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

7
src/modules/mc_att_control/AttitudeControl/CMakeLists.txt
View File

@ -33,10 +33,9 @@
px4_add_library(AttitudeControl
AttitudeControl.cpp
AttitudeControl.hpp
)
target_include_directories(AttitudeControl
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_compile_options(AttitudeControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_include_directories(AttitudeControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
px4_add_unit_gtest(SRC AttitudeControlTest.cpp LINKLIBS AttitudeControl)

4
src/modules/mc_att_control/CMakeLists.txt
View File

@ -37,10 +37,12 @@ px4_add_module(
MODULE modules__mc_att_control
MAIN mc_att_control
COMPILE_FLAGS
${MAX_CUSTOM_OPT_LEVEL}
SRCS
mc_att_control_main.cpp
mc_att_control.hpp
DEPENDS
mathlib
AttitudeControl
mathlib
px4_work_queue
)

1
src/modules/mc_rate_control/CMakeLists.txt
View File

@ -37,6 +37,7 @@ px4_add_module(
MODULE modules__mc_rate_control
MAIN mc_rate_control
COMPILE_FLAGS
${MAX_CUSTOM_OPT_LEVEL}
SRCS
MulticopterRateControl.cpp
MulticopterRateControl.hpp

8
src/modules/mc_rate_control/RateControl/CMakeLists.txt
View File

@ -33,12 +33,10 @@
px4_add_library(RateControl
RateControl.cpp
RateControl.hpp
)
target_include_directories(RateControl
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_compile_options(RateControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_include_directories(RateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(RateControl PRIVATE mathlib)
px4_add_unit_gtest(SRC RateControlTest.cpp LINKLIBS RateControl)

1
src/modules/sensors/sensor_corrections/CMakeLists.txt
View File

@ -35,3 +35,4 @@ px4_add_library(sensor_corrections
SensorCorrections.cpp
SensorCorrections.hpp
)
target_compile_options(sensor_corrections PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

3
src/modules/sensors/vehicle_acceleration/CMakeLists.txt
View File

@ -35,6 +35,9 @@ px4_add_library(vehicle_acceleration
VehicleAcceleration.cpp
VehicleAcceleration.hpp
)
target_compile_options(vehicle_acceleration PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_link_libraries(vehicle_acceleration
PRIVATE
mathlib

3
src/modules/sensors/vehicle_angular_velocity/CMakeLists.txt
View File

@ -35,6 +35,9 @@ px4_add_library(vehicle_angular_velocity
VehicleAngularVelocity.cpp
VehicleAngularVelocity.hpp
)
target_compile_options(vehicle_angular_velocity PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_link_libraries(vehicle_angular_velocity
PRIVATE
mathlib

1
src/modules/sensors/vehicle_imu/CMakeLists.txt
View File

@ -37,4 +37,5 @@ px4_add_library(vehicle_imu
VehicleIMU.cpp
VehicleIMU.hpp
)
target_compile_options(vehicle_imu PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_link_libraries(vehicle_imu PRIVATE sensor_corrections px4_work_queue)

4
src/modules/uORB/CMakeLists.txt
View File

@ -31,7 +31,7 @@
#
############################################################################
if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to platform layer)
if(NOT PX4_BOARD MATCHES "px4_io") # TODO: fix this hack (move uORB to platform layer)
# this includes the generated topics directory
include_directories(${CMAKE_CURRENT_BINARY_DIR})
@ -39,6 +39,8 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
px4_add_module(
MODULE modules__uORB
MAIN uorb
COMPILE_FLAGS
${MAX_CUSTOM_OPT_LEVEL}
SRCS
ORBSet.hpp
Publication.hpp