mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
cmake use standard mechanisms for settings flags
This commit is contained in:
Daniel Agar
David Sidrane
parent
11be2b8873
commit
3e0a3559a9
@ -213,7 +213,7 @@ endif()
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message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
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include(px4_add_board)
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include(${PX4_CONFIG_FILE})
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message(STATUS "PX4 config: ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}")
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message(STATUS "PX4 config: ${PX4_CONFIG}")
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message(STATUS "PX4 platform: ${PX4_PLATFORM}")
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# external modules
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@ -272,6 +272,11 @@ endif()
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# Setup install paths
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if (${PX4_PLATFORM} STREQUAL "posix")
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# This makes it possible to dynamically load code which depends on symbols
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# inside the px4 executable.
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_ENABLE_EXPORTS ON)
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include(coverage)
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include(sanitizers)
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@ -287,19 +292,6 @@ if (${PX4_PLATFORM} STREQUAL "posix")
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include(CTest)
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endif()
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#=============================================================================
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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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px4_add_board
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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} must implement ${cmd}")
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endif()
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endforeach()
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#=============================================================================
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# ccache
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#
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@ -349,19 +341,9 @@ endif()
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#=============================================================================
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# build flags
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#
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px4_os_add_flags(
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BOARD ${PX4_BOARD}
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C_FLAGS c_flags
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CXX_FLAGS cxx_flags
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OPTIMIZATION_FLAGS optimization_flags
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EXE_LINKER_FLAGS exe_linker_flags
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INCLUDE_DIRS include_dirs
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LINK_DIRS link_dirs
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DEFINITIONS definitions)
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px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
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px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
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px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
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include(px4_add_common_flags)
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px4_add_common_flags()
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px4_os_add_flags()
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#=============================================================================
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# message, and airframe generation
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@ -546,14 +528,14 @@ add_custom_target(all_metadata
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#
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# Important to having packaging at end of cmake file.
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#
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set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
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set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
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set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
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set(CPACK_PACKAGE_CONTACT ${package-contact})
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set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
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set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
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set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
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set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
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set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${PX4_GIT_TAG}")
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set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
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set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
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set(CPACK_PACKAGING_INSTALL_PREFIX "")
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@ -4,7 +4,7 @@ px4_add_board(
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MODEL ocpoc
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LABEL ubuntu
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PLATFORM posix
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PROCESSOR cortex-a9
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ARCHITECTURE cortex-a9
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TOOLCHAIN arm-linux-gnueabihf
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TESTING
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR airmind
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MODEL mindpx-v2
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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TESTING
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UAVCAN_INTERFACES 1
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@ -25,16 +25,24 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
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set(CONFIG_SHMEM "1")
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add_definitions(-DORB_COMMUNICATOR)
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# This definition allows to differentiate if this just the usual POSIX build
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# or if it is for the Snapdragon.
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add_definitions(-D__PX4_POSIX_EAGLE)
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# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
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add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
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add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
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add_definitions(
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-D__PX4_POSIX_EAGLE
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-D__PX4_LINUX
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# For DriverFramework
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-D__DF_LINUX
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)
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px4_add_board(
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PLATFORM posix
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VENDOR atlflight
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MODEL eagle
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LABEL default
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TESTING
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#TESTING
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TOOLCHAIN arm-linux-gnueabihf
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DRIVERS
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@ -100,18 +108,18 @@ px4_add_board(
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reboot
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sd_bench
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shutdown
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tests # tests and test runner
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#tests # tests and test runner
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top
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topic_listener
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tune_control
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ver
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EXAMPLES
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bottle_drop # OBC challenge
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#bottle_drop # OBC challenge
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hwtest # Hardware test
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px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
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px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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rover_steering_control # Rover example app
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segway
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#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
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#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
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#rover_steering_control # Rover example app
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#segway
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)
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@ -47,8 +47,6 @@
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#define BOARD_NUMBER_BRICKS 0
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#define CONFIG_ARCH_BOARD_SITL 1
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/*
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* I2C busses
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*/
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@ -25,9 +25,17 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
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set(CONFIG_SHMEM "1")
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add_definitions(-DORB_COMMUNICATOR)
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# This definition allows to differentiate if this just the usual POSIX build
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# or if it is for the Snapdragon.
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add_definitions(-D__PX4_POSIX_EXCELSIOR)
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# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
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add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
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add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
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add_definitions(
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-D__PX4_POSIX_EXCELSIOR
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-D__PX4_LINUX
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# For DriverFramework
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-D__DF_LINUX
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)
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px4_add_board(
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PLATFORM posix
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR atmel
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MODEL same70xplained
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m7
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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TESTING
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#UAVCAN_INTERFACES 1
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@ -41,7 +41,7 @@ px4_add_board(
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VENDOR auav
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MODEL esc35-v1
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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DRIVERS
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bootloaders
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR auav
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MODEL x21
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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TESTING
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR av
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MODEL x-v1
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m7
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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TESTING
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UAVCAN_INTERFACES 2
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@ -4,7 +4,7 @@ px4_add_board(
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MODEL blue
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LABEL cross
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PLATFORM posix
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PROCESSOR cortex-a8
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ARCHITECTURE cortex-a8
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TOOLCHAIN arm-linux-gnueabihf
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TESTING
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR bitcraze
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MODEL crazyflie
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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DRIVERS
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@ -4,7 +4,7 @@ px4_add_board(
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MODEL navio2
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LABEL cross
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PLATFORM posix
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PROCESSOR cortex-a53
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ARCHITECTURE cortex-a53
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TOOLCHAIN arm-linux-gnueabihf
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TESTING
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR gumstix
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MODEL aerocore2
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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UAVCAN_INTERFACES 1
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR intel
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MODEL aerofc-v1
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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SERIAL_PORTS
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@ -5,7 +5,7 @@ px4_add_board(
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MODEL aerofc-v1
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LABEL rtsp
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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SERIAL_PORTS
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR nxp
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MODEL hlite-v3
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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TESTING
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UAVCAN_INTERFACES 2
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@ -3,7 +3,7 @@
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# see misc/tools/kconfig-language.txt.
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#
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if ARCH_BOARD_NXPHLITE_V3
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if ARCH_BOARD_NXP_HLITE_V3
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config NXPHLITE_SDHC_AUTOMOUNT
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bool "SDHC automounter"
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default n
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@ -35,8 +35,8 @@
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*
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************************************************************************************/
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#ifndef __CONFIG_NXPHLITE_V3_INCLUDE_BOARD_H
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#define __CONFIG_NXPHLITE_V3_INCLUDE_BOARD_H
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#ifndef __CONFIG_NXP_HLITE_V3_INCLUDE_BOARD_H
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#define __CONFIG_NXP_HLITE_V3_INCLUDE_BOARD_H
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/************************************************************************************
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* Included Files
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@ -556,4 +556,4 @@ void kinetis_boardinitialize(void);
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __CONFIG_NXPHLITE_V23_INCLUDE_BOARD_H */
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#endif /* __CONFIG_NXP_HLITE_V3_INCLUDE_BOARD_H */
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR omnibus
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MODEL f4sd
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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SERIAL_PORTS
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@ -3,7 +3,7 @@ px4_add_board(
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VENDOR parrot
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MODEL bebop
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PLATFORM posix
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PROCESSOR cortex-a53
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ARCHITECTURE cortex-a53
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TOOLCHAIN arm-linux-gnueabihf
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DRIVERS
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@ -39,7 +39,7 @@ px4_add_board(
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VENDOR px4
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MODEL cannode-v1
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m3
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ARCHITECTURE cortex-m3
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DRIVERS
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bootloaders
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@ -41,7 +41,7 @@ px4_add_board(
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VENDOR px4
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MODEL esc-v1
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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DRIVERS
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bootloaders
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@ -4,7 +4,7 @@ px4_add_board(
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VENDOR px4
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MODEL fmu-v2
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
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IO px4_io-v2_default
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@ -5,7 +5,7 @@ px4_add_board(
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MODEL fmu-v2
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LABEL lpe
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
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IO px4_io-v2_default
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@ -5,7 +5,7 @@ px4_add_board(
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MODEL fmu-v2
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LABEL test
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_test
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IO px4_io-v2_default
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TESTING
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@ -7,7 +7,7 @@ px4_add_board(
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MODEL fmu-v3
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LABEL default
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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TESTING
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|
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@ -7,7 +7,7 @@ px4_add_board(
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MODEL fmu-v3
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LABEL rtps
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TOOLCHAIN arm-none-eabi
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PROCESSOR cortex-m4
|
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ARCHITECTURE cortex-m4
|
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
|
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TESTING
|
||||
|
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@ -7,7 +7,7 @@ px4_add_board(
|
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MODEL fmu-v3
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LABEL stackcheck
|
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TOOLCHAIN arm-none-eabi
|
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PROCESSOR cortex-m4
|
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ARCHITECTURE cortex-m4
|
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ROMFSROOT px4fmu_common
|
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IO px4_io-v2_default
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||||
TESTING
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||||
|
||||
@ -5,7 +5,7 @@ px4_add_board(
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MODEL fmu-v4
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LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m4
|
||||
ARCHITECTURE cortex-m4
|
||||
ROMFSROOT px4fmu_common
|
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TESTING
|
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UAVCAN_INTERFACES 1
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|
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@ -5,7 +5,7 @@ px4_add_board(
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MODEL fmu-v4
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LABEL rtps
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TOOLCHAIN arm-none-eabi
|
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PROCESSOR cortex-m4
|
||||
ARCHITECTURE cortex-m4
|
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ROMFSROOT px4fmu_common
|
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TESTING
|
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UAVCAN_INTERFACES 1
|
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|
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@ -5,7 +5,7 @@ px4_add_board(
|
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MODEL fmu-v4
|
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LABEL stackcheck
|
||||
TOOLCHAIN arm-none-eabi
|
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PROCESSOR cortex-m4
|
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ARCHITECTURE cortex-m4
|
||||
ROMFSROOT px4fmu_common
|
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TESTING
|
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#UAVCAN_INTERFACES 1
|
||||
|
||||
@ -5,7 +5,7 @@ px4_add_board(
|
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MODEL fmu-v4pro
|
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LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m4
|
||||
ARCHITECTURE cortex-m4
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
|
||||
@ -5,7 +5,7 @@ px4_add_board(
|
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MODEL fmu-v4pro
|
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LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m4
|
||||
ARCHITECTURE cortex-m4
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
|
||||
@ -318,8 +318,6 @@
|
||||
* the connector interface and Spektrum requires VDD 3v3 to be controllable
|
||||
*/
|
||||
|
||||
#define BOARD_NAME "PX4_FMU_V4PRO"
|
||||
|
||||
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
|
||||
@ -4,7 +4,7 @@ px4_add_board(
|
||||
VENDOR px4
|
||||
MODEL fmu-v5
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m7
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
|
||||
@ -5,7 +5,7 @@ px4_add_board(
|
||||
MODEL fmu-v5
|
||||
LABEL rtps
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m7
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
|
||||
@ -5,7 +5,7 @@ px4_add_board(
|
||||
MODEL fmu-v5
|
||||
LABEL stackcheck
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m7
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
|
||||
@ -4,7 +4,7 @@ px4_add_board(
|
||||
VENDOR px4
|
||||
MODEL io-v2
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m3
|
||||
ARCHITECTURE cortex-m3
|
||||
DRIVERS
|
||||
stm32
|
||||
MODULES
|
||||
|
||||
@ -4,7 +4,7 @@ px4_add_board(
|
||||
MODEL raspberrypi
|
||||
LABEL cross
|
||||
PLATFORM posix
|
||||
PROCESSOR cortex-a53
|
||||
ARCHITECTURE cortex-a53
|
||||
TOOLCHAIN Toolchain-arm-linux-gnueabihf
|
||||
TESTING
|
||||
|
||||
|
||||
@ -47,8 +47,6 @@
|
||||
#define BOARD_HAS_NO_RESET
|
||||
#define BOARD_HAS_NO_BOOTLOADER
|
||||
|
||||
#define CONFIG_ARCH_BOARD_SITL 1
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_ONBOARD 2
|
||||
#define PX4_NUMBER_I2C_BUSES 1
|
||||
|
||||
@ -4,7 +4,7 @@ px4_add_board(
|
||||
VENDOR stm
|
||||
MODEL 32f4discovery
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m4
|
||||
ARCHITECTURE cortex-m4
|
||||
ROMFSROOT px4fmu_common
|
||||
#TESTING
|
||||
|
||||
|
||||
@ -4,7 +4,7 @@ px4_add_board(
|
||||
VENDOR stm
|
||||
MODEL nucleo-F767ZI
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m7
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
#UAVCAN_INTERFACES 2
|
||||
|
||||
@ -32,7 +32,7 @@ px4_add_board(
|
||||
VENDOR thiemar
|
||||
MODEL s2740vc-v1
|
||||
TOOLCHAIN arm-none-eabi
|
||||
PROCESSOR cortex-m4
|
||||
ARCHITECTURE cortex-m4
|
||||
|
||||
DRIVERS
|
||||
bootloaders
|
||||
|
||||
@ -46,7 +46,7 @@ include(px4_base)
|
||||
# MODEL <string>
|
||||
# [ LABEL <string> ]
|
||||
# [ TOOLCHAIN <string> ]
|
||||
# [ PROCESSOR <string> ]
|
||||
# [ ARCHITECTURE <string> ]
|
||||
# [ ROMFSROOT <string> ]
|
||||
# [ IO <string> ]
|
||||
# [ BOOTLOADER <string> ]
|
||||
@ -67,7 +67,7 @@ include(px4_base)
|
||||
# MODEL : name of board model
|
||||
# LABEL : optional label, set to default if not specified
|
||||
# TOOLCHAIN : cmake toolchain
|
||||
# PROCESSOR : name of the CPU CMake is building for (used by the toolchain)
|
||||
# ARCHITECTURE : name of the CPU CMake is building for (used by the toolchain)
|
||||
# ROMFSROOT : relative path to the ROMFS root directory (currently NuttX only)
|
||||
# IO : name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
|
||||
# BOOTLOADER : bootloader file to include for flashing via bl_update (currently NuttX only)
|
||||
@ -88,7 +88,7 @@ include(px4_base)
|
||||
# VENDOR px4
|
||||
# MODEL fmu-v5
|
||||
# TOOLCHAIN arm-none-eabi
|
||||
# PROCESSOR cortex-m7
|
||||
# ARCHITECTURE cortex-m7
|
||||
# ROMFSROOT px4fmu_common
|
||||
# IO px4_io-v2_default
|
||||
# SERIAL_PORTS
|
||||
@ -137,7 +137,7 @@ function(px4_add_board)
|
||||
MODEL
|
||||
LABEL
|
||||
TOOLCHAIN
|
||||
PROCESSOR
|
||||
ARCHITECTURE
|
||||
ROMFSROOT
|
||||
IO
|
||||
BOOTLOADER
|
||||
@ -159,28 +159,32 @@ function(px4_add_board)
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(PX4_BOARD_DIR ${CMAKE_CURRENT_LIST_DIR} CACHE STRING "PX4 board directory" FORCE)
|
||||
include_directories(${PX4_BOARD_DIR}/src)
|
||||
|
||||
set(PX4_BOARD ${VENDOR}_${MODEL} CACHE STRING "PX4 board" FORCE)
|
||||
|
||||
# board name is uppercase with no underscores when used as a define
|
||||
string(TOUPPER ${PX4_BOARD} PX4_BOARD_NAME)
|
||||
string(REPLACE "-" "_" PX4_BOARD_NAME ${PX4_BOARD_NAME})
|
||||
set(PX4_BOARD_NAME ${PX4_BOARD_NAME} CACHE STRING "PX4 board define" FORCE)
|
||||
|
||||
set(PX4_BOARD_VENDOR ${VENDOR} CACHE STRING "PX4 board vendor" FORCE)
|
||||
set(PX4_BOARD_MODEL ${MODEL} CACHE STRING "PX4 board model" FORCE)
|
||||
|
||||
if(BOARD_OVERRIDE)
|
||||
set(PX4_BOARD ${BOARD_OVERRIDE} CACHE STRING "PX4 board" FORCE)
|
||||
else()
|
||||
set(PX4_BOARD ${VENDOR}_${MODEL} CACHE STRING "PX4 board" FORCE)
|
||||
endif()
|
||||
|
||||
if(LABEL)
|
||||
set(PX4_BOARD_LABEL ${LABEL} CACHE STRING "PX4 board label" FORCE)
|
||||
else()
|
||||
set(PX4_BOARD_LABEL "default" CACHE STRING "PX4 board label" FORCE)
|
||||
endif()
|
||||
|
||||
set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE STRING "PX4 config" FORCE)
|
||||
|
||||
# set OS, and append specific platform module path
|
||||
set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
|
||||
|
||||
if(PROCESSOR)
|
||||
set(CMAKE_SYSTEM_PROCESSOR ${PROCESSOR} CACHE INTERNAL "system processor" FORCE)
|
||||
if(ARCHITECTURE)
|
||||
set(CMAKE_SYSTEM_PROCESSOR ${ARCHITECTURE} CACHE INTERNAL "system processor" FORCE)
|
||||
endif()
|
||||
|
||||
if(TOOLCHAIN)
|
||||
@ -264,7 +268,6 @@ function(px4_add_board)
|
||||
# add board config directory src to build modules
|
||||
file(RELATIVE_PATH board_support_src_rel ${PX4_SOURCE_DIR}/src ${PX4_BOARD_DIR})
|
||||
list(APPEND config_module_list ${board_support_src_rel}/src)
|
||||
include_directories(${CMAKE_CURRENT_LIST_DIR}/src)
|
||||
|
||||
set(config_module_list ${config_module_list} PARENT_SCOPE)
|
||||
|
||||
|
||||
@ -40,49 +40,27 @@ include(px4_base)
|
||||
# Set the default build flags.
|
||||
#
|
||||
# Usage:
|
||||
# px4_add_common_flags(
|
||||
# BOARD <in-string>
|
||||
# C_FLAGS <inout-variable>
|
||||
# CXX_FLAGS <inout-variable>
|
||||
# OPTIMIZATION_FLAGS <inout-variable>
|
||||
# EXE_LINKER_FLAGS <inout-variable>
|
||||
# INCLUDE_DIRS <inout-variable>
|
||||
# LINK_DIRS <inout-variable>
|
||||
# DEFINITIONS <inout-variable>)
|
||||
#
|
||||
# Input:
|
||||
# BOARD : board
|
||||
#
|
||||
# Input/Output: (appends to existing variable)
|
||||
# C_FLAGS : c compile flags variable
|
||||
# CXX_FLAGS : c++ compile flags variable
|
||||
# OPTIMIZATION_FLAGS : optimization compile flags variable
|
||||
# EXE_LINKER_FLAGS : executable linker flags variable
|
||||
# INCLUDE_DIRS : include directories
|
||||
# LINK_DIRS : link directories
|
||||
# DEFINITIONS : definitions
|
||||
#
|
||||
# Example:
|
||||
# px4_add_common_flags(
|
||||
# BOARD px4_fmu-v2
|
||||
# C_FLAGS CMAKE_C_FLAGS
|
||||
# CXX_FLAGS CMAKE_CXX_FLAGS
|
||||
# OPTIMIZATION_FLAGS optimization_flags
|
||||
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
|
||||
# INCLUDES <list>)
|
||||
# px4_add_common_flags()
|
||||
#
|
||||
function(px4_add_common_flags)
|
||||
|
||||
set(inout_vars
|
||||
C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
|
||||
add_compile_options(
|
||||
-g # always build debug symbols
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_common_flags
|
||||
ONE_VALUE ${inout_vars} BOARD
|
||||
REQUIRED ${inout_vars}
|
||||
ARGN ${ARGN})
|
||||
# optimization options
|
||||
-fdata-sections
|
||||
-ffunction-sections
|
||||
-fomit-frame-pointer
|
||||
-funsafe-math-optimizations
|
||||
|
||||
set(warnings
|
||||
-fno-strict-aliasing
|
||||
-fno-math-errno
|
||||
|
||||
# visibility
|
||||
-fvisibility=hidden
|
||||
-include visibility.h
|
||||
|
||||
# Warnings
|
||||
-Wall
|
||||
-Wextra
|
||||
-Werror
|
||||
@ -95,132 +73,95 @@ function(px4_add_common_flags)
|
||||
-Wformat-security
|
||||
-Winit-self
|
||||
-Wlogical-op
|
||||
-Wmissing-declarations
|
||||
-Wpointer-arith
|
||||
-Wshadow
|
||||
-Wuninitialized
|
||||
-Wunknown-pragmas
|
||||
-Wunused-variable
|
||||
|
||||
# disabled warnings
|
||||
-Wno-implicit-fallthrough # set appropriate level and update
|
||||
-Wno-missing-field-initializers
|
||||
-Wno-missing-include-dirs # TODO: fix and enable
|
||||
-Wno-unused-parameter
|
||||
)
|
||||
|
||||
if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
|
||||
# compiler specific flags
|
||||
if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
|
||||
|
||||
# force color for clang (needed for clang + ccache)
|
||||
add_compile_options(-fcolor-diagnostics)
|
||||
|
||||
# QuRT 6.4.X compiler identifies as Clang but does not support this option
|
||||
if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
|
||||
list(APPEND warnings
|
||||
if (NOT "${PX4_PLATFORM}" STREQUAL "qurt")
|
||||
add_compile_options(
|
||||
-Qunused-arguments
|
||||
-Wno-unused-const-variable
|
||||
-Wno-varargs
|
||||
|
||||
-Wno-address-of-packed-member
|
||||
-Wno-unknown-warning-option
|
||||
-Wunused-but-set-variable
|
||||
-Wno-unused-const-variable
|
||||
-Wno-varargs
|
||||
)
|
||||
endif()
|
||||
else()
|
||||
list(APPEND warnings
|
||||
-Wunused-but-set-variable
|
||||
-Wformat=1
|
||||
)
|
||||
endif()
|
||||
|
||||
set(_optimization_flags
|
||||
-fno-strict-aliasing
|
||||
-fomit-frame-pointer
|
||||
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
|
||||
|
||||
-fno-math-errno
|
||||
-funsafe-math-optimizations
|
||||
if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9)
|
||||
# force color for gcc > 4.9
|
||||
add_compile_options(-fdiagnostics-color=always)
|
||||
endif()
|
||||
|
||||
-ffunction-sections
|
||||
-fdata-sections
|
||||
)
|
||||
|
||||
set(c_warnings
|
||||
-Wbad-function-cast
|
||||
-Wstrict-prototypes
|
||||
-Wmissing-prototypes
|
||||
-Wnested-externs
|
||||
)
|
||||
|
||||
set(c_compile_flags
|
||||
-g
|
||||
-std=gnu99
|
||||
-fno-common
|
||||
)
|
||||
|
||||
set(cxx_warnings
|
||||
-Wno-overloaded-virtual # TODO: fix and remove
|
||||
-Wreorder
|
||||
)
|
||||
|
||||
set(cxx_compile_flags
|
||||
-g
|
||||
-fno-exceptions
|
||||
-fno-rtti
|
||||
-std=gnu++11
|
||||
-fno-threadsafe-statics
|
||||
-DCONFIG_WCHAR_BUILTIN
|
||||
-D__CUSTOM_FILE_IO__
|
||||
)
|
||||
|
||||
# regular Clang or AppleClang
|
||||
if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
# force color for clang (needed for clang + ccache)
|
||||
list(APPEND _optimization_flags
|
||||
-fcolor-diagnostics
|
||||
)
|
||||
else()
|
||||
list(APPEND _optimization_flags
|
||||
-fno-strength-reduce
|
||||
add_compile_options(
|
||||
-fno-builtin-printf
|
||||
-fno-strength-reduce
|
||||
|
||||
-Wformat=1
|
||||
-Wunused-but-set-variable
|
||||
|
||||
-Wno-format-truncation # TODO: fix
|
||||
)
|
||||
|
||||
# -fcheck-new is a no-op for Clang in general
|
||||
# and has no effect, but can generate a compile
|
||||
# error for some OS
|
||||
list(APPEND cxx_compile_flags
|
||||
-fcheck-new
|
||||
)
|
||||
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-fcheck-new>)
|
||||
|
||||
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Intel")
|
||||
message(FATAL_ERROR "Intel compiler not yet supported")
|
||||
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
|
||||
message(FATAL_ERROR "MS compiler not yet supported")
|
||||
endif()
|
||||
|
||||
if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||
if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9)
|
||||
# force color for gcc > 4.9
|
||||
list(APPEND _optimization_flags
|
||||
-fdiagnostics-color=always
|
||||
)
|
||||
endif()
|
||||
# C only flags
|
||||
set(c_flags)
|
||||
list(APPEND c_flags
|
||||
-fno-common
|
||||
|
||||
list(APPEND cxx_warnings
|
||||
-Wno-format-truncation # TODO: fix
|
||||
)
|
||||
endif()
|
||||
-Wbad-function-cast
|
||||
-Wnested-externs
|
||||
-Wstrict-prototypes
|
||||
)
|
||||
foreach(flag ${c_flags})
|
||||
add_compile_options($<$<COMPILE_LANGUAGE:C>:${flag}>)
|
||||
endforeach()
|
||||
|
||||
set(visibility_flags
|
||||
-fvisibility=hidden
|
||||
-include visibility.h
|
||||
)
|
||||
|
||||
set(added_c_flags
|
||||
${c_compile_flags}
|
||||
${warnings}
|
||||
${c_warnings}
|
||||
${visibility_flags}
|
||||
)
|
||||
# CXX only flags
|
||||
set(cxx_flags)
|
||||
list(APPEND cxx_flags
|
||||
-fno-exceptions
|
||||
-fno-rtti
|
||||
-fno-threadsafe-statics
|
||||
|
||||
set(added_cxx_flags
|
||||
${cxx_compile_flags}
|
||||
${warnings}
|
||||
${cxx_warnings}
|
||||
${visibility_flags}
|
||||
)
|
||||
-Wreorder
|
||||
|
||||
# disabled warnings
|
||||
-Wno-overloaded-virtual # TODO: fix and remove
|
||||
)
|
||||
foreach(flag ${cxx_flags})
|
||||
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:${flag}>)
|
||||
endforeach()
|
||||
|
||||
set(added_optimization_flags
|
||||
${_optimization_flags}
|
||||
)
|
||||
|
||||
include_directories(
|
||||
${PX4_BINARY_DIR}
|
||||
@ -237,19 +178,10 @@ function(px4_add_common_flags)
|
||||
${PX4_SOURCE_DIR}/src/platforms
|
||||
)
|
||||
|
||||
string(TOUPPER ${PX4_BOARD} board_upper)
|
||||
string(REPLACE "-" "_" board_config ${board_upper})
|
||||
|
||||
add_definitions(
|
||||
-DCONFIG_ARCH_BOARD_${board_config}
|
||||
-DCONFIG_ARCH_BOARD_${PX4_BOARD_NAME}
|
||||
-D__CUSTOM_FILE_IO__
|
||||
-D__STDC_FORMAT_MACROS
|
||||
)
|
||||
|
||||
# output
|
||||
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()
|
||||
|
||||
@ -212,13 +212,6 @@ function(px4_add_module)
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
# join list variables to get ready to send to compiler
|
||||
foreach(prop LINK_FLAGS)
|
||||
if(${prop})
|
||||
px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
|
||||
if (${prop})
|
||||
set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
|
||||
|
||||
@ -38,7 +38,6 @@
|
||||
# utility functions
|
||||
#
|
||||
# * px4_parse_function_args
|
||||
# * px4_join
|
||||
#
|
||||
|
||||
include(CMakeParseArguments)
|
||||
@ -114,40 +113,6 @@ function(px4_parse_function_args)
|
||||
endfunction()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_join
|
||||
#
|
||||
# This function joins a list with a given separator. If list is not
|
||||
# passed, or is sent "", this will return the empty string.
|
||||
#
|
||||
# Usage:
|
||||
# px4_join(OUT ${OUT} [ LIST ${LIST} ] GLUE ${GLUE})
|
||||
#
|
||||
# Input:
|
||||
# LIST : list to join
|
||||
# GLUE : separator to use
|
||||
#
|
||||
# Output:
|
||||
# OUT : joined list
|
||||
#
|
||||
# Example:
|
||||
# px4_join(OUT test_join LIST a b c GLUE ";")
|
||||
# test_join would then be:
|
||||
# "a;b;c"
|
||||
#
|
||||
function(px4_join)
|
||||
px4_parse_function_args(
|
||||
NAME px4_join
|
||||
ONE_VALUE OUT GLUE
|
||||
MULTI_VALUE LIST
|
||||
REQUIRED GLUE OUT
|
||||
ARGN ${ARGN})
|
||||
string (REPLACE ";" "${GLUE}" _TMP_STR "${LIST}")
|
||||
set(${OUT} ${_TMP_STR} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_find_python_module
|
||||
|
||||
@ -90,7 +90,7 @@ target_link_libraries(${FW_NAME} PRIVATE
|
||||
-fno-rtti
|
||||
|
||||
-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${PX4_BOARD}/scripts/ld.script
|
||||
-Wl,-Map=${CONFIG}.map
|
||||
-Wl,-Map=${PX4_CONFIG}.map
|
||||
-Wl,--warn-common
|
||||
-Wl,--gc-sections
|
||||
|
||||
@ -195,7 +195,7 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
|
||||
string(REPLACE ";" "," serial_ports "${serial_ports}")
|
||||
|
||||
add_custom_target(upload
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_file}
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
|
||||
set(cpu_flags "-mcpu=cortex-m3 -mthumb -march=armv7-m")
|
||||
set(cpu_flags "-mcpu=cortex-m3 -mthumb")
|
||||
|
||||
set(CMAKE_C_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
|
||||
set(cpu_flags "-mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard")
|
||||
set(cpu_flags "-mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard")
|
||||
|
||||
set(CMAKE_C_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
|
||||
set(cpu_flags "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard")
|
||||
set(cpu_flags "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard")
|
||||
|
||||
set(CMAKE_C_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")
|
||||
|
||||
@ -49,62 +49,8 @@ include(px4_base)
|
||||
#
|
||||
# Set the nuttx build flags.
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_add_flags(
|
||||
# C_FLAGS <inout-variable>
|
||||
# CXX_FLAGS <inout-variable>
|
||||
# OPTIMIZATION_FLAGS <inout-variable>
|
||||
# EXE_LINKER_FLAGS <inout-variable>
|
||||
# INCLUDE_DIRS <inout-variable>
|
||||
# LINK_DIRS <inout-variable>
|
||||
# DEFINITIONS <inout-variable>)
|
||||
#
|
||||
# Input:
|
||||
# BOARD : flags depend on board/nuttx config
|
||||
#
|
||||
# Input/Output: (appends to existing variable)
|
||||
# C_FLAGS : c compile flags variable
|
||||
# CXX_FLAGS : c++ compile flags variable
|
||||
# OPTIMIZATION_FLAGS : optimization compile flags variable
|
||||
# EXE_LINKER_FLAGS : executable linker flags variable
|
||||
# INCLUDE_DIRS : include directories
|
||||
# LINK_DIRS : link directories
|
||||
# DEFINITIONS : definitions
|
||||
#
|
||||
# Note that EXE_LINKER_FLAGS is not suitable for adding libraries because
|
||||
# these flags are added before any of the object files and static libraries.
|
||||
# Add libraries in src/firmware/nuttx/CMakeLists.txt.
|
||||
#
|
||||
# Example:
|
||||
# px4_os_add_flags(
|
||||
# C_FLAGS CMAKE_C_FLAGS
|
||||
# CXX_FLAGS CMAKE_CXX_FLAGS
|
||||
# OPTIMIZATION_FLAGS optimization_flags
|
||||
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
|
||||
# INCLUDES <list>)
|
||||
#
|
||||
function(px4_os_add_flags)
|
||||
|
||||
set(inout_vars
|
||||
C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_os_add_flags
|
||||
ONE_VALUE ${inout_vars} BOARD
|
||||
REQUIRED ${inout_vars}
|
||||
ARGN ${ARGN})
|
||||
|
||||
include(px4_add_common_flags)
|
||||
px4_add_common_flags(
|
||||
BOARD ${PX4_BOARD}
|
||||
C_FLAGS ${C_FLAGS}
|
||||
CXX_FLAGS ${CXX_FLAGS}
|
||||
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
|
||||
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
|
||||
INCLUDE_DIRS ${INCLUDE_DIRS}
|
||||
LINK_DIRS ${LINK_DIRS}
|
||||
DEFINITIONS ${DEFINITIONS})
|
||||
|
||||
include_directories(BEFORE SYSTEM
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/include
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
|
||||
@ -125,20 +71,12 @@ function(px4_os_add_flags)
|
||||
|
||||
if("${CONFIG_ARMV7M_STACKCHECK}" STREQUAL "y")
|
||||
message(STATUS "NuttX Stack Checking (CONFIG_ARMV7M_STACKCHECK) enabled")
|
||||
set(instrument_flags
|
||||
add_compile_options(
|
||||
-finstrument-functions
|
||||
-ffixed-r10
|
||||
)
|
||||
list(APPEND c_flags ${instrument_flags})
|
||||
list(APPEND cxx_flags ${instrument_flags})
|
||||
endif()
|
||||
|
||||
# output
|
||||
foreach(var ${inout_vars})
|
||||
string(TOLOWER ${var} lower_var)
|
||||
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
||||
#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
||||
endforeach()
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
|
||||
@ -21,13 +21,12 @@ px4_posix_generate_alias(
|
||||
PREFIX ${PX4_SHELL_COMMAND_PREFIX}
|
||||
)
|
||||
|
||||
if (("${PX4_BOARD}" STREQUAL "atlflight_eagle") OR ("${PX4_BOARD}" STREQUAL "atlflight_excelsior"))
|
||||
if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlflight_excelsior"))
|
||||
include(fastrpc)
|
||||
include(linux_app)
|
||||
|
||||
FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
|
||||
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
|
||||
LINUX_APP(
|
||||
APP_NAME px4
|
||||
IDL_NAME px4muorb
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
|
||||
set(cpu_flags "-mcpu=cortex-a53 -mfpu=neon -mfloat-abi=hard")
|
||||
|
||||
set(CMAKE_C_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
|
||||
set(cpu_flags "-mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard -mthumb-interwork")
|
||||
|
||||
set(CMAKE_C_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
|
||||
set(cpu_flags "-mcpu=cortex-a8 -mfpu=neon-vfpv3 -mfloat-abi=hard -mthumb-interwork")
|
||||
|
||||
set(CMAKE_C_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
|
||||
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")
|
||||
|
||||
@ -47,11 +47,6 @@
|
||||
|
||||
include(px4_base)
|
||||
|
||||
# This makes it possible to dynamically load code which depends on symbols
|
||||
# inside the px4 executable.
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
set(CMAKE_ENABLE_EXPORTS ON)
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_posix_generate_builtin_commands
|
||||
@ -215,65 +210,10 @@ endfunction()
|
||||
# Set the posix build flags.
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_add_flags(
|
||||
# C_FLAGS <inout-variable>
|
||||
# CXX_FLAGS <inout-variable>
|
||||
# OPTIMIZATION_FLAGS <inout-variable>
|
||||
# EXE_LINKER_FLAGS <inout-variable>
|
||||
# INCLUDE_DIRS <inout-variable>
|
||||
# LINK_DIRS <inout-variable>
|
||||
# DEFINITIONS <inout-variable>)
|
||||
#
|
||||
# Input:
|
||||
# BOARD : flags depend on board/posix config
|
||||
#
|
||||
# Input/Output: (appends to existing variable)
|
||||
# C_FLAGS : c compile flags variable
|
||||
# CXX_FLAGS : c++ compile flags variable
|
||||
# OPTIMIZATION_FLAGS : optimization compile flags variable
|
||||
# EXE_LINKER_FLAGS : executable linker flags variable
|
||||
# INCLUDE_DIRS : include directories
|
||||
# LINK_DIRS : link directories
|
||||
# DEFINITIONS : definitions
|
||||
#
|
||||
# Note that EXE_LINKER_FLAGS is not suitable for adding libraries because
|
||||
# these flags are added before any of the object files and static libraries.
|
||||
# Add libraries in src/firmware/posix/CMakeLists.txt.
|
||||
#
|
||||
# Example:
|
||||
# px4_os_add_flags(
|
||||
# C_FLAGS CMAKE_C_FLAGS
|
||||
# CXX_FLAGS CMAKE_CXX_FLAGS
|
||||
# OPTIMIZATION_FLAGS optimization_flags
|
||||
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
|
||||
# INCLUDES <list>)
|
||||
# px4_os_add_flags()
|
||||
#
|
||||
function(px4_os_add_flags)
|
||||
|
||||
set(inout_vars
|
||||
C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_os_add_flags
|
||||
ONE_VALUE ${inout_vars} BOARD
|
||||
REQUIRED ${inout_vars} BOARD
|
||||
ARGN ${ARGN})
|
||||
|
||||
include(px4_add_common_flags)
|
||||
px4_add_common_flags(
|
||||
BOARD ${PX4_BOARD}
|
||||
C_FLAGS ${C_FLAGS}
|
||||
CXX_FLAGS ${CXX_FLAGS}
|
||||
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
|
||||
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
|
||||
INCLUDE_DIRS ${INCLUDE_DIRS}
|
||||
LINK_DIRS ${LINK_DIRS}
|
||||
DEFINITIONS ${DEFINITIONS})
|
||||
|
||||
set(added_c_flags)
|
||||
set(added_cxx_flags)
|
||||
set(added_exe_linker_flags)
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_POSIX
|
||||
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
|
||||
@ -281,177 +221,107 @@ function(px4_os_add_flags)
|
||||
|
||||
include_directories(platforms/posix/include)
|
||||
|
||||
if(UNIX AND APPLE)
|
||||
add_definitions(
|
||||
-D__PX4_DARWIN
|
||||
-D__DF_DARWIN
|
||||
)
|
||||
if ("${PX4_BOARD}" MATCHES "sitl")
|
||||
|
||||
if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
|
||||
message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
|
||||
endif()
|
||||
|
||||
execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
|
||||
string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
|
||||
# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
|
||||
if (DARWIN_VERSION LESS 16)
|
||||
if(UNIX AND APPLE)
|
||||
add_definitions(
|
||||
-DCLOCK_MONOTONIC=1
|
||||
-DCLOCK_REALTIME=0
|
||||
-D__PX4_APPLE_LEGACY
|
||||
-D__PX4_DARWIN
|
||||
-D__DF_DARWIN
|
||||
)
|
||||
|
||||
if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
|
||||
message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
|
||||
endif()
|
||||
|
||||
execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
|
||||
string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
|
||||
# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
|
||||
if (DARWIN_VERSION LESS 16)
|
||||
add_definitions(
|
||||
-DCLOCK_MONOTONIC=1
|
||||
-DCLOCK_REALTIME=0
|
||||
-D__PX4_APPLE_LEGACY
|
||||
)
|
||||
endif()
|
||||
|
||||
elseif(CYGWIN)
|
||||
add_definitions(
|
||||
-D__PX4_CYGWIN
|
||||
-D_GNU_SOURCE
|
||||
-D__USE_LINUX_IOCTL_DEFS
|
||||
-U__CUSTOM_FILE_IO__
|
||||
)
|
||||
else()
|
||||
add_definitions(
|
||||
-D__PX4_LINUX
|
||||
-D__DF_LINUX
|
||||
)
|
||||
endif()
|
||||
|
||||
elseif(CYGWIN)
|
||||
add_definitions(
|
||||
-D__PX4_CYGWIN
|
||||
-D_GNU_SOURCE
|
||||
-D__USE_LINUX_IOCTL_DEFS
|
||||
-U __CUSTOM_FILE_IO__
|
||||
)
|
||||
else()
|
||||
elseif (("${PX4_BOARD}" MATCHES "navio2") OR ("${PX4_BOARD}" MATCHES "raspberrypi"))
|
||||
|
||||
#TODO: move to board support
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_LINUX
|
||||
|
||||
# For DriverFramework
|
||||
-D__DF_LINUX
|
||||
)
|
||||
endif()
|
||||
|
||||
# This block sets added_c_flags (appends to others).
|
||||
if ("${PX4_BOARD}" STREQUAL "eagle")
|
||||
|
||||
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
|
||||
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
|
||||
else()
|
||||
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
|
||||
endif()
|
||||
|
||||
# Add the toolchain specific flags
|
||||
list(APPEND added_c_flags --sysroot=${HEXAGON_ARM_SYSROOT})
|
||||
list(APPEND added_cxx_flags --sysroot=${HEXAGON_ARM_SYSROOT})
|
||||
|
||||
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
|
||||
list(APPEND added_cxx_flags -Wno-missing-field-initializers)
|
||||
|
||||
list(APPEND added_exe_linker_flags
|
||||
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib
|
||||
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib
|
||||
--sysroot=${HEXAGON_ARM_SYSROOT}
|
||||
)
|
||||
# This block sets added_c_flags (appends to others).
|
||||
elseif ("${PX4_BOARD}" STREQUAL "excelsior")
|
||||
|
||||
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
|
||||
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
|
||||
else()
|
||||
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
|
||||
endif()
|
||||
|
||||
set(excelsior_flags --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)
|
||||
|
||||
# Add the toolchain specific flags
|
||||
list(APPEND added_c_flags ${excelsior_flags})
|
||||
list(APPEND added_cxx_flags ${excelsior_flags})
|
||||
|
||||
list(APPEND added_exe_linker_flags
|
||||
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/usr/lib
|
||||
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/lib
|
||||
${excelsior_flags}
|
||||
)
|
||||
|
||||
elseif ("${PX4_BOARD}" STREQUAL "rpi")
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_POSIX_RPI
|
||||
-D__DF_LINUX # For DriverFramework
|
||||
-D__DF_RPI # For DriverFramework
|
||||
-D__DF_RPI
|
||||
)
|
||||
|
||||
set(RPI_COMPILE_FLAGS -mcpu=cortex-a53 -mfpu=neon -mfloat-abi=hard)
|
||||
list(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
|
||||
list(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})
|
||||
elseif ("${PX4_BOARD}" MATCHES "bebop")
|
||||
|
||||
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
|
||||
list(APPEND added_cxx_flags -Wno-missing-field-initializers)
|
||||
|
||||
find_program(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})
|
||||
|
||||
GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
|
||||
GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)
|
||||
|
||||
IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
|
||||
set(CLANG_COMPILE_FLAGS
|
||||
--target=arm-pc-linux-gnueabihf
|
||||
-ccc-gcc-name arm-linux-gnueabihf-gcc
|
||||
--sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc
|
||||
-I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/
|
||||
)
|
||||
|
||||
list(APPEND added_c_flags ${CLANG_COMPILE_FLAGS})
|
||||
list(APPEND added_cxx_flags ${CLANG_COMPILE_FLAGS})
|
||||
list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS}
|
||||
-B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
|
||||
-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
|
||||
)
|
||||
ENDIF()
|
||||
elseif ("${PX4_BOARD}" STREQUAL "bebop")
|
||||
#TODO: move to board support
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_POSIX_BEBOP
|
||||
-D__DF_LINUX # Define needed DriverFramework
|
||||
-D__DF_BEBOP # Define needed DriverFramework
|
||||
)
|
||||
-D__PX4_LINUX
|
||||
-D__PX4_POSIX_BEBOP # TODO: remove
|
||||
|
||||
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
|
||||
list(APPEND added_cxx_flags -Wno-missing-field-initializers)
|
||||
# For DriverFramework
|
||||
-D__DF_LINUX
|
||||
-D__DF_BEBOP
|
||||
)
|
||||
|
||||
elseif ("${PX4_BOARD}" MATCHES "aerotenna_ocpoc")
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_POSIX_OCPOC
|
||||
-D__DF_LINUX # For DriverFramework
|
||||
-D__DF_OCPOC # For DriverFramework
|
||||
-D__PX4_POSIX
|
||||
)
|
||||
|
||||
elseif ("${PX4_BOARD}" STREQUAL "beaglebone_blue")
|
||||
#TODO: move to board support
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_POSIX_BBBLUE
|
||||
-D__PX4_POSIX
|
||||
-D__DF_LINUX # For DriverFramework
|
||||
-D__DF_BBBLUE # For DriverFramework
|
||||
-DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library
|
||||
#-DDEBUG_BUILD
|
||||
-D__PX4_LINUX
|
||||
-D__PX4_POSIX_OCPOC # TODO: remove
|
||||
|
||||
#optional __DF_BBBLUE_USE_RC_BMP280_IMP
|
||||
-D__DF_BBBLUE_USE_RC_BMP280_IMP
|
||||
-D__PX4_BBBLUE_DEFAULT_MAVLINK_WIFI="wlan"
|
||||
# For DriverFramework
|
||||
-D__DF_LINUX
|
||||
-D__DF_OCPOC
|
||||
)
|
||||
|
||||
set(BBBLUE_COMPILE_FLAGS -mcpu=cortex-a8 -mfpu=neon -mfloat-abi=hard -mtune=cortex-a8)
|
||||
list(APPEND added_c_flags ${BBBLUE_COMPILE_FLAGS})
|
||||
list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS})
|
||||
elseif ("${PX4_BOARD}" MATCHES "beaglebone_blue")
|
||||
#TODO: move to board support
|
||||
add_definitions(
|
||||
-D__PX4_LINUX
|
||||
-D__PX4_POSIX_BBBLUE # TODO: remove
|
||||
|
||||
# For DriverFramework
|
||||
-D__DF_LINUX
|
||||
-D__DF_BBBLUE
|
||||
-D__DF_BBBLUE_USE_RC_BMP280_IMP # optional
|
||||
|
||||
-DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library, TODO: remove
|
||||
)
|
||||
|
||||
set(LIBROBOTCONTROL_INSTALL_DIR $ENV{LIBROBOTCONTROL_INSTALL_DIR})
|
||||
|
||||
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
|
||||
#
|
||||
# On cross compile host system and native build system:
|
||||
# a) select and define LIBROBOTCONTROL_INSTALL_DIR environment variable so that
|
||||
# other unwanted headers will not be included
|
||||
# b) install robotcontrol.h and rc/* into $LIBROBOTCONTROL_INSTALL_DIR/include
|
||||
# c) install pre-built native (ARM) version of librobotcontrol.* into $LIBROBOTCONTROL_INSTALL_DIR/lib
|
||||
list(APPEND added_cxx_flags -I${LIBROBOTCONTROL_INSTALL_DIR}/include -Wno-missing-field-initializers)
|
||||
list(APPEND added_c_flags -I${LIBROBOTCONTROL_INSTALL_DIR}/include)
|
||||
|
||||
list(APPEND added_exe_linker_flags -L${LIBROBOTCONTROL_INSTALL_DIR}/lib)
|
||||
endif()
|
||||
add_compile_options(-I${LIBROBOTCONTROL_INSTALL_DIR}/include)
|
||||
|
||||
# output
|
||||
foreach(var ${inout_vars})
|
||||
string(TOLOWER ${var} lower_var)
|
||||
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
||||
endforeach()
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${LIBROBOTCONTROL_INSTALL_DIR}/lib")
|
||||
|
||||
endif()
|
||||
|
||||
endfunction()
|
||||
|
||||
|
||||
@ -90,9 +90,10 @@ foreach(viewer ${viewers})
|
||||
endforeach()
|
||||
endforeach()
|
||||
|
||||
px4_join(OUT posix_vmd_make_target_list LIST ${all_posix_vmd_make_targets} GLUE "\\n")
|
||||
string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
|
||||
|
||||
add_custom_target(list_vmd_make_targets
|
||||
COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
|
||||
COMMENT "List of acceptable '${CONFIG}' <viewer_model_debugger> targets:"
|
||||
COMMENT "List of acceptable '${PX4_BOARD}' <viewer_model_debugger> targets:"
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
@ -9,8 +9,6 @@ add_subdirectory(src)
|
||||
|
||||
include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
||||
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
|
||||
|
||||
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
|
||||
|
||||
px4_qurt_generate_builtin_commands(
|
||||
@ -20,6 +18,8 @@ px4_qurt_generate_builtin_commands(
|
||||
|
||||
FASTRPC_STUB_GEN(px4muorb.idl)
|
||||
|
||||
add_definitions(-D__QAIC_SKEL_EXPORT=__EXPORT)
|
||||
|
||||
# Enable build without HexagonSDK to check link dependencies
|
||||
if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
|
||||
|
||||
@ -36,6 +36,7 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
|
||||
)
|
||||
|
||||
target_link_libraries(px4 PRIVATE ${module_libraries} ${df_driver_libs})
|
||||
|
||||
else()
|
||||
# Generate the DSP lib and stubs but not the apps side executable
|
||||
# The Apps side executable is generated via the posix_eagle_xxxx target
|
||||
|
||||
@ -31,7 +31,6 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# Defined functions in this file
|
||||
@ -106,61 +105,10 @@ endfunction()
|
||||
# Set the qurt build flags.
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_add_flags(
|
||||
# C_FLAGS <inout-variable>
|
||||
# CXX_FLAGS <inout-variable>
|
||||
# OPTIMIZATION_FLAGS <inout-variable>
|
||||
# EXE_LINKER_FLAGS <inout-variable>
|
||||
# INCLUDE_DIRS <inout-variable>
|
||||
# LINK_DIRS <inout-variable>
|
||||
# DEFINITIONS <inout-variable>)
|
||||
#
|
||||
# Input:
|
||||
# BOARD : flags depend on board/qurt config
|
||||
#
|
||||
# Input/Output: (appends to existing variable)
|
||||
# C_FLAGS : c compile flags variable
|
||||
# CXX_FLAGS : c++ compile flags variable
|
||||
# OPTIMIZATION_FLAGS : optimization compile flags variable
|
||||
# EXE_LINKER_FLAGS : executable linker flags variable
|
||||
# INCLUDE_DIRS : include directories
|
||||
# LINK_DIRS : link directories
|
||||
# DEFINITIONS : definitions
|
||||
#
|
||||
# Note that EXE_LINKER_FLAGS is not suitable for adding libraries because
|
||||
# these flags are added before any of the object files and static libraries.
|
||||
# Add libraries in src/firmware/qurt/CMakeLists.txt.
|
||||
#
|
||||
# Example:
|
||||
# px4_os_add_flags(
|
||||
# C_FLAGS CMAKE_C_FLAGS
|
||||
# CXX_FLAGS CMAKE_CXX_FLAGS
|
||||
# OPTIMIZATION_FLAGS optimization_flags
|
||||
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
|
||||
# INCLUDES <list>)
|
||||
# px4_os_add_flags()
|
||||
#
|
||||
function(px4_os_add_flags)
|
||||
|
||||
set(inout_vars
|
||||
C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_os_add_flags
|
||||
ONE_VALUE ${inout_vars} BOARD
|
||||
REQUIRED ${inout_vars} BOARD
|
||||
ARGN ${ARGN})
|
||||
|
||||
include(px4_add_common_flags)
|
||||
px4_add_common_flags(
|
||||
BOARD ${PX4_BOARD}
|
||||
C_FLAGS ${C_FLAGS}
|
||||
CXX_FLAGS ${CXX_FLAGS}
|
||||
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
|
||||
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
|
||||
INCLUDE_DIRS ${INCLUDE_DIRS}
|
||||
LINK_DIRS ${LINK_DIRS}
|
||||
DEFINITIONS ${DEFINITIONS})
|
||||
|
||||
set(DSPAL_ROOT src/lib/DriverFramework/dspal)
|
||||
include_directories(
|
||||
${DSPAL_ROOT}/include
|
||||
@ -174,38 +122,24 @@ function(px4_os_add_flags)
|
||||
)
|
||||
|
||||
add_definitions(
|
||||
-D__DF_QURT # For DriverFramework
|
||||
-D__PX4_POSIX
|
||||
-D__PX4_QURT
|
||||
-D__QAIC_SKEL_EXPORT=__EXPORT
|
||||
|
||||
-D__DF_QURT # For DriverFramework
|
||||
)
|
||||
|
||||
# Add the toolchain specific flags
|
||||
set(added_c_flags
|
||||
-Wno-unknown-warning-option
|
||||
)
|
||||
|
||||
set(added_cxx_flags
|
||||
-Wno-unknown-warning-option
|
||||
-Wno-unreachable-code
|
||||
)
|
||||
|
||||
set(added_optimization_flags
|
||||
add_compile_options(
|
||||
-fPIC
|
||||
-fmath-errno
|
||||
)
|
||||
|
||||
-Wno-unknown-warning-option
|
||||
)
|
||||
|
||||
# Clear -rdynamic flag which fails for hexagon
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)
|
||||
|
||||
set(DF_TARGET "qurt" PARENT_SCOPE)
|
||||
|
||||
# output
|
||||
foreach(var ${inout_vars})
|
||||
string(TOLOWER ${var} lower_var)
|
||||
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
||||
endforeach()
|
||||
set(DF_TARGET "qurt" CACHE STRING "DriverFramework target" FORCE)
|
||||
|
||||
endfunction()
|
||||
|
||||
|
||||
@ -15,10 +15,10 @@
|
||||
#include <lib/rc/sumd.h>
|
||||
#include <lib/rc/crsf.h>
|
||||
|
||||
#if !defined(CONFIG_ARCH_BOARD_SITL)
|
||||
#define TEST_DATA_PATH "/fs/microsd"
|
||||
#else
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
|
||||
#define TEST_DATA_PATH "./test_data/"
|
||||
#else
|
||||
#define TEST_DATA_PATH "/fs/microsd"
|
||||
#endif
|
||||
|
||||
extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);
|
||||
|
||||
@ -76,8 +76,6 @@ endif()
|
||||
|
||||
add_library(version version.c)
|
||||
|
||||
string(TOUPPER "${PX4_BOARD}" PX4_BOARD_NAME)
|
||||
|
||||
target_compile_definitions(version
|
||||
PUBLIC
|
||||
PX4_BOARD_NAME="${PX4_BOARD_NAME}"
|
||||
|
||||
@ -665,7 +665,7 @@ void Logger::add_default_topics()
|
||||
add_topic("vtol_vehicle_status", 200);
|
||||
add_topic("wind_estimate", 200);
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_SITL
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
|
||||
add_topic("actuator_armed");
|
||||
add_topic("actuator_controls_virtual_fw");
|
||||
add_topic("actuator_controls_virtual_mc");
|
||||
@ -681,7 +681,7 @@ void Logger::add_default_topics()
|
||||
add_topic("vehicle_global_position_groundtruth", 100);
|
||||
add_topic("vehicle_local_position_groundtruth", 100);
|
||||
add_topic("vehicle_roi");
|
||||
#endif
|
||||
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */
|
||||
}
|
||||
|
||||
void Logger::add_high_rate_topics()
|
||||
|
||||
@ -1337,7 +1337,7 @@ void Mavlink::send_autopilot_capabilites()
|
||||
memcpy(&msg.uid2, &px4_guid, sizeof(msg.uid2));
|
||||
#endif /* BOARD_HAS_NO_UUID */
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_SITL
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
|
||||
// To avoid that multiple SITL instances have the same UUID, we add the mavlink
|
||||
// system ID. We subtract 1, so that the first UUID remains unchanged given the
|
||||
// default system ID is 1.
|
||||
@ -1345,7 +1345,7 @@ void Mavlink::send_autopilot_capabilites()
|
||||
// Note that the UUID show in `ver` will still be the same for all instances.
|
||||
msg.uid += mavlink_system.sysid - 1;
|
||||
msg.uid2[0] += mavlink_system.sysid - 1;
|
||||
#endif
|
||||
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */
|
||||
mavlink_msg_autopilot_version_send_struct(get_channel(), &msg);
|
||||
}
|
||||
}
|
||||
|
||||
@ -145,6 +145,7 @@ if (GENERATE_RTPS_BRIDGE)
|
||||
git_micro_cdr
|
||||
microcdr
|
||||
)
|
||||
add_dependencies(microcdr prebuild_targets)
|
||||
|
||||
# microCDR
|
||||
target_include_directories(uorb_msgs_microcdr
|
||||
|
||||
@ -1022,7 +1022,7 @@ void VotedSensorsUpdate::print_status()
|
||||
bool
|
||||
VotedSensorsUpdate::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
|
||||
{
|
||||
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) && !defined(__PX4_POSIX_BBBLUE)
|
||||
#if defined(__PX4_NUTTX)
|
||||
|
||||
/* On most systems, we can just use the IOCTL call to set the calibration params. */
|
||||
return !h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
|
||||
@ -1036,7 +1036,7 @@ VotedSensorsUpdate::apply_gyro_calibration(DevHandle &h, const struct gyro_calib
|
||||
bool
|
||||
VotedSensorsUpdate::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
|
||||
{
|
||||
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) && !defined(__PX4_POSIX_BBBLUE)
|
||||
#if defined(__PX4_NUTTX)
|
||||
|
||||
/* On most systems, we can just use the IOCTL call to set the calibration params. */
|
||||
return !h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
|
||||
@ -1050,7 +1050,7 @@ VotedSensorsUpdate::apply_accel_calibration(DevHandle &h, const struct accel_cal
|
||||
bool
|
||||
VotedSensorsUpdate::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
|
||||
{
|
||||
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX)
|
||||
#if defined(__PX4_NUTTX)
|
||||
|
||||
if (!h.isValid()) {
|
||||
return false;
|
||||
|
||||
@ -79,7 +79,7 @@ static bool should_prearm = false;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_ARCH_BOARD_SITL)
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
|
||||
#define MIXER_PATH(_file) "etc/mixers/"#_file
|
||||
#define MIXER_ONBOARD_PATH "etc/mixers"
|
||||
#else
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user