cmake use standard mechanisms for settings flags

platforms/nuttx/CMakeLists.txt

@@ -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}

platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m3.cmake

@@ -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__")

platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m4.cmake

@@ -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__")

platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake

@@ -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__")

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -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()
 
 #=============================================================================

platforms/posix/CMakeLists.txt

@@ -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

platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a53.cmake

@@ -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__")

platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a8.cmake

@@ -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__")

platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a9.cmake

@@ -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__")

platforms/posix/cmake/px4_impl_os.cmake

@@ -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()
 

platforms/posix/cmake/sitl_target.cmake

@@ -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
 	)

platforms/qurt/CMakeLists.txt

@@ -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

platforms/qurt/cmake/px4_impl_os.cmake

@@ -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()