Work on px4io firmware building.

2026-10-16 21:43:34 +08:00 · 2015-09-13 23:20:00 -04:00
parent be45c2e0a9
commit 676a3d230c
15 changed files with 276 additions and 128 deletions
@@ -30,27 +30,108 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
-	MODULE modules__px4iofirmware
-	SRCS
-		adc.c
-		controls.c
-		dsm.c
-		px4io.c
-		registers.c
-		safety.c
-		sbus.c
-		../systemlib/up_cxxinitialize.c
-		../systemlib/perf_counter.c
-		mixer.cpp
-		../systemlib/mixer/mixer.cpp
-		../systemlib/mixer/mixer_group.cpp
-		../systemlib/mixer/mixer_multirotor.cpp
-		../systemlib/mixer/mixer_simple.cpp
-		../systemlib/pwm_limit/pwm_limit.c
-		../../lib/rc/st24.c
-		../../lib/rc/sumd.c
-	DEPENDS
-		platforms__common
+
+# kill all flags above us, this is a different board (io)
+set_directory_properties(PROPERTIES
+	INCLUDE_DIRECTORIES ""
+	LINK_DIRECTORIES ""
+	COMPILE_DEFINITIONS ""
 	)
+set(c_flags)
+set(exe_linker_flags)
+set(cxx_flags)
+set(include_dirs)
+set(link_dirs)
+set(definitions)
+
+px4_os_prebuild_targets(OUT io_prebuild_targets
+	BOARD ${config_io_board}
+	THREADS ${THREADS})
+
+px4_os_add_flags(
+	BOARD ${config_io_board}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)
+
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
+
+include_directories(
+	${include_dirs}
+	${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
+	)
+link_directories(${link_dirs})
+add_definitions(${definitions})
+
+set(srcs
+	adc.c
+	controls.c
+	dsm.c
+	px4io.c
+	registers.c
+	safety.c
+	sbus.c
+	../systemlib/up_cxxinitialize.c
+	../systemlib/perf_counter.c
+	mixer.cpp
+	../systemlib/mixer/mixer.cpp
+	../systemlib/mixer/mixer_group.cpp
+	../systemlib/mixer/mixer_multirotor.cpp
+	../systemlib/mixer/mixer_simple.cpp
+	../systemlib/pwm_limit/pwm_limit.c
+	../../lib/rc/st24.c
+	../../lib/rc/sumd.c
+	../../drivers/stm32/drv_hrt.c
+	../../drivers/stm32/drv_pwm_servo.c
+	../../drivers/boards/${config_io_board}/px4iov2_init.c
+	../../drivers/boards/${config_io_board}/px4iov2_pwm_servo.c
+	)
+
+if(${config_io_board} STREQUAL "px4io-v1")
+	list(APPEND srcs
+		i2c.c
+		)
+elseif(${config_io_board} STREQUAL "px4io-v2")
+	list(APPEND srcs
+		serial.c
+		../systemlib/hx_stream.c
+		)
+endif()
+
+add_executable(firmware_io_nuttx
+	${srcs})
+
+add_dependencies(firmware_io_nuttx
+	nuttx_export_${config_io_board}
+	msg_gen
+	io_prebuild_targets
+	)
+
+set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
+set(main_link_flags
+	"-T${nuttx_export_dir}/build/ld.script"
+	"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
+	)
+px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
+set_target_properties(firmware_io_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
+
+set(io_fw_file ${CMAKE_CURRENT_BINARY_DIR}/${config_io_board}.px4)
+
+target_link_libraries(firmware_io_nuttx
+	-Wl,--start-group
+	apps nuttx nosys m gcc
+	${config_io_extra_libs}
+	-Wl,--end-group)
+
+px4_nuttx_add_firmware(OUT ${io_fw_file}
+	BOARD ${config_io_board}
+	EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_io_nuttx
+	${config_firmware_options}
+	)
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :