mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 04:13:34 +08:00
move cmake/${OS} to platforms
This commit is contained in:
Daniel Agar
@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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add_definitions(
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-DFLASH_BASED_PARAMS
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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add_definitions(
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-DPARAM_NO_ORB
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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add_definitions(
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-DFLASH_BASED_PARAMS
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
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#set(config_uavcan_num_ifaces 2)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_test)
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@@ -5,7 +5,6 @@ set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
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set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
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set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
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set(config_uavcan_num_ifaces 2)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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add_definitions(
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-DPARAM_NO_ORB
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@@ -1,4 +1,3 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT tap_common)
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@@ -1,4 +1,3 @@
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include(posix/px4_impl_posix)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
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@@ -1,4 +1,3 @@
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include(posix/px4_impl_posix)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
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@@ -1,4 +1,3 @@
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include(posix/px4_impl_posix)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
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@@ -6,7 +6,6 @@ set(CMAKE_PROGRAM_PATH
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${CMAKE_PROGRAM_PATH}
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)
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include(posix/px4_impl_posix)
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add_definitions(
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-D__PX4_POSIX_OCPOC
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@@ -5,7 +5,6 @@ set(CMAKE_PROGRAM_PATH
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${CMAKE_PROGRAM_PATH}
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)
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include(posix/px4_impl_posix)
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add_definitions(
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-D__PX4_POSIX_OCPOC
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@@ -1,7 +1,6 @@
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# This file is shared between posix_rpi_native.cmake
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# and posix_rpi_cross.cmake.
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include(posix/px4_impl_posix)
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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 RPi.
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@@ -1,7 +1,6 @@
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include(common/px4_git)
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px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
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include(posix/px4_impl_posix)
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# Get $QC_SOC_TARGET from environment if existing.
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if (DEFINED ENV{QC_SOC_TARGET})
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@@ -1,7 +1,6 @@
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include(common/px4_git)
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px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
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include(posix/px4_impl_posix)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
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@@ -1,4 +1,3 @@
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include(posix/px4_impl_posix)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
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@@ -1,4 +1,3 @@
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include(posix/px4_impl_posix)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
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@@ -1,4 +1,3 @@
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include(qurt/px4_impl_qurt)
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
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@@ -1,4 +1,3 @@
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include(qurt/px4_impl_qurt)
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
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@@ -1,4 +1,3 @@
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include(qurt/px4_impl_qurt)
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
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@@ -1,4 +1,3 @@
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include(qurt/px4_impl_qurt)
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
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@@ -1,4 +1,3 @@
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include(qurt/px4_impl_qurt)
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set(CONFIG_SHMEM "1")
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@@ -1,7 +1,6 @@
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include(common/px4_git)
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px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
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include(qurt/px4_impl_qurt)
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
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@@ -1,7 +1,6 @@
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include(common/px4_git)
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px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
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include(qurt/px4_impl_qurt)
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
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@@ -1,322 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
|
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# notice, this list of conditions and the following disclaimer.
|
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# 2. Redistributions in binary form must reproduce the above copyright
|
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# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
|
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
|
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# used to endorse or promote products derived from this software
|
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
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#
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############################################################################
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#=============================================================================
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#
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# Defined functions in this file
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#
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# OS Specific Functions
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#
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# * px4_nuttx_make_uavcan_bootloadable
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#
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# Required OS Inteface Functions
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#
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# * px4_os_add_flags
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# * px4_os_prebuild_targets
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#
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include(common/px4_base)
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#=============================================================================
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#
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# px4_nuttx_make_uavcan_bootloadable
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#
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# This function adds a uavcan boot loadable target.
|
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#
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# Usage:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD <board>
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# BIN <input bin file>)
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# HWNAME <uavcan name>
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# HW_MAJOR <number>
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# HW_MINOR <number>
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# SW_MAJOR <number>
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# SW_MINOR <number>)
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#
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# Input:
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# BOARD : the board
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# BIN : the bin file to generate the bootloadable image from
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# HWNAME : the uavcan name
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# HW_MAJOR : the major hardware revision
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# HW_MINOR : the minor hardware revision
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# SW_MAJOR : the major software revision
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# SW_MINOR : the minor software revision
|
||||
#
|
||||
# Output:
|
||||
# OUT : None
|
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#
|
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# Example:
|
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# px4_nuttx_make_uavcan_bootloadable(
|
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# BOARD ${BOARD}
|
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# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
|
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# HWNAME ${uavcanblid_name}
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# HW_MAJOR ${uavcanblid_hw_version_major}
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# HW_MINOR ${uavcanblid_hw_version_minor}
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# SW_MAJOR ${uavcanblid_sw_version_major}
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# SW_MINOR ${uavcanblid_sw_version_minor}
|
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# )
|
||||
#
|
||||
function(px4_nuttx_make_uavcan_bootloadable)
|
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px4_parse_function_args(
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NAME px4_nuttx_make_uavcan_bootloadable
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ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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ARGN ${ARGN})
|
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|
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string(REPLACE "\"" "" HWNAME ${HWNAME})
|
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|
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execute_process(
|
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COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
|
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OUTPUT_VARIABLE uavcanbl_git_desc
|
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OUTPUT_STRIP_TRAILING_WHITESPACE
|
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
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)
|
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|
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if ("${uavcanbl_git_desc}" STREQUAL "")
|
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set(uavcanbl_git_desc ffffffff)
|
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endif()
|
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set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
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message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
|
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add_custom_command(OUTPUT ${uavcan_bl_imange_name}
|
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
|
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-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
|
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DEPENDS ${BIN})
|
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add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
|
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endfunction()
|
||||
|
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#=============================================================================
|
||||
#
|
||||
# px4_os_add_flags
|
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#
|
||||
# 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} BOARD
|
||||
ARGN ${ARGN})
|
||||
|
||||
px4_add_common_flags(
|
||||
BOARD ${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_include_dirs
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/armv7-m
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/chip
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/common
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/include
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
|
||||
)
|
||||
|
||||
#set(added_exe_linker_flags)
|
||||
#set(added_link_dirs ${nuttx_export_dir}/libs)
|
||||
set(added_definitions -D__PX4_NUTTX)
|
||||
|
||||
list(APPEND added_definitions -D__DF_NUTTX)
|
||||
|
||||
if("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
|
||||
set(instrument_flags
|
||||
-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()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_prebuild_targets
|
||||
#
|
||||
# This function generates os dependent targets
|
||||
|
||||
# Usage:
|
||||
# px4_os_prebuild_targets(
|
||||
# OUT <out-list_of_targets>
|
||||
# BOARD <in-string>
|
||||
# )
|
||||
#
|
||||
# Input:
|
||||
# BOARD : board
|
||||
# THREADS : number of threads for building
|
||||
#
|
||||
# Output:
|
||||
# OUT : the target list
|
||||
#
|
||||
# Example:
|
||||
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
|
||||
#
|
||||
function(px4_os_prebuild_targets)
|
||||
px4_parse_function_args(
|
||||
NAME px4_os_prebuild_targets
|
||||
ONE_VALUE OUT BOARD THREADS
|
||||
REQUIRED OUT BOARD
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT} DEPENDS nuttx_context uorb_headers)
|
||||
|
||||
# parse nuttx config options for cmake
|
||||
file(STRINGS ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/nsh/defconfig ConfigContents)
|
||||
foreach(NameAndValue ${ConfigContents})
|
||||
# Strip leading spaces
|
||||
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
|
||||
|
||||
# Find variable name
|
||||
string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
|
||||
|
||||
if (Name)
|
||||
# Find the value
|
||||
string(REPLACE "${Name}=" "" Value ${NameAndValue})
|
||||
|
||||
# remove extra quotes
|
||||
string(REPLACE "\"" "" Value ${Value})
|
||||
|
||||
# Set the variable
|
||||
set(${Name} ${Value} PARENT_SCOPE)
|
||||
endif()
|
||||
endforeach()
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_nuttx_configure
|
||||
#
|
||||
# This function sets the nuttx configuration
|
||||
#
|
||||
# Usage:
|
||||
# px4_nuttx_configure(
|
||||
# HWCLASS <m3|m4>
|
||||
# [ROMFS <y|n>
|
||||
# ROMFSROOT <root>]
|
||||
# )
|
||||
#
|
||||
# Input:
|
||||
# HWCLASS : the class of hardware
|
||||
# CONFIG : the nuttx configuration to use
|
||||
# ROMFS : whether or not to use incllude theROMFS
|
||||
# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common
|
||||
#
|
||||
# Output:
|
||||
# OUT : None
|
||||
#
|
||||
# Example:
|
||||
# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
|
||||
#
|
||||
function(px4_nuttx_configure)
|
||||
px4_parse_function_args(
|
||||
NAME px4_nuttx_configure
|
||||
ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT IO
|
||||
REQUIRED HWCLASS
|
||||
ARGN ${ARGN})
|
||||
|
||||
# HWCLASS -> CMAKE_SYSTEM_PROCESSOR
|
||||
if(HWCLASS STREQUAL "m7")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "cortex-m7" PARENT_SCOPE)
|
||||
elseif(HWCLASS STREQUAL "m4")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "cortex-m4" PARENT_SCOPE)
|
||||
elseif(HWCLASS STREQUAL "m3")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "cortex-m3" PARENT_SCOPE)
|
||||
endif()
|
||||
set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
|
||||
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
|
||||
|
||||
# ROMFS
|
||||
if("${ROMFS}" STREQUAL "y")
|
||||
if (NOT DEFINED ROMFSROOT)
|
||||
set(config_romfs_root px4fmu_common)
|
||||
else()
|
||||
set(config_romfs_root ${ROMFSROOT})
|
||||
endif()
|
||||
set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
|
||||
endif()
|
||||
|
||||
# IO board placed in ROMFS
|
||||
if(config_romfs_root)
|
||||
set(config_io_board ${IO} PARENT_SCOPE)
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
# vim: set noet fenc=utf-8 ff=unix nowrap:
|
||||
@@ -1,47 +0,0 @@
|
||||
/****************************************************************************
|
||||
* ld.script
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
* Author: Mark Charlebois <charlebm@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param : ALIGN(8) {
|
||||
__param_start = .;
|
||||
KEEP(*(__param*))
|
||||
__param_end = .;
|
||||
}
|
||||
}
|
||||
INSERT AFTER .rodata;
|
||||
@@ -1,335 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# Defined functions in this file
|
||||
#
|
||||
# OS Specific Functions
|
||||
#
|
||||
# * px4_posix_generate_builtin_commands
|
||||
#
|
||||
# Required OS Interface Functions
|
||||
#
|
||||
# * px4_os_add_flags
|
||||
# * px4_os_prebuild_targets
|
||||
#
|
||||
|
||||
include(common/px4_base)
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_posix_generate_builtin_commands
|
||||
#
|
||||
# This function generates the builtin_commands.c src for posix
|
||||
#
|
||||
# Usage:
|
||||
# px4_posix_generate_builtin_commands(
|
||||
# MODULE_LIST <in-list>
|
||||
# OUT <file>)
|
||||
#
|
||||
# Input:
|
||||
# MODULE_LIST : list of modules
|
||||
#
|
||||
# Output:
|
||||
# OUT : stem of generated apps.cpp/apps.h ("apps")
|
||||
#
|
||||
# Example:
|
||||
# px4_posix_generate_builtin_commands(
|
||||
# OUT <generated-src> MODULE_LIST px4_simple_app)
|
||||
#
|
||||
function(px4_posix_generate_builtin_commands)
|
||||
px4_parse_function_args(
|
||||
NAME px4_posix_generate_builtin_commands
|
||||
ONE_VALUE OUT
|
||||
MULTI_VALUE MODULE_LIST
|
||||
REQUIRED MODULE_LIST OUT
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(builtin_apps_string)
|
||||
set(builtin_apps_decl_string)
|
||||
set(command_count 0)
|
||||
foreach(module ${MODULE_LIST})
|
||||
# default
|
||||
set(MAIN_DEFAULT MAIN-NOTFOUND)
|
||||
set(STACK_DEFAULT 1024)
|
||||
set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
|
||||
foreach(property MAIN STACK PRIORITY)
|
||||
get_target_property(${property} ${module} ${property})
|
||||
if(NOT ${property})
|
||||
set(${property} ${${property}_DEFAULT})
|
||||
endif()
|
||||
endforeach()
|
||||
if (MAIN)
|
||||
set(builtin_apps_string
|
||||
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
|
||||
set(builtin_apps_decl_string
|
||||
"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
|
||||
math(EXPR command_count "${command_count}+1")
|
||||
endif()
|
||||
endforeach()
|
||||
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in ${OUT}.cpp)
|
||||
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_add_flags
|
||||
#
|
||||
# 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>)
|
||||
#
|
||||
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})
|
||||
|
||||
px4_add_common_flags(
|
||||
BOARD ${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_include_dirs
|
||||
src/modules/systemlib
|
||||
src/platforms/posix/include
|
||||
mavlink/include/mavlink
|
||||
)
|
||||
|
||||
# This block sets added_definitions and added_cxx_flags.
|
||||
if(UNIX AND APPLE)
|
||||
set(added_definitions
|
||||
-D__PX4_POSIX
|
||||
-D__PX4_DARWIN
|
||||
-D__DF_DARWIN
|
||||
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
|
||||
)
|
||||
|
||||
set(added_cxx_flags)
|
||||
|
||||
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()
|
||||
|
||||
EXEC_PROGRAM(uname ARGS -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)
|
||||
list(APPEND added_definitions
|
||||
-DCLOCK_MONOTONIC=1
|
||||
-DCLOCK_REALTIME=0
|
||||
-D__PX4_APPLE_LEGACY
|
||||
)
|
||||
endif()
|
||||
|
||||
else()
|
||||
|
||||
set(added_definitions
|
||||
-D__PX4_POSIX
|
||||
-D__PX4_LINUX
|
||||
-D__DF_LINUX
|
||||
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
|
||||
)
|
||||
|
||||
# Use -pthread For linux/g++.
|
||||
set(added_cxx_flags
|
||||
-pthread
|
||||
)
|
||||
|
||||
endif()
|
||||
|
||||
set(added_exe_linker_flags)
|
||||
|
||||
# This block sets added_c_flags (appends to others).
|
||||
if ("${BOARD}" STREQUAL "eagle")
|
||||
|
||||
if ("$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
|
||||
set(added_c_flags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
|
||||
|
||||
list(APPEND added_cxx_flags
|
||||
${POSIX_CMAKE_CXX_FLAGS}
|
||||
--sysroot=${HEXAGON_ARM_SYSROOT}
|
||||
)
|
||||
|
||||
list(APPEND added_exe_linker_flags
|
||||
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib
|
||||
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib
|
||||
--sysroot=${HEXAGON_ARM_SYSROOT}
|
||||
)
|
||||
# This block sets added_c_flags (appends to others).
|
||||
elseif ("${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()
|
||||
|
||||
# Add the toolchain specific flags
|
||||
|
||||
set(added_c_flags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)
|
||||
|
||||
list(APPEND added_cxx_flags
|
||||
${POSIX_CMAKE_CXX_FLAGS}
|
||||
--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
|
||||
|
||||
)
|
||||
|
||||
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
|
||||
|
||||
--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
|
||||
|
||||
)
|
||||
elseif ("${BOARD}" STREQUAL "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})
|
||||
|
||||
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/
|
||||
)
|
||||
|
||||
set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${CLANG_COMPILE_FLAGS})
|
||||
list(APPEND added_cxx_flags ${POSIX_CMAKE_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()
|
||||
endif()
|
||||
|
||||
# output
|
||||
foreach(var ${inout_vars})
|
||||
string(TOLOWER ${var} lower_var)
|
||||
#message(STATUS "posix: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
||||
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
||||
endforeach()
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_prebuild_targets
|
||||
#
|
||||
# This function generates os dependent targets
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_prebuild_targets(
|
||||
# OUT <out-list_of_targets>
|
||||
# BOARD <in-string>
|
||||
# )
|
||||
#
|
||||
# Input:
|
||||
# BOARD : board
|
||||
# THREADS : number of threads for building
|
||||
#
|
||||
# Output:
|
||||
# OUT : the target list
|
||||
#
|
||||
# Example:
|
||||
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
|
||||
#
|
||||
function(px4_os_prebuild_targets)
|
||||
px4_parse_function_args(
|
||||
NAME px4_os_prebuild_targets
|
||||
ONE_VALUE OUT BOARD THREADS
|
||||
REQUIRED OUT BOARD
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT} DEPENDS uorb_headers)
|
||||
endfunction()
|
||||
@@ -1,244 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# Defined functions in this file
|
||||
#
|
||||
# OS Specific Functions
|
||||
#
|
||||
# * px4_qurt_add_firmware
|
||||
# * px4_qurt_generate_builtin_commands
|
||||
# * px4_qurt_add_export
|
||||
# * px4_qurt_generate_romfs
|
||||
#
|
||||
# Required OS Inteface Functions
|
||||
#
|
||||
# * px4_os_add_flags
|
||||
# * px4_os_prebuild_targets
|
||||
#
|
||||
|
||||
include(common/px4_base)
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_qurt_generate_builtin_commands
|
||||
#
|
||||
# This function generates the builtin_commands.c src for qurt
|
||||
#
|
||||
# Usage:
|
||||
# px4_qurt_generate_builtin_commands(
|
||||
# MODULE_LIST <in-list>
|
||||
# OUT <file>)
|
||||
#
|
||||
# Input:
|
||||
# MODULE_LIST : list of modules
|
||||
#
|
||||
# Output:
|
||||
# OUT : stem of generated apps.cpp/apps.h ("apps").
|
||||
#
|
||||
# Example:
|
||||
# px4_qurt_generate_builtin_commands(
|
||||
# OUT <generated-src> MODULE_LIST px4_simple_app)
|
||||
#
|
||||
function(px4_qurt_generate_builtin_commands)
|
||||
px4_parse_function_args(
|
||||
NAME px4_qurt_generate_builtin_commands
|
||||
ONE_VALUE OUT
|
||||
MULTI_VALUE MODULE_LIST
|
||||
REQUIRED MODULE_LIST OUT
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(builtin_apps_string)
|
||||
set(builtin_apps_decl_string)
|
||||
set(command_count 0)
|
||||
foreach(module ${MODULE_LIST})
|
||||
foreach(property MAIN STACK_MAIN PRIORITY)
|
||||
get_target_property(${property} ${module} ${property})
|
||||
endforeach()
|
||||
if (MAIN)
|
||||
set(builtin_apps_string
|
||||
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
|
||||
set(builtin_apps_decl_string
|
||||
"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
|
||||
math(EXPR command_count "${command_count}+1")
|
||||
endif()
|
||||
endforeach()
|
||||
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in ${OUT}.cpp)
|
||||
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_add_flags
|
||||
#
|
||||
# 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>)
|
||||
#
|
||||
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})
|
||||
|
||||
px4_add_common_flags(
|
||||
BOARD ${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)
|
||||
set(added_include_dirs
|
||||
${DSPAL_ROOT}/include
|
||||
${DSPAL_ROOT}/mpu_spi/inc
|
||||
${DSPAL_ROOT}/sys
|
||||
${DSPAL_ROOT}/sys/sys
|
||||
${DSPAL_ROOT}/uart_esc/inc
|
||||
src/platforms/posix/include
|
||||
src/platforms/qurt/include
|
||||
)
|
||||
|
||||
set(added_definitions
|
||||
-D__DF_QURT # For DriverFramework
|
||||
-D__PX4_POSIX
|
||||
-D__PX4_QURT
|
||||
-D__QAIC_SKEL_EXPORT=__EXPORT
|
||||
)
|
||||
|
||||
# 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
|
||||
-fPIC
|
||||
)
|
||||
|
||||
# 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)
|
||||
#message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
||||
endforeach()
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_prebuild_targets
|
||||
#
|
||||
# This function generates os dependent targets
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_prebuild_targets(
|
||||
# OUT <out-list_of_targets>
|
||||
# BOARD <in-string>
|
||||
# )
|
||||
#
|
||||
# Input:
|
||||
# BOARD : board
|
||||
# THREADS : number of threads for building
|
||||
#
|
||||
# Output:
|
||||
# OUT : the target list
|
||||
#
|
||||
# Example:
|
||||
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
|
||||
#
|
||||
function(px4_os_prebuild_targets)
|
||||
px4_parse_function_args(
|
||||
NAME px4_os_prebuild_targets
|
||||
ONE_VALUE OUT BOARD THREADS
|
||||
REQUIRED OUT BOARD
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT} DEPENDS git_driverframework uorb_headers)
|
||||
|
||||
endfunction()
|
||||
|
||||
# vim: set noet fenc=utf-8 ff=unix nowrap:
|
||||
@@ -1,37 +0,0 @@
|
||||
diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
|
||||
index 1ca1d66..9bc928b 100644
|
||||
--- a/Eigen/src/Core/util/Macros.h
|
||||
+++ b/Eigen/src/Core/util/Macros.h
|
||||
@@ -194,6 +194,12 @@
|
||||
#define EIGEN_ARCH_PPC 0
|
||||
#endif
|
||||
|
||||
+/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
|
||||
+#ifdef __HEXAGON_ARCH__
|
||||
+ #define EIGEN_ARCH_HEXAGON 1
|
||||
+#else
|
||||
+ #define EIGEN_ARCH_HEXAGON 0
|
||||
+#endif
|
||||
|
||||
|
||||
// Operating system identification, EIGEN_OS_*
|
||||
@@ -334,15 +340,16 @@
|
||||
#endif
|
||||
|
||||
// Do we support r-value references?
|
||||
-#if (__has_feature(cxx_rvalue_references) || \
|
||||
+#if ((__has_feature(cxx_rvalue_references) || \
|
||||
(defined(__cplusplus) && __cplusplus >= 201103L) || \
|
||||
defined(__GXX_EXPERIMENTAL_CXX0X__) || \
|
||||
- (EIGEN_COMP_MSVC >= 1600))
|
||||
+ (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
|
||||
#define EIGEN_HAVE_RVALUE_REFERENCES
|
||||
#endif
|
||||
|
||||
// Does the compiler support result_of?
|
||||
-#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
|
||||
+#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
|
||||
+ (!defined(EIGEN_ARCH_HEXAGON)))
|
||||
#define EIGEN_HAS_STD_RESULT_OF 1
|
||||
#endif
|
||||
|
||||
@@ -1,47 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#=============================================================================
|
||||
# FILE: posix/px4_target_impl.cmake
|
||||
#
|
||||
# Each PX4 target OS must implement the cmake/${OS}/px4_target_impl.cmake
|
||||
# rules for their target that implement the following macros:
|
||||
#
|
||||
# px4_target_set_flags
|
||||
# px4_target_validate_config
|
||||
# px4_target_firmware
|
||||
# px4_target_rules
|
||||
# px4_target_testing
|
||||
#
|
||||
# The macros are called from the top level CMakeLists.txt
|
||||
#
|
||||
Reference in New Issue
Block a user