mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
ARM Toolchain: search compiler in PATH
Add CMake target for strip since these changes break adb_upload_to_bebop. GCC users should add the cross compiler bin path to PATH (location of arm-linux-gnueabihf-g++). Clang user should do the following: * set CMAKE_CXX_COMPILER to clang++ by providing -DCMAKE_CXX_COMPILER=clang++ to cmake * get GCC cross compiler - needed because Clang does not ship a CRT * create a symlink for clang and clang++ in GCC cross compiler bin dir. * add GCC bin dir to PATH Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
This commit is contained in:
Nicolae Rosia
Lorenz Meier
parent
8f9ca9b45e
commit
a6acb2e68e
@ -42,10 +42,6 @@ if [[ $adb_return == "" ]]; then
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restart_px4=true
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fi
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${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin/arm-linux-gnueabihf-strip \
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-R .comment -R .gnu.version \
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../build_posix_bebop_default/src/firmware/posix/px4
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../Tools/adb_upload.sh $@
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# restart the process after uploading
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@ -8,11 +8,6 @@ add_definitions(
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-D__DF_BEBOP # Define needed DriverFramework
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)
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set(CMAKE_PROGRAM_PATH
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"${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin"
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${CMAKE_PROGRAM_PATH}
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)
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set(config_module_list
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# examples/px4_simple_app
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@ -1,13 +1,3 @@
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include(configs/posix_rpi_common)
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if("$ENV{RPI_USE_CLANG}" STREQUAL "1")
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-clang.cmake)
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else()
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
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endif()
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set(CMAKE_PROGRAM_PATH
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"${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin"
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${CMAKE_PROGRAM_PATH}
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)
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SET(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
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@ -267,22 +267,36 @@ elseif ("${BOARD}" STREQUAL "excelsior")
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--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
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)
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elseif ("${BOARD}" STREQUAL "rpi" AND "$ENV{RPI_USE_CLANG}" STREQUAL "1")
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elseif ("${BOARD}" STREQUAL "rpi")
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SET(RPI_COMPILE_FLAGS
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-mcpu=cortex-a53
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-mfpu=neon
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-mfloat-abi=hard
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)
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LIST(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
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LIST(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})
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# Add the toolchain specific flags
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set(clang_added_flags
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-m32
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--target=arm-linux-gnueabihf
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-ccc-gcc-name arm-linux-gnueabihf
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--sysroot=${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/arm-linux-gnueabihf/libc/)
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FIND_PROGRAM(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})
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set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${clang_added_flags})
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list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${clang_added_flags})
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list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${clang_added_flags})
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GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
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GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)
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IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
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set(CLANG_COMPILE_FLAGS
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--target=arm-pc-linux-gnueabihf
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-ccc-gcc-name arm-linux-gnueabihf-gcc
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--sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc
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-I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/
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)
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set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${CLANG_COMPILE_FLAGS})
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list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${CLANG_COMPILE_FLAGS})
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list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS}
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-B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
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-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
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)
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ENDIF()
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else()
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# Add the toolchain specific flags
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set(added_cflags ${POSIX_CMAKE_C_FLAGS})
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list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})
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endif()
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# output
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@ -1,65 +0,0 @@
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include(CMakeForceCompiler)
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if ($ENV{PX4_TOOLCHAIN_DIR} STREQUAL "")
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message(FATAL_ERROR "PX4_TOOLCHAIN_DIR not set")
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else()
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set(PX4_TOOLCHAIN_DIR $ENV{PX4_TOOLCHAIN_DIR})
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endif()
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# this one is important
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set(CMAKE_SYSTEM_NAME Generic)
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#this one not so much
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set(CMAKE_SYSTEM_VERSION 1)
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# specify the cross compiler
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# requires a symbolic link typically from /usr/bin/clang
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find_program(C_COMPILER clang
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PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
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NO_DEFAULT_PATH
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)
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if(NOT C_COMPILER)
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message(FATAL_ERROR "could not find C compiler")
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endif()
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cmake_force_c_compiler(${C_COMPILER} Clang)
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find_program(CXX_COMPILER clang++
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PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
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NO_DEFAULT_PATH
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)
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if(NOT CXX_COMPILER)
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message(FATAL_ERROR "could not find C++ compiler")
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endif()
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cmake_force_cxx_compiler(${CXX_COMPILER} Clang)
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# compiler tools
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foreach(tool objcopy nm ld)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} arm-linux-gnueabihf-${tool}
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PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
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NO_DEFAULT_PATH
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)
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if(NOT ${TOOL})
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message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
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endif()
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endforeach()
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# os tools
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foreach(tool echo grep rm mkdir nm cp touch make unzip)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} ${tool})
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if(NOT ${TOOL})
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message(FATAL_ERROR "could not find ${TOOL}")
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endif()
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endforeach()
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# where is the target environment
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set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
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# search for programs in the build host directories
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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# for libraries and headers in the target directories
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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@ -1,65 +1,13 @@
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# defines:
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#
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# NM
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# OBJCOPY
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# LD
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# CXX_COMPILER
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# C_COMPILER
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# CMAKE_SYSTEM_NAME
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# CMAKE_SYSTEM_VERSION
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# LINKER_FLAGS
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# CMAKE_EXE_LINKER_FLAGS
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# CMAKE_FIND_ROOT_PATH
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# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
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# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
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# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
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# More on cross-compilation: https://cmake.org/cmake/help/latest/manual/cmake-toolchains.7.html
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include(CMakeForceCompiler)
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if ("$ENV{PX4_TOOLCHAIN_DIR}" STREQUAL "")
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message(FATAL_ERROR "PX4_TOOLCHAIN_DIR not set")
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else()
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set(PX4_TOOLCHAIN_DIR $ENV{PX4_TOOLCHAIN_DIR})
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endif()
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# this one is important
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set(CMAKE_SYSTEM_NAME Generic)
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#this one not so much
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set(CMAKE_SYSTEM_NAME Linux)
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set(CMAKE_SYSTEM_PROCESSOR arm)
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set(CMAKE_SYSTEM_VERSION 1)
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# specify the cross compiler
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find_program(C_COMPILER arm-linux-gnueabihf-gcc
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PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
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NO_DEFAULT_PATH
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)
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if(NOT C_COMPILER)
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message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
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endif()
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cmake_force_c_compiler(${C_COMPILER} GNU)
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find_program(CXX_COMPILER arm-linux-gnueabihf-g++
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PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
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NO_DEFAULT_PATH
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)
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if(NOT CXX_COMPILER)
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message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
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endif()
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cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
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# compiler tools
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foreach(tool objcopy nm ld)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} arm-linux-gnueabihf-${tool}
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PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
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NO_DEFAULT_PATH
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)
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if(NOT ${TOOL})
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message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
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endif()
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endforeach()
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IF (NOT CMAKE_C_COMPILER OR NOT CMAKE_CXX_COMPILER)
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SET(CMAKE_C_COMPILER arm-linux-gnueabihf-gcc)
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SET(CMAKE_CXX_COMPILER arm-linux-gnueabihf-g++)
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ENDIF()
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# os tools
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foreach(tool echo grep rm mkdir nm cp touch make unzip)
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@ -70,16 +18,11 @@ foreach(tool echo grep rm mkdir nm cp touch make unzip)
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endif()
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endforeach()
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set(LINKER_FLAGS "-Wl,-gc-sections")
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set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
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set(CMAKE_C_FLAGS ${C_FLAGS})
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set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
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set(CMAKE_EXE_LINKER_FLAGS "-Wl,-gc-sections")
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#set(CMAKE_C_FLAGS ${C_FLAGS})
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#set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
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# where is the target environment
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set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
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# search for programs in the build host directories
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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# for libraries and headers in the target directories
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
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@ -140,4 +140,14 @@ install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
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install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
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install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
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FIND_PROGRAM(STRIP_TOOL "arm-linux-gnueabihf-strip")
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add_custom_target(strip
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DEPENDS px4.stripped
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)
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add_custom_command(OUTPUT px4.stripped
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COMMAND arm-linux-gnueabihf-strip -R .comment -R .gnu.version $<TARGET_FILE:px4>
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DEPENDS px4)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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