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Add support for compiling modules into kernel side

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Define __KERNEL__ macro during compilation and place the module in separate library

Remove default library linking to m or libc on NuttX. Add these in platform layer instead, since
they are different on kernel and user side

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2020-12-30 15:57:55 +02:00
parent 2a40fcc23c
commit dbf7d08c23
4 changed files with 58 additions and 9 deletions
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6
CMakeLists.txt
View File

@ -125,6 +125,11 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
FULL_DOCS "List of all PX4 module libraries"
)
define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
BRIEF_DOCS "PX4 kernel side module libs"
FULL_DOCS "List of all PX4 kernel module libraries"
)
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
BRIEF_DOCS "PX4 module paths"
FULL_DOCS "List of paths to all PX4 modules"
@ -142,6 +147,7 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
include(px4_add_module)
set(config_module_list)
set(config_kernel_list)
include(px4_config)
include(px4_add_board)

26
cmake/px4_add_board.cmake
View File

@ -147,6 +147,9 @@ function(px4_add_board)
CRYPTO
KEYSTORE
MULTI_VALUE
KERNEL_DRIVERS
KERNEL_MODULES
KERNEL_SYSTEMCMDS
DRIVERS
MODULES
SYSTEMCMDS
@ -296,6 +299,28 @@ function(px4_add_board)
###########################################################################
# Modules (includes drivers, examples, modules, systemcmds)
set(config_module_list)
set(config_kernel_list)
if(KERNEL_DRIVERS)
foreach(driver ${KERNEL_DRIVERS})
list(APPEND config_module_list drivers/${driver})
list(APPEND config_kernel_list drivers/${driver})
endforeach()
endif()
if(KERNEL_MODULES)
foreach(module ${KERNEL_MODULES})
list(APPEND config_module_list modules/${module})
list(APPEND config_kernel_list modules/${module})
endforeach()
endif()
if(KERNEL_SYSTEMCMDS)
foreach(systemcmd ${KERNEL_SYSTEMCMDS})
list(APPEND config_module_list systemcmds/${systemcmd})
list(APPEND config_kernel_list systemcmds/${systemcmd})
endforeach()
endif()
if(DRIVERS)
foreach(driver ${DRIVERS})
@ -326,5 +351,6 @@ function(px4_add_board)
list(APPEND config_module_list ${board_support_src_rel}/src)
set(config_module_list ${config_module_list} PARENT_SCOPE)
set(config_kernel_list ${config_kernel_list} PARENT_SCOPE)
endfunction()

10
cmake/px4_add_library.cmake
View File

@ -43,14 +43,10 @@ function(px4_add_library target)
target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
# all PX4 libraries have access to parameters and uORB
add_dependencies(${target} uorb_headers)
target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface px4_platform uorb_msgs)
add_dependencies(${target} uorb_headers parameters)
# TODO: move to platform layer
if ("${PX4_PLATFORM}" MATCHES "nuttx")
target_link_libraries(${target} PRIVATE m nuttx_c)
endif()
# all PX4 libraries have access to uORB
target_link_libraries(${target} PRIVATE prebuild_targets uorb_msgs)
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${ARGN})

25
cmake/px4_add_module.cmake
View File

@ -153,9 +153,26 @@ function(px4_add_module)
# all modules can potentially use parameters and uORB
add_dependencies(${MODULE} uorb_headers)
# Check if the modules source dir exists in config_kernel_list
# in this case, treat is as a kernel side component for
# protected build
get_target_property(MODULE_SOURCE_DIR ${MODULE} SOURCE_DIR)
file(RELATIVE_PATH module ${PROJECT_SOURCE_DIR}/src ${MODULE_SOURCE_DIR})
list (FIND config_kernel_list ${module} _index)
if (${_index} GREATER -1)
set (KERNEL TRUE)
endif()
if(NOT DYNAMIC)
target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_layer px4_platform systemlib)
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_platform systemlib perf)
if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL)
target_link_libraries(${MODULE} PRIVATE px4_kernel_layer uORB_kernel)
set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE})
else()
target_link_libraries(${MODULE} PRIVATE px4_layer uORB)
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
endif()
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${SRCS})
set_property(GLOBAL APPEND PROPERTY PX4_SRC_FILES ${ABS_SRCS})
@ -195,6 +212,10 @@ function(px4_add_module)
target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
endif()
if (KERNEL)
target_compile_options(${MODULE} PRIVATE -D__KERNEL__)
endif()
if(INCLUDES)
target_include_directories(${MODULE} PRIVATE ${INCLUDES})
endif()