mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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boards organization
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
c1f851a600
commit
f692ad04d0
@@ -0,0 +1,6 @@
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set(cpu_flags "-mcpu=cortex-m3 -mthumb -march=armv7-m")
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set(CMAKE_C_FLAGS "${cpu_flags}")
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set(CMAKE_CXX_FLAGS "${cpu_flags}")
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set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
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@@ -0,0 +1,6 @@
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set(cpu_flags "-mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard")
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set(CMAKE_C_FLAGS "${cpu_flags}")
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set(CMAKE_CXX_FLAGS "${cpu_flags}")
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set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
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@@ -0,0 +1,6 @@
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set(cpu_flags "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard")
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set(CMAKE_C_FLAGS "${cpu_flags}")
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set(CMAKE_CXX_FLAGS "${cpu_flags}")
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set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
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@@ -0,0 +1,48 @@
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# arm-none-eabi-gcc toolchain
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set(CMAKE_SYSTEM_NAME Generic)
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set(CMAKE_SYSTEM_VERSION 1)
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set(triple arm-none-eabi)
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set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
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set(TOOLCHAIN_PREFIX ${triple})
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set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
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set(CMAKE_C_COMPILER_TARGET ${triple})
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set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
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set(CMAKE_CXX_COMPILER_TARGET ${triple})
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set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
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# needed for test compilation
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set(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nosys.specs")
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# compiler tools
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foreach(tool nm ld objcopy ranlib strip)
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string(TOUPPER ${tool} TOOL)
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find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
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if(CMAKE-${TOOL} MATCHES "NOTFOUND")
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message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
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endif()
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endforeach()
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set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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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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# os tools
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foreach(tool grep genromfs make)
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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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# optional compiler tools
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foreach(tool gdb gdbtui)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} arm-none-eabi-${tool})
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endforeach()
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@@ -0,0 +1,130 @@
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############################################################################
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#
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# Copyright (c) 2018 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
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# 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,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# 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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# utility functions
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#
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# * px4_add_board_os
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#
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include(px4_base)
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#=============================================================================
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#
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# px4_add_board_os
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#
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# This function creates a PX4 board.
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#
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# Usage:
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# px4_add_board_os(
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# BOARD <string>
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# OS <string>
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# [ TOOLCHAIN ] <string>
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# )
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#
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# Input:
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# BOARD : name of board
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# OS : posix, nuttx, qurt
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#
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#
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# Example:
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# px4_add_board_os(
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# BOARD px4fmu-v2_default
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# OS nuttx
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# )
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#
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function(px4_add_board_os)
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px4_parse_function_args(
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NAME px4_add_board_os
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ONE_VALUE
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VENDOR
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MODEL
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LABEL
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BOARD_OVERRIDE
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PLATFORM
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TOOLCHAIN
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ARCH
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ROMFSROOT
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IO
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BOOTLOADER
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UAVCAN_INTERFACES
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MULTI_VALUE
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DRIVERS
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MODULES
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SYSTEMCMDS
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EXAMPLES
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SERIAL_PORTS
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DF_DRIVERS # DriverFramework drivers
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OPTIONS
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CONSTRAINED_FLASH
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ROMFS
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TESTING
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ARGN ${ARGN})
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if(NOT CMAKE_TOOLCHAIN_FILE)
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set(CMAKE_TOOLCHAIN_FILE Toolchain-arm-none-eabi CACHE INTERNAL "toolchain file" FORCE)
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endif()
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if(LABEL MATCHES "stackcheck")
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set(NUTTX_CONFIG "stackcheck" CACHE INTERNAL "NuttX config" FORCE)
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else()
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set(NUTTX_CONFIG "nsh" CACHE INTERNAL "NuttX config" FORCE)
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endif()
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# ROMFS
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if(ROMFS)
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if (NOT DEFINED ROMFSROOT)
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set(config_romfs_root px4fmu_common)
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else()
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set(config_romfs_root ${ROMFSROOT})
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endif()
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set(config_romfs_root ${config_romfs_root} CACHE INTERNAL "ROMFS root" FORCE)
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endif()
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# IO board placed in ROMFS
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if(IO)
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set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
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endif()
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if(UAVCAN_INTERFACES)
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set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
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endif()
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include(px4_impl_os)
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px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
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endfunction()
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@@ -35,85 +35,13 @@
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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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# Required OS Interface 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
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#
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# Output:
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# 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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# )
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#
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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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string(REPLACE "\"" "" HWNAME ${HWNAME})
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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 ${PX4_SOURCE_DIR}
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)
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if ("${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 ${BIN}
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)
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add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
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endfunction()
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include(px4_base)
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#=============================================================================
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#
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@@ -163,11 +91,11 @@ function(px4_os_add_flags)
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px4_parse_function_args(
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NAME px4_os_add_flags
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ONE_VALUE ${inout_vars} BOARD
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REQUIRED ${inout_vars} BOARD
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REQUIRED ${inout_vars}
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ARGN ${ARGN})
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px4_add_common_flags(
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BOARD ${BOARD}
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BOARD ${PX4_BOARD}
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C_FLAGS ${C_FLAGS}
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CXX_FLAGS ${CXX_FLAGS}
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OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
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@@ -217,7 +145,7 @@ endfunction()
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# px4_os_prebuild_targets
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#
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# This function generates os dependent targets
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#
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# Usage:
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# px4_os_prebuild_targets(
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# OUT <out-list_of_targets>
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@@ -237,15 +165,15 @@ function(px4_os_prebuild_targets)
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px4_parse_function_args(
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NAME px4_os_prebuild_targets
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ONE_VALUE OUT BOARD
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REQUIRED OUT BOARD
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REQUIRED OUT
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ARGN ${ARGN})
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add_library(${OUT} INTERFACE)
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target_link_libraries(${OUT} INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
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add_dependencies(${OUT} DEPENDS nuttx_context uorb_headers)
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add_library(prebuild_targets INTERFACE)
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target_link_libraries(prebuild_targets INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
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add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
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# parse nuttx config options for cmake
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file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/${nuttx_config_type}/defconfig ConfigContents)
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file(STRINGS ${PX4_BOARD_DIR}/nuttx-config/${NUTTX_CONFIG}/defconfig ConfigContents)
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foreach(NameAndValue ${ConfigContents})
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# Strip leading spaces
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string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
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@@ -261,72 +189,8 @@ function(px4_os_prebuild_targets)
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string(REPLACE "\"" "" Value ${Value})
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# Set the variable
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set(${Name} ${Value} PARENT_SCOPE)
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#message(STATUS "${Name} ${Value}")
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set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
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endif()
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endforeach()
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_configure
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#
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# This function sets the nuttx configuration
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#
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# Usage:
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# px4_nuttx_configure(
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# HWCLASS <m3|m4>
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# [ROMFS <y|n>
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# ROMFSROOT <root>]
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# )
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#
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# Input:
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# HWCLASS : the class of hardware
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# CONFIG : the nuttx configuration to use
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# ROMFS : whether or not to use incllude theROMFS
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# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common
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#
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# Output:
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# OUT : None
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#
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# Example:
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# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
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#
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function(px4_nuttx_configure)
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px4_parse_function_args(
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NAME px4_nuttx_configure
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ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT IO
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REQUIRED HWCLASS
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ARGN ${ARGN})
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# HWCLASS -> CMAKE_SYSTEM_PROCESSOR
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if(HWCLASS STREQUAL "m7")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m7" PARENT_SCOPE)
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elseif(HWCLASS STREQUAL "m4")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m4" PARENT_SCOPE)
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elseif(HWCLASS STREQUAL "m3")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m3" PARENT_SCOPE)
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endif()
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set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
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||||
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||||
if (CONFIG)
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set(nuttx_config_type ${CONFIG})
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set(nuttx_config_type ${nuttx_config_type} PARENT_SCOPE)
|
||||
endif()
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# ROMFS
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||||
if("${ROMFS}" STREQUAL "y")
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if (NOT DEFINED ROMFSROOT)
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set(config_romfs_root px4fmu_common)
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||||
else()
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set(config_romfs_root ${ROMFSROOT})
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||||
endif()
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set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
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||||
endif()
|
||||
|
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# IO board placed in ROMFS
|
||||
if(config_romfs_root)
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set(config_io_board ${IO} PARENT_SCOPE)
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
|
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Reference in New Issue
Block a user