boards organization

platforms/posix/CMakeLists.txt

@@ -21,7 +21,7 @@ px4_posix_generate_alias(
 	PREFIX ${PX4_SHELL_COMMAND_PREFIX}
 )
 
-if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
+if (("${PX4_BOARD}" STREQUAL "atlflighteagle") OR ("${PX4_BOARD}" STREQUAL "atlflightexcelsior"))
 	include(fastrpc)
 	include(linux_app)
 
@@ -55,7 +55,7 @@ if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
 		)
 
 else()
-	px4_add_executable(px4
+	add_executable(px4
 		src/main.cpp
 		apps.cpp
 		)
@@ -101,7 +101,7 @@ px4_posix_generate_symlinks(
 	TARGET px4
 )
 
-if ("${BOARD}" STREQUAL "rpi")
+if (("${PX4_BOARD}" MATCHES "raspberrypi") OR ("${PX4_BOARD}" MATCHES "navio2"))
 	add_custom_target(upload
 		COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@"$ENV{AUTOPILOT_HOST}":/home/pi
 		DEPENDS px4
@@ -109,7 +109,7 @@ if ("${BOARD}" STREQUAL "rpi")
 		USES_TERMINAL
 		)
 
-elseif ("${BOARD}" STREQUAL "bbblue")
+elseif ("${PX4_BOARD}" MATCHES "bbblue")
 	target_link_libraries(px4 PRIVATE robotcontrol)
 
 	add_custom_target(upload
@@ -119,7 +119,7 @@ elseif ("${BOARD}" STREQUAL "bbblue")
 		USES_TERMINAL
 		)
 
-elseif ("${BOARD}" STREQUAL "bebop")
+elseif ("${PX4_BOARD}" MATCHES "bebop")
 
 	add_custom_target(upload
 		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/. /data/ftp/internal_000
@@ -128,7 +128,7 @@ elseif ("${BOARD}" STREQUAL "bebop")
 		USES_TERMINAL
 		)
 
-elseif ("${BOARD}" STREQUAL "sitl")
+elseif ("${PX4_BOARD}" MATCHES "sitl")
 
 	include(sitl_target)
 	if(BUILD_TESTING)
@@ -178,9 +178,9 @@ elseif ("${BOARD}" STREQUAL "sitl")
 	# sitl_gazebo built plugins
 	install(
 		DIRECTORY
-			${PROJECT_SOURCE_DIR}/build/posix_sitl_default/build_gazebo
+			${PROJECT_SOURCE_DIR}/build/px4sitl_default/build_gazebo
 		DESTINATION
-			${PROJECT_NAME}/build/posix_sitl_default
+			${PROJECT_NAME}/build/px4sitl_default
 		FILES_MATCHING
 			PATTERN "CMakeFiles" EXCLUDE
 			PATTERN "*.so"
@@ -204,14 +204,4 @@ elseif ("${BOARD}" STREQUAL "sitl")
 			${PROJECT_NAME}/Tools/sitl_gazebo
 		)
 
-elseif (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
-
-	# package all libs?
-	#install(
-	#	FILES
-	#		$ENV{HEXAGON_ARM_SYSROOT}/usr/lib/libadsprpc.so
-	#	DESTINATION
-	#		lib
-	#	)
-
 endif()

platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a53.cmake

@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-a53 -mfpu=neon -mfloat-abi=hard")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")

platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a8.cmake

@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard -mthumb-interwork")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")

platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a9.cmake

@@ -0,0 +1,6 @@
+
+set(cpu_flags "-mcpu=cortex-a8 -mfpu=neon-vfpv3 -mfloat-abi=hard -mthumb-interwork")
+
+set(CMAKE_C_FLAGS "${cpu_flags}")
+set(CMAKE_CXX_FLAGS "${cpu_flags}")
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")

platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake

@@ -0,0 +1,45 @@
+# arm-linux-gnueabihf-gcc toolchain
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+
+set(triple arm-linux-gnueabihf)
+set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
+set(TOOLCHAIN_PREFIX ${triple})
+
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
+set(CMAKE_C_COMPILER_TARGET ${triple})
+
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
+set(CMAKE_CXX_COMPILER_TARGET ${triple})
+
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+
+# compiler tools
+foreach(tool nm ld objcopy ranlib strip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
+	if(CMAKE-${TOOL} MATCHES "NOTFOUND")
+		message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
+	endif()
+endforeach()
+
+set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# os tools
+foreach(tool grep make)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()
+
+# optional compiler tools
+foreach(tool gdb gdbtui)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
+endforeach()

platforms/posix/cmake/Toolchain-native.cmake

@@ -0,0 +1,17 @@
+# compiler tools
+foreach(tool nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo grep rm mkdir nm cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()

platforms/posix/cmake/px4_add_board_os.cmake

@@ -0,0 +1,106 @@
+############################################################################
+#
+# Copyright (c) 2018 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
+#
+# 	utility functions
+#
+#		* px4_add_board_os
+#
+
+include(px4_base)
+
+#=============================================================================
+#
+#	px4_add_board_os
+#
+#	This function creates a PX4 board.
+#
+#	Usage:
+#		px4_add_board_os(
+#			BOARD <string>
+#			OS <string>
+#			[ TOOLCHAIN ] <string>
+#			)
+#
+#	Input:
+#		BOARD		: name of board
+#		OS			: posix, nuttx, qurt
+#
+#
+#	Example:
+#		px4_add_board_os(
+#			BOARD px4fmu-v2_default
+#			OS nuttx
+#			)
+#
+function(px4_add_board_os)
+
+	px4_parse_function_args(
+		NAME px4_add_board_os
+		ONE_VALUE
+			VENDOR
+			MODEL
+			LABEL
+			PLATFORM
+			TOOLCHAIN
+			ARCH
+			ROMFSROOT
+			IO
+			BOOTLOADER
+			UAVCAN_INTERFACES
+		MULTI_VALUE
+			DRIVERS
+			MODULES
+			SYSTEMCMDS
+			EXAMPLES
+			SERIAL_PORTS
+			DF_DRIVERS # DriverFramework drivers
+		OPTIONS
+			CONSTRAINED_FLASH
+			ROMFS
+			TESTING
+		REQUIRED
+		ARGN ${ARGN})
+
+	if(NOT CMAKE_TOOLCHAIN_FILE)
+		# default to native toolchain
+		set(CMAKE_TOOLCHAIN_FILE Toolchain-native CACHE INTERNAL "toolchain file" FORCE)
+	endif()
+
+	include(px4_impl_os)
+	px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
+
+endfunction()

platforms/posix/cmake/px4_impl_os.cmake

@@ -45,8 +45,7 @@
 #		* px4_os_prebuild_targets
 #
 
-include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
+include(px4_base)
 
 # This makes it possible to dynamically load code which depends on symbols
 # inside the px4 executable.
@@ -155,9 +154,7 @@ function(px4_posix_generate_alias)
 			)
 		endif()
 	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/platforms/posix/src/px4-alias.sh_in
-		${OUT}
-	)
+	configure_file(${PX4_SOURCE_DIR}/platforms/posix/src/px4-alias.sh_in ${OUT})
 endfunction()
 
 
@@ -198,6 +195,7 @@ function(px4_posix_generate_symlinks)
 				set(${property} ${${property}_DEFAULT})
 			endif()
 		endforeach()
+
 		if (MAIN)
 			set(ln_name "${PREFIX}${MAIN}")
 			add_custom_command(TARGET ${TARGET}
@@ -262,7 +260,7 @@ function(px4_os_add_flags)
 		ARGN ${ARGN})
 
 	px4_add_common_flags(
-		BOARD ${BOARD}
+		BOARD ${PX4_BOARD}
 		C_FLAGS ${C_FLAGS}
 		CXX_FLAGS ${CXX_FLAGS}
 		OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
@@ -292,8 +290,8 @@ function(px4_os_add_flags)
 			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})
+		execute_process(COMMAND uname -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)
 			add_definitions(
@@ -318,7 +316,7 @@ function(px4_os_add_flags)
 	endif()
 
 	# This block sets added_c_flags (appends to others).
-	if ("${BOARD}" STREQUAL "eagle")
+	if ("${PX4_BOARD}" STREQUAL "eagle")
 
 		if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
 			message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
@@ -339,7 +337,7 @@ function(px4_os_add_flags)
 			--sysroot=${HEXAGON_ARM_SYSROOT}
 			)
 	# This block sets added_c_flags (appends to others).
-	elseif ("${BOARD}" STREQUAL "excelsior")
+	elseif ("${PX4_BOARD}" STREQUAL "excelsior")
 
 		if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
 			message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
@@ -359,7 +357,14 @@ function(px4_os_add_flags)
 			${excelsior_flags}
 			)
 
-	elseif ("${BOARD}" STREQUAL "rpi")
+	elseif ("${PX4_BOARD}" STREQUAL "rpi")
+
+		add_definitions(
+			-D__PX4_POSIX_RPI
+			-D__DF_LINUX # For DriverFramework
+			-D__DF_RPI # For DriverFramework
+		)
+
 		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 ${RPI_COMPILE_FLAGS})
@@ -387,11 +392,41 @@ function(px4_os_add_flags)
 				-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
 			)
 		ENDIF()
-	elseif ("${BOARD}" STREQUAL "bebop")
+	elseif ("${PX4_BOARD}" STREQUAL "bebop")
+
+		add_definitions(
+			-D__PX4_POSIX_BEBOP
+			-D__DF_LINUX # Define needed DriverFramework
+			-D__DF_BEBOP # Define needed DriverFramework
+		)
+
 		# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
 		list(APPEND added_cxx_flags -Wno-missing-field-initializers)
-		
-	elseif ("${BOARD}" STREQUAL "bbblue")
+
+	elseif ("${PX4_BOARD}" MATCHES "ocpoc")
+
+		add_definitions(
+			-D__PX4_POSIX_OCPOC
+			-D__DF_LINUX # For DriverFramework
+			-D__DF_OCPOC # For DriverFramework
+			-D__PX4_POSIX
+		)
+
+	elseif ("${PX4_BOARD}" STREQUAL "bbblue")
+
+		add_definitions(
+			-D__PX4_POSIX_BBBLUE
+			-D__PX4_POSIX
+			-D__DF_LINUX        # For DriverFramework
+			-D__DF_BBBLUE       # For DriverFramework
+			-DRC_AUTOPILOT_EXT  # Enable extensions in Robotics Cape Library
+			#-DDEBUG_BUILD
+
+			#optional __DF_BBBLUE_USE_RC_BMP280_IMP
+			-D__DF_BBBLUE_USE_RC_BMP280_IMP
+			-D__PX4_BBBLUE_DEFAULT_MAVLINK_WIFI="wlan"
+		)
+
 		set(BBBLUE_COMPILE_FLAGS -mcpu=cortex-a8 -mfpu=neon -mfloat-abi=hard -mtune=cortex-a8)
 		list(APPEND added_c_flags   ${BBBLUE_COMPILE_FLAGS})
 		list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS})
@@ -414,7 +449,6 @@ function(px4_os_add_flags)
 	# 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()
 
@@ -433,7 +467,7 @@ endfunction()
 #			)
 #
 #	Input:
-#		BOARD 		: board
+#		BOARD		: board
 #
 #	Output:
 #		OUT	: the target list
@@ -445,9 +479,10 @@ function(px4_os_prebuild_targets)
 	px4_parse_function_args(
 			NAME px4_os_prebuild_targets
 			ONE_VALUE OUT BOARD
-			REQUIRED OUT BOARD
+			REQUIRED OUT
 			ARGN ${ARGN})
 
-	add_library(${OUT} INTERFACE)
-	add_dependencies(${OUT} DEPENDS uorb_headers)
+	add_library(prebuild_targets INTERFACE)
+	add_dependencies(prebuild_targets DEPENDS uorb_headers)
+
 endfunction()

platforms/posix/src/px4_layer/CMakeLists.txt

@@ -33,7 +33,7 @@
 
 set(EXTRA_DEPENDS)
 if("${CONFIG_SHMEM}" STREQUAL "1")
-	set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+	list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
 	include(hexagon_sdk)
 	include_directories(${HEXAGON_SDK_INCLUDES})
 	include_directories(${PX4_BINARY_DIR}/platforms/posix)