mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 13:13:33 +08:00
Jukka Laitinen
36d440f895
When building uORB for NuttX flat build, or for some other target, everything works as before. When building uORB for NuttX protected or kernel build, this does the following: - The kernel side uORB library reigsters a boardctl handler for calls from userspace and services the boardctl_ioctls by calling the actual uORB functions - For user mode binaries, the uORBManager acts as a proxy, making boardctl_ioctl calls to the kernel side Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
99 lines
3.0 KiB
CMake
99 lines
3.0 KiB
CMake
############################################################################
|
|
#
|
|
# 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.
|
|
#
|
|
############################################################################
|
|
|
|
# this includes the generated topics directory
|
|
include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
|
|
|
set(SRCS)
|
|
|
|
set(SRCS_COMMON
|
|
ORBSet.hpp
|
|
Publication.hpp
|
|
PublicationMulti.hpp
|
|
Subscription.cpp
|
|
Subscription.hpp
|
|
SubscriptionCallback.hpp
|
|
SubscriptionInterval.hpp
|
|
SubscriptionMultiArray.hpp
|
|
uORB.cpp
|
|
uORB.h
|
|
uORBCommon.hpp
|
|
uORBCommunicator.hpp
|
|
uORBManager.hpp
|
|
uORBUtils.cpp
|
|
uORBUtils.hpp
|
|
uORBDeviceMaster.hpp
|
|
uORBDeviceNode.hpp
|
|
)
|
|
|
|
set(SRCS_KERNEL
|
|
uORBDeviceMaster.cpp
|
|
uORBDeviceNode.cpp
|
|
uORBManager.cpp
|
|
)
|
|
|
|
set(SRCS_USER
|
|
uORBManagerUsr.cpp
|
|
)
|
|
|
|
if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
|
|
# Kernel side library in nuttx kernel/protected build
|
|
px4_add_library(uORB_kernel
|
|
${SRCS_COMMON}
|
|
${SRCS_KERNEL}
|
|
)
|
|
target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs)
|
|
target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__)
|
|
|
|
# User side library in nuttx kernel/protected build
|
|
px4_add_library(uORB
|
|
${SRCS_COMMON}
|
|
${SRCS_USER}
|
|
)
|
|
else()
|
|
|
|
# Library for all other targets (flat build, posix...)
|
|
px4_add_library(uORB
|
|
${SRCS_COMMON}
|
|
${SRCS_KERNEL}
|
|
)
|
|
target_link_libraries(uORB PRIVATE cdev)
|
|
endif()
|
|
|
|
target_link_libraries(uORB PRIVATE uorb_msgs)
|
|
target_compile_options(uORB PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
|
|
|
|
if(PX4_TESTING)
|
|
add_subdirectory(uORB_tests)
|
|
endif()
|