mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 09:03:34 +08:00
151 lines
3.2 KiB
CMake
151 lines
3.2 KiB
CMake
include (common/px4_upload)
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
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px4_posix_generate_builtin_commands(
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OUT apps
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MODULE_LIST ${module_libraries})
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# Define build target
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set(APP_NAME px4)
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set(MAIN_SRC ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
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set(UPLOAD_NAME upload)
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if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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include(fastrpc)
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include(linux_app)
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
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LINUX_APP(
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APP_NAME ${APP_NAME}
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IDL_NAME px4muorb
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APPS_DEST "/home/linaro"
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SOURCES
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px4muorb_stub.c
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${MAIN_SRC}
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apps.cpp
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LINK_LIBS
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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${FASTRPC_ARM_LIBS}
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pthread m rt
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-Wl,--end-group
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)
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px4_add_adb_push(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES $<TARGET_FILE:${APP_NAME}>
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${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
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DEPENDS ${APP_NAME}
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DEST /home/linaro)
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elseif ("${BOARD}" STREQUAL "rpi")
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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df_driver_framework
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
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px4_add_scp_push(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES $<TARGET_FILE:${APP_NAME}>
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${RPI_CONFIG_FILES}
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${PX4_SOURCE_DIR}/ROMFS
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DEPENDS ${APP_NAME}
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DEST /home/pi)
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elseif ("${BOARD}" STREQUAL "bebop")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(${APP_NAME}
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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endif()
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px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES $<TARGET_FILE:px4>.stripped
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DEPENDS px4
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DEST /usr/bin)
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elseif ("${BOARD}" STREQUAL "sitl")
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include(sitl_target)
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if(BUILD_TESTING)
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include(sitl_tests)
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endif()
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else()
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(${APP_NAME}
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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endif()
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endif()
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#=============================================================================
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# install
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#
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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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add_custom_command(OUTPUT ${APP_NAME}.stripped
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COMMAND ${STRIP_TOOL} -R .comment -R .gnu.version -o $<TARGET_FILE:px4>.stripped $<TARGET_FILE:px4>
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DEPENDS px4
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)
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add_custom_target(strip DEPENDS "${APP_NAME}.stripped")
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