mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 04:03:34 +08:00
Matthias Grob
2baa5ca4d7
- px4io task_main_trampoline add return - iridiumsbd main_loop_helper add return - drivers/uavcan ignore Wcast-align, Wdeprecated-copy, and Waddress-of-packed-member for now - flashparams ignore Wvla-larger-than - test_time fix printf type
147 lines
4.8 KiB
CMake
147 lines
4.8 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015 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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set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan)
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set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
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px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
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set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
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set(UAVCAN_PLATFORM "generic")
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if(CONFIG_ARCH_CHIP)
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if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
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set(UAVCAN_DRIVER "kinetis")
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set(UAVCAN_TIMER 1)
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elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
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set(UAVCAN_DRIVER "stm32")
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set(UAVCAN_TIMER 5) # The default timer the 5
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endif()
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endif()
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if(NOT DEFINED UAVCAN_DRIVER)
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message(FATAL_ERROR "UAVCAN_DRIVER not set")
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endif()
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if(NOT config_uavcan_num_ifaces)
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message(FATAL_ERROR "config_uavcan_num_ifaces not set")
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endif()
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string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
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string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
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add_definitions(
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
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-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
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-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
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-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
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-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
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-DUAVCAN_NO_ASSERTIONS
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-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
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)
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add_compile_options(
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-Wno-cast-align # TODO: fix and enable
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-Wno-deprecated-copy # TODO: fix
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-Wno-address-of-packed-member
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)
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add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
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add_dependencies(uavcan prebuild_targets)
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# driver
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add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
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target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
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${LIBUAVCAN_DIR}/libuavcan/include
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${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
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)
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# generated DSDL
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set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${LIBUAVCAN_DIR}/dsdl/uavcan")
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set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
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set(DSDLC_INPUT_FILES)
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foreach(DSDLC_INPUT ${DSDLC_INPUTS})
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file(GLOB_RECURSE DSDLC_NEW_INPUT_FILES ${CMAKE_CURRENT_SOURCE_DIR} "${DSDLC_INPUT}/*.uavcan")
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list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
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endforeach(DSDLC_INPUT)
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add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
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COMMAND ${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
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COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
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DEPENDS ${DSDLC_INPUT_FILES}
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COMMENT "PX4 UAVCAN dsdl compiler"
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)
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add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
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px4_add_module(
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MODULE drivers__uavcan
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MAIN uavcan
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INCLUDES
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${DSDLC_OUTPUT}
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${LIBUAVCAN_DIR}/libuavcan/include
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${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
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${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
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${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
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SRCS
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# Main
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uavcan_main.cpp
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uavcan_servers.cpp
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# Actuators
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actuators/esc.cpp
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actuators/hardpoint.cpp
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# Sensors
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sensors/sensor_bridge.cpp
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sensors/gnss.cpp
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sensors/mag.cpp
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sensors/baro.cpp
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sensors/flow.cpp
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sensors/battery.cpp
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DEPENDS
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px4_uavcan_dsdlc
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mixer
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mixer_module
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output_limit
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version
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git_uavcan
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uavcan_${UAVCAN_DRIVER}_driver
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# within libuavcan
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uavcan
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)
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