mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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4afd19f037
the nuttx and posix specific options files since this option cannot be used with the qurt platform. There are header files in the hexagon sdk that fail this check.
295 lines
7.8 KiB
CMake
295 lines
7.8 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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#=============================================================================
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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_posix_generate_builtin_commands
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#
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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_determine_build_chip
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# * px4_os_prebuild_targets
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#
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#=============================================================================
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#
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# px4_posix_generate_builtin_commands
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#
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# This function generates the builtin_commands.c src for posix
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#
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# Usage:
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# px4_posix_generate_builtin_commands(
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# MODULE_LIST <in-list>
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# OUT <file>)
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#
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# Input:
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# MODULE_LIST : list of modules
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#
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# Output:
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# OUT : stem of generated apps.cpp/apps.h ("apps")
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#
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# Example:
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# px4_posix_generate_builtin_commands(
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# OUT <generated-src> MODULE_LIST px4_simple_app)
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#
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function(px4_posix_generate_builtin_commands)
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px4_parse_function_args(
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NAME px4_posix_generate_builtin_commands
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ONE_VALUE OUT
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MULTI_VALUE MODULE_LIST
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REQUIRED MODULE_LIST OUT
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ARGN ${ARGN})
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set(builtin_apps_string)
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set(builtin_apps_decl_string)
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set(command_count 0)
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foreach(module ${MODULE_LIST})
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# default
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set(MAIN_DEFAULT MAIN-NOTFOUND)
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set(STACK_DEFAULT 1024)
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set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
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foreach(property MAIN STACK PRIORITY)
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get_target_property(${property} ${module} ${property})
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if(NOT ${property})
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set(${property} ${${property}_DEFAULT})
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endif()
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endforeach()
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if (MAIN)
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set(builtin_apps_string
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"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
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set(builtin_apps_decl_string
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"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
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math(EXPR command_count "${command_count}+1")
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endif()
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endforeach()
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configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.cpp.in ${OUT}.cpp)
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configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.h.in ${OUT}.h)
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endfunction()
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#=============================================================================
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#
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# px4_posix_generate_alias
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#
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# This function generates the px4-alias.sh script containing the command
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# aliases for all modules and commands.
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#
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# Usage:
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# px4_posix_generate_alias(
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# MODULE_LIST <in-list>
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# OUT <file>
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# PREFIX <prefix>)
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#
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# Input:
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# MODULE_LIST : list of modules
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# PREFIX : command prefix (e.g. "px4-")
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#
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# Output:
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# OUT : px4-alias.sh file path
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#
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# Example:
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# px4_posix_generate_alias(
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# OUT <generated-src> MODULE_LIST px4_simple_app PREFIX px4-)
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#
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function(px4_posix_generate_alias)
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px4_parse_function_args(
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NAME px4_posix_generate_alias
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ONE_VALUE OUT PREFIX
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MULTI_VALUE MODULE_LIST
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REQUIRED OUT PREFIX MODULE_LIST
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ARGN ${ARGN})
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set(alias_string)
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foreach(module ${MODULE_LIST})
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foreach(property MAIN STACK PRIORITY)
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get_target_property(${property} ${module} ${property})
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if(NOT ${property})
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set(${property} ${${property}_DEFAULT})
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endif()
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endforeach()
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if (MAIN)
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set(alias_string
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"${alias_string}alias ${MAIN}='${PREFIX}${MAIN} --instance $px4_instance'\n"
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)
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endif()
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endforeach()
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configure_file(${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/px4-alias.sh_in ${OUT})
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endfunction()
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#=============================================================================
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#
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# px4_posix_generate_symlinks
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#
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# This function generates symlinks for all modules/commands.
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#
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# Usage:
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# px4_posix_generate_symlinks(
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# TARGET <target>
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# MODULE_LIST <in-list>
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# PREFIX <prefix>)
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#
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# Input:
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# MODULE_LIST : list of modules
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# PREFIX : command prefix (e.g. "px4-")
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# TARGET : cmake target for which the symlinks should be created
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#
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# Example:
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# px4_posix_generate_symlinks(
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# TARGET px4 MODULE_LIST px4_simple_app PREFIX px4-)
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#
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function(px4_posix_generate_symlinks)
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px4_parse_function_args(
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NAME px4_posix_generate_symlinks
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ONE_VALUE TARGET PREFIX
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MULTI_VALUE MODULE_LIST
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REQUIRED TARGET PREFIX MODULE_LIST
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ARGN ${ARGN})
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foreach(module ${MODULE_LIST})
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foreach(property MAIN STACK PRIORITY)
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get_target_property(${property} ${module} ${property})
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if(NOT ${property})
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set(${property} ${${property}_DEFAULT})
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endif()
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endforeach()
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if (MAIN)
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set(ln_name "${PREFIX}${MAIN}")
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add_custom_command(TARGET ${TARGET}
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E create_symlink ${TARGET} ${ln_name}
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WORKING_DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}"
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)
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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_os_add_flags
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#
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# Set the posix build flags.
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#
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# Usage:
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# px4_os_add_flags()
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#
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function(px4_os_add_flags)
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add_definitions(
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-D__PX4_POSIX
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-Dnoreturn_function=__attribute__\(\(noreturn\)\)
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)
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include_directories(platforms/posix/include)
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if ("${PX4_BOARD}" MATCHES "sitl")
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if(UNIX AND APPLE)
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add_definitions(-D__PX4_DARWIN)
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elseif(CYGWIN)
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add_definitions(
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-D__PX4_CYGWIN
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-D_GNU_SOURCE
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-D__USE_LINUX_IOCTL_DEFS
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-U__CUSTOM_FILE_IO__
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)
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else()
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add_definitions(-D__PX4_LINUX)
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endif()
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endif()
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add_compile_options($<$<COMPILE_LANGUAGE:C>:-Wbad-function-cast>)
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endfunction()
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#=============================================================================
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#
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# px4_os_determine_build_chip
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#
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# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
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#
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# Usage:
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# px4_os_determine_build_chip()
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#
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function(px4_os_determine_build_chip)
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# always use generic chip and chip manufacturer
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set(PX4_CHIP "generic" CACHE STRING "PX4 Chip" FORCE)
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set(PX4_CHIP_MANUFACTURER "generic" CACHE STRING "PX4 Chip Manufacturer" FORCE)
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endfunction()
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#=============================================================================
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#
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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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# BOARD <in-string>
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# )
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#
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# Input:
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# BOARD : board
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#
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# Output:
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# OUT : the target list
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#
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# Example:
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# px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
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#
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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
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ARGN ${ARGN})
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add_library(prebuild_targets INTERFACE)
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target_link_libraries(prebuild_targets INTERFACE px4_layer drivers_board)
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add_dependencies(prebuild_targets DEPENDS uorb_headers)
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endfunction()
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