mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-02 10:41:38 +08:00
94 lines
2.9 KiB
CMake
94 lines
2.9 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.
|
|
#
|
|
############################################################################
|
|
|
|
px4_add_git_submodule(TARGET git_uavcan PATH "libuavcan")
|
|
|
|
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
|
|
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
|
|
|
|
if(NOT config_uavcan_num_ifaces)
|
|
message(FATAL_ERROR "config_uavcan_num_ifaces not set")
|
|
endif()
|
|
|
|
string(TOUPPER "${OS}" OS_UPPER)
|
|
add_definitions(
|
|
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
|
|
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
|
|
-DUAVCAN_NO_ASSERTIONS
|
|
-DUAVCAN_PLATFORM=stm32
|
|
-DUAVCAN_STM32_${OS_UPPER}=1
|
|
-DUAVCAN_STM32_NUM_IFACES=${config_uavcan_num_ifaces}
|
|
-DUAVCAN_STM32_TIMER_NUMBER=5
|
|
)
|
|
|
|
add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
|
|
add_dependencies(uavcan prebuild_targets)
|
|
|
|
px4_add_module(
|
|
MODULE modules__uavcan
|
|
MAIN uavcan
|
|
STACK_MAIN 3200
|
|
STACK_MAX 1500
|
|
INCLUDES
|
|
${PX4_SOURCE_DIR}/mavlink/include/mavlink
|
|
libuavcan/libuavcan/include
|
|
libuavcan/libuavcan/include/dsdlc_generated
|
|
libuavcan/libuavcan_drivers/posix/include
|
|
libuavcan/libuavcan_drivers/stm32/driver/include
|
|
SRCS
|
|
# Main
|
|
uavcan_main.cpp
|
|
uavcan_servers.cpp
|
|
uavcan_params.c
|
|
|
|
# Actuators
|
|
actuators/esc.cpp
|
|
actuators/hardpoint.cpp
|
|
|
|
# Sensors
|
|
sensors/sensor_bridge.cpp
|
|
sensors/gnss.cpp
|
|
sensors/mag.cpp
|
|
sensors/baro.cpp
|
|
|
|
DEPENDS
|
|
mixer
|
|
|
|
git_uavcan
|
|
|
|
# within libuavcan
|
|
libuavcan_dsdlc
|
|
uavcan
|
|
uavcan_stm32_driver
|
|
)
|