mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
Working on cmake options.
This commit is contained in:
James Goppert
parent
5ff1467c7f
commit
304c5e2051
@ -10,14 +10,6 @@ set(PROJECT_VERSION_MINOR "3")
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set(PROJECT_VERSION_PATCH "3")
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set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
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# options
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option(BUILD_2560 "Build 2560 firmware?" ON)
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option(BUILD_1280 "Build 1280 firmware?" OFF)
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if (NOT DEFINED PORT)
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message(WARNING "please define the upload port (for example: cmake -DPORT=/dev/ttyACM0, assuming /dev/ttyACM0")
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set(PORT "/dev/ttyACM0")
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endif()
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# macro path
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/modules")
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@ -27,39 +19,40 @@ include(MacroEnsureOutOfSourceBuild)
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macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build.
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Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.")
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# macros
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include(CMakeParseArguments)
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include(APMOption)
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# options
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apm_option("APM_PROGRAMMING_PORT" TYPE "STRING"
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DESCRIPTION "Programming upload port?"
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DEFAULT "/dev/ttyUSB0")
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apm_option("APM_BOARD" TYPE "COMBO"
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DESCRIPTION "ArduPilotMega board?"
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DEFAULT "mega2560"
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OPTIONS "mega" "mega2560")
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apm_option("APM_PROJECT" TYPE "COMBO"
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DESCRIPTION "ArduPilotMega project to build?"
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DEFAULT "ArduPlane"
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OPTIONS "ArduPlane" "ArduCopter")
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if(APM_PROJECT STREQUAL "ArduPlane")
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include(cmake/options-ArduPlane.cmake)
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endif()
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# modify flags from default toolchain flags
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set(APM_OPT_FLAGS "-Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${APM_OPT_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${APM_OPT_FLAGS} -Wno-reorder")
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${APM_OPT_FLAGS} -Wl,--relax")
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# projects
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set(PROJECT_LIST
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ArduPlane
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ArduCopter
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#apo
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#ArduBoat
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#ArduRover
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)
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# macro for building firmware for all projects
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macro(build_apm_firmware BOARD)
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foreach(PROJECT ${PROJECT_LIST})
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set(${PROJECT}_SKETCH ${CMAKE_SOURCE_DIR}/${PROJECT})
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set(${PROJECT}_BOARD ${BOARD})
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set(${PROJECT}_PORT ${PORT})
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generate_arduino_firmware(${PROJECT})
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endforeach()
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endmacro()
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# build firmware based on options
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if (BUILD_2560)
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build_apm_firmware(mega2560)
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endif()
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if (BUILD_1280)
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build_apm_firmware(mega)
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endif()
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# build apm project
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set(${APM_PROJECT}_SKETCH ${CMAKE_SOURCE_DIR}/${APM_PROJECT})
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set(${APM_PROJECT}_BOARD ${APM_BOARD})
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set(${APM_PROJECT}_PORT ${APM_PROGRAMMING_PORT})
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generate_arduino_firmware(${APM_PROJECT})
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# packaging settings
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set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "A universal autopilot system for the ArduPilotMega board.")
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@ -79,5 +72,5 @@ set(CPACK_SOURCE_IGNORE_FILES ${CPACK_SOURCE_IGNORE_FILES}
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set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
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set(CPACK_SOURCE_GENERATOR "ZIP")
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set(CPACK_GENERATOR "ZIP")
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set(CPACK_PACKAGE_NAME "${APPLICATION_NAME}_${BOARD}")
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set(CPACK_PACKAGE_NAME "${APM_PROJECT}_${BOARD}_${HIL_MODE}")
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include(CPack)
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27
cmake/modules/APMOption.cmake
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27
cmake/modules/APMOption.cmake
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@ -0,0 +1,27 @@
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macro(apm_option NAME)
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cmake_parse_arguments(ARG
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"ADVANCED"
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"TYPE;DESCRIPTION;DEFAULT" "OPTIONS" ${ARGN})
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if ("${ARG_TYPE}" STREQUAL "BOOL")
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set("${NAME}" "${ARG_DEFAULT}" CACHE BOOL "${ARG_DESCRIPTION}")
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elseif ( ("${ARG_TYPE}" STREQUAL "STRING") OR ("${ARG_TYPE}" STREQUAL "COMBO"))
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set("${NAME}" "${ARG_DEFAULT}" CACHE STRING "${ARG_DESCRIPTION}")
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else()
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message(FATAL_ERROR "unknown type: \""${ARG_TYPE}"\" for add_option(${NAME}...")
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endif()
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if ("${ARG_TYPE}" STREQUAL "COMBO")
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if ("${ARG_OPTIONS}" STREQUAL "")
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message(FATAL_ERROR "must set OPTIONS for add_option(${NAME}...")
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else()
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set_property(CACHE "${NAME}" PROPERTY STRINGS "${ARG_OPTIONS}")
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endif()
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endif()
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if (ARG_ADVANCED)
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mark_as_advanced(FORCE "${NAME}")
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endif()
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endmacro()
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171
cmake/options-ArduPlane.cmake
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171
cmake/options-ArduPlane.cmake
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@ -0,0 +1,171 @@
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# options
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#bool_option(LOGGING DESCRIPTION "Logging support?" DEFAULT OFF)
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#bool_option(GPS "Gps support?" ON)
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#option(CLI_SLIDER "Command-line-interface slider support?" OFF)
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#option(APM2 "Build for APM 2.0" OFF)
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apm_option("APM_FRAME" TYPE "COMBO"
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DESCRIPTION "Vehicle type?"
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DEFAULT "PLANE_FRAME"
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OPTIONS "HELI_FRAME" "HEXA_FRAME" "OCTA_FRAME" "Y6_FRAME")
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apm_option("GPS_PROTOCOL" TYPE "COMBO"
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DESCRIPTION "GPS protocol?"
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DEFAULT "GPS_PROTOCOL_AUTO"
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OPTIONS
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"GPS_PROTOOCL_NONE"
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"GPS_PROTOCOL_AUTO"
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"GPS_PROTOCOL_NONE"
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"GPS_PROTOCOL_IMU"
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"GPS_PROTOCOL_MTK"
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"GPS_PROTOCOL_MTK16"
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"GPS_PROTOCOL_UBLOX"
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"GPS_PROTOCOL_SIRF"
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"GPS_PROTOCOL_NMEA")
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apm_option("AIRSPEED_SENSOR" TYPE "BOOL"
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DESCRIPTION "Enable airspeed sensor?"
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DEFAULT OFF)
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apm_option("AIRSPEED_RATIO" TYPE "STRING" ADVANCED
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DESCRIPTION "Airspeed ratio?"
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DEFAULT "1.9936")
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apm_option("MAGNETOMETER" TYPE "BOOL"
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DESCRIPTION "Enable airspeed sensor?"
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DEFAULT OFF)
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apm_option("MAG_ORIENTATION" TYPE "COMBO" ADVANCED
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DESCRIPTION "Magnetometer orientation?"
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DEFAULT "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
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OPTIONS
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"AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
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"AP_COMPASS_COMPONENTS_DOWN_PINS_BACK"
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"AP_COMPASS_COMPONENTS_UP_PINS_FORWARD"
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"AP_COMPASS_COMPONENTS_UP_PINS_BACK")
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apm_option("HIL_MODE" TYPE "COMBO"
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DESCRIPTION "Hardware-in-the-loop- mode?"
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DEFAULT "HIL_MODE_DISABLED"
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OPTIONS
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"HIL_MODE_DISABLED"
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"HIL_MODE_ATTITUDE"
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"HIL_MODE_SENSORS")
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apm_option("HIL_PORT" TYPE "COMBO"
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DESCRIPTION "Port for Hardware-in-the-loop communication"
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DEFAULT "0"
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OPTIONS "0" "1" "2" "3")
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apm_option("HIL_PROTOCOL" TYPE "COMBO"
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DESCRIPTION "Hardware-in-the-loop protocol?"
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DEFAULT "HIL_PROTOCOL_MAVLINK"
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OPTIONS "HIL_PROTOCOL_MAVLINK" "HIL_PROTOCOL_XPLANE")
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apm_option("GPS_PROTOCOL" TYPE "COMBO"
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DESCRIPTION "Ground station protocol?"
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DEFAULT "GCS_PROTOCOL_MAVLINK"
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OPTIONS "GCS_PROTOCOL_NONE" "GCS_PROTOCOL_MAVLINK")
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apm_option("GCS_PORT" TYPE "COMBO" ADVANCED
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DESCRIPTION "Ground station port?"
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DESCRIPTION "3"
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OPTIONS "0" "1" "2" "3")
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apm_option("MAV_SYSTEM_ID" TYPE "STRING" ADVANCED
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DESCRIPTION "MAVLink System ID?"
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DESCRIPTION "1")
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apm_option("SERIAL0_BAUD" TYPE "COMBO" ADVANCED
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DESCRIPTION "Serial 0 baudrate?"
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DEFAULT "115200"
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OPTIONS "57600" "115200")
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apm_option("SERIAL3_BAUD" TYPE "COMBO" ADVANCED
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DESCRIPTION "Serial 3 baudrate?"
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DEFAULT "57600"
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OPTIONS "57600" "115200")
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apm_option("BATTERY_EVENT" TYPE "BOOL" ADVANCED
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DESCRIPTION "Enable low voltage/ high discharge warnings?"
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DEFAULT OFF)
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apm_option("LOW_VOLTAGE" TYPE "STRING" ADVANCED
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DESCRIPTION "Voltage to consider low (volts)?"
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DEFAULT "9.6")
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apm_option("VOLT_DIV_RATIO" TYPE "STRING" ADVANCED
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DESCRIPTION "Voltage division ratio?"
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DEFAULT "3.56")
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apm_option("CUR_AMPS_PER_VOLT" TYPE "STRING" ADVANCED
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DESCRIPTION "Current amps/volt?"
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DEFAULT "27.32")
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apm_option("CUR_AMPS_PER_VOLT" TYPE "STRING" ADVANCED
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DESCRIPTION "Current amps/volt?"
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DEFAULT "27.32")
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#set(CUR_AMPS_PER_VOLT "27.32" CACHE STRING "Current amps/volt?")
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#set(CUR_AMPS_OFFSET "0.0" CACHE STRING "Current amps offset?")
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#set(HIGH_DISCHARGE "1760" CACHE STRING "What to consider high discharge rate (milliamp-hours)?")
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#set(INPUT_VOLTAGE "4.68" CACHE STRING "Voltage measured at the processor (volts)?")
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#set(FLIGHT_MODE_CHANNEL "8" CACHE STRING "The radio channel to control the flight mode.")
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#set_property(CACHE FLIGHT_MODE_CHANNEL PROPERTY STRINGS 1 2 3 4 5 6 7 8)
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#set(FLIGHT_MODES MANUAL STABILIZE FLY_BY_WIRE_A FLY_BY_WIRE_B RTL AUTO LOITER CIRCLE)
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#set(FLIGHT_MODE_1 "RTL" CACHE STRING "Flight mode for radio position 1 (1165 ms)?")
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#set_property(CACHE FLIGHT_MODE_1 PROPERTY STRINGS ${FLIGHT_MODES})
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#set(FLIGHT_MODE_2 "RTL" CACHE STRING "Flight mode for radio position 2 (1295 ms)?")
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#set_property(CACHE FLIGHT_MODE_2 PROPERTY STRINGS ${FLIGHT_MODES})
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#set(FLIGHT_MODE_3 "STABILIZE" CACHE STRING "Flight mode for radio position 3 (1425 ms)?")
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#set_property(CACHE FLIGHT_MODE_3 PROPERTY STRINGS ${FLIGHT_MODES})
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#set(FLIGHT_MODE_4 "STABILIZE" CACHE STRING "Flight mode for radio position 4 (1555 ms)?")
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#set_property(CACHE FLIGHT_MODE_4 PROPERTY STRINGS ${FLIGHT_MODES})
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#set(FLIGHT_MODE_5 "MANUAL" CACHE STRING "Flight mode for radio position 5 (FAILSAFE if using channel 8) (1685 ms)?")
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#set_property(CACHE FLIGHT_MODE_5 PROPERTY STRINGS ${FLIGHT_MODES})
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#set(FLIGHT_MODE_6 "MANUAL" CACHE STRING "Flight mode for radio position 6 (FAILSAFE is using channel 8) (1815 ms)?")
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#set_property(CACHE FLIGHT_MODE_6 PROPERTY STRINGS ${FLIGHT_MODES})
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#set(FLAP_1_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
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#set(FLAP_1_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
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#set(FLAP_2_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
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#set(FLAP_2_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
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#set(THROTTLE_FAILSAFE "ENABLED" CACHE STRING "Enable throttle shuttoff when radio below failsafe value?")
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#set_property(CACHE THROTTLE_FAILSAFE PROPERTY STRINGS ENABLED DISABLED)
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#set(THROTTLE_FS_VALUE "950" CACHE STRING "Radio value at which to disable throttle (ms).")
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#set(GCS_HEARTBEAT_FAILSAFE "DISABLED" CACHE STRING "Enable failsafe when ground station communication lost?")
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#set_property(CACHE GCS_HEARTBEAT_FAILSAFE PROPERTY STRINGS ENABLED DISABLED)
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#set(SHORT_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL, then return to AUTO/LOITER")
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#set(LONG_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL")
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#set(AUTO_TRIM "DISABLED" CACHE STRING "Update trim with manual radio input when leaving MANUAL mode?")
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#set_property(CACHE AUTO_TRIM PROPERTY STRINGS ENABLED DISABLED)
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#set(THROTTLE_REVERSE "DISABLED" CACHE STRING "Reverse throttle output signal?")
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#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED)
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#set(ENABLE_STICK_MIXING "DISABLED" CACHE STRING "Enable manual input in autopilot modes?")
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#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED)
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#set(THROTTLE_OUT "ENABLED" CACHE STRING "Disabled throttle output? (useful for debugging)?")
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#set_property(CACHE THROTTLE_OUT PROPERTY STRINGS ENABLED DISABLED)
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#set(GROUND_START_DELAY "0" CACHE STRING "Delay between power-up and IMU calibration (s)?")
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#set(ENABLE_AIR_START "DISABLED" CACHE STRING "Enable in-air restart?")
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#set_property(CACHE ENABLE_AIR_START PROPERTY STRINGS ENABLED DISABLED)
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