cmake_minimum_required(VERSION 2.8.5) set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # modify flags from default toolchain flags set(APM_OPT_FLAGS "-Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2") set(ARDUINO_C_FLAGS "${APM_OPT_FLAGS} -mcall-prologues -ffunction-sections -fdata-sections") set(ARDUINO_CXX_FLAGS "${APM_OPT_FLAGS} -mcall-prologues -ffunction-sections -fdata-sections -fno-exceptions -Wno-reorder") set(ARDUINO_LINKER_FLAGS "-lc -lm ${APM_OPT_FLAGS} -Wl,--gc-sections") project(ArduPilotMega C CXX) # set default cmake build type to RelWithDebInfo (None Debug Release RelWithDebInfo MinSizeRel) if( NOT DEFINED CMAKE_BUILD_TYPE ) set( CMAKE_BUILD_TYPE "RelWithDebInfo" ) endif() # set these for release set(APPLICATION_VERSION_MAJOR "1") set(APPLICATION_VERSION_MINOR "2") set(APPLICATION_VERSION_PATCH "0") # dependencies find_package(Arduino 22 REQUIRED) # cmake settigns set(APPLICATION_NAME ${PROJECT_NAME}) set(APPLICATION_VERSION "${APPLICATION_VERSION_MAJOR}.${APPLICATION_VERSION_MINOR}.${APPLICATION_VERSION_PATCH}") # macros include(MacroEnsureOutOfSourceBuild) # disallow in-source build macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build. Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.") # options if (NOT DEFINED BOARD) message(STATUS "please define the board type (for example: cmake -DBOARD=mega, assuming mega") set(BOARD "mega") endif() if (NOT DEFINED PORT) message(STATUS "please define the upload port (for example: cmake -DPORT=/dev/ttyUSB0, assuming /dev/ttyUSB0") set(PORT "/dev/ttyUSB0") endif() # cpack settings set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "A universal autopilot system for the ArduPilotMega board.") set(CPACK_PACKAGE_VENDOR "DIYDRONES") set(CPACK_DEBIAN_PACKAGE_MAINTAINER "james.goppert@gmail.com") set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com") set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/README.txt") set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/COPYING.txt") set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/README.txt") set(CPACK_PACKAGE_VERSION_MAJOR "${APPLICATION_VERSION_MAJOR}") set(CPACK_PACKAGE_VERSION_MINOR "${APPLICATION_VERSION_MINOR}") set(CPACK_PACKAGE_VERSION_PATCH "${APPLICATION_VERSION_PATCH}") set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") set(CPACK_SET_DESTDIR TRUE) set(CPACK_SOURCE_IGNORE_FILES ${CPACK_SOURCE_IGNORE_FILES} /.git/;/build/;~$;.*\\\\.bin$;.*\\\\.swp$) set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") set(CPACK_SOURCE_GENERATOR "ZIP") set(CPACK_GENERATOR "ZIP") set(CPACK_PACKAGE_NAME "${APPLICATION_NAME}_${BOARD}") include(CPack) find_package(Arduino 22 REQUIRED) # determine board being used if (NOT DEFINED BOARD) message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify") set(BOARD "mega") endif() message(STATUS "Board configured as: ${BOARD}") # add a sketch macro(add_sketch SKETCH_NAME BOARD PORT) message(STATUS "Generating sketch ${SKETCH_NAME}") # files set(SKETCH_CPP ${CMAKE_CURRENT_BINARY_DIR}/${SKETCH_NAME}/${SKETCH_NAME}.cpp) set(SKETCH_PDE ${CMAKE_CURRENT_SOURCE_DIR}/${SKETCH_NAME}/${SKETCH_NAME}.pde) message(STATUS "SKETCH_PDE:\n${SKETCH_PDE}") message(STATUS "SKETCH_CPP:\n${SKETCH_CPP}") # settings set(${SKETCH_NAME}_BOARD ${BOARD}) set(${SKETCH_NAME}_PORT ${PORT}) set(${SKETCH_NAME}_SRCS ${SKETCH_CPP}) set(${SKETCH_NAME}_LIBS m c) # find pde files file(GLOB PDE_SOURCES ${SKETCH_NAME}/*.pde) # find the head of the main pde file(WRITE ${SKETCH_CPP} "// automatically generated by arduino-cmake\n") file(READ ${SKETCH_PDE} FILE) string(FIND "${FILE}" "#include" POS1 REVERSE) string(LENGTH "${FILE}" FILE_LENGTH) math(EXPR LENGTH_STR1 "${FILE_LENGTH}-${POS1}") string(SUBSTRING "${FILE}" ${POS1} ${LENGTH_STR1} STR1) string(FIND "${STR1}" "\n" POS2) math(EXPR POS3 "${POS1}+${POS2}") string(SUBSTRING "${FILE}" 0 ${POS3} FILE_HEAD) message(STATUS "FILE_HEAD:\n${FILE_HEAD}") # find the body of the main pde math(EXPR BODY_LENGTH "${FILE_LENGTH}-${POS3}-1") string(SUBSTRING "${FILE}" "${POS3}+1" "${BODY_LENGTH}" FILE_BODY) message(STATUS "BODY:\n${FILE_BODY}") # write the file head file(APPEND ${SKETCH_CPP} "${FILE_HEAD}") file(APPEND ${SKETCH_CPP} "\n#include \"WProgram.h\"\n") # write prototypes foreach(PDE ${PDE_SOURCES}) message(STATUS "pde: ${PDE}") file(READ ${PDE} FILE) string(REGEX MATCHALL "[\n]([a-zA-Z]+[ ])*[_a-zA-Z0-9]+([ ]*[\n][\t]*|[ ])[_a-zA-Z0-9]+[ ]?[\n]?[\t]*[ ]*[(]([\t]*[ ]*[*]?[ ]?[a-zA-Z0-9_][,]?[ ]*[\n]?)*[)]" PROTOTYPES ${FILE}) foreach(PROTOTYPE ${PROTOTYPES}) message(STATUS "\tprototype: ${PROTOTYPE};") file(APPEND ${SKETCH_CPP} "${PROTOTYPE};") endforeach() endforeach() # write source file(APPEND ${SKETCH_CPP} "\n${FILE_BODY}") list(REMOVE_ITEM PDE_SOURCES ${SKETCH_PDE}) list(SORT PDE_SOURCES) foreach (PDE ${PDE_SOURCES}) file(READ ${PDE} FILE) file(APPEND ${SKETCH_CPP} "${FILE}") endforeach() # generate firmware include_directories(${CMAKE_CURRENT_SOURCE_DIR}/${SKETCH_NAME}) generate_arduino_firmware(${SKETCH_NAME}) set_target_properties(${SKETCH_NAME} PROPERTIES LINKER_LANGUAGE CXX) # install settings install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${SKETCH_NAME}.hex DESTINATION bin ) endmacro() # projects add_sketch(apo ${BOARD} ${PORT}) add_sketch(ArduRover ${BOARD} ${PORT}) add_sketch(ArduBoat ${BOARD} ${PORT}) add_sketch(ArduPlane ${BOARD} ${PORT}) #add_sketch(ArduCopter ${BOARD} ${PORT})