px4-firmware/cmake/qurt/px4_impl_qurt.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.
#
############################################################################


#=============================================================================
#
#	Defined functions in this file
#
# 	OS Specific Functions
#
#		* px4_qurt_add_firmware
#		* px4_qurt_generate_builtin_commands
#		* px4_qurt_add_export
#		* px4_qurt_generate_romfs
#
# 	Required OS Inteface Functions
#
# 		* px4_os_add_flags
#		* px4_os_prebuild_targets
#

include(common/px4_base)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)

#=============================================================================
#
#	px4_qurt_generate_builtin_commands
#
#	This function generates the builtin_commands.c src for qurt
#
#	Usage:
#		px4_qurt_generate_builtin_commands(
#			MODULE_LIST <in-list>
#			OUT <file>)
#
#	Input:
#		MODULE_LIST	: list of modules
#
#	Output:
#		OUT	: generated builtin_commands.c src
#
#	Example:
#		px4_qurt_generate_builtin_commands(
#			OUT <generated-src> MODULE_LIST px4_simple_app)
#
function(px4_qurt_generate_builtin_commands)
	px4_parse_function_args(
		NAME px4_qurt_generate_builtin_commands
		ONE_VALUE OUT
		MULTI_VALUE MODULE_LIST
		REQUIRED MODULE_LIST OUT
		ARGN ${ARGN})
	set(builtin_apps_string)
	set(builtin_apps_decl_string)
	set(command_count 0)
	foreach(module ${MODULE_LIST})
		# default
		set(MAIN_DEFAULT MAIN-NOTFOUND)
		set(STACK_DEFAULT 1024)
		set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
		foreach(property MAIN STACK PRIORITY) 
			get_target_property(${property} ${module} ${property})
			if(NOT ${property})
				set(${property} ${${property}_DEFAULT})
			endif()
		endforeach()
		if (MAIN)
			set(builtin_apps_string
				"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
			set(builtin_apps_decl_string
				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
			math(EXPR command_count "${command_count}+1")
		endif()
	endforeach()
	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
endfunction()

#=============================================================================
#
#	px4_os_add_flags
#
#	Set ths qurt build flags.
#
#	Usage:
#		px4_os_add_flags(
#			C_FLAGS <inout-variable>
#			CXX_FLAGS <inout-variable>
#			EXE_LINKER_FLAGS <inout-variable>
#			INCLUDE_DIRS <inout-variable>
#			LINK_DIRS <inout-variable>
#			DEFINITIONS <inout-variable>)
#
#	Input:
#		BOARD					: flags depend on board/qurt config
#
#	Input/Output: (appends to existing variable)
#		C_FLAGS					: c compile flags variable
#		CXX_FLAGS				: c++ compile flags variable
#		EXE_LINKER_FLAGS		: executable linker flags variable
#		INCLUDE_DIRS			: include directories
#		LINK_DIRS				: link directories
#		DEFINITIONS				: definitions
#
#	Example:
#		px4_os_add_flags(
#			C_FLAGS CMAKE_C_FLAGS
#			CXX_FLAGS CMAKE_CXX_FLAGS
#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
#			INCLUDES <list>)
#
function(px4_os_add_flags)

	set(inout_vars
		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)

	px4_parse_function_args(
		NAME px4_add_flags
		ONE_VALUE ${inout_vars} BOARD
		REQUIRED ${inout_vars} BOARD
		ARGN ${ARGN})

	px4_add_common_flags(
		BOARD ${BOARD}
		C_FLAGS ${C_FLAGS}
		CXX_FLAGS ${CXX_FLAGS}
		EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
		INCLUDE_DIRS ${INCLUDE_DIRS}
		LINK_DIRS ${LINK_DIRS}
		DEFINITIONS ${DEFINITIONS})

        set(DSPAL_ROOT src/lib/dspal)
        set(added_include_dirs
                ${DSPAL_ROOT}/include 
                ${DSPAL_ROOT}/sys 
                ${DSPAL_ROOT}/sys/sys 
                ${DSPAL_ROOT}/mpu_spi/inc
                ${DSPAL_ROOT}/uart_esc/inc
                src/platforms/qurt/include
                src/platforms/posix/include
		src/lib/eigen-3.2
                )

        set(added_definitions
                -D__PX4_QURT 
		-D__PX4_POSIX
		-include ${PX4_INCLUDE_DIR}visibility.h
                )

	# Add the toolchain specific flags
        set(added_cflags ${QURT_CMAKE_C_FLAGS})
        set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})

	# FIXME @jgoppert - how to work around issues like this?
	# Without changing global variables?
	# Clear -rdynamic flag which fails for hexagon
	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")

	# output
	foreach(var ${inout_vars})
		string(TOLOWER ${var} lower_var)
		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
		#message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
	endforeach()

endfunction()

#=============================================================================
#
#	px4_os_prebuild_targets
#
#	This function generates os dependent targets
#
#	Usage:
#		px4_os_prebuild_targets(
#			OUT <out-list_of_targets>
#			BOARD <in-string>
#			)
#
#	Input:
#		BOARD 		: board
#		THREADS 	: number of threads for building
#
#	Output:
#		OUT	: the target list
#
#	Example:
#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
#
function(px4_os_prebuild_targets)
	px4_parse_function_args(
			NAME px4_os_prebuild_targets
			ONE_VALUE OUT BOARD THREADS
			REQUIRED OUT BOARD
			ARGN ${ARGN})
	add_custom_target(${OUT} DEPENDS git_dspal git_eigen32)
	add_custom_target(ALL DEPENDS git_eigen32)
	execute_process(
		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen-3.2
		COMMAND patch -p1 -i ../../../cmake/qurt/qurt_eigen.patch)
endfunction()

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