forked from Archive/PX4-Autopilot
Merge.
This commit is contained in:
James Goppert
parent
bf9e541d19
commit
34f00ede4d
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@ -168,12 +168,16 @@ endforeach()
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#=============================================================================
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# git
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#
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if(${OS} STREQUAL "nuttx")
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px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
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endif()
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px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
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px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
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px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
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px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
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if(NOT ${OS} STREQUAL "nuttx")
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px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
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endif()
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add_custom_target(submodule_clean
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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@ -199,6 +203,7 @@ px4_os_add_flags(
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INCLUDE_DIRS include_dirs
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LINK_DIRS link_dirs
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DEFINITIONS definitions)
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px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
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px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
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px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
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@ -32,7 +32,7 @@
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include(CMakeForceCompiler)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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include(px4_utils)
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include(px4_base)
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if(NOT HEXAGON_TOOLS_ROOT)
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set(HEXAGON_TOOLS_ROOT /opt/6.4.05)
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@ -0,0 +1,259 @@
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############################################################################
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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_qurt_add_firmware
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# * px4_qurt_generate_builtin_commands
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# * px4_qurt_add_export
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# * px4_qurt_generate_romfs
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#
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# Required OS Inteface Functions
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#
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# * px4_os_add_flags
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# * px4_os_prebuild_targets
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#
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include(px4_base)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt/configs)
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include(qurt_funcs)
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#=============================================================================
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#
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# px4_qurt_generate_builtin_commands
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#
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# This function generates the builtin_commands.c src for qurt
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#
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# Usage:
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# px4_qurt_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 : generated builtin_commands.c src
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#
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# Example:
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# px4_qurt_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_qurt_generate_builtin_commands)
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px4_parse_function_args(
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NAME px4_qurt_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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"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n")
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set(builtin_apps_decl_string
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"${builtin_apps_decl_string}extern 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(${CMAKE_SOURCE_DIR}/cmake/builtin_commands.c.cmake
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${OUT})
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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 ths qurt build flags.
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#
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# Usage:
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# px4_os_add_flags(
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# C_FLAGS <inout-variable>
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# CXX_FLAGS <inout-variable>
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# EXE_LINKER_FLAGS <inout-variable>
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# INCLUDE_DIRS <inout-variable>
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# LINK_DIRS <inout-variable>
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# DEFINITIONS <inout-variable>)
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#
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# Input:
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# BOARD : flags depend on board/qurt config
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#
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# Input/Output: (appends to existing variable)
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# C_FLAGS : c compile flags variable
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# CXX_FLAGS : c++ compile flags variable
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# EXE_LINKER_FLAGS : executable linker flags variable
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# INCLUDE_DIRS : include directories
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# LINK_DIRS : link directories
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# DEFINITIONS : definitions
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#
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# Example:
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# px4_os_add_flags(
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# C_FLAGS CMAKE_C_FLAGS
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# CXX_FLAGS CMAKE_CXX_FLAGS
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# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
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# INCLUDES <list>)
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#
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function(px4_os_add_flags)
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set(inout_vars
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C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
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px4_parse_function_args(
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NAME px4_add_flags
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ONE_VALUE ${inout_vars} BOARD
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REQUIRED ${inout_vars} BOARD
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ARGN ${ARGN})
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px4_add_common_flags(
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BOARD ${BOARD}
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C_FLAGS ${C_FLAGS}
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CXX_FLAGS ${CXX_FLAGS}
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EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
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INCLUDE_DIRS ${INCLUDE_DIRS}
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LINK_DIRS ${LINK_DIRS}
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DEFINITIONS ${DEFINITIONS})
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set(DSPAL_ROOT src/lib/dspal)
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set(added_include_dirs
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${DSPAL_ROOT}/include
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${DSPAL_ROOT}/sys
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${DSPAL_ROOT}/sys/sys
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${DSPAL_ROOT}/mpu_spi/inc
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${DSPAL_ROOT}/uart_esc/inc
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src/platforms/qurt/include
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src/platforms/posix/include
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src/lib/eigen-3.2
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)
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set(added_definitions
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-D__PX4_QURT
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-D__PX4_POSIX
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-include ${PX4_INCLUDE_DIR}visibility.h
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)
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# Add the toolchain specific flags
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set(added_cflags ${QURT_CMAKE_C_FLAGS})
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set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})
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# FIXME @jgoppert - how to work around issues like this?
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# Without changing global variables?
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# Clear -rdynamic flag which fails for hexagon
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set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
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set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
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# output
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foreach(var ${inout_vars})
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string(TOLOWER ${var} lower_var)
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set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
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#message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
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endforeach()
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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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# THREADS : number of threads for building
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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 px4fmu-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 THREADS
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REQUIRED OUT BOARD
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ARGN ${ARGN})
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endfunction()
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#=============================================================================
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#
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# px4_qurt_add_modules
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#
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# This function adds target modules
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#
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# Usage:
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# px4_os_prebuild_targets(
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# OUT <out-list_of_targets>
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# BOARD <in-string>
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# )
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#
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# Input:
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# BOARD : board
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#
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# Output:
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# MODULE_LIST : the updated module list
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#
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# Example:
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# px4_qurt_add_modules(MODULE_LIST module_list BOARD hil)
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#
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function(px4_qurt_add_modules out_modules BOARD)
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include(config-qurt-${BOARD})
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set(config_modules)
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px4_set_config_modules(config_modules)
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set(${out_modules} ${out_modules} ${config_modules} PARENT_SCOPE)
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endfunction()
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# vim: set noet fenc=utf-8 ff=unix nowrap:
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@ -0,0 +1,85 @@
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function(px4_set_config_modules out_module_list)
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set(config_module_list
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drivers/device
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drivers/boards/sitl
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drivers/pwm_out_sim
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drivers/led
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drivers/rgbled
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modules/sensors
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||||
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# drivers/blinkm
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# drivers/ms5611
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||||
#
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# System commands
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#
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systemcmds/param
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systemcmds/mixer
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||||
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||||
#
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# General system control
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#
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# modules/mavlink
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||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
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||||
# modules/attitude_estimator_ekf
|
||||
modules/ekf_att_pos_estimator
|
||||
modules/attitude_estimator_q
|
||||
modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
modules/mc_att_control
|
||||
modules/mc_pos_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
modules/systemlib
|
||||
modules/systemlib/mixer
|
||||
modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
#MODULES += modules/sdlog2
|
||||
#MODULES += modules/simulator
|
||||
modules/commander
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
lib/mathlib
|
||||
lib/mathlib/math/filter
|
||||
lib/geo
|
||||
lib/geo_lookup
|
||||
lib/conversion
|
||||
modules/controllib
|
||||
|
||||
#
|
||||
# QuRT port
|
||||
#
|
||||
platforms/qurt/px4_layer
|
||||
platforms/posix/work_queue
|
||||
# platforms/posix/drivers/accelsim
|
||||
# platforms/posix/drivers/gyrosim
|
||||
# platforms/posix/drivers/adcsim
|
||||
# platforms/posix/drivers/barosim
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
# platforms/qurt/tests/muorb
|
||||
# platforms/posix/tests/vcdev_test
|
||||
# platforms/posix/tests/hrt_test
|
||||
# platforms/posix/tests/wqueue
|
||||
|
||||
#
|
||||
# sources for muorb over fastrpc
|
||||
#
|
||||
modules/muorb/adsp/
|
||||
)
|
||||
message(STATUS "modules: ${config_module_list}")
|
||||
set(${out_module_list} ${config_module_list} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
|
|
@ -47,66 +47,34 @@
|
|||
#
|
||||
set(QURT_APPS_HEADER ${CMAKE_BINARY_DIR}/apps.h)
|
||||
|
||||
add_git_submodule(dspal src/lib/dspal)
|
||||
add_git_submodule(eigen src/lib/eigen-3.2)
|
||||
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
|
||||
px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")
|
||||
|
||||
macro(px4_target_set_flags)
|
||||
list(APPEND EXE_LINK_LIBS
|
||||
pthread
|
||||
)
|
||||
set(DSPAL_ROOT src/lib/dspal)
|
||||
include_directories(
|
||||
${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
|
||||
)
|
||||
add_definitions(
|
||||
-D__PX4_QURT
|
||||
-D__PX4_POSIX
|
||||
-include ${PX4_INCLUDE_DIR}visibility.h
|
||||
)
|
||||
|
||||
# Add the toolchain specific flags
|
||||
set(CMAKE_C_FLAGS ${QURT_CMAKE_C_FLAGS})
|
||||
set(CMAKE_CXX_FLAGS ${QURT_CMAKE_CXX_FLAGS})
|
||||
set(CMAKE_SHARED_LINKER_FLAGS "")
|
||||
|
||||
message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
|
||||
message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
|
||||
|
||||
# Clear -rdynamic flag which fails for hexagon
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
|
||||
|
||||
endmacro()
|
||||
|
||||
macro(px4_target_set_modules)
|
||||
list(APPEND module_directories
|
||||
function(px4_target_add_modules out_module_directories)
|
||||
list(APPEND ${out_module_directories}
|
||||
./src/platforms/qurt/px4_layer
|
||||
./src/platforms/posix/work_queue
|
||||
PARENT_SCOPE
|
||||
)
|
||||
endmacro()
|
||||
endfunction()
|
||||
|
||||
macro(px4_target_validate_config)
|
||||
if (${TARGET_NAME} STREQUAL "qurt-hil-simple")
|
||||
else()
|
||||
function(px4_target_validate_config)
|
||||
# FIXME - this can be done in Firmware/CMakeLists.txt
|
||||
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
|
||||
|
||||
if (NOT EXISTS("${CMAKE_SOURCE_DIR}/cmake/qurt/${TARGET_NAME}.cmake"))
|
||||
message(FATAL_ERROR "not implemented yet: ${TARGET_NAME}")
|
||||
endif()
|
||||
endmacro()
|
||||
endfunction()
|
||||
|
||||
macro(px4_target_firmware)
|
||||
function(px4_target_firmware)
|
||||
set(installed_targets)
|
||||
add_library(dspal_main SHARED ./src/platforms/qurt/px4_layer/main.cpp)
|
||||
target_link_libraries(dspal_main ${module_list})
|
||||
list(APPEND installed_targets dspal_main)
|
||||
endmacro()
|
||||
endfunction()
|
||||
|
||||
macro(px4_target_rules)
|
||||
function(px4_target_rules)
|
||||
#=============================================================================
|
||||
# apps
|
||||
#
|
||||
|
|
@ -118,7 +86,7 @@ macro(px4_target_rules)
|
|||
)
|
||||
|
||||
add_custom_target(qurt_apps DEPENDS ${QURT_APPS_HEADER})
|
||||
endmacro()
|
||||
endfunction()
|
||||
|
||||
macro(px4_target_testing)
|
||||
endmacro()
|
||||
function(px4_target_testing)
|
||||
endfunction()
|
||||
|
|
@ -1,35 +1,35 @@
|
|||
#=============================================================================
|
||||
# module subdirectories, need to include first
|
||||
#
|
||||
add_subdirectory(./lib)
|
||||
add_subdirectory(./drivers)
|
||||
add_subdirectory(./platforms)
|
||||
add_subdirectory(./systemcmds)
|
||||
add_subdirectory(./examples)
|
||||
add_subdirectory(./modules)
|
||||
|
||||
#=============================================================================
|
||||
# executable
|
||||
#
|
||||
|
||||
# a list of modules that will be linked to main
|
||||
set(module_list)
|
||||
|
||||
if (${LABEL} STREQUAL "simple")
|
||||
list(APPEND module_list
|
||||
drivers__led
|
||||
drivers__device
|
||||
platforms__common
|
||||
modules__systemlib
|
||||
modules__uORB
|
||||
examples__px4_simple_app
|
||||
lib__mathlib__math__filter
|
||||
lib__conversion
|
||||
)
|
||||
endif()
|
||||
|
||||
if (${OS} STREQUAL "nuttx")
|
||||
|
||||
#=============================================================================
|
||||
# module subdirectories, need to include first
|
||||
#
|
||||
add_subdirectory(./lib)
|
||||
add_subdirectory(./drivers)
|
||||
add_subdirectory(./platforms)
|
||||
add_subdirectory(./systemcmds)
|
||||
add_subdirectory(./examples)
|
||||
add_subdirectory(./modules)
|
||||
|
||||
# a list of modules that will be linked to main
|
||||
set(module_list)
|
||||
|
||||
if (${LABEL} STREQUAL "simple")
|
||||
list(APPEND module_list
|
||||
drivers__led
|
||||
drivers__device
|
||||
platforms__common
|
||||
modules__systemlib
|
||||
modules__uORB
|
||||
examples__px4_simple_app
|
||||
lib__mathlib__math__filter
|
||||
lib__conversion
|
||||
)
|
||||
endif()
|
||||
|
||||
if (${LABEL} STREQUAL "simple")
|
||||
list(APPEND module_list ${module_list_simple})
|
||||
endif()
|
||||
|
|
@ -70,6 +70,19 @@ if (${OS} STREQUAL "nuttx")
|
|||
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
|
||||
BUNDLE ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4)
|
||||
|
||||
px4_nuttx_generate_romfs(OUT ${CMAKE_CURRENT_BINARY_DIR}/romfs.img
|
||||
ROOT ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common)
|
||||
|
||||
elseif(${OS} STREQUAL "qurt")
|
||||
set(module_list)
|
||||
px4_qurt_add_modules(module_list ${BOARD})
|
||||
message(STATUS "module list: ${module_list}")
|
||||
|
||||
px4_qurt_generate_builtin_commands(
|
||||
OUT builtin_commands.c
|
||||
MODULE_LIST ${module_list})
|
||||
|
||||
add_executable(mainapp builtin_commands.c)
|
||||
endif()
|
||||
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
|
|
|
|||
Loading…
Reference in New Issue