forked from Archive/PX4-Autopilot
Fix RPi2 build system
This commit is contained in:
Kabir Mohammed
Lorenz Meier
parent
02ba3317e9
commit
529460d573
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@ -0,0 +1,24 @@
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#!/bin/bash
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if [[ "$#" < 2 ]]; then
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echo "usage: scp_upload.sh SRC1 [SRC2 ...] DEST"
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exit
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fi
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echo "Uploading..."
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# Get last argument
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for last; do true; done
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# Go through source files and push them one by one.
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i=0
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for arg
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do
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if [[ $((i+1)) == "$#" ]]; then
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break
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fi
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# echo "Pushing $arg to $last"
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#adb push $arg $last
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scp $arg pi@px4autopilot:$last
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((i+=1))
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done
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@ -528,6 +528,24 @@ function(px4_add_adb_push)
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)
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endfunction()
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function(px4_add_scp_push)
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px4_parse_function_args(
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NAME px4_add_upload
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ONE_VALUE OS BOARD OUT DEST
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MULTI_VALUE FILES DEPENDS
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REQUIRED OS BOARD OUT FILES DEPENDS DEST
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ARGN ${ARGN})
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add_custom_target(${OUT}
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COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
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DEPENDS ${DEPENDS}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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COMMENT "uploading ${BUNDLE}"
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VERBATIM
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USES_TERMINAL
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)
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endfunction()
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#=============================================================================
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#
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@ -1,59 +1,109 @@
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include(posix/px4_impl_posix)
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if ("${RPI_TOOLCHAIN_DIR}" STREQUAL "")
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set(RPI_TOOLCHAIN_DIR /opt/rpi_toolchain)
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endif()
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set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
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set(CMAKE_PROGRAM_PATH
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"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
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${CMAKE_PROGRAM_PATH}
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)
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set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
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# This definition allows to differentiate if this just the usual POSIX build
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# or if it is for the RPi.
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add_definitions(
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-D__PX4_POSIX_RPI2
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)
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set(config_module_list
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#
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# Board support modules
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#
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drivers/device
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platforms/common
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platforms/posix/px4_layer
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platforms/posix/work_queue
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modules/sensors
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platforms/posix/drivers/df_mpu9250_wrapper
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platforms/posix/drivers/df_bmp280_wrapper
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platforms/posix/drivers/df_hmc5883_wrapper
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platforms/posix/drivers/df_trone_wrapper
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platforms/posix/drivers/df_isl29501_wrapper
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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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systemcmds/ver
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systemcmds/esc_calib
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systemcmds/reboot
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systemcmds/topic_listener
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systemcmds/perf
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modules/uORB
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modules/param
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modules/systemlib
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modules/systemlib/mixer
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modules/sensors
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modules/mavlink
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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#modules/attitude_estimator_ekf
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modules/ekf_att_pos_estimator
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modules/attitude_estimator_q
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modules/position_estimator_inav
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modules/navigator
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modules/vtol_att_control
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modules/mc_pos_control
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modules/local_position_estimator
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modules/ekf2
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#
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# Vehicle Control
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#
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modules/mc_att_control
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modules/land_detector
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modules/mc_pos_control
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modules/fw_att_control
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modules/fw_pos_control_l1
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modules/dataman
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modules/fw_pos_control_l1
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modules/vtol_att_control
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#
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# Library modules
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#
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modules/sdlog2
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modules/logger
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modules/commander
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modules/load_mon
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modules/param
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modules/systemlib
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modules/systemlib/mixer
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modules/uORB
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modules/dataman
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modules/land_detector
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modules/navigator
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modules/mavlink
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#
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# PX4 drivers
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#
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#
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# Libraries
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#
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lib/controllib
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lib/mathlib
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lib/mathlib/math/filter
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lib/conversion
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lib/ecl
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lib/external_lgpl
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lib/geo
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lib/ecl
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lib/geo_lookup
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lib/launchdetection
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lib/external_lgpl
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lib/conversion
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lib/terrain_estimation
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lib/runway_takeoff
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lib/tailsitter_recovery
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lib/DriverFramework/framework
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)
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#
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# POSIX
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#
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platforms/common
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platforms/posix/px4_layer
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platforms/posix/work_queue
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)
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set(config_df_driver_list
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mpu9250
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bmp280
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hmc5883
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trone
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isl29501
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)
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@ -0,0 +1,86 @@
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# defines:
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#
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# NM
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# OBJCOPY
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# LD
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# CXX_COMPILER
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# C_COMPILER
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# CMAKE_SYSTEM_NAME
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# CMAKE_SYSTEM_VERSION
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# GENROMFS
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# LINKER_FLAGS
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# CMAKE_EXE_LINKER_FLAGS
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# CMAKE_FIND_ROOT_PATH
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# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
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# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
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# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
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include(CMakeForceCompiler)
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if ("$ENV{RPI_TOOLCHAIN_DIR}" STREQUAL "")
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message(FATAL_ERROR "RPI_TOOLCHAIN_DIR not set")
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else()
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set(RPI_TOOLCHAIN_DIR $ENV{RPI_TOOLCHAIN_DIR})
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endif()
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# this one is important
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set(CMAKE_SYSTEM_NAME Generic)
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#this one not so much
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set(CMAKE_SYSTEM_VERSION 1)
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# specify the cross compiler
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find_program(C_COMPILER arm-linux-gnueabihf-gcc
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PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
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NO_DEFAULT_PATH
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)
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if(NOT C_COMPILER)
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message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
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endif()
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cmake_force_c_compiler(${C_COMPILER} GNU)
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find_program(CXX_COMPILER arm-linux-gnueabihf-g++
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PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
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NO_DEFAULT_PATH
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)
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if(NOT CXX_COMPILER)
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message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
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endif()
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cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
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# compiler tools
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foreach(tool objcopy nm ld)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} arm-linux-gnueabihf-${tool}
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PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
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NO_DEFAULT_PATH
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)
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if(NOT ${TOOL})
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message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
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endif()
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endforeach()
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# os tools
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foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} ${tool})
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if(NOT ${TOOL})
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message(FATAL_ERROR "could not find ${TOOL}")
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endif()
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endforeach()
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set(LINKER_FLAGS "-Wl,-gc-sections")
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set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
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set(CMAKE_C_FLAGS ${C_FLAGS})
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set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
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# where is the target environment
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set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
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# search for programs in the build host directories
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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# for libraries and headers in the target directories
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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@ -0,0 +1,17 @@
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uorb start
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param set SYS_AUTOSTART 4001
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sleep 1
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param set MAV_TYPE 2
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df_mpu9250_wrapper start
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df_hmc5883_wrapper start
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sensors start
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commander start
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ekf2 start
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land_detector start multicopter
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mc_pos_control start
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mc_att_control start
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mavlink start -u 14556 -r 1000000
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink boot_complete
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@ -36,6 +36,30 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
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DEPENDS mainapp
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DEST /home/linaro)
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elseif ("${BOARD}" STREQUAL "rpi2")
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add_executable(mainapp
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${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.h
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)
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target_link_libraries(mainapp
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-Wl,--start-group
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${module_libraries}
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df_driver_framework
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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px4_add_scp_push(OUT upload
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/mainapp
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${CMAKE_SOURCE_DIR}/posix-configs/rpi2/mainapp.config
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DEPENDS mainapp
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DEST /home/pi)
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else()
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add_executable(mainapp
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@ -178,10 +178,10 @@ int DfBmp280Wrapper::_publish(struct baro_sensor_data &data)
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const double R = 287.05; /* ideal gas constant in J/kg/K */
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/* current pressure at MSL in kPa */
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double p1 = MSL_PRESSURE / 1000.0;
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double p1 = MSL_PRESSURE / 1000.0f;
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/* measured pressure in kPa */
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double p = data.pressure_pa / 1000.0;
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double p = data.pressure_pa / 1000.0f;
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/*
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* Solve:
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