forked from Archive/PX4-Autopilot
Initial attempt to make px4_add_board obsolute
This commit is contained in:
Peter van der Perk
Daniel Agar
parent
7aa28ba9cd
commit
57593cc56a
159
Kconfig
159
Kconfig
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@ -3,13 +3,164 @@
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mainmenu "PX4 Firmware Configuration"
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comment "Platform: $(PLATFORM)"
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comment "Vendor: $(VENDOR)"
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comment "Model: $(MODEL)"
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comment "Label: $(LABEL)"
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comment "Toolchain: $(TOOLCHAIN)"
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comment "Architecture: $(ARCHITECTURE)"
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comment "Romfsroot: $(ROMFSROOT)"
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choice
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prompt "Platform"
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default PLATFORM_NUTTX
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config PLATFORM_NUTTX
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bool "nuttx"
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config PLATFORM_POSIX
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bool "posix"
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config PLATFORM_QURT
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bool "qurt"
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endchoice
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config BOARD_PLATFORM
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string
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default "nuttx" if PLATFORM_NUTTX
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default "posix" if PLATFORM_POSIX
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default "qurt" if PLATFORM_QURT
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choice
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prompt "Toolchain"
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default TOOLCHAIN_ARM_NONE_EABI
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config TOOLCHAIN_ARM_NONE_EABI
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bool "arm-none-eabi"
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config TOOLCHAIN_RISV64
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bool "riscv64-unknown-elf"
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help
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cmake toolchain
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endchoice
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config BOARD_TOOLCHAIN
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string
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default "arm-none-eabi" if TOOLCHAIN_ARM_NONE_EABI
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default "riscv64-unknown-elf" if TOOLCHAIN_RISV64
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choice
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prompt "Architecture"
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config ARCHITECTURE_CORTEX_M3
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bool "cortex-m3"
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config ARCHITECTURE_CORTEX_M4
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bool "cortex-m4"
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config ARCHITECTURE_CORTEX_M7
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bool "cortex-m7"
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config ARCHITECTURE_CORTEX_A8
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bool "cortex-a8"
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config ARCHITECTURE_CORTEX_A53
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bool "cortex-a53"
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help
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name of the CPU CMake is building for (used by the toolchain)
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endchoice
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config BOARD_ARCHITECTURE
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string
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default "cortex-m3" if ARCHITECTURE_CORTEX_M3
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default "cortex-m4" if ARCHITECTURE_CORTEX_M4
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default "cortex-m7" if ARCHITECTURE_CORTEX_M7
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default "cortex-a8" if ARCHITECTURE_CORTEX_A8
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default "cortex-a53" if ARCHITECTURE_CORTEX_A53
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config BOARD_ROMFSROOT
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string "ROMFSROOT"
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default "px4fmu_common"
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help
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relative path to the ROMFS root directory
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config BOARD_BUILD_BOOTLOADER
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bool "Enable bootloader"
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help
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flag to enable building and including the bootloader config
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config BOARD_IO
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string "IO board name"
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help
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name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
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config BOARD_CONSTRAINED_FLASH
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bool "Contrained flash"
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help
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flag to enable constrained flash options (eg limit init script status text)
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if BOARD_CONSTRAINED_FLASH
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config BOARD_NO_HELP
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bool "No help"
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help
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optional condition flag to disable help text on constrained flash systems
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endif #BOARD_CONSTRAINED_FLASH
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config BOARD_CONSTRAINED_MEMORY
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bool "Contrained memory"
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help
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flag to enable constrained memory options (eg limit maximum number of uORB publications)
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config BOARD_EXTERNAL_METADATA
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bool "External metadata"
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help
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flag to exclude metadata to reduce flash
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config BOARD_TESTING
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bool "Testing"
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help
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flag to enable automatic inclusion of PX4 testing modules
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config BOARD_LINKER_PREFIX
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bool "PX4 board linker prefix"
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help
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optional to prefix on the Linker script.
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config BOARD_ETHERNET
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bool "Ethernet"
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help
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flag to indicate that ethernet is enabled
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config BOARD_CRYPTO
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string "Crypto"
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help
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Crypto implementation selection
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config BOARD_KEYSTORE
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string "Keystore"
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help
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Keystore implememntation selection
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menu "Serial ports"
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config BOARD_SERIAL_GPS1
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string "GPS1 tty port"
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config BOARD_SERIAL_GPS2
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string "GPS2 tty port"
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config BOARD_SERIAL_GPS3
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string "GPS3 tty port"
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config BOARD_SERIAL_GPS4
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string "GPS4 tty port"
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config BOARD_SERIAL_GPS5
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string "GPS5 tty port"
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config BOARD_SERIAL_TEL1
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string "TEL1 tty port"
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config BOARD_SERIAL_TEL2
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string "TEL2 tty port"
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config BOARD_SERIAL_TEL3
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string "TEL3 tty port"
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config BOARD_SERIAL_TEL4
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string "TEL4 tty port"
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config BOARD_SERIAL_TEL5
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string "TEL5 tty port"
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endmenu
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menu "drivers"
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source "src/drivers/Kconfig"
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@ -1,12 +1,4 @@
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px4_add_board(
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PLATFORM nuttx
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m4
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CONSTRAINED_MEMORY
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ROMFSROOT px4fmu_common
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SERIAL_PORTS
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GPS1:/dev/ttyS3
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TEL1:/dev/ttyS4
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TEL2:/dev/ttyS1
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)
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@ -1,3 +1,9 @@
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CONFIG_ARCHITECTURE_CORTEX_M4=y
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CONFIG_BOARD_BUILD_BOOTLOADER=y
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CONFIG_BOARD_CONSTRAINED_MEMORY=y
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CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
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CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
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CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
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CONFIG_DRIVERS_ADC_ADS1115=y
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CONFIG_DRIVERS_ADC_BOARD_ADC=y
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CONFIG_DRIVERS_BAROMETER=y
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@ -35,7 +41,7 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
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CONFIG_DRIVERS_TELEMETRY=y
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CONFIG_DRIVERS_TONE_ALARM=y
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CONFIG_DRIVERS_UAVCAN=y
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CONFIG_UAVCAN_INTERFACES=2
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CONFIG_BOARD_UAVCAN_INTERFACES=2
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CONFIG_MODULES_AIRSPEED_SELECTOR=y
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CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
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CONFIG_MODULES_BATTERY_STATUS=y
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@ -1,4 +1,4 @@
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set(BOARD_DEFCONFIG ${PX4_BOARD_DIR}/${PX4_BOARD_LABEL}-boardconfig CACHE FILEPATH "path to defconfig" FORCE)
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set(BOARD_DEFCONFIG ${PX4_BOARD_DIR}/${PX4_BOARD_LABEL}.px4board CACHE FILEPATH "path to defconfig" FORCE)
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set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)
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find_program(MENUCONFIG_PATH menuconfig)
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@ -78,11 +78,21 @@ if(EXISTS ${BOARD_DEFCONFIG})
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string(REPLACE "\"" "" Value ${Value})
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# Set the variable
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#message(STATUS "${Name} ${Value}")
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set(${Name} ${Value} CACHE INTERNAL "BOARD DEFCONFIG: ${Name}" FORCE)
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endif()
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_BOARD_" Board ${NameAndValue})
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if(Board)
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string(REPLACE "CONFIG_BOARD_" "" ConfigKey ${Name})
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if(Value)
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set(${ConfigKey} ${Value})
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message(STATUS "${ConfigKey} ${Value}")
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endif()
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_DRIVERS[^=]+" Drivers ${NameAndValue})
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@ -91,13 +101,13 @@ if(EXISTS ${BOARD_DEFCONFIG})
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_DRIVERS_" "" driver ${Name})
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string(TOLOWER ${driver} driver)
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string(REPLACE "_" "/" driver_path ${driver})
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# Pattern 1 XXX / XXX_XXX
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string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+).*$" "\\1" driver_p1_folder ${driver})
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string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+).*$" "\\2" driver_p1_subfolder ${driver})
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# Pattern 2 XXX_XXX / XXXXXX
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string(REGEX REPLACE "(^[a-z]+_[a-z]+)_([a-z0-9]+).*$" "\\1" driver_p2_folder ${driver})
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string(REGEX REPLACE "(^[a-z]+_[a-z]+)_([a-z0-9]+).*$" "\\2" driver_p2_subfolder ${driver})
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@ -114,7 +124,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
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else()
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message(FATAL_ERROR "Couldn't find path for ${driver}")
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endif()
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endif()
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# Find variable name
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@ -125,7 +135,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_MODULES_" "" module ${Name})
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string(TOLOWER ${module} module)
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list(APPEND config_module_list modules/${module})
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endif()
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@ -137,7 +147,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_SYSTEMCMDS_" "" systemcmd ${Name})
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string(TOLOWER ${systemcmd} systemcmd)
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list(APPEND config_module_list systemcmds/${systemcmd})
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endif()
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@ -149,20 +159,153 @@ if(EXISTS ${BOARD_DEFCONFIG})
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_EXAMPLES_" "" example ${Name})
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string(TOLOWER ${example} example)
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list(APPEND config_module_list examples/${example})
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_UAVCAN_INTERFACES" UAVCAN_INTERFACES ${NameAndValue})
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endforeach()
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# Temporary located here to maintain binary compatibility, have to be removed later
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if(UAVCAN_INTERFACES)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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if(PLATFORM)
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# set OS, and append specific platform module path
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set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
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set(config_uavcan_num_ifaces ${Value} CACHE INTERNAL "UAVCAN interfaces" FORCE)
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# platform-specific include path
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include_directories(${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include)
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endif()
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if(ARCHITECTURE)
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set(CMAKE_SYSTEM_PROCESSOR ${ARCHITECTURE} CACHE INTERNAL "system processor" FORCE)
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endif()
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if(TOOLCHAIN)
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set(CMAKE_TOOLCHAIN_FILE Toolchain-${TOOLCHAIN} CACHE INTERNAL "toolchain file" FORCE)
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endif()
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set(romfs_extra_files)
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set(config_romfs_extra_dependencies)
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# additional embedded metadata
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if (NOT CONSTRAINED_FLASH AND NOT EXTERNAL_METADATA AND NOT ${PX4_BOARD_LABEL} STREQUAL "test")
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list(APPEND romfs_extra_files
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${PX4_BINARY_DIR}/parameters.json.xz
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${PX4_BINARY_DIR}/events/all_events.json.xz)
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list(APPEND romfs_extra_dependencies
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parameters_xml
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events_json)
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endif()
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list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_general.json.xz)
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list(APPEND romfs_extra_dependencies component_general_json)
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set(config_romfs_extra_files ${romfs_extra_files} CACHE INTERNAL "extra ROMFS files" FORCE)
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set(config_romfs_extra_dependencies ${romfs_extra_dependencies} CACHE INTERNAL "extra ROMFS deps" FORCE)
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if(SERIAL_PORTS)
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set(board_serial_ports ${SERIAL_PORTS} PARENT_SCOPE)
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endif()
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# Serial ports
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set(board_serial_ports)
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if(SERIAL_GPS1)
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list(APPEND board_serial_ports GPS1:${SERIAL_GPS1})
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endif()
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if(SERIAL_GPS2)
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list(APPEND board_serial_ports GPS2:${SERIAL_GPS2})
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endif()
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if(SERIAL_GPS3)
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list(APPEND board_serial_ports GPS3:${SERIAL_GPS3})
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endif()
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if(SERIAL_GPS4)
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list(APPEND board_serial_ports GPS4:${SERIAL_GPS4})
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endif()
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if(SERIAL_GPS5)
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list(APPEND board_serial_ports GPS5:${SERIAL_GPS5})
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endif()
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if(SERIAL_TEL1)
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list(APPEND board_serial_ports TEL1:${SERIAL_TEL1})
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endif()
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if(SERIAL_TEL2)
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list(APPEND board_serial_ports TEL2:${SERIAL_TEL2})
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endif()
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if(SERIAL_TEL3)
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list(APPEND board_serial_ports TEL3:${SERIAL_TEL3})
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endif()
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if(SERIAL_TEL4)
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list(APPEND board_serial_ports TEL4:${SERIAL_TEL4})
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endif()
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if(SERIAL_TEL5)
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list(APPEND board_serial_ports TEL5:${SERIAL_TEL5})
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endif()
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# ROMFS
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if(ROMFSROOT)
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set(config_romfs_root ${ROMFSROOT} CACHE INTERNAL "ROMFS root" FORCE)
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if(BUILD_BOOTLOADER)
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set(config_build_bootloader "1" CACHE INTERNAL "build bootloader" FORCE)
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endif()
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endforeach()
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# IO board (placed in ROMFS)
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if(IO)
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set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
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endif()
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if(UAVCAN_PERIPHERALS)
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set(config_uavcan_peripheral_firmware ${UAVCAN_PERIPHERALS} CACHE INTERNAL "UAVCAN peripheral firmware" FORCE)
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endif()
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endif()
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if(UAVCAN_INTERFACES)
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set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
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endif()
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if(UAVCAN_TIMER_OVERRIDE)
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set(config_uavcan_timer_override ${UAVCAN_TIMER_OVERRIDE} CACHE INTERNAL "UAVCAN TIMER OVERRIDE" FORCE)
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endif()
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# OPTIONS
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if(CONSTRAINED_FLASH)
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set(px4_constrained_flash_build "1" CACHE INTERNAL "constrained flash build" FORCE)
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add_definitions(-DCONSTRAINED_FLASH)
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if (NO_HELP)
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add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
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endif()
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endif()
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if(CONSTRAINED_MEMORY)
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set(px4_constrained_memory_build "1" CACHE INTERNAL "constrained memory build" FORCE)
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add_definitions(-DCONSTRAINED_MEMORY)
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endif()
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if(TESTING)
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set(PX4_TESTING "1" CACHE INTERNAL "testing enabled" FORCE)
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endif()
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if(ETHERNET)
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set(PX4_ETHERNET "1" CACHE INTERNAL "ethernet enabled" FORCE)
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endif()
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if(CRYPTO)
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set(PX4_CRYPTO ${CRYPTO} CACHE STRING "PX4 crypto implementation" FORCE)
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endif()
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if(KEYSTORE)
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set(PX4_KEYSTORE ${KEYSTORE} CACHE STRING "PX4 keystore implementation" FORCE)
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endif()
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if(LINKER_PREFIX)
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set(PX4_BOARD_LINKER_PREFIX ${LINKER_PREFIX} CACHE STRING "PX4 board linker prefix" FORCE)
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else()
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set(PX4_BOARD_LINKER_PREFIX "" CACHE STRING "PX4 board linker prefix" FORCE)
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endif()
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include(px4_impl_os)
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px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
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# add board config directory src to build modules
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file(RELATIVE_PATH board_support_src_rel ${PX4_SOURCE_DIR}/src ${PX4_BOARD_DIR})
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list(APPEND config_module_list ${board_support_src_rel}/src)
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set(config_module_list ${config_module_list})
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endif()
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@ -191,141 +191,5 @@ function(px4_add_board)
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|
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set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE STRING "PX4 config" FORCE)
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# set OS, and append specific platform module path
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set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
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# platform-specific include path
|
||||
include_directories(${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include)
|
||||
|
||||
if(ARCHITECTURE)
|
||||
set(CMAKE_SYSTEM_PROCESSOR ${ARCHITECTURE} CACHE INTERNAL "system processor" FORCE)
|
||||
endif()
|
||||
|
||||
if(TOOLCHAIN)
|
||||
set(CMAKE_TOOLCHAIN_FILE Toolchain-${TOOLCHAIN} CACHE INTERNAL "toolchain file" FORCE)
|
||||
endif()
|
||||
|
||||
set(romfs_extra_files)
|
||||
set(config_romfs_extra_dependencies)
|
||||
# additional embedded metadata
|
||||
if (NOT CONSTRAINED_FLASH AND NOT EXTERNAL_METADATA AND NOT ${PX4_BOARD_LABEL} STREQUAL "test")
|
||||
list(APPEND romfs_extra_files
|
||||
${PX4_BINARY_DIR}/parameters.json.xz
|
||||
${PX4_BINARY_DIR}/events/all_events.json.xz)
|
||||
list(APPEND romfs_extra_dependencies
|
||||
parameters_xml
|
||||
events_json)
|
||||
endif()
|
||||
list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_general.json.xz)
|
||||
list(APPEND romfs_extra_dependencies component_general_json)
|
||||
set(config_romfs_extra_files ${romfs_extra_files} CACHE INTERNAL "extra ROMFS files" FORCE)
|
||||
set(config_romfs_extra_dependencies ${romfs_extra_dependencies} CACHE INTERNAL "extra ROMFS deps" FORCE)
|
||||
|
||||
if(SERIAL_PORTS)
|
||||
set(board_serial_ports ${SERIAL_PORTS} PARENT_SCOPE)
|
||||
endif()
|
||||
|
||||
# ROMFS
|
||||
if(ROMFSROOT)
|
||||
set(config_romfs_root ${ROMFSROOT} CACHE INTERNAL "ROMFS root" FORCE)
|
||||
|
||||
if(BUILD_BOOTLOADER)
|
||||
set(config_build_bootloader "1" CACHE INTERNAL "build bootloader" FORCE)
|
||||
endif()
|
||||
|
||||
# IO board (placed in ROMFS)
|
||||
if(IO)
|
||||
set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
|
||||
endif()
|
||||
|
||||
if(UAVCAN_PERIPHERALS)
|
||||
set(config_uavcan_peripheral_firmware ${UAVCAN_PERIPHERALS} CACHE INTERNAL "UAVCAN peripheral firmware" FORCE)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(UAVCAN_INTERFACES)
|
||||
set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
|
||||
endif()
|
||||
|
||||
if(UAVCAN_TIMER_OVERRIDE)
|
||||
set(config_uavcan_timer_override ${UAVCAN_TIMER_OVERRIDE} CACHE INTERNAL "UAVCAN TIMER OVERRIDE" FORCE)
|
||||
endif()
|
||||
|
||||
# OPTIONS
|
||||
|
||||
if(CONSTRAINED_FLASH)
|
||||
set(px4_constrained_flash_build "1" CACHE INTERNAL "constrained flash build" FORCE)
|
||||
add_definitions(-DCONSTRAINED_FLASH)
|
||||
if (NO_HELP)
|
||||
add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(CONSTRAINED_MEMORY)
|
||||
set(px4_constrained_memory_build "1" CACHE INTERNAL "constrained memory build" FORCE)
|
||||
add_definitions(-DCONSTRAINED_MEMORY)
|
||||
endif()
|
||||
|
||||
if(TESTING)
|
||||
set(PX4_TESTING "1" CACHE INTERNAL "testing enabled" FORCE)
|
||||
endif()
|
||||
|
||||
if(ETHERNET)
|
||||
set(PX4_ETHERNET "1" CACHE INTERNAL "ethernet enabled" FORCE)
|
||||
endif()
|
||||
|
||||
if(CRYPTO)
|
||||
set(PX4_CRYPTO ${CRYPTO} CACHE STRING "PX4 crypto implementation" FORCE)
|
||||
add_definitions(-DPX4_CRYPTO)
|
||||
endif()
|
||||
|
||||
if(KEYSTORE)
|
||||
set(PX4_KEYSTORE ${KEYSTORE} CACHE STRING "PX4 keystore implementation" FORCE)
|
||||
endif()
|
||||
|
||||
if(LINKER_PREFIX)
|
||||
set(PX4_BOARD_LINKER_PREFIX ${LINKER_PREFIX} CACHE STRING "PX4 board linker prefix" FORCE)
|
||||
else()
|
||||
set(PX4_BOARD_LINKER_PREFIX "" CACHE STRING "PX4 board linker prefix" FORCE)
|
||||
endif()
|
||||
|
||||
include(px4_impl_os)
|
||||
px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
|
||||
|
||||
|
||||
###########################################################################
|
||||
# Modules (includes drivers, examples, modules, systemcmds)
|
||||
set(config_module_list)
|
||||
|
||||
if(DRIVERS)
|
||||
foreach(driver ${DRIVERS})
|
||||
list(APPEND config_module_list drivers/${driver})
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
if(MODULES)
|
||||
foreach(module ${MODULES})
|
||||
list(APPEND config_module_list modules/${module})
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
if(SYSTEMCMDS)
|
||||
foreach(systemcmd ${SYSTEMCMDS})
|
||||
list(APPEND config_module_list systemcmds/${systemcmd})
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
if(EXAMPLES)
|
||||
foreach(example ${EXAMPLES})
|
||||
list(APPEND config_module_list examples/${example})
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
# add board config directory src to build modules
|
||||
file(RELATIVE_PATH board_support_src_rel ${PX4_SOURCE_DIR}/src ${PX4_BOARD_DIR})
|
||||
list(APPEND config_module_list ${board_support_src_rel}/src)
|
||||
|
||||
set(config_module_list ${config_module_list} PARENT_SCOPE)
|
||||
|
||||
endfunction()
|
||||
|
|
|
|||
|
|
@ -5,9 +5,18 @@ menuconfig DRIVERS_UAVCAN
|
|||
Enable support for uavcan
|
||||
|
||||
if DRIVERS_UAVCAN
|
||||
menuconfig UAVCAN_INTERFACES
|
||||
menuconfig BOARD_UAVCAN_INTERFACES
|
||||
int "UAVCANv0 interface count"
|
||||
default 0
|
||||
---help---
|
||||
Interface count for UAVCANv0
|
||||
|
||||
menuconfig BOARD_UAVCAN_PERIPHERALS
|
||||
string "UAVCAN peripheral firmware"
|
||||
help
|
||||
list of UAVCAN peripheral firmware to build and embed
|
||||
|
||||
menuconfig BOARD_UAVCAN_TIMER_OVERRIDE
|
||||
bool "UAVCAN timer override"
|
||||
|
||||
endif #DRIVERS_UAVCAN
|
||||
|
|
|
|||
Loading…
Reference in New Issue