dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge pull request #2978 from PX4/cmake_win_fixes 

CMake Windows Fixes
This commit is contained in:
Lorenz Meier 2015-10-14 09:29:06 +02:00
parent 76dcd8b717 5865dc6434
commit 5d2b01a8e7
14 changed files with 64 additions and 79 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
.gitmodules vendored
View File

@ -4,8 +4,8 @@
[submodule "NuttX"]
path = NuttX
url = git://github.com/PX4/NuttX.git
[submodule "src/lib/uavcan"]
path = src/lib/uavcan
[submodule "src/modules/uavcan/libuavcan"]
path = src/modules/uavcan/libuavcan
url = git://github.com/UAVCAN/libuavcan.git
[submodule "Tools/genmsg"]
path = Tools/genmsg

2
CMakeLists.txt
View File

@ -224,7 +224,7 @@ px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
px4_add_git_submodule(TARGET git_uavcan PATH "src/lib/uavcan")
px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")

12
Makefile
View File

@ -74,7 +74,13 @@ ifdef NINJA_BUILD
PX4_MAKE = ninja
PX4_MAKE_ARGS =
else
PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
ifdef SYSTEMROOT
# Windows
PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
else
PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
endif
PX4_MAKE = make
PX4_MAKE_ARGS = -j$(j) --no-print-directory
endif
@ -171,9 +177,9 @@ distclean: clean
@cd NuttX
@git clean -d -f -x
@cd ..
@cd src/lib/uavcan
@cd src/modules/uavcan/libuavcan
@git clean -d -f -x
@cd ../../..
@cd ../../../..
# targets handled by cmake
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan

2
Tools/check_code_style.sh
View File

@ -25,7 +25,7 @@ for fn in $(find src/examples \
-path './NuttX' -prune -o \
-path './src/lib/eigen' -prune -o \
-path './src/lib/mathlib/CMSIS' -prune -o \
-path './src/lib/uavcan' -prune -o \
-path './src/modules/uavcan/libuavcan' -prune -o \
-path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-path './src/modules/ekf_att_pos_estimator' -prune -o \
-path './src/modules/sdlog2' -prune -o \

5
Tools/generate_listener.py
View File

@ -1,6 +1,7 @@
#!/usr/bin/python
import glob
import os
import sys
# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
@ -48,7 +49,9 @@ for index,m in enumerate(raw_messages):
temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
f.close()
messages.append(m.split('/')[-1].split('.')[0])
(m_head, m_tail) = os.path.split(m)
messages.append(m_tail.split('.')[0])
#messages.append(m.split('/')[-1].split('.')[0])
message_elements.append(temp_list)
num_messages = len(messages);

5
Tools/px_generate_uorb_topic_headers.py
View File

@ -43,6 +43,11 @@ import shutil
import filecmp
import argparse
import sys
px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
sys.path.append(px4_tools_dir + "/genmsg/src")
sys.path.append(px4_tools_dir + "/gencpp/src")
try:
import genmsg.template_tools
except ImportError as e:

15
cmake/common/px4_base.cmake
View File

@ -138,8 +138,7 @@ function(px4_add_git_submodule)
string(REPLACE "/" "_" NAME ${PATH})
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_${NAME}.stamp
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMAND git submodule init ${PATH}
COMMAND git submodule update -f ${PATH}
COMMAND git submodule update --init --recursive -f ${PATH}
COMMAND touch ${CMAKE_BINARY_DIR}/git_${NAME}.stamp
)
add_custom_target(${TARGET}
@ -330,7 +329,6 @@ function(px4_generate_messages)
if(NOT VERBOSE)
set(QUIET "-q")
endif()
set(PYTHONPATH "${CMAKE_SOURCE_DIR}/Tools/genmsg/src:${CMAKE_SOURCE_DIR}/Tools/gencpp/src:$ENV{PYTHONPATH}")
set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
set(msg_list)
foreach(msg_file ${MSG_FILES})
@ -342,7 +340,7 @@ function(px4_generate_messages)
list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
endforeach()
add_custom_command(OUTPUT ${msg_files_out}
COMMAND PYTHONPATH=${PYTHONPATH} ${PYTHON_EXECUTABLE}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_headers.py
${QUIET}
-d msg
@ -363,7 +361,7 @@ function(px4_generate_messages)
list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
endforeach()
add_custom_command(OUTPUT ${msg_multi_files_out}
COMMAND PYTHONPATH=${PYTHONPATH} ${PYTHON_EXECUTABLE}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_headers.py
${QUIET}
-d msg
@ -425,7 +423,7 @@ function(px4_add_upload)
endif()
px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
add_custom_target(${OUT}
COMMAND PYTHONPATH=${PYTHONPATH} ${PYTHON_EXECUTABLE}
COMMAND ${PYTHON_EXECUTABLE}
${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
DEPENDS ${BUNDLE}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
@ -536,6 +534,7 @@ function(px4_add_common_flags)
-ffunction-sections
-fdata-sections
)
if (NOT ${CMAKE_C_COMPILER_ID} STREQUAL "Clang")
list(APPEND optimization_flags
-fno-strength-reduce
@ -544,7 +543,6 @@ function(px4_add_common_flags)
endif()
set(c_warnings
-Wbad-function-cast
-Wstrict-prototypes
-Wmissing-prototypes
-Wnested-externs
@ -566,6 +564,7 @@ function(px4_add_common_flags)
set(cxx_warnings
-Wno-missing-field-initializers
)
set(cxx_compile_flags
-g
-fno-exceptions
@ -578,7 +577,7 @@ function(px4_add_common_flags)
set(visibility_flags
-fvisibility=hidden
"-include ${CMAKE_SOURCE_DIR}/src/include/visibility.h"
-include visibility.h
)
set(added_c_flags

4
cmake/configs/nuttx_px4fmu-v2_default.cmake
View File

@ -168,8 +168,8 @@ set(config_io_board
set(config_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
libuavcan.a
libuavcan_stm32_driver.a
uavcan
uavcan_stm32_driver
)
set(config_io_extra_libs

9
cmake/nuttx/bin_to_obj.py
View File

@ -12,6 +12,7 @@ from subprocess import PIPE
parser = argparse.ArgumentParser(description='Convert bin to obj.')
parser.add_argument('--c_flags', required=True)
parser.add_argument('--c_compiler', required=True)
parser.add_argument('--include_path', required=True)
parser.add_argument('--nm', required=True)
parser.add_argument('--ld', required=True)
parser.add_argument('--objcopy', required=True)
@ -23,6 +24,7 @@ args = parser.parse_args()
in_bin = args.bin
c_flags = args.c_flags
c_compiler = args.c_compiler
include_path = args.include_path
nm = args.nm
ld = args.ld
obj = args.obj
@ -46,7 +48,7 @@ def run_cmd(cmd, d):
return stdout
# do compile
run_cmd("{c_compiler:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
locals())
# link
@ -55,9 +57,10 @@ run_cmd("{ld:s} -r -o {obj:s}.bin.o {obj:s}.c.o -b binary {in_bin:s}",
# get size of image
stdout = run_cmd("{nm:s} -p --radix=x {obj:s}.bin.o", locals())
re_string = r"^([0-9A-F-a-f]+) .*{sym:s}_size\n".format(**locals())
re_string = r"^([0-9A-Fa-f]+) .*{sym:s}_size".format(**locals())
re_size = re.compile(re_string, re.MULTILINE)
size_match = re.search(re_size, stdout.decode())
try:
size = size_match.group(1)
except AttributeError as e:
@ -76,7 +79,7 @@ with open('{obj:s}.c'.format(**locals()), 'w') as f:
**locals()))
# do compile
run_cmd("{c_compiler:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
locals())
# link

5
cmake/nuttx/px4_impl_nuttx.cmake
View File

@ -213,7 +213,9 @@ function(px4_nuttx_add_export)
# copy
add_custom_command(OUTPUT nuttx_copy_${CONFIG}.stamp
COMMAND ${MKDIR} -p ${CMAKE_BINARY_DIR}/${CONFIG}
COMMAND rsync -a --exclude=.git ${CMAKE_SOURCE_DIR}/NuttX/ ${nuttx_src}/
COMMAND ${RM} -rf ${nuttx_src}
COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/NuttX ${nuttx_src}
COMMAND ${RM} -rf ${nuttx_src}/.git
COMMAND ${TOUCH} nuttx_copy_${CONFIG}.stamp
DEPENDS ${DEPENDS})
add_custom_target(__nuttx_copy_${CONFIG}
@ -347,6 +349,7 @@ function(px4_nuttx_add_romfs)
#COMMAND cmake -E remove_directory ${romfs_temp_dir}
COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
--include_path "${CMAKE_SOURCE_DIR}/src/include"
--c_compiler ${CMAKE_C_COMPILER}
--nm ${NM} --objcopy ${OBJCOPY}
--obj romfs.o

2
nuttx-configs/px4fmu-v2/nsh/defconfig
View File

@ -1064,3 +1064,5 @@ CONFIG_SYSTEM_SYSINFO=y
#
# USB Monitor
#
CONFIG_NSOCKET_DESCRIPTORS=0

1
src/lib/uavcan

@ -1 +0,0 @@
Subproject commit 86c3397b1b423eeed86f21c8b08c8acfbd5add96

76
src/modules/uavcan/CMakeLists.txt
View File

@ -31,65 +31,30 @@
#
############################################################################
# uavcan project
set(uavcan_c_flags ${c_flags})
list(REMOVE_ITEM uavcan_c_flags -std=gnu++0x -D__CUSTOM_FILE_IO__)
set(uavcan_cxx_flags ${cxx_flags})
list(REMOVE_ITEM uavcan_cxx_flags -std=gnu++0x -std=c++11 -Wundef -Werror -D__CUSTOM_FILE_IO__)
set(uavcan_deps git_uavcan)
set(uavcan_platform generic)
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
string(TOUPPER "${OS}" OS_UPPER)
set(uavcan_definitions
-DUAVCAN_NO_ASSERTIONS
-DUAVCAN_STM32_NUM_IFACES=2
-DUAVCAN_USE_EXTERNAL_SNPRINT
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
-DUAVCAN_STM32_TIMER_NUMBER=5
-DUAVCAN_STM32_${OS_UPPER}=1
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
)
set(uavcan_extra_flags ${uavcan_definitions})
if (${OS} STREQUAL "nuttx")
set(uavcan_platform stm32)
list(APPEND uavcan_extra_flags
-I${nuttx_export_dir}/include
-I${nuttx_export_dir}/include/cxx
-I${nuttx_export_dir}/arch/chip
-I${nuttx_export_dir}/arch/common
)
list(APPEND uavcan_deps nuttx_export_${BOARD})
endif()
list(APPEND uavcan_c_flags ${uavcan_extra_flags})
list(APPEND uavcan_cxx_flags ${uavcan_extra_flags})
px4_join(OUT uavcan_c_flags LIST "${uavcan_c_flags}" GLUE " ")
px4_join(OUT uavcan_cxx_flags LIST "${uavcan_cxx_flags}" GLUE " ")
externalproject_add(libuavcan
DEPENDS ${uavcan_deps}
DOWNLOAD_COMMAND ""
UPDATE_COMMAND git submodule update --init
LOG_INSTALL 1
SOURCE_DIR ${CMAKE_SOURCE_DIR}/src/lib/uavcan
CMAKE_ARGS -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
add_definitions(
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-DUAVCAN_NO_ASSERTIONS
-DUAVCAN_PLATFORM=stm32
-DUAVCAN_STM32_${OS_UPPER}=1
-DUAVCAN_STM32_NUM_IFACES=2
-DUAVCAN_STM32_TIMER_NUMBER=5
-DUAVCAN_USE_CPP03=ON
-DUAVCAN_PLATFORM=${uavcan_platform}
-DUAVCAN_OS=${OS}
-DCMAKE_CXX_FLAGS=${uavcan_cxx_flags}
-DCMAKE_C_FLAGS=${uavcan_c_flags}
-DCMAKE_INSTALL_PREFIX=${ep_base}/Install
)
-DUAVCAN_USE_EXTERNAL_SNPRINT
)
string(TOUPPER ${OS} OS_UPPER)
add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan platforms__nuttx)
add_definitions(${uavcan_definitions})
include_directories(libuavcan/libuavcan/include)
include_directories(libuavcan/libuavcan/include/dsdlc_generated)
include_directories(libuavcan/libuavcan_drivers/posix/include)
include_directories(libuavcan/libuavcan_drivers/stm32/driver/include)
px4_add_module(
MODULE modules__uavcan
@ -100,7 +65,6 @@ px4_add_module(
-Wno-deprecated-declarations
-O3
SRCS
# Main
uavcan_main.cpp
uavcan_servers.cpp
@ -117,7 +81,7 @@ px4_add_module(
DEPENDS
platforms__common
libuavcan
uavcan
)
## vim: set noet ft=cmake fenc=utf-8 ff=unix :

1
src/modules/uavcan/libuavcan Submodule

@ -0,0 +1 @@
Subproject commit 0643879922239930cf7482777356f06891c26616