Add CMake file for raspberry pi without shield

cmake/configs/posix_rpi_cross_single.cmake

@@ -0,0 +1,116 @@
+# 使用这个文件可在上位机交叉编译px4firmware
+include(posix/px4_impl_posix)
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the RPi.
+add_definitions(
+	-D__PX4_POSIX_RPI
+	-D__DF_LINUX # For DriverFramework
+	-D__DF_RPI # For raspberry pi
+	-D__DF_RPI_SINGLE # For raspberry pi alone
+)
+
+# 硬件驱动模块
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_ms5611_wrapper
+	platforms/posix/drivers/df_trone_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/perf
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+	drivers/gps
+	drivers/rpi_rc_in
+	drivers/rpi_pca9685_pwm_out
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/launchdetection
+	lib/external_lgpl
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+
+	#
+	# POSIX
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+)
+
+#
+# DriverFramework driver
+#
+set(config_df_driver_list
+	mpu9250
+	ms5611
+	trone
+	#isl29501
+)
+
+# 设定交叉工具链
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-bcm2835-linx-gnueabihf-raspbian.cmake)
+
+
+#set(CMAKE_PROGRAM_PATH
+#	"${RPI_TOOLCHAIN_DIR}/arm-bcm2835-linux-gnueabihf/bin"
+#	${CMAKE_PROGRAM_PATH}
+#)*/

cmake/configs/posix_rpi_native_single.cmake

@@ -0,0 +1,119 @@
+# This file is shared between posix_rpi_native.cmake
+# and posix_rpi_cross.cmake.
+
+include(posix/px4_impl_posix)
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the RPi.
+add_definitions(
+	-D__PX4_POSIX_RPI
+	-D__DF_LINUX # For DriverFramework
+	-D__DF_RPI # For raspberry pi
+)
+
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	#platforms/posix/drivers/df_lsm9ds1_wrapper
+	platforms/posix/drivers/df_ms5611_wrapper
+	#platforms/posix/drivers/df_hmc5883_wrapper
+	platforms/posix/drivers/df_trone_wrapper
+	#platforms/posix/drivers/df_isl29501_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/perf
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+	drivers/gps
+	drivers/rpi_rc_in
+	drivers/rpi_pca9685_pwm_out
+	#drivers/navio_sysfs_rc_in
+	#drivers/navio_sysfs_pwm_out
+	#drivers/navio_gpio
+	#drivers/navio_rgbled
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/launchdetection
+	lib/external_lgpl
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+
+	#
+	# POSIX
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+)
+
+#
+# DriverFramework driver
+#
+set(config_df_driver_list
+	mpu9250
+	#lsm9ds1
+	ms5611
+	#hmc5883
+	trone
+	#isl29501
+)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

cmake/toolchains/Toolchain-arm-bcm2835-linx-gnueabihf-raspbian.cmake

@@ -0,0 +1,99 @@
+# defines:
+#
+# NM
+# OBJCOPY
+# LD
+# CXX_COMPILER
+# C_COMPILER
+# CMAKE_SYSTEM_NAME
+# CMAKE_SYSTEM_VERSION
+# LINKER_FLAGS
+# CMAKE_EXE_LINKER_FLAGS
+# CMAKE_FIND_ROOT_PATH
+# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+
+include(CMakeForceCompiler)
+
+if ("$ENV{RPI_TOOLCHAIN_DIR}" STREQUAL "")
+        message(FATAL_ERROR "RPI_TOOLCHAIN_DIR not set")
+else()
+        set(RPI_TOOLCHAIN_DIR $ENV{RPI_TOOLCHAIN_DIR})
+endif()
+
+if ("$ENV{CROSS_COMPILE_PREFIX}" STREQUAL "")
+        message(FATAL_ERROR "CROSS_COMPILE_PREFIX not set")
+else()
+        set(CROSS_COMPILE_PREFIX $ENV{CROSS_COMPILE_PREFIX})
+endif()
+
+
+
+
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Generic)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+find_program(C_COMPILER ${CROSS_COMPILE_PREFIX}-gcc
+	PATHS ${RPI_TOOLCHAIN_DIR}/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT C_COMPILER)
+	message(FATAL_ERROR "could not find ${CROSS_COMPILE_PREFIX}-gcc compiler")
+endif()
+cmake_force_c_compiler(${C_COMPILER} GNU)
+
+find_program(CXX_COMPILER  ${CROSS_COMPILE_PREFIX}-g++
+	PATHS ${RPI_TOOLCHAIN_DIR}/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT CXX_COMPILER)
+	message(FATAL_ERROR "could not find ${CROSS_COMPILE_PREFIX}-g++ compiler")
+endif()
+cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
+
+# compiler tools
+foreach(tool objcopy nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${CROSS_COMPILE_PREFIX}-${tool}
+		PATHS ${RPI_TOOLCHAIN_DIR}/bin
+		NO_DEFAULT_PATH
+		)
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${CROSS_COMPILE_PREFIX}-${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo grep rm mkdir nm cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()
+
+add_definitions(
+	-D __DF_RPI
+	)
+
+set(LINKER_FLAGS "-Wl,-gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+set(CMAKE_C_FLAGS ${C_FLAGS})
+set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
+
+# where is the target environment
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)