forked from Archive/PX4-Autopilot
beaglebone blue: build librobotcontrol with cmake
This commit is contained in:
Daniel Agar
parent
b3889e6187
commit
cc7a0cd69d
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@ -16,7 +16,7 @@ pipeline {
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]
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def armhf_builds = [
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target: ["aerotenna_ocpoc_default", "emlid_navio2_cross", "parrot_bebop_default", "px4_raspberrypi_cross"],
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target: ["aerotenna_ocpoc_default", "beaglebone_blue_cross", "emlid_navio2_cross", "parrot_bebop_default", "px4_raspberrypi_cross"],
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image: docker_images.armhf,
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archive: false
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]
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@ -295,6 +295,13 @@ include(px4_add_common_flags)
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px4_add_common_flags()
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px4_os_add_flags()
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#=============================================================================
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# board cmake init (optional)
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#
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if(EXISTS ${PX4_BOARD_DIR}/init.cmake)
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include(${PX4_BOARD_DIR}/init.cmake)
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endif()
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#=============================================================================
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# message, and airframe generation
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#
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@ -5,12 +5,12 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
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if [[ $@ =~ .*px4_fmu.* ]]; then
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# nuttx-px4fmu-v{1,2,3,4,5}
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PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2019-10-24"
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elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*bebop.* ]]; then
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# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
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PX4_DOCKER_REPO="px4io/px4-dev-armhf:2019-10-24"
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elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
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# eagle, excelsior
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PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2018-09-12"
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elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
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# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
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PX4_DOCKER_REPO="px4io/px4-dev-armhf:2019-10-24"
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elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
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# clang tools
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PX4_DOCKER_REPO="px4io/px4-dev-clang:2019-10-24"
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2018 PX4 Development Team. All rights reserved.
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# Copyright (c) 2018-2019 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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@ -33,7 +33,6 @@
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add_subdirectory(bbblue_adc)
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############################################################################
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# Upload
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############################################################################
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2018 PX4 Development Team. All rights reserved.
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# Copyright (c) 2018-2019 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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@ -35,17 +35,6 @@ px4_add_module(
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MODULE drivers__bbblue_adc
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MAIN bbblue_adc
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COMPILE_FLAGS
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-Wno-error
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SRCS
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bbblue_adc.cpp
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# Previous board specific code is now precluded from build after
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# the following was added to Frimware/CMakeLists.txt:
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#
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# add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
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#
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# so include bbblue board specific code here:
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../src/init.c
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DEPENDS
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)
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@ -11,6 +11,7 @@ px4_add_board(
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#barometer # all available barometer drivers
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barometer/bmp280
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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@ -0,0 +1,56 @@
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############################################################################
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#
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# Copyright (c) 2018-2019 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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add_compile_options(-Wno-cast-align)
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include(ExternalProject)
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ExternalProject_Add(librobotcontrol
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GIT_REPOSITORY https://github.com/dagar/librobotcontrol.git
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GIT_TAG 1abcb0a # latest as of 2019-12-29
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CMAKE_CACHE_ARGS -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
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INSTALL_COMMAND ""
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TEST_COMMAND ""
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LOG_DOWNLOAD ON
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LOG_CONFIGURE ON
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LOG_BUILD ON
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)
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ExternalProject_Get_Property(librobotcontrol install_dir)
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set(ROBOTCONTROL_LIB_DIR ${install_dir}/src/librobotcontrol-build/library)
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set(ROBOTCONTROL_INC_DIR ${install_dir}/src/librobotcontrol/library/include)
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include_directories(${ROBOTCONTROL_INC_DIR})
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link_directories(${ROBOTCONTROL_LIB_DIR})
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# add to prebuild
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add_dependencies(prebuild_targets librobotcontrol)
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@ -9,6 +9,7 @@ px4_add_board(
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#barometer # all available barometer drivers
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barometer/bmp280
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2018 PX4 Development Team. All rights reserved.
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# Copyright (c) 2018-2019 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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@ -30,10 +30,8 @@
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
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add_library(drivers_board
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init.c
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px4_add_library(drivers_board
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init.cpp
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)
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target_link_libraries(drivers_board PRIVATE robotics_cape)
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@ -108,7 +108,10 @@ endif()
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if ("${PX4_BOARD}" MATCHES "beaglebone_blue")
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target_link_libraries(px4 PRIVATE robotcontrol)
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target_link_libraries(px4 PRIVATE robotics_cape)
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add_dependencies(df_driver_framework librobotcontrol)
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add_dependencies(df_bmp280 librobotcontrol)
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add_dependencies(df_mpu9250 librobotcontrol)
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elseif ("${PX4_BOARD}" MATCHES "sitl")
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@ -1,6 +1,7 @@
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# arm-linux-gnueabihf-gcc toolchain
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set(CMAKE_SYSTEM_NAME Linux)
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set(CMAKE_SYSTEM_PROCESSOR arm)
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set(CMAKE_SYSTEM_VERSION 1)
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set(triple arm-linux-gnueabihf)
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@ -13,16 +14,18 @@ set(CMAKE_C_COMPILER_TARGET ${triple})
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set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
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set(CMAKE_CXX_COMPILER_TARGET ${triple})
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set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
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set(CMAKE_ASM_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
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# compiler tools
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foreach(tool nm ld objcopy ranlib strip)
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string(TOUPPER ${tool} TOOL)
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find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
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if(CMAKE-${TOOL} MATCHES "NOTFOUND")
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message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
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endif()
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endforeach()
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find_program(CMAKE_AR ${TOOLCHAIN_PREFIX}-gcc-ar)
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find_program(CMAKE_GDB ${TOOLCHAIN_PREFIX}-gdb)
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find_program(CMAKE_LD ${TOOLCHAIN_PREFIX}-ld)
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find_program(CMAKE_LINKER ${TOOLCHAIN_PREFIX}-ld)
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find_program(CMAKE_NM ${TOOLCHAIN_PREFIX}-gcc-nm)
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find_program(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}-objcopy)
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find_program(CMAKE_OBJDUMP ${TOOLCHAIN_PREFIX}-objdump)
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find_program(CMAKE_RANLIB ${TOOLCHAIN_PREFIX}-gcc-ranlib)
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find_program(CMAKE_STRIP ${TOOLCHAIN_PREFIX}-strip)
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set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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@ -37,9 +40,3 @@ foreach(tool grep make)
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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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# optional compiler tools
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foreach(tool gdb gdbtui)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
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endforeach()
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@ -309,17 +309,6 @@ function(px4_os_add_flags)
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-DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library, TODO: remove
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)
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set(LIBROBOTCONTROL_INSTALL_DIR $ENV{LIBROBOTCONTROL_INSTALL_DIR})
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# On cross compile host system and native build system:
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# a) select and define LIBROBOTCONTROL_INSTALL_DIR environment variable so that
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# other unwanted headers will not be included
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# b) install robotcontrol.h and rc/* into $LIBROBOTCONTROL_INSTALL_DIR/include
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# c) install pre-built native (ARM) version of librobotcontrol.* into $LIBROBOTCONTROL_INSTALL_DIR/lib
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add_compile_options(-I${LIBROBOTCONTROL_INSTALL_DIR}/include)
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${LIBROBOTCONTROL_INSTALL_DIR}/lib")
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endif()
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endfunction()
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@ -38,6 +38,8 @@
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*/
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#pragma once
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#include <inttypes.h>
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#define BMP280_ADDR_CAL 0x88 /* address of 12x 2 bytes calibration data */
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#define BMP280_ADDR_DATA 0xF7 /* address of 2x 3 bytes p-t data */
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