forked from Archive/PX4-Autopilot
Update Nuttx and NuttX-apps to 7.28+
This commit is contained in:
David Sidrane
parent
3859bbb3b0
commit
e505fe859d
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@ -49,11 +49,11 @@
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[submodule "platforms/nuttx/NuttX/nuttx"]
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path = platforms/nuttx/NuttX/nuttx
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url = https://github.com/PX4/NuttX.git
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branch = px4_firmware_nuttx-7.22+
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branch = px4_firmware_nuttx-7.28+
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[submodule "platforms/nuttx/NuttX/apps"]
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path = platforms/nuttx/NuttX/apps
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url = https://github.com/PX4/NuttX-apps.git
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branch = px4_firmware_nuttx-7.22+
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branch = px4_firmware_nuttx-7.28+
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[submodule "cmake/configs/uavcan_board_ident"]
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path = cmake/configs/uavcan_board_ident
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url = https://github.com/PX4/uavcan_board_ident.git
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@ -32,10 +32,8 @@ file(GLOB_RECURSE copy_apps_files
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LIST_DIRECTORIES false
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${CMAKE_CURRENT_SOURCE_DIR}/apps/*)
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set(NUTTX_DIR ${CMAKE_CURRENT_BINARY_DIR}/nuttx)
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set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
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set(NUTTX_CONFIGS_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
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# copy nuttx to build directory
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@ -61,24 +59,79 @@ add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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)
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set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
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# If the board provides a Kconfig Use it or create an empty one
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if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
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add_custom_command(
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OUTPUT ${NUTTX_DIR}/configs/dummy/Kconfig
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig
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DEPENDS
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${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
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${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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)
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else()
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add_custom_command(
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OUTPUT ${NUTTX_DIR}/configs/dummy/Kconfig
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COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig
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DEPENDS
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${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
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${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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)
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endif()
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# copy PX4 board config into nuttx
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add_custom_command(
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OUTPUT ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${NUTTX_DIR}/configs/${PX4_BOARD}/
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COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR}/configs/${PX4_BOARD}/src
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${NUTTX_DIR}/configs/${PX4_BOARD}/include
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DEPENDS
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${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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${NUTTX_CONFIG_DIR}/include/board.h
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${NUTTX_CONFIG_DIR}/scripts/ld.script
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${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
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${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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WORKING_DIRECTORY ${NUTTX_DIR}/tools
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COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
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)
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file(STRINGS ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
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if ("x${config_expanded}" STREQUAL "x")
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# copy PX4 board Compressed config into nuttx and inflate it
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add_custom_command(
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OUTPUT
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${NUTTX_DIR}/.config
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${NUTTX_DIR}/arch/arm/include/math.h
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
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COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps"
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
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COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/include/
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
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DEPENDS
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${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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${NUTTX_CONFIG_DIR}/include/board.h
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${NUTTX_CONFIG_DIR}/scripts/ld.script
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${NUTTX_DIR}/configs/dummy/Kconfig
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${CMAKE_CURRENT_SOURCE_DIR}/math.h
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${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
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)
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else()
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# copy PX4 board config into nuttx
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add_custom_command(
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OUTPUT
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${NUTTX_DIR}/.config
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${NUTTX_DIR}/arch/arm/include/math.h
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
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COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/include/
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DEPENDS
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${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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${NUTTX_CONFIG_DIR}/include/board.h
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${NUTTX_CONFIG_DIR}/scripts/ld.script
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${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
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${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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${NUTTX_DIR}/configs/dummy/Kconfig
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${CMAKE_CURRENT_SOURCE_DIR}/math.h
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${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Copying NuttX uncompressed config ${NUTTX_CONFIG} and configuring"
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)
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endif()
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# verbose build settings (V=1 or VERBOSE=1)
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option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
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@ -196,8 +249,8 @@ add_nuttx_dir(configs configs y -D__KERNEL__)
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add_nuttx_dir(drivers drivers y -D__KERNEL__)
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add_nuttx_dir(fs fs y -D__KERNEL__)
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add_nuttx_dir(sched sched y -D__KERNEL__)
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add_nuttx_dir(c libc n "")
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add_nuttx_dir(cxx libxx n "")
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add_nuttx_dir(c libs/libc n "")
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add_nuttx_dir(xx libs/libxx n "")
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add_nuttx_dir(mm mm n "")
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if (CONFIG_NET)
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@ -208,18 +261,27 @@ endif()
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add_custom_target(oldconfig
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} oldconfig
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COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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COMMAND ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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DEPENDS ${NUTTX_DIR}/.config
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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# olddefconfig helper
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add_custom_target(olddefconfig
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} olddefconfig
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COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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DEPENDS ${NUTTX_DIR}/.config
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running NuttX make olddefconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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# menuconfig helper
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add_custom_target(menuconfig
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} menuconfig
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COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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COMMAND cd ${PX4_SOURCE_DIR} && platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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DEPENDS ${NUTTX_DIR}/.config
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}"
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@ -235,3 +297,46 @@ add_custom_target(qconfig
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COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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# savedefconfig helper needs apps Kconfig
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add_custom_target(apps_kconfig
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COMMAND
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TOPDIR=${NUTTX_APPS_DIR} make ${nuttx_build_options} --no-print-directory -C platform board TOPDIR="${NUTTX_DIR}" APPDIR="${NUTTX_APPS_DIR}"
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COMMAND
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TOPDIR=${NUTTX_APPS_DIR} make ${nuttx_build_options} --no-print-directory Kconfig ${nuttx_build_output}
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DEPENDS
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${NUTTX_DIR}/configs/dummy/Kconfig
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WORKING_DIRECTORY ${NUTTX_APPS_DIR}
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COMMENT "Running Kconfig Build on Apps"
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)
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# savedefconfig helper
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add_custom_target(savedefconfig
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COMMAND
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APPSDIR=${NUTTX_APPS_DIR} kconfig-conf --savedefconfig defconfig.tmp ${NUTTX_DIR}/Kconfig
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COMMAND
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sed -i -e "/CONFIG_APPS_DIR=/d" defconfig.tmp # remove CONFIG_APPS_DIR
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COMMAND
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grep "CONFIG_ARCH=" .config >> defconfig.tmp || true # preserve CONFIG_ARCH=
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COMMAND
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grep "^CONFIG_ARCH_CHIP_" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_CHIP_
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COMMAND
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grep "^CONFIG_ARCH_CHIP=" .config >> defconfig.tmp || true # PX4 Build preserve CONFIG_ARCH_CHIP=
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COMMAND
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grep "^CONFIG_ARCH_FAMILY=" .config >> defconfig.tmp || true # PX4 Build preserve CONFIG_ARCH_FAMILY
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COMMAND
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grep "CONFIG_ARCH_BOARD=" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_BOARD
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COMMAND
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grep "^CONFIG_ARCH_CUSTOM" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_CUSTOM
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COMMAND
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cat defconfig.tmp | LC_ALL=C sort | uniq > defconfig.updated # sort and save back to original defconfig
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COMMAND
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${CMAKE_COMMAND} -E copy_if_different defconfig.updated ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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COMMAND
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${CMAKE_COMMAND} -E remove -f defconfig.tmp defconfig.updated # cleanup
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DEPENDS
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apps_kconfig
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${NUTTX_DIR}/.config
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COMMENT "Compressing .config and saving back to ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig"
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WORKING_DIRECTORY ${NUTTX_DIR}
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)
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@ -115,6 +115,7 @@ CXXFLAGS = $(ARCHXXINCLUDES) \
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-fno-builtin \
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-fno-exceptions \
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-fno-rtti \
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-nostdinc++ \
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-Wno-double-promotion \
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-Wno-missing-declarations
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@ -1 +1 @@
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Subproject commit d19cc40bdca5416a0891798f4b13bfa14f07abeb
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Subproject commit 6fb399fd65aacd8399ea1d11e397fda37ac01cde
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@ -0,0 +1,37 @@
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/****************************************************************************
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*
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* Copyright (C) 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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inline void* operator new (std::size_t, void* ptr) { return ptr; }
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inline void* operator new[](std::size_t, void* ptr) { return ptr; }
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inline void operator delete (void*, void*) {}
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inline void operator delete[](void*, void*) {}
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@ -0,0 +1,579 @@
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#ifndef _MATH_H_
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#define _MATH_H_
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#include <machine/ieeefp.h>
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#include "_ansi.h"
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_BEGIN_STD_C
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/* Natural log of 2 */
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#define _M_LN2 0.693147180559945309417
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#if defined(__GNUC__) && \
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( (__GNUC__ >= 4) || \
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( (__GNUC__ >= 3) && defined(__GNUC_MINOR__) && (__GNUC_MINOR__ >= 3) ) )
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/* gcc >= 3.3 implicitly defines builtins for HUGE_VALx values. */
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# ifndef HUGE_VAL
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# define HUGE_VAL (__builtin_huge_val())
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# endif
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# ifndef HUGE_VALF
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# define HUGE_VALF (__builtin_huge_valf())
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# endif
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# ifndef HUGE_VALL
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# define HUGE_VALL (__builtin_huge_vall())
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# endif
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# ifndef INFINITY
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# define INFINITY (__builtin_inff())
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# endif
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# ifndef NAN
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# define NAN (__builtin_nanf(""))
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# endif
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#else /* !gcc >= 3.3 */
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/* No builtins. Use fixed defines instead. (All 3 HUGE plus the INFINITY
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* * and NAN macros are required to be constant expressions. Using a variable--
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* * even a static const--does not meet this requirement, as it cannot be
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* * evaluated at translation time.)
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* * The infinities are done using numbers that are far in excess of
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* * something that would be expected to be encountered in a floating-point
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* * implementation. (A more certain way uses values from float.h, but that is
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* * avoided because system includes are not supposed to include each other.)
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* * This method might produce warnings from some compilers. (It does in
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* * newer GCCs, but not for ones that would hit this #else.) If this happens,
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* * please report details to the Newlib mailing list. */
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#ifndef HUGE_VAL
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#define HUGE_VAL (1.0e999999999)
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#endif
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#ifndef HUGE_VALF
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#define HUGE_VALF (1.0e999999999F)
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#endif
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#if !defined(HUGE_VALL) && defined(_HAVE_LONG_DOUBLE)
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#define HUGE_VALL (1.0e999999999L)
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#endif
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#if !defined(INFINITY)
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#define INFINITY (HUGE_VALF)
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#endif
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#if !defined(NAN)
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#if defined(__GNUC__) && defined(__cplusplus)
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/* Exception: older g++ versions warn about the divide by 0 used in the
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* * normal case (even though older gccs do not). This trick suppresses the
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* * warning, but causes errors for plain gcc, so is only used in the one
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* * special case. */
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static const union { __ULong __i[1]; float __d; } __Nanf = {0x7FC00000};
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#define NAN (__Nanf.__d)
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#else
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#define NAN (0.0F/0.0F)
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#endif
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#endif
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#endif /* !gcc >= 3.3 */
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/* Reentrant ANSI C functions. */
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#ifndef __math_68881
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extern double atan (double);
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extern double cos (double);
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extern double sin (double);
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extern double tan (double);
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extern double tanh (double);
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extern double frexp (double, int *);
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extern double modf (double, double *);
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extern double ceil (double);
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extern double fabs (double);
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extern double floor (double);
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#endif /* ! defined (__math_68881) */
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/* Non reentrant ANSI C functions. */
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#ifndef _REENT_ONLY
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#ifndef __math_68881
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extern double acos (double);
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extern double asin (double);
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extern double atan2 (double, double);
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extern double cosh (double);
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extern double sinh (double);
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extern double exp (double);
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extern double ldexp (double, int);
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extern double log (double);
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extern double log10 (double);
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extern double pow (double, double);
|
||||
extern double sqrt (double);
|
||||
extern double fmod (double, double);
|
||||
#endif /* ! defined (__math_68881) */
|
||||
#endif /* ! defined (_REENT_ONLY) */
|
||||
|
||||
#if !defined(__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L
|
||||
|
||||
/* ISO C99 types and macros. */
|
||||
|
||||
#ifndef FLT_EVAL_METHOD
|
||||
#define FLT_EVAL_METHOD 0
|
||||
typedef float float_t;
|
||||
typedef double double_t;
|
||||
#endif /* FLT_EVAL_METHOD */
|
||||
|
||||
#define FP_NAN 0
|
||||
#define FP_INFINITE 1
|
||||
#define FP_ZERO 2
|
||||
#define FP_SUBNORMAL 3
|
||||
#define FP_NORMAL 4
|
||||
|
||||
#ifndef FP_ILOGB0
|
||||
# define FP_ILOGB0 (-INT_MAX)
|
||||
#endif
|
||||
#ifndef FP_ILOGBNAN
|
||||
# define FP_ILOGBNAN INT_MAX
|
||||
#endif
|
||||
|
||||
#ifndef MATH_ERRNO
|
||||
# define MATH_ERRNO 1
|
||||
#endif
|
||||
#ifndef MATH_ERREXCEPT
|
||||
# define MATH_ERREXCEPT 2
|
||||
#endif
|
||||
#ifndef math_errhandling
|
||||
# define math_errhandling MATH_ERRNO
|
||||
#endif
|
||||
|
||||
extern int __isinff (float x);
|
||||
extern int __isinfd (double x);
|
||||
extern int __isnanf (float x);
|
||||
extern int __isnand (double x);
|
||||
extern int __fpclassifyf (float x);
|
||||
extern int __fpclassifyd (double x);
|
||||
extern int __signbitf (float x);
|
||||
extern int __signbitd (double x);
|
||||
|
||||
#define fpclassify(__x) \
|
||||
((sizeof(__x) == sizeof(float)) ? __fpclassifyf(__x) : \
|
||||
__fpclassifyd(__x))
|
||||
|
||||
#ifndef isfinite
|
||||
#define isfinite(__y) \
|
||||
(__extension__ ({int __cy = fpclassify(__y); \
|
||||
__cy != FP_INFINITE && __cy != FP_NAN;}))
|
||||
#endif
|
||||
|
||||
/* Note: isinf and isnan were once functions in newlib that took double
|
||||
* * arguments. C99 specifies that these names are reserved for macros
|
||||
* * supporting multiple floating point types. Thus, they are
|
||||
* * now defined as macros. Implementations of the old functions
|
||||
* * taking double arguments still exist for compatibility purposes
|
||||
* * (prototypes for them are in <ieeefp.h>). */
|
||||
#ifndef isinf
|
||||
#define isinf(y) (fpclassify(y) == FP_INFINITE)
|
||||
#endif
|
||||
|
||||
#ifndef isnan
|
||||
#define isnan(y) (fpclassify(y) == FP_NAN)
|
||||
#endif
|
||||
|
||||
#define isnormal(y) (fpclassify(y) == FP_NORMAL)
|
||||
#define signbit(__x) \
|
||||
((sizeof(__x) == sizeof(float)) ? __signbitf(__x) : \
|
||||
__signbitd(__x))
|
||||
|
||||
#define isgreater(x,y) \
|
||||
(__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
|
||||
!isunordered(__x,__y) && (__x > __y);}))
|
||||
#define isgreaterequal(x,y) \
|
||||
(__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
|
||||
!isunordered(__x,__y) && (__x >= __y);}))
|
||||
#define isless(x,y) \
|
||||
(__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
|
||||
!isunordered(__x,__y) && (__x < __y);}))
|
||||
#define islessequal(x,y) \
|
||||
(__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
|
||||
!isunordered(__x,__y) && (__x <= __y);}))
|
||||
#define islessgreater(x,y) \
|
||||
(__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \
|
||||
!isunordered(__x,__y) && (__x < __y || __x > __y);}))
|
||||
|
||||
#define isunordered(a,b) \
|
||||
(__extension__ ({__typeof__(a) __a = (a); __typeof__(b) __b = (b); \
|
||||
fpclassify(__a) == FP_NAN || fpclassify(__b) == FP_NAN;}))
|
||||
|
||||
/* Non ANSI double precision functions. */
|
||||
|
||||
extern double infinity (void);
|
||||
extern double nan (const char *);
|
||||
extern int finite (double);
|
||||
extern double copysign (double, double);
|
||||
extern double logb (double);
|
||||
extern int ilogb (double);
|
||||
|
||||
extern double asinh (double);
|
||||
extern double cbrt (double);
|
||||
extern double nextafter (double, double);
|
||||
extern double rint (double);
|
||||
extern double scalbn (double, int);
|
||||
|
||||
extern double exp2 (double);
|
||||
extern double scalbln (double, long int);
|
||||
extern double tgamma (double);
|
||||
extern double nearbyint (double);
|
||||
extern long int lrint (double);
|
||||
extern long long int llrint (double);
|
||||
extern double round (double);
|
||||
extern long int lround (double);
|
||||
extern long long int llround (double);
|
||||
extern double trunc (double);
|
||||
extern double remquo (double, double, int *);
|
||||
extern double fdim (double, double);
|
||||
extern double fmax (double, double);
|
||||
extern double fmin (double, double);
|
||||
extern double fma (double, double, double);
|
||||
|
||||
#ifndef __math_68881
|
||||
extern double log1p (double);
|
||||
extern double expm1 (double);
|
||||
#endif /* ! defined (__math_68881) */
|
||||
|
||||
#ifndef _REENT_ONLY
|
||||
extern double acosh (double);
|
||||
extern double atanh (double);
|
||||
extern double remainder (double, double);
|
||||
extern double gamma (double);
|
||||
extern double lgamma (double);
|
||||
extern double erf (double);
|
||||
extern double erfc (double);
|
||||
extern double log2 (double);
|
||||
|
||||
#ifndef __math_68881
|
||||
extern double hypot (double, double);
|
||||
#endif
|
||||
|
||||
#endif /* ! defined (_REENT_ONLY) */
|
||||
|
||||
/* Single precision versions of ANSI functions. */
|
||||
|
||||
extern float atanf (float);
|
||||
extern float cosf (float);
|
||||
extern float sinf (float);
|
||||
extern float tanf (float);
|
||||
extern float tanhf (float);
|
||||
extern float frexpf (float, int *);
|
||||
extern float modff (float, float *);
|
||||
extern float ceilf (float);
|
||||
extern float fabsf (float);
|
||||
extern float floorf (float);
|
||||
|
||||
#ifndef _REENT_ONLY
|
||||
extern float acosf (float);
|
||||
extern float asinf (float);
|
||||
extern float atan2f (float, float);
|
||||
extern float coshf (float);
|
||||
extern float sinhf (float);
|
||||
extern float expf (float);
|
||||
extern float ldexpf (float, int);
|
||||
extern float logf (float);
|
||||
extern float log10f (float);
|
||||
extern float powf (float, float);
|
||||
extern float sqrtf (float);
|
||||
extern float fmodf (float, float);
|
||||
#endif /* ! defined (_REENT_ONLY) */
|
||||
|
||||
/* Other single precision functions. */
|
||||
|
||||
extern float exp2f (float);
|
||||
extern float scalblnf (float, long int);
|
||||
extern float tgammaf (float);
|
||||
extern float nearbyintf (float);
|
||||
extern long int lrintf (float);
|
||||
extern long long llrintf (float);
|
||||
extern float roundf (float);
|
||||
extern long int lroundf (float);
|
||||
extern long long int llroundf (float);
|
||||
extern float truncf (float);
|
||||
extern float remquof (float, float, int *);
|
||||
extern float fdimf (float, float);
|
||||
extern float fmaxf (float, float);
|
||||
extern float fminf (float, float);
|
||||
extern float fmaf (float, float, float);
|
||||
|
||||
extern float infinityf (void);
|
||||
extern float nanf (const char *);
|
||||
extern int finitef (float);
|
||||
extern float copysignf (float, float);
|
||||
extern float logbf (float);
|
||||
extern int ilogbf (float);
|
||||
|
||||
extern float asinhf (float);
|
||||
extern float cbrtf (float);
|
||||
extern float nextafterf (float, float);
|
||||
extern float rintf (float);
|
||||
extern float scalbnf (float, int);
|
||||
extern float log1pf (float);
|
||||
extern float expm1f (float);
|
||||
|
||||
#ifndef _REENT_ONLY
|
||||
extern float acoshf (float);
|
||||
extern float atanhf (float);
|
||||
extern float remainderf (float, float);
|
||||
extern float gammaf (float);
|
||||
extern float lgammaf (float);
|
||||
extern float erff (float);
|
||||
extern float erfcf (float);
|
||||
extern float log2f (float);
|
||||
extern float hypotf (float, float);
|
||||
#endif /* ! defined (_REENT_ONLY) */
|
||||
|
||||
/* On platforms where long double equals double. */
|
||||
#ifdef _LDBL_EQ_DBL
|
||||
/* Reentrant ANSI C functions. */
|
||||
#ifndef __math_68881
|
||||
extern long double atanl (long double);
|
||||
extern long double cosl (long double);
|
||||
extern long double sinl (long double);
|
||||
extern long double tanl (long double);
|
||||
extern long double tanhl (long double);
|
||||
extern long double frexpl (long double value, int *);
|
||||
extern long double modfl (long double, long double *);
|
||||
extern long double ceill (long double);
|
||||
extern long double fabsl (long double);
|
||||
extern long double floorl (long double);
|
||||
extern long double log1pl (long double);
|
||||
extern long double expm1l (long double);
|
||||
#endif /* ! defined (__math_68881) */
|
||||
/* Non reentrant ANSI C functions. */
|
||||
#ifndef _REENT_ONLY
|
||||
#ifndef __math_68881
|
||||
extern long double acosl (long double);
|
||||
extern long double asinl (long double);
|
||||
extern long double atan2l (long double, long double);
|
||||
extern long double coshl (long double);
|
||||
extern long double sinhl (long double);
|
||||
extern long double expl (long double);
|
||||
extern long double ldexpl (long double, int);
|
||||
extern long double logl (long double);
|
||||
extern long double log2l (long double);
|
||||
extern long double log10l (long double);
|
||||
extern long double powl (long double, long double);
|
||||
extern long double sqrtl (long double);
|
||||
extern long double fmodl (long double, long double);
|
||||
extern long double hypotl (long double, long double);
|
||||
#endif /* ! defined (__math_68881) */
|
||||
#endif /* ! defined (_REENT_ONLY) */
|
||||
extern long double copysignl (long double, long double);
|
||||
extern long double nanl (const char *);
|
||||
extern int ilogbl (long double);
|
||||
extern long double asinhl (long double);
|
||||
extern long double cbrtl (long double);
|
||||
extern long double nextafterl (long double, long double);
|
||||
extern long double rintl (long double);
|
||||
extern long double scalbnl (long double, int);
|
||||
extern long double exp2l (long double);
|
||||
extern long double scalblnl (long double, long);
|
||||
extern long double tgammal (long double);
|
||||
extern long double nearbyintl (long double);
|
||||
extern long int lrintl (long double);
|
||||
extern long long int llrintl (long double);
|
||||
extern long double roundl (long double);
|
||||
extern long lroundl (long double);
|
||||
extern long long int llroundl (long double);
|
||||
extern long double truncl (long double);
|
||||
extern long double remquol (long double, long double, int *);
|
||||
extern long double fdiml (long double, long double);
|
||||
extern long double fmaxl (long double, long double);
|
||||
extern long double fminl (long double, long double);
|
||||
extern long double fmal (long double, long double, long double);
|
||||
#ifndef _REENT_ONLY
|
||||
extern long double acoshl (long double);
|
||||
extern long double atanhl (long double);
|
||||
extern long double remainderl (long double, long double);
|
||||
extern long double lgammal (long double);
|
||||
extern long double erfl (long double);
|
||||
extern long double erfcl (long double);
|
||||
#endif /* ! defined (_REENT_ONLY) */
|
||||
#else /* !_LDBL_EQ_DBL */
|
||||
#ifdef __i386__
|
||||
/* Other long double precision functions. */
|
||||
extern _LONG_DOUBLE rintl (_LONG_DOUBLE);
|
||||
extern long int lrintl (_LONG_DOUBLE);
|
||||
extern long long llrintl (_LONG_DOUBLE);
|
||||
#endif /* __i386__ */
|
||||
#endif /* !_LDBL_EQ_DBL */
|
||||
|
||||
#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L */
|
||||
|
||||
#if !defined (__STRICT_ANSI__) || defined(__cplusplus)
|
||||
|
||||
extern double drem (double, double);
|
||||
extern void sincos (double, double *, double *);
|
||||
extern double gamma_r (double, int *);
|
||||
extern double lgamma_r (double, int *);
|
||||
|
||||
extern double y0 (double);
|
||||
extern double y1 (double);
|
||||
extern double yn (int, double);
|
||||
extern double j0 (double);
|
||||
extern double j1 (double);
|
||||
extern double jn (int, double);
|
||||
|
||||
extern float dremf (float, float);
|
||||
extern void sincosf (float, float *, float *);
|
||||
extern float gammaf_r (float, int *);
|
||||
extern float lgammaf_r (float, int *);
|
||||
|
||||
extern float y0f (float);
|
||||
extern float y1f (float);
|
||||
extern float ynf (int, float);
|
||||
extern float j0f (float);
|
||||
extern float j1f (float);
|
||||
extern float jnf (int, float);
|
||||
|
||||
/* GNU extensions */
|
||||
# ifndef exp10
|
||||
extern double exp10 (double);
|
||||
# endif
|
||||
# ifndef pow10
|
||||
extern double pow10 (double);
|
||||
# endif
|
||||
# ifndef exp10f
|
||||
extern float exp10f (float);
|
||||
# endif
|
||||
# ifndef pow10f
|
||||
extern float pow10f (float);
|
||||
# endif
|
||||
|
||||
#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) */
|
||||
|
||||
#ifndef __STRICT_ANSI__
|
||||
|
||||
/* The gamma functions use a global variable, signgam. */
|
||||
#ifndef _REENT_ONLY
|
||||
#define signgam (*__signgam())
|
||||
extern int *__signgam (void);
|
||||
#endif /* ! defined (_REENT_ONLY) */
|
||||
|
||||
#define __signgam_r(ptr) _REENT_SIGNGAM(ptr)
|
||||
|
||||
/* The exception structure passed to the matherr routine. */
|
||||
/* We have a problem when using C++ since `exception' is a reserved
|
||||
* name in C++. */
|
||||
#ifdef __cplusplus
|
||||
struct __exception
|
||||
#else
|
||||
struct exception
|
||||
#endif
|
||||
{
|
||||
int type;
|
||||
char *name;
|
||||
double arg1;
|
||||
double arg2;
|
||||
double retval;
|
||||
int err;
|
||||
};
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern int matherr (struct __exception *e);
|
||||
#else
|
||||
extern int matherr (struct exception *e);
|
||||
#endif
|
||||
|
||||
/* Values for the type field of struct exception. */
|
||||
|
||||
#define DOMAIN 1
|
||||
#define SING 2
|
||||
#define OVERFLOW 3
|
||||
#define UNDERFLOW 4
|
||||
#define TLOSS 5
|
||||
#define PLOSS 6
|
||||
|
||||
/* Useful constants. */
|
||||
|
||||
#define MAXFLOAT 3.40282347e+38F
|
||||
|
||||
#define M_E 2.7182818284590452354
|
||||
#define M_LOG2E 1.4426950408889634074
|
||||
#define M_LOG10E 0.43429448190325182765
|
||||
#define M_LN2 _M_LN2
|
||||
#define M_LN10 2.30258509299404568402
|
||||
#define M_PI 3.14159265358979323846
|
||||
#define M_TWOPI (M_PI * 2.0)
|
||||
#define M_PI_2 1.57079632679489661923
|
||||
#define M_PI_4 0.78539816339744830962
|
||||
#define M_3PI_4 2.3561944901923448370E0
|
||||
#define M_SQRTPI 1.77245385090551602792981
|
||||
#define M_1_PI 0.31830988618379067154
|
||||
#define M_2_PI 0.63661977236758134308
|
||||
#define M_2_SQRTPI 1.12837916709551257390
|
||||
#define M_DEG_TO_RAD 0.01745329251994
|
||||
#define M_RAD_TO_DEG 57.2957795130823
|
||||
#define M_SQRT2 1.41421356237309504880
|
||||
#define M_SQRT1_2 0.70710678118654752440
|
||||
#define M_LN2LO 1.9082149292705877000E-10
|
||||
#define M_LN2HI 6.9314718036912381649E-1
|
||||
#define M_SQRT3 1.73205080756887719000
|
||||
#define M_IVLN10 0.43429448190325182765 /* 1 / log(10) */
|
||||
#define M_LOG2_E _M_LN2
|
||||
#define M_INVLN2 1.4426950408889633870E0 /* 1 / log(2) */
|
||||
|
||||
|
||||
#define M_E_F 2.7182818284590452354f
|
||||
#define M_LOG2E_F 1.4426950408889634074f
|
||||
#define M_LOG10E_F 0.43429448190325182765f
|
||||
#define M_LN2_F _M_LN2_F
|
||||
#define M_LN10_F 2.30258509299404568402f
|
||||
#define M_PI_F 3.14159265358979323846f
|
||||
#define M_TWOPI_F (M_PI_F * 2.0f)
|
||||
#define M_PI_2_F 1.57079632679489661923f
|
||||
#define M_PI_4_F 0.78539816339744830962f
|
||||
#define M_3PI_4_F 2.3561944901923448370E0f
|
||||
#define M_SQRTPI_F 1.77245385090551602792981f
|
||||
#define M_1_PI_F 0.31830988618379067154f
|
||||
#define M_2_PI_F 0.63661977236758134308f
|
||||
#define M_2_SQRTPI_F 1.12837916709551257390f
|
||||
#define M_DEG_TO_RAD_F 0.01745329251994f
|
||||
#define M_RAD_TO_DEG_F 57.2957795130823f
|
||||
#define M_SQRT2_F 1.41421356237309504880f
|
||||
#define M_SQRT1_2_F 0.70710678118654752440f
|
||||
#define M_LN2LO_F 1.9082149292705877000E-10f
|
||||
#define M_LN2HI_F 6.9314718036912381649E-1f
|
||||
#define M_SQRT3_F 1.73205080756887719000f
|
||||
#define M_IVLN10_F 0.43429448190325182765f /* 1 / log(10) */
|
||||
#define M_LOG2_E_F _M_LN2_F
|
||||
#define M_INVLN2_F 1.4426950408889633870E0f /* 1 / log(2) */
|
||||
|
||||
/* Global control over fdlibm error handling. */
|
||||
|
||||
enum __fdlibm_version
|
||||
{
|
||||
__fdlibm_ieee = -1,
|
||||
__fdlibm_svid,
|
||||
__fdlibm_xopen,
|
||||
__fdlibm_posix
|
||||
};
|
||||
|
||||
#define _LIB_VERSION_TYPE enum __fdlibm_version
|
||||
#define _LIB_VERSION __fdlib_version
|
||||
|
||||
extern __IMPORT _LIB_VERSION_TYPE _LIB_VERSION;
|
||||
|
||||
#define _IEEE_ __fdlibm_ieee
|
||||
#define _SVID_ __fdlibm_svid
|
||||
#define _XOPEN_ __fdlibm_xopen
|
||||
#define _POSIX_ __fdlibm_posix
|
||||
|
||||
#endif /* ! defined (__STRICT_ANSI__) */
|
||||
|
||||
_END_STD_C
|
||||
|
||||
#ifdef __FAST_MATH__
|
||||
#include <machine/fastmath.h>
|
||||
#endif
|
||||
|
||||
#endif /* _MATH_H_ */
|
||||
|
|
@ -1 +1 @@
|
|||
Subproject commit c225d4a691ef4572839b19635a84f2d9bf07ea74
|
||||
Subproject commit a5682a6335b7201bce75b66aa994314342bb4463
|
||||
|
|
@ -53,7 +53,9 @@ function(px4_os_add_flags)
|
|||
|
||||
include_directories(BEFORE SYSTEM
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/include
|
||||
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
|
@ -64,6 +66,12 @@ function(px4_os_add_flags)
|
|||
${PX4_BINARY_DIR}/NuttX/apps/include
|
||||
)
|
||||
|
||||
# NuttX's disables inline below C99 (comiler.h), but __STDC_VERSION__ isn't set for C++
|
||||
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-D__STDC_VERSION__=199901L>)
|
||||
|
||||
# prevent using the toolchain's std c++ library
|
||||
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_NUTTX
|
||||
-D__DF_NUTTX
|
||||
|
|
|
|||
|
|
@ -36,7 +36,6 @@ px4_add_git_submodule(TARGET git_uavcan PATH "libuavcan")
|
|||
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
|
||||
|
||||
if(CONFIG_ARCH_CHIP)
|
||||
|
||||
if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
|
||||
set(UAVCAN_PLATFORM "kinetis")
|
||||
set(UAVCAN_TIMER 1)
|
||||
|
|
@ -53,14 +52,15 @@ endif()
|
|||
string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
|
||||
string(TOUPPER "${UAVCAN_PLATFORM}" UAVCAN_PLATFORM_UPPER)
|
||||
add_definitions(
|
||||
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
|
||||
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
|
||||
-DUAVCAN_NO_ASSERTIONS
|
||||
-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
|
||||
-DUAVCAN_DRIVER=uavcan_${UAVCAN_PLATFORM}
|
||||
-DUAVCAN_${UAVCAN_PLATFORM_UPPER}_${OS_UPPER}=1
|
||||
-DUAVCAN_${UAVCAN_PLATFORM_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
|
||||
-DUAVCAN_${UAVCAN_PLATFORM_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
|
||||
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
|
||||
-DUAVCAN_DRIVER=uavcan_${UAVCAN_PLATFORM}
|
||||
-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
|
||||
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
|
||||
-DUAVCAN_NO_ASSERTIONS
|
||||
-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
|
||||
)
|
||||
|
||||
add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
Subproject commit acde4ebcc38692213ee475c392f68ecb0b853818
|
||||
Subproject commit 721f5e61a5965a08a34b2875d2bdc0b5d3b80601
|
||||
Loading…
Reference in New Issue