forked from Archive/PX4-Autopilot
121 lines
5.1 KiB
CMake
121 lines
5.1 KiB
CMake
############################################################################
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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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# find PX4 config
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# look for in tree board config that matches CONFIG input
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if(NOT CONFIG)
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# default to px4_ros2_default if building within a ROS2 colcon environment
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if(("$ENV{COLCON}" MATCHES "1") AND ("$ENV{ROS_VERSION}" MATCHES "2"))
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set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration")
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else()
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set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
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endif()
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endif()
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if(NOT PX4_CONFIG_FILE)
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file(GLOB_RECURSE board_configs
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RELATIVE "${PX4_SOURCE_DIR}/boards"
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"boards/*.px4board"
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)
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foreach(filename ${board_configs})
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# parse input CONFIG into components to match with existing in tree configs
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# the platform prefix (eg nuttx_) is historical, and removed if present
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string(REPLACE ".px4board" "" filename_stripped ${filename})
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string(REPLACE "/" ";" config ${filename_stripped})
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list(LENGTH config config_len)
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if(${config_len} EQUAL 3)
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list(GET config 0 vendor)
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list(GET config 1 model)
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list(GET config 2 label)
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set(board "${vendor}${model}")
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# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
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# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
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if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
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((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
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)
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
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set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
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set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
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set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
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set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
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break()
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endif()
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# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
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# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
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if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
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((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
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)
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
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set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
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set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
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set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
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set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
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break()
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endif()
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endif()
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endforeach()
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endif()
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message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
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include_directories(${PX4_BOARD_DIR}/src)
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set(PX4_BOARD ${VENDOR}_${MODEL} CACHE STRING "PX4 board" FORCE)
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# board name is uppercase with no underscores when used as a define
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string(TOUPPER ${PX4_BOARD} PX4_BOARD_NAME)
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string(REPLACE "-" "_" PX4_BOARD_NAME ${PX4_BOARD_NAME})
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set(PX4_BOARD_NAME ${PX4_BOARD_NAME} CACHE STRING "PX4 board define" FORCE)
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set(PX4_BOARD_VENDOR ${VENDOR} CACHE STRING "PX4 board vendor" FORCE)
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set(PX4_BOARD_MODEL ${MODEL} CACHE STRING "PX4 board model" FORCE)
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set(PX4_BOARD_LABEL ${LABEL} CACHE STRING "PX4 board label" FORCE)
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set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE STRING "PX4 config" FORCE)
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if(EXISTS "${PX4_BOARD_DIR}/uavcan_board_identity")
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include ("${PX4_BOARD_DIR}/uavcan_board_identity")
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endif()
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if(EXISTS "${PX4_BOARD_DIR}/sitl.cmake")
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include ("${PX4_BOARD_DIR}/sitl.cmake")
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endif()
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