forked from Archive/PX4-Autopilot
243 lines
6.8 KiB
CMake
243 lines
6.8 KiB
CMake
############################################################################
|
|
#
|
|
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
|
#
|
|
# Redistribution and use in source and binary forms, with or without
|
|
# modification, are permitted provided that the following conditions
|
|
# are met:
|
|
#
|
|
# 1. Redistributions of source code must retain the above copyright
|
|
# notice, this list of conditions and the following disclaimer.
|
|
# 2. Redistributions in binary form must reproduce the above copyright
|
|
# notice, this list of conditions and the following disclaimer in
|
|
# the documentation and/or other materials provided with the
|
|
# distribution.
|
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
# used to endorse or promote products derived from this software
|
|
# without specific prior written permission.
|
|
#
|
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
# POSSIBILITY OF SUCH DAMAGE.
|
|
#
|
|
############################################################################
|
|
|
|
|
|
#=============================================================================
|
|
#
|
|
# Defined functions in this file
|
|
#
|
|
# OS Specific Functions
|
|
#
|
|
# * px4_qurt_add_firmware
|
|
# * px4_qurt_generate_builtin_commands
|
|
# * px4_qurt_add_export
|
|
# * px4_qurt_generate_romfs
|
|
#
|
|
# Required OS Inteface Functions
|
|
#
|
|
# * px4_os_add_flags
|
|
# * px4_os_prebuild_targets
|
|
#
|
|
|
|
include(common/px4_base)
|
|
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_qurt_generate_builtin_commands
|
|
#
|
|
# This function generates the builtin_commands.c src for qurt
|
|
#
|
|
# Usage:
|
|
# px4_qurt_generate_builtin_commands(
|
|
# MODULE_LIST <in-list>
|
|
# OUT <file>)
|
|
#
|
|
# Input:
|
|
# MODULE_LIST : list of modules
|
|
#
|
|
# Output:
|
|
# OUT : stem of generated apps.cpp/apps.h ("apps").
|
|
#
|
|
# Example:
|
|
# px4_qurt_generate_builtin_commands(
|
|
# OUT <generated-src> MODULE_LIST px4_simple_app)
|
|
#
|
|
function(px4_qurt_generate_builtin_commands)
|
|
px4_parse_function_args(
|
|
NAME px4_qurt_generate_builtin_commands
|
|
ONE_VALUE OUT
|
|
MULTI_VALUE MODULE_LIST
|
|
REQUIRED MODULE_LIST OUT
|
|
ARGN ${ARGN})
|
|
set(builtin_apps_string)
|
|
set(builtin_apps_decl_string)
|
|
set(command_count 0)
|
|
foreach(module ${MODULE_LIST})
|
|
foreach(property MAIN STACK_MAIN PRIORITY)
|
|
get_target_property(${property} ${module} ${property})
|
|
endforeach()
|
|
if (MAIN)
|
|
set(builtin_apps_string
|
|
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
|
|
set(builtin_apps_decl_string
|
|
"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
|
|
math(EXPR command_count "${command_count}+1")
|
|
endif()
|
|
endforeach()
|
|
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in ${OUT}.cpp)
|
|
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_os_add_flags
|
|
#
|
|
# Set the qurt build flags.
|
|
#
|
|
# Usage:
|
|
# px4_os_add_flags(
|
|
# C_FLAGS <inout-variable>
|
|
# CXX_FLAGS <inout-variable>
|
|
# OPTIMIZATION_FLAGS <inout-variable>
|
|
# EXE_LINKER_FLAGS <inout-variable>
|
|
# INCLUDE_DIRS <inout-variable>
|
|
# LINK_DIRS <inout-variable>
|
|
# DEFINITIONS <inout-variable>)
|
|
#
|
|
# Input:
|
|
# BOARD : flags depend on board/qurt config
|
|
#
|
|
# Input/Output: (appends to existing variable)
|
|
# C_FLAGS : c compile flags variable
|
|
# CXX_FLAGS : c++ compile flags variable
|
|
# OPTIMIZATION_FLAGS : optimization compile flags variable
|
|
# EXE_LINKER_FLAGS : executable linker flags variable
|
|
# INCLUDE_DIRS : include directories
|
|
# LINK_DIRS : link directories
|
|
# DEFINITIONS : definitions
|
|
#
|
|
# Note that EXE_LINKER_FLAGS is not suitable for adding libraries because
|
|
# these flags are added before any of the object files and static libraries.
|
|
# Add libraries in src/firmware/qurt/CMakeLists.txt.
|
|
#
|
|
# Example:
|
|
# px4_os_add_flags(
|
|
# C_FLAGS CMAKE_C_FLAGS
|
|
# CXX_FLAGS CMAKE_CXX_FLAGS
|
|
# OPTIMIZATION_FLAGS optimization_flags
|
|
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
|
|
# INCLUDES <list>)
|
|
#
|
|
function(px4_os_add_flags)
|
|
|
|
set(inout_vars
|
|
C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
|
|
|
|
px4_parse_function_args(
|
|
NAME px4_os_add_flags
|
|
ONE_VALUE ${inout_vars} BOARD
|
|
REQUIRED ${inout_vars} BOARD
|
|
ARGN ${ARGN})
|
|
|
|
px4_add_common_flags(
|
|
BOARD ${BOARD}
|
|
C_FLAGS ${C_FLAGS}
|
|
CXX_FLAGS ${CXX_FLAGS}
|
|
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
|
|
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
|
|
INCLUDE_DIRS ${INCLUDE_DIRS}
|
|
LINK_DIRS ${LINK_DIRS}
|
|
DEFINITIONS ${DEFINITIONS})
|
|
|
|
set(DSPAL_ROOT src/lib/DriverFramework/dspal)
|
|
set(added_include_dirs
|
|
${DSPAL_ROOT}/include
|
|
${DSPAL_ROOT}/mpu_spi/inc
|
|
${DSPAL_ROOT}/sys
|
|
${DSPAL_ROOT}/sys/sys
|
|
${DSPAL_ROOT}/uart_esc/inc
|
|
src/platforms/posix/include
|
|
src/platforms/qurt/include
|
|
)
|
|
|
|
set(added_definitions
|
|
-D__DF_QURT # For DriverFramework
|
|
-D__PX4_POSIX
|
|
-D__PX4_QURT
|
|
-D__QAIC_SKEL_EXPORT=__EXPORT
|
|
)
|
|
|
|
# Add the toolchain specific flags
|
|
set(added_c_flags
|
|
-Wno-unknown-warning-option
|
|
)
|
|
|
|
set(added_cxx_flags
|
|
-Wno-unknown-warning-option
|
|
-Wno-unreachable-code
|
|
)
|
|
|
|
set(added_optimization_flags
|
|
-fPIC
|
|
)
|
|
|
|
# Clear -rdynamic flag which fails for hexagon
|
|
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
|
|
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
|
|
|
|
set(DF_TARGET "qurt" PARENT_SCOPE)
|
|
|
|
# output
|
|
foreach(var ${inout_vars})
|
|
string(TOLOWER ${var} lower_var)
|
|
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
|
#message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
|
endforeach()
|
|
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_os_prebuild_targets
|
|
#
|
|
# This function generates os dependent targets
|
|
#
|
|
# Usage:
|
|
# px4_os_prebuild_targets(
|
|
# OUT <out-list_of_targets>
|
|
# BOARD <in-string>
|
|
# )
|
|
#
|
|
# Input:
|
|
# BOARD : board
|
|
# THREADS : number of threads for building
|
|
#
|
|
# Output:
|
|
# OUT : the target list
|
|
#
|
|
# Example:
|
|
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
|
|
#
|
|
function(px4_os_prebuild_targets)
|
|
px4_parse_function_args(
|
|
NAME px4_os_prebuild_targets
|
|
ONE_VALUE OUT BOARD THREADS
|
|
REQUIRED OUT BOARD
|
|
ARGN ${ARGN})
|
|
add_custom_target(${OUT} DEPENDS git_driverframework)
|
|
|
|
endfunction()
|
|
|
|
# vim: set noet fenc=utf-8 ff=unix nowrap:
|