forked from Archive/PX4-Autopilot
714 lines
22 KiB
CMake
714 lines
22 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_nuttx_add_firmware
|
|
# * px4_nuttx_make_uavcan_bootloadable
|
|
# * px4_nuttx_generate_builtin_commands
|
|
# * px4_nuttx_add_export
|
|
# * px4_nuttx_add_romfs
|
|
#
|
|
# Required OS Inteface Functions
|
|
#
|
|
# * px4_os_add_flags
|
|
# * px4_os_prebuild_targets
|
|
#
|
|
|
|
include(common/px4_base)
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_nuttx_add_firmware
|
|
#
|
|
# This function adds a nuttx firmware target.
|
|
#
|
|
# Usage:
|
|
# px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable>
|
|
# PARAM_XML <param_xml> AIRFRAMES_XML <airframes_xml>)
|
|
#
|
|
# Input:
|
|
# EXE : the executable to generate the firmware from
|
|
# BOARD : the board
|
|
# PARAM_XML : param xml file (optional)
|
|
# AIRFRAMES_XML : airframes xml file (optional)
|
|
#
|
|
# Output:
|
|
# OUT : the generated firmware target
|
|
#
|
|
# Example:
|
|
# px4_nuttx_add_firmware(TARGET fw_test EXE test)
|
|
#
|
|
function(px4_nuttx_add_firmware)
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_add_firmware
|
|
ONE_VALUE BOARD OUT EXE PARAM_XML AIRFRAMES_XML
|
|
REQUIRED OUT EXE BOARD
|
|
ARGN ${ARGN})
|
|
|
|
set(extra_args)
|
|
set(dependencies)
|
|
if (PARAM_XML)
|
|
list(APPEND extra_args
|
|
--parameter_xml ${PARAM_XML}
|
|
)
|
|
list(APPEND dependencies parameters_xml)
|
|
endif()
|
|
|
|
if (AIRFRAMES_XML)
|
|
list(APPEND extra_args
|
|
--airframe_xml ${AIRFRAMES_XML}
|
|
)
|
|
list(APPEND dependencies airframes_xml)
|
|
endif()
|
|
|
|
add_custom_command(OUTPUT ${OUT} ${EXE}.bin
|
|
COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
|
|
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
|
|
--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
|
|
--git_identity ${PX4_SOURCE_DIR}
|
|
${extra_args}
|
|
--image ${EXE}.bin > ${OUT}
|
|
DEPENDS ${EXE} ${dependencies}
|
|
)
|
|
add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_nuttx_make_uavcan_bootloadable
|
|
#
|
|
# This function adds a uavcan boot loadable target.
|
|
#
|
|
# Usage:
|
|
# px4_nuttx_make_uavcan_bootloadable(
|
|
# BOARD <board>
|
|
# BIN <input bin file>)
|
|
# HWNAME <uavcan name>
|
|
# HW_MAJOR <number>
|
|
# HW_MINOR <number>
|
|
# SW_MAJOR <number>
|
|
# SW_MINOR <number>)
|
|
#
|
|
# Input:
|
|
# BOARD : the board
|
|
# BIN : the bin file to generate the bootloadable image from
|
|
# HWNAME : the uavcan name
|
|
# HW_MAJOR : the major hardware revision
|
|
# HW_MINOR : the minor hardware revision
|
|
# SW_MAJOR : the major software revision
|
|
# SW_MINOR : the minor software revision
|
|
#
|
|
# Output:
|
|
# OUT : None
|
|
#
|
|
# Example:
|
|
# px4_nuttx_make_uavcan_bootloadable(
|
|
# BOARD ${BOARD}
|
|
# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
|
|
# HWNAME ${uavcanblid_name}
|
|
# HW_MAJOR ${uavcanblid_hw_version_major}
|
|
# HW_MINOR ${uavcanblid_hw_version_minor}
|
|
# SW_MAJOR ${uavcanblid_sw_version_major}
|
|
# SW_MINOR ${uavcanblid_sw_version_minor}
|
|
# )
|
|
#
|
|
function(px4_nuttx_make_uavcan_bootloadable)
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_make_uavcan_bootloadable
|
|
ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
|
|
REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
|
|
ARGN ${ARGN})
|
|
string(REPLACE "\"" "" HWNAME ${HWNAME})
|
|
execute_process(
|
|
COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
|
|
OUTPUT_VARIABLE uavcanbl_git_desc
|
|
OUTPUT_STRIP_TRAILING_WHITESPACE
|
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
|
)
|
|
if ("${uavcanbl_git_desc}" STREQUAL "")
|
|
set(uavcanbl_git_desc ffffffff)
|
|
endif()
|
|
set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
|
|
message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
|
|
add_custom_command(OUTPUT ${uavcan_bl_imange_name}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
|
|
-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
|
|
DEPENDS ${BIN})
|
|
add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_nuttx_generate_builtin_commands
|
|
#
|
|
# This function generates the builtin_commands.c src for nuttx
|
|
#
|
|
# Usage:
|
|
# px4_nuttx_generate_builtin_commands(
|
|
# MODULE_LIST <in-list>
|
|
# OUT <file>)
|
|
#
|
|
# Input:
|
|
# MODULE_LIST : list of modules
|
|
#
|
|
# Output:
|
|
# OUT : generated builtin_commands.c src
|
|
#
|
|
# Example:
|
|
# px4_nuttx_generate_builtin_commands(
|
|
# OUT <generated-src> MODULE_LIST px4_simple_app)
|
|
#
|
|
function(px4_nuttx_generate_builtin_commands)
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_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}\t{\"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main},\n")
|
|
set(builtin_apps_decl_string
|
|
"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
|
|
math(EXPR command_count "${command_count}+1")
|
|
endif()
|
|
endforeach()
|
|
configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
|
|
${OUT})
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_nuttx_add_export
|
|
#
|
|
# This function generates a nuttx export.
|
|
#
|
|
# Usage:
|
|
# px4_nuttx_add_export(
|
|
# OUT <out-target>
|
|
# CONFIG <in-string>
|
|
# DEPENDS <in-list>)
|
|
#
|
|
# Input:
|
|
# CONFIG : the board to generate the export for
|
|
# DEPENDS : dependencies
|
|
#
|
|
# Output:
|
|
# OUT : the export target
|
|
#
|
|
# Example:
|
|
# px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2)
|
|
#
|
|
function(px4_nuttx_add_export)
|
|
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_add_export
|
|
ONE_VALUE OUT CONFIG THREADS
|
|
MULTI_VALUE DEPENDS
|
|
REQUIRED OUT CONFIG THREADS
|
|
ARGN ${ARGN})
|
|
|
|
set(nuttx_build_options "--quiet")
|
|
set(nuttx_build_output ">nuttx_build.log")
|
|
if ($ENV{PX4_NUTTX_BUILD_VERBOSE} MATCHES "1")
|
|
set(nuttx_build_options)
|
|
set(nuttx_build_output)
|
|
set(nuttx_build_uses_terminal "USES_TERMINAL")
|
|
endif()
|
|
|
|
if ($ENV{PX4_NUTTX_PATCHES_VERBOSE} MATCHES "1")
|
|
set(nuttx_patches_uses_terminal "USES_TERMINAL")
|
|
endif()
|
|
|
|
# nuttx-patches
|
|
add_subdirectory(${PX4_SOURCE_DIR}/nuttx-patches ${PX4_BINARY_DIR}/${CONFIG})
|
|
|
|
set(nuttx_build_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
|
|
set(nuttx_export_dir ${nuttx_build_src}/nuttx/nuttx-export)
|
|
|
|
# nuttx cmake dependency files
|
|
set(nuttx_copy_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_copy.stamp)
|
|
set(nuttx_configure_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_configure.stamp)
|
|
set(nuttx_export_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_export.stamp)
|
|
|
|
# copy
|
|
file(GLOB_RECURSE nuttx_all_files ${PX4_SOURCE_DIR}/NuttX/*)
|
|
file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
|
|
add_custom_command(OUTPUT ${nuttx_copy_stamp}
|
|
COMMAND ${MKDIR} -p ${nuttx_build_src}
|
|
COMMAND rsync -rp --inplace --delete --exclude=.git --exclude=nuttx-export ${nuttx_cp_src}/ ${CONFIG}/NuttX/
|
|
COMMAND cmake -E touch ${nuttx_copy_stamp}
|
|
DEPENDS ${px4_nuttx_patches} ${nuttx_all_files}
|
|
COMMENT "Copying NuttX for ${CONFIG} with ${config_nuttx_config}"
|
|
WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
|
add_custom_target(nuttx_copy_${CONFIG} DEPENDS ${DEPENDS} ${nuttx_copy_stamp})
|
|
|
|
unset(last_patch)
|
|
add_custom_target(nuttx_patch_${CONFIG})
|
|
foreach(patch ${px4_nuttx_patches})
|
|
get_filename_component(patch_file_name ${patch} NAME)
|
|
string(REPLACE "/" "_" patch_name "${CONFIG}-nuttx_patch_${patch_file_name}")
|
|
set(patch_stamp ${nuttx_build_src}/${patch_name}.stamp)
|
|
|
|
add_custom_command(OUTPUT ${patch_stamp}
|
|
COMMAND ${PATCH} --verbose -d ${nuttx_build_src} -s -p1 -N < ${patch}
|
|
COMMAND cmake -E touch ${patch_stamp}
|
|
DEPENDS nuttx_copy_${CONFIG} ${patch} ${last_patch}
|
|
COMMENT "${CONFIG}: nuttx-patches/${patch_file_name} applied"
|
|
${nuttx_patches_uses_terminal})
|
|
|
|
add_custom_target(${patch_name} DEPENDS ${patch_stamp})
|
|
add_dependencies(nuttx_patch_${CONFIG} ${patch_name} nuttx_copy_${CONFIG})
|
|
set(last_patch ${patch_name})
|
|
endforeach()
|
|
|
|
# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
|
|
# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
|
|
file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig"
|
|
hw_stack_check_${CONFIG}
|
|
REGEX "CONFIG_ARMV7M_STACKCHECK=y"
|
|
)
|
|
if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y")
|
|
set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
|
|
endif()
|
|
|
|
# nuttx configure
|
|
file(GLOB_RECURSE nuttx-configs ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
|
|
add_custom_command(OUTPUT ${nuttx_configure_stamp} ${nuttx_build_src}/nuttx/.config
|
|
COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/*.mk ${nuttx_build_src}/nuttx/
|
|
COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_build_src}/nuttx/configs
|
|
COMMAND cd ${nuttx_build_src}/nuttx/tools && sh configure.sh ${CONFIG}/${config_nuttx_config}
|
|
COMMAND cmake -E touch ${nuttx_configure_stamp}
|
|
DEPENDS nuttx_patch_${CONFIG} ${nuttx-configs}
|
|
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
|
COMMENT "Configuring NuttX for ${CONFIG} with ${config_nuttx_config}")
|
|
add_custom_target(nuttx_configure_${CONFIG} DEPENDS ${nuttx_configure_stamp} nuttx_patch_${CONFIG})
|
|
|
|
# manual nuttx oldconfig helper
|
|
add_custom_target(oldconfig_${CONFIG}
|
|
COMMAND ${MAKE} --no-print-directory -C ${nuttx_build_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig
|
|
COMMAND ${CP} ${nuttx_build_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
|
|
COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
|
|
DEPENDS nuttx_configure_${CONFIG}
|
|
WORKING_DIRECTORY ${nuttx_build_src}/nuttx
|
|
COMMENT "Running NuttX make oldconfig for ${CONFIG} with ${config_nuttx_config}"
|
|
USES_TERMINAL)
|
|
|
|
# manual nuttx menuconfig helper
|
|
add_custom_target(menuconfig_${CONFIG}
|
|
COMMAND ${MAKE} --no-print-directory -C ${nuttx_build_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig
|
|
COMMAND ${CP} ${nuttx_build_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
|
|
COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
|
|
DEPENDS nuttx_configure_${CONFIG}
|
|
WORKING_DIRECTORY ${nuttx_build_src}/nuttx
|
|
COMMENT "Running NuttX make menuconfig for ${CONFIG} with ${config_nuttx_config}"
|
|
USES_TERMINAL)
|
|
|
|
# nuttx build and export
|
|
add_custom_command(
|
|
OUTPUT ${nuttx_export_stamp}
|
|
${nuttx_export_dir}/include/nuttx/config.h
|
|
COMMAND ${RM} -rf ${nuttx_export_dir}
|
|
COMMAND ${MAKE} ${nuttx_build_options} --no-print-directory -C ${nuttx_build_src}/nuttx -r CONFIG_ARCH_BOARD=${CONFIG} export ${nuttx_build_output}
|
|
COMMAND cmake -E touch ${nuttx_export_stamp}
|
|
DEPENDS nuttx_configure_${CONFIG}
|
|
WORKING_DIRECTORY ${PX4_BINARY_DIR}/${CONFIG}
|
|
COMMENT "Building NuttX for ${CONFIG} with ${config_nuttx_config}"
|
|
${nuttx_build_uses_terminal})
|
|
|
|
file(GLOB_RECURSE nuttx_export_src ${nuttx_export_dir})
|
|
foreach(nuttx_export_file ${nuttx_export_dir})
|
|
set_source_files_properties(${nuttx_export_src} PROPERTIES GENERATED TRUE)
|
|
endforeach()
|
|
|
|
add_custom_target(${OUT} DEPENDS nuttx_copy_${CONFIG} nuttx_patch_${CONFIG} nuttx_configure_${CONFIG} ${nuttx_export_stamp})
|
|
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_nuttx_create_bin
|
|
#
|
|
# The functions generates a bin image for nuttx.
|
|
#
|
|
# Usage:
|
|
# px4_nuttx_create_bin(BIN <out-file> EXE <in-file>)
|
|
#
|
|
# Input:
|
|
# EXE : the exe file
|
|
#
|
|
# Output:
|
|
# OUT : the binary output file
|
|
#
|
|
# Example:
|
|
# px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe)
|
|
#
|
|
function(px4_nuttx_create_bin)
|
|
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_create_bin
|
|
ONE_VALUE EXE OUT
|
|
REQUIRED EXE OUT
|
|
ARGN ${ARGN})
|
|
|
|
add_custom_command(OUTPUT ${OUT}
|
|
COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
|
|
DEPENDS ${EXE})
|
|
|
|
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
|
|
|
endfunction()
|
|
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_nuttx_add_romfs
|
|
#
|
|
# The functions creates a ROMFS filesystem for nuttx.
|
|
#
|
|
# Usage:
|
|
# px4_nuttx_add_romfs(
|
|
# OUT <out-target>
|
|
# ROOT <in-directory>
|
|
# EXTRAS <in-list>)
|
|
#
|
|
# Input:
|
|
# ROOT : the root of the ROMFS
|
|
# EXTRAS : list of extra files
|
|
#
|
|
# Output:
|
|
# OUT : the ROMFS library target
|
|
#
|
|
# Example:
|
|
# px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board")
|
|
#
|
|
function(px4_nuttx_add_romfs)
|
|
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_add_romfs
|
|
ONE_VALUE OUT ROOT
|
|
MULTI_VALUE EXTRAS
|
|
REQUIRED OUT ROOT
|
|
ARGN ${ARGN})
|
|
|
|
set(romfs_used y PARENT_SCOPE)
|
|
set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
|
|
set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
|
|
set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
|
|
set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
|
|
set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
|
|
set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
|
|
|
|
file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
|
|
|
|
set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)
|
|
|
|
set(extras)
|
|
foreach(extra ${EXTRAS})
|
|
get_filename_component(file_name ${extra} NAME)
|
|
set(file_dest ${extras_dir}/${file_name})
|
|
add_custom_command(OUTPUT ${file_dest}
|
|
COMMAND cmake -E copy ${extra} ${file_dest}
|
|
DEPENDS ${extra}
|
|
)
|
|
list(APPEND extras ${file_dest})
|
|
endforeach()
|
|
add_custom_target(collect_extras DEPENDS ${extras})
|
|
|
|
add_custom_command(OUTPUT romfs.o
|
|
COMMAND cmake -E remove_directory ${romfs_temp_dir}
|
|
COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
|
|
COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras
|
|
COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
|
|
-a ${romfs_temp_dir}/init.d
|
|
-s ${romfs_temp_dir}/init.d/rc.autostart
|
|
--board ${BOARD}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
|
|
--folder ${romfs_temp_dir}
|
|
--board ${BOARD}
|
|
COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
|
|
-d ${romfs_temp_dir} -V "NSHInitVol"
|
|
#COMMAND cmake -E remove_directory ${romfs_temp_dir}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
|
|
--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
|
|
--include_path "${PX4_SOURCE_DIR}/src/include"
|
|
--c_compiler ${CMAKE_C_COMPILER}
|
|
--nm ${NM} --objcopy ${OBJCOPY}
|
|
--obj romfs.o
|
|
--var romfs_img
|
|
--bin romfs.bin
|
|
DEPENDS ${romfs_src_files} ${extras}
|
|
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
|
|
)
|
|
add_library(${OUT} STATIC romfs.o)
|
|
set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C)
|
|
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
|
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_os_add_flags
|
|
#
|
|
# Set the nuttx 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/nuttx 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/nuttx/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(nuttx_export_root ${PX4_BINARY_DIR}/${BOARD}/NuttX)
|
|
set(nuttx_export_dir ${nuttx_export_root}/nuttx/nuttx-export)
|
|
set(added_include_dirs
|
|
${nuttx_export_dir}/include
|
|
${nuttx_export_dir}/include/cxx
|
|
${nuttx_export_dir}/arch/chip
|
|
${nuttx_export_dir}/arch/common
|
|
${nuttx_export_dir}/arch/armv7-m
|
|
${nuttx_export_root}/apps/include
|
|
)
|
|
set(added_link_dirs
|
|
${nuttx_export_dir}/libs
|
|
)
|
|
set(added_definitions
|
|
-D__PX4_NUTTX
|
|
)
|
|
|
|
if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
|
|
list(APPEND added_definitions -D__DF_NUTTX)
|
|
endif()
|
|
|
|
set(added_c_flags
|
|
-nodefaultlibs
|
|
-nostdlib
|
|
)
|
|
set(added_cxx_flags
|
|
-nodefaultlibs
|
|
-nostdlib
|
|
)
|
|
|
|
set(added_optimization_flags)
|
|
|
|
set(added_exe_linker_flags) # none currently
|
|
|
|
set(instrument_flags)
|
|
if ("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
|
|
set(instrument_flags
|
|
-finstrument-functions
|
|
-ffixed-r10
|
|
)
|
|
list(APPEND c_flags ${instrument_flags})
|
|
list(APPEND cxx_flags ${instrument_flags})
|
|
endif()
|
|
|
|
set(cpu_flags)
|
|
if (${config_nuttx_hw} STREQUAL "m7")
|
|
set(cpu_flags
|
|
-mcpu=cortex-m7
|
|
-mthumb
|
|
-mfpu=fpv5-sp-d16
|
|
-mfloat-abi=hard
|
|
)
|
|
elseif (${config_nuttx_hw} STREQUAL "m4")
|
|
set(cpu_flags
|
|
-mcpu=cortex-m4
|
|
-mthumb
|
|
-march=armv7e-m
|
|
-mfpu=fpv4-sp-d16
|
|
-mfloat-abi=hard
|
|
)
|
|
elseif (${config_nuttx_hw} STREQUAL "m3")
|
|
set(cpu_flags
|
|
-mcpu=cortex-m3
|
|
-mthumb
|
|
-march=armv7-m
|
|
)
|
|
endif()
|
|
list(APPEND c_flags ${cpu_flags})
|
|
list(APPEND cxx_flags ${cpu_flags})
|
|
|
|
# output
|
|
foreach(var ${inout_vars})
|
|
string(TOLOWER ${var} lower_var)
|
|
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
|
#message(STATUS "nuttx: 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 ${ARGN})
|
|
px4_nuttx_add_export(OUT nuttx_export_${BOARD}
|
|
CONFIG ${BOARD}
|
|
THREADS ${THREADS}
|
|
DEPENDS git_nuttx)
|
|
add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_nuttx_configure
|
|
#
|
|
# This function sets the nuttx configuration
|
|
#
|
|
# Usage:
|
|
# px4_nuttx_configure(
|
|
# HWCLASS <m3|m4>
|
|
# CONFIG <nsh|bootloader
|
|
# [ROMFS <y|n>
|
|
# ROMFSROOT <root>]
|
|
# )
|
|
#
|
|
# Input:
|
|
# HWCLASS : the class of hardware
|
|
# CONFIG : the nuttx condufiguration to use
|
|
# ROMFS : whether or not to use incllude theROMFS
|
|
# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common
|
|
#
|
|
# Output:
|
|
# OUT : None
|
|
#
|
|
# Example:
|
|
# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
|
|
#
|
|
function(px4_nuttx_configure)
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_configure
|
|
ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT
|
|
REQUIRED HWCLASS CONFIG
|
|
ARGN ${ARGN})
|
|
set(config_nuttx_config ${CONFIG} PARENT_SCOPE)
|
|
set(config_nuttx_hw ${HWCLASS} PARENT_SCOPE)
|
|
if ("${ROMFS}" STREQUAL "y")
|
|
set(romfs_used ${ROMFS} PARENT_SCOPE)
|
|
if (NOT DEFINED ROMFSROOT)
|
|
set(config_romfs_root px4fmu_common)
|
|
else()
|
|
set(config_romfs_root ${ROMFSROOT})
|
|
endif()
|
|
set(HASROMFS "with ROMFS on ${config_romfs_root}")
|
|
set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
|
|
endif()
|
|
message(STATUS "Nuttx build for ${BOARD} on ${HWCLASS} hardware, using ${CONFIG} ${HASROMFS}")
|
|
endfunction()
|
|
|
|
# vim: set noet fenc=utf-8 ff=unix nowrap:
|