forked from Archive/PX4-Autopilot
270 lines
8.0 KiB
CMake
270 lines
8.0 KiB
CMake
############################################################################
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#
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# Copyright (c) 2017 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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if(POLICY CMP0079)
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cmake_policy(SET CMP0079 NEW)
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endif()
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include(cygwin_cygpath)
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set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx)
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set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps)
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add_executable(px4 ${PX4_SOURCE_DIR}/platforms/common/empty.c)
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set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
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set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME})
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add_dependencies(px4 git_nuttx nuttx_build)
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
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# build NuttX
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add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
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set(nuttx_libs)
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set(SCRIPT_PREFIX)
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if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
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set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
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add_subdirectory(src/bootloader)
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list(APPEND nuttx_libs
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bootloader
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bootloader_lib
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drivers_board
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)
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elseif("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
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set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
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add_subdirectory(src/canbootloader)
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list(APPEND nuttx_libs
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canbootloader
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drivers_board
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)
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target_link_libraries(px4 PRIVATE
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-Wl,-wrap,sched_process_timer -Wl,-wrap,sem_post -Wl,-wrap,sem_wait
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)
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else()
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if(NOT "${PX4_BOARD_LINKER_PREFIX}" STREQUAL "")
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set(SCRIPT_PREFIX ${PX4_BOARD_LINKER_PREFIX}-)
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endif()
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endif()
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list(APPEND nuttx_libs
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nuttx_apps
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nuttx_arch
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nuttx_binfmt
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nuttx_c
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nuttx_boards
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nuttx_xx
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nuttx_drivers
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nuttx_fs
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nuttx_mm
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nuttx_sched
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)
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if (CONFIG_NET)
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list(APPEND nuttx_libs nuttx_net)
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target_link_libraries(nuttx_fs INTERFACE nuttx_net)
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endif()
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file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_DIR})
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# only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...)
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# because even relative linker script paths are different for linux, mac and windows
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CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG)
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target_link_libraries(nuttx_arch
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INTERFACE
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drivers_board
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arch_hrt
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)
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target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
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target_link_libraries(nuttx_xx INTERFACE nuttx_c)
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target_link_libraries(px4 PRIVATE
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-nostartfiles
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-nodefaultlibs
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-nostdlib
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-nostdinc++
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-fno-exceptions
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-fno-rtti
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-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}script.ld
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-Wl,-Map=${PX4_CONFIG}.map
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-Wl,--warn-common
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-Wl,--gc-sections
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-Wl,--start-group
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${nuttx_libs}
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-Wl,--end-group
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m
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gcc
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)
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if(NOT USE_LD_GOLD)
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target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
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endif()
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target_link_libraries(px4 PRIVATE ${module_libraries})
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if (config_romfs_root)
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add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
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target_link_libraries(px4 PRIVATE romfs)
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endif()
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add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
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COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
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DEPENDS px4
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)
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# create .px4 with parameter and airframe metadata
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if (TARGET parameters_xml AND TARGET airframes_xml)
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string(REPLACE ".elf" ".px4" fw_package ${PX4_BINARY_DIR}/${FW_NAME})
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add_custom_command(
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OUTPUT ${fw_package}
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COMMAND
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${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
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--prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
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--git_identity ${PX4_SOURCE_DIR}
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--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
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--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
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--image ${PX4_BINARY_DIR}/${PX4_BOARD}.bin > ${fw_package}
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DEPENDS
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${PX4_BINARY_DIR}/${PX4_BOARD}.bin
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airframes_xml
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parameters_xml
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COMMENT "Creating ${fw_package}"
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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add_custom_target(px4_package ALL DEPENDS ${fw_package})
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# upload helper
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# create upload target helper if NuttX USB CDCACM is present
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if (CONFIG_CDCACM)
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include(upload)
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endif()
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endif()
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# print weak symbols
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add_custom_target(weak_symbols
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COMMAND ${CMAKE_NM} $<TARGET_FILE:px4> | ${GREP} " w " | cat
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DEPENDS px4
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VERBATIM
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USES_TERMINAL
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)
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# debugger helpers
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)
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# vscode launch.json
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# skip if built within another cmake project (eg px4_io-v2 with px4_fmu-v5)
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if(NOT NUTTX_DIR MATCHES "external")
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if(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
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set(DEBUG_DEVICE "MIMXRT1062XXX6A")
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set(DEBUG_SVD_FILE "MIMXRT1052.svd")
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elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
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set(DEBUG_DEVICE "MK66FN2M0xxx18")
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set(DEBUG_SVD_FILE "MK66F18.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F100C8)
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set(DEBUG_DEVICE "STM32F100C8")
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set(DEBUG_SVD_FILE "STM32F100xx.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F103RB)
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set(DEBUG_DEVICE "STM32F103C4")
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set(DEBUG_SVD_FILE "STM32F103xx.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F302K8)
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set(DEBUG_DEVICE "STM32F302K8")
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set(DEBUG_SVD_FILE "STM32F302.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F303CC)
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set(DEBUG_DEVICE "STM32F303CC")
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set(DEBUG_SVD_FILE "STM32F303.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F405RG)
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set(DEBUG_DEVICE "STM32F405RG")
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set(DEBUG_SVD_FILE "STM32F405.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F427V)
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set(DEBUG_DEVICE "STM32F427VI")
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set(DEBUG_SVD_FILE "STM32F427.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F429V)
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set(DEBUG_DEVICE "STM32F429VI")
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set(DEBUG_SVD_FILE "STM32F429.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F446R)
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set(DEBUG_DEVICE "STM32F446RC")
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set(DEBUG_SVD_FILE "STM32F446.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F469I)
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set(DEBUG_DEVICE "STM32F469II")
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set(DEBUG_SVD_FILE "STM32F469.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F745VG)
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set(DEBUG_DEVICE "STM32F745VG")
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set(DEBUG_SVD_FILE "STM32F7x5.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F765II)
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set(DEBUG_DEVICE "STM32F765II")
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set(DEBUG_SVD_FILE "STM32F7x5.svd")
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elseif(CONFIG_ARCH_CHIP_STM32F777NI)
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set(DEBUG_DEVICE "STM32F777NI")
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set(DEBUG_SVD_FILE "STM32F7x7.svd")
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elseif(CONFIG_ARCH_CHIP_STM32H743ZI)
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set(DEBUG_DEVICE "STM32H743ZI")
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set(DEBUG_SVD_FILE "STM32H7x3.svd")
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else()
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set(DEBUG_DEVICE "")
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set(DEBUG_SVD_FILE "unknown")
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endif()
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file(GLOB_RECURSE DEBUG_SVD_FILE_PATH
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LIST_DIRECTORIES false
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${CMAKE_SOURCE_DIR}/../cmsis-svd/data/*/${DEBUG_SVD_FILE}
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)
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if(NOT DEBUG_SVD_FILE MATCHES "unknown")
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message(STATUS "Found SVD: ${DEBUG_SVD_FILE_PATH}")
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json @ONLY)
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endif()
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endif()
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add_custom_target(debug
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COMMAND ${CMAKE_GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:px4>
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DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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include(blackmagic)
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include(jlink)
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include(profile)
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include(stack_check)
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