px4-firmware/platforms/nuttx/cmake/px4_impl_os.cmake

201 lines
6.1 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
#
# Required OS Interface Functions
#
# * px4_os_add_flags
# * px4_os_determine_build_chip
# * px4_os_prebuild_targets
#
#=============================================================================
#
# px4_os_add_flags
#
# Set the nuttx build flags.
#
function(px4_os_add_flags)
include_directories(BEFORE SYSTEM
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include/cxx
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx # custom new
)
include_directories(
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_FAMILY}
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/chip
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
)
set(cxx_flags)
list(APPEND cxx_flags
-fno-exceptions
-fno-rtti
-fno-sized-deallocation
-fno-threadsafe-statics
-nostdinc++ # prevent using the toolchain's std c++ library
)
foreach(flag ${cxx_flags})
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:${flag}>)
endforeach()
add_compile_options($<$<COMPILE_LANGUAGE:C>:-Wbad-function-cast>)
add_definitions(
-D__PX4_NUTTX
-D_SYS_CDEFS_H_ # skip toolchain's <sys/cdefs.h>
-D_SYS_REENT_H_ # skip toolchain's <sys/reent.h>
)
if("${CONFIG_ARMV7M_STACKCHECK}" STREQUAL "y")
message(STATUS "NuttX Stack Checking (CONFIG_ARMV7M_STACKCHECK) enabled")
add_compile_options(
-ffixed-r10
-finstrument-functions
# instrumenting PX4 Matrix and Param methods is too burdensome
-finstrument-functions-exclude-file-list=matrix/Matrix.hpp,px4_platform_common/param.h,modules__ekf2_unity.cpp
)
endif()
if("${CONFIG_BOARD_FORCE_ALIGNMENT}" STREQUAL "y")
message(STATUS "Board forcing alignment")
add_compile_options(
-mno-unaligned-access
)
endif()
endfunction()
#=============================================================================
#
# px4_os_determine_build_chip
#
# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
#
# Usage:
# px4_os_determine_build_chip()
#
function(px4_os_determine_build_chip)
# determine chip and chip manufacturer based on NuttX config
if (CONFIG_STM32_STM32F10XX)
set(CHIP_MANUFACTURER "stm")
set(CHIP "stm32f1")
elseif(CONFIG_STM32_STM32F30XX)
set(CHIP_MANUFACTURER "stm")
set(CHIP "stm32f3")
elseif(CONFIG_STM32_STM32F4XXX)
set(CHIP_MANUFACTURER "stm")
set(CHIP "stm32f4")
elseif(CONFIG_ARCH_CHIP_STM32F7)
set(CHIP_MANUFACTURER "stm")
set(CHIP "stm32f7")
elseif(CONFIG_ARCH_CHIP_STM32H7)
set(CHIP_MANUFACTURER "stm")
set(CHIP "stm32h7")
elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
set(CHIP_MANUFACTURER "nxp")
set(CHIP "k66")
elseif(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
set(CHIP_MANUFACTURER "nxp")
set(CHIP "rt106x")
elseif(CONFIG_ARCH_CHIP_MIMXRT1176DVMAA)
set(CHIP_MANUFACTURER "nxp")
set(CHIP "rt117x")
elseif(CONFIG_ARCH_CHIP_S32K146)
set(CHIP_MANUFACTURER "nxp")
set(CHIP "s32k14x")
elseif(CONFIG_ARCH_CHIP_S32K344)
set(CHIP_MANUFACTURER "nxp")
set(CHIP "s32k34x")
elseif(CONFIG_ARCH_CHIP_RP2040)
set(CHIP_MANUFACTURER "rpi")
set(CHIP "rp2040")
else()
message(FATAL_ERROR "Could not determine chip architecture from NuttX config. You may have to add it.")
endif()
set(PX4_CHIP ${CHIP} CACHE STRING "PX4 Chip" FORCE)
set(PX4_CHIP_MANUFACTURER ${CHIP_MANUFACTURER} CACHE STRING "PX4 Chip Manufacturer" FORCE)
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
#
# Output:
# OUT : the target list
#
# Example:
# px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
#
function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD
REQUIRED OUT
ARGN ${ARGN})
if(EXISTS ${PX4_BOARD_DIR}/nuttx-config/${PX4_BOARD_LABEL})
set(NUTTX_CONFIG "${PX4_BOARD_LABEL}" CACHE INTERNAL "NuttX config" FORCE)
else()
set(NUTTX_CONFIG "nsh" CACHE INTERNAL "NuttX config" FORCE)
endif()
add_library(prebuild_targets INTERFACE)
target_link_libraries(prebuild_targets INTERFACE nuttx_xx m gcc)
add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
endfunction()