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

############################################################################
#
# Copyright (c) 2022 ModalAI, Inc. 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
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# 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.
#
############################################################################

if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
else()
	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()

if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
	message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
else()
	set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
endif()

include(px4_git)

include(Toolchain-qurt)
include(qurt_reqs)

include_directories(${HEXAGON_SDK_INCLUDES})

#=============================================================================
#
#	Defined functions in this file
#
# 	OS Specific Functions
#
#		* px4_qurt_generate_builtin_commands
#
# 	Required OS Inteface Functions
#
# 		* px4_os_add_flags
# 		* px4_os_determine_build_chip
#		* px4_os_prebuild_targets
#

#=============================================================================
#
#	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}/platforms/common/apps.cpp.in ${OUT}.cpp)
	configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.h.in ${OUT}.h)
endfunction()

#=============================================================================
#
#	px4_os_add_flags
#
#	Set the qurt build flags.
#
#	Usage:
#		px4_os_add_flags()
#
function(px4_os_add_flags)

	set(DSPAL_ROOT platforms/qurt/dspal)
	include_directories(
		${DSPAL_ROOT}/include
		${DSPAL_ROOT}/sys
		${DSPAL_ROOT}/sys/sys

		platforms/posix/include
		platforms/qurt/include
	)

	add_definitions(
		-D__PX4_POSIX
		-D__PX4_QURT
	)

	add_compile_options(
		-fPIC
		-fmath-errno

		-Wno-unknown-warning-option
		-Wno-cast-align
		--include=${PX4_SOURCE_DIR}/platforms/qurt/include/qurt_reqs.h
	)

	# Clear -rdynamic flag which fails for hexagon
	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)

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)

	# always use generic chip and chip manufacturer
	set(PX4_CHIP "generic" CACHE STRING "PX4 Chip" FORCE)
	set(PX4_CHIP_MANUFACTURER "generic" 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})

	add_library(prebuild_targets INTERFACE)
	target_link_libraries(prebuild_targets INTERFACE drivers_board)
	add_dependencies(prebuild_targets DEPENDS uorb_headers)

endfunction()