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https://github.com/PX4/PX4-Autopilot.git
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This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
c1f851a600
commit
f692ad04d0
@@ -35,85 +35,13 @@
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#
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# Defined functions in this file
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#
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# OS Specific Functions
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#
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# * px4_nuttx_make_uavcan_bootloadable
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#
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# Required OS Inteface Functions
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# Required OS Interface Functions
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#
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# * px4_os_add_flags
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# * px4_os_prebuild_targets
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#
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include(common/px4_base)
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#=============================================================================
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#
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# px4_nuttx_make_uavcan_bootloadable
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#
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# This function adds a uavcan boot loadable target.
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#
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# Usage:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD <board>
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# BIN <input bin file>)
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# HWNAME <uavcan name>
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# HW_MAJOR <number>
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# HW_MINOR <number>
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# SW_MAJOR <number>
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# SW_MINOR <number>)
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#
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# Input:
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# BOARD : the board
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# BIN : the bin file to generate the bootloadable image from
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# HWNAME : the uavcan name
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# HW_MAJOR : the major hardware revision
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# HW_MINOR : the minor hardware revision
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# SW_MAJOR : the major software revision
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# SW_MINOR : the minor software revision
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#
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# Output:
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# OUT : None
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#
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# Example:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD ${BOARD}
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# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
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# HWNAME ${uavcanblid_name}
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# HW_MAJOR ${uavcanblid_hw_version_major}
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# HW_MINOR ${uavcanblid_hw_version_minor}
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# SW_MAJOR ${uavcanblid_sw_version_major}
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# SW_MINOR ${uavcanblid_sw_version_minor}
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# )
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#
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function(px4_nuttx_make_uavcan_bootloadable)
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px4_parse_function_args(
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NAME px4_nuttx_make_uavcan_bootloadable
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ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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ARGN ${ARGN})
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string(REPLACE "\"" "" HWNAME ${HWNAME})
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execute_process(
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COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
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OUTPUT_VARIABLE uavcanbl_git_desc
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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if ("${uavcanbl_git_desc}" STREQUAL "")
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set(uavcanbl_git_desc ffffffff)
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endif()
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set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
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message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
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add_custom_command(OUTPUT ${uavcan_bl_imange_name}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
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-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
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DEPENDS ${BIN}
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)
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add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
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endfunction()
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include(px4_base)
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#=============================================================================
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#
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@@ -163,11 +91,11 @@ function(px4_os_add_flags)
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px4_parse_function_args(
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NAME px4_os_add_flags
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ONE_VALUE ${inout_vars} BOARD
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REQUIRED ${inout_vars} BOARD
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REQUIRED ${inout_vars}
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ARGN ${ARGN})
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px4_add_common_flags(
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BOARD ${BOARD}
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BOARD ${PX4_BOARD}
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C_FLAGS ${C_FLAGS}
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CXX_FLAGS ${CXX_FLAGS}
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OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
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@@ -217,7 +145,7 @@ endfunction()
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# px4_os_prebuild_targets
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#
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# This function generates os dependent targets
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#
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# Usage:
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# px4_os_prebuild_targets(
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# OUT <out-list_of_targets>
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@@ -237,15 +165,15 @@ function(px4_os_prebuild_targets)
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px4_parse_function_args(
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NAME px4_os_prebuild_targets
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ONE_VALUE OUT BOARD
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REQUIRED OUT BOARD
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REQUIRED OUT
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ARGN ${ARGN})
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add_library(${OUT} INTERFACE)
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target_link_libraries(${OUT} INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
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add_dependencies(${OUT} DEPENDS nuttx_context uorb_headers)
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add_library(prebuild_targets INTERFACE)
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target_link_libraries(prebuild_targets INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
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add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
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# parse nuttx config options for cmake
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file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/${nuttx_config_type}/defconfig ConfigContents)
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file(STRINGS ${PX4_BOARD_DIR}/nuttx-config/${NUTTX_CONFIG}/defconfig ConfigContents)
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foreach(NameAndValue ${ConfigContents})
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# Strip leading spaces
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string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
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@@ -261,72 +189,8 @@ function(px4_os_prebuild_targets)
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string(REPLACE "\"" "" Value ${Value})
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# Set the variable
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set(${Name} ${Value} PARENT_SCOPE)
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#message(STATUS "${Name} ${Value}")
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set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
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endif()
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endforeach()
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_configure
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#
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# This function sets the nuttx configuration
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#
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# Usage:
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# px4_nuttx_configure(
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# HWCLASS <m3|m4>
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# [ROMFS <y|n>
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# ROMFSROOT <root>]
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# )
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#
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# Input:
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# HWCLASS : the class of hardware
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# CONFIG : the nuttx configuration to use
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# ROMFS : whether or not to use incllude theROMFS
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# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common
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#
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# Output:
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# OUT : None
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#
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# Example:
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# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
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#
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function(px4_nuttx_configure)
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px4_parse_function_args(
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NAME px4_nuttx_configure
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ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT IO
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REQUIRED HWCLASS
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ARGN ${ARGN})
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# HWCLASS -> CMAKE_SYSTEM_PROCESSOR
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if(HWCLASS STREQUAL "m7")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m7" PARENT_SCOPE)
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elseif(HWCLASS STREQUAL "m4")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m4" PARENT_SCOPE)
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elseif(HWCLASS STREQUAL "m3")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m3" PARENT_SCOPE)
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endif()
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set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
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if (CONFIG)
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set(nuttx_config_type ${CONFIG})
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set(nuttx_config_type ${nuttx_config_type} PARENT_SCOPE)
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endif()
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# ROMFS
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if("${ROMFS}" STREQUAL "y")
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if (NOT DEFINED ROMFSROOT)
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set(config_romfs_root px4fmu_common)
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else()
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set(config_romfs_root ${ROMFSROOT})
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endif()
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set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
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endif()
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# IO board placed in ROMFS
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if(config_romfs_root)
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set(config_io_board ${IO} PARENT_SCOPE)
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endif()
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endfunction()
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