mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-26 16:28:06 +08:00
4afd19f037
the nuttx and posix specific options files since this option cannot be used with the qurt platform. There are header files in the hexagon sdk that fail this check.
186 lines
5.8 KiB
CMake
186 lines
5.8 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015 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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#=============================================================================
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#
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# Defined functions in this file
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#
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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_determine_build_chip
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# * px4_os_prebuild_targets
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#
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#=============================================================================
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#
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# px4_os_add_flags
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#
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# Set the nuttx build flags.
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#
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function(px4_os_add_flags)
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include_directories(BEFORE SYSTEM
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${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include
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${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include/cxx
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${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx # custom new
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)
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include_directories(
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${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_FAMILY}
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${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/chip
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${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
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${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
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)
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# prevent using the toolchain's std c++ library
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add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)
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add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-fno-sized-deallocation>)
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add_compile_options($<$<COMPILE_LANGUAGE:C>:-Wbad-function-cast>)
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add_definitions(
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-D__PX4_NUTTX
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-D_SYS_CDEFS_H_ # skip toolchain's <sys/cdefs.h>
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-D_SYS_REENT_H_ # skip toolchain's <sys/reent.h>
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)
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if("${CONFIG_ARMV7M_STACKCHECK}" STREQUAL "y")
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message(STATUS "NuttX Stack Checking (CONFIG_ARMV7M_STACKCHECK) enabled")
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add_compile_options(
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-ffixed-r10
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-finstrument-functions
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# instrumenting PX4 Matrix and Param methods is too burdensome
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-finstrument-functions-exclude-file-list=matrix/Matrix.hpp,px4_platform_common/param.h,modules__ekf2_unity.cpp
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)
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endif()
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if("${CONFIG_BOARD_FORCE_ALIGNMENT}" STREQUAL "y")
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message(STATUS "Board forcing alignment")
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add_compile_options(
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-mno-unaligned-access
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)
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endif()
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endfunction()
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#=============================================================================
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#
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# px4_os_determine_build_chip
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#
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# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
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#
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# Usage:
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# px4_os_determine_build_chip()
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#
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function(px4_os_determine_build_chip)
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# determine chip and chip manufacturer based on NuttX config
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if (CONFIG_STM32_STM32F10XX)
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set(CHIP_MANUFACTURER "stm")
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set(CHIP "stm32f1")
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elseif(CONFIG_STM32_STM32F30XX)
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set(CHIP_MANUFACTURER "stm")
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set(CHIP "stm32f3")
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elseif(CONFIG_STM32_STM32F4XXX)
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set(CHIP_MANUFACTURER "stm")
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set(CHIP "stm32f4")
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elseif(CONFIG_ARCH_CHIP_STM32F7)
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set(CHIP_MANUFACTURER "stm")
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set(CHIP "stm32f7")
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elseif(CONFIG_ARCH_CHIP_STM32H7)
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set(CHIP_MANUFACTURER "stm")
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set(CHIP "stm32h7")
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elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
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set(CHIP_MANUFACTURER "nxp")
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set(CHIP "k66")
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elseif(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
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set(CHIP_MANUFACTURER "nxp")
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set(CHIP "rt106x")
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elseif(CONFIG_ARCH_CHIP_S32K146)
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set(CHIP_MANUFACTURER "nxp")
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set(CHIP "s32k14x")
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elseif(CONFIG_ARCH_CHIP_RP2040)
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set(CHIP_MANUFACTURER "rpi")
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set(CHIP "rp2040")
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else()
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message(FATAL_ERROR "Could not determine chip architecture from NuttX config. You may have to add it.")
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endif()
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set(PX4_CHIP ${CHIP} CACHE STRING "PX4 Chip" FORCE)
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set(PX4_CHIP_MANUFACTURER ${CHIP_MANUFACTURER} CACHE STRING "PX4 Chip Manufacturer" FORCE)
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endfunction()
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#=============================================================================
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#
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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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# BOARD <in-string>
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# )
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#
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# Input:
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# BOARD : board
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#
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# Output:
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# OUT : the target list
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#
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# Example:
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# px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
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#
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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
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ARGN ${ARGN})
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if(EXISTS ${PX4_BOARD_DIR}/nuttx-config/${PX4_BOARD_LABEL})
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set(NUTTX_CONFIG "${PX4_BOARD_LABEL}" CACHE INTERNAL "NuttX config" FORCE)
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else()
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set(NUTTX_CONFIG "nsh" CACHE INTERNAL "NuttX config" FORCE)
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endif()
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add_library(prebuild_targets INTERFACE)
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target_link_libraries(prebuild_targets INTERFACE nuttx_xx m gcc)
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add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
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endfunction()
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