Merge pull request #41 from mcharleb/cmake-mc

Cmake mc
2026-05-21 01:12:11 +00:00 · 2015-09-10 19:58:45 -04:00
parent 422d47dd9a a456b6a1c6
commit 2238c09b74
17 changed files with 445 additions and 50 deletions
--- a/6
+++ b/6
@@ -50,10 +50,10 @@ posix_sitl_simple:
 #----------------------------------------------------------------------------
 # OS: qurt BOARD: hil LABEL: simple
 #
-qurt_hil_simple:
+qurt_eagle_travis:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
-		cmake .. -DQURT_ENABLE_STUBS=1 -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-hexagon.cmake \
-		-DOS=qurt -DBOARD=hil -DLABEL=simple && \
+		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-hexagon.cmake \
+		-DOS=qurt -DBOARD=eagle -DLABEL=travis && \
 		make -s && ctest -V && cpack -G ZIP

 #----------------------------------------------------------------------------
--- a/cmake/configs/config_posix_eagle_default.mk
+++ b/cmake/configs/config_posix_eagle_default.mk
@@ -0,0 +1,48 @@
+include(posix/px4_impl_posix-arm)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		drivers/device
+		drivers/blinkm
+		drivers/pwm_out_sim
+		drivers/rgbled
+		drivers/led
+		modules/sensors
+
+		systemcmds/param
+		systemcmds/mixer
+		systemcmds/ver
+
+		modules/mavlink
+
+		modules/attitude_estimator_ekf
+		modules/ekf_att_pos_estimator
+
+		modules/mc_pos_control
+		modules/mc_att_control
+
+		modules/systemlib
+		modules/systemlib/mixer
+		modules/uORB
+		modules/sensors
+		modules/dataman
+		modules/sdlog2
+		modules/simulator
+		modules/commander
+		modules/controllib
+
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+
+		platforms/posix/px4_layer
+		platforms/posix/work_queue
+		)
+
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
--- a/cmake/configs/config_posix_eagle_hil.cmake
+++ b/cmake/configs/config_posix_eagle_hil.cmake
@@ -0,0 +1,37 @@
+include(posix/px4_impl_posix-arm)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		drivers/device
+		drivers/boards/sitl
+		drivers/led
+
+		systemcmds/param
+		systemcmds/ver
+
+		modules/mavlink
+
+		modules/systemlib
+		modules/uORB
+		modules/sensors
+		modules/dataman
+		modules/sdlog2
+		modules/simulator
+		modules/commander
+
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+
+		platforms/posix/px4_layer
+		platforms/posix/work_queue
+		modules/muorb/krait
+		)
+
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
--- a/cmake/configs/config_posix_eagle_muorb.cmake
+++ b/cmake/configs/config_posix_eagle_muorb.cmake
@@ -0,0 +1,19 @@
+include(posix/px4_impl_posix-arm)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		drivers/device
+
+		modules/uORB
+
+		platforms/posix/px4_layer
+		platforms/posix/work_queue
+
+		modules/muorb/krait
+		)
+
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
--- a/cmake/configs/config_posix_eagle_release.cmake
+++ b/cmake/configs/config_posix_eagle_release.cmake
@@ -0,0 +1,32 @@
+include(posix/px4_impl_posix-arm)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		drivers/device
+
+		systemcmds/param
+		systemcmds/ver
+
+		modules/mavlink
+
+		modules/systemlib
+		modules/uORB
+		modules/dataman
+
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+
+		platforms/posix/px4_layer
+		platforms/posix/work_queue
+
+		modules/muorb/krait
+		)
+
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
--- a/cmake/configs/config_qurt_eagle_hello.cmake
+++ b/cmake/configs/config_qurt_eagle_hello.cmake
@@ -0,0 +1,30 @@
+include(qurt/px4_impl_qurt)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		drivers/device
+
+		#
+		# System commands
+		#
+		systemcmds/param
+
+		#
+		# Library modules
+		#
+		modules/systemlib
+		modules/uORB
+
+		#
+		# QuRT port
+		#
+		platforms/common
+		platforms/qurt/px4_layer
+		platforms/posix/work_queue
+		platforms/qurt/tests/hello
+		)
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
--- a/cmake/configs/config_qurt_eagle_hil.cmake
+++ b/cmake/configs/config_qurt_eagle_hil.cmake
@@ -0,0 +1,66 @@
+include(qurt/px4_impl_qurt)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		drivers/device
+		drivers/boards/sitl
+		drivers/pwm_out_sim
+		drivers/led
+		drivers/rgbled
+		modules/sensors
+
+		#
+		# System commands
+		#
+		systemcmds/param
+		systemcmds/mixer
+
+		#
+		# Estimation modules (EKF/ SO3 / other filters)
+		#
+		#modules/attitude_estimator_ekf
+		modules/ekf_att_pos_estimator
+		modules/attitude_estimator_q
+		modules/position_estimator_inav
+
+		#
+		# Vehicle Control
+		#
+		modules/mc_att_control
+		modules/mc_pos_control
+
+		#
+		# Library modules
+		#
+		modules/systemlib
+		modules/systemlib/mixer
+		modules/uORB
+		modules/commander
+
+		#
+		# Libraries
+		#
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+		modules/controllib
+
+		#
+		# QuRT port
+		#
+		platforms/common
+		platforms/qurt/px4_layer
+		platforms/posix/work_queue
+
+		#
+		# sources for muorb over fastrpc
+		#
+		modules/muorb/adsp
+		)
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
--- a/cmake/configs/config_qurt_eagle_muorb.cmake
+++ b/cmake/configs/config_qurt_eagle_muorb.cmake
@@ -0,0 +1,44 @@
+include(qurt/px4_impl_qurt)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		drivers/device
+
+		#
+		# System commands
+		#
+		systemcmds/param
+
+		#
+		# Library modules
+		#
+		modules/systemlib
+		modules/uORB
+
+		#
+		# Libraries
+		#
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+
+		#
+		# QuRT port
+		#
+		platforms/common
+		platforms/qurt/px4_layer
+		platforms/posix/work_queue
+		platforms/qurt/tests/muorb
+
+		#
+		# sources for muorb over fastrpc
+		#
+		modules/muorb/adsp
+		)
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
--- a/cmake/configs/config_qurt_eagle_release.cmake
+++ b/cmake/configs/config_qurt_eagle_release.cmake
@@ -0,0 +1,86 @@
+include(qurt/px4_impl_qurt)
+
+if ("${HEXAGON_DRIVERS_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
+endif()
+
+if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
+	message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
+endif()
+
+include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
+
+# For Actual flight we need to link against the driver dynamic libraries
+set(target_libraries
+	-L${HEXAGON_DRIVERS_ROOT}/libs 
+	mpu9x50
+	uart_esc
+	csr_gps
+	rc_receiver
+	)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		#
+		# Board support modules
+		#
+		drivers/device
+		modules/sensors
+		$(EAGLE_DRIVERS_SRC)/mpu9x50
+		$(EAGLE_DRIVERS_SRC)/uart_esc
+		$(EAGLE_DRIVERS_SRC)/rc_receiver
+		$(EAGLE_DRIVERS_SRC)/csr_gps
+
+		#
+		# System commands
+		#
+		systemcmds/param
+
+		#
+		# Estimation modules (EKF/ SO3 / other filters)
+		#
+		#modules/attitude_estimator_ekf
+		modules/ekf_att_pos_estimator
+		modules/attitude_estimator_q
+		modules/position_estimator_inav
+
+		#
+		# Vehicle Control
+		#
+		modules/mc_att_control
+		modules/mc_pos_control
+
+		#
+		# Library modules
+		#
+		modules/systemlib
+		modules/systemlib/mixer
+		modules/uORB
+		modules/commander
+		modules/controllib
+
+		#
+		# Libraries
+		#
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+
+		#
+		# QuRT port
+		#
+		platforms/common
+		platforms/qurt/px4_layer
+		platforms/posix/work_queue
+
+		#
+		# sources for muorb over fastrpc
+		#
+		modules/muorb/adsp
+		)
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
--- a/cmake/configs/config_qurt_eagle_test.cmake
+++ b/cmake/configs/config_qurt_eagle_test.cmake
@@ -0,0 +1,41 @@
+include(qurt/px4_impl_qurt)
+
+function(px4_set_config_modules out_module_list)
+
+	set(config_module_list
+		drivers/device
+
+		#
+		# System commands
+		#
+		systemcmds/param
+
+		#
+		# Library modules
+		#
+		modules/systemlib
+		modules/mixer
+		modules/uORB
+
+		#
+		# Libraries
+		#
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/conversion
+
+		#
+		# QuRT port
+		#
+		platforms/common
+		platforms/qurt/px4_layer
+		platforms/posix/work_queue
+		platforms/qurt/tests/hello
+		platforms/qurt/tests/vcdev_test
+		platforms/qurt/tests/hrt_test
+		platforms/qurt/tests/wqueue
+		)
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+endfunction()
+
--- a/cmake/configs/config_qurt_eagle_travis.cmake
+++ b/cmake/configs/config_qurt_eagle_travis.cmake
@@ -1,5 +1,8 @@
 include(qurt/px4_impl_qurt)

+# Run a full link with build stubs to make sure qurt target isn't broken
+set(QURT_ENABLE_STUBS 1)
+
 function(px4_set_config_modules out_module_list)

 	set(config_module_list
@@ -10,48 +13,37 @@ function(px4_set_config_modules out_module_list)
 		drivers/rgbled
 		modules/sensors

-	#	drivers/blinkm
-	#	drivers/ms5611
-
-	#
-	# System commands
-	#
+		#
+		# System commands
+		#
 		systemcmds/param
 		systemcmds/mixer

-	#
-	# General system control
-	#
-	#	modules/mavlink
-
-	#
-	# Estimation modules (EKF/ SO3 / other filters)
-	#
-	#	modules/attitude_estimator_ekf
+		#
+		# Estimation modules (EKF/ SO3 / other filters)
+		#
+		#modules/attitude_estimator_ekf
 		modules/ekf_att_pos_estimator
 		modules/attitude_estimator_q
 		modules/position_estimator_inav

-	#
-	# Vehicle Control
-	#
+		#
+		# Vehicle Control
+		#
 		modules/mc_att_control
 		modules/mc_pos_control

-	#
-	# Library modules
-	#
+		#
+		# Library modules
+		#
 		modules/systemlib
 		modules/systemlib/mixer
 		modules/uORB
-	#MODULES		+= modules/dataman
-	#MODULES		+= modules/sdlog2
-	#MODULES		+= modules/simulator
 		modules/commander

-	#
-	# Libraries
-	#
+		#
+		# Libraries
+		#
 		lib/mathlib
 		lib/mathlib/math/filter
 		lib/geo
@@ -59,28 +51,16 @@ function(px4_set_config_modules out_module_list)
 		lib/conversion
 		modules/controllib

-	#
-	# QuRT port
-	#
+		#
+		# QuRT port
+		#
 		platforms/common
 		platforms/qurt/px4_layer
 		platforms/posix/work_queue
-	#	platforms/posix/drivers/accelsim
-	#	platforms/posix/drivers/gyrosim
-	#	platforms/posix/drivers/adcsim
-	#	platforms/posix/drivers/barosim

-	#
-	# Unit tests
-	#
-	#	platforms/qurt/tests/muorb
-	#	platforms/posix/tests/vcdev_test
-	#	platforms/posix/tests/hrt_test
-	#	platforms/posix/tests/wqueue
-
-	#
-	# sources for muorb over fastrpc
-	#
+		#
+		# sources for muorb over fastrpc
+		#
 		modules/muorb/adsp
 		)
 	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -34,6 +34,7 @@ set_target_properties(mainapp PROPERTIES LINK_FLAGS ${main_link_flags})
 target_link_libraries(mainapp
 	-Wl,--whole-archive
 	${module_libraries}
+	${target_libraries}
 	m
 	-Wl,--no-whole-archive
 	-Wl,${TOOLSLIB}/pic/libstdc++.a)
--- a/src/lib/dspal
+++ b/src/lib/dspal
--- a/src/platforms/qurt/px4_layer/CMakeLists.txt
+++ b/src/platforms/qurt/px4_layer/CMakeLists.txt
@@ -46,7 +46,18 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 		)
 endif()

-set(CONFIG_SRC commands_${BOARD}.c)
+# For Eagle, the commands are specific to the build config label
+# e.g. config_qurt_eagle_hil uses commands_hil.c
+if ("${BOARD}" STREQUAL "eagle")
+
+	# The CI test target can use the hil commands
+	if ("${LABEL}" STREQUAL "travis")
+		set(CONFIG_SRC commands_hil.c)
+	else("${LABEL}" STREQUAL "travis")
+		set(CONFIG_SRC commands_${LABEL}.c)
+	endif()
+
+endif()

 px4_add_module(
 	MODULE platforms__qurt__px4_layer
--- a/src/platforms/qurt/px4_layer/commands_muorb_test.c
+++ b/src/platforms/qurt/px4_layer/commands_muorb_test.c
--- a/src/platforms/qurt/px4_layer/commands_release.c
+++ b/src/platforms/qurt/px4_layer/commands_release.c
--- a/src/platforms/qurt/px4_layer/commands_default.c
+++ b/src/platforms/qurt/px4_layer/commands_default.c