Merge.

cmake/qurt/configs/config-qurt-hil.cmake

@@ -0,0 +1,85 @@
+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
+
+	#	drivers/blinkm
+	#	drivers/ms5611
+
+	#
+	# System commands
+	#
+		systemcmds/param
+		systemcmds/mixer
+
+	#
+	# General system control
+	#
+	#	modules/mavlink
+
+	#
+	# 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		+= modules/dataman
+	#MODULES		+= modules/sdlog2
+	#MODULES		+= modules/simulator
+		modules/commander
+
+	#
+	# Libraries
+	#
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+		modules/controllib
+
+	#
+	# QuRT port
+	#
+		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
+	#
+		modules/muorb/adsp/
+		)
+	message(STATUS "modules: ${config_module_list}")
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+endfunction()
+

cmake/qurt/qurt_funcs.cmake

@@ -47,66 +47,34 @@
 #
 set(QURT_APPS_HEADER ${CMAKE_BINARY_DIR}/apps.h)
 
-add_git_submodule(dspal src/lib/dspal)
-add_git_submodule(eigen src/lib/eigen-3.2)
+px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
+px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")
 
-macro(px4_target_set_flags)
-	list(APPEND EXE_LINK_LIBS
-		pthread
-		)
-        set(DSPAL_ROOT src/lib/dspal)
-        include_directories(
-                ${DSPAL_ROOT}/include 
-                ${DSPAL_ROOT}/sys 
-                ${DSPAL_ROOT}/sys/sys 
-                ${DSPAL_ROOT}/mpu_spi/inc
-                ${DSPAL_ROOT}/uart_esc/inc
-                src/platforms/qurt/include
-                src/platforms/posix/include
-		src/lib/eigen-3.2
-                )
-        add_definitions(
-                -D__PX4_QURT 
-		-D__PX4_POSIX
-		-include ${PX4_INCLUDE_DIR}visibility.h
-                )
-
-	# Add the toolchain specific flags
-        set(CMAKE_C_FLAGS ${QURT_CMAKE_C_FLAGS})
-        set(CMAKE_CXX_FLAGS ${QURT_CMAKE_CXX_FLAGS})
-        set(CMAKE_SHARED_LINKER_FLAGS "")
-
-        message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
-        message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
-
-	# Clear -rdynamic flag which fails for hexagon
-	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
-	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
-
-endmacro()
-
-macro(px4_target_set_modules)
-	list(APPEND module_directories
+function(px4_target_add_modules out_module_directories)
+	list(APPEND ${out_module_directories}
 		./src/platforms/qurt/px4_layer
 		./src/platforms/posix/work_queue
+		PARENT_SCOPE
 	)
-endmacro()
+endfunction()
 
-macro(px4_target_validate_config)
-	if (${TARGET_NAME} STREQUAL "qurt-hil-simple")
-	else()
+function(px4_target_validate_config)
+	# FIXME - this can be done in Firmware/CMakeLists.txt
+	list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
+
+	if (NOT EXISTS("${CMAKE_SOURCE_DIR}/cmake/qurt/${TARGET_NAME}.cmake"))
 		message(FATAL_ERROR "not implemented yet: ${TARGET_NAME}")
 	endif()
-endmacro()
+endfunction()
 
-macro(px4_target_firmware)
+function(px4_target_firmware)
 	set(installed_targets)
 	add_library(dspal_main SHARED ./src/platforms/qurt/px4_layer/main.cpp)
 	target_link_libraries(dspal_main ${module_list})
 	list(APPEND installed_targets dspal_main)
-endmacro()
+endfunction()
 
-macro(px4_target_rules)
+function(px4_target_rules)
 	#=============================================================================
 	#		apps
 	#
@@ -118,7 +86,7 @@ macro(px4_target_rules)
 		)
 
 	add_custom_target(qurt_apps DEPENDS ${QURT_APPS_HEADER})
-endmacro()
+endfunction()
 
-macro(px4_target_testing)
-endmacro()
+function(px4_target_testing)
+endfunction()