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cmake use standard mechanisms for settings flags

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This commit is contained in:
Daniel Agar
2018-11-23 12:39:44 -05:00
committed by David Sidrane
parent 11be2b8873
commit 3e0a3559a9
68 changed files with 292 additions and 665 deletions
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6
platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a53.cmake
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@@ -1,6 +1,6 @@
set(cpu_flags "-mcpu=cortex-a53 -mfpu=neon -mfloat-abi=hard")
set(CMAKE_C_FLAGS "${cpu_flags}")
set(CMAKE_CXX_FLAGS "${cpu_flags}")
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")

6
platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a8.cmake
View File

@@ -1,6 +1,6 @@
set(cpu_flags "-mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard -mthumb-interwork")
set(CMAKE_C_FLAGS "${cpu_flags}")
set(CMAKE_CXX_FLAGS "${cpu_flags}")
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")

6
platforms/posix/cmake/Platform/Linux-arm-linux-gnueabihf-cortex-a9.cmake
View File

@@ -1,6 +1,6 @@
set(cpu_flags "-mcpu=cortex-a8 -mfpu=neon-vfpv3 -mfloat-abi=hard -mthumb-interwork")
set(CMAKE_C_FLAGS "${cpu_flags}")
set(CMAKE_CXX_FLAGS "${cpu_flags}")
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${cpu_flags}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${cpu_flags}")
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${cpu_flags} -D__ASSEMBLY__")

272
platforms/posix/cmake/px4_impl_os.cmake
View File

@@ -47,11 +47,6 @@
include(px4_base)
# This makes it possible to dynamically load code which depends on symbols
# inside the px4 executable.
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(CMAKE_ENABLE_EXPORTS ON)
#=============================================================================
#
# px4_posix_generate_builtin_commands
@@ -215,65 +210,10 @@ endfunction()
# Set the posix build flags.
#
# Usage:
# px4_os_add_flags(
# C_FLAGS <inout-variable>
# CXX_FLAGS <inout-variable>
# OPTIMIZATION_FLAGS <inout-variable>
# EXE_LINKER_FLAGS <inout-variable>
# INCLUDE_DIRS <inout-variable>
# LINK_DIRS <inout-variable>
# DEFINITIONS <inout-variable>)
#
# Input:
# BOARD : flags depend on board/posix config
#
# Input/Output: (appends to existing variable)
# C_FLAGS : c compile flags variable
# CXX_FLAGS : c++ compile flags variable
# OPTIMIZATION_FLAGS : optimization compile flags variable
# EXE_LINKER_FLAGS : executable linker flags variable
# INCLUDE_DIRS : include directories
# LINK_DIRS : link directories
# DEFINITIONS : definitions
#
# Note that EXE_LINKER_FLAGS is not suitable for adding libraries because
# these flags are added before any of the object files and static libraries.
# Add libraries in src/firmware/posix/CMakeLists.txt.
#
# Example:
# px4_os_add_flags(
# C_FLAGS CMAKE_C_FLAGS
# CXX_FLAGS CMAKE_CXX_FLAGS
# OPTIMIZATION_FLAGS optimization_flags
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
# INCLUDES <list>)
# px4_os_add_flags()
#
function(px4_os_add_flags)
set(inout_vars
C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
px4_parse_function_args(
NAME px4_os_add_flags
ONE_VALUE ${inout_vars} BOARD
REQUIRED ${inout_vars} BOARD
ARGN ${ARGN})
include(px4_add_common_flags)
px4_add_common_flags(
BOARD ${PX4_BOARD}
C_FLAGS ${C_FLAGS}
CXX_FLAGS ${CXX_FLAGS}
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
INCLUDE_DIRS ${INCLUDE_DIRS}
LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS})
set(added_c_flags)
set(added_cxx_flags)
set(added_exe_linker_flags)
add_definitions(
-D__PX4_POSIX
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
@@ -281,177 +221,107 @@ function(px4_os_add_flags)
include_directories(platforms/posix/include)
if(UNIX AND APPLE)
add_definitions(
-D__PX4_DARWIN
-D__DF_DARWIN
)
if ("${PX4_BOARD}" MATCHES "sitl")
if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
endif()
execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
if (DARWIN_VERSION LESS 16)
if(UNIX AND APPLE)
add_definitions(
-DCLOCK_MONOTONIC=1
-DCLOCK_REALTIME=0
-D__PX4_APPLE_LEGACY
-D__PX4_DARWIN
-D__DF_DARWIN
)
if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
endif()
execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
if (DARWIN_VERSION LESS 16)
add_definitions(
-DCLOCK_MONOTONIC=1
-DCLOCK_REALTIME=0
-D__PX4_APPLE_LEGACY
)
endif()
elseif(CYGWIN)
add_definitions(
-D__PX4_CYGWIN
-D_GNU_SOURCE
-D__USE_LINUX_IOCTL_DEFS
-U__CUSTOM_FILE_IO__
)
else()
add_definitions(
-D__PX4_LINUX
-D__DF_LINUX
)
endif()
elseif(CYGWIN)
add_definitions(
-D__PX4_CYGWIN
-D_GNU_SOURCE
-D__USE_LINUX_IOCTL_DEFS
-U __CUSTOM_FILE_IO__
)
else()
elseif (("${PX4_BOARD}" MATCHES "navio2") OR ("${PX4_BOARD}" MATCHES "raspberrypi"))
#TODO: move to board support
add_definitions(
-D__PX4_LINUX
# For DriverFramework
-D__DF_LINUX
)
endif()
# This block sets added_c_flags (appends to others).
if ("${PX4_BOARD}" STREQUAL "eagle")
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
else()
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
endif()
# Add the toolchain specific flags
list(APPEND added_c_flags --sysroot=${HEXAGON_ARM_SYSROOT})
list(APPEND added_cxx_flags --sysroot=${HEXAGON_ARM_SYSROOT})
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
list(APPEND added_cxx_flags -Wno-missing-field-initializers)
list(APPEND added_exe_linker_flags
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib
--sysroot=${HEXAGON_ARM_SYSROOT}
)
# This block sets added_c_flags (appends to others).
elseif ("${PX4_BOARD}" STREQUAL "excelsior")
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
else()
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
endif()
set(excelsior_flags --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)
# Add the toolchain specific flags
list(APPEND added_c_flags ${excelsior_flags})
list(APPEND added_cxx_flags ${excelsior_flags})
list(APPEND added_exe_linker_flags
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/usr/lib
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/lib
${excelsior_flags}
)
elseif ("${PX4_BOARD}" STREQUAL "rpi")
add_definitions(
-D__PX4_POSIX_RPI
-D__DF_LINUX # For DriverFramework
-D__DF_RPI # For DriverFramework
-D__DF_RPI
)
set(RPI_COMPILE_FLAGS -mcpu=cortex-a53 -mfpu=neon -mfloat-abi=hard)
list(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})
elseif ("${PX4_BOARD}" MATCHES "bebop")
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
list(APPEND added_cxx_flags -Wno-missing-field-initializers)
find_program(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})
GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)
IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
set(CLANG_COMPILE_FLAGS
--target=arm-pc-linux-gnueabihf
-ccc-gcc-name arm-linux-gnueabihf-gcc
--sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc
-I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/
)
list(APPEND added_c_flags ${CLANG_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${CLANG_COMPILE_FLAGS})
list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS}
-B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
)
ENDIF()
elseif ("${PX4_BOARD}" STREQUAL "bebop")
#TODO: move to board support
add_definitions(
-D__PX4_POSIX_BEBOP
-D__DF_LINUX # Define needed DriverFramework
-D__DF_BEBOP # Define needed DriverFramework
)
-D__PX4_LINUX
-D__PX4_POSIX_BEBOP # TODO: remove
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
list(APPEND added_cxx_flags -Wno-missing-field-initializers)
# For DriverFramework
-D__DF_LINUX
-D__DF_BEBOP
)
elseif ("${PX4_BOARD}" MATCHES "aerotenna_ocpoc")
add_definitions(
-D__PX4_POSIX_OCPOC
-D__DF_LINUX # For DriverFramework
-D__DF_OCPOC # For DriverFramework
-D__PX4_POSIX
)
elseif ("${PX4_BOARD}" STREQUAL "beaglebone_blue")
#TODO: move to board support
add_definitions(
-D__PX4_POSIX_BBBLUE
-D__PX4_POSIX
-D__DF_LINUX # For DriverFramework
-D__DF_BBBLUE # For DriverFramework
-DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library
#-DDEBUG_BUILD
-D__PX4_LINUX
-D__PX4_POSIX_OCPOC # TODO: remove
#optional __DF_BBBLUE_USE_RC_BMP280_IMP
-D__DF_BBBLUE_USE_RC_BMP280_IMP
-D__PX4_BBBLUE_DEFAULT_MAVLINK_WIFI="wlan"
# For DriverFramework
-D__DF_LINUX
-D__DF_OCPOC
)
set(BBBLUE_COMPILE_FLAGS -mcpu=cortex-a8 -mfpu=neon -mfloat-abi=hard -mtune=cortex-a8)
list(APPEND added_c_flags ${BBBLUE_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS})
elseif ("${PX4_BOARD}" MATCHES "beaglebone_blue")
#TODO: move to board support
add_definitions(
-D__PX4_LINUX
-D__PX4_POSIX_BBBLUE # TODO: remove
# For DriverFramework
-D__DF_LINUX
-D__DF_BBBLUE
-D__DF_BBBLUE_USE_RC_BMP280_IMP # optional
-DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library, TODO: remove
)
set(LIBROBOTCONTROL_INSTALL_DIR $ENV{LIBROBOTCONTROL_INSTALL_DIR})
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
#
# On cross compile host system and native build system:
# a) select and define LIBROBOTCONTROL_INSTALL_DIR environment variable so that
# other unwanted headers will not be included
# b) install robotcontrol.h and rc/* into $LIBROBOTCONTROL_INSTALL_DIR/include
# c) install pre-built native (ARM) version of librobotcontrol.* into $LIBROBOTCONTROL_INSTALL_DIR/lib
list(APPEND added_cxx_flags -I${LIBROBOTCONTROL_INSTALL_DIR}/include -Wno-missing-field-initializers)
list(APPEND added_c_flags -I${LIBROBOTCONTROL_INSTALL_DIR}/include)
list(APPEND added_exe_linker_flags -L${LIBROBOTCONTROL_INSTALL_DIR}/lib)
endif()
add_compile_options(-I${LIBROBOTCONTROL_INSTALL_DIR}/include)
# output
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
endforeach()
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${LIBROBOTCONTROL_INSTALL_DIR}/lib")
endif()
endfunction()

5
platforms/posix/cmake/sitl_target.cmake
View File

@@ -90,9 +90,10 @@ foreach(viewer ${viewers})
endforeach()
endforeach()
px4_join(OUT posix_vmd_make_target_list LIST ${all_posix_vmd_make_targets} GLUE "\\n")
string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
add_custom_target(list_vmd_make_targets
COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
COMMENT "List of acceptable '${CONFIG}' <viewer_model_debugger> targets:"
COMMENT "List of acceptable '${PX4_BOARD}' <viewer_model_debugger> targets:"
VERBATIM
)