Work on px4io firmware building.

2026-05-22 01:12:31 +00:00 · 2015-09-12 05:26:31 -04:00
parent be45c2e0a9
commit 676a3d230c
15 changed files with 276 additions and 128 deletions
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -103,7 +103,7 @@ function(px4_parse_function_args)
 	endif()
 	foreach(arg ${IN_REQUIRED})
 		if (NOT OUT_${arg})
-			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}, ARGN: ${IN_ARGN}")
+			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
 		endif()
 	endforeach()
 	foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
@@ -593,25 +593,25 @@ function(px4_add_common_flags)
 		)

 	set(added_include_dirs
-		src
+		${CMAKE_SOURCE_DIR}/src
 		${CMAKE_BINARY_DIR}
 		${CMAKE_BINARY_DIR}/src
-		src/modules
-		src/include
-		src/lib
-		src/platforms
+		${CMAKE_SOURCE_DIR}/src/modules
+		${CMAKE_SOURCE_DIR}/src/include
+		${CMAKE_SOURCE_DIR}/src/lib
+		${CMAKE_SOURCE_DIR}/src/platforms
 		# TODO Build/versioning was in Makefile,
 		# do we need this, how does it work with cmake
-		src/drivers/boards/${BOARD}
+		${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
 		${CMAKE_BINARY_DIR}
 		${CMAKE_BINARY_DIR}/src/modules/px4_messages
 		${CMAKE_BINARY_DIR}/src/modules
-		mavlink/include/mavlink
+		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
 		)

 	if (NOT ${OS} STREQUAL "qurt")
 		list(APPEND added_include_dirs
-			src/lib/eigen
+			${CMAKE_SOURCE_DIR}/src/lib/eigen
 			)
 	endif()

--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -165,6 +165,18 @@ set(config_extra_builtin_cmds
 	sercon
 	)

+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	MAIN "sercon" STACK "2048")
--- a/cmake/configs/nuttx_px4fmu-v2_simple.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
@@ -3,7 +3,6 @@ include(nuttx/px4_impl_nuttx)
 set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_module_list
-
 	#
 	# Board support modules
 	#
@@ -127,6 +126,18 @@ set(config_extra_builtin_cmds
 	sercon
 	)

+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	MAIN "sercon" STACK "2048")
--- a/cmake/configs/nuttx_sim_simple.cmake
+++ b/cmake/configs/nuttx_sim_simple.cmake
@@ -5,16 +5,16 @@ message(WARNING "this is a work in progress and doesn't build yet")
 set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-native.cmake)

 set(config_module_list
-	platforms/nuttx
-	platforms/nuttx/px4_layer
+	#platforms/nuttx
+	#platforms/nuttx/px4_layer
 	platforms/common
-	drivers/led
+	#drivers/led
 	drivers/device
-	modules/systemlib
-	modules/uORB
-	examples/px4_simple_app
-	lib/mathlib/math/filter
-	lib/conversion
+	#modules/systemlib
+	#modules/uORB
+	#examples/px4_simple_app
+	#lib/mathlib/math/filter
+	#lib/conversion
 	)

 set(config_firmware_options
@@ -22,15 +22,4 @@ set(config_firmware_options
 	)

 set(config_extra_builtin_cmds
-	serdis
-	sercon
 	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	MAIN "sercon" STACK "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	MAIN "serdis" STACK "2048")
-
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -61,6 +61,7 @@ include(common/px4_base)
 #
 #	Input:
 #		EXE			: the executable to generate the firmware from
+#		BOARD		: the board
 #
 #	Options:
 #		PARAM_XML	: toggles generation of param_xml	
@@ -74,9 +75,9 @@ include(common/px4_base)
 function(px4_nuttx_add_firmware)
 	px4_parse_function_args(
 		NAME px4_nuttx_add_firmware
-		ONE_VALUE OUT EXE
+		ONE_VALUE BOARD OUT EXE
 		OPTIONS PARAM_XML
-		REQUIRED EXE
+		REQUIRED OUT EXE BOARD
 		ARGN ${ARGN})

 	set(process_params ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py)
@@ -111,7 +112,7 @@ function(px4_nuttx_add_firmware)
 			DEPENDS ${EXE}
 			)
 	endif()
-	add_custom_target(build_firmware ALL DEPENDS ${OUT})
+	add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
 endfunction()

 #=============================================================================
@@ -246,14 +247,14 @@ function(px4_nuttx_add_export)
 		DEPENDS ${DEPENDS} __nuttx_copy_${CONFIG})

 	# extract
-	add_custom_command(OUTPUT nuttx_export_${BOARD}.stamp
+	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
 		COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
-		COMMAND ${UNZIP} ${BOARD}.export -d ${nuttx_src}
-		COMMAND ${TOUCH} nuttx_export_${BOARD}.stamp
-		DEPENDS ${DEPENDS} ${BOARD}.export)
+		COMMAND ${UNZIP} ${CONFIG}.export -d ${nuttx_src}
+		COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
+		DEPENDS ${DEPENDS} ${CONFIG}.export)

 	add_custom_target(${OUT}
-		DEPENDS nuttx_export_${BOARD}.stamp)
+		DEPENDS nuttx_export_${CONFIG}.stamp)

 endfunction()

@@ -406,17 +407,24 @@ function(px4_os_add_flags)

 	set(added_exe_linker_flags) # none currently

-	if ("${BOARD}" STREQUAL "px4fmu-v2")
-		set(arm_build_flags
+	set(cpu_flags)
+	if (${BOARD} STREQUAL "px4fmu-v2")
+		set(cpu_flags
 			-mcpu=cortex-m4
 			-mthumb
 			-march=armv7e-m
 			-mfpu=fpv4-sp-d16
 			-mfloat-abi=hard
 			)
-		list(APPEND c_flags ${arm_build_flags})
-		list(APPEND cxx_flags ${arm_build_flags})
+	elseif (${BOARD} STREQUAL "px4io-v2")
+		set(cpu_flags
+			-mcpu=cortex-m3
+			-mthumb
+			-march=armv7-m
+			)
 	endif()
+	list(APPEND c_flags ${cpu_flags})
+	list(APPEND cxx_flags ${cpu_flags})

 	# output
 	foreach(var ${inout_vars})
@@ -455,11 +463,11 @@ function(px4_os_prebuild_targets)
 			ONE_VALUE OUT BOARD THREADS
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
-	px4_nuttx_add_export(OUT nuttx_export
+	px4_nuttx_add_export(OUT nuttx_export_${BOARD}
 		CONFIG ${BOARD}
 		THREADS ${THREADS}
 		DEPENDS git_nuttx)
-	add_custom_target(${OUT} DEPENDS nuttx_export)
+	add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
 endfunction()

 # vim: set noet fenc=utf-8 ff=unix nowrap:
--- a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
+++ b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
@@ -46,7 +46,7 @@ foreach(tool objcopy nm ld)
 endforeach()

 # os tools
-foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} ${tool})
 	if(NOT ${TOOL})
--- a/cmake/toolchains/Toolchain-arm-none-eabi.cmake
+++ b/cmake/toolchains/Toolchain-arm-none-eabi.cmake
@@ -46,7 +46,7 @@ foreach(tool objcopy nm ld gdb)
 endforeach()

 # os tools
-foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} ${tool})
 	if(NOT ${TOOL})
--- a/cmake/toolchains/Toolchain-native.cmake
+++ b/cmake/toolchains/Toolchain-native.cmake
@@ -8,7 +8,7 @@ foreach(tool nm ld)
 endforeach()

 # os tools
-foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} ${tool})
 	if(NOT ${TOOL})