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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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move cmake/${OS} to platforms
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Daniel Agar
322
platforms/nuttx/cmake/px4_impl_os.cmake
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322
platforms/nuttx/cmake/px4_impl_os.cmake
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############################################################################
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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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# OS Specific Functions
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#
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# * px4_nuttx_make_uavcan_bootloadable
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#
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# Required OS Inteface Functions
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#
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# * px4_os_add_flags
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# * px4_os_prebuild_targets
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#
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include(common/px4_base)
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#=============================================================================
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#
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# px4_nuttx_make_uavcan_bootloadable
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#
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# This function adds a uavcan boot loadable target.
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#
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# Usage:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD <board>
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# BIN <input bin file>)
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# HWNAME <uavcan name>
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# HW_MAJOR <number>
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# HW_MINOR <number>
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# SW_MAJOR <number>
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# SW_MINOR <number>)
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#
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# Input:
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# BOARD : the board
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# BIN : the bin file to generate the bootloadable image from
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# HWNAME : the uavcan name
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# HW_MAJOR : the major hardware revision
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# HW_MINOR : the minor hardware revision
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# SW_MAJOR : the major software revision
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# SW_MINOR : the minor software revision
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#
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# Output:
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# OUT : None
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#
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# Example:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD ${BOARD}
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# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
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# HWNAME ${uavcanblid_name}
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# HW_MAJOR ${uavcanblid_hw_version_major}
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# HW_MINOR ${uavcanblid_hw_version_minor}
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# SW_MAJOR ${uavcanblid_sw_version_major}
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# SW_MINOR ${uavcanblid_sw_version_minor}
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# )
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#
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function(px4_nuttx_make_uavcan_bootloadable)
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px4_parse_function_args(
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NAME px4_nuttx_make_uavcan_bootloadable
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ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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ARGN ${ARGN})
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string(REPLACE "\"" "" HWNAME ${HWNAME})
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execute_process(
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COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
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OUTPUT_VARIABLE uavcanbl_git_desc
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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if ("${uavcanbl_git_desc}" STREQUAL "")
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set(uavcanbl_git_desc ffffffff)
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endif()
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set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
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message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
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add_custom_command(OUTPUT ${uavcan_bl_imange_name}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
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-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
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DEPENDS ${BIN})
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add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
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endfunction()
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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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# Usage:
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# px4_os_add_flags(
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# C_FLAGS <inout-variable>
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# CXX_FLAGS <inout-variable>
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# OPTIMIZATION_FLAGS <inout-variable>
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# EXE_LINKER_FLAGS <inout-variable>
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# INCLUDE_DIRS <inout-variable>
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# LINK_DIRS <inout-variable>
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# DEFINITIONS <inout-variable>)
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#
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# Input:
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# BOARD : flags depend on board/nuttx config
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#
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# Input/Output: (appends to existing variable)
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# C_FLAGS : c compile flags variable
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# CXX_FLAGS : c++ compile flags variable
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# OPTIMIZATION_FLAGS : optimization compile flags variable
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# EXE_LINKER_FLAGS : executable linker flags variable
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# INCLUDE_DIRS : include directories
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# LINK_DIRS : link directories
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# DEFINITIONS : definitions
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#
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# Note that EXE_LINKER_FLAGS is not suitable for adding libraries because
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# these flags are added before any of the object files and static libraries.
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# Add libraries in src/firmware/nuttx/CMakeLists.txt.
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#
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# Example:
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# px4_os_add_flags(
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# C_FLAGS CMAKE_C_FLAGS
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# CXX_FLAGS CMAKE_CXX_FLAGS
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# OPTIMIZATION_FLAGS optimization_flags
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# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
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# INCLUDES <list>)
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#
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function(px4_os_add_flags)
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set(inout_vars
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C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
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px4_parse_function_args(
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NAME px4_os_add_flags
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ONE_VALUE ${inout_vars} BOARD
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REQUIRED ${inout_vars} BOARD
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ARGN ${ARGN})
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px4_add_common_flags(
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BOARD ${BOARD}
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C_FLAGS ${C_FLAGS}
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CXX_FLAGS ${CXX_FLAGS}
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OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
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EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
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INCLUDE_DIRS ${INCLUDE_DIRS}
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LINK_DIRS ${LINK_DIRS}
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DEFINITIONS ${DEFINITIONS})
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set(added_include_dirs
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${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/armv7-m
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${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/chip
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${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/common
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${PX4_BINARY_DIR}/NuttX/nuttx/include
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${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
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${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
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)
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#set(added_exe_linker_flags)
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#set(added_link_dirs ${nuttx_export_dir}/libs)
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set(added_definitions -D__PX4_NUTTX)
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list(APPEND added_definitions -D__DF_NUTTX)
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if("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
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set(instrument_flags
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-finstrument-functions
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-ffixed-r10
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)
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list(APPEND c_flags ${instrument_flags})
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list(APPEND cxx_flags ${instrument_flags})
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endif()
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# output
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foreach(var ${inout_vars})
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string(TOLOWER ${var} lower_var)
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set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
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#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
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endforeach()
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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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# 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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# THREADS : number of threads for building
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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 px4fmu-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 THREADS
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REQUIRED OUT BOARD
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ARGN ${ARGN})
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add_custom_target(${OUT} DEPENDS nuttx_context uorb_headers)
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# parse nuttx config options for cmake
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file(STRINGS ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/nsh/defconfig ConfigContents)
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foreach(NameAndValue ${ConfigContents})
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# Strip leading spaces
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string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
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# Find variable name
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string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
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if (Name)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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# remove extra quotes
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string(REPLACE "\"" "" Value ${Value})
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# Set the variable
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set(${Name} ${Value} PARENT_SCOPE)
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endif()
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endforeach()
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_configure
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#
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# This function sets the nuttx configuration
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#
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# Usage:
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# px4_nuttx_configure(
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# HWCLASS <m3|m4>
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# [ROMFS <y|n>
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# ROMFSROOT <root>]
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# )
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#
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# Input:
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# HWCLASS : the class of hardware
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# CONFIG : the nuttx configuration to use
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# ROMFS : whether or not to use incllude theROMFS
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# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common
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#
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# Output:
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# OUT : None
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#
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# Example:
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# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
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#
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function(px4_nuttx_configure)
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px4_parse_function_args(
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NAME px4_nuttx_configure
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ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT IO
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REQUIRED HWCLASS
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ARGN ${ARGN})
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# HWCLASS -> CMAKE_SYSTEM_PROCESSOR
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if(HWCLASS STREQUAL "m7")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m7" PARENT_SCOPE)
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elseif(HWCLASS STREQUAL "m4")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m4" PARENT_SCOPE)
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elseif(HWCLASS STREQUAL "m3")
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set(CMAKE_SYSTEM_PROCESSOR "cortex-m3" PARENT_SCOPE)
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endif()
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set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
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# ROMFS
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if("${ROMFS}" STREQUAL "y")
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if (NOT DEFINED ROMFSROOT)
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set(config_romfs_root px4fmu_common)
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else()
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set(config_romfs_root ${ROMFSROOT})
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endif()
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set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
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endif()
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# IO board placed in ROMFS
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if(config_romfs_root)
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set(config_io_board ${IO} PARENT_SCOPE)
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endif()
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endfunction()
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# vim: set noet fenc=utf-8 ff=unix nowrap:
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