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beaglebone blue: build librobotcontrol with cmake

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This commit is contained in:
Daniel Agar
2019-12-29 16:59:42 -05:00
parent b3889e6187
commit cc7a0cd69d
14 changed files with 92 additions and 50 deletions
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5
platforms/posix/CMakeLists.txt
View File

@@ -108,7 +108,10 @@ endif()
if ("${PX4_BOARD}" MATCHES "beaglebone_blue")
target_link_libraries(px4 PRIVATE robotcontrol)
target_link_libraries(px4 PRIVATE robotics_cape)
add_dependencies(df_driver_framework librobotcontrol)
add_dependencies(df_bmp280 librobotcontrol)
add_dependencies(df_mpu9250 librobotcontrol)
elseif ("${PX4_BOARD}" MATCHES "sitl")

25
platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake
View File

@@ -1,6 +1,7 @@
# arm-linux-gnueabihf-gcc toolchain
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR arm)
set(CMAKE_SYSTEM_VERSION 1)
set(triple arm-linux-gnueabihf)
@@ -13,16 +14,18 @@ set(CMAKE_C_COMPILER_TARGET ${triple})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
set(CMAKE_CXX_COMPILER_TARGET ${triple})
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
set(CMAKE_ASM_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
# compiler tools
foreach(tool nm ld objcopy ranlib strip)
string(TOUPPER ${tool} TOOL)
find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
if(CMAKE-${TOOL} MATCHES "NOTFOUND")
message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
endif()
endforeach()
find_program(CMAKE_AR ${TOOLCHAIN_PREFIX}-gcc-ar)
find_program(CMAKE_GDB ${TOOLCHAIN_PREFIX}-gdb)
find_program(CMAKE_LD ${TOOLCHAIN_PREFIX}-ld)
find_program(CMAKE_LINKER ${TOOLCHAIN_PREFIX}-ld)
find_program(CMAKE_NM ${TOOLCHAIN_PREFIX}-gcc-nm)
find_program(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}-objcopy)
find_program(CMAKE_OBJDUMP ${TOOLCHAIN_PREFIX}-objdump)
find_program(CMAKE_RANLIB ${TOOLCHAIN_PREFIX}-gcc-ranlib)
find_program(CMAKE_STRIP ${TOOLCHAIN_PREFIX}-strip)
set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
@@ -37,9 +40,3 @@ foreach(tool grep make)
message(FATAL_ERROR "could not find ${tool}")
endif()
endforeach()
# optional compiler tools
foreach(tool gdb gdbtui)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
endforeach()

11
platforms/posix/cmake/px4_impl_os.cmake
View File

@@ -309,17 +309,6 @@ function(px4_os_add_flags)
-DRC_AUTOPILOT_EXT # Enable extensions in Robotics Cape Library, TODO: remove
)
set(LIBROBOTCONTROL_INSTALL_DIR $ENV{LIBROBOTCONTROL_INSTALL_DIR})
# 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 $LIBROBOTCONTROL_INSTALL_DIR/lib
add_compile_options(-I${LIBROBOTCONTROL_INSTALL_DIR}/include)
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${LIBROBOTCONTROL_INSTALL_DIR}/lib")
endif()
endfunction()