cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

platforms/qurt/CMakeLists.txt

@@ -10,33 +10,31 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
 
-get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
+get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
 px4_qurt_generate_builtin_commands(
 	OUT ${PX4_BINARY_DIR}/apps
-	MODULE_LIST ${module_libraries})
+	MODULE_LIST ${module_libraries}
+)
 
 FASTRPC_STUB_GEN(px4muorb.idl)
 
 # Enable build without HexagonSDK to check link dependencies
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
+
 	add_definitions(-D QURT_EXE_BUILD=1)
+
 	include_directories(
                 ${CMAKE_CURRENT_BINARY_DIR}
                 ${FASTRPC_DSP_INCLUDES}
                 )
 
 	add_executable(px4
-		${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
 		${PX4_BINARY_DIR}/apps.cpp
-		)
+		${PX4_BINARY_DIR}/platforms/qurt/px4muorb_skel.c
+	)
 
-	target_link_libraries(px4
-		-Wl,--start-group
-			${module_libraries}
-			${df_driver_libs}
-		-Wl,--end-group
-		)
+	target_link_libraries(px4 PRIVATE ${module_libraries} ${df_driver_libs})
 else()
 	# Generate the DSP lib and stubs but not the apps side executable
 	# The Apps side executable is generated via the posix_eagle_xxxx target
@@ -58,6 +56,6 @@ else()
 		DEPENDS px4 px4muorb_skel
 		COMMENT "uploading px4"
 		USES_TERMINAL
-		)
-			 
+	)
+
 endif()

platforms/qurt/cmake/px4_impl_os.cmake

@@ -162,7 +162,7 @@ function(px4_os_add_flags)
 		DEFINITIONS ${DEFINITIONS})
 
 	set(DSPAL_ROOT src/lib/DriverFramework/dspal)
-	set(added_include_dirs
+	include_directories(
 		${DSPAL_ROOT}/include
 		${DSPAL_ROOT}/mpu_spi/inc
 		${DSPAL_ROOT}/sys
@@ -173,7 +173,7 @@ function(px4_os_add_flags)
 		platforms/qurt/include
 		)
 
-	set(added_definitions
+	add_definitions(
 		-D__DF_QURT # For DriverFramework
 		-D__PX4_POSIX
 		-D__PX4_QURT
@@ -195,8 +195,8 @@ function(px4_os_add_flags)
 		)
 
 	# Clear -rdynamic flag which fails for hexagon
-	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
-	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
+	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
+	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)
 
 	set(DF_TARGET "qurt" PARENT_SCOPE)
 
@@ -238,8 +238,6 @@ function(px4_os_prebuild_targets)
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 
-	add_custom_target(${OUT} DEPENDS git_driverframework uorb_headers)
-
+	add_library(${OUT} INTERFACE)
+	add_dependencies(${OUT} DEPENDS uorb_headers)
 endfunction()
-
-# vim: set noet fenc=utf-8 ff=unix nowrap:

platforms/qurt/src/px4_layer/CMakeLists.txt

@@ -30,6 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)
 
@@ -52,12 +53,8 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 		)
 endif()
 
-px4_add_module(
-	MODULE platforms_px4_layer
-	COMPILE_FLAGS
-	SRCS
-		${QURT_LAYER_SRCS}
-		${CONFIG_SRC}
-	DEPENDS
-		platforms__common
-	)
+add_library(px4_layer
+	${QURT_LAYER_SRCS}
+	${CONFIG_SRC}
+)
+add_dependencies(px4_layer uorb_msgs) # dataman requires mission

platforms/qurt/src/px4_layer/px4_qurt_impl.cpp

@@ -48,7 +48,7 @@
 #include <errno.h>
 #include <unistd.h>
 #include <semaphore.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include "hrt_work.h"
 #include "px4_log.h"
 

platforms/qurt/src/px4_layer/shmem_qurt.c

@@ -41,7 +41,7 @@
 #include <sys/stat.h>
 #include <atomic_ops.h>
 
-#include "systemlib/param/param.h"
+#include <parameters/param.h>
 
 #include <shmem.h>
 #include <drivers/drv_hrt.h>