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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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boards organization
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
c1f851a600
commit
f692ad04d0
188
CMakeLists.txt
188
CMakeLists.txt
@@ -40,7 +40,7 @@
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# * Common functions should be included in px_base.cmake.
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#
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# * OS/ board specific fucntions should be include in
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# px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
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# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
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#
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# Formatting
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# ---------------------------------------------------------------------------
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@@ -92,9 +92,9 @@
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# ---------------------------------------------------------------------------
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#
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# * If referencing a string variable, don't put it in quotes.
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# Don't do "${OS}" STREQUAL "posix",
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# instead type ${OS} STREQUAL "posix". This will throw an
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# error when ${OS} is not defined instead of silently
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# Don't do "${PX4_PLATFORM}" STREQUAL "posix",
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# instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
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# error when ${PX4_PLATFORM} is not defined instead of silently
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# evaluating to false.
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#
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#=============================================================================
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@@ -104,12 +104,12 @@ cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
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set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
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set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
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list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
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#=============================================================================
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# git
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#
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include(common/px4_git)
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include(px4_git)
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execute_process(
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COMMAND git describe --always --tags
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@@ -132,13 +132,90 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
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# configuration
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#
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set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
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set(CONFIG "px4sitl_default" CACHE STRING "desired configuration")
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string(REPLACE "_" ";" config_args ${CONFIG})
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list(GET config_args 0 OS)
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list(GET config_args 1 BOARD)
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list(GET config_args 2 LABEL)
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set(config_module_list)
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set(config_df_driver_list)
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# find PX4 config
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# look for in tree board config that matches CONFIG input
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if(NOT PX4_CONFIG_FILE)
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file(GLOB_RECURSE board_configs
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RELATIVE "${PX4_SOURCE_DIR}/boards"
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"boards/*.cmake"
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)
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set(PX4_CONFIGS ${board_configs} CACHE STRINGS "PX4 board configs" FORCE)
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foreach(filename ${board_configs})
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# parse input CONFIG into components to match with existing in tree configs
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# the platform prefix (eg nuttx_) is historical, and removed if present
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string(REPLACE ".cmake" "" filename_stripped ${filename})
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string(REPLACE "/" ";" config ${filename_stripped})
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list(LENGTH config config_len)
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if(${config_len} EQUAL 3)
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list(GET config 0 vendor)
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list(GET config 1 model)
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list(GET config 2 label)
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set(board "${vendor}${model}")
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# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
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# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
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if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
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((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
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)
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
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break()
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endif()
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# <BOARD>_<LABEL> (eg px4fmu-v2_default)
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# <BOARD>_default (eg px4fmu-v2) # allow skipping label if "default"
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if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
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((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
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)
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
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break()
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endif()
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# LEGACY form
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# <OS>_<BOARD>_<LABEL> (eg nuttx_px4fmu-v2_default)
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string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
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if ((${config_no_os} MATCHES "${board}_${label}"))
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
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break()
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endif()
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# LEGACY form special case to ease board layout transition (2018-11-18)
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# match board with model and label only: eg sitl_default -> px4_sitl_default
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if ((${config_no_os} MATCHES "${model}_${label}"))
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set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
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break()
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endif()
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endif()
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endforeach()
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endif()
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if(NOT PX4_CONFIG_FILE)
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message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
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endif()
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message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
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include(px4_add_board)
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include(${PX4_CONFIG_FILE})
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message(STATUS "PX4 config: ${PX4_BOARD_VENDOR} ${PX4_BOARD_MODEL} ${PX4_BOARD_LABEL}")
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message(STATUS "PX4 platform: ${PX4_PLATFORM}")
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# external modules
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set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
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if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
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@@ -147,13 +224,12 @@ endif()
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set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
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include(platforms/${OS}/cmake/px4_impl_os.cmake)
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include(configs/${CONFIG})
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
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include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
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# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
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if (NOT CMAKE_BUILD_TYPE)
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if (${OS} STREQUAL "nuttx")
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if (${PX4_PLATFORM} STREQUAL "nuttx")
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set(PX4_BUILD_TYPE "MinSizeRel")
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else()
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set(PX4_BUILD_TYPE "RelWithDebInfo")
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@@ -166,9 +242,8 @@ set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebIn
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#=============================================================================
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message(STATUS "PX4 VERSION: ${PX4_GIT_TAG}")
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message(STATUS "CONFIG: ${CONFIG}")
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message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
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message(STATUS "PX4 version: ${PX4_GIT_TAG}")
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message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
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#=============================================================================
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# project definition
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@@ -194,10 +269,10 @@ endif()
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#=============================================================================
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# Setup install paths
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if (${OS} STREQUAL "posix")
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if (${PX4_PLATFORM} STREQUAL "posix")
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include(common/coverage)
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include(common/sanitizers)
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include(coverage)
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include(sanitizers)
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# Define GNU standard installation directories
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include(GNUInstallDirs)
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@@ -216,6 +291,7 @@ endif()
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set(px4_required_interface
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px4_os_prebuild_targets
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px4_os_add_flags
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px4_add_board
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)
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foreach(cmd ${px4_required_interface})
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if (NOT COMMAND ${cmd})
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@@ -223,13 +299,6 @@ foreach(cmd ${px4_required_interface})
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endif()
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endforeach()
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set(px4_required_config config_module_list)
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foreach(conf ${px4_required_config})
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if (NOT DEFINED ${conf})
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message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
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endif()
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endforeach()
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#=============================================================================
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# ccache
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#
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@@ -276,43 +345,11 @@ else()
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px4_find_python_module(jinja2 REQUIRED)
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endif()
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#=============================================================================
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# check required toolchain variables
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#
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set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
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foreach(var ${required_variables})
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if (NOT ${var})
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message(FATAL_ERROR "Toolchain/config must define ${var}")
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endif()
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endforeach()
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# print full c compiler version
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execute_process(COMMAND ${CMAKE_C_COMPILER} --version
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OUTPUT_VARIABLE c_compiler_version
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
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message(STATUS "C compiler: ${c_compiler_version_short}")
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# print full c++ compiler version
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execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
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OUTPUT_VARIABLE cxx_compiler_version
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
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message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
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#=============================================================================
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# external libraries
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#
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px4_os_prebuild_targets(OUT prebuild_targets BOARD ${BOARD})
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#=============================================================================
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# build flags
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#
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px4_os_add_flags(
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BOARD ${BOARD}
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BOARD ${PX4_BOARD}
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C_FLAGS c_flags
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CXX_FLAGS cxx_flags
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OPTIMIZATION_FLAGS optimization_flags
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@@ -328,16 +365,17 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimizatio
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#=============================================================================
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# message, and airframe generation
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#
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include(common/px4_metadata)
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include(px4_metadata)
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add_subdirectory(msg EXCLUDE_FROM_ALL)
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px4_generate_airframes_xml(BOARD ${BOARD})
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px4_generate_airframes_xml(BOARD ${PX4_BOARD})
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#=============================================================================
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# DriverFramework
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#
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px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
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set(OS ${PX4_PLATFORM})
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add_subdirectory(src/lib/DriverFramework/framework)
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# List the DriverFramework drivers
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@@ -398,26 +436,12 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
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target_link_libraries(parameters_interface INTERFACE parameters)
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# firmware added last to generate the builtin for included modules
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add_subdirectory(platforms/${OS})
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#=============================================================================
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# generate custom target to print for all executable and module cmake targets
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#
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if (all_posix_cmake_targets)
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list(SORT all_posix_cmake_targets)
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px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
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add_custom_target(list_cmake_targets
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COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
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COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
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VERBATIM
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)
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endif()
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add_subdirectory(platforms/${PX4_PLATFORM})
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#=============================================================================
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# uORB graph generation: add a custom target 'uorb_graph'
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#
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set(uorb_graph_config ${BOARD})
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set(uorb_graph_config ${PX4_BOARD})
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set(graph_module_list "")
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foreach(module ${config_module_list})
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@@ -471,10 +495,10 @@ endif()
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add_custom_target(metadata_airframes
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
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-v -a ${PX4_SOURCE_DIR}//ROMFS/px4fmu_common/init.d
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-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
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--markdown ${PX4_BINARY_DIR}/docs/airframes.md
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
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-v -a ${PX4_SOURCE_DIR}//ROMFS/px4fmu_common/init.d
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-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
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--xml ${PX4_BINARY_DIR}/docs/airframes.xml
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COMMENT "Generating full airframe metadata (markdown and xml)"
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USES_TERMINAL
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@@ -521,7 +545,7 @@ add_custom_target(all_metadata
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set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
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set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
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set(CPACK_PACKAGE_CONTACT ${package-contact})
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set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
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set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
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set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
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set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
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set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
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