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Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule

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This commit is contained in:
Bob-F
2018-07-23 21:04:47 -07:00
committed by Beat Küng
parent e989c80205
commit 2ece14bad1
30 changed files with 1184 additions and 15 deletions
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platforms/posix/CMakeLists.txt
+18
View File
@@ -69,6 +69,24 @@ if ("${BOARD}" STREQUAL "rpi")
USES_TERMINAL
)
elseif ("${BOARD}" STREQUAL "bbblue")
target_link_libraries(px4 PRIVATE robotcontrol)
add_custom_target(upload
COMMAND scp -r ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config debian@BBBluePX4:/home/debian/px4/posix-configs
COMMAND scp -r ${PX4_SOURCE_DIR}/ROMFS $<TARGET_FILE:px4> debian@BBBluePX4:/home/debian/px4
DEPENDS px4
COMMENT "uploading px4 and data files"
USES_TERMINAL
)
add_custom_target(upload_px4
COMMAND scp -r $<TARGET_FILE:px4> debian@BBBluePX4:/home/debian/px4
DEPENDS px4
COMMENT "uploading px4"
USES_TERMINAL
)
elseif ("${BOARD}" STREQUAL "bebop")
add_custom_target(upload
platforms/posix/cmake/px4_impl_os.cmake
+14
View File
@@ -283,6 +283,20 @@ function(px4_os_add_flags)
elseif ("${BOARD}" STREQUAL "bebop")
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
list(APPEND added_cxx_flags -Wno-missing-field-initializers)
elseif ("${BOARD}" STREQUAL "bbblue")
set(BBBLUE_COMPILE_FLAGS -mcpu=cortex-a8 -mfpu=neon -mfloat-abi=hard -mtune=cortex-a8)
list(APPEND added_c_flags ${BBBLUE_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS})
# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
# On cross compile host system and native build system:
# a) install robotcontrol.h and rc/* into /usr/local/include
# b) install pre-built native (ARM) version of librobotcontrol.* into /usr/local/lib
list(APPEND added_cxx_flags -I/usr/local/include -Wno-missing-field-initializers)
list(APPEND added_c_flags -I/usr/local/include)
list(APPEND added_exe_linker_flags -L/usr/local/lib)
endif()
# output
platforms/posix/src/main.cpp
+6 -1
View File
@@ -335,8 +335,10 @@ int main(int argc, char **argv)
string data_path;
string node_name;
bool skippingOutputRedirect = false;
// parse arguments
while (index < argc) {
while (index < argc && !skippingOutputRedirect) {
//cout << "arg: " << index << " : " << argv[index] << endl;
if (argv[index][0] == '-') {
@@ -366,6 +368,9 @@ int main(int argc, char **argv)
cout << "node name: " << node_name << endl;
}
} else if (strchr(argv[index], '>')) {
skippingOutputRedirect = true;
} else {
//cout << "positional argument" << endl;