uorb autogeneration

cmake/common/px4_base.cmake

@@ -359,13 +359,15 @@ function(px4_generate_messages)
 		NAME px4_generate_messages
 		OPTIONS VERBOSE
 		ONE_VALUE OS TARGET
-		MULTI_VALUE MSG_FILES DEPENDS
+		MULTI_VALUE MSG_FILES DEPENDS INCLUDES
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
 	set(QUIET)
 	if(NOT VERBOSE)
 		set(QUIET "-q")
 	endif()
+
+	# headers
 	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
 	set(msg_list)
 	foreach(msg_file ${MSG_FILES})
@@ -390,6 +392,26 @@ function(px4_generate_messages)
 		VERBATIM
 		)
 
+	# !sources
+	set(msg_source_out_path	${CMAKE_BINARY_DIR}/topics_sources)
+	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
+	foreach(msg ${msg_list})
+		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_source_files_out}
+		COMMAND ${PYTHON_EXECUTABLE} 
+			Tools/px_generate_uorb_topic_sources.py
+			${QUIET}
+			-d msg
+			-e msg/templates/uorb
+			-o ${msg_source_out_path}
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMENT "Generating uORB topic sources"
+		VERBATIM
+		)
+	set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
+
 	# multi messages for target OS
 	set(msg_multi_out_path
 		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
@@ -411,8 +433,13 @@ function(px4_generate_messages)
 		COMMENT "Generating uORB topic multi headers for ${OS}"
 		VERBATIM
 		)
-	add_custom_target(${TARGET}
-		DEPENDS ${msg_multi_files_out} ${msg_files_out})
+
+	add_library(${TARGET}
+		${msg_source_files_out}
+		${msg_multi_files_out}
+		${msg_files_out}
+		)
+
 endfunction()
 
 #=============================================================================

cmake/configs/nuttx_px4fmu-v2_debug.cmake

@@ -0,0 +1,189 @@
+set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "build type")
+
+
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	#drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	#drivers/hmc5883
+	drivers/ms5611
+	#drivers/mb12xx
+	#drivers/srf02
+	#drivers/sf0x
+	#drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	#drivers/hott
+	#drivers/hott/hott_telemetry
+	#drivers/hott/hott_sensors
+	#drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	#drivers/frsky_telemetry
+	modules/sensors
+	#drivers/mkblctrl
+	#drivers/px4flow
+	#drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+	drivers/bst
+	#drivers/snapdragon_rc_pwm
+	#drivers/lis3mdl
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	#systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	#modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	#modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	#examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon" STACK_MAIN "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis" STACK_MAIN "2048")