Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 02:16:53 +08:00
Code Issues Actions 3 Packages Projects Releases Wiki Activity

Use DriverFramework as a PX4 module (#4415)

Browse Source 
* Use DriverFramework as a PX4 module

Targets wanting to use DriverFramework must add

   lib/DriverFramework/framework

to their config file.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

* Removed spurious code

No need to add if check before for loop

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

* Added DriverFramework to NuttX configs

Added lib/DriverFramework/firmware to nuttx configs

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

* Updated src/lib/DriverFramework

* Removed DF_TARGET and __DF_${OS} defines

These are now handled inside DriverFramework

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

* Updated DriverFramework

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

* Restored __DF_${OS}

The include files in DriverFramwork need to know the target OS.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-05-03 01:03:28 -07:00
committed by Lorenz Meier
parent 23a9af9088
commit 8cb8987bcd
33 changed files with 40 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+1 -14
View File
@@ -150,16 +150,6 @@ list(GET config_args 1 BOARD)
list(GET config_args 2 LABEL) list(GET config_args 2 LABEL)
set(target_name "${OS}-${BOARD}-${LABEL}") set(target_name "${OS}-${BOARD}-${LABEL}")
if("${OS}" STREQUAL "posix")
if (APPLE)
set(DF_TARGET darwin)
else()
set(DF_TARGET linux)
endif()
else()
set(DF_TARGET ${OS})
endif()
message(STATUS "${target_name}") message(STATUS "${target_name}")
# switch to ros CMake file if building ros # switch to ros CMake file if building ros
@@ -333,12 +323,11 @@ execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
#============================================================================= #=============================================================================
# DriverFramework Drivers # DriverFramework Drivers
# #
#message("ADDING DRIVERS")
set(df_driver_libs) set(df_driver_libs)
foreach(driver ${config_df_driver_list}) foreach(driver ${config_df_driver_list})
add_subdirectory(src/lib/DriverFramework/drivers/${driver}) add_subdirectory(src/lib/DriverFramework/drivers/${driver})
list(APPEND df_driver_libs df_${driver}) list(APPEND df_driver_libs df_${driver})
message("adding driver: ${driver}") message("Adding DF driver: ${driver}")
endforeach() endforeach()
#============================================================================= #=============================================================================
@@ -361,8 +350,6 @@ endforeach()
add_subdirectory(src/firmware/${OS}) add_subdirectory(src/firmware/${OS})
add_subdirectory(src/lib/DriverFramework/framework/src)
#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp) #add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
if (NOT "${OS}" STREQUAL "nuttx") if (NOT "${OS}" STREQUAL "nuttx")
endif() endif()
cmake/configs/nuttx_mindpx-v2_default.cmake
+1
View File
@@ -130,6 +130,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/nuttx platforms/nuttx
# had to add for cmake, not sure why wasn't in original config # had to add for cmake, not sure why wasn't in original config
cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+1
View File
@@ -43,6 +43,7 @@ set(config_module_list
lib/external_lgpl lib/external_lgpl
lib/geo lib/geo
lib/conversion lib/conversion
lib/DriverFramework/framework
platforms/nuttx platforms/nuttx
# had to add for cmake, not sure why wasn't in original config # had to add for cmake, not sure why wasn't in original config
cmake/configs/nuttx_px4fmu-v1_default.cmake
+1
View File
@@ -115,6 +115,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/nuttx platforms/nuttx
# had to add for cmake, not sure why wasn't in original config # had to add for cmake, not sure why wasn't in original config
cmake/configs/nuttx_px4fmu-v2_default.cmake
+1
View File
@@ -124,6 +124,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/nuttx platforms/nuttx
# had to add for cmake, not sure why wasn't in original config # had to add for cmake, not sure why wasn't in original config
cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
+1
View File
@@ -123,6 +123,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/nuttx platforms/nuttx
# had to add for cmake, not sure why wasn't in original config # had to add for cmake, not sure why wasn't in original config
cmake/configs/nuttx_px4fmu-v4_default.cmake
+1
View File
@@ -125,6 +125,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/nuttx platforms/nuttx
# had to add for cmake, not sure why wasn't in original config # had to add for cmake, not sure why wasn't in original config
cmake/configs/posix_eagle_default.cmake
+1
View File
@@ -55,6 +55,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/common platforms/common
platforms/posix/px4_layer platforms/posix/px4_layer
cmake/configs/posix_eagle_hil.cmake
+1
View File
@@ -33,6 +33,7 @@ set(config_module_list
lib/geo lib/geo
lib/geo_lookup lib/geo_lookup
lib/conversion lib/conversion
lib/DriverFramework/framework
platforms/common platforms/common
platforms/posix/px4_layer platforms/posix/px4_layer
cmake/configs/posix_eagle_legacy_driver_default.cmake
+1
View File
@@ -56,6 +56,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/common platforms/common
platforms/posix/px4_layer platforms/posix/px4_layer
cmake/configs/posix_eagle_legacy_driver_release.cmake
+1
View File
@@ -35,6 +35,7 @@ set(config_module_list
lib/geo lib/geo
lib/geo_lookup lib/geo_lookup
lib/conversion lib/conversion
lib/DriverFramework/framework
platforms/common platforms/common
platforms/posix/px4_layer platforms/posix/px4_layer
cmake/configs/posix_eagle_muorb.cmake
+2
View File
@@ -9,6 +9,8 @@ set(config_module_list
modules/uORB modules/uORB
lib/DriverFramework/framework
platforms/posix/px4_layer platforms/posix/px4_layer
platforms/posix/work_queue platforms/posix/work_queue
cmake/configs/posix_eagle_release.cmake
+1
View File
@@ -29,6 +29,7 @@ set(config_module_list
lib/geo lib/geo
lib/geo_lookup lib/geo_lookup
lib/conversion lib/conversion
lib/DriverFramework/framework
platforms/common platforms/common
platforms/posix/px4_layer platforms/posix/px4_layer
cmake/configs/posix_rpi2_default.cmake
+1
View File
@@ -44,4 +44,5 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
) )
cmake/configs/posix_rpi2_release.cmake
+1
View File
@@ -53,4 +53,5 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
) )
cmake/configs/posix_sitl_broadcast.cmake
+1
View File
@@ -62,6 +62,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
examples/px4_simple_app examples/px4_simple_app
) )
cmake/configs/posix_sitl_default.cmake
+1
View File
@@ -62,6 +62,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
examples/px4_simple_app examples/px4_simple_app
) )
cmake/configs/posix_sitl_ekf2.cmake
+1
View File
@@ -61,6 +61,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
examples/px4_simple_app examples/px4_simple_app
) )
cmake/configs/posix_sitl_replay.cmake
+1
View File
@@ -25,6 +25,7 @@ set(config_module_list
lib/external_lgpl lib/external_lgpl
lib/geo lib/geo
lib/geo_lookup lib/geo_lookup
lib/DriverFramework/framework
) )
set(config_extra_builtin_cmds set(config_extra_builtin_cmds
cmake/configs/qurt_eagle_default.cmake
+1
View File
@@ -74,6 +74,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
# #
# QuRT port # QuRT port
cmake/configs/qurt_eagle_hil.cmake
+1
View File
@@ -59,6 +59,7 @@ set(config_module_list
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/controllib lib/controllib
lib/DriverFramework/framework
# #
# QuRT port # QuRT port
cmake/configs/qurt_eagle_legacy_driver_default.cmake
+1
View File
@@ -77,6 +77,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
# #
# QuRT port # QuRT port
cmake/configs/qurt_eagle_legacy_driver_release.cmake
+1
View File
@@ -87,6 +87,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
# #
# QuRT port # QuRT port
cmake/configs/qurt_eagle_muorb.cmake
+1
View File
@@ -33,6 +33,7 @@ set(config_module_list
lib/geo lib/geo
lib/geo_lookup lib/geo_lookup
lib/conversion lib/conversion
lib/DriverFramework/framework
# #
# QuRT port # QuRT port
cmake/configs/qurt_eagle_release.cmake
+1
View File
@@ -83,6 +83,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
# #
# QuRT port # QuRT port
cmake/configs/qurt_eagle_test.cmake
+1
View File
@@ -31,6 +31,7 @@ set(config_module_list
lib/mathlib lib/mathlib
lib/mathlib/math/filter lib/mathlib/math/filter
lib/conversion lib/conversion
lib/DriverFramework/framework
# #
# QuRT port # QuRT port
cmake/configs/qurt_eagle_travis.cmake
+1
View File
@@ -67,6 +67,7 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/tailsitter_recovery lib/tailsitter_recovery
lib/DriverFramework/framework
# #
# QuRT port # QuRT port
cmake/nuttx/px4_impl_nuttx.cmake
-2
View File
@@ -500,8 +500,6 @@ function(px4_os_add_flags)
#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)") #message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
endforeach() endforeach()
set(DF_TARGET "nuttx" PARENT_SCOPE)
endfunction() endfunction()
#============================================================================= #=============================================================================
cmake/qurt/px4_impl_qurt.cmake
-2
View File
@@ -177,8 +177,6 @@ function(px4_os_add_flags)
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "") set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "") set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
set(DF_TARGET "qurt" PARENT_SCOPE)
# output # output
foreach(var ${inout_vars}) foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var) string(TOLOWER ${var} lower_var)
src/firmware/nuttx/CMakeLists.txt
+2 -1
View File
@@ -13,7 +13,7 @@ add_executable(firmware_nuttx
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export) set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(link_libs set(link_libs
romfs apps nuttx m gcc df_driver_framework romfs apps nuttx m gcc
) )
if(NOT ${BOARD} STREQUAL "sim") if(NOT ${BOARD} STREQUAL "sim")
@@ -29,6 +29,7 @@ endif()
target_link_libraries(firmware_nuttx target_link_libraries(firmware_nuttx
-Wl,--start-group -Wl,--start-group
${module_libraries} ${module_libraries}
${df_driver_libs}
${config_extra_libs} ${config_extra_libs}
${link_libs} ${link_libs}
-Wl,--end-group) -Wl,--end-group)
src/firmware/posix/CMakeLists.txt
+9 -12
View File
@@ -17,17 +17,16 @@ if ("${BOARD}" STREQUAL "eagle")
IDL_NAME px4muorb IDL_NAME px4muorb
APPS_DEST "/home/linaro" APPS_DEST "/home/linaro"
SOURCES SOURCES
px4muorb_stub.c px4muorb_stub.c
${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h apps.h
LINK_LIBS LINK_LIBS
-Wl,--start-group -Wl,--start-group
${module_libraries} ${module_libraries}
df_driver_framework ${df_driver_libs}
${df_driver_libs} ${FASTRPC_ARM_LIBS}
${FASTRPC_ARM_LIBS} pthread m rt
pthread m rt -Wl,--end-group
-Wl,--end-group
) )
px4_add_adb_push(OUT upload px4_add_adb_push(OUT upload
@@ -47,7 +46,6 @@ else()
target_link_libraries(mainapp target_link_libraries(mainapp
-Wl,--start-group -Wl,--start-group
${module_libraries} ${module_libraries}
df_driver_framework
${df_driver_libs} ${df_driver_libs}
pthread m rt pthread m rt
-Wl,--end-group -Wl,--end-group
@@ -55,7 +53,6 @@ else()
else() else()
target_link_libraries(mainapp target_link_libraries(mainapp
${module_libraries} ${module_libraries}
df_driver_framework
${df_driver_libs} ${df_driver_libs}
pthread m pthread m
) )
src/firmware/qurt/CMakeLists.txt
-2
View File
@@ -27,7 +27,6 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
-Wl,--start-group -Wl,--start-group
${module_libraries} ${module_libraries}
${target_libraries} ${target_libraries}
df_driver_framework
${df_driver_libs} ${df_driver_libs}
-Wl,--end-group -Wl,--end-group
) )
@@ -44,7 +43,6 @@ else()
LINK_LIBS LINK_LIBS
${module_libraries} ${module_libraries}
${target_libraries} ${target_libraries}
df_driver_framework
${df_driver_libs} ${df_driver_libs}
m m
) )
src/lib/DriverFramework
+1 -1
Submodule src/lib/DriverFramework updated: 3601972656...0b57c455e4