Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-25 16:56:25 +08:00
Code Issues Actions 8 Packages Projects Releases Wiki Activity

Merge branch 'master' of github.com:PX4/Firmware into control_state

Browse Source
This commit is contained in:
Youssef Demitri
2015-10-14 11:02:23 +02:00
parent 1ec96d87d7 c599cf1256
commit c22c678b7d
498 changed files with 15244 additions and 11123 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+3
View File
@@ -17,7 +17,9 @@
.~lock.*
Archives/*
Build/*
Testing/
build/*
build_*/
core
cscope.out
Firmware.sublime-workspace
@@ -52,3 +54,4 @@ src/platforms/posix/px4_messages/
src/platforms/posix-arm/px4_messages/
src/platforms/qurt/px4_messages/
ROMFS/*/*/rc.autostart
rootfs/
.gitmodules
+2 -2
View File
@@ -4,8 +4,8 @@
[submodule "NuttX"]
path = NuttX
url = git://github.com/PX4/NuttX.git
[submodule "src/lib/uavcan"]
path = src/lib/uavcan
[submodule "src/modules/uavcan/libuavcan"]
path = src/modules/uavcan/libuavcan
url = git://github.com/UAVCAN/libuavcan.git
[submodule "Tools/genmsg"]
path = Tools/genmsg
.travis.yml
+73 -42
View File
@@ -3,8 +3,12 @@
language: cpp
# use travis-ci docker based infrastructure
sudo: false
matrix:
include:
- os: linux
sudo: false
- os: osx
osx_image: beta-xcode6.3
cache:
directories:
@@ -32,17 +36,34 @@ addons:
- texinfo
- zlib1g-dev
before_install:
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
pushd .
&& cd ~
&& wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
&& tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
&& exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
&& if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
&& . ~/.profile
&& popd
&& mkdir -p ~/bin
&& wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
&& astyle --version
&& if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
;
elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
brew tap PX4/homebrew-px4
&& brew update
&& brew install genromfs
&& brew install kconfig-frontends
&& brew install gcc-arm-none-eabi
&& brew install astyle
&& sudo easy_install pip
&& sudo pip install pyserial empy
;
fi
before_script:
- if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
# General toolchain dependencies
- pushd .
- cd ~
- wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
- tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
- exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
- if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
- . ~/.profile
- popd
# setup ccache
- mkdir -p ~/bin
- ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
@@ -56,9 +77,6 @@ before_script:
- ln -s /usr/bin/ccache ~/bin/g++-4.8
- ln -s /usr/bin/ccache ~/bin/gcc-4.8
- export PATH=~/bin:$PATH
# grab astyle 2.05.1
- wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
- astyle --version
env:
global:
@@ -70,41 +88,54 @@ env:
script:
- make check_format
- ccache -z
- arm-none-eabi-gcc --version
- echo 'Building POSIX Firmware..' && echo -en 'travis_fold:start:script.1\\r'
- make posix -j4
- ccache -s
- make posix_sitl_simple
- echo -en 'travis_fold:end:script.1\\r'
- echo 'Running Tests..' && echo -en 'travis_fold:start:script.2\\r'
- make tests
- cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
- make posix_sitl_simple test
- cat build_posix_sitl_simple/src/modules/systemlib/mixer/mixer_multirotor.generated.h
- echo -en 'travis_fold:end:script.2\\r'
- echo 'Building NuttX..' && echo -en 'travis_fold:start:script.3\\r'
- make archives
- ccache -s
- echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.3\\r'
- make px4fmu-v1_default
- make px4fmu-v2_default
- echo -en 'travis_fold:end:script.3\\r'
- echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.4\\r'
- make -j4
- make size
- ccache -s
- echo 'Running Tests..' && echo -en 'travis_fold:start:script.4\\r'
- make px4fmu-v2_default test
- echo -en 'travis_fold:end:script.4\\r'
- zip Firmware.zip Images/*.px4
#- make px4fmu-v2_default package
#- make posix -j4
#- ccache -s
#- echo -en 'travis_fold:end:script.1\\r'
#- echo 'Running Tests..' && echo -en 'travis_fold:start:script.2\\r'
#- make tests
#- cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
#- echo -en 'travis_fold:end:script.2\\r'
#- echo 'Building NuttX..' && echo -en 'travis_fold:start:script.3\\r'
#- make archives
#- ccache -s
#- echo -en 'travis_fold:end:script.3\\r'
#- echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.4\\r'
#- make -j4
#- make size
#- ccache -s
#- echo -en 'travis_fold:end:script.4\\r'
#- zip Firmware.zip Images/*.px4
after_script:
- git clone git://github.com/PX4/CI-Tools.git
- ./CI-Tools/s3cmd-configure
# upload newest build for this branch with s3 index
- ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
# archive newest build by date with s3 index
- ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
- ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
# upload top level index.html and timestamp.html
- ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
- ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
- echo ""
- echo "Binaries have been posted to:"
- echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
#after_script:
#- git clone git://github.com/PX4/CI-Tools.git
#- ./CI-Tools/s3cmd-configure
## upload newest build for this branch with s3 index
#- ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
## archive newest build by date with s3 index
#- ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
#- ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
## upload top level index.html and timestamp.html
#- ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
#- ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
#- echo ""
#- echo "Binaries have been posted to:"
#- echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
deploy:
provider: releases
CMakeLists.txt
+313 -317
View File
File diff suppressed because it is too large Load Diff
Makefile
+151 -254
View File
@@ -1,5 +1,6 @@
############################################################################
#
# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -28,280 +29,176 @@
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
# Enforce the presence of the GIT repository
#
# Top-level Makefile for building PX4 firmware images.
#
TARGETS := nuttx posix posix-arm qurt
EXPLICIT_TARGET := $(filter $(TARGETS),$(MAKECMDGOALS))
ifneq ($(EXPLICIT_TARGET),)
export PX4_TARGET_OS=$(EXPLICIT_TARGET)
export GOALS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
# We depend on our submodules, so we have to prevent attempts to
# compile without it being present.
ifeq ($(wildcard .git),)
$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
endif
# Help
# --------------------------------------------------------------------
# Don't be afraid of this makefile, it is just passing
# arguments to cmake to allow us to keep the wiki pages etc.
# that describe how to build the px4 firmware
# the same even when using cmake instead of make.
#
# Get path and tool configuration
# Example usage:
#
export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk
# make px4fmu-v2_default (builds)
# make px4fmu-v2_default upload (builds and uploads)
# make px4fmu-v2_default test (builds and tests)
#
# Get a version string provided by git
# This assumes that git command is available and that
# the directory holding this file also contains .git directory
#
GIT_DESC := $(shell git log -1 --pretty=format:%H)
ifneq ($(words $(GIT_DESC)),1)
GIT_DESC := "unknown_git_version"
endif
# This tells cmake to build the nuttx px4fmu-v2 default config in the
# directory build_nuttx_px4fmu-v2_default and then call make
# in that directory with the target upload.
GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
# explicity set default build target
all: px4fmu-v2_default
#
# Canned firmware configurations that we (know how to) build.
#
KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
CONFIGS ?= $(KNOWN_CONFIGS)
# Parsing
# --------------------------------------------------------------------
# assume 1st argument passed is the main target, the
# rest are arguments to pass to the makefile generated
# by cmake in the subdirectory
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
j ?= 4
#
# Boards that we (know how to) build NuttX export kits for.
#
KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
BOARDS ?= $(KNOWN_BOARDS)
#
# Debugging
#
MQUIET = --no-print-directory
#MQUIET = --print-directory
################################################################################
# No user-serviceable parts below
################################################################################
#
# If the user has listed a config as a target, strip it out and override CONFIGS.
#
FIRMWARE_GOAL = firmware
EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))
ifneq ($(EXPLICIT_CONFIGS),)
CONFIGS := $(EXPLICIT_CONFIGS)
.PHONY: $(EXPLICIT_CONFIGS)
$(EXPLICIT_CONFIGS): all
#
# If the user has asked to upload, they must have also specified exactly one
# config.
#
ifneq ($(filter upload,$(MAKECMDGOALS)),)
ifneq ($(words $(EXPLICIT_CONFIGS)),1)
$(error In order to upload, exactly one board config must be specified)
endif
FIRMWARE_GOAL = upload
.PHONY: upload
upload:
@:
endif
endif
ifeq ($(PX4_TARGET_OS),nuttx)
include $(PX4_BASE)makefiles/nuttx/firmware_nuttx.mk
endif
ifeq ($(PX4_TARGET_OS),posix)
include $(PX4_BASE)makefiles/posix/firmware_posix.mk
endif
ifeq ($(PX4_TARGET_OS),posix-arm)
include $(PX4_BASE)makefiles/posix/firmware_posix.mk
endif
ifeq ($(PX4_TARGET_OS),qurt)
include $(PX4_BASE)makefiles/qurt/firmware_qurt.mk
endif
qurt_fixup:
makefiles/qurt/setup.sh $(PX4_BASE)
restore:
cd src/lib/eigen && git checkout .
git submodule update
#
# Versioning
#
GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h
$(GIT_VER_FILE) :
$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
$(MKDIR) -p $(PX4_VERSIONING_DIR); \
$(ECHO) "" > $(GIT_VER_FILE); \
fi
.PHONY: checkgitversion
checkgitversion: $(GIT_VER_FILE)
$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
$(ECHO) "#define PX4_GIT_VERSION_STR \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
fi
#
# Sizes
#
.PHONY: size
size:
$(Q) for elfs in Build/*; do if [ -f $$elfs/firmware.elf ]; then $(SIZE) $$elfs/firmware.elf; fi done
#
# Submodule Checks
#
.PHONY: checksubmodules
checksubmodules:
$(Q) ($(PX4_BASE)/Tools/check_submodules.sh $(PX4_TARGET_OS))
.PHONY: updatesubmodules
updatesubmodules:
$(Q) (git submodule init)
$(Q) (git submodule update)
MSG_DIR = $(PX4_BASE)msg
UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
MULTIPLATFORM_PREFIX = px4_
TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
.PHONY: generateuorbtopicheaders
generateuorbtopicheaders: checksubmodules
@$(ECHO) "Generating uORB topic headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
#
# Testing targets
#
testbuild:
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
nuttx posix posix-arm qurt:
ifeq ($(GOALS),)
$(MAKE) PX4_TARGET_OS=$@ $(GOALS)
# disable ninja by default for now because it hides upload progress
#NINJA_BUILD := $(shell ninja --version 2>/dev/null)
ifdef NINJA_BUILD
PX4_CMAKE_GENERATOR ?= "Ninja"
PX4_MAKE = ninja
PX4_MAKE_ARGS =
else
export PX4_TARGET_OS=$@
ifdef SYSTEMROOT
# Windows
PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
else
PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
endif
PX4_MAKE = make
PX4_MAKE_ARGS = -j$(j) --no-print-directory
endif
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
+$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
endef
# create empty targets to avoid msgs for targets passed to cmake
define cmake-targ
$(1):
@#
.PHONY: $(1)
endef
# ADD CONFIGS HERE
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
px4fmu-v1_default:
$(call cmake-build,nuttx_px4fmu-v1_default)
px4fmu-v2_default:
$(call cmake-build,nuttx_px4fmu-v2_default)
px4fmu-v2_simple:
$(call cmake-build,nuttx_px4fmu-v2_simple)
nuttx_sim_simple:
$(call cmake-build,$@)
posix_sitl_simple:
$(call cmake-build,$@)
ros_sitl_simple:
$(call cmake-build,$@)
qurt_eagle_travis:
$(call cmake-build,$@)
posix: posix_sitl_simple
ros: ros_sitl_simple
run_sitl_quad: posix
Tools/sitl_run.sh posix-configs/SITL/init/rcS
run_sitl_plane: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
run_sitl_ros: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
lldb_sitl_quad: posix
Tools/sitl_run.sh posix-configs/SITL/init/rcS lldb
lldb_sitl_plane: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing lldb
lldb_sitl_ros: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros lldb
gdb_sitl_quad: posix
Tools/sitl_run.sh posix-configs/SITL/init/rcS gdb
gdb_sitl_plane: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing lldb
gdb_sitl_ros: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros lldb
sitl_quad:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
sitl_quad_gazebo:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
@echo "Deprecated. Use 'run_sitl_quad' instead."
sitl_plane:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
@echo "Deprecated. Use 'run_sitl_plane' instead."
qurtrun:
$(MAKE) PX4_TARGET_OS=qurt sim
sitl_ros:
@echo "Deprecated. Use 'run_sitl_ros' instead."
#
# Unittest targets. Builds and runs the host-level
# unit tests.
.PHONY: tests
tests: generateuorbtopicheaders
$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) --no-print-directory unittests)
.PHONY: check_format
# Other targets
# --------------------------------------------------------------------
check_format:
$(Q) (./Tools/check_code_style.sh)
@./Tools/check_code_style.sh
#
# Cleanup targets. 'clean' should remove all built products and force
# a complete re-compilation, 'distclean' should remove everything
# that's generated leaving only files that are in source control.
#
.PHONY: clean
clean:
@echo > /dev/null
$(Q) $(RMDIR) $(BUILD_DIR)*.build
$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
@rm -rf build_*/
.PHONY: distclean
distclean: clean
@echo > /dev/null
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
@cd NuttX
@git clean -d -f -x
@cd ..
@cd src/modules/uavcan/libuavcan
@git clean -d -f -x
@cd ../../../..
#
# Print some help text
#
.PHONY: help
help:
@$(ECHO) ""
@$(ECHO) " PX4 firmware builder"
@$(ECHO) " ===================="
@$(ECHO) ""
@$(ECHO) " Available targets:"
@$(ECHO) " ------------------"
@$(ECHO) ""
ifeq ($(PX4_TARGET_OS),nuttx)
@$(ECHO) " archives"
@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
@$(ECHO) ""
endif
@$(ECHO) " all"
@$(ECHO) " Build all firmware configs: $(CONFIGS)"
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@$(ECHO) ""
@for config in $(CONFIGS); do \
$(ECHO) " $$config"; \
$(ECHO) " Build just the $$config firmware configuration."; \
$(ECHO) ""; \
done
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."
@$(ECHO) ""
ifeq ($(PX4_TARGET_OS),nuttx)
@$(ECHO) " distclean"
@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
@$(ECHO) ""
@$(ECHO) " upload"
@$(ECHO) " When exactly one config is being built, add this target to upload the"
@$(ECHO) " firmware to the board when the build is complete. Not supported for"
@$(ECHO) " all configurations."
@$(ECHO) ""
endif
@$(ECHO) " testbuild"
@$(ECHO) " Perform a complete clean build of the entire tree."
@$(ECHO) ""
@$(ECHO) " Common options:"
@$(ECHO) " ---------------"
@$(ECHO) ""
@$(ECHO) " V=1"
@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
@$(ECHO) " help when diagnosing issues with the build or toolchain."
@$(ECHO) ""
ifeq ($(PX4_TARGET_OS),nuttx)
@$(ECHO) " To see help for a specifix target use 'make <target> help' where target is"
@$(ECHO) " one of: "
@$(ECHO) " nuttx"
@$(ECHO) " posix"
@$(ECHO) " qurt"
@$(ECHO) ""
endif
# targets handled by cmake
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
.PHONY: clean
CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
# Future:
#$(CONFIGS):
## @cd Build/$@ && cmake ../.. -DCONFIG=$@
# @cd Build/$@ && make
#
#clean-all:
# @rm -rf Build/*
#
#help:
# @echo
# @echo "Type 'make ' and hit the tab key twice to see a list of the available"
# @echo "build configurations."
# @echo
NuttX
+1 -1
Submodule NuttX updated: 8891d035df...3009fb230e
README.md
+5 -3
View File
@@ -16,7 +16,7 @@ This repository contains the PX4 Flight Core, with the main applications located
* [Downloads](http://px4.io/firmware/downloads)
* Releases
* [Downloads](https://github.com/PX4/Firmware/releases)
* Mailing list: [Google Groups](http://groups.google.com/group/px4users)
* Forum / Mailing list: [Google Groups](http://groups.google.com/group/px4users)
### Users ###
@@ -29,7 +29,7 @@ Contributing guide:
* [PX4 Contribution Guide](http://px4.io/dev/contributing)
Software in the Loop guide:
Use software in the loop [to get started with the codebase](https://github.com/PX4/Firmware/tree/master/posix-configs/SITL)
Use software in the loop [to get started with the codebase](https://pixhawk.org/dev/simulation/native_sitl).
Developer guide:
http://px4.io/dev/
@@ -38,8 +38,10 @@ Testing guide:
http://px4.io/dev/unit_tests
This repository contains code supporting these boards:
* [Snapdragon Flight](https://www.intrinsyc.com/qualcomm-snapdragon-flight/)
* FMUv1.x
* FMUv2.x
* FMUv2.x (Pixhawk)
* FMUv3.x (Pixhawk 2)
* AeroCore (v1 and v2)
* STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
ROMFS/px4fmu_common/init.d/2101_fw_AERT
+4
View File
@@ -20,3 +20,7 @@
sh /etc/init.d/rc.fw_defaults
set MIXER AERT
# The ESC requires a specific pulse to arm.
set PWM_OUT 4
set PWM_DISARMED p:PWM_DISARMED
ROMFS/px4fmu_common/init.d/2104_fw_AETR
+4
View File
@@ -20,3 +20,7 @@
sh /etc/init.d/rc.fw_defaults
set MIXER AETR
# The ESC requires a specific pulse to arm.
set PWM_OUT 3
set PWM_DISARMED p:PWM_DISARMED
ROMFS/px4fmu_common/init.d/rc.mc_apps
+1 -12
View File
@@ -9,18 +9,7 @@
# filter by setting INAV_ENABLED = 0
if param compare INAV_ENABLED 1
then
# The system is defaulting to EKF_ATT_ENABLED = 1
# and uses the older EKF filter. However users can
# enable the new quaternion based complimentary
# filter by setting EKF_ATT_ENABLED = 0.
# Note that on FMUv1, the EKF att estimator is not
# available and the Q estimator runs instead.
if param compare EKF_ATT_ENABLED 1
then
attitude_estimator_ekf start
else
attitude_estimator_q start
fi
attitude_estimator_q start
position_estimator_inav start
else
ekf_att_pos_estimator start
ROMFS/px4fmu_common/init.d/rc.sensors
+3 -1
View File
@@ -112,4 +112,6 @@ fi
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
sensors start
if sensors start
then
fi
ROMFS/px4fmu_common/init.d/rcS
+5 -5
View File
@@ -365,11 +365,6 @@ then
then
fi
#
# UAVCAN
#
sh /etc/init.d/rc.uavcan
#
# Sensors System (start before Commander so Preflight checks are properly run)
#
@@ -576,6 +571,11 @@ then
fi
fi
#
# UAVCAN
#
sh /etc/init.d/rc.uavcan
#
# Logging
#
Tools/check_code_style.sh
+1 -1
View File
@@ -25,7 +25,7 @@ for fn in $(find src/examples \
-path './NuttX' -prune -o \
-path './src/lib/eigen' -prune -o \
-path './src/lib/mathlib/CMSIS' -prune -o \
-path './src/lib/uavcan' -prune -o \
-path './src/modules/uavcan/libuavcan' -prune -o \
-path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-path './src/modules/ekf_att_pos_estimator' -prune -o \
-path './src/modules/sdlog2' -prune -o \
Tools/generate_listener.py
+60 -25
View File
@@ -1,6 +1,7 @@
#!/usr/bin/python
import glob
import os
import sys
# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
@@ -20,20 +21,37 @@ for index,m in enumerate(raw_messages):
temp_list = []
f = open(m,'r')
for line in f.readlines():
if(line.split(' ')[0] == "float32"):
if ('float32[' in line.split(' ')[0]):
num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
if ('uint64[' in line.split(' ')[0]):
num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
temp_list.append(("uint64_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
elif(line.split(' ')[0] == "float32"):
temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "uint64"):
elif(line.split(' ')[0] == "uint64") and len(line.split('=')) == 1:
temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "bool"):
elif(line.split(' ')[0] == "uint32") and len(line.split('=')) == 1:
temp_list.append(("uint32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "uint16") and len(line.split('=')) == 1:
temp_list.append(("uint16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "int64") and len(line.split('=')) == 1:
temp_list.append(("int64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "int32") and len(line.split('=')) == 1:
temp_list.append(("int32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "int16") and len(line.split('=')) == 1:
temp_list.append(("int16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "bool") and len(line.split('=')) == 1:
temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif ('float32[' in line.split(' ')[0]):
num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
elif (line.split(' ')[0] == "int8") and len(line.split('=')) == 1:
temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
f.close()
messages.append(m.split('/')[-1].split('.')[0])
(m_head, m_tail) = os.path.split(m)
messages.append(m_tail.split('.')[0])
#messages.append(m.split('/')[-1].split('.')[0])
message_elements.append(temp_list)
num_messages = len(messages);
@@ -74,24 +92,28 @@ print("""
****************************************************************************/
/**
* @file topic_listener.cpp, autogenerated by Tools/generate_listener.py
* @file topic_listener.cpp
*
* Autogenerated by Tools/generate_listener.py
*
* Tool for listening to topics when running flight stack on linux.
*/
#include <px4_middleware.h>
#include <px4_app.h>
#include <px4_config.h>
#include <iostream>
#include <fstream>
#include <string>
#include <sstream>
#include <vector>
#include <cstring>
#include <uORB/uORB.h>
#include <string.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#define __STDC_FORMAT_MACROS
#include <inttypes.h>
#ifndef PRIu64
#define PRIu64 "llu"
#endif
""")
for m in messages:
print("#include <uORB/topics/%s.h>" % m)
@@ -108,39 +130,52 @@ int listener_main(int argc, char *argv[]) {
return 1;
}
""")
print("\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);")
print("\tif(strncmp(argv[1],\"%s\",50)== 0) {" % messages[0])
print("\tunsigned num_msgs = atoi(argv[2]);")
print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % messages[0])
print("\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0])
print("\t\tID = ORB_ID(%s);" % messages[0])
print("\t\tstruct %s_s container;" % messages[0])
print("\t\tmemset(&container, 0, sizeof(container));")
for index,m in enumerate(messages[1:]):
print("\t} else if(strncmp(argv[1],\"%s\",50) == 0) {" % m)
print("\t} else if (strncmp(argv[1],\"%s\",50) == 0) {" % m)
print("\t\tsub = orb_subscribe(ORB_ID(%s));" % m)
print("\t\tID = ORB_ID(%s);" % m)
print("\t\tstruct %s_s container;" % m)
print("\t\tmemset(&container, 0, sizeof(container));")
print("\t\tbool updated;")
print("\t\tfor(uint32_t i = 0;i<num_msgs;i++) {")
print("\t\tfor (unsigned i = 0; i < num_msgs; i++) {")
print("\t\t\torb_check(sub,&updated);")
print("\t\t\tupdated = true;")
print("\t\t\tif(updated) {")
print("\t\t\tif (updated) {")
print("\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
print("\t\t\torb_copy(ID,sub,&container);")
for item in message_elements[index+1]:
if item[0] == "float":
print("\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1]))
print("\t\t\tprintf(\"%s: %%f\\n\",(double)container.%s);" % (item[1], item[1]))
elif item[0] == "float_array":
print("\t\t\tprintf(\"%s:\");" % item[1])
print("\t\t\tfor (int j=0;j<%d;j++) {" % item[2])
print("\t\t\tprintf(\"%s: \");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
elif item[0] == "uint64":
print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1]))
print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "uint64_array":
print("\t\t\tprintf(\"%s: \");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%\" PRIu64 \"\",container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
elif item[0] == "int64":
print("\t\t\tprintf(\"%s: %%\" PRI64 \"\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "int32":
print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "uint32":
print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "uint8":
print("\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1]))
print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
elif item[0] == "bool":
print("\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
print("\t\t\t}")
print("\t\t}")
print("\t} else {")
Tools/posix_apps.py
+12 -1
View File
@@ -98,7 +98,9 @@ static void list_builtins(void)
static int shutdown_main(int argc, char *argv[])
{
cout << "Shutting down" << endl;
cout.flush();
cout << endl << "Shutting down" << endl;
cout.flush();
exit(0);
}
@@ -133,5 +135,14 @@ static int sleep_main(int argc, char *argv[])
sleep(atoi(argv[1]));
return 0;
}
static int usleep_main(int argc, char *argv[])
{
if (argc != 2) {
cout << "Usage: usleep <microseconds>" << endl;
return 1;
}
usleep(atoi(argv[1]));
return 0;
}
""")
Tools/posix_lldbinit
+3
View File
@@ -0,0 +1,3 @@
run
pro hand -p true -s false -n false SIGCONT
continue
Tools/px4airframes/srcparser.py
+1 -1
View File
@@ -151,7 +151,7 @@ class SourceParser(object):
Returns list of supported file extensions that can be parsed by this
parser. The parser uses any extension.
"""
return [""]
return ["", ".hil"]
def Parse(self, path, contents):
"""
Tools/px4airframes/srcscanner.py
+5 -3
View File
@@ -16,9 +16,11 @@ class SourceScanner(object):
extensions = tuple(parser.GetSupportedExtensions())
for dirname, dirnames, filenames in os.walk(srcdir):
for filename in filenames:
path = os.path.join(dirname, filename)
if not self.ScanFile(path, parser):
return False
extension = os.path.splitext(filename)[1]
if extension in extensions:
path = os.path.join(dirname, filename)
if not self.ScanFile(path, parser):
return False
return True
def ScanFile(self, path, parser):
Tools/px_generate_params.py
Executable
+99
View File
@@ -0,0 +1,99 @@
#!/usr/bin/env python
import xml.etree.ElementTree as ET
import os
if len(os.sys.argv) != 2:
print("Error in %s" % os.sys.argv[0])
print("Usage: %s <parameters.xml>" % os.sys.argv[0])
raise SystemExit
fp_header = open("px4_parameters.h", "w")
fp_src = open("px4_parameters.c", "w")
tree = ET.parse(os.sys.argv[1])
root = tree.getroot()
# Generate the header file content
header = """
#include <stdint.h>
#include <systemlib/param/param.h>
// DO NOT EDIT
// This file is autogenerated from parameters.xml
__BEGIN_DECLS
struct px4_parameters_t {
"""
start_name = ""
end_name = ""
for group in root:
if group.tag == "group":
header += """
/*****************************************************************
* %s
****************************************************************/""" % group.attrib["name"]
for param in group:
if not start_name:
start_name = param.attrib["name"]
end_name = param.attrib["name"]
header += """
const struct param_info_s __param__%s;""" % param.attrib["name"]
header += """
const unsigned int param_count;
};
extern const struct px4_parameters_t px4_parameters;
"""
# Generate the C file content
src = """
#include <px4_parameters.h>
// DO NOT EDIT
// This file is autogenerated from paramaters.xml
const
#ifndef __PX4_DARWIN
__attribute__((used, section("__param")))
#endif
struct px4_parameters_t px4_parameters = {
"""
i=0
for group in root:
if group.tag == "group":
src += """
/*****************************************************************
* %s
****************************************************************/""" % group.attrib["name"]
for param in group:
if not start_name:
start_name = param.attrib["name"]
end_name = param.attrib["name"]
val_str = "#error UNKNOWN PARAM TYPE, FIX px_generate_params.py"
if (param.attrib["type"] == "FLOAT"):
val_str = ".val.f = "
elif (param.attrib["type"] == "INT32"):
val_str = ".val.i = "
i+=1
src += """
{
"%s",
PARAM_TYPE_%s,
%s%s
},
""" % (param.attrib["name"], param.attrib["type"], val_str, param.attrib["default"])
src += """
%d
};
//extern const struct px4_parameters_t px4_parameters;
__END_DECLS
""" % i
fp_header.write(header)
fp_src.write(src)
Tools/px_generate_uorb_topic_headers.py
+20 -8
View File
@@ -43,6 +43,11 @@ import shutil
import filecmp
import argparse
import sys
px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
sys.path.append(px4_tools_dir + "/genmsg/src")
sys.path.append(px4_tools_dir + "/gencpp/src")
try:
import genmsg.template_tools
except ImportError as e:
@@ -79,7 +84,7 @@ def convert_file(filename, outputdir, templatedir, includepath):
"""
Converts a single .msg file to a uorb header
"""
print("Generating headers from {0}".format(filename))
#print("Generating headers from {0}".format(filename))
genmsg.template_tools.generate_from_file(filename,
package,
outputdir,
@@ -136,7 +141,7 @@ def convert_dir(inputdir, outputdir, templatedir):
return True
def copy_changed(inputdir, outputdir, prefix=''):
def copy_changed(inputdir, outputdir, prefix='', quiet=False):
"""
Copies files from inputdir to outputdir if they don't exist in
ouputdir or if their content changed
@@ -153,7 +158,8 @@ def copy_changed(inputdir, outputdir, prefix=''):
fno = os.path.join(outputdir, prefix + f)
if not os.path.isfile(fno):
shutil.copy(fni, fno)
print("{0}: new header file".format(f))
if not quiet:
print("{0}: new header file".format(f))
continue
if os.path.getmtime(fni) > os.path.getmtime(fno):
@@ -161,13 +167,15 @@ def copy_changed(inputdir, outputdir, prefix=''):
# only copy if contents do not match
if not filecmp.cmp(fni, fno):
shutil.copy(fni, fno)
print("{0}: updated".format(f))
if not quiet:
print("{0}: updated".format(f))
continue
#print("{0}: unchanged".format(f))
if not quiet:
print("{0}: unchanged".format(f))
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
"""
Converts all .msg files in inputdir to uORB header files
Unchanged existing files are not overwritten.
@@ -175,7 +183,7 @@ def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
# Create new headers in temporary output directory
convert_dir(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix)
copy_changed(temporarydir, outputdir, prefix, quiet)
if __name__ == "__main__":
parser = argparse.ArgumentParser(
@@ -193,6 +201,9 @@ if __name__ == "__main__":
parser.add_argument('-p', dest='prefix', default='',
help='string added as prefix to the output file '
' name when converting directories')
parser.add_argument('-q', dest='quiet', default=False, action='store_true',
help='string added as prefix to the output file '
' name when converting directories')
args = parser.parse_args()
if args.file is not None:
@@ -208,4 +219,5 @@ if __name__ == "__main__":
args.outputdir,
args.templatedir,
args.temporarydir,
args.prefix)
args.prefix,
args.quiet)
Tools/px_romfs_pruner.py
+2 -2
View File
@@ -76,8 +76,8 @@ def main():
pruned_content += line
# overwrite old scratch file
with open(file_path, "w") as f:
f.write(pruned_content)
with open(file_path, "wb") as f:
f.write(pruned_content.encode("ascii", errors='strict'))
if __name__ == '__main__':
Tools/sitl_run.sh
+15 -4
View File
@@ -1,5 +1,16 @@
#!/bin/bash
mkdir -p Build/posix_sitl.build/rootfs/fs/microsd
mkdir -p Build/posix_sitl.build/rootfs/eeprom
cd Build/posix_sitl.build && ./mainapp ../../$1
cp Tools/posix_lldbinit build_posix_sitl_simple/src/firmware/posix/.lldbinit
cp Tools/posix.gdbinit build_posix_sitl_simple/src/firmware/posix/.gdbinit
cd build_posix_sitl_simple/src/firmware/posix
mkdir -p rootfs/fs/microsd
mkdir -p rootfs/eeprom
touch rootfs/eeprom/parameters
if [ "$2" == "lldb" ]
then
lldb -- mainapp ../../../../$1
elif [ "$2" == "gdb" ]
then
gdb --args mainapp ../../../../$1
else
./mainapp ../../../../$1
fi
Vagrantfile
Vendored
+2 -2
View File
@@ -73,12 +73,12 @@ Vagrant.configure(2) do |config|
# Enable provisioning with a shell script. Additional provisioners such as
# Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
# documentation for more information about their specific syntax and use.
config.vm.provision "shell", inline: <<-SHELL
config.vm.provision "shell", privileged: false, inline: <<-SHELL
# Ensure we start in the Firmware folder
echo "cd /Firmware" >> ~/.bashrc
# Install software
sudo apt-get update
sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core
sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb
pushd .
cd ~
wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
cmake/common/px4_base.cmake
+865
View File
File diff suppressed because it is too large Load Diff
cmake/configs/nuttx_px4fmu-v1_default.cmake
+177
View File
@@ -0,0 +1,177 @@
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-v1
drivers/ardrone_interface
drivers/rgbled
drivers/mpu6000
drivers/lsm303d
drivers/l3gd20
drivers/hmc5883
drivers/ms5611
drivers/mb12xx
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
#
# System commands
#
systemcmds/bl_update
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/esc_calib
systemcmds/reboot
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/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/controllib
modules/uORB
modules/dataman
#
# Libraries
#
#lib/mathlib/CMSIS
lib/mathlib
lib/mathlib/math/filter
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
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-v1
)
set(config_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
)
set(config_io_extra_libs
#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
MAIN "sercon" STACK "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
MAIN "serdis" STACK "2048")
cmake/configs/nuttx_px4fmu-v2_default.cmake
+185
View File
@@ -0,0 +1,185 @@
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/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
#
# 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/controllib
modules/uORB
modules/dataman
#
# Libraries
#
#lib/mathlib/CMSIS
lib/mathlib
lib/mathlib/math/filter
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
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_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
uavcan
uavcan_stm32_driver
)
set(config_io_extra_libs
#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
MAIN "sercon" STACK "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
MAIN "serdis" STACK "2048")
cmake/configs/nuttx_px4fmu-v2_simple.cmake
+143
View File
@@ -0,0 +1,143 @@
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/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
#
# System commands
#
systemcmds/bl_update
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/esc_calib
systemcmds/reboot
systemcmds/top
systemcmds/config
systemcmds/nshterm
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
#
# Logging
#
modules/sdlog2
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/controllib
modules/uORB
modules/dataman
#
# Libraries
#
#lib/mathlib/CMSIS
lib/mathlib
lib/mathlib/math/filter
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
#
# 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_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
)
set(config_io_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
MAIN "sercon" STACK "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
MAIN "serdis" STACK "2048")
cmake/configs/nuttx_sim_simple.cmake
+21
View File
@@ -0,0 +1,21 @@
include(nuttx/px4_impl_nuttx)
message(WARNING "this is a work in progress and doesn't build yet")
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
#platforms/nuttx
#platforms/nuttx/px4_layer
platforms/common
#drivers/led
drivers/device
#modules/systemlib
#modules/uORB
#examples/px4_simple_app
#lib/mathlib/math/filter
#lib/conversion
)
set(config_extra_builtin_cmds
)
cmake/configs/posix_eagle_default.cmake
+46
View File
@@ -0,0 +1,46 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(config_module_list
drivers/device
drivers/blinkm
drivers/pwm_out_sim
drivers/rgbled
drivers/led
drivers/boards/sitl
systemcmds/param
systemcmds/mixer
systemcmds/ver
modules/mavlink
modules/attitude_estimator_ekf
modules/ekf_att_pos_estimator
modules/mc_pos_control
modules/mc_att_control
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/sensors
modules/dataman
modules/sdlog2
modules/simulator
modules/commander
modules/controllib
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/geo_lookup
lib/conversion
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
)
cmake/configs/posix_eagle_hil.cmake
+40
View File
@@ -0,0 +1,40 @@
include(posix/px4_impl_posix)
# Use build stubs unless explicitly set not to
if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
set(DSPAL_STUBS_ENABLE "1")
endif()
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(config_module_list
drivers/device
drivers/boards/sitl
drivers/led
systemcmds/param
systemcmds/ver
modules/mavlink
modules/param
modules/systemlib
modules/uORB
modules/sensors
modules/dataman
modules/sdlog2
modules/simulator
modules/commander
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/geo_lookup
lib/conversion
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
modules/muorb/krait
)
cmake/configs/posix_eagle_muorb.cmake
+15
View File
@@ -0,0 +1,15 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(config_module_list
drivers/device
modules/uORB
platforms/posix/px4_layer
platforms/posix/work_queue
modules/muorb/krait
)
cmake/configs/posix_eagle_release.cmake
+35
View File
@@ -0,0 +1,35 @@
include(posix/px4_impl_posix)
# Use build stubs unless explicitly set not to
if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
set(DSPAL_STUBS_ENABLE "1")
endif()
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(config_module_list
drivers/device
systemcmds/param
systemcmds/ver
modules/mavlink
modules/param
modules/systemlib
modules/uORB
modules/dataman
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/geo_lookup
lib/conversion
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
modules/muorb/krait
)
cmake/configs/posix_sitl_simple.cmake
+71
View File
@@ -0,0 +1,71 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/led
drivers/device
drivers/boards/sitl
drivers/pwm_out_sim
drivers/rgbled
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
platforms/posix/drivers/adcsim
platforms/posix/drivers/gpssim
platforms/posix/drivers/tonealrmsim
platforms/posix/drivers/accelsim
platforms/posix/drivers/airspeedsim
platforms/posix/drivers/barosim
platforms/posix/drivers/gyrosim
systemcmds/param
systemcmds/mixer
systemcmds/ver
systemcmds/esc_calib
systemcmds/reboot
systemcmds/topic_listener
modules/uORB
modules/param
modules/systemlib
modules/systemlib/mixer
modules/sensors
modules/simulator
modules/mavlink
modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/navigator
modules/mc_pos_control
modules/mc_att_control
modules/mc_pos_control_multiplatform
modules/mc_att_control_multiplatform
modules/land_detector
modules/fw_att_control
modules/fw_pos_control_l1
modules/dataman
modules/sdlog2
modules/commander
modules/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/launchdetection
)
set(config_extra_builtin_cmds
serdis
sercon
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
MAIN "sercon" STACK "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
MAIN "serdis" STACK "2048")
cmake/configs/qurt_eagle_hello.cmake
+28
View File
@@ -0,0 +1,28 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(config_module_list
drivers/device
#
# System commands
#
systemcmds/param
#
# Library modules
#
modules/param
modules/systemlib
modules/uORB
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
platforms/qurt/tests/hello
)
cmake/configs/qurt_eagle_hil.cmake
+63
View File
@@ -0,0 +1,63 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(config_module_list
drivers/device
drivers/boards/sitl
drivers/pwm_out_sim
drivers/led
drivers/rgbled
modules/sensors
#
# System commands
#
systemcmds/param
systemcmds/mixer
#
# Estimation modules (EKF/ SO3 / other filters)
#
#modules/attitude_estimator_ekf
modules/ekf_att_pos_estimator
modules/attitude_estimator_q
modules/position_estimator_inav
#
# Vehicle Control
#
modules/mc_att_control
modules/mc_pos_control
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/commander
#
# Libraries
#
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/geo_lookup
lib/conversion
modules/controllib
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
#
# sources for muorb over fastrpc
#
modules/muorb/adsp
)
cmake/configs/qurt_eagle_muorb.cmake
+41
View File
@@ -0,0 +1,41 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(config_module_list
drivers/device
#
# System commands
#
systemcmds/param
#
# Library modules
#
modules/param
modules/systemlib
modules/uORB
#
# Libraries
#
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/geo_lookup
lib/conversion
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
platforms/qurt/tests/muorb
#
# sources for muorb over fastrpc
#
modules/muorb/adsp
)
cmake/configs/qurt_eagle_release.cmake
+85
View File
@@ -0,0 +1,85 @@
include(qurt/px4_impl_qurt)
if ("${HEXAGON_DRIVERS_ROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
endif()
if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
endif()
include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
# For Actual flight we need to link against the driver dynamic libraries
set(target_libraries
-L${HEXAGON_DRIVERS_ROOT}/libs
mpu9x50
uart_esc
csr_gps
rc_receiver
)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(config_module_list
#
# Board support modules
#
drivers/device
modules/sensors
$(EAGLE_DRIVERS_SRC)/mpu9x50
$(EAGLE_DRIVERS_SRC)/uart_esc
$(EAGLE_DRIVERS_SRC)/rc_receiver
$(EAGLE_DRIVERS_SRC)/csr_gps
#
# System commands
#
systemcmds/param
#
# Estimation modules (EKF/ SO3 / other filters)
#
#modules/attitude_estimator_ekf
modules/ekf_att_pos_estimator
modules/attitude_estimator_q
modules/position_estimator_inav
#
# Vehicle Control
#
modules/mc_att_control
modules/mc_pos_control
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/commander
modules/controllib
#
# Libraries
#
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/geo_lookup
lib/conversion
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
#
# sources for muorb over fastrpc
#
modules/muorb/adsp
)
cmake/configs/qurt_eagle_test.cmake
+39
View File
@@ -0,0 +1,39 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(config_module_list
drivers/device
#
# System commands
#
systemcmds/param
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
#
# Libraries
#
lib/mathlib
lib/mathlib/math/filter
lib/conversion
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
platforms/qurt/tests/hello
platforms/posix/tests/vcdev_test
platforms/posix/tests/hrt_test
platforms/posix/tests/wqueue
)
cmake/configs/qurt_eagle_travis.cmake
+68
View File
@@ -0,0 +1,68 @@
include(qurt/px4_impl_qurt)
# Run a full link with build stubs to make sure qurt target isn't broken
set(QURT_ENABLE_STUBS "1")
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(config_module_list
drivers/device
drivers/boards/sitl
drivers/pwm_out_sim
drivers/led
drivers/rgbled
modules/sensors
#
# System commands
#
systemcmds/param
systemcmds/mixer
#
# Estimation modules (EKF/ SO3 / other filters)
#
#modules/attitude_estimator_ekf
modules/ekf_att_pos_estimator
modules/attitude_estimator_q
modules/position_estimator_inav
#
# Vehicle Control
#
modules/mc_att_control
modules/mc_pos_control
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/commander
modules/controllib
#
# Libraries
#
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/geo_lookup
lib/conversion
lib/ecl
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
#
# sources for muorb over fastrpc
#
modules/muorb/adsp
)
cmake/nuttx/bin_to_obj.py
Executable
+98
View File
@@ -0,0 +1,98 @@
#!/usr/bin/env python
"""
This converts a binary imagge to an object file
"""
from __future__ import print_function
import subprocess
import argparse
import re
from subprocess import PIPE
#pylint: disable=invalid-name
parser = argparse.ArgumentParser(description='Convert bin to obj.')
parser.add_argument('--c_flags', required=True)
parser.add_argument('--c_compiler', required=True)
parser.add_argument('--include_path', required=True)
parser.add_argument('--nm', required=True)
parser.add_argument('--ld', required=True)
parser.add_argument('--objcopy', required=True)
parser.add_argument('--bin', required=True)
parser.add_argument('--obj', required=True)
parser.add_argument('--var', required=True)
args = parser.parse_args()
in_bin = args.bin
c_flags = args.c_flags
c_compiler = args.c_compiler
include_path = args.include_path
nm = args.nm
ld = args.ld
obj = args.obj
var = args.var
objcopy = args.objcopy
sym = "_binary_" + in_bin.replace('/', '_').replace('.', '_').replace('-', '_')
#print("sym: ", sym)
# write empty file
with open('{obj:s}.c'.format(**locals()), 'w') as f:
f.write("")
def run_cmd(cmd, d):
cmd = cmd.format(**d)
#print(cmd)
proc = subprocess.Popen(cmd.split(), stdout=PIPE, stderr=PIPE)
stdout, stderr = proc.communicate()
if stderr.decode() != "":
raise RuntimeError(stderr)
return stdout
# do compile
run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
locals())
# link
run_cmd("{ld:s} -r -o {obj:s}.bin.o {obj:s}.c.o -b binary {in_bin:s}",
locals())
# get size of image
stdout = run_cmd("{nm:s} -p --radix=x {obj:s}.bin.o", locals())
re_string = r"^([0-9A-Fa-f]+) .*{sym:s}_size".format(**locals())
re_size = re.compile(re_string, re.MULTILINE)
size_match = re.search(re_size, stdout.decode())
try:
size = size_match.group(1)
except AttributeError as e:
raise RuntimeError("{:s}\nre:{:s}\n{:s}".format(
e, re_string, stdout))
except IndexError as e:
group0 = size_match.group(0)
raise RuntimeError("{:s}\ngroup 0:{:s}\n{:s}".format(
e, group0, stdout))
#print("romfs size: ", size)
# write size to file
with open('{obj:s}.c'.format(**locals()), 'w') as f:
f.write("const unsigned int {var:s}_len = 0x{size:s};".format(
**locals()))
# do compile
run_cmd("{c_compiler:s} -I{include_path:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
locals())
# link
run_cmd("{ld:s} -r -o {obj:s} {obj:s}.c.o {obj:s}.bin.o",
locals())
# obj copy
run_cmd("""
{objcopy:s} {obj:s}
--redefine-sym {sym:s}_start={var:s}
--strip-symbol {sym:s}_size
--strip-symbol {sym:s}_end
--rename-section .data=.rodata
""", locals())
# vim: set et ft=python fenc= ff=unix sts=4 sw=4 ts=4 :
cmake/nuttx/builtin_commands.c.in
+10
View File
@@ -0,0 +1,10 @@
/* builtin command list - automatically generated, do not edit */
#include <nuttx/config.h>
#include <nuttx/binfmt/builtin.h>
#include <nuttx/config.h>
${builtin_apps_decl_string}
const struct builtin_s g_builtins[] = {
${builtin_apps_string}
{NULL, 0, 0, NULL}
};
const int g_builtin_count = ${command_count};
cmake/nuttx/px4_impl_nuttx.cmake
+529
View File
File diff suppressed because it is too large Load Diff
cmake/posix/apps.h_in
+88
View File
@@ -0,0 +1,88 @@
/* builtin command list - automatically generated, do not edit */
#include <string>
#include <map>
#include <stdio.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_log.h>
#include <stdlib.h>
using namespace std;
extern void px4_show_devices(void);
extern "C" {
${builtin_apps_decl_string}
static int shutdown_main(int argc, char *argv[]);
static int list_tasks_main(int argc, char *argv[]);
static int list_files_main(int argc, char *argv[]);
static int list_devices_main(int argc, char *argv[]);
static int list_topics_main(int argc, char *argv[]);
static int sleep_main(int argc, char *argv[]);
}
static map<string,px4_main_t> app_map(void)
{
static map<string,px4_main_t> apps;
${builtin_apps_string}
apps["shutdown"] = shutdown_main;
apps["list_tasks"] = list_tasks_main;
apps["list_files"] = list_files_main;
apps["list_devices"] = list_devices_main;
apps["list_topics"] = list_topics_main;
apps["sleep"] = sleep_main;
return apps;
}
map<string,px4_main_t> apps = app_map();
static void list_builtins(void)
{
cout << "Builtin Commands:" << endl;
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
cout << '\t' << it->first << endl;
}
static int shutdown_main(int argc, char *argv[])
{
printf("Shutting down\\n");
exit(0);
}
static int list_tasks_main(int argc, char *argv[])
{
px4_show_tasks();
return 0;
}
static int list_devices_main(int argc, char *argv[])
{
px4_show_devices();
return 0;
}
static int list_topics_main(int argc, char *argv[])
{
px4_show_topics();
return 0;
}
static int list_files_main(int argc, char *argv[])
{
px4_show_files();
return 0;
}
static int sleep_main(int argc, char *argv[])
{
if (argc != 2) {
cout << "Usage: sleep <seconds>" << endl;
return 1;
}
sleep(atoi(argv[1]));
return 0;
}
makefiles/posix-arm/ld.script → cmake/posix/ld.script
+1
View File
@@ -44,3 +44,4 @@ SECTIONS
__param_end = .;
}
}
INSERT AFTER .rodata;
cmake/posix/px4_impl_posix.cmake
+236
View File
@@ -0,0 +1,236 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#=============================================================================
#
# Defined functions in this file
#
# OS Specific Functions
#
# * px4_posix_add_firmware
# * px4_posix_generate_builtin_commands
# * px4_posix_add_export
# * px4_posix_generate_romfs
#
# Required OS Inteface Functions
#
# * px4_os_add_flags
# * px4_os_prebuild_targets
#
include(common/px4_base)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
#=============================================================================
#
# px4_posix_generate_builtin_commands
#
# This function generates the builtin_commands.c src for posix
#
# Usage:
# px4_posix_generate_builtin_commands(
# MODULE_LIST <in-list>
# OUT <file>)
#
# Input:
# MODULE_LIST : list of modules
#
# Output:
# OUT : generated builtin_commands.c src
#
# Example:
# px4_posix_generate_builtin_commands(
# OUT <generated-src> MODULE_LIST px4_simple_app)
#
function(px4_posix_generate_builtin_commands)
px4_parse_function_args(
NAME px4_posix_generate_builtin_commands
ONE_VALUE OUT
MULTI_VALUE MODULE_LIST
REQUIRED MODULE_LIST OUT
ARGN ${ARGN})
set(builtin_apps_string)
set(builtin_apps_decl_string)
set(command_count 0)
foreach(module ${MODULE_LIST})
# default
set(MAIN_DEFAULT MAIN-NOTFOUND)
set(STACK_DEFAULT 1024)
set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
foreach(property MAIN STACK PRIORITY)
get_target_property(${property} ${module} ${property})
if(NOT ${property})
set(${property} ${${property}_DEFAULT})
endif()
endforeach()
if (MAIN)
set(builtin_apps_string
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
set(builtin_apps_decl_string
"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
${OUT})
endfunction()
#=============================================================================
#
# px4_os_add_flags
#
# Set ths posix build flags.
#
# Usage:
# px4_os_add_flags(
# C_FLAGS <inout-variable>
# CXX_FLAGS <inout-variable>
# EXE_LINKER_FLAGS <inout-variable>
# INCLUDE_DIRS <inout-variable>
# LINK_DIRS <inout-variable>
# DEFINITIONS <inout-variable>)
#
# Input:
# BOARD : flags depend on board/posix config
#
# Input/Output: (appends to existing variable)
# C_FLAGS : c compile flags variable
# CXX_FLAGS : c++ compile flags variable
# EXE_LINKER_FLAGS : executable linker flags variable
# INCLUDE_DIRS : include directories
# LINK_DIRS : link directories
# DEFINITIONS : definitions
#
# Example:
# px4_os_add_flags(
# C_FLAGS CMAKE_C_FLAGS
# CXX_FLAGS CMAKE_CXX_FLAGS
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
# INCLUDES <list>)
#
function(px4_os_add_flags)
set(inout_vars
C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
px4_parse_function_args(
NAME px4_add_flags
ONE_VALUE ${inout_vars} BOARD
REQUIRED ${inout_vars} BOARD
ARGN ${ARGN})
px4_add_common_flags(
BOARD ${BOARD}
C_FLAGS ${C_FLAGS}
CXX_FLAGS ${CXX_FLAGS}
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
INCLUDE_DIRS ${INCLUDE_DIRS}
LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS})
set(PX4_BASE )
set(added_include_dirs
src/modules/systemlib
src/lib/eigen
src/platforms/posix/include
mavlink/include/mavlink
)
if(UNIX AND APPLE)
set(added_definitions
-D__PX4_POSIX
-D__PX4_DARWIN
-DCLOCK_MONOTONIC=1
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
-include ${PX4_INCLUDE_DIR}visibility.h
)
else()
set(added_definitions
-D__PX4_POSIX
-D__PX4_LINUX
-DCLOCK_MONOTONIC=1
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
-include ${PX4_INCLUDE_DIR}visibility.h
)
endif()
set(added_exe_linker_flags
-lpthread
)
# Add the toolchain specific flags
set(added_cflags ${POSIX_CMAKE_C_FLAGS})
set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})
# output
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
#message(STATUS "posix: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
endforeach()
endfunction()
#=============================================================================
#
# px4_os_prebuild_targets
#
# This function generates os dependent targets
#
# Usage:
# px4_os_prebuild_targets(
# OUT <out-list_of_targets>
# BOARD <in-string>
# )
#
# Input:
# BOARD : board
# THREADS : number of threads for building
#
# Output:
# OUT : the target list
#
# Example:
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
#
function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD THREADS
REQUIRED OUT BOARD
ARGN ${ARGN})
add_custom_target(${OUT})
endfunction()
cmake/qurt/apps.h_in
+84
View File
@@ -0,0 +1,84 @@
/* builtin command list - automatically generated, do not edit */
#include <string>
#include <map>
#include <stdio.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_log.h>
#include <stdlib.h>
using namespace std;
extern void px4_show_devices(void);
extern "C" {
${builtin_apps_decl_string}
static int shutdown_main(int argc, char *argv[]);
static int list_tasks_main(int argc, char *argv[]);
static int list_files_main(int argc, char *argv[]);
static int list_devices_main(int argc, char *argv[]);
static int list_topics_main(int argc, char *argv[]);
static int sleep_main(int argc, char *argv[]);
}
void init_app_map(map<string,px4_main_t> &apps)
{
${builtin_apps_string}
apps["shutdown"] = shutdown_main;
apps["list_tasks"] = list_tasks_main;
apps["list_files"] = list_files_main;
apps["list_devices"] = list_devices_main;
apps["list_topics"] = list_topics_main;
apps["sleep"] = sleep_main;
}
void list_builtins(map<string,px4_main_t> &apps)
{
printf("Builtin Commands:\\n");
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
printf("\\t%s\\n", (it->first).c_str());
}
static int shutdown_main(int argc, char *argv[])
{
printf("Shutting down\\n");
exit(0);
}
static int list_tasks_main(int argc, char *argv[])
{
px4_show_tasks();
return 0;
}
static int list_devices_main(int argc, char *argv[])
{
px4_show_devices();
return 0;
}
static int list_topics_main(int argc, char *argv[])
{
px4_show_topics();
return 0;
}
static int list_files_main(int argc, char *argv[])
{
px4_show_files();
return 0;
}
static int sleep_main(int argc, char *argv[])
{
if (argc != 2) {
PX4_WARN( "Usage: sleep <seconds>" );
return 1;
}
unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
usleep( usecs );
return 0;
}
cmake/qurt/px4_impl_qurt.cmake
+236
View File
@@ -0,0 +1,236 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#=============================================================================
#
# Defined functions in this file
#
# OS Specific Functions
#
# * px4_qurt_add_firmware
# * px4_qurt_generate_builtin_commands
# * px4_qurt_add_export
# * px4_qurt_generate_romfs
#
# Required OS Inteface Functions
#
# * px4_os_add_flags
# * px4_os_prebuild_targets
#
include(common/px4_base)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
#=============================================================================
#
# px4_qurt_generate_builtin_commands
#
# This function generates the builtin_commands.c src for qurt
#
# Usage:
# px4_qurt_generate_builtin_commands(
# MODULE_LIST <in-list>
# OUT <file>)
#
# Input:
# MODULE_LIST : list of modules
#
# Output:
# OUT : generated builtin_commands.c src
#
# Example:
# px4_qurt_generate_builtin_commands(
# OUT <generated-src> MODULE_LIST px4_simple_app)
#
function(px4_qurt_generate_builtin_commands)
px4_parse_function_args(
NAME px4_qurt_generate_builtin_commands
ONE_VALUE OUT
MULTI_VALUE MODULE_LIST
REQUIRED MODULE_LIST OUT
ARGN ${ARGN})
set(builtin_apps_string)
set(builtin_apps_decl_string)
set(command_count 0)
foreach(module ${MODULE_LIST})
# default
set(MAIN_DEFAULT MAIN-NOTFOUND)
set(STACK_DEFAULT 1024)
set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
foreach(property MAIN STACK PRIORITY)
get_target_property(${property} ${module} ${property})
if(NOT ${property})
set(${property} ${${property}_DEFAULT})
endif()
endforeach()
if (MAIN)
set(builtin_apps_string
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
set(builtin_apps_decl_string
"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
endfunction()
#=============================================================================
#
# px4_os_add_flags
#
# Set ths qurt build flags.
#
# Usage:
# px4_os_add_flags(
# C_FLAGS <inout-variable>
# CXX_FLAGS <inout-variable>
# EXE_LINKER_FLAGS <inout-variable>
# INCLUDE_DIRS <inout-variable>
# LINK_DIRS <inout-variable>
# DEFINITIONS <inout-variable>)
#
# Input:
# BOARD : flags depend on board/qurt config
#
# Input/Output: (appends to existing variable)
# C_FLAGS : c compile flags variable
# CXX_FLAGS : c++ compile flags variable
# EXE_LINKER_FLAGS : executable linker flags variable
# INCLUDE_DIRS : include directories
# LINK_DIRS : link directories
# DEFINITIONS : definitions
#
# Example:
# px4_os_add_flags(
# C_FLAGS CMAKE_C_FLAGS
# CXX_FLAGS CMAKE_CXX_FLAGS
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
# INCLUDES <list>)
#
function(px4_os_add_flags)
set(inout_vars
C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
px4_parse_function_args(
NAME px4_add_flags
ONE_VALUE ${inout_vars} BOARD
REQUIRED ${inout_vars} BOARD
ARGN ${ARGN})
px4_add_common_flags(
BOARD ${BOARD}
C_FLAGS ${C_FLAGS}
CXX_FLAGS ${CXX_FLAGS}
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
INCLUDE_DIRS ${INCLUDE_DIRS}
LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS})
set(DSPAL_ROOT src/lib/dspal)
set(added_include_dirs
${DSPAL_ROOT}/include
${DSPAL_ROOT}/sys
${DSPAL_ROOT}/sys/sys
${DSPAL_ROOT}/mpu_spi/inc
${DSPAL_ROOT}/uart_esc/inc
src/platforms/qurt/include
src/platforms/posix/include
)
set(added_definitions
-D__PX4_QURT
-D__PX4_POSIX
-include ${PX4_INCLUDE_DIR}visibility.h
)
# Add the toolchain specific flags
set(added_cflags ${QURT_CMAKE_C_FLAGS})
set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})
# FIXME @jgoppert - how to work around issues like this?
# Without changing global variables?
# Clear -rdynamic flag which fails for hexagon
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
# output
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
#message(STATUS "qurt: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
endforeach()
endfunction()
#=============================================================================
#
# px4_os_prebuild_targets
#
# This function generates os dependent targets
#
# Usage:
# px4_os_prebuild_targets(
# OUT <out-list_of_targets>
# BOARD <in-string>
# )
#
# Input:
# BOARD : board
# THREADS : number of threads for building
#
# Output:
# OUT : the target list
#
# Example:
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
#
function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD THREADS
REQUIRED OUT BOARD
ARGN ${ARGN})
add_custom_target(git_eigen_patched
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen
COMMAND git checkout .
COMMAND git checkout master
COMMAND patch -p1 -i ${CMAKE_SOURCE_DIR}/cmake/qurt/qurt_eigen.patch
DEPENDS git_eigen)
add_custom_target(${OUT} DEPENDS git_dspal git_eigen_patched)
add_custom_target(ALL DEPENDS git_eigen_patched)
endfunction()
# vim: set noet fenc=utf-8 ff=unix nowrap:
cmake/qurt/qurt_eigen.patch
+37
View File
@@ -0,0 +1,37 @@
diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
index 1ca1d66..9bc928b 100644
--- a/Eigen/src/Core/util/Macros.h
+++ b/Eigen/src/Core/util/Macros.h
@@ -194,6 +194,12 @@
#define EIGEN_ARCH_PPC 0
#endif
+/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
+#ifdef __HEXAGON_ARCH__
+ #define EIGEN_ARCH_HEXAGON 1
+#else
+ #define EIGEN_ARCH_HEXAGON 0
+#endif
// Operating system identification, EIGEN_OS_*
@@ -334,15 +340,16 @@
#endif
// Do we support r-value references?
-#if (__has_feature(cxx_rvalue_references) || \
+#if ((__has_feature(cxx_rvalue_references) || \
(defined(__cplusplus) && __cplusplus >= 201103L) || \
defined(__GXX_EXPERIMENTAL_CXX0X__) || \
- (EIGEN_COMP_MSVC >= 1600))
+ (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
#define EIGEN_HAVE_RVALUE_REFERENCES
#endif
// Does the compiler support result_of?
-#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
+#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
+ (!defined(EIGEN_ARCH_HEXAGON)))
#define EIGEN_HAS_STD_RESULT_OF 1
#endif
src/lib/mathlib/module.mk → cmake/qurt/qurt_funcs.cmake
+12 -8
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -31,14 +31,18 @@
#
############################################################################
#=============================================================================
# FILE: posix/px4_target_impl.cmake
#
# Math library
# Each PX4 target OS must implement the cmake/${OS}/px4_target_impl.cmake
# rules for their target that implement the following macros:
#
SRCS = math/test/test.cpp \
math/Limits.cpp
# px4_target_set_flags
# px4_target_validate_config
# px4_target_firmware
# px4_target_rules
# px4_target_testing
#
# In order to include .config we first have to save off the
# current makefile name, since app.mk needs it.
# The macros are called from the top level CMakeLists.txt
#
APP_MAKEFILE := $(lastword $(MAKEFILE_LIST))
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
cmake/ros-CMakeLists.txt
+333
View File
@@ -0,0 +1,333 @@
cmake_minimum_required(VERSION 2.8.3)
project(px4)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-D__PX4_ROS)
add_definitions(-D__EXPORT=)
add_definitions(-DMAVLINK_DIALECT=common)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
geometry_msgs
message_generation
cmake_modules
gazebo_msgs
sensor_msgs
mav_msgs
libmavconn
tf
)
find_package(Eigen REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
rc_channels.msg
vehicle_attitude.msg
vehicle_attitude_setpoint.msg
manual_control_setpoint.msg
actuator_controls.msg
actuator_controls_0.msg
actuator_controls_virtual_mc.msg
vehicle_rates_setpoint.msg
mc_virtual_rates_setpoint.msg
vehicle_attitude.msg
vehicle_control_mode.msg
actuator_armed.msg
parameter_update.msg
vehicle_status.msg
vehicle_local_position.msg
position_setpoint.msg
position_setpoint_triplet.msg
vehicle_local_position_setpoint.msg
vehicle_global_velocity_setpoint.msg
offboard_control_mode.msg
vehicle_force_setpoint.msg
distance_sensor.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
gazebo_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS src/include
LIBRARIES px4
CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
${catkin_INCLUDE_DIRS}
src/platforms
src/platforms/ros/px4_messages
src/include
src/modules
${CMAKE_BINARY_DIR}/src/modules
src/
src/lib
${EIGEN_INCLUDE_DIRS}
integrationtests
)
## generate multiplatform wrapper headers
## note that the message header files are generated as in any ROS project with generate_messages()
set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
set(MULTIPLATFORM_PREFIX px4_)
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
## Declare a cpp library
add_library(px4
src/platforms/ros/px4_ros_impl.cpp
src/platforms/ros/perf_counter.cpp
src/platforms/ros/geo.cpp
src/lib/mathlib/math/Limits.cpp
src/modules/systemlib/circuit_breaker.cpp
)
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(px4
${catkin_LIBRARIES}
)
## Declare a test publisher
add_executable(publisher
src/examples/publisher/publisher_main.cpp
src/examples/publisher/publisher_example.cpp)
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(publisher
${catkin_LIBRARIES}
px4
)
## Declare a test subscriber
add_executable(subscriber
src/examples/subscriber/subscriber_main.cpp
src/examples/subscriber/subscriber_example.cpp)
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(subscriber
${catkin_LIBRARIES}
px4
)
## MC Attitude Control
add_executable(mc_att_control
src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_att_control
${catkin_LIBRARIES}
px4
)
## MC Position Control
add_executable(mc_pos_control
src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_pos_control
${catkin_LIBRARIES}
px4
)
## Attitude Estimator dummy
add_executable(attitude_estimator
src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(attitude_estimator
${catkin_LIBRARIES}
px4
)
## Position Estimator dummy
add_executable(position_estimator
src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(position_estimator
${catkin_LIBRARIES}
px4
)
## Manual input
add_executable(manual_input
src/platforms/ros/nodes/manual_input/manual_input.cpp)
add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(manual_input
${catkin_LIBRARIES}
px4
)
## Multicopter Mixer dummy
add_executable(mc_mixer
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_mixer
${catkin_LIBRARIES}
px4
)
## Commander dummy
add_executable(commander
src/platforms/ros/nodes/commander/commander.cpp)
add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(commander
${catkin_LIBRARIES}
px4
)
## Mavlink dummy
add_executable(mavlink
src/platforms/ros/nodes/mavlink/mavlink.cpp)
add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mavlink
${catkin_LIBRARIES}
px4
)
## Offboard Position Setpoint Demo
add_executable(demo_offboard_position_setpoints
src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(demo_offboard_position_setpoints
${catkin_LIBRARIES}
px4
)
## Offboard Attitude Setpoint Demo
add_executable(demo_offboard_attitude_setpoints
src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(demo_offboard_attitude_setpoints
${catkin_LIBRARIES}
px4
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
add_rostest(integrationtests/demo_tests/direct_tests.launch)
add_rostest(integrationtests/demo_tests/mavros_tests.launch)
endif()

Some files were not shown because too many files have changed in this diff Show More