mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 18:47:21 +08:00
Merge pull request #33 from mcharleb/cmake-mc-2
Hack to get posix build partially working
This commit is contained in:
James Goppert
@@ -110,6 +110,7 @@ set(package-contact "px4users@googlegroups.com")
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#
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#
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# set module path
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# set module path
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message("OS = ${OS}")
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/${OS})
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/${OS})
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@@ -11,7 +11,7 @@ px4fmu-v2_simple-upload: px4fmu-v2_simple
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posix-sitl_simple:
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posix-sitl_simple:
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mkdir -p $d/build_$@ && cd $d/build_$@ && \
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mkdir -p $d/build_$@ && cd $d/build_$@ && \
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cmake .. \
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cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-posix-clang-native.cmake \
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-DOS=posix -DBOARD=sitl -DLABEL=simple && \
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-DOS=posix -DBOARD=sitl -DLABEL=simple && \
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make -s && ctest -V && cpack -G ZIP
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make -s && ctest -V && cpack -G ZIP
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@@ -31,7 +31,6 @@
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#
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#
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############################################################################
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############################################################################
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#=============================================================================
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#=============================================================================
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#
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#
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# Defined functions in this file
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# Defined functions in this file
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@@ -0,0 +1,84 @@
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/* builtin command list - automatically generated, do not edit */
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#include <string>
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#include <map>
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#include <stdio.h>
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <px4_log.h>
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#include <stdlib.h>
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using namespace std;
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extern void px4_show_devices(void);
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extern "C" {
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${builtin_apps_decl_string}
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static int shutdown_main(int argc, char *argv[]);
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static int list_tasks_main(int argc, char *argv[]);
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static int list_files_main(int argc, char *argv[]);
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static int list_devices_main(int argc, char *argv[]);
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static int list_topics_main(int argc, char *argv[]);
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static int sleep_main(int argc, char *argv[]);
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}
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void init_app_map(map<string,px4_main_t> &apps)
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{
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${builtin_apps_string}
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apps["shutdown"] = shutdown_main;
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apps["list_tasks"] = list_tasks_main;
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apps["list_files"] = list_files_main;
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apps["list_devices"] = list_devices_main;
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apps["list_topics"] = list_topics_main;
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apps["sleep"] = sleep_main;
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}
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void list_builtins(map<string,px4_main_t> &apps)
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{
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printf("Builtin Commands:\\n");
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for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
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printf("\\t%s\\n", (it->first).c_str());
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}
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static int shutdown_main(int argc, char *argv[])
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{
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printf("Shutting down\\n");
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exit(0);
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}
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static int list_tasks_main(int argc, char *argv[])
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{
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px4_show_tasks();
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return 0;
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}
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static int list_devices_main(int argc, char *argv[])
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{
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px4_show_devices();
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return 0;
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}
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static int list_topics_main(int argc, char *argv[])
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{
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px4_show_topics();
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return 0;
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}
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static int list_files_main(int argc, char *argv[])
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{
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px4_show_files();
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return 0;
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}
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static int sleep_main(int argc, char *argv[])
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{
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if (argc != 2) {
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PX4_WARN( "Usage: sleep <seconds>" );
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return 1;
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}
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unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
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PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
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usleep( usecs );
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return 0;
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}
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@@ -0,0 +1,56 @@
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function(px4_set_config_modules out_module_list)
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set(config_module_list
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drivers/led
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drivers/device
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drivers/boards/sitl
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platforms/common
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platforms/posix/px4_layer
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platforms/posix/work_queue
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platforms/posix/drivers/adcsim
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platforms/posix/drivers/gpssim
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platforms/posix/drivers/tonealrmsim
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platforms/posix/drivers/accelsim
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platforms/posix/drivers/airspeedsim
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platforms/posix/drivers/barosim
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platforms/posix/drivers/gyrosim
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systemcmds/param
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systemcmds/mixer
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systemcmds/ver
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systemcmds/esc_calib
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systemcmds/reboot
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modules/uORB
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modules/systemlib
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modules/systemlib/mixer
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modules/sensors
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modules/simulator
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modules/mavlink
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modules/attitude_estimator_ekf
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modules/attitude_estimator_q
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modules/ekf_att_pos_estimator
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modules/position_estimator_inav
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modules/navigator
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modules/mc_pos_control
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modules/mc_att_control
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modules/mc_pos_control_multiplatform
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modules/mc_att_control_multiplatform
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modules/land_detector
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modules/fw_att_control
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modules/fw_pos_control_l1
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modules/dataman
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modules/sdlog2
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modules/simulator
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modules/commander
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modules/controllib
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lib/mathlib
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lib/mathlib/math/filter
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lib/conversion
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lib/ecl
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lib/external_lgpl
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lib/geo
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lib/geo_lookup
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lib/launchdetection
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)
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message(STATUS "modules: ${config_module_list}")
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set(${out_module_list} ${config_module_list} PARENT_SCOPE)
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endfunction()
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@@ -1,43 +0,0 @@
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list(APPEND module_directories
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./src/platforms/posix/px4_layer
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./src/platforms/posix/work_queue
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./src/platforms/posix/drivers/adcsim
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./src/platforms/posix/drivers/gpssim
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./src/platforms/posix/drivers/tonealrmsim
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./src/platforms/posix/drivers/accelsim
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./src/platforms/posix/drivers/airspeedsim
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./src/platforms/posix/drivers/barosim
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./src/platforms/posix/drivers/gyrosim
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./src/systemcmds/param
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./src/systemcmds/mixer
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./src/systemcmds/topic_listener
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./src/systemcmds/ver
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./src/systemcmds/esc_calib
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./src/systemcmds/reboot
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./src/modules/sensors
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./src/modules/mavlink
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./src/modules/attitude_estimator_ekf
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./src/modules/attitude_estimator_q
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./src/modules/ekf_att_pos_estimator
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./src/modules/position_estimator_inav
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./src/modules/navigator
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./src/modules/mc_pos_control
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./src/modules/mc_att_control
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./src/modules/mc_pos_control_multiplatform
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./src/modules/mc_att_control_multiplatform
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./src/modules/land_detector
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./src/modules/fw_att_control
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./src/modules/fw_pos_control_l1
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./src/modules/dataman
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./src/modules/sdlog2
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./src/modules/simulator
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./src/modules/commander
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./src/modules/controllib
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./src/lib/mathlib
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./src/lib/ecl
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./src/lib/external_lgpl
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./src/lib/geo
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./src/lib/geo_lookup
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./src/lib/launchdetection
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)
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@@ -0,0 +1,262 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#=============================================================================
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#
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# Defined functions in this file
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#
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# OS Specific Functions
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#
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# * px4_posix_add_firmware
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# * px4_posix_generate_builtin_commands
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# * px4_posix_add_export
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# * px4_posix_generate_romfs
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#
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# Required OS Inteface Functions
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#
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# * px4_os_add_flags
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# * px4_os_prebuild_targets
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#
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include(px4_base)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix/configs)
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|
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#=============================================================================
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#
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# px4_posix_generate_builtin_commands
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#
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# This function generates the builtin_commands.c src for posix
|
||||||
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#
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||||||
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# Usage:
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||||||
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# px4_posix_generate_builtin_commands(
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||||||
|
# MODULE_LIST <in-list>
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# OUT <file>)
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#
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||||||
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# Input:
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||||||
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# MODULE_LIST : list of modules
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||||||
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#
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||||||
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# Output:
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||||||
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# OUT : generated builtin_commands.c src
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||||||
|
#
|
||||||
|
# Example:
|
||||||
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# px4_posix_generate_builtin_commands(
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|
# OUT <generated-src> MODULE_LIST px4_simple_app)
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||||||
|
#
|
||||||
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function(px4_posix_generate_builtin_commands)
|
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px4_parse_function_args(
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||||||
|
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)
|
||||||
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set(command_count 0)
|
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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/builtin_commands.cpp_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
|
||||||
|
)
|
||||||
|
|
||||||
|
set(added_definitions
|
||||||
|
-D__PX4_POSIX
|
||||||
|
-D__PX4_LINUX
|
||||||
|
-DCLOCK_MONOTONIC=1
|
||||||
|
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
|
||||||
|
-include ${PX4_INCLUDE_DIR}visibility.h
|
||||||
|
)
|
||||||
|
|
||||||
|
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()
|
||||||
|
|
||||||
|
#=============================================================================
|
||||||
|
#
|
||||||
|
# px4_posix_add_modules
|
||||||
|
#
|
||||||
|
# This function adds target modules
|
||||||
|
#
|
||||||
|
# Usage:
|
||||||
|
# px4_os_prebuild_targets(
|
||||||
|
# OUT_MODULES <module-subdir-list>
|
||||||
|
# BOARD <in-string>
|
||||||
|
# )
|
||||||
|
#
|
||||||
|
# Input:
|
||||||
|
# BOARD : board
|
||||||
|
#
|
||||||
|
# Output:
|
||||||
|
# OUT_MODULES : the updated module list
|
||||||
|
#
|
||||||
|
# Example:
|
||||||
|
# px4_posix_add_modules(module_list "hil")
|
||||||
|
#
|
||||||
|
function(px4_posix_add_modules OUT_MODULES BOARD)
|
||||||
|
include(config-posix-${BOARD})
|
||||||
|
set(config_modules)
|
||||||
|
px4_set_config_modules(config_modules)
|
||||||
|
set(${OUT_MODULES} ${${OUT_MODULES}} ${config_modules} PARENT_SCOPE)
|
||||||
|
endfunction()
|
||||||
|
|
||||||
|
|
||||||
|
macro(px4_target_firmware)
|
||||||
|
set(installed_targets)
|
||||||
|
add_executable(main ./src/platforms/posix/main.cpp)
|
||||||
|
target_link_libraries(main ${module_list} ${EXE_LINK_LIBS} ${module_list} ${EXE_LINK_LIBS})
|
||||||
|
list(APPEND installed_targets main)
|
||||||
|
endmacro()
|
||||||
|
|
||||||
@@ -1,111 +0,0 @@
|
|||||||
############################################################################
|
|
||||||
#
|
|
||||||
# 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.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#=============================================================================
|
|
||||||
# FILE: posix/px4_target_impl.cmake
|
|
||||||
#
|
|
||||||
# Each PX4 target OS must implement the cmake/${OS}/px4_target_impl.cmake
|
|
||||||
# rules for their target that implement the following macros:
|
|
||||||
#
|
|
||||||
# px4_target_set_flags
|
|
||||||
# px4_target_validate_config
|
|
||||||
# px4_target_firmware
|
|
||||||
# px4_target_rules
|
|
||||||
# px4_target_testing
|
|
||||||
#
|
|
||||||
# The macros are called from the top level CMakeLists.txt
|
|
||||||
#
|
|
||||||
set(POSIX_APPS_HEADER ${CMAKE_BINARY_DIR}/apps.h)
|
|
||||||
|
|
||||||
add_git_submodule(eigen src/lib/eigen)
|
|
||||||
|
|
||||||
macro(px4_target_set_flags)
|
|
||||||
include_directories(
|
|
||||||
src/platforms/posix/include
|
|
||||||
)
|
|
||||||
add_definitions(
|
|
||||||
-D__PX4_POSIX
|
|
||||||
-D__PX4_LINUX
|
|
||||||
"-Dnoreturn_function=__attribute__\(\(noreturn\)\)"
|
|
||||||
-DCLOCK_MONOTONIC=1
|
|
||||||
)
|
|
||||||
list(APPEND EXE_LINK_LIBS
|
|
||||||
pthread
|
|
||||||
)
|
|
||||||
endmacro()
|
|
||||||
|
|
||||||
macro(px4_target_validate_config)
|
|
||||||
if(NOT EXISTS ${CMAKE_SOURCE_DIR}/cmake/${OS}/${TARGET_NAME}.cmake)
|
|
||||||
message(FATAL_ERROR "not implemented yet: ${TARGET_NAME}")
|
|
||||||
endif()
|
|
||||||
endmacro()
|
|
||||||
|
|
||||||
macro(px4_target_set_modules)
|
|
||||||
# Include the target config file
|
|
||||||
include(${TARGET_NAME})
|
|
||||||
endmacro()
|
|
||||||
|
|
||||||
macro(px4_target_firmware)
|
|
||||||
set(installed_targets)
|
|
||||||
add_executable(main ./src/platforms/posix/main.cpp)
|
|
||||||
target_link_libraries(main ${module_list} ${EXE_LINK_LIBS} ${module_list} ${EXE_LINK_LIBS})
|
|
||||||
list(APPEND installed_targets main)
|
|
||||||
endmacro()
|
|
||||||
|
|
||||||
macro(px4_target_rules)
|
|
||||||
#=============================================================================
|
|
||||||
# apps
|
|
||||||
#
|
|
||||||
add_custom_command(OUTPUT ${POSIX_APPS_HEADER}
|
|
||||||
COMMAND PYTHONPATH=${PYTHONPATH} ${PYTHON_EXECUTABLE}
|
|
||||||
${CMAKE_SOURCE_DIR}/Tools/posix_apps.py > ${POSIX_APPS_HEADER}
|
|
||||||
COMMENT "Generating posix apps"
|
|
||||||
VERBATIM
|
|
||||||
)
|
|
||||||
|
|
||||||
add_custom_target(posix_apps ALL DEPENDS ${POSIX_APPS_HEADER})
|
|
||||||
endmacro()
|
|
||||||
|
|
||||||
macro(px4_target_testing)
|
|
||||||
if (${BOARD} STREQUAL "sitl")
|
|
||||||
|
|
||||||
add_test(test_px4_simple_app ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/cmake/test_compare.py
|
|
||||||
--command ${CMAKE_BINARY_DIR}/main
|
|
||||||
--stdout ${CMAKE_BINARY_DIR}/test/px4_simple_app_output.txt
|
|
||||||
--stdin ${CMAKE_SOURCE_DIR}/cmake/test/px4_simple_app_input.txt
|
|
||||||
--check ${CMAKE_SOURCE_DIR}/cmake/test/px4_simple_app_correct.txt
|
|
||||||
--start 4 --stop -1
|
|
||||||
)
|
|
||||||
|
|
||||||
endif()
|
|
||||||
endmacro()
|
|
||||||
+1
-1
@@ -4,6 +4,6 @@ add_subdirectory(./platforms)
|
|||||||
add_subdirectory(./systemcmds)
|
add_subdirectory(./systemcmds)
|
||||||
add_subdirectory(./examples)
|
add_subdirectory(./examples)
|
||||||
add_subdirectory(./modules)
|
add_subdirectory(./modules)
|
||||||
add_subdirectory(./firmware)
|
add_subdirectory(./firmware/${OS})
|
||||||
|
|
||||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||||
|
|||||||
@@ -1,3 +1,26 @@
|
|||||||
#TODO
|
include(px4_base)
|
||||||
|
|
||||||
|
set(module_dir_list)
|
||||||
|
set(module_list)
|
||||||
|
px4_posix_add_modules(module_dir_list ${BOARD})
|
||||||
|
message(STATUS "module list: ${module_dir_list}")
|
||||||
|
|
||||||
|
foreach(directory ${module_dir_list})
|
||||||
|
message(STATUS "directory: ${directory}")
|
||||||
|
px4_mangle_name(${directory} mangled_name)
|
||||||
|
list(APPEND module_list
|
||||||
|
${mangled_name})
|
||||||
|
endforeach()
|
||||||
|
px4_posix_generate_builtin_commands(
|
||||||
|
OUT builtin_commands.cpp
|
||||||
|
MODULE_LIST ${module_list})
|
||||||
|
|
||||||
|
add_executable(mainapp builtin_commands.cpp)
|
||||||
|
target_link_libraries(mainapp
|
||||||
|
-Wl,--start-group
|
||||||
|
${module_list}
|
||||||
|
pthread m
|
||||||
|
-Wl,--end-group
|
||||||
|
)
|
||||||
|
|
||||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||||
|
|||||||
@@ -0,0 +1,2 @@
|
|||||||
|
#define PX4_GIT_VERSION_STR "1234567890123456789012345678901234567890"
|
||||||
|
#define PX4_GIT_VERSION_BINARY 0x1234567890123456
|
||||||
@@ -30,6 +30,12 @@
|
|||||||
# POSSIBILITY OF SUCH DAMAGE.
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
#
|
#
|
||||||
############################################################################
|
############################################################################
|
||||||
|
set(SIMULATOR_SRCS simulator.cpp)
|
||||||
|
if (NOT ${OS} STREQUAL "qurt")
|
||||||
|
list(APPEND SIMULATOR_SRCS
|
||||||
|
simulator_mavlink.cpp)
|
||||||
|
endif()
|
||||||
|
|
||||||
px4_add_module(
|
px4_add_module(
|
||||||
MODULE modules__simulator
|
MODULE modules__simulator
|
||||||
MAIN simulator
|
MAIN simulator
|
||||||
@@ -40,8 +46,9 @@ px4_add_module(
|
|||||||
-Wno-packed
|
-Wno-packed
|
||||||
|
|
||||||
SRCS
|
SRCS
|
||||||
simulator.cpp
|
${SIMULATOR_SRCS}
|
||||||
DEPENDS
|
DEPENDS
|
||||||
platforms__common
|
platforms__common
|
||||||
)
|
)
|
||||||
|
|
||||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||||
|
|||||||
@@ -589,7 +589,7 @@ measairspeedsim_main(int argc, char *argv[])
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
int ret;
|
int ret = 0;
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Start/load the driver.
|
* Start/load the driver.
|
||||||
|
|||||||
@@ -16,7 +16,7 @@ set(directories
|
|||||||
./motor_test
|
./motor_test
|
||||||
./esc_calib
|
./esc_calib
|
||||||
./perf
|
./perf
|
||||||
./topic_listener
|
# ./topic_listener
|
||||||
./dumpfile
|
./dumpfile
|
||||||
./pwm
|
./pwm
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -30,15 +30,15 @@
|
|||||||
# POSSIBILITY OF SUCH DAMAGE.
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
#
|
#
|
||||||
############################################################################
|
############################################################################
|
||||||
#px4_add_module(
|
px4_add_module(
|
||||||
#MODULE systemcmds__topic_listener
|
MODULE systemcmds__topic_listener
|
||||||
#MAIN listener
|
MAIN listener
|
||||||
#STACK 1800
|
STACK 1800
|
||||||
#COMPILE_FLAGS
|
COMPILE_FLAGS
|
||||||
#-Os
|
-Os
|
||||||
#SRCS
|
SRCS
|
||||||
#topic_listener.cpp
|
topic_listener.cpp
|
||||||
#DEPENDS
|
DEPENDS
|
||||||
#platforms__common
|
platforms__common
|
||||||
#)
|
)
|
||||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||||
|
|||||||
Reference in New Issue
Block a user