Simplified config handling.

CMakeLists.txt

@@ -73,8 +73,8 @@
 # ---------------------------------------------------------------------------
 #
 # * Never set global variables in an included cmake file,
-#	you may only define functions. This excludes Toolchain files. This
+#	you may only define functions. This excludes config and Toolchain files.
-#	makes it clear to the user when variables are being set or targets
+#	This makes it clear to the user when variables are being set or targets
 #	are being created.
 #
 # * Setting a global variable in a CMakeLists.txt file is ok, because
@@ -133,7 +133,7 @@ set(px4_required_config
 	)
 foreach(conf ${px4_required_config})
 	if(NOT DEFINED ${conf})
-		message(FATAL_ERROR "${config_module} must define ${conf}")
+		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()
 

cmake/configs/nuttx_px4fmu-v2_simple.cmake

@@ -1,160 +1,135 @@
 include(nuttx/px4_impl_nuttx)
 
-function(px4_get_config)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
-	px4_parse_function_args(
+set(config_module_list
-		NAME px4_set_config_modules
-		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
-		ARGN ${ARGN})
 
-	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
 
-		#
+	#
-		# Board support modules
+	# System commands
-		#
+	#
-		drivers/device
+	systemcmds/bl_update
-		drivers/stm32
+	systemcmds/mixer
-		drivers/stm32/adc
+	systemcmds/param
-		drivers/stm32/tone_alarm
+	systemcmds/perf
-		drivers/led
+	systemcmds/pwm
-		drivers/px4fmu
+	systemcmds/esc_calib
-		drivers/px4io
+	systemcmds/reboot
-		drivers/boards/px4fmu-v2
+	systemcmds/top
-		drivers/rgbled
+	systemcmds/config
-		drivers/mpu6000
+	systemcmds/nshterm
-		drivers/mpu9250
+	systemcmds/mtd
-		drivers/lsm303d
+	systemcmds/dumpfile
-		drivers/l3gd20
+	systemcmds/ver
-		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
+	# Logging
-		#
+	#
-		systemcmds/bl_update
+	modules/sdlog2
-		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
+	# Library modules
-		#
+	#
-		modules/sdlog2
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
 
-		#
+	#
-		# Library modules
+	# Libraries
-		#
+	#
-		modules/systemlib
+	#lib/mathlib/CMSIS
-		modules/systemlib/mixer
+	lib/mathlib
-		modules/controllib
+	lib/mathlib/math/filter
-		modules/uORB
+	lib/ecl
-		modules/dataman
+	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
-		# Libraries
+	platforms/common 
-		#
+	platforms/nuttx/px4_layer
-		#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 
+	# Demo apps
-		platforms/nuttx/px4_layer
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
 
-		#
+	# Tutorial code from
-		# Demo apps
+	# https://px4.io/dev/daemon
-		#
+	examples/px4_daemon_app
-		#examples/math_demo
-		# Tutorial code from
-		# https://px4.io/dev/px4_simple_app
-		examples/px4_simple_app
 
-		# Tutorial code from
+	# Tutorial code from
-		# https://px4.io/dev/daemon
+	# https://px4.io/dev/debug_values
-		examples/px4_daemon_app
+	examples/px4_mavlink_debug
 
-		# Tutorial code from
+	# Tutorial code from
-		# https://px4.io/dev/debug_values
+	# https://px4.io/dev/example_fixedwing_control
-		examples/px4_mavlink_debug
+	examples/fixedwing_control
 
-		# Tutorial code from
+	# Hardware test
-		# https://px4.io/dev/example_fixedwing_control
+	examples/hwtest
-		examples/fixedwing_control
+)
 
-		# Hardware test
+set(config_firmware_options
-		examples/hwtest
+	PARAM_XML # generate param xml
 	)
 
-	set(firmware_options
+set(config_extra_builtin_cmds
-		PARAM_XML # generate param xml
+	serdis_main
-		)
+	sercon_main
+	)
 
-	set(extra_cmds serdis_main sercon_main)
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
 
-	# output
+add_custom_target(serdis)
-	if(OUT_MODULES)
+set_target_properties(serdis PROPERTIES
-		set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
+	MAIN "serdis" STACK "2048")
-	endif()
-
-	if (OUT_FW_OPTS)
-		set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
-	endif()
-
-endfunction()
-
-function(px4_add_extra_builtin_cmds)
-
-	px4_parse_function_args(
-		NAME px4_add_extra_builtin_cmds
-		ONE_VALUE OUT
-		REQUIRED OUT
-		ARGN ${ARGN})
-
-	add_custom_target(sercon)
-	set_target_properties(sercon PROPERTIES
-		MAIN "sercon" STACK "2048")
-
-	add_custom_target(serdis)
-	set_target_properties(serdis PROPERTIES
-		MAIN "serdis" STACK "2048")
-
-	set(${OUT} sercon serdis PARENT_SCOPE)
-
-endfunction()

cmake/configs/nuttx_sim_simple.cmake

@@ -2,27 +2,35 @@ include(nuttx/px4_impl_nuttx)
 
 message(WARNING "this is a work in progress and doesn't build yet")
 
-function(px4_get_config)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-native.cmake)
 
-	px4_parse_function_args(
+set(config_module_list
-		NAME px4_set_config_modules
+	platforms/nuttx
-		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+	platforms/nuttx/px4_layer
-		ARGN ${ARGN})
+	platforms/common
+	drivers/led
+	drivers/device
+	modules/systemlib
+	modules/uORB
+	examples/px4_simple_app
+	lib/mathlib/math/filter
+	lib/conversion
+	)
 
-	set(config_module_list
+set(config_firmware_options
-		platforms/nuttx
+	PARAM_XML # generate param xml
-		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(${out_module_list} ${config_module_list} PARENT_SCOPE)
+set(config_extra_builtin_cmds
+	serdis_main
+	sercon_main
+	)
 
-endfunction()
+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/posix_sitl_simple.cmake

@@ -1,98 +1,73 @@
 include(posix/px4_impl_posix)
-set(USE_TOOLCHAIN Toolchain-native)
 
-function(px4_get_config)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-native.cmake)
 
-	px4_parse_function_args(
+set(config_module_list
-		NAME px4_set_config_modules
+	drivers/led
-		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+	drivers/device
-		ARGN ${ARGN})
+	drivers/boards/sitl
+	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/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_module_list
-		drivers/led
-		drivers/device
-		drivers/boards/sitl
-		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/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(firmware_options
+set(config_firmware_options
-		PARAM_XML # generate param xml
+	PARAM_XML # generate param xml
-		)
+	)
 
-	set(extra_cmds serdis_main sercon_main)
+set(config_extra_builtin_cmds
+	serdis_main
+	sercon_main
+	)
 
-	# output
+add_custom_target(sercon)
-	if(OUT_MODULES)
+set_target_properties(sercon PROPERTIES
-		set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
+	MAIN "sercon" STACK "2048")
-	endif()
 
-	if (OUT_FW_OPTS)
+add_custom_target(serdis)
-		set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
+set_target_properties(serdis PROPERTIES
-	endif()
+	MAIN "serdis" STACK "2048")
-
-endfunction()
-
-function(px4_add_extra_builtin_cmds)
-
-	px4_parse_function_args(
-		NAME px4_add_extra_builtin_cmds
-		ONE_VALUE OUT
-		REQUIRED OUT
-		ARGN ${ARGN})
-
-	add_custom_target(sercon)
-	set_target_properties(sercon PROPERTIES
-		MAIN "sercon" STACK "2048")
-
-	add_custom_target(serdis)
-	set_target_properties(serdis PROPERTIES
-		MAIN "serdis" STACK "2048")
-
-	set(${OUT} sercon serdis PARENT_SCOPE)
-
-endfunction()