cmake use standard mechanisms for settings flags

CMakeLists.txt

@@ -213,7 +213,7 @@ endif()
 message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
 include(px4_add_board)
 include(${PX4_CONFIG_FILE})
-message(STATUS "PX4 config: ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}")
+message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
 # external modules
@@ -272,6 +272,11 @@ endif()
 # Setup install paths
 if (${PX4_PLATFORM} STREQUAL "posix")
 
+	# This makes it possible to dynamically load code which depends on symbols
+	# inside the px4 executable.
+	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+	set(CMAKE_ENABLE_EXPORTS ON)
+
 	include(coverage)
 	include(sanitizers)
 
@@ -287,19 +292,6 @@ if (${PX4_PLATFORM} STREQUAL "posix")
 	include(CTest)
 endif()
 
-#=============================================================================
-# require px4 module interface
-set(px4_required_interface
-	px4_os_prebuild_targets
-	px4_os_add_flags
-	px4_add_board
-	)
-foreach(cmd ${px4_required_interface})
-	if (NOT COMMAND ${cmd})
-		message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
-	endif()
-endforeach()
-
 #=============================================================================
 # ccache
 #
@@ -349,19 +341,9 @@ endif()
 #=============================================================================
 # build flags
 #
-px4_os_add_flags(
-	BOARD ${PX4_BOARD}
-	C_FLAGS c_flags
-	CXX_FLAGS cxx_flags
-	OPTIMIZATION_FLAGS optimization_flags
-	EXE_LINKER_FLAGS exe_linker_flags
-	INCLUDE_DIRS include_dirs
-	LINK_DIRS link_dirs
-	DEFINITIONS definitions)
-
-px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
+include(px4_add_common_flags)
+px4_add_common_flags()
+px4_os_add_flags()
 
 #=============================================================================
 # message, and airframe generation
@@ -546,14 +528,14 @@ add_custom_target(all_metadata
 #
 # Important to having packaging at end of cmake file.
 #
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
 set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${PX4_GIT_TAG}")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")

boards/aerotenna/ocpoc/ubuntu.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	MODEL ocpoc
 	LABEL ubuntu
 	PLATFORM posix
-	PROCESSOR cortex-a9
+	ARCHITECTURE cortex-a9
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 

boards/airmind/mindpx-v2/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR airmind
 	MODEL mindpx-v2
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 1

boards/atlflight/eagle/default.cmake

@@ -25,16 +25,24 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 set(CONFIG_SHMEM "1")
 add_definitions(-DORB_COMMUNICATOR)
 
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the Snapdragon.
-add_definitions(-D__PX4_POSIX_EAGLE)
+# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
+add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
+add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
+
+add_definitions(
+	-D__PX4_POSIX_EAGLE
+	-D__PX4_LINUX
+
+	# For DriverFramework
+	-D__DF_LINUX
+)
 
 px4_add_board(
 	PLATFORM posix
 	VENDOR atlflight
 	MODEL eagle
 	LABEL default
-	TESTING
+	#TESTING
 	TOOLCHAIN arm-linux-gnueabihf
 
 	DRIVERS
@@ -100,18 +108,18 @@ px4_add_board(
 		reboot
 		sd_bench
 		shutdown
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
 		ver
 
 	EXAMPLES
-		bottle_drop # OBC challenge
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#bottle_drop # OBC challenge
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hwtest # Hardware test
-		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
-		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
-		rover_steering_control # Rover example app
-		segway
+		#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
+		#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
+		#rover_steering_control # Rover example app
+		#segway
 	)

boards/atlflight/eagle/src/board_config.h

@@ -47,8 +47,6 @@
 
 #define BOARD_NUMBER_BRICKS     0
 
-#define CONFIG_ARCH_BOARD_SITL 1
-
 /*
  * I2C busses
  */

boards/atlflight/excelsior/default.cmake

@@ -25,9 +25,17 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 set(CONFIG_SHMEM "1")
 add_definitions(-DORB_COMMUNICATOR)
 
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the Snapdragon.
-add_definitions(-D__PX4_POSIX_EXCELSIOR)
+# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
+add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
+add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
+
+add_definitions(
+	-D__PX4_POSIX_EXCELSIOR
+	-D__PX4_LINUX
+
+	# For DriverFramework
+	-D__DF_LINUX
+)
 
 px4_add_board(
 	PLATFORM posix

boards/atmel/same70xplained/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR atmel
 	MODEL same70xplained
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m7
+	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	TESTING
 	#UAVCAN_INTERFACES 1

boards/auav/esc35-v1/default.cmake

@@ -41,7 +41,7 @@ px4_add_board(
 	VENDOR auav
 	MODEL esc35-v1
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 
 	DRIVERS
 		bootloaders

boards/auav/x21/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR auav
 	MODEL x21
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	TESTING

boards/av/x-v1/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR av
 	MODEL x-v1
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m7
+	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 2

boards/beaglebone/blue/cross.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	MODEL blue
 	LABEL cross
 	PLATFORM posix
-	PROCESSOR cortex-a8
+	ARCHITECTURE cortex-a8
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 

boards/bitcraze/crazyflie/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR bitcraze
 	MODEL crazyflie
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
 
 	DRIVERS

boards/emlid/navio2/cross.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	MODEL navio2
 	LABEL cross
 	PLATFORM posix
-	PROCESSOR cortex-a53
+	ARCHITECTURE cortex-a53
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 

boards/gumstix/aerocore2/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR gumstix
 	MODEL aerocore2
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
 	UAVCAN_INTERFACES 1
 

boards/intel/aerofc-v1/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR intel
 	MODEL aerofc-v1
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
 
 	SERIAL_PORTS

boards/intel/aerofc-v1/rtps.cmake

@@ -5,7 +5,7 @@ px4_add_board(
 	MODEL aerofc-v1
 	LABEL rtsp
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
 
 	SERIAL_PORTS

boards/nxp/hlite-v3/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR nxp
 	MODEL hlite-v3
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 2

boards/nxp/hlite-v3/nuttx-config/Kconfig

@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if ARCH_BOARD_NXPHLITE_V3
+if ARCH_BOARD_NXP_HLITE_V3
 config NXPHLITE_SDHC_AUTOMOUNT
 	bool "SDHC automounter"
 	default n

boards/nxp/hlite-v3/nuttx-config/include/board.h

@@ -35,8 +35,8 @@
  *
  ************************************************************************************/
 
-#ifndef __CONFIG_NXPHLITE_V3_INCLUDE_BOARD_H
-#define __CONFIG_NXPHLITE_V3_INCLUDE_BOARD_H
+#ifndef __CONFIG_NXP_HLITE_V3_INCLUDE_BOARD_H
+#define __CONFIG_NXP_HLITE_V3_INCLUDE_BOARD_H
 
 /************************************************************************************
  * Included Files
@@ -556,4 +556,4 @@ void kinetis_boardinitialize(void);
 #endif
 
 #endif /* __ASSEMBLY__ */
-#endif  /* __CONFIG_NXPHLITE_V23_INCLUDE_BOARD_H */
+#endif  /* __CONFIG_NXP_HLITE_V3_INCLUDE_BOARD_H */

boards/omnibus/f4sd/default.cmake

@@ -4,7 +4,7 @@ px4_add_board(
 	VENDOR omnibus
 	MODEL f4sd
 	TOOLCHAIN arm-none-eabi
-	PROCESSOR cortex-m4
+	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
 
 	SERIAL_PORTS