From 419f4c49ce8b68826ad079d6f4443e9108164a0b Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Mon, 8 Feb 2016 22:54:25 -0800
Subject: [PATCH] Added new config entry for DF driver entries
DF drivers can now be added in each config file by adding
set(config_df_driver_list
bmp280
...
)
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
CMakeLists.txt | 17 ++++++++++++++++-
cmake/common/px4_base.cmake | 1 -
cmake/configs/qurt_eagle_default.cmake | 5 +++++
.../posix/drivers/df_imu/CMakeLists.txt | 4 ++++
src/platforms/posix/drivers/df_imu/df_imu.cpp | 3 +--
src/platforms/qurt/include/qurt_log.h | 16 +++++-----------
6 files changed, 31 insertions(+), 15 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 458b297b04..a2906b01e7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -193,6 +193,11 @@ foreach(conf ${px4_required_config})
endif()
endforeach()
+# List the DriverFramework drivers
+if(DEFINED config_df_driver_list)
+ message("DF Drivers: ${config_df_driver_list}")
+endif()
+
#=============================================================================
# project definition
#
@@ -346,7 +351,7 @@ endforeach()
add_subdirectory(src/firmware/${OS})
add_subdirectory(src/lib/DriverFramework/framework/src)
-add_subdirectory(src/lib/DriverFramework/drivers/)
+
#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
if (NOT "${OS}" STREQUAL "nuttx")
endif()
@@ -355,6 +360,16 @@ if (config_io_board)
add_subdirectory(src/modules/px4iofirmware)
endif()
+#=============================================================================
+# DriverFramework Drivers
+#
+set(df_libraries)
+foreach(driver ${config_df_driver_list})
+ add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+ list(APPEND df_libraries ${driver})
+ #message(STATUS "adding driver: ${driver}")
+endforeach()
+
#=============================================================================
# generate git version
#
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index f65a01cbd0..36072c185e 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -643,7 +643,6 @@ function(px4_add_common_flags)
${CMAKE_BINARY_DIR}/src/modules
${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
- ${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/drivers/imu
)
list(APPEND added_include_dirs
diff --git a/cmake/configs/qurt_eagle_default.cmake b/cmake/configs/qurt_eagle_default.cmake
index 875c145fc1..ea47c65447 100644
--- a/cmake/configs/qurt_eagle_default.cmake
+++ b/cmake/configs/qurt_eagle_default.cmake
@@ -93,3 +93,8 @@ set(config_module_list
#
modules/muorb/adsp
)
+
+set(config_df_driver_list
+ mpu9250
+ bmp280
+ )
diff --git a/src/platforms/posix/drivers/df_imu/CMakeLists.txt b/src/platforms/posix/drivers/df_imu/CMakeLists.txt
index 332947b2ee..9279786513 100644
--- a/src/platforms/posix/drivers/df_imu/CMakeLists.txt
+++ b/src/platforms/posix/drivers/df_imu/CMakeLists.txt
@@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
+
+include_directories(../../../../lib/DriverFramework/drivers)
+
px4_add_module(
MODULE platforms__posix__drivers__df_imu
MAIN df_imu
@@ -38,5 +41,6 @@ px4_add_module(
DEPENDS
platforms__common
df_driver_framework
+ df_mpu9250
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/platforms/posix/drivers/df_imu/df_imu.cpp b/src/platforms/posix/drivers/df_imu/df_imu.cpp
index 918a27b068..6630eaed51 100644
--- a/src/platforms/posix/drivers/df_imu/df_imu.cpp
+++ b/src/platforms/posix/drivers/df_imu/df_imu.cpp
@@ -60,8 +60,7 @@
//#include <mathlib/math/filter/LowPassFilter2p.hpp>
//#include <lib/conversion/rotation.h>
//
-//#include "DriverFramework.hpp"
-#include "lib/DriverFramework/drivers/imu/mpu9250/MPU9250.hpp"
+#include "mpu9250/MPU9250.hpp"
#include "DevMgr.hpp"
diff --git a/src/platforms/qurt/include/qurt_log.h b/src/platforms/qurt/include/qurt_log.h
index 7a9a0eba20..5c8f468877 100644
--- a/src/platforms/qurt/include/qurt_log.h
+++ b/src/platforms/qurt/include/qurt_log.h
@@ -30,16 +30,15 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
-#ifndef QURT_LOG_H
-#define QURT_LOG_H
+#pragma once
+
+#include <sys/cdefs.h>
#include <stdarg.h>
#include <stdio.h>
#include <stdint.h>
-#ifdef __cplusplus
-extern "C" {
-#endif
+__BEGIN_DECLS
__EXPORT extern uint64_t hrt_absolute_time(void);
@@ -59,9 +58,4 @@ static __inline void qurt_log(int level, const char *file, int line,
HAP_debug(buf, level, file, line);
}
-#ifdef __cplusplus
-}
-#endif
-
-#endif // QURT_LOG_H
-
+__END_DECLS
--
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