cmake: Adding qurt build support

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

CMakeLists.txt

@@ -214,12 +214,7 @@ px4_generate_messages(TARGET msg_gen
 #=============================================================================
 # subdirectories
 #
-if(${OS} STREQUAL "nuttx")
-	add_subdirectory(src)
-else(${OS} STREQUAL "nuttx")
-	set(module_list)
-	px4_target_add_modules(module_list)
-endif()
+add_subdirectory(src)
 
 #=============================================================================
 # packaging

cmake/Toolchain-hexagon.cmake

@@ -32,7 +32,7 @@
 include(CMakeForceCompiler)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-include(px4_utils)
+include(px4_base)
 
 if(NOT HEXAGON_TOOLS_ROOT)
 	set(HEXAGON_TOOLS_ROOT /opt/6.4.05)

cmake/px4_impl_qurt.cmake

+############################################################################
+#
+# 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(px4_base)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt/configs)
+include(qurt_funcs)
+
+#=============================================================================
+#
+#	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
+				"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n")
+			set(builtin_apps_decl_string
+				"${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/builtin_commands.c.cmake
+		${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
+		src/lib/eigen-3.2
+                )
+
+        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 ${ARGN})
+endfunction()
+
+#=============================================================================
+#
+#	px4_qurt_add_modules
+#
+#	This function adds target modules
+#
+#	Usage:
+#		px4_os_prebuild_targets(
+#			OUT <out-list_of_targets>
+#			BOARD <in-string>
+#			)
+#
+#	Input:
+#		BOARD 		: board
+#
+#	Output:
+#		MODULE_LIST	: the updated module list
+#
+#	Example:
+#		px4_qurt_add_modules(MODULE_LIST module_list BOARD hil)
+#
+function(px4_qurt_add_modules out_modules BOARD)
+	include(config-qurt-${BOARD})
+	set(config_modules)
+	px4_set_config_modules(config_modules)
+	set(${out_modules} ${out_modules} ${config_modules} PARENT_SCOPE)
+endfunction()
+
+# vim: set noet fenc=utf-8 ff=unix nowrap:

cmake/qurt/configs/config-qurt-hil.cmake

+function(px4_set_config_modules out_module_list)
+	set(config_module_list
+		drivers/device
+		drivers/boards/sitl
+		drivers/pwm_out_sim
+		drivers/led
+		drivers/rgbled
+		modules/sensors
+
+	#	drivers/blinkm
+	#	drivers/ms5611
+
+	#
+	# System commands
+	#
+		systemcmds/param
+		systemcmds/mixer
+
+	#
+	# General system control
+	#
+	#	modules/mavlink
+
+	#
+	# 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/systemlib
+		modules/systemlib/mixer
+		modules/uORB
+	#MODULES		+= modules/dataman
+	#MODULES		+= modules/sdlog2
+	#MODULES		+= modules/simulator
+		modules/commander
+
+	#
+	# Libraries
+	#
+		lib/mathlib
+		lib/mathlib/math/filter
+		lib/geo
+		lib/geo_lookup
+		lib/conversion
+		modules/controllib
+
+	#
+	# QuRT port
+	#
+		platforms/qurt/px4_layer
+		platforms/posix/work_queue
+	#	platforms/posix/drivers/accelsim
+	#	platforms/posix/drivers/gyrosim
+	#	platforms/posix/drivers/adcsim
+	#	platforms/posix/drivers/barosim
+
+	#
+	# Unit tests
+	#
+	#	platforms/qurt/tests/muorb
+	#	platforms/posix/tests/vcdev_test
+	#	platforms/posix/tests/hrt_test
+	#	platforms/posix/tests/wqueue
+
+	#
+	# sources for muorb over fastrpc
+	#
+		modules/muorb/adsp/
+		)
+	message(STATUS "modules: ${config_module_list}")
+	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+endfunction()
+

cmake/qurt/px4_target_impl.cmake → cmake/qurt/qurt_funcs.cmake

@@ -50,51 +50,6 @@ set(QURT_APPS_HEADER ${CMAKE_BINARY_DIR}/apps.h)
 px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
 px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")
 
-function(px4_target_set_flags)
-	set(inout_vars
-		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
-
-	px4_parse_function_args(
-		NAME px4_target_set_flags
-		ONE_VALUE ${inout_vars} BOARD
-		REQUIRED ${inout_vars} BOARD
-		ARGN ${ARGN})
-
-        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
-		src/lib/eigen-3.2
-                )
-
-        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)
-	endforeach()
-endfunction()
-
 function(px4_target_add_modules out_module_directories)
 	list(APPEND ${out_module_directories}
 		./src/platforms/qurt/px4_layer
@@ -107,7 +62,7 @@ function(px4_target_validate_config)
 	# FIXME - this can be done in Firmware/CMakeLists.txt
 	list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
 
-	if (NOT EXISTS("${CMAKE_SOURCE_DIR}/cmake/qurt/${TARGET_NAME}.cmake")
+	if (NOT EXISTS("${CMAKE_SOURCE_DIR}/cmake/qurt/${TARGET_NAME}.cmake"))
 		message(FATAL_ERROR "not implemented yet: ${TARGET_NAME}")
 	endif()
 endfunction()

src/CMakeLists.txt

-#=============================================================================
-# module subdirectories, need to include first
-#
-add_subdirectory(./lib)
-add_subdirectory(./drivers)
-add_subdirectory(./platforms)
-add_subdirectory(./systemcmds)
-add_subdirectory(./examples)
-add_subdirectory(./modules)
-
 #=============================================================================
 # executable
 #
 
-# a list of modules that will be linked to main
-set(module_list)
+if (${OS} STREQUAL "nuttx")
 
-if (${LABEL} STREQUAL "simple")
-	list(APPEND module_list
-		drivers__led
-		drivers__device
-		platforms__common
-		modules__systemlib
-		modules__uORB
-		examples__px4_simple_app
-		lib__mathlib__math__filter
-		lib__conversion
-	)
-endif()
+	#=============================================================================
+	# module subdirectories, need to include first
+	#
+	add_subdirectory(./lib)
+	add_subdirectory(./drivers)
+	add_subdirectory(./platforms)
+	add_subdirectory(./systemcmds)
+	add_subdirectory(./examples)
+	add_subdirectory(./modules)
 
-if (${OS} STREQUAL "nuttx")
+	# a list of modules that will be linked to main
+	set(module_list)
+
+	if (${LABEL} STREQUAL "simple")
+		list(APPEND module_list
+			drivers__led
+			drivers__device
+			platforms__common
+			modules__systemlib
+			modules__uORB
+			examples__px4_simple_app
+			lib__mathlib__math__filter
+			lib__conversion
+		)
+	endif()
 
 	if (${LABEL} STREQUAL "simple")
 		list(APPEND module_list ${module_list_simple})
@@ -70,6 +70,16 @@ if (${OS} STREQUAL "nuttx")
 	px4_nuttx_generate_romfs(OUT ${CMAKE_CURRENT_BINARY_DIR}/romfs.img
 		ROOT ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common)
 
+elseif(${OS} STREQUAL "qurt")
+	set(module_list)
+	px4_qurt_add_modules(module_list ${BOARD})
+	message(STATUS "module list: ${module_list}")
+
+	px4_qurt_generate_builtin_commands(
+		OUT builtin_commands.c
+		MODULE_LIST ${module_list})
+
+	add_executable(mainapp builtin_commands.c)
 endif()
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :