NuttX cmake

CMakeLists.txt

@@ -99,14 +99,8 @@
 #
 #=============================================================================
 
-if (${CMAKE_VERSION} VERSION_LESS 3.1.0)
-	message("Not a valid CMake version")
-	message("On Ubuntu >= 16.04, install or upgrade via:")
-	message("	sudo apt-get install cmake")
-	message("")
-	message("Official website: https://cmake.org/download/")
-	message(FATAL_ERROR "Update CMake and try again" )
-endif()
+# check submodules before we do anything
+execute_process(COMMAND Tools/check_submodules.sh WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
 
 # Warning: Changing this modifies CMake's internal workings
 # and leads to wrong toolchain detection
@@ -115,15 +109,9 @@ cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-execute_process(
-	COMMAND Tools/check_submodules.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
 #=============================================================================
 # configuration
 #
-# must come before project to set toolchain
 
 set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 
@@ -145,7 +133,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 endif()
 
 list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -176,16 +163,17 @@ message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 #
 include(common/px4_git)
 
+# version info from git
 execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
+	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
+	OUTPUT_VARIABLE version
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
 execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE git_version
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
@@ -203,8 +191,6 @@ px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 
-px4_create_git_hash_header()
-
 #=============================================================================
 
 message(STATUS "PX4 VERSION: ${git_tag}")
@@ -222,16 +208,11 @@ add_definitions(-DBUILD_URI=${BUILD_URI})
 # Define GNU standard installation directories
 include(GNUInstallDirs)
 
-# Add support for external project building
-include(ExternalProject)
-
 # Setup install paths
-if (NOT CMAKE_INSTALL_PREFIX)
-	if (${OS} STREQUAL "posix")
+if (${OS} STREQUAL "posix")
+	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
-endif()
-if (CMAKE_INSTALL_PREFIX)
 	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 endif()
 
@@ -358,9 +339,9 @@ px4_os_add_flags(
 	LINK_DIRS link_dirs
 	DEFINITIONS definitions)
 
-px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${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_directories(${include_dirs})
 #message("INCLUDE_DIRS=${include_dirs}")
@@ -378,7 +359,7 @@ px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
 	INCLUDES ${msg_include_paths}
-	DEPENDS git_genmsg git_gencpp prebuild_targets
+	DEPENDS prebuild_targets
 	)
 
 px4_generate_airframes_xml(BOARD ${BOARD})
@@ -453,10 +434,6 @@ set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "mod
 
 add_subdirectory(src/firmware/${OS})
 
-if (config_io_board)
-	add_subdirectory(src/modules/px4iofirmware)
-endif()
-
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets
 #

Makefile

@@ -188,6 +188,8 @@ qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
 
 # px4fmu NuttX firmware
 px4fmu_firmware: \
+	check_px4io-v1_default \
+	check_px4io-v2_default \
 	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
 	check_px4fmu-v3_default \
@@ -218,14 +220,14 @@ alt_firmware: \
 checks_bootloaders: \
 	check_esc35-v1_bootloader \
 	check_px4cannode-v1_bootloader \
-	check_px4esc-v1_bootloader \
 	check_px4flow-v2_bootloader \
 	check_s2740vc-v1_bootloader \
-# not fitting in flash	check_zubaxgnss-v1_bootloader \
+	check_px4esc-v1_bootloader \
+	check_zubaxgnss-v1_bootloader \
 	sizes
 
 sizes:
-	@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || :
+	@-find build_* -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
 check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders tests check_format
@@ -365,7 +367,6 @@ cppcheck: posix_sitl_default
 
 clean:
 	@rm -rf $(SRC_DIR)/build_*/
-	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d

cmake/common/px4_base.cmake

@@ -458,7 +458,6 @@ function(px4_add_common_flags)
 		${PX4_BINARY_DIR}
 		${PX4_BINARY_DIR}/src
 		${PX4_BINARY_DIR}/src/modules
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 		${PX4_SOURCE_DIR}/src
 		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
 		${PX4_SOURCE_DIR}/src/include
@@ -480,14 +479,6 @@ function(px4_add_common_flags)
 		-D__STDC_FORMAT_MACROS
 		)
 
-	if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
-		set(added_exe_linker_flags
-			-Wl,--warn-common
-			-Wl,--gc-sections
-			#,--print-gc-sections
-			)
-	endif()
-
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)

cmake/common/px4_git.cmake

@@ -82,57 +82,3 @@ function(px4_add_git_submodule)
 		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
-
-#=============================================================================
-#
-#	px4_create_git_hash_header
-#
-#	Create a header file containing the git hash of the current tree
-#
-#	Usage:
-#		px4_create_git_hash_header()
-#
-#	Example:
-#		px4_create_git_hash_header()
-#
-function(px4_create_git_hash_header)
-	px4_parse_function_args(
-		NAME px4_create_git_hash_header
-		ARGN ${ARGN})
-
-	set(px4_git_ver_header ${PX4_BINARY_DIR}/build_git_version.h)
-
-	# check if px4 source is a git repo
-	if(EXISTS ${PX4_SOURCE_DIR}/.git)
-		if (IS_DIRECTORY ${PX4_SOURCE_DIR}/.git)
-			# standard git repo
-			set(git_dir_path ${PX4_SOURCE_DIR}/.git)
-		else()
-			# git submodule
-			file(READ ${PX4_SOURCE_DIR}/.git git_dir_path)
-			string(STRIP ${git_dir_path} git_dir_path)
-			string(REPLACE "gitdir: " "" git_dir_path ${git_dir_path})
-			get_filename_component(git_dir_path ${git_dir_path} ABSOLUTE)
-		endif()
-	else()
-		message(FATAL_ERROR "is not a git repository")
-	endif()
-	if(NOT IS_DIRECTORY "${git_dir_path}")
-		message(FATAL_ERROR "${git_dir_path} is not a directory")
-	endif()
-
-	set(deps
-		${PX4_SOURCE_DIR}/Tools/px_update_git_header.py
-		${git_dir_path}/index
-		${git_dir_path}/HEAD)
-
-	add_custom_command(
-		OUTPUT ${px4_git_ver_header}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_update_git_header.py ${px4_git_ver_header} > ${PX4_BINARY_DIR}/git_header.log
-		DEPENDS ${deps}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMENT "Generating git hash header"
-		)
-	set_source_files_properties(${px4_git_ver_header} PROPERTIES GENERATED TRUE)
-	add_custom_target(ver_gen ALL DEPENDS ${px4_git_ver_header})
-endfunction()

cmake/common/px4_metadata.cmake

@@ -73,7 +73,7 @@ function(px4_generate_messages)
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
 
-	if("${config_nuttx_config}" STREQUAL "bootloader")
+	if("${nuttx_config_type}" STREQUAL "bootloader")
 		# do nothing for bootloaders
 	else()
 
@@ -191,11 +191,12 @@ function(px4_generate_airframes_xml)
 		REQUIRED BOARD
 		ARGN ${ARGN})
 
-	add_custom_command(OUTPUT ${PX4_SOURCE_DIR}/airframes.xml
+	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/airframes.xml
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 			-a ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
 			--board CONFIG_ARCH_BOARD_${BOARD} --xml
 		DEPENDS ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		COMMENT "Creating airframes.xml"
 		)
-	add_custom_target(airframes_xml DEPENDS ${PX4_SOURCE_DIR}/airframes.xml)
+	add_custom_target(airframes_xml DEPENDS ${PX4_BINARY_DIR}/airframes.xml)
 endfunction()

cmake/configs/nuttx_aerocore2_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
@@ -172,23 +170,3 @@ set(config_extra_builtin_cmds
 	serdis
 	sercon
 	)
-
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
@@ -116,12 +114,3 @@ set(config_module_list
 
 set(config_extra_builtin_cmds
 	)
-
-set(config_io_board
-	)
-
-set(config_extra_libs
-	)
-
-set(config_io_extra_libs
-	)

cmake/configs/nuttx_auav-x21_default.cmake

@@ -1,8 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 set(config_uavcan_num_ifaces 1)
 
@@ -193,29 +191,3 @@ set(config_extra_builtin_cmds
 	serdis
 	sercon
 	)
-
-set(config_io_board
-	px4io-v2
-	)
-
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_crazyflie_default.cmake

@@ -2,8 +2,6 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
 set(config_module_list
 	#
 	# Board support modules
@@ -142,21 +140,4 @@ set(config_module_list
 set(config_extra_builtin_cmds
 	serdis
 	sercon
-	)
-
-set(config_extra_libs
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048"
-	COMPILE_FLAGS "-Os")
+	)