PX4飞控学习（二）

CMakeList.txt

############################################################################# 首先判断cmake版本if (${CMAKE_VERSION} VERSION_LESS 3.1.0)    message("Not a valid CMake version")    message("On Ubuntu >= 16.04, install or upgrade via:")    message("   sudo apt-get install cmake")    message("")    message("Official website: https://cmake.org/download/")    message(FATAL_ERROR "Update CMake and try again" )endif()# Warning: Changing this modifies CMake's internal workings# and leads to wrong toolchain detectioncmake_minimum_required(VERSION 3.1 FATAL_ERROR)set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")execute_process(    COMMAND Tools/check_submodules.sh    WORKING_DIRECTORY ${PX4_SOURCE_DIR}    )#=============================================================================# 设置## 项目开始所需设置的参数set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")# CONFIG 赋值 "nuttx_px4fmu-v2_default"string(REPLACE "_" ";" config_args ${CONFIG})list(GET config_args 0 OS)list(GET config_args 1 BOARD)list(GET config_args 2 LABEL)set(target_name "${OS}-${BOARD}-${LABEL}")#OS赋值nuttx  BOARD赋值px4fmu-v2 LABEL赋值defaultfile(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")#cmake/configs 目录下的 *.cmake文件set_property(CACHE CONFIG PROPERTY STRINGS ${configs})set(THREADS "4" CACHE STRING "number of threads to use for external build processes")set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")    get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)endif()list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")set(config_module "configs/${CONFIG}")include(${config_module})include(common/coverage)include(common/sanitizers)# CMake build type# Debug Release RelWithDebInfo MinSizeRel Coverageif (NOT CMAKE_BUILD_TYPE)    if (${OS} STREQUAL "nuttx")        set(PX4_BUILD_TYPE "MinSizeRel")    elseif (${OS} STREQUAL "bebop")        set(PX4_BUILD_TYPE "MinSizeRel")    else()        set(PX4_BUILD_TYPE "RelWithDebInfo")    endif()    set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)endif()set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")#=============================================================================# git#include(common/px4_git)execute_process(    COMMAND git describe --always --tags    OUTPUT_VARIABLE git_tag    OUTPUT_STRIP_TRAILING_WHITESPACE    WORKING_DIRECTORY ${PX4_SOURCE_DIR}    )execute_process(    COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}    OUTPUT_VARIABLE git_version    WORKING_DIRECTORY ${PX4_SOURCE_DIR}    )px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")px4_add_git_submodule(TARGET git_gazebo_flow PATH "Tools/sitl_gazebo/external/OpticalFlow")px4_add_git_submodule(TARGET git_gazebo_klt PATH "Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker")px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")# 消息生成px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")# GPS驱动px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")# jMAVSim模拟器px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")# 矩阵px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")#mavlink 1.0 2.0px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")#nuttx操作系统px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")#uavcan驱动px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")px4_add_git_submodule(TARGET git_micro_cdr PATH "src/lib/micro-CDR")px4_create_git_hash_header()#=============================================================================message(STATUS "PX4 VERSION: ${git_tag}")message(STATUS "CONFIG: ${target_name}")# The URL for the elf file for crash loggingif (DEFINED ENV{BUILD_URI})    set(BUILD_URI $ENV{BUILD_URI})else()    set(BUILD_URI "localhost")endif()add_definitions(-DBUILD_URI=${BUILD_URI})# Define GNU standard installation directoriesinclude(GNUInstallDirs)# Add support for external project buildinginclude(ExternalProject)# Setup install pathsif (NOT CMAKE_INSTALL_PREFIX)    if (${OS} STREQUAL "posix")        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()#=============================================================================# require px4 module interface px4模块接口set(px4_required_interface    px4_os_prebuild_targets    px4_os_add_flags    )foreach(cmd ${px4_required_interface})    if (NOT COMMAND ${cmd})        message(FATAL_ERROR "${config_module} must implement ${cmd}")    endif()endforeach()set(px4_required_config config_module_list)foreach(conf ${px4_required_config})    if (NOT DEFINED ${conf})        message(FATAL_ERROR "cmake/${config_module} must define ${conf}")    endif()endforeach()# force static lib buildset(BUILD_SHARED_LIBS OFF)#=============================================================================# ccache#option(CCACHE "Use ccache if available" OFF)find_program(CCACHE_PROGRAM ccache)if (CCACHE AND CCACHE_PROGRAM)    message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")    set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")endif()#=============================================================================# project definition#project(px4 CXX C ASM)set(package-contact "[e-mail]")#=============================================================================# find programs and packages## see if catkin was invoked to build thisif (CATKIN_DEVEL_PREFIX)    message(STATUS "catkin ENABLED")    find_package(catkin REQUIRED)    if (catkin_FOUND)        catkin_package()    else()        message(FATAL_ERROR "catkin not found")    endif()endif()find_package(PythonInterp REQUIRED)px4_find_python_module(jinja2 REQUIRED)#=============================================================================# cmake testing#enable_testing()include(CTest)#=============================================================================# generate compile command database#set(CMAKE_EXPORT_COMPILE_COMMANDS ON)#=============================================================================# check required toolchain variables## PX4 requires c++11set(CMAKE_CXX_STANDARD 11)set(CMAKE_CXX_STANDARD_REQUIRED ON)# PX4 requires c99set(CMAKE_C_STANDARD 99)set(CMAKE_C_STANDARD_REQUIRED ON)set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)foreach(var ${required_variables})    if (NOT ${var})        message(FATAL_ERROR "Toolchain/config must define ${var}")    endif()endforeach()# print full c compiler versionexecute_process(COMMAND ${CMAKE_C_COMPILER} --version        OUTPUT_VARIABLE c_compiler_version        OUTPUT_STRIP_TRAILING_WHITESPACE        )STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})message(STATUS "C compiler: ${c_compiler_version_short}")# print full c++ compiler versionexecute_process(COMMAND ${CMAKE_CXX_COMPILER} --version        OUTPUT_VARIABLE cxx_compiler_version        OUTPUT_STRIP_TRAILING_WHITESPACE        )STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})message(STATUS "C++ compiler: ${cxx_compiler_version_short}")#=============================================================================# external libraries# 这里生成nuttx系统 px4_os_prebuild_targets(OUT prebuild_targets    BOARD ${BOARD}    THREADS ${THREADS})#=============================================================================# build flags# 针对不同芯片产生的编译参数 px4_os_add_flags(    BOARD ${BOARD}    C_FLAGS c_flags    CXX_FLAGS cxx_flags    OPTIMIZATION_FLAGS optimization_flags    EXE_LINKER_FLAGS exe_linker_flags    INCLUDE_DIRS include_dirs    LINK_DIRS link_dirs    DEFINITIONS definitions)px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${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 " ")include_directories(${include_dirs})#message("INCLUDE_DIRS=${include_dirs}")link_directories(${link_dirs})add_definitions(${definitions})#=============================================================================# message, and airframe generation# 消息产生 uorb 消息总线上的消息include(common/px4_metadata)add_subdirectory(msg)px4_generate_messages(TARGET msg_gen    MSG_FILES ${msg_files}    OS ${OS}    INCLUDES ${msg_include_paths}    DEPENDS git_genmsg git_gencpp git_micro_cdr prebuild_targets    )include_directories("${PX4_SOURCE_DIR}/src/lib/micro-CDR/include"                    "${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr")px4_generate_airframes_xml(BOARD ${BOARD})#=============================================================================# DriverFramework# 驱动框架# List the DriverFramework driversif (DEFINED config_df_driver_list)    message("DF Drivers: ${config_df_driver_list}")endif()set(df_driver_libs)foreach(driver ${config_df_driver_list})    add_subdirectory(src/lib/DriverFramework/drivers/${driver})    list(APPEND df_driver_libs df_${driver})    message("Adding DF driver: ${driver}")endforeach()#=============================================================================# external projects# 外部项目 set(ep_base ${PX4_BINARY_DIR}/external)set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})# add external project install folders to buildlink_directories(${ep_base}/Install/lib)include_directories(${ep_base}/Install/include)# add the directories so cmake won't warnexecute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)#=============================================================================# external modules# 外部模块 在*.cmake文件中定义 config_module_list_external config_module_list变量if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")    message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")    add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)    set(config_module_list_external_expanded)    foreach(external_module ${config_module_list_external})        list(APPEND config_module_list_external_expanded            ${EXTERNAL_MODULES_LOCATION}/src/${external_module})    endforeach()    set(config_module_list        ${config_module_list}        ${config_module_list_external_expanded}        )endif()#=============================================================================# subdirectories# 子目录 IO板固件set(module_libraries)foreach(module ${config_module_list})    string(REGEX MATCH "^[./]" external_module ${module})    if (external_module)        STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})        STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})        add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})    else()        add_subdirectory(src/${module})    endif()    px4_mangle_name(${module} mangled_name)    list(APPEND module_libraries ${mangled_name})endforeach()# Keep track of external shared libs required for modulesset(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")add_subdirectory(src/firmware/${OS})# config_io_board参数存在，进入px4iofirmware目录生成io板固件if (config_io_board)    add_subdirectory(src/modules/px4iofirmware)endif()#=============================================================================# generate custom target to print for all executable and module cmake targets#if (all_posix_cmake_targets)    list(SORT all_posix_cmake_targets)    px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")    add_custom_target(list_cmake_targets        COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""        COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"        VERBATIM        )endif()#=============================================================================# packaging# 固件打包# Important to having packaging at end of cmake file.#set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})set(CPACK_PACKAGE_VERSION ${git_version})set(CPACK_PACKAGE_CONTACT ${package-contact})set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)set(CPACK_DEBIAN_PACKAGE_SECTION "devel")set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")set(short-description "The px4 autopilot.")set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})set(CPACK_GENERATOR "ZIP")set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")set(CPACK_PACKAGING_INSTALL_PREFIX "")set(CPACK_SET_DESTDIR "OFF")if ("${CMAKE_SYSTEM}" MATCHES "Linux")    find_program(DPKG_PROGRAM dpkg)    if (EXISTS ${DPKG_PROGRAM})        list (APPEND CPACK_GENERATOR "DEB")    endif()endif()include(CPack)# vim: set noet fenc=utf-8 ff=unix ft=cmake :