Merge pull request #31 from jgoppert/cmake

Added cmake support.

.gitignore

@@ -8,4 +8,5 @@ px4flow_prototype.px4
 px4flow.px4
 px4flow.bin
 .settings
-*.sublime-workspace
+*.sublime-workspace
+build*/

CMakeLists.txt

@@ -0,0 +1,176 @@
+cmake_minimum_required(VERSION 2.8)
+option(HOST_TEST "do host based testing (no cross-compiling)" OFF)
+
+if (NOT HOST_TEST)
+    set(CMAKE_TOOLCHAIN_FILE cmake/Toolchain-arm-none-eabi.cmake)
+endif()
+
+project(px4flow C ASM)
+
+set(JTAGCONFIG ${CMAKE_SOURCE_DIR}/olimex-jtag-tiny.cfg)
+#set(JTAGCONFIG	${CMAKE_SOURCE_DIR}/olimex-arm-usb-tiny-h.cfg)
+set(BOARDCONFIG ${CMAKE_SOURCE_DIR}/stm32f4x.cfg)
+
+find_program(OPENOCD openocd HINT ../../sat/bin/)
+
+enable_testing()
+
+set(CPACK_PACKAGE_CONTACT "px4users@googlegroups.com")
+set(CPACK_INCLUDE_TOPLEVEL_DIRECTORY 0)
+set(CPACK_PACKAGE_VERSION_MAJOR "0") 
+set(CPACK_PACKAGE_VERSION_MINOR "0") 
+set(CPACK_PACKAGE_VERSION_PATCH "0") 
+include(CPack)
+
+message(STATUS "building for: ${CMAKE_SYSTEM_NAME}")
+
+if (${CMAKE_SYSTEM_NAME} STREQUAL "Arm")
+    # and linker script if compiling for board
+    foreach(ARG in EXE TEST)
+        set(CMAKE_${ARG}_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T${CMAKE_SOURCE_DIR}/stm32f4.ld")
+    endforeach()
+    set(COMMON_FLAGS "-mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -Wall -Wextra -MD")
+else()
+    set(COMMON_FLAGS "")
+endif()
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COMMON_FLAGS} --std=gnu99 -Wall")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_FLAGS}")
+add_definitions(-DMAVLINK_SEND_UART_BYTES=mavlink_send_uart_bytes)
+
+macro(generate_firmware NAME)
+    add_custom_target(firmware_${NAME} ALL DEPENDS ${NAME}.px4)
+    add_custom_command(OUTPUT ${NAME}.px4
+        COMMAND ${OBJCOPY} --output-format=binary ${NAME} ${NAME}.bin
+        COMMAND python -u ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py --board_id 6 > ${NAME}_prototype.px4
+        COMMAND python -u ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py --prototype ${NAME}_prototype.px4 --image ${NAME}.bin > ${NAME}.px4
+        DEPENDS ${NAME})
+endmacro()
+
+include_directories(
+    inc lib
+    lib/STM32F4xx_StdPeriph_Driver/inc
+    lib/STM32_USB_Device_Library/Class/cdc/inc
+    lib/STM32_USB_Device_Library/Core/inc
+    lib/STM32_USB_HOST_Library/Core/inc
+    lib/STM32_USB_OTG_Driver/inc
+    mavlink/include/mavlink/v1.0
+    mavlink/include/mavlink/v1.0/common
+    )
+
+# source
+#-----------------------------------------------------
+set(PX4FLOW_HDRS
+    inc/communication.h
+    inc/dcmi.h
+    inc/debug.h
+    inc/flow.h
+    inc/gyro.h
+    inc/i2c_frame.h
+    inc/i2c.h
+    inc/led.h
+    inc/main.h
+    inc/mavlink_bridge_header.h
+    inc/mt9v034.h
+    inc/settings.h
+    inc/sonar.h
+    inc/sonar_mode_filter.h
+    inc/stm32f4xx_conf.h
+    inc/stm32f4xx_it.h
+    inc/usart.h
+    inc/usb_conf.h
+    inc/usbd_cdc_vcp.h
+    inc/usbd_conf.h
+    inc/usbd_desc.h
+    inc/utils.h
+    )
+set(PX4FLOW_SRC
+    lib/startup_stm32f4xx.s
+    lib/STM32F4xx_StdPeriph_Driver/src/misc.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
+    lib/STM32_USB_OTG_Driver/src/usb_core.c
+    lib/STM32_USB_OTG_Driver/src/usb_dcd_int.c
+    lib/STM32_USB_OTG_Driver/src/usb_dcd.c
+    lib/STM32_USB_Device_Library/Core/src/usbd_core.c
+    lib/STM32_USB_Device_Library/Core/src/usbd_req.c
+    lib/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
+    lib/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c
+    src/communication.c
+    src/dcmi.c
+    src/debug.c
+    src/flow.c
+    src/gyro.c
+    src/i2c.c
+    src/led.c
+    src/main.c
+    src/mt9v034.c
+    src/reset.c
+    src/settings.c
+    src/sonar.c
+    src/sonar_mode_filter.c
+    src/stm32f4xx_it.c
+    src/system_stm32f4xx.c
+    src/usart.c
+    src/usb_bsp.c
+    src/usbd_cdc_vcp.c
+    src/usbd_desc.c
+    src/usbd_usr.c
+    src/utils.c
+    src/system_stm32f4xx.c
+    src/stm32f4xx_it.c
+    )
+
+# building
+#-----------------------------------------------------
+if (${CMAKE_SYSTEM_NAME} STREQUAL "Arm")
+    # board executable
+    add_executable(px4flow ${PX4FLOW_SRC} ${PX4FLOW_HDRS})
+    target_link_libraries(px4flow nosys m)
+    generate_firmware(px4flow)
+else()
+    # host based testing
+    include_directories(unittests)
+    add_executable(sonar_mode_filter
+        src/sonar_mode_filter.c
+        inc/sonar_mode_filter.h
+        unittests/tests.c
+        )
+    add_test(sonar_mode_filter sonar_mode_filter)
+endif()
+
+# flashing
+#-----------------------------------------------------
+add_custom_target(flash
+    COMMAND ${OPENOCD} --search ../px4_flow -f${JTAGCONFIG} -f${BOARDCONFIG} -c"init; reset halt; flash write_image erase px4flow.elf; reset run; shutdown")
+
+add_custom_target(flash-bootloader
+    COMMAND ${OPENOCD} --search ../px4_flow -f${JTAGCONFIG} -f${BOARDCONFIG} -c"init; reset halt; flash write_image erase px4flow_bl.elf; reset run; shutdown")
+
+add_custom_target(flash-both
+    COMMAND ${OPENOCD} --search ../px4_flow -f${JTAGCONFIG} -f${BOARDCONFIG} -c"init; reset halt; flash write_image erase px4flow.elf; reset run" -c"init; reset halt; flash write_image erase px4flow_bl.elf; reset run; shutdown")
+
+# for debugging with GDB
+add_custom_target(flash-both-no-shutdown
+    COMMAND ${OPENOCD} --search ../px4_flow -f${JTAGCONFIG} -f${BOARDCONFIG} -c"init; reset halt; flash write_image erase px4flow.elf; reset run" -c"init; reset halt; flash write_image erase px4flow_bl.elf; reset run")
+
+if (${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
+    set(SERIAL_PORTS "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0")
+elseif (${CMAKE_HOST_APPLE})
+    set(SERIAL_PORTS "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4")
+else()
+    set(SERIAL_PORTS "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0")
+endif()
+
+add_custom_target(upload-usb
+    COMMAND echo "Attempting to flash PX4FLOW board via USB ${SERIAL_PORTS}"
+    COMMAND python -u ${CMAKE_SOURCE_DIR}/Tools/px_uploader.py px4flow.px4 --baud 921600 --port ${SERIAL_PORTS}
+    DEPENDS px4flow.px4)
+
+# vim: set et fenc= ff=unix sts=0 sw=4 ts=4 ft=cmake :

cmake/Toolchain-arm-none-eabi.cmake

@@ -0,0 +1,26 @@
+include(CMakeForceCompiler)
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Arm)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+find_program(C_COMPILER arm-none-eabi-gcc)
+cmake_force_c_compiler(${C_COMPILER} GNU)
+find_program(CXX_COMPILER arm-none-eabi-g++)
+cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
+find_program(OBJCOPY arm-none-eabi-objcopy)
+
+set(LINKER_FLAGS "-Wl,-gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+
+# where is the target environment 
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

cmake/test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+d=$PWD && \
+mkdir -p $d/build_arm && cd $d/build_arm && cmake .. && make && ctest  && cpack -G ZIP && \
+mkdir -p $d/build_host && cd $d/build_host && cmake .. -DHOST_TEST=ON && make && ctest

unittests/tests.cpp → unittests/tests.c

@@ -4,7 +4,7 @@
 
 
 #include <stdio.h>
-#include "../src/sonar_mode_filter.h"
+#include "../inc/sonar_mode_filter.h"
 
 int main(int argc, char *argv[]) {