1 # This file is shared between posix_rpi_native.cmake 这个文件在posix_rpi_native.cmake和posix_rpi_cross.cmake中共享 2 # and posix_rpi_cross.cmake. 3 4 include(posix/px4_impl_posix) 5 6 # This definition allows to differentiate if this just the usual POSIX build 7 # or if it is for the RPi. //添加-D后面的宏定义 8 add_definitions( 9 -D__PX4_POSIX_RPI 10 -D__DF_LINUX # For DriverFramework 11 -D__DF_RPI # For DriverFramework 12 ) 13 14 //设置config_module_list为板子支持的模块 15 set(config_module_list 16 # 17 # Board support modules 18 # 19 drivers/device 20 modules/sensors 21 platforms/posix/drivers/df_mpu9250_wrapper 22 platforms/posix/drivers/df_lsm9ds1_wrapper 23 platforms/posix/drivers/df_ms5611_wrapper 24 platforms/posix/drivers/df_hmc5883_wrapper 25 platforms/posix/drivers/df_trone_wrapper 26 platforms/posix/drivers/df_isl29501_wrapper 27 28 # 29 # System commands //系统模块 30 # 31 systemcmds/param 32 systemcmds/led_control 33 systemcmds/mixer 34 systemcmds/ver 35 systemcmds/esc_calib 36 systemcmds/reboot 37 systemcmds/topic_listener 38 systemcmds/perf 39 40 # 41 # Estimation modules 估计模块 42 # 43 modules/attitude_estimator_q 44 modules/position_estimator_inav 45 modules/local_position_estimator 46 modules/ekf2 47 48 # 49 # Vehicle Control 轮子控制 50 # 51 modules/fw_att_control 52 modules/fw_pos_control_l1 53 modules/gnd_att_control 54 modules/gnd_pos_control 55 modules/mc_att_control 56 modules/mc_pos_control 57 modules/vtol_att_control 58 59 # 60 # Library modules 库模块 61 # 62 modules/sdlog2 63 modules/logger 64 modules/commander 65 modules/systemlib/param 66 modules/systemlib 67 modules/systemlib/mixer 68 modules/uORB 69 modules/dataman 70 modules/land_detector 71 modules/navigator 72 modules/mavlink 73 74 # 75 # PX4 drivers px4的驱动 76 # 77 drivers/gps 78 drivers/navio_adc 79 drivers/navio_sysfs_rc_in 80 drivers/linux_gpio 81 drivers/linux_pwm_out 82 drivers/navio_rgbled 83 drivers/pwm_out_sim 84 drivers/rpi_rc_in 85 86 # 87 # Libraries 库 88 # 89 lib/controllib 90 lib/mathlib 91 lib/mathlib/math/filter 92 lib/geo 93 lib/ecl 94 lib/geo_lookup 95 lib/launchdetection 96 lib/led 97 lib/external_lgpl 98 lib/conversion 99 lib/terrain_estimation 100 lib/runway_takeoff 101 lib/tailsitter_recovery 102 lib/version 103 lib/DriverFramework/framework 104 lib/micro-CDR 105 106 # 107 # POSIX 系统相关 108 # 109 platforms/common 110 platforms/posix/px4_layer 111 platforms/posix/work_queue 112 ) 113 114 # 115 # DriverFramework driver 设置驱动层 116 # 117 set(config_df_driver_list 118 mpu9250 119 lsm9ds1 120 ms5611 121 hmc5883 122 trone 123 isl29501 124 )