[paparazzi-commits] [5886] added C++ support for omap programs

[antoine drouin]

Revision: 5886
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5886
Author:   poine
Date:     2010-09-15 13:02:05 +0000 (Wed, 15 Sep 2010)
Log Message:
-----------
added C++ support for omap programs

Modified Paths:
--------------
    paparazzi3/trunk/conf/Makefile.omap

Added Paths:
-----------
    paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml

Modified: paparazzi3/trunk/conf/Makefile.omap
===================================================================
--- paparazzi3/trunk/conf/Makefile.omap 2010-09-15 05:02:56 UTC (rev 5885)
+++ paparazzi3/trunk/conf/Makefile.omap 2010-09-15 13:02:05 UTC (rev 5886)
@@ -1,7 +1,7 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
 #   $Id$
-#   Copyright (C) 2009 Antoine Drouin
+#   Copyright (C) 2009-2010 The Paparazzi Team
 #
 # This file is part of paparazzi.
 #
@@ -53,7 +53,6 @@
 CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
 #CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
 #CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
-#CFLAGS += -mtune=geode # optimize for geode
 
 # flags only for C
 CFLAGS + = -Wstrict-prototypes -Wmissing-declarations
@@ -62,9 +61,19 @@
 CFLAGS += $($(TARGET).CFLAGS)          
 
 
-SRCOMAP  = $($(TARGET).srcs)
-COBJOMAP = $(SRCOMAP:%.c=$(OBJDIR)/%.o)
+CXX = 
/opt/paparazzi/omap/overo-oe/tmp/sysroots/i686-linux/usr/armv7a/bin/arm-angstrom-linux-gnueabi-g++
+CXXFLAGS = -pipe -O3 -fshow-column -ffast-math -DEIGEN_DONT_VECTORIZE -fPIC
+CXXFLAGS += -DEIGEN_DONT_ALIGN -DNDEBUG -g -ffunction-sections -fdata-sections 
-DTIME_OPS
+CXXFLAGS += -Wall -Wextra
+CXXFLAGS += $($(TARGET).CXXFLAGS)      
 
+
+SRC_C_OMAP  = $($(TARGET).srcs)
+OBJ_C_OMAP = $(SRC_C_OMAP:%.c=$(OBJDIR)/%.o)
+
+SRC_CPP_OMAP  = $($(TARGET).cpp_srcs)
+OBJ_CPP_OMAP = $(SRC_CPP_OMAP:%.cpp=$(OBJDIR)/%.o)
+
 all: build
 
 build: elf
@@ -77,17 +86,25 @@
 
 # Link: create ELF output file from object files.
 .SECONDARY : $(OBJDIR)/$(TARGET).elf
-.PRECIOUS :   $(COBJOMAP)
-%.elf:   $(COBJOMAP)
+.PRECIOUS :   $(OBJ_C_OMAP) $(OBJ_CPP_OMAP)
+%.elf:   $(OBJ_C_OMAP) $(OBJ_CPP_OMAP)
        @echo LD $@
-       $(Q)$(CC) $(CFLAGS) $(COBJOMAP)  --output $@ $(LDFLAGS) 
$($(TARGET).LDFLAGS)
+       $(Q)if (expr "$($(TARGET).cpp_srcs)"); \
+          then $(CXX) $(CXXFLAGS) $(OBJ_CPP_OMAP) --output $@ $(LDFLAGS) 
$($(TARGET).LDFLAGS) ; \
+          else $(CC) $(CFLAGS) $(OBJ_C_OMAP) --output $@ $(LDFLAGS) 
$($(TARGET).LDFLAGS); fi
 
-# Compile: create object files from C source files. ARM-only
+# Compile: create object files from C source files
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
        @echo CC $@
        $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
        $(Q)$(CC) -c $(CFLAGS) $< -o $@ 
 
+# Compile: create object files from C++ source files
+$(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
+       @echo CXX $@
+       $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
+       $(Q)$(CXX) -c $(CXXFLAGS) $< -o $@ 
+
 # Listing of phony targets.
 .PHONY : all build elf clean clean_list
 

Added: paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml                     
        (rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml     2010-09-15 
13:02:05 UTC (rev 5886)
@@ -0,0 +1,27 @@
+<airframe name="FuckYou_1">
+
+
+  <makefile>
+
+    HOST=auto3
+
+    # test 1
+    test1.ARCHDIR = omap
+    test1.CXXFLAGS += -I 
/opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2
+    test1.cpp_srcs  = fms/libeknav/hello_world.cpp
+
+    # test network based telemetry on overo (using udp_transport2/messages2)
+    overo_test_telemetry2.ARCHDIR  = omap
+    overo_test_telemetry2.CFLAGS  += -I$(ACINCLUDE) -I. 
-I$(PAPARAZZI_HOME)/var/include
+    overo_test_telemetry2.srcs     = fms/overo_test_telemetry2.c
+    overo_test_telemetry2.CFLAGS  += -DDOWNLINK 
-DDOWNLINK_TRANSPORT=UdpTransport
+    overo_test_telemetry2.srcs    += fms/udp_transport2.c downlink.c
+    overo_test_telemetry2.srcs    += fms/fms_network.c
+    overo_test_telemetry2.LDFLAGS += -levent
+
+  </makefile>
+
+
+</airframe>
+
+