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NuttX cmake build wrapper thorough dependencies

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This commit is contained in:
Daniel Agar
2019-11-16 11:43:42 +01:00
committed by Lorenz Meier
parent 99aae8b891
commit 2af262ed1d
9 changed files with 182 additions and 269 deletions
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platforms/nuttx/NuttX/CMakeLists.txt
+76 -167
View File
@@ -33,17 +33,17 @@
if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
# copy with rsync and create file dependencies
set(cp_cmd "rsync")
set(cp_opts)
list(APPEND cp_opts
set(NUTTX_COPY_CMD "rsync")
set(NUTTX_COPY_CMD_OPTS)
list(APPEND NUTTX_COPY_CMD_OPTS
-rp
--inplace
)
else()
# copy with hard links
# archive, recursive, force, link (hardlinks)
set(cp_cmd "cp")
set(cp_opts "-aRfl")
set(NUTTX_COPY_CMD "cp")
set(NUTTX_COPY_CMD_OPTS "-aRfl")
endif()
set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
@@ -56,24 +56,13 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# setup custom command to copy changes later
file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*)
# For any dependencies of commands on files we need to create a target.
# Otherwise, if "Unix Makefiles" are used as the generator the commands are run in
# parallel on the different files which often can lead to races or redundancies
# in our build.
# A nice write-up can be found here:
# https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make
add_custom_target(copy_nuttx_files_target
DEPENDS ${copy_nuttx_files}
)
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
DEPENDS copy_nuttx_files_target ${copy_nuttx_files} git_nuttx
DEPENDS
git_nuttx
${copy_nuttx_files}
COMMENT "Copying NuttX/nuttx to ${CP_DST}"
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
@@ -86,132 +75,98 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# setup custom command to copy changes later
file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*)
add_custom_target(copy_apps_files_target
DEPENDS ${copy_apps_files}
)
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
DEPENDS copy_apps_files_target ${copy_apps_files} git_nuttx_apps
DEPENDS
git_nuttx_apps
${copy_apps_files}
COMMENT "Copying NuttX/apps to ${CP_DST}"
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
# For any dependencies of commands on files we need to create a target.
# Otherwise, if "Unix Makefiles" are used as the generator the commands are run in
# parallel on the different files which often can lead to races or redundancies
# in our build.
# A nice write-up can be found here:
# https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make
add_custom_target(nuttx_copy_and_apps_target
DEPENDS
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
# If the board provides a Kconfig Use it or create an empty one
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
add_custom_command(
OUTPUT
${NUTTX_DIR}/boards/dummy/Kconfig
${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
DEPENDS
nuttx_copy_and_apps_target
nuttx_copy_and_apps_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
else()
add_custom_command(
OUTPUT
${NUTTX_DIR}/boards/dummy/Kconfig
${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
DEPENDS
nuttx_copy_and_apps_target
nuttx_copy_and_apps_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
endif()
add_custom_target(nuttx_config_kconfig_target
DEPENDS
${NUTTX_DIR}/boards/dummy/Kconfig
${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
)
add_custom_target(nuttx_config_kconfig_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp)
###############################################################################
# NuttX configure
###############################################################################
# copy NuttX config directory
file(RELATIVE_PATH CP_SRC ${NUTTX_DIR} ${PX4_BOARD_DIR}/nuttx-config)
file(RELATIVE_PATH CP_DST ${NUTTX_DIR} ${PX4_BINARY_DIR}/NuttX)
add_custom_command(
OUTPUT
${PX4_BINARY_DIR}/NuttX/nuttx-config/include/board.h
${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
${PX4_BINARY_DIR}/NuttX/nuttx-config/scripts/script.ld
${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
DEPENDS
${NUTTX_SRC_DIR}/nsh_romfsimg.h
${NUTTX_CONFIG_DIR}/include/board.h
${NUTTX_CONFIG_DIR}/scripts/script.ld
nuttx_copy_and_apps_target
${NUTTX_SRC_DIR}/nsh_romfsimg.h
nuttx_config_kconfig_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX config ${NUTTX_CONFIG}"
)
add_custom_target(nuttx_copy_config_dir_target
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
)
add_custom_target(nuttx_copy_config_dir_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp)
# NuttX defconfig
# cmake should trigger reconfigure if defconfig changes
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
add_custom_target(nuttx_defconfig_target
# copy compressed PX4 defconfig into nuttx and inflate
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh ${NUTTX_DIR}
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
DEPENDS
${NUTTX_DEFCONFIG}
${NUTTX_DEFCONFIG}
nuttx_copy_config_dir_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating"
)
if (NOT config_expanded)
# copy compressed PX4 defconfig into nuttx and inflate
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh ${NUTTX_DIR}
DEPENDS
nuttx_defconfig_target
${NUTTX_DEFCONFIG}
nuttx_copy_config_dir_target
nuttx_config_kconfig_target
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating"
)
else()
# copy uncompressed PX4 defconfig into nuttx
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
DEPENDS
nuttx_defconfig_target
${NUTTX_DEFCONFIG}
nuttx_copy_config_dir_target
nuttx_config_kconfig_target
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX uncompressed config ${NUTTX_CONFIG}"
)
endif()
add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config)
add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp)
###############################################################################
# NuttX build
@@ -222,12 +177,12 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
# verbose build settings (V=1 or VERBOSE=1)
option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
if (($ENV{V} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "1"))
if(($ENV{V} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "1"))
message(STATUS "NuttX verbose build enabled")
set(PX4_NUTTX_VERBOSE on)
endif()
if (PX4_NUTTX_VERBOSE)
if(PX4_NUTTX_VERBOSE)
set(nuttx_build_options)
set(nuttx_build_output)
set(nuttx_build_uses_terminal "USES_TERMINAL")
@@ -238,26 +193,27 @@ else()
endif()
# context
add_custom_command(OUTPUT ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
COMMAND make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y context > nuttx_context.log
DEPENDS nuttx_config_target
add_custom_command(
OUTPUT
${NUTTX_DIR}/include/nuttx/config.h
${NUTTX_DIR}/include/nuttx/version.h
COMMAND
make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y context > nuttx_context.log
DEPENDS
nuttx_config_target ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h)
)
add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h)
# library of NuttX libraries
add_library(nuttx_build INTERFACE)
add_dependencies(nuttx_build nuttx_context)
add_custom_target(px4_config_file_target
DEPENDS ${PX4_CONFIG_FILE}
)
add_custom_target(px4_config_file_target DEPENDS ${PX4_CONFIG_FILE})
# builtins
set(nuttx_builtin_list)
if (CONFIG_NSH_LIBRARY)
if(CONFIG_NSH_LIBRARY)
# force builtins regeneration and apps rebuild if nuttx or px4 configuration have changed
add_custom_command(OUTPUT builtins_clean.stamp
COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.bdat -delete
@@ -265,17 +221,12 @@ if (CONFIG_NSH_LIBRARY)
COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h
COMMAND ${CMAKE_COMMAND} -E touch builtins_clean.stamp
DEPENDS
nuttx_config_target
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h
${NUTTX_DIR}/include/nuttx/config.h
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
px4_config_file_target ${PX4_CONFIG_FILE}
)
add_custom_target(builtins_clean_target
DEPENDS builtins_clean.stamp
)
add_custom_target(builtins_clean_target DEPENDS builtins_clean.stamp)
foreach(module ${module_libraries})
get_target_property(MAIN ${module} MAIN)
get_target_property(STACK_MAIN ${module} STACK_MAIN)
@@ -286,9 +237,8 @@ if (CONFIG_NSH_LIBRARY)
COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
DEPENDS
builtins_clean_target
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
builtins_clean_target builtins_clean.stamp
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
VERBATIM
)
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat)
@@ -297,9 +247,8 @@ if (CONFIG_NSH_LIBRARY)
COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
DEPENDS
builtins_clean_target
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
builtins_clean_target builtins_clean.stamp
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
VERBATIM
)
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat)
@@ -308,9 +257,7 @@ if (CONFIG_NSH_LIBRARY)
endforeach()
endif()
add_custom_target(nuttx_builtin_list_target
DEPENDS ${nuttx_builtin_list}
)
add_custom_target(nuttx_builtin_list_target DEPENDS ${nuttx_builtin_list})
# APPS
@@ -320,11 +267,10 @@ add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built
COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}" ../apps/libapps.a > nuttx_apps.log
DEPENDS
nuttx_builtin_list_target ${nuttx_builtin_list}
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
)
add_custom_target(nuttx_apps_build DEPENDS ${APPS_DIR}/libapps.a)
add_library(nuttx_apps STATIC IMPORTED GLOBAL)
set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${APPS_DIR}/libapps.a)
@@ -342,11 +288,10 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output}
DEPENDS
${nuttx_lib_files}
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
)
add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a)
add_library(nuttx_${nuttx_lib} STATIC IMPORTED GLOBAL)
set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a)
@@ -365,7 +310,7 @@ add_nuttx_dir(c libs/libc n "")
add_nuttx_dir(xx libs/libxx n "")
add_nuttx_dir(mm mm n "")
if (CONFIG_NET)
if(CONFIG_NET)
add_nuttx_dir(net net y -D__KERNEL__)
endif()
@@ -390,15 +335,6 @@ add_custom_target(oldconfig
USES_TERMINAL
)
# NuttX oldconfig + copy uncompressed back to PX4
add_custom_target(oldconfig_uncompressed
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
DEPENDS oldconfig_nuttx
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running make oldconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
###############################################################################
# NuttX olddefconfig
add_custom_target(olddefconfig_nuttx
@@ -420,15 +356,6 @@ add_custom_target(olddefconfig
USES_TERMINAL
)
# NuttX oldconfig + copy uncompressed back to PX4
add_custom_target(olddefconfig_uncompressed
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
DEPENDS olddefconfig_nuttx
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running make olddefconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
###############################################################################
# NuttX menuconfig
add_custom_target(menuconfig_nuttx
@@ -450,15 +377,6 @@ add_custom_target(menuconfig
USES_TERMINAL
)
# NuttX menuconfig + copy uncompressed back to PX4
add_custom_target(menuconfig_uncompressed
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
DEPENDS menuconfig_nuttx
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running make nuttx_menuconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
###############################################################################
# NuttX qconfig
add_custom_target(qconfig_nuttx
@@ -479,12 +397,3 @@ add_custom_target(qconfig
COMMENT "Running make qconfig then savedefconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# NuttX qconfig + copy uncompressed back to PX4
add_custom_target(qconfig_uncompressed
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
DEPENDS nuttx_config_target qconfig_nuttx
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running make qconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)