NuttX push jlink-nuttx into cmake and enable CONFIG_DEBUG_TCBINFO by default

platforms/nuttx/CMakeLists.txt

@@ -457,10 +457,23 @@ if(NOT NUTTX_DIR MATCHES "external")
 		${CMAKE_SOURCE_DIR}/../svd/${DEBUG_SVD_FILE}
 	)
 
-	file(GLOB_RECURSE JLINK_RTOS_PATH
-		LIST_DIRECTORIES false
-		${CMAKE_SOURCE_DIR}/Tools/jlink-nuttx.so
-	)
+	if(CONFIG_DEBUG_TCBINFO)
+		# jlink-nuttx.so
+		add_custom_command(
+			OUTPUT ${NUTTX_DIR}/tools/jlink-nuttx.so
+			COMMAND make --no-print-directory --silent -f Makefile.host jlink-nuttx
+			DEPENDS ${NUTTX_DIR}/tools/gencromfs.c
+			WORKING_DIRECTORY ${NUTTX_DIR}/tools
+		)
+		add_custom_target(jlink-nuttx ALL
+			DEPENDS ${NUTTX_DIR}/tools/jlink-nuttx.so
+		)
+
+		# JLINK_RTOS_PATH used by launch.json.in
+		set(JLINK_RTOS_PATH ${NUTTX_DIR}/tools/jlink-nuttx)
+	else()
+		set(JLINK_RTOS_PATH "")
+	endif()
 
 	if(DEBUG_SVD_FILE_PATH)
 		message(STATUS "Found SVD: ${DEBUG_SVD_FILE_PATH}")

platforms/nuttx/Debug/jlink_debug_gdb.sh.in

@@ -13,7 +13,7 @@ else
 	exit 1
 fi
 
-@JLinkGDBServerExe_PATH@ -device @DEBUG_DEVICE@ -select usb -endian little -if SWD -speed auto -ir -LocalhostOnly 1 -strict -vd -singlerun &
+@JLinkGDBServerExe_PATH@ -device @DEBUG_DEVICE@ -rtos "@JLINK_RTOS_PATH@" -select usb -endian little -if SWD -speed auto -ir -LocalhostOnly 1 -strict -vd -singlerun &
 
 cd @PX4_BINARY_DIR@ && ${GDB_CMD} -silent -nh \
 	-iex "set auto-load safe-path @PX4_BINARY_DIR@" \

platforms/nuttx/Debug/jlink_gdb_start.sh.in

@@ -2,7 +2,7 @@
 
 killall JLinkGDBServerCLExe
 
-@JLinkGDBServerCLExe_PATH@ -silent -device @DEBUG_DEVICE@ -select usb -if SWD -speed auto -LocalhostOnly 1 -strict -vd -singlerun -timeout 3000 -powertarget 0 -nogui &
+@JLinkGDBServerCLExe_PATH@ -silent -device @DEBUG_DEVICE@ -rtos "@JLINK_RTOS_PATH@" -select usb -if SWD -speed auto -LocalhostOnly 1 -strict -vd -singlerun -timeout 3000 -powertarget 0 -nogui &
 sleep 2
 
 pgrep -i JLinkGDBServer