mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Working on param xml gen. Haven't updated qurt config yet.
This commit is contained in:
James Goppert
parent
2bd0c2479e
commit
6966331a88
@ -130,7 +130,7 @@ endif()
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set(px4_required_functions
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px4_os_prebuild_targets
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px4_os_add_flags
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px4_set_config_modules
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px4_get_config
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)
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foreach(cmd ${px4_required_functions})
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if(NOT COMMAND ${cmd})
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@ -235,7 +235,7 @@ px4_generate_messages(TARGET msg_gen
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#=============================================================================
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# subdirectories
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#
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px4_set_config_modules(config_modules)
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px4_get_config(OUT_MODULES config_modules)
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set(module_libraries)
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foreach(module ${config_modules})
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add_subdirectory(src/${module})
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@ -1,9 +1,13 @@
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include(nuttx/px4_impl_nuttx)
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function(px4_set_config_modules out_module_list)
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function(px4_get_config)
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px4_parse_function_args(
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NAME px4_set_config_modules
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ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
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ARGN ${ARGN})
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set(config_module_list
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#
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# Board support modules
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#
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@ -161,25 +165,39 @@ function(px4_set_config_modules out_module_list)
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#examples/hwtest
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)
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# TODO convert rest of makefile config below
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set(firmware_options
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PARAM_XML # generate param xml
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)
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# Generate parameter XML file
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#GEN_PARAM_XML = 1
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set(extra_cmds serdis_main sercon_main)
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set(${out_module_list} ${config_module_list} PARENT_SCOPE)
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# output
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if(OUT_MODULES)
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set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
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endif()
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if (OUT_FW_OPTS)
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set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
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endif()
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endfunction()
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function(px4_nuttx_builtin_extra_commands out)
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function(px4_add_extra_builtin_cmds)
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add_custom_target(sercon_main)
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set_target_properties(sercon_main PROPERTIES
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px4_parse_function_args(
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NAME px4_add_extra_builtin_cmds
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ONE_VALUE OUT
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REQUIRED OUT
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ARGN ${ARGN})
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add_custom_target(sercon)
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set_target_properties(sercon PROPERTIES
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MAIN "sercon" STACK "2048")
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add_custom_target(serdis_main)
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set_target_properties(serdis_main PROPERTIES
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add_custom_target(serdis)
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set_target_properties(serdis PROPERTIES
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MAIN "serdis" STACK "2048")
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set(${out} sercon_main serdis_main PARENT_SCOPE)
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set(${OUT} sercon serdis PARENT_SCOPE)
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endfunction()
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@ -1,6 +1,11 @@
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include(nuttx/px4_impl_nuttx)
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function(px4_set_config_modules out_module_list)
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function(px4_get_config)
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px4_parse_function_args(
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NAME px4_set_config_modules
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ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
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ARGN ${ARGN})
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set(config_module_list
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@ -117,25 +122,39 @@ function(px4_set_config_modules out_module_list)
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examples/hwtest
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)
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# TODO convert rest of makefile config below
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set(firmware_options
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PARAM_XML # generate param xml
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)
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# Generate parameter XML file
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#GEN_PARAM_XML = 1
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set(extra_cmds serdis_main sercon_main)
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set(${out_module_list} ${config_module_list} PARENT_SCOPE)
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# output
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if(OUT_MODULES)
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set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
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endif()
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if (OUT_FW_OPTS)
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set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
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endif()
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endfunction()
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function(px4_nuttx_builtin_extra_commands out)
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function(px4_add_extra_builtin_cmds)
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add_custom_target(sercon_main)
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set_target_properties(sercon_main PROPERTIES
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px4_parse_function_args(
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NAME px4_add_extra_builtin_cmds
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ONE_VALUE OUT
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REQUIRED OUT
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ARGN ${ARGN})
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add_custom_target(sercon)
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set_target_properties(sercon PROPERTIES
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MAIN "sercon" STACK "2048")
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add_custom_target(serdis_main)
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set_target_properties(serdis_main PROPERTIES
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add_custom_target(serdis)
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set_target_properties(serdis PROPERTIES
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MAIN "serdis" STACK "2048")
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set(${out} sercon_main serdis_main PARENT_SCOPE)
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set(${OUT} sercon serdis PARENT_SCOPE)
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endfunction()
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@ -1,6 +1,11 @@
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include(posix/px4_impl_posix)
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function(px4_set_config_modules out_module_list)
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function(px4_get_config)
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px4_parse_function_args(
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NAME px4_set_config_modules
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ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
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ARGN ${ARGN})
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set(config_module_list
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drivers/led
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@ -54,7 +59,39 @@ function(px4_set_config_modules out_module_list)
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lib/launchdetection
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)
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set(${out_module_list} ${config_module_list} PARENT_SCOPE)
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set(firmware_options
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PARAM_XML # generate param xml
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)
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set(extra_cmds serdis_main sercon_main)
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# output
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if(OUT_MODULES)
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set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
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endif()
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if (OUT_FW_OPTS)
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set(${OUT_FW_OPTS} ${fw_opts} PARENT_SCOPE)
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endif()
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endfunction()
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function(px4_add_extra_builtin_cmds)
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px4_parse_function_args(
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NAME px4_add_extra_builtin_cmds
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ONE_VALUE OUT
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REQUIRED OUT
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ARGN ${ARGN})
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add_custom_target(sercon)
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set_target_properties(sercon PROPERTIES
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MAIN "sercon" STACK "2048")
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add_custom_target(serdis)
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set_target_properties(serdis PROPERTIES
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MAIN "serdis" STACK "2048")
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set(${OUT} sercon serdis PARENT_SCOPE)
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endfunction()
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@ -79,16 +79,40 @@ function(px4_nuttx_add_firmware)
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REQUIRED EXE
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ARGN ${ARGN})
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set(process_params ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py)
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set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
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#TODO handle param_xml
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
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--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
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--git_identity ${CMAKE_SOURCE_DIR}
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--image ${EXE}.bin > ${OUT}
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DEPENDS ${EXE}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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if(PARAM_XML)
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${process_params}
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--src-path ${CMAKE_SOURCE_DIR}/src
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--board CONFIG_ARCH_BOARD_${BOARD} --xml
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COMMAND ${process_airframes}
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-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
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--board CONFIG_ARCH_BOARD_${BOARD} --xml
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
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--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
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--git_identity ${CMAKE_SOURCE_DIR}
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--parameter_xml parameters.xml
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--airframe_xml airframe.xml
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--image ${EXE}.bin > ${OUT}
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DEPENDS ${EXE}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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else()
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
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--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
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--git_identity ${CMAKE_SOURCE_DIR}
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--image ${EXE}.bin > ${OUT}
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DEPENDS ${EXE}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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endif()
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endfunction()
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#=============================================================================
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@ -1,38 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@ -1,9 +1,9 @@
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px4_nuttx_builtin_extra_commands(builtin_extra_cmds)
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message(STATUS "builtin extra: ${builtin_extra_cmds}")
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px4_add_extra_builtin_cmds(OUT extra_builtins)
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px4_nuttx_generate_builtin_commands(
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OUT builtin_commands.c
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MODULE_LIST ${module_libraries} ${builtin_extra_cmds})
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MODULE_LIST ${module_libraries} ${extra_builtins}
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)
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px4_nuttx_generate_romfs(OUT romfs.o
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ROOT ROMFS/px4fmu_common)
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@ -27,8 +27,11 @@ target_link_libraries(firmware_nuttx
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apps nuttx nosys m gcc
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-Wl,--end-group)
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px4_get_config(OUT_FW_OPTS fw_opts)
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px4_nuttx_add_firmware(OUT ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4
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EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx)
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EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
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${fw_opts}
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)
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px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
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BUNDLE ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4)
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