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Add kernel/userspace and nuttx_syscall libraries to build
Build NuttX proxies, stubs and separate user space and kernel space libraries Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
@@ -52,5 +52,18 @@ target_link_libraries(drivers_board
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drivers__led # drv_led_start
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nuttx_arch # sdio
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nuttx_drivers # sdio
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px4_layer
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)
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if (NOT DEFINED CONFIG_BUILD_FLAT)
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target_link_libraries(drivers_board PRIVATE px4_kernel_layer)
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else()
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target_link_libraries(drivers_board PRIVATE px4_layer)
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endif()
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add_library(drivers_userspace
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stm32_userspace.c
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)
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target_link_libraries(drivers_userspace PRIVATE px4_userspace_init)
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add_dependencies(drivers_userspace arch_board_hw_info)
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@@ -0,0 +1,147 @@
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/****************************************************************************
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* boards/arm/stm32f7/stm32f746g-disco/kernel/stm32_userspace.c
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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 NuttX 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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdlib.h>
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#include <nuttx/arch.h>
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#include <nuttx/mm/mm.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/userspace.h>
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#include <sys/boardctl.h>
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#if !defined(CONFIG_BUILD_FLAT) && !defined(__KERNEL__)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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#ifndef CONFIG_NUTTX_USERSPACE
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# error "CONFIG_NUTTX_USERSPACE not defined"
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#endif
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#if CONFIG_NUTTX_USERSPACE != 0x08100000
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# error "CONFIG_NUTTX_USERSPACE must be 0x08100000 to match memory.ld"
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#endif
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/* These 'addresses' of these values are setup by the linker script. They are
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* not actual uint32_t storage locations! They are only used meaningfully in
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* the following way:
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*
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* - The linker script defines, for example, the symbol_sdata.
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* - The declaration extern uint32_t _sdata; makes C happy. C will believe
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* that the value _sdata is the address of a uint32_t variable _data (it
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* is not!).
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* - We can recover the linker value then by simply taking the address of
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* of _data. like: uint32_t *pdata = &_sdata;
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*/
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extern uint32_t _stext; /* Start of .text */
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extern uint32_t _etext; /* End_1 of .text + .rodata */
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extern const uint32_t _eronly; /* End+1 of read only section (.text + .rodata) */
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extern uint32_t _sdata; /* Start of .data */
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extern uint32_t _edata; /* End+1 of .data */
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extern uint32_t _sbss; /* Start of .bss */
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extern uint32_t _ebss; /* End+1 of .bss */
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/* This is the user space entry point */
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int CONFIG_USER_ENTRYPOINT(int argc, char *argv[]);
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int nsh_main(int argc, char *argv[]);
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const struct userspace_s userspace __attribute__((section(".userspace"))) = {
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/* General memory map */
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.us_entrypoint = (main_t)CONFIG_USER_ENTRYPOINT,
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.us_textstart = (uintptr_t) &_stext,
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.us_textend = (uintptr_t) &_etext,
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.us_datasource = (uintptr_t) &_eronly,
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.us_datastart = (uintptr_t) &_sdata,
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.us_dataend = (uintptr_t) &_edata,
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.us_bssstart = (uintptr_t) &_sbss,
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.us_bssend = (uintptr_t) &_ebss,
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/* Memory manager heap structure */
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.us_heap = &g_mmheap,
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/* Task/thread startup routines */
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.task_startup = nxtask_startup,
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/* Signal handler trampoline */
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.signal_handler = up_signal_handler,
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/* User-space work queue support (declared in include/nuttx/wqueue.h) */
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#ifdef CONFIG_LIB_USRWORK
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.work_usrstart = work_usrstart,
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#endif
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};
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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void px4_userspace_init(void);
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int CONFIG_USER_ENTRYPOINT(int argc, char *argv[])
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{
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#ifdef CONFIG_NSH_ARCHINIT
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#error CONFIG_NSH_ARCHINIT must not be defined!
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#endif
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boardctl(BOARDIOC_INIT, 0);
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px4_userspace_init();
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return nsh_main(argc, argv);
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}
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#endif /* !CONFIG_BUILD_FLAT && !__KERNEL__ */
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@@ -288,14 +288,21 @@ add_dependencies(nuttx_build nuttx_apps_build)
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target_link_libraries(nuttx_build INTERFACE nuttx_apps)
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# helper for all targets
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function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
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function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra target)
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if (${target} STREQUAL all)
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set(nuttx_lib_target all)
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else()
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set(nuttx_lib_target lib${target}.a)
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endif()
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file(GLOB_RECURSE nuttx_lib_files
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LIST_DIRECTORIES false
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${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*)
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add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
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COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete
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COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRAFLAGS=${extra}
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COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory ${nuttx_lib_target} TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRAFLAGS=${extra}
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DEPENDS
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${nuttx_lib_files}
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nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
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@@ -309,19 +316,36 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
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target_link_libraries(nuttx_build INTERFACE nuttx_${nuttx_lib})
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endfunction()
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# add_nuttx_dir(NAME DIRECTORY KERNEL EXTRA)
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add_nuttx_dir(arch arch/${CONFIG_ARCH}/src y -D__KERNEL__)
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add_nuttx_dir(binfmt binfmt y -D__KERNEL__)
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add_nuttx_dir(boards boards y -D__KERNEL__)
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add_nuttx_dir(drivers drivers y -D__KERNEL__)
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add_nuttx_dir(fs fs y -D__KERNEL__)
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add_nuttx_dir(sched sched y -D__KERNEL__)
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add_nuttx_dir(c libs/libc n "")
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add_nuttx_dir(xx libs/libxx n "")
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add_nuttx_dir(mm mm n "")
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add_nuttx_dir(binfmt binfmt y -D__KERNEL__ all)
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add_nuttx_dir(boards boards y -D__KERNEL__ all)
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add_nuttx_dir(drivers drivers y -D__KERNEL__ all)
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add_nuttx_dir(fs fs y -D__KERNEL__ all)
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add_nuttx_dir(sched sched y -D__KERNEL__ all)
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add_nuttx_dir(xx libs/libxx n "" all)
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if (NOT CONFIG_BUILD_FLAT)
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add_nuttx_dir(arch arch/${CONFIG_ARCH}/src n "" arch)
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add_dependencies(nuttx_arch_build nuttx_karch_build) # can't build these in parallel
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add_nuttx_dir(karch arch/arm/src y -D__KERNEL__ karch)
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add_nuttx_dir(c libs/libc n "" c)
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add_dependencies(nuttx_c_build nuttx_kc_build) # can't build these in parallel
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add_nuttx_dir(kc libs/libc y -D__KERNEL__ kc)
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add_nuttx_dir(mm mm n "" mm)
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add_dependencies(nuttx_mm_build nuttx_kmm_build) # can't build these in parallel
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add_nuttx_dir(kmm mm y -D__KERNEL__ kmm)
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add_nuttx_dir(proxies syscall n "" proxies)
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add_dependencies(nuttx_proxies_build nuttx_stubs_build) # can't build these in parallel
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add_nuttx_dir(stubs syscall y -D__KERNEL__ stubs)
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else()
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add_nuttx_dir(arch arch/${CONFIG_ARCH}/src y -D__KERNEL__ all)
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add_nuttx_dir(c libs/libc n "" all)
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add_nuttx_dir(mm mm n "" mm)
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endif()
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if(CONFIG_NET)
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add_nuttx_dir(net net y -D__KERNEL__)
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add_nuttx_dir(net net y -D__KERNEL__ all)
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endif()
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###############################################################################
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