mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 14:13:34 +08:00
NuttX: fixes for NuttX build
In the upstream tree ringbuffer.h includes the method implementations in the header file which causes multiple definitions in the link for other targets. Changed so ringbuffer.cpp is build separately for other platforms and is included by ringbuffer.h on NuttX. uORB changes do not link without uORBTest_UnitTest.cpp enabled for the NuttX build. px4_getopt was not exported and wasn't visible in NuttX build. The makefiles were restored to be as close as possible to upstream so the NuttX build builtin's work again. The code will have to be refactored after the merge. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
@@ -97,8 +97,132 @@ upload:
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endif
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endif
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ifeq ($(PX4_TARGET_OS),nuttx)
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#
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# Built products
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#
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DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
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STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
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FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
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all: $(DESIRED_FIRMWARES)
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#
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# Copy FIRMWARES into the image directory.
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#
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# XXX copying the .bin files is a hack to work around the PX4IO uploader
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# not supporting .px4 files, and it should be deprecated onced that
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# is taken care of.
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#
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$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
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@$(ECHO) %% Copying $@
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$(Q) $(COPY) $< $@
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$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
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#
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# Generate FIRMWARES.
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#
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.PHONY: $(FIRMWARES)
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$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
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$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
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$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: generateuorbtopicheaders checksubmodules
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@$(ECHO) %%%%
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@$(ECHO) %%%% Building $(config) in $(work_dir)
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@$(ECHO) %%%%
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$(Q) $(MKDIR) -p $(work_dir)
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$(Q) $(MAKE) -r -C $(work_dir) \
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-f $(PX4_MK_DIR)firmware.mk \
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CONFIG=$(config) \
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WORK_DIR=$(work_dir) \
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$(FIRMWARE_GOAL)
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#
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# Make FMU firmwares depend on the corresponding IO firmware.
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#
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# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
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# and forces the _default config in all cases. There has to be a better way to do this...
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#
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FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
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define FMU_DEP
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$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
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endef
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FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
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$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
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#
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# Build the NuttX export archives.
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#
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# Note that there are no explicit dependencies extended from these
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# archives. If NuttX is updated, the user is expected to rebuild the
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# archives/build area manually. Likewise, when the 'archives' target is
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# invoked, all archives are always rebuilt.
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#
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# XXX Should support fetching/unpacking from a separate directory to permit
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# downloads of the prebuilt archives as well...
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#
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NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
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.PHONY: archives
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archives: checksubmodules $(NUTTX_ARCHIVES)
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# We cannot build these parallel; note that we also force -j1 for the
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# sub-make invocations.
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ifneq ($(filter archives,$(MAKECMDGOALS)),)
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.NOTPARALLEL:
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endif
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J?=1
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$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
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$(ARCHIVE_DIR)%.export: configuration = nsh
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$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(board)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
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@$(ECHO) %% Exporting NuttX for $(board)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
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$(Q) $(MKDIR) -p $(dir $@)
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$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
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$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
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#
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# The user can run the NuttX 'menuconfig' tool for a single board configuration with
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# make BOARDS=<boardname> menuconfig
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#
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ifeq ($(MAKECMDGOALS),menuconfig)
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ifneq ($(words $(BOARDS)),1)
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$(error BOARDS must specify exactly one board for the menuconfig goal)
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endif
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BOARD = $(BOARDS)
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menuconfig: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(BOARD)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
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@$(ECHO) %% Running menuconfig for $(BOARD)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
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@$(ECHO) %% Saving configuration file
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$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
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else
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menuconfig:
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@$(ECHO) ""
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@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
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@$(ECHO) ""
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endif
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$(NUTTX_SRC): checksubmodules
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$(UAVCAN_DIR):
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$(Q) (./Tools/check_submodules.sh)
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endif
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ifeq ($(PX4_TARGET_OS),nuttx)
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include $(PX4_BASE)makefiles/firmware_nuttx.mk
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# TODO
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# Move the above nuttx specific rules into $(PX4_BASE)makefiles/firmware_nuttx.mk
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endif
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ifeq ($(PX4_TARGET_OS),posix)
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include $(PX4_BASE)makefiles/firmware_posix.mk
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@@ -107,6 +231,16 @@ ifeq ($(PX4_TARGET_OS),qurt)
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include $(PX4_BASE)makefiles/firmware_qurt.mk
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endif
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.PHONY: checksubmodules
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checksubmodules:
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$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
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.PHONY: updatesubmodules
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updatesubmodules:
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$(Q) (git submodule init)
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$(Q) (git submodule update)
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MSG_DIR = $(PX4_BASE)msg
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UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
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MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
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@@ -117,15 +251,6 @@ TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
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GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
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GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
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.PHONY: checksubmodules
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checksubmodules:
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$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
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.PHONY: updatesubmodules
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updatesubmodules:
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$(Q) (git submodule init)
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$(Q) (git submodule update)
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.PHONY: generateuorbtopicheaders
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generateuorbtopicheaders: checksubmodules
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@$(ECHO) "Generating uORB topic headers"
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