mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Got romfs generation working.
This commit is contained in:
James Goppert
parent
815387492c
commit
bf9e541d19
@ -109,12 +109,20 @@ set(package-contact "px4users@googlegroups.com")
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# cmake modules
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#
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# set module path
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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if (EXISTS px4_impl_${OS}_${BOARD})
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include(px4_impl_${OS}_${BOARD})
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# prefer board implementation module over os implmementation module
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set(board_impl_module px4_impl_${OS}_${BOARD})
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set(os_impl_module px4_impl_${OS})
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if (EXISTS ${board_impl_module})
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set(impl_module ${board_impl_module})
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else()
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include(px4_impl_${OS})
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set(impl_module ${os_impl_module})
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endif()
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include(${impl_module})
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# require px4 module interface
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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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@ -125,6 +133,9 @@ foreach(cmd ${px4_required_functions})
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endif()
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endforeach()
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# other modules
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enable_testing()
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#=============================================================================
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# parameters
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#
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@ -41,12 +41,12 @@ foreach(tool objcopy nm ld)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} arm-none-eabi-${tool})
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if(NOT ${TOOL})
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message(FATAL_ERROR "could not find ${TOOL}")
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message(FATAL_ERROR "could not find ${tool}")
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endif()
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endforeach()
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# os tools
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foreach(tool grep rm nm genromfs)
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foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} ${tool})
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if(NOT ${TOOL})
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@ -42,6 +42,7 @@
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# * px4_nuttx_generate_builtin_commands
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# * px4_nuttx_add_export
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# * px4_nuttx_generate_romfs
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# * px4_bin_to_obj
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#
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# Required OS Inteface Functions
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#
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@ -187,8 +188,8 @@ function(px4_nuttx_add_export)
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string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
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message(STATUS "nuttx-patch: ${patch}")
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add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
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COMMAND patch -p0 -N < ${CMAKE_SOURCE_DIR}/${patch}
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COMMAND touch nuttx_patch_${patch_name}.stamp
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COMMAND ${PATCH} -p0 -N < ${CMAKE_SOURCE_DIR}/${patch}
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COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
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DEPENDS ${DEPENDS}
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)
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add_custom_target(nuttx_patch_${patch_name}
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@ -198,35 +199,35 @@ function(px4_nuttx_add_export)
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# copy
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add_custom_command(OUTPUT nuttx_copy_${CONFIG}.stamp
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COMMAND mkdir -p ${CMAKE_BINARY_DIR}/${CONFIG}
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COMMAND cp -r ${CMAKE_SOURCE_DIR}/NuttX ${nuttx_src}
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COMMAND rm -rf ${nuttx_src}/.git
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COMMAND touch nuttx_copy_${CONFIG}.stamp
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COMMAND ${MKDIR} -p ${CMAKE_BINARY_DIR}/${CONFIG}
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COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/NuttX ${nuttx_src}
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COMMAND ${RM} -rf ${nuttx_src}/.git
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COMMAND ${TOUCH} nuttx_copy_${CONFIG}.stamp
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DEPENDS ${DEPENDS})
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add_custom_target(__nuttx_copy_${CONFIG}
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DEPENDS nuttx_copy_${CONFIG}.stamp __nuttx_patch_${CONFIG})
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# export
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add_custom_command(OUTPUT ${CONFIG}.export
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COMMAND echo Configuring NuttX for ${CONFIG}
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COMMAND make -C${nuttx_src}/nuttx -j${THREADS}
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COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
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COMMAND ${MAKE} -C${nuttx_src}/nuttx -j${THREADS}
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-r --quiet distclean
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COMMAND cp -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}
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COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}
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${nuttx_src}/nuttx/configs
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COMMAND cd ${nuttx_src}/nuttx/tools &&
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./configure.sh ${CONFIG}/nsh
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COMMAND echo Exporting NuttX for ${CONFIG}
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COMMAND make -C ${nuttx_src}/nuttx -j${THREADS}
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COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
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COMMAND ${MAKE} -C ${nuttx_src}/nuttx -j${THREADS}
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-r CONFIG_ARCH_BOARD=${CONFIG} export
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COMMAND cp -r ${nuttx_src}/nuttx/nuttx-export.zip
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COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip
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${CONFIG}.export
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DEPENDS ${DEPENDS} __nuttx_copy_${CONFIG})
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# extract
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add_custom_command(OUTPUT nuttx_export_${BOARD}.stamp
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COMMAND rm -rf ${nuttx_src}/nuttx-export
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COMMAND unzip ${BOARD}.export -d ${nuttx_src}
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COMMAND touch nuttx_export_${BOARD}.stamp
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COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
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COMMAND ${UNZIP} ${BOARD}.export -d ${nuttx_src}
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COMMAND ${TOUCH} nuttx_export_${BOARD}.stamp
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DEPENDS ${DEPENDS} ${BOARD}.export)
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add_custom_target(${OUT}
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@ -234,6 +235,63 @@ function(px4_nuttx_add_export)
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endfunction()
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#=============================================================================
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#
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# px4_bin_to_obj
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#
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# The functions create an object file from a binary image.
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#
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# Usage:
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# px4_bin_to_boj(OBJ <out-obj> VAR <in-variable> BIN <in-bin>)
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#
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# Input:
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# BIN : the bin file
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# VAR : the variable name
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#
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# Output:
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# OBJ : the object file
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#
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# Example:
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# px4_bin_to_obj(OBJ my_obj VAR romfs BIN my_bin)
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#
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function(px4_bin_to_obj)
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px4_parse_function_args(
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NAME px4_bin_to_obj
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ONE_VALUE BIN OBJ VAR
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REQUIRED BIN OBJ VAR
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ARGN ${ARGN})
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string(REPLACE "/" " " _tmp ${BIN})
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string(REPLACE "/" " " sym ${_tmp})
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message(STATUS "sym: ${sym}")
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separate_arguments(CMAKE_C_FLAGS)
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add_custom_command(OUTPUT ${OBJ}
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COMMAND ${TOUCH} ${OBJ}.c
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COMMAND ${CMAKE_C_COMPILER} ${CMAKE_C_FLAGS} -c ${OBJ}.c -o ${OBJ}.c.o
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COMMAND ${LD} -r -o ${OBJ}.bin.o ${OBJ}.c.o -b binary ${BIN}
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COMMAND ${NM} -p --radix=x ${OBJ}.bin.o
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| ${GREP} ${sym}_size
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| ${GREP} -o ^[0-9a-fA-F]*
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| ${AWK} "{print \"const unsigned int ${VAR}_len = 0x\"$1\";\"}" > ${OBJ}.c
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COMMAND ${CMAKE_C_COMPILER} ${CMAKE_C_FLAGS} -c ${OBJ}.c -o ${OBJ}.c.o
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COMMAND ${LD} -r -o ${OBJ} ${OBJ}.c.o ${OBJ}.bin.o
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COMMAND ${OBJCOPY} ${OBJ}
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--redefine-sym ${sym}_start=${VAR}
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--strip-symbol ${sym}_size
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--strip-symbol ${sym}_end
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--rename-section .data=.rodata
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COMMAND ${RM} ${OBJ}.c ${OBJ}.c.o ${OBJ}.bin.o
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DEPENDS ${BIN}
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VERBATIM
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)
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set(${OBJ} ${OBJ} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_generate_romfs
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@ -264,15 +322,19 @@ function(px4_nuttx_generate_romfs)
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set(romfs_temp_dir ${CMAKE_BINARY_DIR}/${ROOT})
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set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
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add_custom_command(OUTPUT ${OUT}
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add_custom_command(OUTPUT romfs.bin
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COMMAND cmake -E remove_directory ${romfs_temp_dir}
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COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
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#TODO add romfs cleanup and pruning
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COMMAND ${GENROMFS} -f ${OUT} -d ${romfs_temp_dir} -V "NSHInitVol"
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COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
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-d ${romfs_temp_dir} -V "NSHInitVol"
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DEPENDS ${romfs_files}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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add_custom_target(gen_romfs DEPENDS ${OUT})
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px4_bin_to_obj(OBJ ${OUT}
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BIN ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
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VAR romfs)
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endfunction()
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@ -45,8 +45,11 @@ if (${OS} STREQUAL "nuttx")
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OUT builtin_commands.c
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MODULE_LIST ${module_list})
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px4_nuttx_generate_romfs(OUT romfs.o
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ROOT ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common)
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# add executable
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add_executable(main builtin_commands.c)
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add_executable(main builtin_commands.c romfs.o)
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set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
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set(main_link_flags
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"-T${nuttx_export_dir}/build/ld.script"
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@ -67,9 +70,6 @@ if (${OS} STREQUAL "nuttx")
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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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px4_nuttx_generate_romfs(OUT ${CMAKE_CURRENT_BINARY_DIR}/romfs.img
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ROOT ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common)
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endif()
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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