mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 07:13:34 +08:00
Clean up location of nuttx specific template
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
@@ -0,0 +1,10 @@
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/* builtin command list - automatically generated, do not edit */
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#include <nuttx/config.h>
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#include <nuttx/binfmt/builtin.h>
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#include <nuttx/config.h>
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${builtin_apps_decl_string}
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const struct builtin_s g_builtins[] = {
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${builtin_apps_string}
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{NULL, 0, 0, NULL}
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};
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const int g_builtin_count = ${command_count};
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@@ -0,0 +1,492 @@
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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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#=============================================================================
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#
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# Defined functions in this file
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#
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# OS Specific Functions
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#
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# * px4_nuttx_add_firmware
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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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# * px4_os_add_flags
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# * px4_os_prebuild_targets
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#
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include(px4_base)
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#=============================================================================
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#
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# px4_nuttx_add_firmware
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#
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# This function adds a nuttx firmware target.
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#
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# Usage:
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# px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable>)
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#
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# Input:
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# EXE : the executable to generate the firmware from
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#
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# Options:
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# PARAM_XML : toggles generation of param_xml
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#
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# Output:
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# OUT : the generated firmware target
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#
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# Example:
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# px4_nuttx_add_firmware(TARGET fw_test EXE test)
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#
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function(px4_nuttx_add_firmware)
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px4_parse_function_args(
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NAME px4_nuttx_add_firmware
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ONE_VALUE OUT EXE
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OPTIONS PARAM_XML
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REQUIRED EXE
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ARGN ${ARGN})
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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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endfunction()
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#=============================================================================
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#
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# px4_nuttx_generate_builtin_commands
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#
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# This function generates the builtin_commands.c src for nuttx
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# Usage:
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# px4_nuttx_generate_builtin_commands(
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# MODULE_LIST <in-list>
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# OUT <file>)
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#
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# Input:
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# MODULE_LIST : list of modules
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#
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# Output:
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# OUT : generated builtin_commands.c src
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#
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# Example:
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# px4_nuttx_generate_builtin_commands(
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# OUT <generated-src> MODULE_LIST px4_simple_app)
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#
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function(px4_nuttx_generate_builtin_commands)
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px4_parse_function_args(
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NAME px4_nuttx_generate_builtin_commands
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ONE_VALUE OUT
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MULTI_VALUE MODULE_LIST
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REQUIRED MODULE_LIST OUT
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ARGN ${ARGN})
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set(builtin_apps_string)
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set(builtin_apps_decl_string)
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set(command_count 0)
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foreach(module ${MODULE_LIST})
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# default
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set(MAIN_DEFAULT MAIN-NOTFOUND)
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set(STACK_DEFAULT 1024)
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set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
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foreach(property MAIN STACK PRIORITY)
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get_target_property(${property} ${module} ${property})
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if(NOT ${property})
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set(${property} ${${property}_DEFAULT})
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endif()
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endforeach()
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if (MAIN)
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set(builtin_apps_string
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"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n")
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set(builtin_apps_decl_string
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"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
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math(EXPR command_count "${command_count}+1")
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endif()
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endforeach()
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configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
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${OUT})
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_add_export
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#
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# This function generates a nuttx export.
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#
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# Usage:
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# px4_nuttx_add_export(
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# OUT <out-target>
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# CONFIG <in-string>
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# DEPENDS <in-list>)
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#
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# Input:
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# CONFIG : the board to generate the export for
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# DEPENDS : dependencies
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#
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# Output:
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# OUT : the export target
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#
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# Example:
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# px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2)
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#
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function(px4_nuttx_add_export)
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px4_parse_function_args(
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NAME px4_nuttx_add_export
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ONE_VALUE OUT CONFIG THREADS
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MULTI_VALUE DEPENDS
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REQUIRED OUT CONFIG THREADS
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ARGN ${ARGN})
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set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)
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# patch
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add_custom_target(__nuttx_patch_${CONFIG})
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file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
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${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
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foreach(patch ${nuttx_patches})
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string(REPLACE "/" "_" patch_name "${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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DEPENDS ${DEPENDS}
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)
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add_custom_target(nuttx_patch_${patch_name}
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DEPENDS nuttx_patch_${patch_name}.stamp)
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add_dependencies(nuttx_patch nuttx_patch_${patch_name})
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endforeach()
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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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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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-r --quiet distclean
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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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-r CONFIG_ARCH_BOARD=${CONFIG} export
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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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DEPENDS ${DEPENDS} ${BOARD}.export)
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add_custom_target(${OUT}
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DEPENDS nuttx_export_${BOARD}.stamp)
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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 "." "_" _tmp ${_tmp})
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string(REPLACE "-" "_" sym "_binary_${_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 ${ECHO} > ${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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# useful to comment remove statement when debugging
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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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#
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# The functions generates the ROMFS filesystem for nuttx.
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#
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# Usage:
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# px4_nuttx_generate_romfs(OUT <out-target> ROOT <in-directory>)
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#
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# Input:
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# ROOT : the root of the ROMFS
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#
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# Output:
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# OUT : the generated ROMFS
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#
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# Example:
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# px4_nuttx_generate_romfs(OUT my_romfs ROOT "ROMFS/my_board")
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#
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function(px4_nuttx_generate_romfs)
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px4_parse_function_args(
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NAME px4_nuttx_generate_romfs
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ONE_VALUE OUT ROOT
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REQUIRED OUT ROOT
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ARGN ${ARGN})
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|
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file(GLOB_RECURSE romfs_files ${ROOT}/*)
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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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|
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set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
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set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
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|
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|
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#message(STATUS "temp_dir: ${romfs_temp_dir}")
|
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#message(STATUS "src_dir: ${romfs_src_dir}")
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|
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add_custom_command(OUTPUT rc.autostart
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COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
|
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-a ${ROMFS_ROOT}/init.d
|
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-s rc.autostart
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)
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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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COMMAND cmake -E copy rc.autostart ${romfs_temp_dir}/init.d
|
||||
#TODO add romfs cleanup and pruning
|
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COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
|
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--folder ${romfs_temp_dir}
|
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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} rc.autostart
|
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
|
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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_img)
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_add_flags
|
||||
#
|
||||
# Set ths nuttx build flags.
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_add_flags(
|
||||
# C_FLAGS <inout-variable>
|
||||
# CXX_FLAGS <inout-variable>
|
||||
# EXE_LINKER_FLAGS <inout-variable>
|
||||
# INCLUDE_DIRS <inout-variable>
|
||||
# LINK_DIRS <inout-variable>
|
||||
# DEFINITIONS <inout-variable>)
|
||||
#
|
||||
# Input:
|
||||
# BOARD : flags depend on board/nuttx config
|
||||
#
|
||||
# Input/Output: (appends to existing variable)
|
||||
# C_FLAGS : c compile flags variable
|
||||
# CXX_FLAGS : c++ compile flags variable
|
||||
# EXE_LINKER_FLAGS : executable linker flags variable
|
||||
# INCLUDE_DIRS : include directories
|
||||
# LINK_DIRS : link directories
|
||||
# DEFINITIONS : definitions
|
||||
#
|
||||
# Example:
|
||||
# px4_os_add_flags(
|
||||
# C_FLAGS CMAKE_C_FLAGS
|
||||
# CXX_FLAGS CMAKE_CXX_FLAGS
|
||||
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
|
||||
# INCLUDES <list>)
|
||||
#
|
||||
function(px4_os_add_flags)
|
||||
|
||||
set(inout_vars
|
||||
C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_flags
|
||||
ONE_VALUE ${inout_vars} BOARD
|
||||
REQUIRED ${inout_vars} BOARD
|
||||
ARGN ${ARGN})
|
||||
|
||||
px4_add_common_flags(
|
||||
BOARD ${BOARD}
|
||||
C_FLAGS ${C_FLAGS}
|
||||
CXX_FLAGS ${CXX_FLAGS}
|
||||
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
|
||||
INCLUDE_DIRS ${INCLUDE_DIRS}
|
||||
LINK_DIRS ${LINK_DIRS}
|
||||
DEFINITIONS ${DEFINITIONS})
|
||||
|
||||
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
|
||||
set(added_include_dirs
|
||||
${nuttx_export_dir}/include
|
||||
${nuttx_export_dir}/include/cxx
|
||||
${nuttx_export_dir}/arch/chip
|
||||
${nuttx_export_dir}/arch/common
|
||||
)
|
||||
set(added_link_dirs
|
||||
${nuttx_export_dir}/libs
|
||||
)
|
||||
set(added_definitions
|
||||
-D__PX4_NUTTX
|
||||
)
|
||||
set(added_c_flags
|
||||
-nodefaultlibs
|
||||
-nostdlib
|
||||
)
|
||||
set(added_cxx_flags
|
||||
-nodefaultlibs
|
||||
-nostdlib
|
||||
)
|
||||
|
||||
set(added_exe_linker_flags) # none currently
|
||||
|
||||
if ("${BOARD}" STREQUAL "px4fmu-v2")
|
||||
set(arm_build_flags
|
||||
-mcpu=cortex-m4
|
||||
-mthumb
|
||||
-march=armv7e-m
|
||||
-mfpu=fpv4-sp-d16
|
||||
-mfloat-abi=hard
|
||||
)
|
||||
list(APPEND c_flags ${arm_build_flags})
|
||||
list(APPEND cxx_flags ${arm_build_flags})
|
||||
endif()
|
||||
|
||||
# output
|
||||
foreach(var ${inout_vars})
|
||||
string(TOLOWER ${var} lower_var)
|
||||
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
||||
#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
||||
endforeach()
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_prebuild_targets
|
||||
#
|
||||
# This function generates os dependent targets
|
||||
|
||||
# Usage:
|
||||
# px4_os_prebuild_targets(
|
||||
# OUT <out-list_of_targets>
|
||||
# BOARD <in-string>
|
||||
# )
|
||||
#
|
||||
# Input:
|
||||
# BOARD : board
|
||||
# THREADS : number of threads for building
|
||||
#
|
||||
# Output:
|
||||
# OUT : the target list
|
||||
#
|
||||
# Example:
|
||||
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
|
||||
#
|
||||
function(px4_os_prebuild_targets)
|
||||
px4_parse_function_args(
|
||||
NAME px4_os_prebuild_targets
|
||||
ONE_VALUE OUT BOARD THREADS
|
||||
REQUIRED OUT BOARD
|
||||
ARGN ${ARGN})
|
||||
px4_nuttx_add_export(OUT nuttx_export
|
||||
CONFIG ${BOARD}
|
||||
THREADS ${THREADS}
|
||||
DEPENDS git_nuttx)
|
||||
add_custom_target(${OUT} DEPENDS nuttx_export)
|
||||
endfunction()
|
||||
|
||||
# vim: set noet fenc=utf-8 ff=unix nowrap:
|
||||
Reference in New Issue
Block a user