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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
cmake: ROMFS build overhaul.
This commit is contained in:
James Goppert
parent
7be3afe249
commit
cd98cfe555
@ -277,10 +277,12 @@ foreach(module ${config_module_list})
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endforeach()
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add_subdirectory(src/firmware/${OS})
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if (config_io_board)
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add_subdirectory(src/modules/px4iofirmware)
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endif()
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#=============================================================================
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# generate git version
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#
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@ -735,4 +735,54 @@ function(px4_generate_parameters)
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set(${OUT} ${generated_files} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_copy_tracked
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#
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# Copy files to a directory and keep track of dependencies.
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#
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# Usage:
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# px4_copy_tracked(OUT <dest-files> FILES <in-files> DIR <dir-name>)
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#
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# Input:
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# FILES : the source files
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# DEST : the directory to copy files to
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# RELATIVE : relative directory for source files
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#
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# Output:
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# OUT : the copied files
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#
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# Example:
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# px4_copy_tracked(OUT copied_files FILES src_files DEST path RELATIVE path_rel)
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#
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function(px4_copy_tracked)
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px4_parse_function_args(
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NAME px4_copy_tracked
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ONE_VALUE DEST OUT RELATIVE
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MULTI_VALUE FILES
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REQUIRED DEST OUT FILES
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ARGN ${ARGN})
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set(files)
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# before build, make sure dest directory exists
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execute_process(
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COMMAND cmake -E make_directory ${DEST})
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# create rule to copy each file and set dependency as source file
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set(_files_out)
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foreach(_file ${FILES})
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if (RELATIVE)
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file(RELATIVE_PATH _file_path ${RELATIVE} ${_file})
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else()
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set(_file_path ${_file})
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endif()
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set(_dest_file ${DEST}/${_file_path})
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#message(STATUS "copy ${_file} -> ${_dest_file}")
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add_custom_command(OUTPUT ${_dest_file}
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COMMAND cmake -E copy ${_file} ${_dest_file}
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DEPENDS ${_file})
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list(APPEND _files_out ${_dest_file})
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endforeach()
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set(${OUT} ${_files_out} PARENT_SCOPE)
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endfunction()
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# vim: set noet fenc=utf-8 ff=unix nowrap:
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@ -258,6 +258,41 @@ function(px4_nuttx_add_export)
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_create_bin
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#
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# The functions generates a bin image for nuttx.
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#
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# Usage:
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# px4_nuttx_create_bin(BIN <out-file> EXE <in-file>)
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#
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# Input:
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# EXE : the exe file
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#
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# Output:
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# OUT : the binary output file
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#
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# Example:
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# px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe)
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#
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function(px4_nuttx_create_bin)
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px4_parse_function_args(
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NAME px4_nuttx_create_bin
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ONE_VALUE EXE OUT
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REQUIRED EXE OUT
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ARGN ${ARGN})
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
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DEPENDS ${EXE})
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set(${OUT} ${${OUT}} 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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@ -265,10 +300,14 @@ endfunction()
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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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# px4_nuttx_generate_romfs(
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# OUT <out-target>
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# ROOT <in-directory>
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# EXTRAS <in-list>)
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#
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# Input:
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# ROOT : the root of the ROMFS
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# EXTRAS : list of extra files
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#
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# Output:
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# OUT : the generated ROMFS
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@ -281,42 +320,50 @@ 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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MULTI_VALUE EXTRAS
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REQUIRED OUT ROOT
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ARGN ${ARGN})
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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_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
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set(romfs_dest_dir ${CMAKE_BINARY_DIR}/${ROOT})
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set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
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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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set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
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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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file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
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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_src_dir}/init.d
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-s rc.autostart
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px4_copy_tracked(OUT romfs_files
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FILES ${romfs_src_files}
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DEST ${romfs_dest_dir}
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RELATIVE ${romfs_src_dir}
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)
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if (EXTRAS)
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px4_copy_tracked(OUT extra_files
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FILES ${EXTRAS}
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DEST ${romfs_dest_dir}/extras
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RELATIVE ${romfs_src_dir}
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)
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list(APPEND romfs_files ${extra_files})
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endif()
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set(io_bin_image
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${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}.bin)
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add_custom_command(OUTPUT ${romfs_dest_dir}/init.d/rc.autostart
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COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
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-a ${romfs_src_dir}/init.d
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-s ${romfs_dest_dir}/init.d/rc.autostart
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)
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list(APPEND romfs_files ${romfs_dest_dir}/init.d/rc.autostart)
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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
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COMMAND cmake -E make_directory ${romfs_temp_dir}/extras
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COMMAND cmake -E copy ${io_bin_image} ${romfs_temp_dir}/extras
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#TODO add romfs cleanup of temp file .~, .swp etc
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COMMAND cmake -E copy_directory ${romfs_dest_dir} ${romfs_temp_dir}
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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 ${io_bin_image}
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COMMAND cmake -E remove_directory ${romfs_temp_dir}
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DEPENDS ${romfs_files}
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
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)
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@ -123,18 +123,14 @@ set(main_link_flags
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px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
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set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})
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set(io_fw_file ${CMAKE_CURRENT_BINARY_DIR}/${fw-io_name}.px4)
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target_link_libraries(${fw_io_name}
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-Wl,--start-group
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apps nuttx nosys m gcc
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${config_io_extra_libs}
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-Wl,--end-group)
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px4_nuttx_add_firmware(OUT ${io_fw_file}
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BOARD ${config_io_board}
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EXE ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}
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${config_firmware_options}
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px4_nuttx_create_bin(OUT ${fw_io_name}.bin
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EXE ${fw_io_name}
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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