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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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initial board and platform support for the ModalAI VOXL 2 (POSIX + QuRT)
This commit is contained in:
Eric Katzfey
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############################################################################
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#
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# Copyright (c) 2022 ModalAI, Inc. 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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set(HEXAGON_SDK_INCLUDES
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${HEXAGON_SDK_ROOT}/incs
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${HEXAGON_SDK_ROOT}/incs/stddef
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${HEXAGON_SDK_ROOT}/rtos/qurt/computev66/include/qurt
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# ${HEXAGON_SDK_ROOT}/rtos/qurt/computev66/include/posix
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${HEXAGON_SDK_ROOT}/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/include
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)
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set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0/pic)
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set(HEXAGON_ARCH_FLAGS
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-march=hexagon
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-mcpu=hexagon${V_ARCH}
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)
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macro (list2string out in)
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set(list ${ARGV})
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list(REMOVE_ITEM list ${out})
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foreach(item ${list})
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set(${out} "${${out}} ${item}")
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endforeach()
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endmacro(list2string)
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set(HEXAGON_START_LINK_FLAGS)
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list2string(HEXAGON_START_LINK_FLAGS
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${HEXAGON_ARCH_FLAGS}
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-shared
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-call_shared
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-G0
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${TOOLSLIB}/initS.o
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"-o <TARGET>"
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-L${TOOLSLIB}
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-Bsymbolic
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${TOOLSLIB}/libgcc.a
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--wrap=malloc
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--wrap=calloc
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--wrap=free
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--wrap=realloc
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--wrap=memalign
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--wrap=__stack_chk_fail
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-lc
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"-soname=<TARGET_SONAME>"
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)
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set(HEXAGON_END_LINK_FLAGS)
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list2string(HEXAGON_END_LINK_FLAGS
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--start-group
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-lgcc
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--end-group
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${TOOLSLIB}/finiS.o
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)
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set(CMAKE_C_CREATE_SHARED_LIBRARY
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"${HEXAGON_LINK} ${HEXAGON_START_LINK_FLAGS} --start-group --whole-archive <OBJECTS> <LINK_LIBRARIES> --end-group ${HEXAGON_END_LINK_FLAGS}")
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set(CMAKE_CXX_CREATE_SHARED_LIBRARY
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"${HEXAGON_LINK} ${HEXAGON_START_LINK_FLAGS} --start-group ${TOOLSLIB}/libc++.so.1 ${TOOLSLIB}/libc++abi.so.1 ${HEXAGON_SDK_ROOT}/libs/weak_refs/ship/hexagon_toolv84/weak_refs.so --end-group --start-group --whole-archive <OBJECTS> <LINK_LIBRARIES> --end-group ${HEXAGON_END_LINK_FLAGS}")
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set(DYNAMIC_LIBS -Wl,${TOOLSLIB}/libc++.a)
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# Base CPU flags for each of the supported architectures.
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set(ARCHCPUFLAGS
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-m${V_ARCH}
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-G0
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)
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add_definitions(
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-D __QURT
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-D _PROVIDE_POSIX_TIME_DECLS
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-D _TIMER_T
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-D _HAS_C9X
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-D restrict=__restrict__
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-D noreturn_function=
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)
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# Language-specific flags
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set(ARCHCFLAGS
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-D__CUSTOM_FILE_IO__
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)
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set(ARCHCXXFLAGS
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-DCONFIG_WCHAR_BUILTIN
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-D__CUSTOM_FILE_IO__
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)
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exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
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exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
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set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
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# Full optimization and Link Time Optimization (LTO)
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set(QURT_OPTIMIZATION_FLAGS -O3 -flto)
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# Flags we pass to the C compiler
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list2string(CFLAGS
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${ARCHCFLAGS}
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${ARCHCPUFLAGS}
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${QURT_OPTIMIZATION_FLAGS}
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${HEXAGON_INCLUDE_DIRS}
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)
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# Flags we pass to the C++ compiler
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list2string(CXXFLAGS
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-Wno-inconsistent-missing-override
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${ARCHCXXFLAGS}
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${ARCHCPUFLAGS}
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${QURT_OPTIMIZATION_FLAGS}
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${HEXAGON_INCLUDE_DIRS}
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)
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# Set cmake flags
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list2string(QURT_CMAKE_C_FLAGS
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${CMAKE_C_FLAGS}
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${CFLAGS}
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)
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set(CMAKE_C_FLAGS "${QURT_CMAKE_C_FLAGS}")
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list2string(QURT_CMAKE_CXX_FLAGS
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${CMAKE_CXX_FLAGS}
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${CXXFLAGS}
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)
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set(CMAKE_CXX_FLAGS ${QURT_CMAKE_CXX_FLAGS})
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# Flags we pass to the linker
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# CMake make test builds of apps to validate the compiler
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# These settings enable CMake to build the required test apps
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list2string(CMAKE_EXE_LINKER_FLAGS
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-m${V_ARCH}
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-mG0lib
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-G0
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-fpic
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-shared
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-Wl,-Bsymbolic
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-Wl,--wrap=malloc
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-Wl,--wrap=calloc
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-Wl,--wrap=free
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-Wl,--wrap=realloc
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-Wl,--wrap=memalign
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-Wl,--wrap=__stack_chk_fail
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${DYNAMIC_LIBS}
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-lc
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${EXTRALDFLAGS}
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)
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include (CMakeParseArguments)
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# Process DSP files
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function (QURT_LIB)
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set(options)
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set(oneValueArgs LIB_NAME)
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set(multiValueArgs SOURCES LINK_LIBS INCS FLAGS)
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cmake_parse_arguments(QURT_LIB "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
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include_directories(
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${CMAKE_CURRENT_BINARY_DIR}
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)
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if ("${QURT_LIB_SOURCES}" STREQUAL "")
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message(FATAL_ERROR "QURT_LIB called without SOURCES")
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else()
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# Build lib that is run on the DSP
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add_library(${QURT_LIB_LIB_NAME} SHARED
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${QURT_LIB_SOURCES}
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)
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if (NOT "${QURT_LIB_FLAGS}" STREQUAL "")
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set_target_properties(${QURT_LIB_LIB_NAME} PROPERTIES COMPILE_FLAGS "${QURT_LIB_FLAGS}")
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endif()
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if (NOT "${QURT_LIB_INCS}" STREQUAL "")
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target_include_directories(${QURT_LIB_LIB_NAME} PUBLIC ${QURT_LIB_INCS})
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endif()
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target_link_libraries(${QURT_LIB_LIB_NAME}
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${QURT_LIB_LINK_LIBS}
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)
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endif()
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set(DSPLIB_TARGET_PATH "/usr/lib/rfsa/adsp/")
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# Add a rule to load the files onto the target that run in the DSP
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add_custom_target(lib${QURT_LIB_LIB_NAME}-load
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DEPENDS ${QURT_LIB_LIB_NAME}
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COMMAND adb wait-for-device
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COMMAND adb push lib${QURT_LIB_LIB_NAME}.so ${DSPLIB_TARGET_PATH}
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COMMAND echo "Pushed lib${QURT_LIB_LIB_NAME}.so and dependencies to ${DSPLIB_TARGET_PATH}"
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)
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endfunction()
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