mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 14:53:35 +08:00
Adding Nuttx Build infrastructure
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
cb9517486d
commit
d6098c8226
@@ -101,9 +101,14 @@ include(CMakeParseArguments)
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function(px4_parse_function_args)
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cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
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cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
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if (OUT_UNPARSED_ARGUMENTS)
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message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
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endif()
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foreach(arg ${IN_REQUIRED})
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if (NOT OUT_${arg})
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message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
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if (NOT "${OUT_${arg}}" STREQUAL "0")
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message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
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endif()
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endif()
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endforeach()
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foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
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@@ -143,6 +148,9 @@ function(px4_add_git_submodule)
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)
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add_custom_target(${TARGET}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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# todo:Not have 2 list of submodues one (see the end of Tools/check_submodules.sh and Firmware/CMakeLists.txt)
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# using the list of submodules from the CMake file to drive the test
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# COMMAND Tools/check_submodules.sh ${PATH}
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DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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)
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endfunction()
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@@ -240,7 +248,7 @@ endfunction()
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# STACK : deprecated use stack main instead
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# STACK_MAIN : size of stack for main function
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# STACK_MAX : maximum stack size of any frame
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# COMPILE_FLAGS : compile flags
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# COMPILE_FLAGS : compile flags
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# LINK_FLAGS : link flags
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# SRCS : source files
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# INCLUDES : include directories
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@@ -375,6 +383,8 @@ function(px4_generate_messages)
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MULTI_VALUE MSG_FILES DEPENDS INCLUDES
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REQUIRED MSG_FILES OS TARGET
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ARGN ${ARGN})
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if("${config_nuttx_config}" STREQUAL "bootloader")
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else()
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set(QUIET)
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if(NOT VERBOSE)
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set(QUIET "-q")
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@@ -463,7 +473,7 @@ function(px4_generate_messages)
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${msg_multi_files_out}
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${msg_files_out}
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)
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endif()
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endfunction()
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#=============================================================================
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@@ -1043,7 +1053,7 @@ function(px4_generate_airframes_xml)
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set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
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-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
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-a ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
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--board CONFIG_ARCH_BOARD_${BOARD} --xml
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)
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set(${OUT} ${${OUT}} PARENT_SCOPE)
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@@ -1098,6 +1108,34 @@ function(px4_copy_tracked)
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set(${OUT} ${_files_out} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_share_subdirectory
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#
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# This function simplifes sharing a sub directory
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#
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# Usage:
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# px4_share_subdirectory(RELDIR <relative path> ARGS <args>)
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#
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# Input:
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# RELDIR : The relitive path to share.
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# ARGS : Any optional arguments to pass to add_subdirectory
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#
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# Output:
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# : None
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#
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# Example:
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# px4_share_subdirectory(RELDIR ../uavcan/libuavcan ARGS EXCLUDE_FROM_ALL)
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#
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function(px4_share_subdirectory)
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px4_parse_function_args(
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NAME px4_share_subdirectory
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ONE_VALUE OUT RELDIR
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MULTI_VALUE ARGS
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REQUIRED RELDIR
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ARGN ${ARGN})
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add_subdirectory(${RELDIR} ${RELDIR}/${RELDIR} ${ARGS})
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endfunction()
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#=============================================================================
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#
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# px4_strip_optimization
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@@ -38,6 +38,7 @@
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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_make_uavcan_bootloadable
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# * px4_nuttx_generate_builtin_commands
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# * px4_nuttx_add_export
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# * px4_nuttx_add_romfs
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@@ -93,7 +94,7 @@ function(px4_nuttx_add_firmware)
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)
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endif()
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add_custom_command(OUTPUT ${OUT}
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add_custom_command(OUTPUT ${OUT} ${EXE}.bin
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
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--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
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@@ -105,6 +106,70 @@ function(px4_nuttx_add_firmware)
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add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_make_uavcan_bootloadable
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#
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# This function adds a uavcan boot loadable target.
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#
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# Usage:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD <board>
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# BIN <input bin file>)
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# HWNAME <uavcan name>
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# HW_MAJOR <number>
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# HW_MINOR <number>
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# SW_MAJOR <number>
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# SW_MINOR <number>)
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#
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# Input:
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# BOARD : the board
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# BIN : the bin file to generate the bootloadable image from
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# HWNAME : the uavcan name
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# HW_MAJOR : the major hardware revision
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# HW_MINOR : the minor hardware revision
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# SW_MAJOR : the major software revision
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# SW_MINOR : the minor software revision
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#
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# Output:
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# OUT : None
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#
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# Example:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD ${BOARD}
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# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
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# HWNAME ${uavcanblid_name}
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# HW_MAJOR ${uavcanblid_hw_version_major}
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# HW_MINOR ${uavcanblid_hw_version_minor}
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# SW_MAJOR ${uavcanblid_sw_version_major}
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# SW_MINOR ${uavcanblid_sw_version_minor}
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# )
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#
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function(px4_nuttx_make_uavcan_bootloadable)
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px4_parse_function_args(
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NAME px4_nuttx_make_uavcan_bootloadable
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ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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ARGN ${ARGN})
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string(REPLACE "\"" "" HWNAME ${HWNAME})
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execute_process(
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COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
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OUTPUT_VARIABLE uavcanbl_git_desc
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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if ("${uavcanbl_git_desc}" STREQUAL "")
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set(uavcanbl_git_desc ffffffff)
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endif()
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set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
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message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
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add_custom_command(OUTPUT ${uavcan_bl_imange_name}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
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-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
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DEPENDS ${BIN})
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add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
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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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@@ -185,60 +250,75 @@ function(px4_nuttx_add_export)
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set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
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# all patches
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file(GLOB nuttx_patches ${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
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# copy
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file(GLOB_RECURSE nuttx_all_files ${PX4_SOURCE_DIR}/NuttX/*)
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add_custom_command(OUTPUT nuttx_copy_${CONFIG}.stamp
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COMMAND ${MKDIR} -p ${nuttx_src}
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COMMAND rsync -a --delete --exclude=.git ${PX4_SOURCE_DIR}/NuttX/ ${nuttx_src}/
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COMMAND ${TOUCH} nuttx_copy_${CONFIG}.stamp
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DEPENDS ${DEPENDS} ${nuttx_patches} ${nuttx_all_files}
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COMMENT "Copying NuttX for ${CONFIG} with ${config_nuttx_config}")
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# patch
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add_custom_target(__nuttx_patch_${CONFIG})
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file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
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${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
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add_custom_target(nuttx_patch_${CONFIG})
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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 < ${PX4_SOURCE_DIR}/${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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get_filename_component(patch_file_name ${patch} NAME)
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message(STATUS "NuttX patch: nuttx-patches/${patch_file_name}")
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string(REPLACE "/" "_" patch_name "nuttx_patch_${patch_file_name}-${CONFIG}")
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set(patch_stamp ${nuttx_src}/${patch_name}.stamp)
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add_custom_command(OUTPUT ${patch_stamp}
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COMMAND ${PATCH} -d ${nuttx_src} -s -p1 -N < ${patch}
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COMMAND ${TOUCH} ${patch_stamp}
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DEPENDS ${DEPENDS} nuttx_copy_${CONFIG}.stamp ${patch}
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COMMENT "Applying ${patch}")
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add_custom_target(${patch_name} DEPENDS ${patch_stamp})
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add_dependencies(nuttx_patch_${CONFIG} ${patch_name})
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endforeach()
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# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
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# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
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# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
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file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
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file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig"
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hw_stack_check_${CONFIG}
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REGEX "CONFIG_ARMV7M_STACKCHECK=y"
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)
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if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y")
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set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "")
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set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
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endif()
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# copy and export
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file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
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# configure
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file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
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add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.export
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COMMAND ${MKDIR} -p ${nuttx_src}
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COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
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#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
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COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
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COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
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COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
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COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
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#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
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COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
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COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
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DEPENDS ${config_files} "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig" ${DEPENDS}
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add_custom_command(OUTPUT ${nuttx_src}/nuttx/.config
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COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/*.mk ${nuttx_src}/nuttx/
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COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
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COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/${config_nuttx_config}
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DEPENDS ${DEPENDS} nuttx_patch_${CONFIG} ${config_files}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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COMMENT "Building NuttX for ${CONFIG}")
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COMMENT "Configuring NuttX for ${CONFIG} with ${config_nuttx_config}")
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# extract
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add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
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COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
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COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
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COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
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DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${CONFIG}.export)
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# manual reconfigure helper
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add_custom_target(reconfigure_nuttx_${CONFIG}
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COMMAND cd ${nuttx_src}/nuttx
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COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig
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COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig
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COMMAND ${CP} ${nuttx_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
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DEPENDS ${nuttx_src}/nuttx/.config
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COMMENT "Reconfiguring NuttX for ${CONFIG} with ${config_nuttx_config}"
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USES_TERMINAL)
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add_custom_target(${OUT}
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DEPENDS nuttx_export_${CONFIG}.stamp)
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# build and export
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add_custom_command(OUTPUT ${nuttx_src}/nuttx/nuttx-export/include/nuttx/config.h
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COMMAND ${RM} -rf ${nuttx_src}/nuttx/nuttx-export
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COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
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DEPENDS ${DEPENDS} ${nuttx_src}/nuttx/.config
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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COMMENT "Building NuttX for ${CONFIG} with ${config_nuttx_config}")
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add_custom_target(${OUT} DEPENDS ${nuttx_src}/nuttx/nuttx-export/include/nuttx/config.h)
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endfunction()
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@@ -308,6 +388,7 @@ function(px4_nuttx_add_romfs)
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REQUIRED OUT ROOT
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ARGN ${ARGN})
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set(romfs_used y PARENT_SCOPE)
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set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
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set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
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set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
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@@ -422,20 +503,27 @@ function(px4_os_add_flags)
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LINK_DIRS ${LINK_DIRS}
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DEFINITIONS ${DEFINITIONS})
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set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
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set(nuttx_export_root ${PX4_BINARY_DIR}/${BOARD}/NuttX)
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set(nuttx_export_dir ${nuttx_export_root}/nuttx/nuttx-export)
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set(added_include_dirs
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${nuttx_export_dir}/include
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${nuttx_export_dir}/include/cxx
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${nuttx_export_dir}/arch/chip
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${nuttx_export_dir}/arch/common
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${nuttx_export_dir}/arch/armv7-m
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${nuttx_export_root}/apps/include
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)
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set(added_link_dirs
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${nuttx_export_dir}/libs
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)
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set(added_definitions
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-D__PX4_NUTTX
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-D__DF_NUTTX # Define for DriverFramework
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)
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if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
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list(APPEND added_definitions -D__DF_NUTTX)
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endif()
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set(added_c_flags
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-nodefaultlibs
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-nostdlib
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@@ -458,27 +546,27 @@ function(px4_os_add_flags)
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endif()
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set(cpu_flags)
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# Handle non-F4 boards specifically here
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if (${BOARD} STREQUAL "px4io-v1")
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if (${config_nuttx_hw} STREQUAL "m7")
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set(cpu_flags
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-mcpu=cortex-m3
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-mcpu=cortex-m7
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-mthumb
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-march=armv7-m
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-mfpu=fpv5-sp-d16
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-mfloat-abi=hard
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)
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elseif (${BOARD} STREQUAL "px4io-v2")
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elseif (${config_nuttx_hw} STREQUAL "m4")
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set(cpu_flags
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-mcpu=cortex-m3
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-mthumb
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-march=armv7-m
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)
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else ()
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set(cpu_flags
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-mcpu=cortex-m4
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-mthumb
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-march=armv7e-m
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-mfpu=fpv4-sp-d16
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-mfloat-abi=hard
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)
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elseif (${config_nuttx_hw} STREQUAL "m3")
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set(cpu_flags
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-mcpu=cortex-m3
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-mthumb
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-march=armv7-m
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)
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endif()
|
||||
list(APPEND c_flags ${cpu_flags})
|
||||
list(APPEND cxx_flags ${cpu_flags})
|
||||
@@ -527,4 +615,51 @@ function(px4_os_prebuild_targets)
|
||||
add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_nuttx_configure
|
||||
#
|
||||
# This function sets the nuttx configuration
|
||||
#
|
||||
# Usage:
|
||||
# px4_nuttx_configure(
|
||||
# HWCLASS <m3|m4>
|
||||
# CONFIG <nsh|bootloader
|
||||
# [ROMFS <y|n>
|
||||
# ROMFSROOT <root>]
|
||||
# )
|
||||
#
|
||||
# Input:
|
||||
# HWCLASS : the class of hardware
|
||||
# CONFIG : the nuttx condufiguration to use
|
||||
# ROMFS : whether or not to use incllude theROMFS
|
||||
# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common
|
||||
#
|
||||
# Output:
|
||||
# OUT : None
|
||||
#
|
||||
# Example:
|
||||
# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
|
||||
#
|
||||
function(px4_nuttx_configure)
|
||||
px4_parse_function_args(
|
||||
NAME px4_nuttx_configure
|
||||
ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT
|
||||
REQUIRED HWCLASS CONFIG
|
||||
ARGN ${ARGN})
|
||||
set(config_nuttx_config ${CONFIG} PARENT_SCOPE)
|
||||
set(config_nuttx_hw ${HWCLASS} PARENT_SCOPE)
|
||||
if ("${ROMFS}" STREQUAL "y")
|
||||
set(romfs_used ${ROMFS} PARENT_SCOPE)
|
||||
if (NOT DEFINED ROMFSROOT)
|
||||
set(config_romfs_root px4fmu_common)
|
||||
else()
|
||||
set(config_romfs_root ${ROMFSROOT})
|
||||
endif()
|
||||
set(HASROMFS "with ROMFS on ${config_romfs_root}")
|
||||
set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
|
||||
endif()
|
||||
message(STATUS "Nuttx build for ${BOARD} on ${HWCLASS} hardware, using ${CONFIG} ${HASROMFS}")
|
||||
endfunction()
|
||||
|
||||
# vim: set noet fenc=utf-8 ff=unix nowrap:
|
||||
|
||||
@@ -189,6 +189,8 @@ function(px4_os_add_flags)
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
|
||||
|
||||
set(DF_TARGET "qurt" PARENT_SCOPE)
|
||||
|
||||
# output
|
||||
foreach(var ${inout_vars})
|
||||
string(TOLOWER ${var} lower_var)
|
||||
|
||||
Reference in New Issue
Block a user