fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 10:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

NuttX cmake improvements

Browse Source 
- fix temporary Make.defs copy
 - implement custom macros for COMPILE, COMPILEXX, ASSEMBLE, ARCHIVE to enable ccache properly (if available and enabled)
 - fix NuttX mkdeps
 - fix libapps race condition with context
This commit is contained in:
Daniel Agar
2019-11-16 15:42:19 -05:00
parent b5e7e4bc17
commit df73a6667d
11 changed files with 78 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake
+1 -1
View File
@@ -1,5 +1,5 @@
if (CONFIG_ARCH_DPFPU)
if(CONFIG_ARCH_DPFPU)
message(STATUS "Enabling double FP precision hardware instructions")
set(mfpu_type "fpv5-d16")
else()
platforms/nuttx/cmake/Toolchain-arm-none-eabi.cmake
+10 -14
View File
@@ -13,19 +13,21 @@ set(CMAKE_C_COMPILER_TARGET ${triple})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
set(CMAKE_CXX_COMPILER_TARGET ${triple})
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
set(CMAKE_ASM_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
# needed for test compilation
set(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nosys.specs")
# compiler tools
foreach(tool nm ld objcopy ranlib strip)
string(TOUPPER ${tool} TOOL)
find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
if(CMAKE-${TOOL} MATCHES "NOTFOUND")
message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
endif()
endforeach()
find_program(CMAKE_AR ${TOOLCHAIN_PREFIX}-gcc-ar)
find_program(CMAKE_GDB ${TOOLCHAIN_PREFIX}-gdb)
find_program(CMAKE_LD ${TOOLCHAIN_PREFIX}-ld)
find_program(CMAKE_LINKER ${TOOLCHAIN_PREFIX}-ld)
find_program(CMAKE_NM ${TOOLCHAIN_PREFIX}-gcc-nm)
find_program(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}-objcopy)
find_program(CMAKE_OBJDUMP ${TOOLCHAIN_PREFIX}-objdump)
find_program(CMAKE_RANLIB ${TOOLCHAIN_PREFIX}-gcc-ranlib)
find_program(CMAKE_STRIP ${TOOLCHAIN_PREFIX}-strip)
set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
@@ -40,9 +42,3 @@ foreach(tool grep make)
message(FATAL_ERROR "could not find ${tool}")
endif()
endforeach()
# optional compiler tools
foreach(tool gdb gdbtui)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} arm-none-eabi-${tool})
endforeach()
platforms/nuttx/cmake/blackmagic.cmake
+2 -2
View File
@@ -43,7 +43,7 @@ file(GLOB_RECURSE black_magic_probe_console_path
if(black_magic_probe_path)
add_custom_target(blackmagic_debug
COMMAND ${GDB} --nh
COMMAND ${CMAKE_GDB} --nh
-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-ex 'target extended-remote ${black_magic_probe_path}'
-ex 'monitor version'
@@ -59,7 +59,7 @@ if(black_magic_probe_path)
)
add_custom_target(blackmagic_upload
COMMAND ${GDB} --nx --batch
COMMAND ${CMAKE_GDB} --nx --batch
-ex 'target extended-remote ${black_magic_probe_path}'
-ex 'monitor version'
-ex 'monitor connect_srst enable'
platforms/nuttx/cmake/init.cmake
+19 -21
View File
@@ -45,6 +45,11 @@ endif()
set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX config" FORCE)
# NuttX defconfig
# cmake should trigger reconfigure if defconfig changes
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
set(NUTTX_SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/../NuttX)
set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
@@ -67,15 +72,14 @@ else()
set(NUTTX_COPY_CMD_OPTS "-aRfl")
endif()
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX)
###############################################################################
# NuttX: copy to build directory
###############################################################################
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# copy nuttx during cmake configure
if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy.stamp)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
endif()
@@ -83,11 +87,9 @@ endif()
###############################################################################
# NuttX apps: copy to build directory
###############################################################################
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# copy apps during cmake configure
if(NOT EXISTS ${NUTTX_DIR}/apps_copy.stamp)
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
endif()
@@ -97,7 +99,7 @@ endif()
###############################################################################
# If the board provides a Kconfig Use it or create an empty one
if(NOT EXISTS ${NUTTX_DIR}/nuttx_config_kconfig.stamp)
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
else()
@@ -107,8 +109,7 @@ if(NOT EXISTS ${NUTTX_DIR}/nuttx_config_kconfig.stamp)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
endif()
if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy_config_dir.stamp)
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
# copy board's nuttx-config to NuttX/nuttx-config
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
@@ -120,17 +121,14 @@ if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy_config_dir.stamp)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
endif()
# make olddefconfig (inflate defconfig to full .config)
if(NOT EXISTS ${NUTTX_DIR}/.config)
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
configure_file(${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
set(ENV{PATH} "${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools:$ENV{PATH}")
execute_process(
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh
WORKING_DIRECTORY ${NUTTX_DIR}
OUTPUT_FILE nuttx_olddefconfig.log
ERROR_FILE nuttx_olddefconfig.log
@@ -146,7 +144,7 @@ if(NOT EXISTS ${NUTTX_DIR}/.config)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
endif()
# remove Toplevel Make.defs
file(REMOVE ${NUTTX_DIR}/Make.defs)
execute_process(COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/Make.defs)
endif()
###############################################################################
platforms/nuttx/cmake/jlink.cmake
+1 -1
View File
@@ -41,7 +41,7 @@ add_custom_target(jlink_upload
add_custom_target(jlink_debug
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
COMMAND ${GDB} -nh
COMMAND ${CMAKE_GDB} -nh
-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-ex 'target remote localhost:2331'
-ex 'monitor reset 0'