mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 06:13:34 +08:00
NuttX build in place
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
- slightly faster skipping necessary copying (depending on system)
- allows debugging in place
- easier to work directly in NuttX following official documentation
- simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
- the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
- also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
This commit is contained in:
Daniel Agar
+49
-34
@@ -143,38 +143,14 @@ add_custom_command(
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COMMENT "ROMFS: copying, generating airframes"
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)
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if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
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set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
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endif()
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# copy extras into ROMFS
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set(extras_dependencies)
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# copy px4io binary if configured
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if(config_io_board)
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list(APPEND extras_dependencies
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copy_px4io_bin
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${fw_io_bin}
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)
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file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
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message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
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endif()
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# board bootloader (built or included)
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if(TARGET copy_bootloader_bin)
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if(board_bootloader_firmware)
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file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
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message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
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else()
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file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
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message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
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endif()
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list(APPEND extras_dependencies
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copy_bootloader_bin
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${bootloader_bin}
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)
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endif()
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# optional board architecture defaults
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set(board_arch_rc_file "rc.board_arch_defaults")
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if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
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@@ -199,6 +175,7 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
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endif()
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# board custom init files
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set(OPTIONAL_BOARD_RC)
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list(APPEND OPTIONAL_BOARD_RC
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rc.board_defaults
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@@ -233,21 +210,59 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
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endforeach()
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# board extras
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set(OPTIONAL_BOARD_EXTRAS)
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file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
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foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
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if(EXISTS "${board_extra_file}")
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file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
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file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
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message(STATUS "ROMFS: Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
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add_custom_command(
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OUTPUT
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${romfs_gen_root_dir}/extras/${extra_file_base_name}
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${extra_file_base_name}.stamp
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
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COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
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DEPENDS
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${board_extra_file}
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romfs_copy.stamp
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COMMENT "ROMFS: copying ${board_extra_file}"
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)
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list(APPEND extras_dependencies
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${extra_file_base_name}.stamp
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)
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endif()
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endforeach()
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if(config_uavcan_peripheral_firmware)
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include(ExternalProject)
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foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
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# include the px4io binary in ROMFS
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# include the UAVCAN peripheral binaries in ROMFS
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message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
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# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
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cmake_policy(SET CMP0097 NEW)
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include(ExternalProject)
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ExternalProject_Add(build_${uavcan_peripheral_config}
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SOURCE_DIR ${CMAKE_SOURCE_DIR}
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DOWNLOAD_COMMAND ""
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UPDATE_COMMAND ""
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GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
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GIT_TAG ${PX4_GIT_TAG}
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GIT_SUBMODULES ""
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DOWNLOAD_NO_PROGRESS true
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CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
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INSTALL_COMMAND ""
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USES_TERMINAL_BUILD true
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DEPENDS git_nuttx git_nuttx_apps
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BUILD_ALWAYS 1
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)
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@@ -507,21 +507,13 @@ else
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. ${R}etc/init.d/rc.autostart.post
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fi
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#
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# Bootloader upgrade
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#
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if param compare -s SYS_BL_UPDATE 1
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set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
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if [ -f $BOARD_BOOTLOADER_UPGRADE ]
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then
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if [ -f "/etc/extras/bootloader.bin" ]
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then
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param set SYS_BL_UPDATE 0
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param save
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echo "bootloader update..."
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bl_update "/etc/extras/bootloader.bin"
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echo "bootloader update done, rebooting"
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reboot
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fi
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sh $BOARD_BOOTLOADER_UPGRADE
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fi
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unset BOARD_BOOTLOADER_UPGRADE
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#
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# End of autostart.
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