mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 23:03:35 +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
@@ -37,13 +37,10 @@ endif()
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include(cygwin_cygpath)
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set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx)
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set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps)
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add_executable(px4 ${PX4_SOURCE_DIR}/platforms/common/empty.c)
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set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
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set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME})
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add_dependencies(px4 git_nuttx nuttx_build)
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add_dependencies(px4 git_nuttx)
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
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@@ -97,7 +94,7 @@ list(APPEND nuttx_libs
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nuttx_crypto
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)
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if (CONFIG_NET)
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if(CONFIG_NET)
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list(APPEND nuttx_libs nuttx_net)
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target_link_libraries(nuttx_fs INTERFACE nuttx_net)
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endif()
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@@ -127,7 +124,7 @@ target_link_libraries(px4 PRIVATE
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-fno-exceptions
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-fno-rtti
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-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}script.ld
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-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}script.ld
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-Wl,-Map=${PX4_CONFIG}.map
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-Wl,--warn-common
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-Wl,--gc-sections
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@@ -152,15 +149,15 @@ if(config_romfs_root)
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endif()
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if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
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set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD}_unsigned.bin)
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set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_CONFIG}_unsigned.bin)
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add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
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COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
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add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin
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COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
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DEPENDS ${PX4_BINARY_OUTPUT}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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else()
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set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
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set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin)
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endif()
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add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
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@@ -181,9 +178,9 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
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--git_identity ${PX4_SOURCE_DIR}
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--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
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--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
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--image ${PX4_BINARY_DIR}/${PX4_BOARD}.bin > ${fw_package}
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--image ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin > ${fw_package}
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DEPENDS
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${PX4_BINARY_DIR}/${PX4_BOARD}.bin
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${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
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airframes_xml
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parameters_xml
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COMMENT "Creating ${fw_package}"
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@@ -200,6 +197,14 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
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endif()
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if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
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add_custom_command(OUTPUT ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin
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COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin
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DEPENDS px4
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)
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add_custom_target(px4_bootloader_keep ALL DEPENDS ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin)
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endif()
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# print weak symbols
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add_custom_target(weak_symbols
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COMMAND ${CMAKE_NM} $<TARGET_FILE:px4> | ${GREP} " w " | cat
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@@ -209,14 +214,14 @@ add_custom_target(weak_symbols
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)
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# generate bootloader.elf and copy to top level build directory
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if(EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
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if(NOT ("${PX4_BOARD_LABEL}" STREQUAL "bootloader") AND (EXISTS "${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin"))
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add_custom_command(
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OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
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COMMAND
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${CMAKE_OBJCOPY} -I binary -O elf32-little --change-section-address .data=0x08000000
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${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
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${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
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${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
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DEPENDS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
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DEPENDS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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add_custom_target(bootloader_elf DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf)
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@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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# Copyright (c) 2019-2021 PX4 Development Team. 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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@@ -31,282 +31,110 @@
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#
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############################################################################
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if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
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# copy with rsync and create file dependencies
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set(NUTTX_COPY_CMD "rsync")
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set(NUTTX_COPY_CMD_OPTS)
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list(APPEND NUTTX_COPY_CMD_OPTS
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-rp
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--inplace
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)
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else()
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# copy with hard links
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# archive, recursive, force, link (hardlinks)
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set(NUTTX_COPY_CMD "cp")
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set(NUTTX_COPY_CMD_OPTS "-aRfl")
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endif()
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set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
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###############################################################################
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# NuttX: copy to build directory
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###############################################################################
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file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
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file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
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execute_process(
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COMMAND git rev-parse --absolute-git-dir
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OUTPUT_VARIABLE nuttx_git_dir
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WORKING_DIRECTORY ${NUTTX_SRC_DIR}/nuttx
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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# setup custom command to copy changes later
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file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*)
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list(REMOVE_ITEM copy_nuttx_files ${NUTTX_SRC_DIR}/nuttx/.git)
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add_custom_command(
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OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
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COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
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COMMAND ${CMAKE_COMMAND} -E remove -f ${PX4_BINARY_DIR}/NuttX/nuttx/.git
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COMMAND echo "gitdir: ${nuttx_git_dir}" > ${PX4_BINARY_DIR}/NuttX/nuttx/.git
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COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
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DEPENDS
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git_nuttx
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${copy_nuttx_files}
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COMMENT "Copying NuttX/nuttx to ${CP_DST}"
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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)
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###############################################################################
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# NuttX apps: copy to build directory
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###############################################################################
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file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
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file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
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# setup custom command to copy changes later
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file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*)
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add_custom_command(
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OUTPUT ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
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COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
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COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
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DEPENDS
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git_nuttx_apps
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${copy_apps_files}
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COMMENT "Copying NuttX/apps to ${CP_DST}"
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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)
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set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
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# For any dependencies of commands on files we need to create a target.
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# Otherwise, if "Unix Makefiles" are used as the generator the commands are run in
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# parallel on the different files which often can lead to races or redundancies
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# in our build.
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# A nice write-up can be found here:
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# https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make
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add_custom_target(nuttx_copy_and_apps_target
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DEPENDS
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${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
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${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
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)
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# If the board provides a Kconfig Use it or create an empty one
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if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
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add_custom_command(
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OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig
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COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
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DEPENDS
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nuttx_copy_and_apps_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
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)
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else()
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add_custom_command(
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OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
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COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig
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COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
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DEPENDS
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nuttx_copy_and_apps_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
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)
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endif()
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add_custom_target(nuttx_config_kconfig_target DEPENDS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
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###############################################################################
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# NuttX configure
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###############################################################################
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# copy NuttX config directory
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file(RELATIVE_PATH CP_SRC ${NUTTX_DIR} ${PX4_BOARD_DIR}/nuttx-config)
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file(RELATIVE_PATH CP_DST ${NUTTX_DIR} ${PX4_BINARY_DIR}/NuttX)
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add_custom_command(
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OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
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COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
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COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
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COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
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DEPENDS
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${NUTTX_CONFIG_DIR}/include/board.h
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${NUTTX_CONFIG_DIR}/scripts/script.ld
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${NUTTX_SRC_DIR}/nsh_romfsimg.h
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nuttx_config_kconfig_target ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Copying NuttX config ${NUTTX_CONFIG}"
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)
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add_custom_target(nuttx_copy_config_dir_target DEPENDS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
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if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 9.3)
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set(CMAKE_C_COMP_DEP_FLAGS -Wno-stringop-truncation)
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endif()
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
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# copy compressed PX4 defconfig into nuttx and inflate
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add_custom_command(
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OUTPUT
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${NUTTX_DIR}/.config
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${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh > nuttx_olddefconfig.log
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COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
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DEPENDS
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${NUTTX_DIR}/Make.defs
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${NUTTX_DEFCONFIG}
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nuttx_copy_config_dir_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
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${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating (make olddefconfig)"
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)
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add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
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set(APPS_DIR ${NUTTX_SRC_DIR}/apps)
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###############################################################################
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# NuttX build
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###############################################################################
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# verbose build settings (V=1 or VERBOSE=1)
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option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/Make.defs.in ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs)
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if(($ENV{V} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "True"))
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message(STATUS "NuttX verbose build enabled")
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set(PX4_NUTTX_VERBOSE on)
|
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endif()
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|
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if(PX4_NUTTX_VERBOSE)
|
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set(nuttx_build_options "V=1")
|
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set(nuttx_build_uses_terminal "USES_TERMINAL")
|
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else()
|
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set(nuttx_build_options "--quiet" "--no-print-directory")
|
||||
set(nuttx_build_uses_terminal)
|
||||
endif()
|
||||
|
||||
# context
|
||||
# inflate .config
|
||||
add_custom_command(
|
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OUTPUT
|
||||
${NUTTX_DIR}/include/nuttx/config.h
|
||||
${NUTTX_DIR}/include/nuttx/version.h
|
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COMMAND
|
||||
make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y pass1dep > nuttx_context.log
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||||
OUTPUT ${NUTTX_DIR}/.config
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig
|
||||
COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config
|
||||
DEPENDS
|
||||
${NUTTX_DIR}/Make.defs
|
||||
nuttx_config_target ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
|
||||
${NUTTX_DEFCONFIG}
|
||||
${NUTTX_DIR}/defconfig
|
||||
${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
${nuttx_build_uses_terminal}
|
||||
#USES_TERMINAL
|
||||
)
|
||||
add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h)
|
||||
|
||||
# library of NuttX libraries
|
||||
add_library(nuttx_build INTERFACE)
|
||||
# context (.config -> include/nuttx/config.h, include/nuttx/version.h, dirlinks)
|
||||
add_custom_command(
|
||||
OUTPUT ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/arch/chip
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config ${NUTTX_DIR}/.config
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs
|
||||
COMMAND make --no-print-directory --silent clean_context
|
||||
COMMAND make --no-print-directory --silent pass1dep > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_context.log
|
||||
DEPENDS
|
||||
${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs
|
||||
${NUTTX_DIR}/.config
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
#USES_TERMINAL
|
||||
)
|
||||
add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/config.h)
|
||||
|
||||
add_custom_target(px4_config_file_target DEPENDS ${PX4_CONFIG_FILE})
|
||||
|
||||
# builtins
|
||||
set(nuttx_builtin_list)
|
||||
set(builtin_apps_string)
|
||||
set(builtin_apps_decl_string)
|
||||
if(CONFIG_NSH_LIBRARY)
|
||||
# force builtins regeneration and apps rebuild if nuttx or px4 configuration have changed
|
||||
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
|
||||
COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.bdat -delete
|
||||
COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.pdat -delete
|
||||
COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
|
||||
DEPENDS
|
||||
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
|
||||
px4_config_file_target ${PX4_CONFIG_FILE}
|
||||
)
|
||||
|
||||
add_custom_target(builtins_clean_target DEPENDS ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp)
|
||||
|
||||
list(SORT module_libraries)
|
||||
foreach(module ${module_libraries})
|
||||
get_target_property(MAIN ${module} MAIN)
|
||||
get_target_property(STACK_MAIN ${module} STACK_MAIN)
|
||||
get_target_property(PRIORITY ${module} PRIORITY)
|
||||
|
||||
if(MAIN)
|
||||
add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
|
||||
COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
|
||||
DEPENDS
|
||||
builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
|
||||
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
|
||||
VERBATIM
|
||||
)
|
||||
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat)
|
||||
|
||||
add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
|
||||
COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
|
||||
DEPENDS
|
||||
builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
|
||||
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
|
||||
VERBATIM
|
||||
)
|
||||
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat)
|
||||
|
||||
set(builtin_apps_string "${builtin_apps_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main },\n")
|
||||
set(builtin_apps_decl_string "${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
|
||||
endif()
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
add_custom_target(nuttx_builtin_list_target DEPENDS ${nuttx_builtin_list})
|
||||
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat)
|
||||
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat)
|
||||
|
||||
# APPS
|
||||
|
||||
# libapps.a
|
||||
add_custom_command(OUTPUT ${APPS_DIR}/libapps.a
|
||||
COMMAND find ${APPS_DIR} -name \*.o -delete
|
||||
COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}" > nuttx_apps.log
|
||||
DEPENDS
|
||||
nuttx_builtin_list_target ${nuttx_builtin_list}
|
||||
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
|
||||
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a
|
||||
COMMAND ${CMAKE_COMMAND} -E remove -f ${APPS_DIR}/libapps.a ${APPS_DIR}/builtin/builtin_list.h ${APPS_DIR}/builtin/builtin_proto.h
|
||||
COMMAND find ${APPS_DIR} -type f -name \*.o -delete
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat ${APPS_DIR}/builtin/registry/px4.bdat
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat ${APPS_DIR}/builtin/registry/px4.pdat
|
||||
COMMAND ${CMAKE_COMMAND} -E touch_nocreate ${APPS_DIR}/builtin/registry/.updated
|
||||
COMMAND make --no-print-directory --silent TOPDIR="${NUTTX_DIR}" > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_apps.log
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${APPS_DIR}/libapps.a ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a
|
||||
DEPENDS nuttx_context ${NUTTX_DIR}/include/nuttx/config.h
|
||||
WORKING_DIRECTORY ${APPS_DIR}
|
||||
${nuttx_build_uses_terminal}
|
||||
#USES_TERMINAL
|
||||
)
|
||||
add_custom_target(nuttx_apps_build DEPENDS ${APPS_DIR}/libapps.a)
|
||||
add_custom_target(nuttx_apps_build DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a)
|
||||
add_library(nuttx_apps STATIC IMPORTED GLOBAL)
|
||||
set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${APPS_DIR}/libapps.a)
|
||||
add_dependencies(nuttx_build nuttx_apps_build)
|
||||
target_link_libraries(nuttx_build INTERFACE nuttx_apps)
|
||||
set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a)
|
||||
add_dependencies(nuttx_apps nuttx_apps_build)
|
||||
|
||||
# helper for all targets
|
||||
function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
|
||||
file(GLOB_RECURSE nuttx_lib_files
|
||||
LIST_DIRECTORIES false
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*)
|
||||
file(GLOB_RECURSE nuttx_lib_files LIST_DIRECTORIES false
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.c
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.h
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
|
||||
COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete
|
||||
COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRAFLAGS=${extra} >> nuttx_build.log
|
||||
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a
|
||||
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
|
||||
COMMAND find ${nuttx_lib_dir} -type f -name \*.o -delete
|
||||
COMMAND make -C ${nuttx_lib_dir} --no-print-directory --silent all TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRAFLAGS=${extra}
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a
|
||||
DEPENDS
|
||||
${nuttx_lib_files}
|
||||
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
|
||||
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
${nuttx_build_uses_terminal}
|
||||
#USES_TERMINAL
|
||||
)
|
||||
add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a)
|
||||
add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a)
|
||||
|
||||
add_library(nuttx_${nuttx_lib} STATIC IMPORTED GLOBAL)
|
||||
set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a)
|
||||
add_dependencies(nuttx_build nuttx_${nuttx_lib}_build)
|
||||
target_link_libraries(nuttx_build INTERFACE nuttx_${nuttx_lib})
|
||||
set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a)
|
||||
add_dependencies(nuttx_${nuttx_lib} nuttx_${nuttx_lib}_build)
|
||||
endfunction()
|
||||
|
||||
# add_nuttx_dir(NAME DIRECTORY KERNEL EXTRA)
|
||||
@@ -326,10 +154,10 @@ if(CONFIG_NET)
|
||||
endif()
|
||||
|
||||
###############################################################################
|
||||
# NuttX oldconfig
|
||||
# NuttX oldconfig: Update a configuration using a provided .config as base
|
||||
add_custom_target(oldconfig_nuttx
|
||||
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y oldconfig
|
||||
DEPENDS nuttx_config_target ${NUTTX_DIR}/.config
|
||||
COMMAND make --no-print-directory --silent oldconfig
|
||||
DEPENDS ${NUTTX_DIR}/.config
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}"
|
||||
USES_TERMINAL
|
||||
@@ -337,7 +165,7 @@ add_custom_target(oldconfig_nuttx
|
||||
|
||||
# NuttX oldconfig + savedefconfig back to PX4
|
||||
add_custom_target(oldconfig
|
||||
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig
|
||||
COMMAND make --no-print-directory --silent savedefconfig
|
||||
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
|
||||
DEPENDS oldconfig_nuttx
|
||||
@@ -347,10 +175,10 @@ add_custom_target(oldconfig
|
||||
)
|
||||
|
||||
###############################################################################
|
||||
# NuttX olddefconfig
|
||||
# NuttX olddefconfig: same as oldconfig, but additionally update deps and sets new symbols to their default value
|
||||
add_custom_target(olddefconfig_nuttx
|
||||
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
|
||||
DEPENDS nuttx_config_target ${NUTTX_DIR}/.config
|
||||
COMMAND make --no-print-directory --silent olddefconfig
|
||||
DEPENDS ${NUTTX_DIR}/.config
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
COMMENT "Running NuttX make olddefconfig for ${NUTTX_CONFIG}"
|
||||
USES_TERMINAL
|
||||
@@ -358,7 +186,7 @@ add_custom_target(olddefconfig_nuttx
|
||||
|
||||
# NuttX olddefconfig + savedefconfig back to PX4
|
||||
add_custom_target(olddefconfig
|
||||
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig
|
||||
COMMAND make --no-print-directory --silent savedefconfig
|
||||
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
|
||||
DEPENDS olddefconfig_nuttx
|
||||
@@ -370,16 +198,16 @@ add_custom_target(olddefconfig
|
||||
###############################################################################
|
||||
# NuttX menuconfig
|
||||
add_custom_target(menuconfig_nuttx
|
||||
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y menuconfig
|
||||
DEPENDS nuttx_config_target ${NUTTX_DIR}/.config
|
||||
COMMAND make --no-print-directory --silent menuconfig
|
||||
DEPENDS ${NUTTX_DIR}/.config
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}"
|
||||
USES_TERMINAL
|
||||
)
|
||||
)
|
||||
|
||||
# NuttX menuconfig + savedefconfig back to PX4
|
||||
add_custom_target(menuconfig
|
||||
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig
|
||||
COMMAND make --no-print-directory --silent savedefconfig
|
||||
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
|
||||
DEPENDS menuconfig_nuttx
|
||||
@@ -391,16 +219,16 @@ add_custom_target(menuconfig
|
||||
###############################################################################
|
||||
# NuttX qconfig
|
||||
add_custom_target(qconfig_nuttx
|
||||
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y qconfig
|
||||
DEPENDS nuttx_config_target ${NUTTX_DIR}/.config
|
||||
COMMAND make --no-print-directory --silent qconfig
|
||||
DEPENDS ${NUTTX_DIR}/.config
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}"
|
||||
USES_TERMINAL
|
||||
)
|
||||
)
|
||||
|
||||
# NuttX qconfig + savedefconfig back to PX4
|
||||
add_custom_target(qconfig
|
||||
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y savedefconfig
|
||||
COMMAND make --no-print-directory --silent savedefconfig
|
||||
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
|
||||
DEPENDS qconfig_nuttx
|
||||
|
||||
@@ -109,6 +109,7 @@ FLAGS = $(MAXOPTIMIZATION) -g2 \
|
||||
-Wno-format-truncation \
|
||||
-Wno-maybe-uninitialized \
|
||||
-Wno-missing-field-initializers \
|
||||
-Wno-stringop-truncation \
|
||||
-Wno-sign-compare \
|
||||
-Wno-type-limits \
|
||||
-Wno-unused-parameter \
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
@builtin_apps_string@
|
||||
@@ -0,0 +1 @@
|
||||
@builtin_apps_decl_string@
|
||||
@@ -4,7 +4,6 @@ echo "DEBUG: kconfiglib kconfig-conf wrapper, arguments: ${@}"
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
|
||||
|
||||
export APPSDIR="`pwd`/../apps"
|
||||
export CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
|
||||
if [ "command -v python3" ]; then
|
||||
PYTHON_EXECUTABLE=python3
|
||||
|
||||
@@ -5,4 +5,4 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
|
||||
# update PATH to include kconfiglib scripts
|
||||
export PATH=${DIR}:${PATH}
|
||||
|
||||
make --no-print-directory --silent CONFIG_ARCH_BOARD_CUSTOM=y CONFIG_APPS_DIR="../apps" olddefconfig
|
||||
make --no-print-directory --silent CONFIG_APPS_DIR="../apps" olddefconfig
|
||||
|
||||
@@ -56,113 +56,35 @@ set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX con
|
||||
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 ${PX4_SOURCE_DIR}/platforms/nuttx/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)
|
||||
set(NUTTX_SRC_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX)
|
||||
set(NUTTX_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
|
||||
set(NUTTX_APPS_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
|
||||
|
||||
px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx")
|
||||
px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps")
|
||||
|
||||
if(CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
|
||||
# copy with rsync and create file dependencies
|
||||
set(NUTTX_COPY_CMD "rsync")
|
||||
set(NUTTX_COPY_CMD_OPTS)
|
||||
list(APPEND NUTTX_COPY_CMD_OPTS
|
||||
-rp
|
||||
--inplace
|
||||
)
|
||||
else()
|
||||
# copy with hard links
|
||||
# archive, recursive, force, link (hardlinks)
|
||||
set(NUTTX_COPY_CMD "cp")
|
||||
set(NUTTX_COPY_CMD_OPTS "-aRfl")
|
||||
endif()
|
||||
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX)
|
||||
|
||||
###############################################################################
|
||||
# NuttX: copy to build directory
|
||||
###############################################################################
|
||||
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/Kconfig))
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx)
|
||||
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})
|
||||
|
||||
# replace NuttX .git with actual git repo location (absolute path)
|
||||
execute_process(
|
||||
COMMAND git rev-parse --absolute-git-dir
|
||||
OUTPUT_VARIABLE nuttx_git_dir
|
||||
WORKING_DIRECTORY ${NUTTX_SRC_DIR}/nuttx
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/nuttx/.git)
|
||||
file(WRITE ${PX4_BINARY_DIR}/NuttX/nuttx/.git "gitdir: ${nuttx_git_dir}")
|
||||
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
|
||||
endif()
|
||||
|
||||
###############################################################################
|
||||
# NuttX apps: copy to build directory
|
||||
###############################################################################
|
||||
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps/Kconfig))
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/apps)
|
||||
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()
|
||||
|
||||
###############################################################################
|
||||
# board nuttx-config
|
||||
###############################################################################
|
||||
|
||||
# If the board provides a Kconfig Use it or create an empty one
|
||||
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) OR (NOT EXISTS ${NUTTX_DIR}/boards/dummy/Kconfig))
|
||||
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()
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig)
|
||||
endif()
|
||||
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
|
||||
endif()
|
||||
|
||||
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig))
|
||||
# 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)
|
||||
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 make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers)
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig)
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src)
|
||||
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 ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/.config))
|
||||
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)
|
||||
execute_process(
|
||||
COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
OUTPUT_FILE nuttx_olddefconfig.log
|
||||
RESULT_VARIABLE ret
|
||||
)
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
|
||||
# remove temporary top level Make.defs
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/Make.defs)
|
||||
endif()
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_CONFIG_DIR}/src) # needed for NuttX build
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${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)
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig)
|
||||
|
||||
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DIR}/defconfig)
|
||||
|
||||
execute_process(
|
||||
COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh
|
||||
WORKING_DIRECTORY ${NUTTX_DIR}
|
||||
OUTPUT_FILE ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log
|
||||
RESULT_VARIABLE ret
|
||||
)
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx/.config)
|
||||
|
||||
###############################################################################
|
||||
# NuttX cmake defconfig
|
||||
###############################################################################
|
||||
|
||||
# parse nuttx config options for cmake
|
||||
file(STRINGS ${NUTTX_DIR}/.config ConfigContents)
|
||||
file(STRINGS ${PX4_BINARY_DIR}/NuttX/nuttx/.config ConfigContents)
|
||||
foreach(NameAndValue ${ConfigContents})
|
||||
# Strip leading spaces
|
||||
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
|
||||
|
||||
@@ -117,32 +117,21 @@ find_program(JLinkExe_PATH JLinkExe)
|
||||
if(JLinkExe_PATH)
|
||||
|
||||
# jlink_flash_bootloader_bin
|
||||
if(bootloader_bin OR (EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin))
|
||||
if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
|
||||
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
set(BOARD_FIRMWARE_APP_OFFSET "0x08000000")
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink @ONLY)
|
||||
|
||||
if(bootloader_bin)
|
||||
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_bin} ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
|
||||
DEPENDS ${bootloader_bin}
|
||||
)
|
||||
elseif(EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
|
||||
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
|
||||
DEPENDS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
|
||||
)
|
||||
endif()
|
||||
|
||||
add_custom_target(jlink_flash_bootloader_bin
|
||||
${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
|
||||
COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink
|
||||
DEPENDS
|
||||
${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
endif()
|
||||
|
||||
# jlink_flash_bin
|
||||
@@ -161,8 +150,8 @@ if(JLinkExe_PATH)
|
||||
USES_TERMINAL
|
||||
)
|
||||
else()
|
||||
# regular firmware ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
|
||||
set(BOARD_FIRMWARE_BIN ${PX4_BOARD}.bin)
|
||||
# regular firmware ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
|
||||
set(BOARD_FIRMWARE_BIN ${PX4_CONFIG}.bin)
|
||||
set(BOARD_FIRMWARE_APP_OFFSET "0x08008000") # TODO: get from board
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY)
|
||||
|
||||
@@ -171,7 +160,7 @@ if(JLinkExe_PATH)
|
||||
COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink
|
||||
DEPENDS
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
|
||||
${PX4_BINARY_DIR}/${PX4_BOARD}.bin
|
||||
${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
@@ -51,17 +51,17 @@
|
||||
function(px4_os_add_flags)
|
||||
|
||||
include_directories(BEFORE SYSTEM
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/include
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include/cxx
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx # custom new
|
||||
)
|
||||
|
||||
include_directories(
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_FAMILY}
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/chip
|
||||
${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_FAMILY}
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/chip
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
|
||||
|
||||
${PX4_BINARY_DIR}/NuttX/apps/include
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
|
||||
)
|
||||
|
||||
# prevent using the toolchain's std c++ library
|
||||
@@ -178,6 +178,6 @@ function(px4_os_prebuild_targets)
|
||||
|
||||
add_library(prebuild_targets INTERFACE)
|
||||
target_link_libraries(prebuild_targets INTERFACE nuttx_xx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
|
||||
add_dependencies(prebuild_targets DEPENDS nuttx_build uorb_headers)
|
||||
add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
|
||||
|
||||
endfunction()
|
||||
|
||||
@@ -0,0 +1,17 @@
|
||||
#! /bin/sh
|
||||
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
if param compare -s SYS_BL_UPDATE 1
|
||||
then
|
||||
if [ -f "/etc/extras/@BOARD_FIRMWARE_BIN@" ]
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "bootloader update..."
|
||||
bl_update "/etc/extras/@BOARD_FIRMWARE_BIN@"
|
||||
echo "bootloader update done, rebooting"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
Reference in New Issue
Block a user