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NuttX build in place

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- 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
2021-11-15 18:47:38 -05:00
committed by GitHub
parent 7b7b7acd36
commit f5d9b01f5c
164 changed files with 351 additions and 751 deletions
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src/systemcmds/bl_update/CMakeLists.txt
-71
View File
@@ -39,74 +39,3 @@ px4_add_module(
SRCS
bl_update.c
)
if(config_build_bootloader)
# include the bootloader binary in ROMFS
set(bootloader_config "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader")
if(NOT EXISTS ${PX4_BOARD_DIR}/nuttx-config/bootloader)
message(FATAL_ERROR "${bootloader_config} does not exist")
endif()
message(STATUS "Building and including bootloader ${bootloader_config}")
include(ExternalProject)
ExternalProject_Add(bootloader_firmware
SOURCE_DIR ${CMAKE_SOURCE_DIR}
DOWNLOAD_COMMAND ""
UPDATE_COMMAND ""
CMAKE_ARGS -DCONFIG=${bootloader_config}
INSTALL_COMMAND ""
USES_TERMINAL_BUILD true
DEPENDS git_nuttx git_nuttx_apps
BUILD_ALWAYS 1
)
ExternalProject_Get_Property(bootloader_firmware BINARY_DIR)
set(board_bootloader_firmware "${BINARY_DIR}/${bootloader_config}.elf" CACHE FILEPATH "bootloader original binary path")
set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/bootloader.bin" CACHE FILEPATH "bootloader binary path")
file(RELATIVE_PATH bootloader_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${board_bootloader_firmware})
file(RELATIVE_PATH bootloader_bin_relative ${CMAKE_CURRENT_BINARY_DIR} ${bootloader_bin})
add_custom_command(
OUTPUT ${bootloader_bin}
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras
COMMAND ${CMAKE_OBJCOPY} -O binary ${bootloader_exe_relative} ${bootloader_bin_relative}
DEPENDS bootloader_firmware
COMMENT "Copying ${bootloader_config} to ROMFS extras"
)
add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin})
# copy bootloader.elf to top level build directory
add_custom_command(
OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/${bootloader_config}.elf ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
DEPENDS bootloader_firmware
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
add_custom_target(bootloader_elf DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf)
elseif(EXISTS "${PX4_BOARD_DIR}/bootloader/")
if(EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
set(board_bootloader_firmware ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin CACHE FILEPATH "bootloader original binary path")
set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/bootloader.bin" CACHE FILEPATH "bootloader binary path")
add_custom_command(
OUTPUT ${bootloader_bin}
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${board_bootloader_firmware} ${PX4_BINARY_DIR}/romfs_extras/bootloader.bin
DEPENDS ${board_bootloader_firmware}
COMMENT "Copying ${board_bootloader_firmware} to ROMFS extras"
)
add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin})
else()
file(GLOB bootloader_bin_files ${PX4_BOARD_DIR}/bootloader/*.bin)
foreach(bin_file ${bootloader_bin_files})
message(FATAL_ERROR "incorrect bootloader filename ${bin_file} should be ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
endforeach()
endif()
endif()