mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-29 02:44:07 +08:00
115 lines
4.5 KiB
CMake
115 lines
4.5 KiB
CMake
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if(NOT PX4_BOARD)
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message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)")
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endif()
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if(NOT PX4_BINARY_DIR)
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message(FATAL_ERROR "PX4_BINARY_DIR must be set")
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endif()
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if(NOT PX4_BOARD_DIR)
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message(FATAL_ERROR "PX4_BOARD_DIR must be set")
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endif()
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set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX config" FORCE)
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set(NUTTX_SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/../NuttX)
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set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
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set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
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px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx")
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px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps")
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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(cp_cmd "rsync")
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set(cp_opts)
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list(APPEND cp_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(cp_cmd "cp")
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set(cp_opts "-aRfl")
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endif()
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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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# copy during cmake configure
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execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
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execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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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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# copy during cmake configure
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execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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###############################################################################
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# nuttx-config: copy to build directory
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###############################################################################
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set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
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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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execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig)
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else()
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execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig)
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endif()
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execute_process(
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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_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
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)
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# NuttX extra files
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execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h) # copy arm math.h into NuttX source
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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)
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# copy defconfig
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execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
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# copy PX4 board config into nuttx
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file(STRINGS ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
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if ("x${config_expanded}" STREQUAL "x")
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execute_process(COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps" WORKING_DIRECTORY ${NUTTX_DIR})
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execute_process(COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig WORKING_DIRECTORY ${NUTTX_DIR})
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endif()
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###############################################################################
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# NuttX cmake defconfig
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###############################################################################
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# parse nuttx config options for cmake
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file(STRINGS ${NUTTX_DIR}/.config ConfigContents)
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foreach(NameAndValue ${ConfigContents})
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# Strip leading spaces
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string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
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# Find variable name
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string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
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if (Name)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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# remove extra quotes
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string(REPLACE "\"" "" Value ${Value})
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# Set the variable
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#message(STATUS "${Name} ${Value}")
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set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
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endif()
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endforeach()
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