mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 06:13:35 +08:00
David Sidrane
ae2e1da93a
The new upstream nuttx defconfig format is compressed. This will not work well for board configs that are out of the upstream NuttX tree. The reconstitution step will not replace all the non default settings. I.E. CONFIG_ARCH_BOARD_PX4xxxx and will remove setting that are not defined from the config/KConfig. Like CONFIG_ARCH_BOARD_PX4xxxx=y. Also the configure script will fail if run without and intervening make distclean The only 2 steps from configure that re needed are Copying the defconfig to .config and Make.defs
717 lines
22 KiB
CMake
717 lines
22 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015 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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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#=============================================================================
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#
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# Defined functions in this file
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#
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# OS Specific Functions
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#
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# * px4_nuttx_add_firmware
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# * px4_nuttx_make_uavcan_bootloadable
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# * px4_nuttx_generate_builtin_commands
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# * px4_nuttx_add_export
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# * px4_nuttx_add_romfs
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#
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# Required OS Inteface Functions
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#
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# * px4_os_add_flags
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# * px4_os_prebuild_targets
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#
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include(common/px4_base)
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#=============================================================================
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#
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# px4_nuttx_add_firmware
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#
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# This function adds a nuttx firmware target.
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#
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# Usage:
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# px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable>
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# PARAM_XML <param_xml> AIRFRAMES_XML <airframes_xml>)
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#
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# Input:
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# EXE : the executable to generate the firmware from
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# BOARD : the board
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# PARAM_XML : param xml file (optional)
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# AIRFRAMES_XML : airframes xml file (optional)
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#
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# Output:
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# OUT : the generated firmware target
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#
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# Example:
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# px4_nuttx_add_firmware(TARGET fw_test EXE test)
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#
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function(px4_nuttx_add_firmware)
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px4_parse_function_args(
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NAME px4_nuttx_add_firmware
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ONE_VALUE BOARD OUT EXE PARAM_XML AIRFRAMES_XML
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REQUIRED OUT EXE BOARD
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ARGN ${ARGN})
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set(extra_args)
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set(dependencies)
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if (PARAM_XML)
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list(APPEND extra_args
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--parameter_xml ${PARAM_XML}
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)
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list(APPEND dependencies parameters_xml)
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endif()
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if (AIRFRAMES_XML)
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list(APPEND extra_args
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--airframe_xml ${AIRFRAMES_XML}
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)
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list(APPEND dependencies airframes_xml)
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endif()
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add_custom_command(OUTPUT ${OUT} ${EXE}.bin
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
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--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
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--git_identity ${PX4_SOURCE_DIR}
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${extra_args}
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--image ${EXE}.bin > ${OUT}
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DEPENDS ${EXE} ${dependencies}
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)
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add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_make_uavcan_bootloadable
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#
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# This function adds a uavcan boot loadable target.
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#
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# Usage:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD <board>
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# BIN <input bin file>)
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# HWNAME <uavcan name>
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# HW_MAJOR <number>
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# HW_MINOR <number>
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# SW_MAJOR <number>
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# SW_MINOR <number>)
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#
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# Input:
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# BOARD : the board
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# BIN : the bin file to generate the bootloadable image from
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# HWNAME : the uavcan name
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# HW_MAJOR : the major hardware revision
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# HW_MINOR : the minor hardware revision
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# SW_MAJOR : the major software revision
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# SW_MINOR : the minor software revision
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#
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# Output:
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# OUT : None
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#
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# Example:
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# px4_nuttx_make_uavcan_bootloadable(
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# BOARD ${BOARD}
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# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
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# HWNAME ${uavcanblid_name}
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# HW_MAJOR ${uavcanblid_hw_version_major}
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# HW_MINOR ${uavcanblid_hw_version_minor}
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# SW_MAJOR ${uavcanblid_sw_version_major}
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# SW_MINOR ${uavcanblid_sw_version_minor}
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# )
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#
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function(px4_nuttx_make_uavcan_bootloadable)
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px4_parse_function_args(
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NAME px4_nuttx_make_uavcan_bootloadable
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ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
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ARGN ${ARGN})
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string(REPLACE "\"" "" HWNAME ${HWNAME})
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execute_process(
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COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
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OUTPUT_VARIABLE uavcanbl_git_desc
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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if ("${uavcanbl_git_desc}" STREQUAL "")
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set(uavcanbl_git_desc ffffffff)
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endif()
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set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
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message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
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add_custom_command(OUTPUT ${uavcan_bl_imange_name}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
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-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
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DEPENDS ${BIN})
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add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_generate_builtin_commands
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#
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# This function generates the builtin_commands.c src for nuttx
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#
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# Usage:
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# px4_nuttx_generate_builtin_commands(
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# MODULE_LIST <in-list>
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# OUT <file>)
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#
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# Input:
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# MODULE_LIST : list of modules
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#
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# Output:
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# OUT : generated builtin_commands.c src
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#
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# Example:
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# px4_nuttx_generate_builtin_commands(
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# OUT <generated-src> MODULE_LIST px4_simple_app)
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#
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function(px4_nuttx_generate_builtin_commands)
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px4_parse_function_args(
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NAME px4_nuttx_generate_builtin_commands
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ONE_VALUE OUT
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MULTI_VALUE MODULE_LIST
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REQUIRED MODULE_LIST OUT
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ARGN ${ARGN})
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set(builtin_apps_string)
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set(builtin_apps_decl_string)
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set(command_count 0)
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foreach(module ${MODULE_LIST})
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foreach(property MAIN STACK_MAIN PRIORITY)
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get_target_property(${property} ${module} ${property})
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endforeach()
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if (MAIN)
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set(builtin_apps_string
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"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main},\n")
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set(builtin_apps_decl_string
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"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
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math(EXPR command_count "${command_count}+1")
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endif()
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endforeach()
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configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
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${OUT})
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_add_export
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#
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# This function generates a nuttx export.
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#
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# Usage:
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# px4_nuttx_add_export(
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# OUT <out-target>
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# CONFIG <in-string>
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# DEPENDS <in-list>)
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#
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# Input:
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# CONFIG : the board to generate the export for
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# DEPENDS : dependencies
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#
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# Output:
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# OUT : the export target
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#
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# Example:
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# px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2)
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#
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function(px4_nuttx_add_export)
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px4_parse_function_args(
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NAME px4_nuttx_add_export
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ONE_VALUE OUT CONFIG THREADS
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MULTI_VALUE DEPENDS
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REQUIRED OUT CONFIG THREADS
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ARGN ${ARGN})
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set(nuttx_build_options "--quiet")
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set(nuttx_build_output ">nuttx_build.log")
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if ($ENV{PX4_NUTTX_BUILD_VERBOSE} MATCHES "1")
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set(nuttx_build_options)
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set(nuttx_build_output)
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set(nuttx_build_uses_terminal "USES_TERMINAL")
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endif()
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if ($ENV{PX4_NUTTX_PATCHES_VERBOSE} MATCHES "1")
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set(nuttx_patches_uses_terminal "USES_TERMINAL")
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endif()
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# nuttx-patches
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add_subdirectory(${PX4_SOURCE_DIR}/nuttx-patches ${PX4_BINARY_DIR}/${CONFIG})
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set(nuttx_build_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
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set(nuttx_export_dir ${nuttx_build_src}/nuttx/nuttx-export)
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# nuttx cmake dependency files
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set(nuttx_copy_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_copy.stamp)
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set(nuttx_configure_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_configure.stamp)
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set(nuttx_export_stamp ${PX4_BINARY_DIR}/${CONFIG}/nuttx_export.stamp)
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# copy
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file(GLOB_RECURSE nuttx_all_files ${PX4_SOURCE_DIR}/NuttX/*)
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file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
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add_custom_command(OUTPUT ${nuttx_copy_stamp}
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COMMAND ${MKDIR} -p ${nuttx_build_src}
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COMMAND rsync -rp --inplace --delete --exclude=.git --exclude=nuttx-export ${nuttx_cp_src}/ ${CONFIG}/NuttX/
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COMMAND cmake -E touch ${nuttx_copy_stamp}
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DEPENDS ${px4_nuttx_patches} ${nuttx_all_files}
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COMMENT "Copying NuttX for ${CONFIG} with ${config_nuttx_config}"
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WORKING_DIRECTORY ${PX4_BINARY_DIR})
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add_custom_target(nuttx_copy_${CONFIG} DEPENDS ${DEPENDS} ${nuttx_copy_stamp})
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unset(last_patch)
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add_custom_target(nuttx_patch_${CONFIG})
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foreach(patch ${px4_nuttx_patches})
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get_filename_component(patch_file_name ${patch} NAME)
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string(REPLACE "/" "_" patch_name "${CONFIG}-nuttx_patch_${patch_file_name}")
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set(patch_stamp ${nuttx_build_src}/${patch_name}.stamp)
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add_custom_command(OUTPUT ${patch_stamp}
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COMMAND ${PATCH} --verbose -d ${nuttx_build_src} -s -p1 -N < ${patch}
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COMMAND cmake -E touch ${patch_stamp}
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DEPENDS nuttx_copy_${CONFIG} ${patch} ${last_patch}
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COMMENT "${CONFIG}: nuttx-patches/${patch_file_name} applied"
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${nuttx_patches_uses_terminal})
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add_custom_target(${patch_name} DEPENDS ${patch_stamp})
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add_dependencies(nuttx_patch_${CONFIG} ${patch_name} nuttx_copy_${CONFIG})
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set(last_patch ${patch_name})
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endforeach()
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# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
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# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
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file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig"
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hw_stack_check_${CONFIG}
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REGEX "CONFIG_ARMV7M_STACKCHECK=y"
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)
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if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y")
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set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
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endif()
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# nuttx configure
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file(GLOB_RECURSE nuttx-configs ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
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add_custom_command(OUTPUT ${nuttx_configure_stamp} ${nuttx_build_src}/nuttx/.config
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COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/*.mk ${nuttx_build_src}/nuttx/
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COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_build_src}/nuttx/configs
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COMMAND ${CP} ${nuttx_build_src}/nuttx/configs/${CONFIG}/${config_nuttx_config}/defconfig ${nuttx_build_src}/nuttx/.config
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COMMAND ${CP} ${nuttx_build_src}/nuttx/configs/${CONFIG}/${config_nuttx_config}/Make.defs ${nuttx_build_src}/nuttx/
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COMMAND cmake -E touch ${nuttx_configure_stamp}
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DEPENDS nuttx_patch_${CONFIG} ${nuttx-configs}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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COMMENT "Configuring NuttX for ${CONFIG} with ${config_nuttx_config}")
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add_custom_target(nuttx_configure_${CONFIG} DEPENDS ${nuttx_configure_stamp} nuttx_patch_${CONFIG})
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# manual nuttx oldconfig helper
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add_custom_target(oldconfig_${CONFIG}
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COMMAND ${MAKE} --no-print-directory -C ${nuttx_build_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig
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COMMAND ${CP} ${nuttx_build_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
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COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
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DEPENDS nuttx_configure_${CONFIG}
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WORKING_DIRECTORY ${nuttx_build_src}/nuttx
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COMMENT "Running NuttX make oldconfig for ${CONFIG} with ${config_nuttx_config}"
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USES_TERMINAL)
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# manual nuttx menuconfig helper
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add_custom_target(menuconfig_${CONFIG}
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COMMAND ${MAKE} --no-print-directory -C ${nuttx_build_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig
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COMMAND ${CP} ${nuttx_build_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
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COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
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DEPENDS nuttx_configure_${CONFIG}
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WORKING_DIRECTORY ${nuttx_build_src}/nuttx
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COMMENT "Running NuttX make menuconfig for ${CONFIG} with ${config_nuttx_config}"
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USES_TERMINAL)
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# nuttx build and export
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add_custom_command(
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OUTPUT ${nuttx_export_stamp}
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${nuttx_export_dir}/include/nuttx/config.h
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COMMAND ${RM} -rf ${nuttx_export_dir}
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COMMAND ${MAKE} ${nuttx_build_options} --no-print-directory -C ${nuttx_build_src}/nuttx -r CONFIG_ARCH_BOARD=${CONFIG} export ${nuttx_build_output}
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COMMAND cmake -E touch ${nuttx_export_stamp}
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DEPENDS nuttx_configure_${CONFIG}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}/${CONFIG}
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COMMENT "Building NuttX for ${CONFIG} with ${config_nuttx_config}"
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${nuttx_build_uses_terminal})
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file(GLOB_RECURSE nuttx_export_src ${nuttx_export_dir})
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foreach(nuttx_export_file ${nuttx_export_dir})
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set_source_files_properties(${nuttx_export_src} PROPERTIES GENERATED TRUE)
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endforeach()
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add_custom_target(${OUT} DEPENDS nuttx_copy_${CONFIG} nuttx_patch_${CONFIG} nuttx_configure_${CONFIG} ${nuttx_export_stamp})
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_create_bin
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#
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# The functions generates a bin image for nuttx.
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#
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# Usage:
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# px4_nuttx_create_bin(BIN <out-file> EXE <in-file>)
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#
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# Input:
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# EXE : the exe file
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#
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# Output:
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# OUT : the binary output file
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#
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# Example:
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# px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe)
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#
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function(px4_nuttx_create_bin)
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px4_parse_function_args(
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NAME px4_nuttx_create_bin
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ONE_VALUE EXE OUT
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REQUIRED EXE OUT
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ARGN ${ARGN})
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
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DEPENDS ${EXE})
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set(${OUT} ${${OUT}} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_add_romfs
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#
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# The functions creates a ROMFS filesystem for nuttx.
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#
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# Usage:
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# px4_nuttx_add_romfs(
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# OUT <out-target>
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# ROOT <in-directory>
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# EXTRAS <in-list>)
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#
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# Input:
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# ROOT : the root of the ROMFS
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# EXTRAS : list of extra files
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#
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# Output:
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# OUT : the ROMFS library target
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#
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# Example:
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# px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board")
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#
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function(px4_nuttx_add_romfs)
|
|
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_add_romfs
|
|
ONE_VALUE OUT ROOT
|
|
MULTI_VALUE EXTRAS
|
|
REQUIRED OUT ROOT
|
|
ARGN ${ARGN})
|
|
|
|
set(romfs_used y PARENT_SCOPE)
|
|
set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
|
|
set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
|
|
set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
|
|
set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
|
|
set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
|
|
set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
|
|
|
|
file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
|
|
|
|
set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)
|
|
|
|
set(extras)
|
|
foreach(extra ${EXTRAS})
|
|
get_filename_component(file_name ${extra} NAME)
|
|
set(file_dest ${extras_dir}/${file_name})
|
|
add_custom_command(OUTPUT ${file_dest}
|
|
COMMAND cmake -E copy ${extra} ${file_dest}
|
|
DEPENDS ${extra}
|
|
)
|
|
list(APPEND extras ${file_dest})
|
|
endforeach()
|
|
add_custom_target(collect_extras DEPENDS ${extras})
|
|
|
|
add_custom_command(OUTPUT romfs.o
|
|
COMMAND cmake -E remove_directory ${romfs_temp_dir}
|
|
COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
|
|
COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras
|
|
COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
|
|
-a ${romfs_temp_dir}/init.d
|
|
-s ${romfs_temp_dir}/init.d/rc.autostart
|
|
--board ${BOARD}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
|
|
--folder ${romfs_temp_dir}
|
|
--board ${BOARD}
|
|
COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
|
|
-d ${romfs_temp_dir} -V "NSHInitVol"
|
|
#COMMAND cmake -E remove_directory ${romfs_temp_dir}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
|
|
--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
|
|
--include_path "${PX4_SOURCE_DIR}/src/include"
|
|
--c_compiler ${CMAKE_C_COMPILER}
|
|
--nm ${NM} --objcopy ${OBJCOPY}
|
|
--obj romfs.o
|
|
--var romfs_img
|
|
--bin romfs.bin
|
|
DEPENDS ${romfs_src_files} ${extras}
|
|
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
|
|
)
|
|
add_library(${OUT} STATIC romfs.o)
|
|
set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C)
|
|
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
|
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_os_add_flags
|
|
#
|
|
# Set the nuttx build flags.
|
|
#
|
|
# Usage:
|
|
# px4_os_add_flags(
|
|
# C_FLAGS <inout-variable>
|
|
# CXX_FLAGS <inout-variable>
|
|
# OPTIMIZATION_FLAGS <inout-variable>
|
|
# EXE_LINKER_FLAGS <inout-variable>
|
|
# INCLUDE_DIRS <inout-variable>
|
|
# LINK_DIRS <inout-variable>
|
|
# DEFINITIONS <inout-variable>)
|
|
#
|
|
# Input:
|
|
# BOARD : flags depend on board/nuttx config
|
|
#
|
|
# Input/Output: (appends to existing variable)
|
|
# C_FLAGS : c compile flags variable
|
|
# CXX_FLAGS : c++ compile flags variable
|
|
# OPTIMIZATION_FLAGS : optimization compile flags variable
|
|
# EXE_LINKER_FLAGS : executable linker flags variable
|
|
# INCLUDE_DIRS : include directories
|
|
# LINK_DIRS : link directories
|
|
# DEFINITIONS : definitions
|
|
#
|
|
# Note that EXE_LINKER_FLAGS is not suitable for adding libraries because
|
|
# these flags are added before any of the object files and static libraries.
|
|
# Add libraries in src/firmware/nuttx/CMakeLists.txt.
|
|
#
|
|
# Example:
|
|
# px4_os_add_flags(
|
|
# C_FLAGS CMAKE_C_FLAGS
|
|
# CXX_FLAGS CMAKE_CXX_FLAGS
|
|
# OPTIMIZATION_FLAGS optimization_flags
|
|
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
|
|
# INCLUDES <list>)
|
|
#
|
|
function(px4_os_add_flags)
|
|
|
|
set(inout_vars
|
|
C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
|
|
|
|
px4_parse_function_args(
|
|
NAME px4_os_add_flags
|
|
ONE_VALUE ${inout_vars} BOARD
|
|
REQUIRED ${inout_vars} BOARD
|
|
ARGN ${ARGN})
|
|
|
|
px4_add_common_flags(
|
|
BOARD ${BOARD}
|
|
C_FLAGS ${C_FLAGS}
|
|
CXX_FLAGS ${CXX_FLAGS}
|
|
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
|
|
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
|
|
INCLUDE_DIRS ${INCLUDE_DIRS}
|
|
LINK_DIRS ${LINK_DIRS}
|
|
DEFINITIONS ${DEFINITIONS})
|
|
|
|
set(nuttx_export_root ${PX4_BINARY_DIR}/${BOARD}/NuttX)
|
|
set(nuttx_export_dir ${nuttx_export_root}/nuttx/nuttx-export)
|
|
set(added_include_dirs
|
|
${nuttx_export_dir}/include
|
|
${nuttx_export_dir}/include/cxx
|
|
${nuttx_export_dir}/arch/chip
|
|
${nuttx_export_dir}/arch/common
|
|
${nuttx_export_dir}/arch/armv7-m
|
|
${nuttx_export_root}/apps/include
|
|
)
|
|
set(added_link_dirs
|
|
${nuttx_export_dir}/libs
|
|
)
|
|
set(added_definitions
|
|
-D__PX4_NUTTX
|
|
)
|
|
|
|
if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
|
|
list(APPEND added_definitions -D__DF_NUTTX)
|
|
endif()
|
|
|
|
set(added_c_flags
|
|
-nodefaultlibs
|
|
-nostdlib
|
|
-fstack-usage
|
|
)
|
|
set(added_cxx_flags
|
|
-nodefaultlibs
|
|
-nostdlib
|
|
-fstack-usage
|
|
)
|
|
|
|
set(added_optimization_flags)
|
|
|
|
set(added_exe_linker_flags) # none currently
|
|
|
|
set(instrument_flags)
|
|
if ("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
|
|
set(instrument_flags
|
|
-finstrument-functions
|
|
-ffixed-r10
|
|
)
|
|
list(APPEND c_flags ${instrument_flags})
|
|
list(APPEND cxx_flags ${instrument_flags})
|
|
endif()
|
|
|
|
set(cpu_flags)
|
|
if (${config_nuttx_hw} STREQUAL "m7")
|
|
set(cpu_flags
|
|
-mcpu=cortex-m7
|
|
-mthumb
|
|
-mfpu=fpv5-sp-d16
|
|
-mfloat-abi=hard
|
|
)
|
|
elseif (${config_nuttx_hw} STREQUAL "m4")
|
|
set(cpu_flags
|
|
-mcpu=cortex-m4
|
|
-mthumb
|
|
-march=armv7e-m
|
|
-mfpu=fpv4-sp-d16
|
|
-mfloat-abi=hard
|
|
)
|
|
elseif (${config_nuttx_hw} STREQUAL "m3")
|
|
set(cpu_flags
|
|
-mcpu=cortex-m3
|
|
-mthumb
|
|
-march=armv7-m
|
|
)
|
|
endif()
|
|
list(APPEND c_flags ${cpu_flags})
|
|
list(APPEND cxx_flags ${cpu_flags})
|
|
|
|
# output
|
|
foreach(var ${inout_vars})
|
|
string(TOLOWER ${var} lower_var)
|
|
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
|
#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
|
endforeach()
|
|
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_os_prebuild_targets
|
|
#
|
|
# This function generates os dependent targets
|
|
|
|
# Usage:
|
|
# px4_os_prebuild_targets(
|
|
# OUT <out-list_of_targets>
|
|
# BOARD <in-string>
|
|
# )
|
|
#
|
|
# Input:
|
|
# BOARD : board
|
|
# THREADS : number of threads for building
|
|
#
|
|
# Output:
|
|
# OUT : the target list
|
|
#
|
|
# Example:
|
|
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
|
|
#
|
|
function(px4_os_prebuild_targets)
|
|
px4_parse_function_args(
|
|
NAME px4_os_prebuild_targets
|
|
ONE_VALUE OUT BOARD THREADS
|
|
REQUIRED OUT BOARD
|
|
ARGN ${ARGN})
|
|
px4_nuttx_add_export(OUT nuttx_export_${BOARD}
|
|
CONFIG ${BOARD}
|
|
THREADS ${THREADS}
|
|
DEPENDS git_nuttx)
|
|
add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_nuttx_configure
|
|
#
|
|
# This function sets the nuttx configuration
|
|
#
|
|
# Usage:
|
|
# px4_nuttx_configure(
|
|
# HWCLASS <m3|m4>
|
|
# CONFIG <nsh|bootloader
|
|
# [ROMFS <y|n>
|
|
# ROMFSROOT <root>]
|
|
# )
|
|
#
|
|
# Input:
|
|
# HWCLASS : the class of hardware
|
|
# CONFIG : the nuttx condufiguration to use
|
|
# ROMFS : whether or not to use incllude theROMFS
|
|
# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common
|
|
#
|
|
# Output:
|
|
# OUT : None
|
|
#
|
|
# Example:
|
|
# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
|
|
#
|
|
function(px4_nuttx_configure)
|
|
px4_parse_function_args(
|
|
NAME px4_nuttx_configure
|
|
ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT
|
|
REQUIRED HWCLASS CONFIG
|
|
ARGN ${ARGN})
|
|
set(config_nuttx_config ${CONFIG} PARENT_SCOPE)
|
|
set(config_nuttx_hw ${HWCLASS} PARENT_SCOPE)
|
|
if ("${ROMFS}" STREQUAL "y")
|
|
set(romfs_used ${ROMFS} PARENT_SCOPE)
|
|
if (NOT DEFINED ROMFSROOT)
|
|
set(config_romfs_root px4fmu_common)
|
|
else()
|
|
set(config_romfs_root ${ROMFSROOT})
|
|
endif()
|
|
set(HASROMFS "with ROMFS on ${config_romfs_root}")
|
|
set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
|
|
endif()
|
|
message(STATUS "Nuttx build for ${BOARD} on ${HWCLASS} hardware, using ${CONFIG} ${HASROMFS}")
|
|
endfunction()
|
|
|
|
# vim: set noet fenc=utf-8 ff=unix nowrap:
|