mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 15:30:35 +08:00
Daniel Agar
f5d9b01f5c
- 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
170 lines
6.5 KiB
CMake
170 lines
6.5 KiB
CMake
############################################################################
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#
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# Copyright (c) 2019 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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find_program(JLinkGDBServerCLExe_PATH JLinkGDBServerCLExe
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HINTS /Applications/SEGGER/JLink
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)
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if(JLinkGDBServerCLExe_PATH)
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# jlink_upload (flash binary)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh.in ${PX4_BINARY_DIR}/jlink_gdb_start.sh @ONLY)
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add_custom_target(jlink_upload
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COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh $<TARGET_FILE:px4>
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DEPENDS
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px4
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${PX4_BINARY_DIR}/jlink_gdb_start.sh
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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# jlink_gdb_backtrace (attach, print current tasks, back trace, exit)
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add_custom_target(jlink_gdb_backtrace
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COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
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COMMAND ${CMAKE_COMMAND} -E env WORKSPACE=${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh $<TARGET_FILE:px4>
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DEPENDS
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px4
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${PX4_BINARY_DIR}/jlink_gdb_start.sh
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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# jlink_upload_bootloader
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# board directory supplied bootloader.bin
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if(TARGET bootloader_elf)
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# jlink_upload_bootloader
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add_custom_target(jlink_upload_bootloader
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COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
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DEPENDS
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${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
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${PX4_BINARY_DIR}/jlink_gdb_start.sh
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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endif()
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endif()
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# jlink_debug_gdb (flash binary and run with gdb attached)
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find_program(JLinkGDBServerExe_PATH JLinkGDBServerExe
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HINTS /Applications/SEGGER/JLink
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)
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if(JLinkGDBServerExe_PATH AND CMAKE_GDB)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_debug_gdb.sh.in ${PX4_BINARY_DIR}/jlink_debug_gdb.sh @ONLY)
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add_custom_target(jlink_debug_gdb
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COMMAND ${PX4_BINARY_DIR}/jlink_debug_gdb.sh
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DEPENDS
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px4
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${PX4_BINARY_DIR}/.gdbinit
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${PX4_BINARY_DIR}/jlink_debug_gdb.sh
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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endif()
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# jlink_debug_ozone (run Segger Ozone debugger with current target configuration)
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find_program(Ozone_PATH Ozone ozone
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HINTS /Applications/Ozone.app/Contents/MacOS/
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)
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if(Ozone_PATH)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_debug_ozone.sh.in ${PX4_BINARY_DIR}/jlink_debug_ozone.sh @ONLY)
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add_custom_target(jlink_debug_ozone
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COMMAND ${PX4_BINARY_DIR}/jlink_debug_ozone.sh
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DEPENDS
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px4
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${PX4_BINARY_DIR}/jlink_debug_ozone.sh
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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endif()
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# .bin flashing
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find_program(JLinkExe_PATH JLinkExe)
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if(JLinkExe_PATH)
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# jlink_flash_bootloader_bin
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if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
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set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
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set(BOARD_FIRMWARE_APP_OFFSET "0x08000000")
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink @ONLY)
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add_custom_target(jlink_flash_bootloader_bin
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${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
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COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink
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DEPENDS
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${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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endif()
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# jlink_flash_bin
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if(uavcan_bl_image_name)
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# uavcan signed firmware
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set(BOARD_FIRMWARE_BIN ${uavcan_bl_image_name})
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set(BOARD_FIRMWARE_APP_OFFSET "0x08010000")
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY)
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add_custom_target(jlink_flash_bin
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COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink
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DEPENDS
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${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
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${PX4_BINARY_DIR}/${uavcan_bl_image_name}
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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else()
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# regular firmware ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
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set(BOARD_FIRMWARE_BIN ${PX4_CONFIG}.bin)
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set(BOARD_FIRMWARE_APP_OFFSET "0x08008000") # TODO: get from board
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY)
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add_custom_target(jlink_flash_bin
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COMMAND ${CMAKE_COMMAND} -E echo "WARNING jlink_flash_bin currently assumes starting address ${BOARD_FIRMWARE_APP_OFFSET}"
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COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink
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DEPENDS
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${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
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${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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endif()
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endif()
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