px4_autopilot/platforms/nuttx/cmake/px4_impl_os.cmake

############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
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#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# POSSIBILITY OF SUCH DAMAGE.
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############################################################################

#=============================================================================
#
#	Defined functions in this file
#
#	Required OS Interface Functions
#
#		* px4_os_add_flags
#		* px4_os_prebuild_targets
#

include(px4_base)

#=============================================================================
#
#	px4_os_add_flags
#
#	Set the nuttx build flags.
#
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/include/cxx
	)

	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_BINARY_DIR}/NuttX/apps/include
		)

	# NuttX's disables inline below C99 (comiler.h), but __STDC_VERSION__ isn't set for C++
	add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-D__STDC_VERSION__=199901L>)

	# prevent using the toolchain's std c++ library
	add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)

	add_definitions(
		-D__PX4_NUTTX
		-D__DF_NUTTX
		)

	if("${CONFIG_ARMV7M_STACKCHECK}" STREQUAL "y")
		message(STATUS "NuttX Stack Checking (CONFIG_ARMV7M_STACKCHECK) enabled")
		add_compile_options(
			-finstrument-functions
			-ffixed-r10
			)
	endif()

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
#
#	Output:
#		OUT	: the target list
#
#	Example:
#		px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
#
function(px4_os_prebuild_targets)
	px4_parse_function_args(
			NAME px4_os_prebuild_targets
			ONE_VALUE OUT BOARD
			REQUIRED OUT
			ARGN ${ARGN})

	if(PX4_BOARD_LABEL MATCHES "stackcheck")
		set(NUTTX_CONFIG "stackcheck" CACHE INTERNAL "NuttX config" FORCE)
	else()
		set(NUTTX_CONFIG "nsh" CACHE INTERNAL "NuttX config" FORCE)
	endif()

	add_library(prebuild_targets INTERFACE)
	target_link_libraries(prebuild_targets INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
	add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)

	# parse nuttx config options for cmake
	file(STRINGS ${PX4_BOARD_DIR}/nuttx-config/${NUTTX_CONFIG}/defconfig ConfigContents)
	foreach(NameAndValue ${ConfigContents})
		# Strip leading spaces
		string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})

		# Find variable name
		string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})

		if (Name)
			# Find the value
			string(REPLACE "${Name}=" "" Value ${NameAndValue})

			# remove extra quotes
			string(REPLACE "\"" "" Value ${Value})

			# Set the variable
			#message(STATUS "${Name} ${Value}")
			set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
		endif()
	endforeach()
endfunction()