NuttX Cmake changes to build combined kernel+userspace image in nuttx protected build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

platforms/nuttx/CMakeLists.txt

@@ -44,6 +44,14 @@ add_dependencies(px4 git_nuttx)
 
 get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
+if (NOT CONFIG_BUILD_FLAT)
+	add_executable(px4_kernel ${PX4_SOURCE_DIR}/platforms/common/empty.c)
+	set(KERNEL_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}_kernel.elf)
+	set_target_properties(px4_kernel PROPERTIES OUTPUT_NAME ${KERNEL_NAME})
+	add_dependencies(px4_kernel git_nuttx)
+	get_property(kernel_module_libraries GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES)
+endif()
+
 # build NuttX
 add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
 
@@ -81,18 +89,31 @@ else()
 endif()
 
 list(APPEND nuttx_libs
-	nuttx_apps
-	nuttx_arch
-	nuttx_binfmt
-	nuttx_c
 	nuttx_boards
-	nuttx_xx
 	nuttx_drivers
 	nuttx_fs
-	nuttx_mm
 	nuttx_sched
 	nuttx_crypto
-)
+	nuttx_binfmt
+	nuttx_xx
+	)
+
+if (NOT CONFIG_BUILD_FLAT)
+	list(APPEND nuttx_libs
+		px4_board_ctrl
+		nuttx_karch
+		nuttx_kmm
+		nuttx_stubs
+		nuttx_kc
+		)
+else()
+	list(APPEND nuttx_libs
+		nuttx_apps
+		nuttx_arch
+		nuttx_mm
+		nuttx_c
+		)
+endif()
 
 if(CONFIG_NET)
 	list(APPEND nuttx_libs nuttx_net)
@@ -105,21 +126,128 @@ file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_D
 # because even relative linker script paths are different for linux, mac and windows
 CYGPATH(NUTTX_CONFIG_DIR NUTTX_CONFIG_DIR_CYG)
 
-target_link_libraries(nuttx_c INTERFACE nuttx_sched) # nxsched_get_streams
+if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
+	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_CONFIG}_unsigned.bin)
+
+	add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin
+		COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
+		DEPENDS ${PX4_BINARY_OUTPUT}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+else()
+	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin)
+endif()
+
+if (NOT CONFIG_BUILD_FLAT)
+
+	target_link_libraries(nuttx_karch
+		INTERFACE
+			drivers_board
+			arch_hrt
+			)
+
+	target_link_libraries(px4_kernel PRIVATE
+
+		-nostartfiles
+		-nodefaultlibs
+		-nostdlib
+		-nostdinc++
+
+		-fno-exceptions
+		-fno-rtti
+
+		-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}memory.ld,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}kernel-space.ld
+
+		-Wl,-Map=${PX4_CONFIG}_kernel.map
+		-Wl,--warn-common
+		-Wl,--gc-sections
+
+		-Wl,--start-group
+			${nuttx_libs}
+			${kernel_module_libraries}
+			px4_work_queue # TODO, this shouldn't be needed here?
+		-Wl,--end-group
+
+		m
+		gcc
+		)
+
+	if (config_romfs_root)
+		add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
+		target_link_libraries(px4_kernel PRIVATE romfs)
+	endif()
+
+	target_link_libraries(px4_kernel PRIVATE -Wl,--print-memory-usage)
 
-target_link_libraries(nuttx_arch
+	set(nuttx_userspace)
+
+	list(APPEND nuttx_userspace
+		drivers_userspace
+		nuttx_arch
+		nuttx_apps
+		nuttx_mm
+		nuttx_proxies
+		nuttx_c
+		nuttx_xx
+		)
+
+	target_link_libraries(nuttx_c INTERFACE nuttx_proxies)
+
+	target_link_libraries(px4 PRIVATE
+
+		-nostartfiles
+		-nodefaultlibs
+		-nostdlib
+		-nostdinc++
+
+		-fno-exceptions
+		-fno-rtti
+
+		-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}memory.ld,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}user-space.ld
+
+		-Wl,-Map=${PX4_CONFIG}.map
+		-Wl,--warn-common
+		-Wl,--gc-sections
+
+		-Wl,--start-group
+		${nuttx_userspace}
+		-Wl,--end-group
+
+		m
+		gcc
+		)
+
+	target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
+
+	target_link_libraries(px4 PRIVATE
+		${module_libraries}
+	)
+
+	add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
+		COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${PX4_BOARD}_user.bin
+		COMMAND ${CMAKE_OBJCOPY} --gap-fill 0xFF --pad-to ${CONFIG_NUTTX_USERSPACE} -O binary ${PX4_BINARY_DIR_REL}/${KERNEL_NAME} ${PX4_BINARY_OUTPUT}
+		COMMAND cat ${PX4_BINARY_DIR_REL}/${PX4_BOARD}_user.bin >> ${PX4_BINARY_OUTPUT}
+
+		DEPENDS px4 px4_kernel
+	)
+
+else()
+
+	target_link_libraries(nuttx_c INTERFACE nuttx_sched) # nxsched_get_streams
+
+	target_link_libraries(nuttx_arch
 		INTERFACE
 			drivers_board
 			arch_hrt
 			arch_board_reset
-)
+	)
 
-target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
-target_link_libraries(nuttx_drivers INTERFACE nuttx_c)
-target_link_libraries(nuttx_xx INTERFACE nuttx_c)
-target_link_libraries(nuttx_fs INTERFACE nuttx_c)
+	target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
+	target_link_libraries(nuttx_drivers INTERFACE nuttx_c)
+	target_link_libraries(nuttx_xx INTERFACE nuttx_c)
+	target_link_libraries(nuttx_fs INTERFACE nuttx_c)
 
-target_link_libraries(px4 PRIVATE
+	target_link_libraries(px4 PRIVATE
 
 		-nostartfiles
 		-nodefaultlibs
@@ -141,33 +269,23 @@ target_link_libraries(px4 PRIVATE
 		gcc
 		)
 
-if(NOT USE_LD_GOLD)
+	if(NOT USE_LD_GOLD)
 		target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
-endif()
+	endif()
 
-target_link_libraries(px4 PRIVATE ${module_libraries})
+	target_link_libraries(px4 PRIVATE ${module_libraries})
 
-if(config_romfs_root)
+	if(config_romfs_root)
 		add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
 		target_link_libraries(px4 PRIVATE romfs)
-endif()
-
-if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
-	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_CONFIG}_unsigned.bin)
-
-	add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin
-		COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
-		DEPENDS ${PX4_BINARY_OUTPUT}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-else()
-	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin)
-endif()
+	endif()
 
-add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
+	add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
 		COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_OUTPUT}
 		DEPENDS px4
-)
+	)
+
+endif()
 
 # create .px4 with parameter and airframe metadata
 if (TARGET parameters_xml AND TARGET airframes_xml)