Daniel Agar
6 years ago
committed by
GitHub
15 changed files with 248 additions and 144 deletions
@ -0,0 +1,114 @@
@@ -0,0 +1,114 @@
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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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