Daniel Agar
6 years ago
6 changed files with 340 additions and 182 deletions
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|
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############################################################################ |
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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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|
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file(GLOB_RECURSE black_magic_probe_path |
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FOLLOW_SYMLINKS |
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/dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if00 |
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) |
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file(GLOB_RECURSE black_magic_probe_console_path |
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FOLLOW_SYMLINKS |
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/dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if02 |
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) |
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|
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if(black_magic_probe_path) |
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add_custom_target(blackmagic_debug |
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COMMAND ${GDB} --nh |
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-iex 'set auto-load safe-path ${PX4_BINARY_DIR}' |
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-ex 'target extended-remote ${black_magic_probe_path}' |
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-ex 'monitor version' |
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-ex 'monitor connect_srst enable' |
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-ex 'monitor swdp_scan' |
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-ex 'attach 1' |
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-ex 'load' |
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-ex 'run' |
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$<TARGET_FILE:px4> |
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DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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|
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add_custom_target(blackmagic_upload |
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COMMAND ${GDB} --nx --batch |
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-ex 'target extended-remote ${black_magic_probe_path}' |
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-ex 'monitor version' |
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-ex 'monitor connect_srst enable' |
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-ex 'monitor swdp_scan' |
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-ex 'attach 1' |
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-ex 'load' |
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-ex 'kill' |
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$<TARGET_FILE:px4> |
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DEPENDS px4 |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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COMMENT "Uploading with Black Magic Probe" |
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) |
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|
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add_custom_target(blackmagic_console |
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COMMAND screen -t "${PX4_BOARD} console" ${black_magic_probe_console_path} 57600 8N1 |
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USES_TERMINAL |
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) |
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|
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endif() |
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|
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############################################################################ |
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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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|
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add_custom_target(jlink_upload |
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh |
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_upload.sh $<TARGET_FILE:px4> |
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DEPENDS px4 |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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|
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add_custom_target(jlink_debug |
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh |
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COMMAND ${GDB} -nh |
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-iex 'set auto-load safe-path ${PX4_BINARY_DIR}' |
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-ex 'target remote localhost:2331' |
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-ex 'monitor reset 0' |
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-ex 'load' |
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-ex 'compare-sections' |
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-ex 'monitor reset 0' |
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-ex 'monitor sleep 1000' |
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-ex 'monitor go' |
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-ex 'continue' |
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$<TARGET_FILE:px4> |
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DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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|
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############################################################################ |
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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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|
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# Poor man's profiler |
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include(ExternalProject) |
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ExternalProject_Add(FlameGraph |
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GIT_REPOSITORY "https://github.com/brendangregg/FlameGraph.git" |
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UPDATE_COMMAND "" |
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PATCH_COMMAND "" |
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CONFIGURE_COMMAND "" |
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BUILD_COMMAND "" |
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INSTALL_COMMAND "" |
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EXCLUDE_FROM_ALL 1 |
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) |
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|
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add_custom_target(profile |
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COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}" |
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:px4> --nsamples=10000 |
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DEPENDS px4 ${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh FlameGraph |
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USES_TERMINAL |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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) |
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|
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############################################################################ |
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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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|
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add_custom_target(stack_check |
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COMMAND ${CMAKE_COMMAND} -E make_directory stack_usage && ${CMAKE_OBJDUMP} -d $<TARGET_FILE:px4> | ${PX4_SOURCE_DIR}/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt |
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COMMAND ${CMAKE_COMMAND} -E echo "" |
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COMMAND ${CMAKE_COMMAND} -E echo "" |
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COMMAND ${CMAKE_COMMAND} -E echo "Top 50:" |
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COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------" |
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COMMAND head -n 50 stack_usage/checkstack_output.txt | c++filt |
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COMMAND ${CMAKE_COMMAND} -E echo "" |
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COMMAND ${CMAKE_COMMAND} -E echo "Symbols with 'run', 'task', 'thread', 'main', 'update':" |
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COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------" |
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COMMAND cat stack_usage/checkstack_output.txt | c++filt | grep -E 'run|task|thread|main|update' |
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DEPENDS px4 |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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VERBATIM |
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) |
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@@ -0,0 +1,95 @@
|
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############################################################################ |
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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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|
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# NuttX CDCACM vendor and product strings |
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set(vendorstr_underscore) |
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set(productstr_underscore) |
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string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR}) |
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string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR}) |
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set(serial_ports) |
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if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux") |
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set(px4_usb_path "${vendorstr_underscore}_${productstr_underscore}") |
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list(APPEND serial_ports |
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# NuttX vendor + product string |
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/dev/serial/by-id/*-${px4_usb_path}* |
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# Bootloader |
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/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string |
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/dev/serial/by-id/*BL_FMU* |
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# TODO: handle these per board |
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/dev/serial/by-id/usb-The_Autopilot* |
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/dev/serial/by-id/usb-Bitcraze* |
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/dev/serial/by-id/pci-Bitcraze* |
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/dev/serial/by-id/usb-Gumstix* |
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/dev/serial/by-id/usb-Hex_ProfiCNC* |
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/dev/serial/by-id/usb-UVify_FMU_BL* |
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) |
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elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin") |
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list(APPEND serial_ports |
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/dev/tty.usbmodemPX*,/dev/tty.usbmodem* |
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) |
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elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "CYGWIN") |
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list(APPEND serial_ports |
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/dev/ttyS* |
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) |
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elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows") |
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foreach(port RANGE 32 0) |
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list(APPEND serial_ports |
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"COM${port}") |
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endforeach() |
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endif() |
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string(REPLACE ";" "," serial_ports "${serial_ports}") |
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add_custom_target(upload |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package} |
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DEPENDS ${fw_package} |
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COMMENT "uploading px4" |
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VERBATIM |
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USES_TERMINAL |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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) |
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|
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add_custom_target(force-upload |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package} |
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DEPENDS ${fw_package} |
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COMMENT "uploading px4 with --force" |
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VERBATIM |
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USES_TERMINAL |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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) |
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