You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
186 lines
8.5 KiB
186 lines
8.5 KiB
############################################################################ |
|
# |
|
# Copyright (c) 2019 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. |
|
# 3. Neither the name PX4 nor the names of its contributors may be |
|
# 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 |
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
# POSSIBILITY OF SUCH DAMAGE. |
|
# |
|
############################################################################ |
|
|
|
if("${CMAKE_CXX_COMPILER_ID}" MATCHES "GNU") |
|
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS_EQUAL 7) |
|
message(FATAL_ERROR "GCC 7 or older no longer supported. https://docs.px4.io/master/en/dev_setup/dev_env.html") |
|
endif() |
|
endif() |
|
|
|
if(NOT PX4_BOARD) |
|
message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)") |
|
endif() |
|
|
|
if(NOT PX4_BINARY_DIR) |
|
message(FATAL_ERROR "PX4_BINARY_DIR must be set") |
|
endif() |
|
|
|
if(NOT PX4_BOARD_DIR) |
|
message(FATAL_ERROR "PX4_BOARD_DIR must be set") |
|
endif() |
|
|
|
set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX config" FORCE) |
|
|
|
# NuttX defconfig |
|
# cmake should trigger reconfigure if defconfig changes |
|
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE) |
|
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG}) |
|
|
|
set(NUTTX_SRC_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX) |
|
set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE) |
|
set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE) |
|
|
|
px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx") |
|
px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps") |
|
|
|
if(CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32) |
|
# copy with rsync and create file dependencies |
|
set(NUTTX_COPY_CMD "rsync") |
|
set(NUTTX_COPY_CMD_OPTS) |
|
list(APPEND NUTTX_COPY_CMD_OPTS |
|
-rp |
|
--inplace |
|
) |
|
else() |
|
# copy with hard links |
|
# archive, recursive, force, link (hardlinks) |
|
set(NUTTX_COPY_CMD "cp") |
|
set(NUTTX_COPY_CMD_OPTS "-aRfl") |
|
endif() |
|
|
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX) |
|
|
|
############################################################################### |
|
# NuttX: copy to build directory |
|
############################################################################### |
|
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/Kconfig)) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx) |
|
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx) |
|
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) |
|
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) |
|
|
|
# replace NuttX .git with actual git repo location (absolute path) |
|
execute_process( |
|
COMMAND git rev-parse --absolute-git-dir |
|
OUTPUT_VARIABLE nuttx_git_dir |
|
WORKING_DIRECTORY ${NUTTX_SRC_DIR}/nuttx |
|
OUTPUT_STRIP_TRAILING_WHITESPACE |
|
) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/nuttx/.git) |
|
file(WRITE ${PX4_BINARY_DIR}/NuttX/nuttx/.git "gitdir: ${nuttx_git_dir}") |
|
|
|
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp) |
|
endif() |
|
|
|
############################################################################### |
|
# NuttX apps: copy to build directory |
|
############################################################################### |
|
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps/Kconfig)) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/apps) |
|
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps) |
|
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) |
|
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp) |
|
endif() |
|
|
|
############################################################################### |
|
# board nuttx-config |
|
############################################################################### |
|
|
|
# If the board provides a Kconfig Use it or create an empty one |
|
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) OR (NOT EXISTS ${NUTTX_DIR}/boards/dummy/Kconfig)) |
|
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig) |
|
else() |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig) |
|
endif() |
|
|
|
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) |
|
endif() |
|
|
|
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig)) |
|
# copy board's nuttx-config to NuttX/nuttx-config |
|
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config) |
|
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) |
|
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) |
|
|
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src) |
|
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) |
|
|
|
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) |
|
endif() |
|
|
|
# make olddefconfig (inflate defconfig to full .config) |
|
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/.config)) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config) |
|
execute_process( |
|
COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh |
|
WORKING_DIRECTORY ${NUTTX_DIR} |
|
OUTPUT_FILE nuttx_olddefconfig.log |
|
RESULT_VARIABLE ret |
|
) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) |
|
# remove temporary top level Make.defs |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/Make.defs) |
|
endif() |
|
|
|
############################################################################### |
|
# NuttX cmake defconfig |
|
############################################################################### |
|
|
|
# parse nuttx config options for cmake |
|
file(STRINGS ${NUTTX_DIR}/.config 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}) |
|
|
|
if(Value) |
|
# remove extra quotes |
|
string(REPLACE "\"" "" Value ${Value}) |
|
|
|
# Set the variable |
|
#message(STATUS "${Name} ${Value}") |
|
set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE) |
|
endif() |
|
endif() |
|
endforeach()
|
|
|