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242 lines
10 KiB
242 lines
10 KiB
############################################################################ |
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# |
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# Copyright (c) 2019-2021 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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set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config) |
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set(APPS_DIR ${NUTTX_SRC_DIR}/apps) |
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############################################################################### |
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# NuttX build |
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############################################################################### |
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/Make.defs.in ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs) |
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# inflate .config |
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add_custom_command( |
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OUTPUT ${NUTTX_DIR}/.config |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig |
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COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config |
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DEPENDS |
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${NUTTX_DEFCONFIG} |
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${NUTTX_DIR}/defconfig |
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${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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#USES_TERMINAL |
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) |
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# context (.config -> include/nuttx/config.h, include/nuttx/version.h, dirlinks) |
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add_custom_command( |
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OUTPUT ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/arch/chip |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config ${NUTTX_DIR}/.config |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs |
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COMMAND make --no-print-directory --silent clean_context |
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COMMAND make --no-print-directory --silent pass1dep > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_context.log |
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DEPENDS |
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${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs |
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${NUTTX_DIR}/.config |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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#USES_TERMINAL |
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) |
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add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/config.h) |
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# builtins |
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set(builtin_apps_string) |
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set(builtin_apps_decl_string) |
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if(CONFIG_NSH_LIBRARY) |
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list(SORT module_libraries) |
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foreach(module ${module_libraries}) |
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get_target_property(MAIN ${module} MAIN) |
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get_target_property(STACK_MAIN ${module} STACK_MAIN) |
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get_target_property(PRIORITY ${module} PRIORITY) |
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if(MAIN) |
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set(builtin_apps_string "${builtin_apps_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main },\n") |
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set(builtin_apps_decl_string "${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n") |
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endif() |
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endforeach() |
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endif() |
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat) |
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat) |
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# APPS |
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# libapps.a |
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file(GLOB_RECURSE nuttx_apps_files LIST_DIRECTORIES false |
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${APPS_DIR}/*.c |
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${APPS_DIR}/*.h |
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) |
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a |
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COMMAND ${CMAKE_COMMAND} -E remove -f ${APPS_DIR}/libapps.a ${APPS_DIR}/builtin/builtin_list.h ${APPS_DIR}/builtin/builtin_proto.h |
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COMMAND find ${APPS_DIR} -type f -name \*.o -delete |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat ${APPS_DIR}/builtin/registry/px4.bdat |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat ${APPS_DIR}/builtin/registry/px4.pdat |
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COMMAND ${CMAKE_COMMAND} -E touch_nocreate ${APPS_DIR}/builtin/registry/.updated |
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COMMAND make --no-print-directory --silent TOPDIR="${NUTTX_DIR}" > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_apps.log |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${APPS_DIR}/libapps.a ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a |
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DEPENDS ${nuttx_apps_files} nuttx_context ${NUTTX_DIR}/include/nuttx/config.h |
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WORKING_DIRECTORY ${APPS_DIR} |
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#USES_TERMINAL |
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) |
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add_custom_target(nuttx_apps_build DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a) |
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add_library(nuttx_apps STATIC IMPORTED GLOBAL) |
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set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a) |
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add_dependencies(nuttx_apps nuttx_apps_build) |
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# helper for all targets |
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function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra) |
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file(GLOB_RECURSE nuttx_lib_files LIST_DIRECTORIES false |
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${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.c |
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${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.h |
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) |
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a |
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a |
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COMMAND find ${nuttx_lib_dir} -type f -name \*.o -delete |
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COMMAND make -C ${nuttx_lib_dir} --no-print-directory --silent all TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRAFLAGS=${extra} |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a |
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DEPENDS |
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${nuttx_lib_files} |
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nuttx_context ${NUTTX_DIR}/include/nuttx/config.h |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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#USES_TERMINAL |
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) |
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add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a) |
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add_library(nuttx_${nuttx_lib} STATIC IMPORTED GLOBAL) |
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set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a) |
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add_dependencies(nuttx_${nuttx_lib} nuttx_${nuttx_lib}_build) |
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endfunction() |
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# add_nuttx_dir(NAME DIRECTORY KERNEL EXTRA) |
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add_nuttx_dir(arch arch/${CONFIG_ARCH}/src y -D__KERNEL__) |
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add_nuttx_dir(binfmt binfmt y -D__KERNEL__) |
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add_nuttx_dir(boards boards y -D__KERNEL__) |
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add_nuttx_dir(drivers drivers y -D__KERNEL__) |
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add_nuttx_dir(fs fs y -D__KERNEL__) |
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add_nuttx_dir(sched sched y -D__KERNEL__) |
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add_nuttx_dir(c libs/libc n "") |
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add_nuttx_dir(xx libs/libxx n "") |
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add_nuttx_dir(mm mm n "") |
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add_nuttx_dir(crypto crypto y -D__KERNEL__) |
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if(CONFIG_NET) |
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add_nuttx_dir(net net y -D__KERNEL__) |
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endif() |
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############################################################################### |
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# NuttX oldconfig: Update a configuration using a provided .config as base |
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add_custom_target(oldconfig_nuttx |
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COMMAND make --no-print-directory --silent oldconfig |
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DEPENDS ${NUTTX_DIR}/.config |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}" |
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USES_TERMINAL |
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) |
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# NuttX oldconfig + savedefconfig back to PX4 |
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add_custom_target(oldconfig |
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COMMAND make --no-print-directory --silent savedefconfig |
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG} |
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config |
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DEPENDS oldconfig_nuttx |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running make oldconfig then savedefconfig for ${NUTTX_CONFIG}" |
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USES_TERMINAL |
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) |
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############################################################################### |
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# NuttX olddefconfig: same as oldconfig, but additionally update deps and sets new symbols to their default value |
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add_custom_target(olddefconfig_nuttx |
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COMMAND make --no-print-directory --silent olddefconfig |
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DEPENDS ${NUTTX_DIR}/.config |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running NuttX make olddefconfig for ${NUTTX_CONFIG}" |
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USES_TERMINAL |
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) |
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# NuttX olddefconfig + savedefconfig back to PX4 |
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add_custom_target(olddefconfig |
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COMMAND make --no-print-directory --silent savedefconfig |
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG} |
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config |
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DEPENDS olddefconfig_nuttx |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running make olddefconfig then savedefconfig for ${NUTTX_CONFIG}" |
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USES_TERMINAL |
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) |
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############################################################################### |
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# NuttX menuconfig |
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add_custom_target(menuconfig_nuttx |
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COMMAND make --no-print-directory --silent menuconfig |
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DEPENDS ${NUTTX_DIR}/.config |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}" |
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USES_TERMINAL |
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) |
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# NuttX menuconfig + savedefconfig back to PX4 |
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add_custom_target(menuconfig |
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COMMAND make --no-print-directory --silent savedefconfig |
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG} |
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config |
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DEPENDS menuconfig_nuttx |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running make nuttx_menuconfig then savedefconfig for ${NUTTX_CONFIG}" |
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USES_TERMINAL |
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) |
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############################################################################### |
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# NuttX qconfig |
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add_custom_target(qconfig_nuttx |
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COMMAND make --no-print-directory --silent qconfig |
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DEPENDS ${NUTTX_DIR}/.config |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}" |
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USES_TERMINAL |
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) |
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# NuttX qconfig + savedefconfig back to PX4 |
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add_custom_target(qconfig |
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COMMAND make --no-print-directory --silent savedefconfig |
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG} |
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config |
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DEPENDS qconfig_nuttx |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running make qconfig then savedefconfig for ${NUTTX_CONFIG}" |
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USES_TERMINAL |
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)
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