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408 lines
12 KiB
408 lines
12 KiB
############################################################################ |
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# |
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# Copyright (c) 2017 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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include(cygwin_cygpath) |
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add_subdirectory(src) |
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if (NOT FW_NAME) |
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set(FW_NAME ${CONFIG}.elf) |
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endif() |
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add_executable(${FW_NAME} ${PX4_SOURCE_DIR}/src/platforms/empty.c) |
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add_dependencies(${FW_NAME} git_nuttx nuttx_build) |
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES) |
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# build NuttX |
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add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX) |
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set(nuttx_libs) |
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list(APPEND nuttx_libs |
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nuttx_apps |
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nuttx_arch |
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nuttx_binfmt |
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nuttx_c |
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nuttx_configs |
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nuttx_cxx |
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nuttx_drivers |
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nuttx_fs |
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nuttx_mm |
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nuttx_sched |
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) |
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if (CONFIG_NET) |
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list(APPEND nuttx_libs nuttx_net) |
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endif() |
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if (NOT LD_SCRIPT) |
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set(LD_SCRIPT ld.script) |
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endif() |
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file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_DIR}) |
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# only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...) |
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# because even relative linker script paths are different for linux, mac and windows |
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CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG) |
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target_link_libraries(nuttx_arch |
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INTERFACE |
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drivers_board |
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drivers_arch |
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drivers_boards_common |
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drivers_boards_common_arch |
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) |
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target_link_libraries(nuttx_c INTERFACE nuttx_drivers) |
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target_link_libraries(nuttx_cxx INTERFACE nuttx_c) |
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target_link_libraries(${FW_NAME} PRIVATE |
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-nodefaultlibs |
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-nostdlib |
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-fno-exceptions |
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-fno-rtti |
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-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${BOARD}/scripts/${LD_SCRIPT} |
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-Wl,-Map=${CONFIG}.map |
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-Wl,--warn-common |
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-Wl,--gc-sections |
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-Wl,--start-group |
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${nuttx_libs} |
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-Wl,--end-group |
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m |
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) |
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target_link_libraries(${FW_NAME} PRIVATE ${module_libraries}) |
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target_link_libraries(${FW_NAME} PRIVATE modules__uORB) |
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if (config_romfs_root) |
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add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS) |
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target_link_libraries(${FW_NAME} PRIVATE romfs) |
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endif() |
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# create px4 file (combined firmware and metadata) |
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# for historical reasons we name the final output binary without nuttx_ |
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set(fw_name_short) |
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string(REPLACE "nuttx_" "" fw_name_short ${FW_NAME}) |
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set(fw_file ${PX4_BINARY_DIR}/${fw_name_short}) |
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string(REPLACE ".elf" ".px4" fw_file ${fw_file}) |
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add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${BOARD}.bin |
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COMMAND ${OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${BOARD}.bin |
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DEPENDS ${FW_NAME} |
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) |
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if (NOT FW_PROTOTYPE) |
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set(FW_PROTOTYPE ${BOARD}) |
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endif() |
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if (TARGET parameters_xml AND TARGET airframes_xml) |
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add_custom_command(OUTPUT ${fw_file} |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py |
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--prototype ${PX4_SOURCE_DIR}/platforms/nuttx/Images/${FW_PROTOTYPE}.prototype |
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--git_identity ${PX4_SOURCE_DIR} |
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--parameter_xml ${PX4_BINARY_DIR}/parameters.xml |
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--airframe_xml ${PX4_BINARY_DIR}/airframes.xml |
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--image ${PX4_BINARY_DIR}/${BOARD}.bin > ${fw_file} |
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DEPENDS ${PX4_BINARY_DIR}/${BOARD}.bin parameters_xml airframes_xml |
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COMMENT "Creating ${fw_file}" |
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) |
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add_custom_target(px4 ALL DEPENDS ${fw_file}) |
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# upload helper |
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if (${BOARD} STREQUAL "aerofc-v1") |
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# TODO: should be set only in aero config |
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add_custom_target(upload |
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COMMAND ${PX4_SOURCE_DIR}/Tools/aero_upload.sh ${fw_file} |
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DEPENDS ${fw_file} |
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COMMENT "uploading px4" |
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USES_TERMINAL |
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) |
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else() |
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# create upload target helper if NuttX USB CDCACM is present |
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if (CONFIG_CDCACM) |
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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/*-${px4_usb_path}* |
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# Bootloader |
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/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string |
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/dev/serial/by-id/*BL_FMU* |
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# TODO: handle these per board |
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/dev/serial/by-id/usb-The_Autopilot* |
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/dev/serial/by-id/usb-Bitcraze* |
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/dev/serial/by-id/pci-Bitcraze* |
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/dev/serial/by-id/usb-Gumstix* |
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) |
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elseif(${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${port}") |
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endforeach() |
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endif() |
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px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",") |
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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_file} |
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DEPENDS ${fw_file} |
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COMMENT "uploading px4" |
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VERBATIM |
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USES_TERMINAL |
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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_file} |
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DEPENDS ${fw_file} |
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COMMENT "uploading px4 with --force" |
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VERBATIM |
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USES_TERMINAL |
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) |
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endif() |
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endif() |
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endif() |
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# print size |
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add_custom_target(size |
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COMMAND size ${FW_NAME} |
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DEPENDS ${FW_NAME} |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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# print weak symbols |
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add_custom_target(weak_symbols |
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COMMAND ${CMAKE_NM} $<TARGET_FILE:${FW_NAME}> | ${GREP} " w " | cat |
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DEPENDS ${FW_NAME} |
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VERBATIM |
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USES_TERMINAL |
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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 $<TARGET_FILE:${FW_NAME}> | ${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 ${FW_NAME} |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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VERBATIM |
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) |
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find_program(BLOATY_PROGRAM bloaty) |
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if (BLOATY_PROGRAM) |
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# bloaty symbols |
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add_custom_target(bloaty_symbols |
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COMMAND ${BLOATY_PROGRAM} -d symbols -C full -n 50 -s vm $<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} |
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USES_TERMINAL |
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) |
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# bloaty compilation units |
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add_custom_target(bloaty_compileunits |
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COMMAND ${BLOATY_PROGRAM} -d compileunits -C full -n 50 -s vm $<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} |
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USES_TERMINAL |
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) |
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# bloaty templates |
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add_custom_target(bloaty_templates |
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COMMAND ${BLOATY_PROGRAM} -d shortsymbols,fullsymbols -n 50 $<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} |
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USES_TERMINAL |
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) |
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# bloaty inlines |
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add_custom_target(bloaty_inlines |
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COMMAND ${BLOATY_PROGRAM} -d inlines -C full -n 50 $<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} |
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USES_TERMINAL |
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) |
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# bloaty compare with last master build |
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add_custom_target(bloaty_compare_master |
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COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${FW_NAME} -O master_${FW_NAME} |
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COMMAND ${BLOATY_PROGRAM} -d symbols -n 50 -C full -s vm $<TARGET_FILE:${FW_NAME}> -- master_${FW_NAME} |
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DEPENDS ${FW_NAME} |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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VERBATIM |
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USES_TERMINAL |
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) |
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endif() |
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# debugger helpers |
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit) |
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add_custom_target(debug |
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COMMAND ${GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} ${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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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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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:${FW_NAME}> |
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DEPENDS ${FW_NAME} ${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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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:${FW_NAME}> |
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DEPENDS ${FW_NAME} |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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COMMENT "Uploading with Black Magic Probe" |
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) |
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add_custom_target(blackmagic_console |
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COMMAND screen -t "${BOARD} console" ${black_magic_probe_console_path} 57600 8N1 |
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USES_TERMINAL |
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) |
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endif() |
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add_custom_target(jlink_upload |
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh |
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COMMAND ${GDB} --nx --batch |
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-iex 'set auto-load safe-path ${PX4_BINARY_DIR}' |
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-ex 'target remote localhost:2331' |
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-ex 'monitor reset' |
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-ex 'load' |
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-ex 'kill' |
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$<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} ${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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add_custom_target(jlink_debug |
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh |
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COMMAND ${GDB} --nh |
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-iex 'set auto-load safe-path ${PX4_BINARY_DIR}' |
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-ex 'target remote localhost:2331' |
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-ex 'monitor reset' |
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-ex 'load' |
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-ex 'monitor reset' |
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-ex 'continue' |
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$<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} ${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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# 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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add_custom_target(profile |
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COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}" |
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${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:${FW_NAME}> --nsamples=10000 |
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DEPENDS ${FW_NAME} ${PX4_SOURCE_DIR}/platforms/nuttx/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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