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181 lines
7.0 KiB
181 lines
7.0 KiB
############################################################################ |
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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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find_program(JLinkGDBServerCLExe_PATH JLinkGDBServerCLExe |
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HINTS /Applications/SEGGER/JLink |
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) |
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if(JLinkGDBServerCLExe_PATH) |
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# jlink_upload (flash binary) |
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh.in ${PX4_BINARY_DIR}/jlink_gdb_start.sh @ONLY) |
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add_custom_target(jlink_upload |
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COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh |
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh $<TARGET_FILE:px4> |
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DEPENDS |
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px4 |
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${PX4_BINARY_DIR}/jlink_gdb_start.sh |
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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# jlink_gdb_backtrace (attach, print current tasks, back trace, exit) |
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add_custom_target(jlink_gdb_backtrace |
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COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh |
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COMMAND ${CMAKE_COMMAND} -E env WORKSPACE=${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh $<TARGET_FILE:px4> |
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DEPENDS |
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px4 |
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${PX4_BINARY_DIR}/jlink_gdb_start.sh |
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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# jlink_gdb_backtrace_simple (attach, print current tasks, back trace, exit) |
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add_custom_target(jlink_gdb_backtrace_simple |
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COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh |
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COMMAND ${CMAKE_COMMAND} -E env WORKSPACE=${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace_simple.sh $<TARGET_FILE:px4> |
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DEPENDS |
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px4 |
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${PX4_BINARY_DIR}/jlink_gdb_start.sh |
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace_simple.sh |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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# jlink_upload_bootloader |
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# board directory supplied bootloader.bin |
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if(TARGET bootloader_elf) |
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# jlink_upload_bootloader |
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add_custom_target(jlink_upload_bootloader |
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COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh |
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf |
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DEPENDS |
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${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf |
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${PX4_BINARY_DIR}/jlink_gdb_start.sh |
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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endif() |
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endif() |
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# jlink_debug_gdb (flash binary and run with gdb attached) |
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find_program(JLinkGDBServerExe_PATH JLinkGDBServerExe |
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HINTS /Applications/SEGGER/JLink |
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) |
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if(JLinkGDBServerExe_PATH AND CMAKE_GDB) |
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_debug_gdb.sh.in ${PX4_BINARY_DIR}/jlink_debug_gdb.sh @ONLY) |
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add_custom_target(jlink_debug_gdb |
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COMMAND ${PX4_BINARY_DIR}/jlink_debug_gdb.sh |
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DEPENDS |
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px4 |
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${PX4_BINARY_DIR}/.gdbinit |
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${PX4_BINARY_DIR}/jlink_debug_gdb.sh |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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endif() |
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# jlink_debug_ozone (run Segger Ozone debugger with current target configuration) |
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find_program(Ozone_PATH Ozone ozone |
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HINTS /Applications/Ozone.app/Contents/MacOS/ |
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) |
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if(Ozone_PATH) |
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_debug_ozone.sh.in ${PX4_BINARY_DIR}/jlink_debug_ozone.sh @ONLY) |
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add_custom_target(jlink_debug_ozone |
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COMMAND ${PX4_BINARY_DIR}/jlink_debug_ozone.sh |
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DEPENDS |
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px4 |
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${PX4_BINARY_DIR}/jlink_debug_ozone.sh |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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endif() |
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# .bin flashing |
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find_program(JLinkExe_PATH JLinkExe) |
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if(JLinkExe_PATH) |
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# jlink_flash_bootloader_bin |
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if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin) |
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set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin") |
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set(BOARD_FIRMWARE_APP_OFFSET "0x08000000") |
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink @ONLY) |
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add_custom_target(jlink_flash_bootloader_bin |
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${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN} |
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COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink |
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DEPENDS |
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${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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endif() |
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# jlink_flash_bin |
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if(uavcan_bl_image_name) |
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# uavcan signed firmware |
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set(BOARD_FIRMWARE_BIN ${uavcan_bl_image_name}) |
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set(BOARD_FIRMWARE_APP_OFFSET "0x08010000") |
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY) |
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add_custom_target(jlink_flash_bin |
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COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink |
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DEPENDS |
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${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in |
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${PX4_BINARY_DIR}/${uavcan_bl_image_name} |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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else() |
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# regular firmware ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin |
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set(BOARD_FIRMWARE_BIN ${PX4_CONFIG}.bin) |
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set(BOARD_FIRMWARE_APP_OFFSET "0x08008000") # TODO: get from board |
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY) |
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add_custom_target(jlink_flash_bin |
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COMMAND ${CMAKE_COMMAND} -E echo "WARNING jlink_flash_bin currently assumes starting address ${BOARD_FIRMWARE_APP_OFFSET}" |
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COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink |
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DEPENDS |
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${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in |
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${PX4_BINARY_DIR}/${PX4_CONFIG}.bin |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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USES_TERMINAL |
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) |
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endif() |
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endif()
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