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149 lines
3.6 KiB
149 lines
3.6 KiB
include(common/px4_upload) |
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include(cygwin_cygpath) |
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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_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_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} ${PX4_BINARY_DIR}) |
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# only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...) |
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# because even relative linker script paths are different for linux, mac and windows |
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CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG) |
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target_link_libraries(${FW_NAME} |
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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,--gc-sections |
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-Wl,--start-group |
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${module_libraries} |
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${nuttx_libs} |
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-Wl,--end-group |
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m |
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gcc |
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) |
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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} romfs) |
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if (config_io_board) |
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add_dependencies(romfs copy_px4io_bin) |
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endif() |
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endif() |
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# create px4 file (combined firmware and metadata) |
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set(fw_file ${PX4_BINARY_DIR}/${FW_NAME}) |
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string(REPLACE ".elf" ".px4" fw_file ${fw_file}) |
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string(REPLACE "nuttx_" "" fw_file ${fw_file}) |
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add_custom_command(OUTPUT ${BOARD}.bin |
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COMMAND ${OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${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 ${BOARD}.bin > ${fw_file} |
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DEPENDS ${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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px4_add_upload_aero(OUT upload OS ${OS} BOARD ${BOARD} BUNDLE ${fw_file}) |
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else() |
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px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD} BUNDLE ${fw_file}) |
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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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) |
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# print weak symbols |
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add_custom_target(check_weak |
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COMMAND ${NM} ${FW_NAME} | ${GREP} " w " | cat |
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DEPENDS ${FW_NAME} |
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VERBATIM |
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) |
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# debugger helpers |
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configure_file(gdbinit.in .gdbinit) |
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add_custom_target(debug |
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COMMAND ${GDB} $<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit |
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) |
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add_custom_target(debug_tui |
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COMMAND ${GDBTUI} $<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit |
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) |
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add_custom_target(debug_ddd |
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COMMAND ${DDD} --debugger ${GDB} $<TARGET_FILE:${FW_NAME}> |
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DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit |
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) |
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add_custom_target(debug_io |
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COMMAND ${GDB} ${fw_io_path} |
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DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit |
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) |
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add_custom_target(debug_io_tui |
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COMMAND ${GDBTUI} ${fw_io_path} |
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DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit |
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) |
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add_custom_target(debug_io_ddd |
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COMMAND ${DDD} --debugger ${GDB} ${fw_io_path}} |
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DEPENDS ${fw_io} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit |
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)
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