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242 lines
9.1 KiB
242 lines
9.1 KiB
cmake_minimum_required(VERSION 3.2) |
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px4_add_git_submodule(TARGET git_nuttx PATH "nuttx") |
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px4_add_git_submodule(TARGET git_nuttx_apps PATH "apps") |
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if(NOT BOARD) |
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message(FATAL_ERROR "BOARD must be set (eg px4fmu-v2)") |
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endif() |
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if(NOT nuttx_config_type) |
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# default to nsh if not specified |
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set(nuttx_config_type "nsh") |
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endif() |
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project(NuttX_${BOARD} LANGUAGES ASM C CXX) |
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message(STATUS "NuttX: " ${BOARD} " " ${nuttx_config_type} " " ${CMAKE_SYSTEM_PROCESSOR}) |
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if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32) |
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# copy with rsync and create file dependencies |
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set(cp_cmd "rsync") |
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set(cp_opts) |
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list(APPEND cp_opts |
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-rp |
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--inplace |
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) |
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else() |
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# copy with hard links |
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# archive, recursive, force, link (hardlinks) |
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set(cp_cmd "cp") |
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set(cp_opts "-aRfl") |
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endif() |
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file(GLOB_RECURSE copy_nuttx_files |
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LIST_DIRECTORIES false |
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${CMAKE_CURRENT_SOURCE_DIR}/nuttx/*) |
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file(GLOB_RECURSE copy_apps_files |
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LIST_DIRECTORIES false |
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${CMAKE_CURRENT_SOURCE_DIR}/apps/*) |
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# copy nuttx to build directory |
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file(RELATIVE_PATH CP_SRC ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/nuttx) |
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add_custom_command(OUTPUT nuttx_copy.stamp |
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COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} . |
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COMMAND cmake -E touch nuttx_copy.stamp |
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DEPENDS ${copy_nuttx_files} git_nuttx |
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COMMENT "Copying NuttX/nuttx to ${CMAKE_CURRENT_BINARY_DIR}" |
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) |
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set(NUTTX_DIR ${CMAKE_CURRENT_BINARY_DIR}/nuttx) |
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set(NUTTX_CONFIG_DIR ${PX4_SOURCE_DIR}/nuttx-configs) |
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# copy apps to build directory |
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file(RELATIVE_PATH CP_SRC ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/apps) |
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add_custom_command(OUTPUT apps_copy.stamp |
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COMMAND ${cp_cmd} ${cp_opts} ${CMAKE_CURRENT_SOURCE_DIR}/apps . |
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COMMAND cmake -E touch apps_copy.stamp |
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DEPENDS ${copy_apps_files} git_nuttx_apps |
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COMMENT "Copying NuttX/apps to ${CMAKE_CURRENT_BINARY_DIR}" |
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) |
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set(APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps) |
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# copy PX4 board config into nuttx |
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file(GLOB_RECURSE board_config_files ${NUTTX_CONFIG_DIR}/${BOARD}) |
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add_custom_command(OUTPUT |
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${NUTTX_DIR}/PX4_Config.mk |
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${NUTTX_DIR}/PX4_Warnings.mk |
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${NUTTX_DIR}/.config |
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${NUTTX_DIR}/Make.defs |
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/PX4_Config.mk ${NUTTX_DIR}/PX4_Config.mk |
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/PX4_Warnings.mk ${NUTTX_DIR}/PX4_Warnings.mk |
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig ${NUTTX_DIR}/.config |
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/Make.defs ${NUTTX_DIR}/Make.defs |
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COMMAND ${cp_cmd} ${cp_opts} ${NUTTX_CONFIG_DIR}/${BOARD} ${NUTTX_DIR}/configs/ |
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h |
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DEPENDS |
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${NUTTX_CONFIG_DIR}/PX4_Config.mk |
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${NUTTX_CONFIG_DIR}/PX4_Warnings.mk |
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${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig |
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${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/Make.defs |
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${board_config_files} |
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nuttx_copy.stamp |
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apps_copy.stamp |
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WORKING_DIRECTORY ${NUTTX_DIR}/tools |
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COMMENT "Copying NuttX config ${BOARD} and configuring" |
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) |
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add_custom_target(nuttx_configure DEPENDS ${NUTTX_DIR}/.config) |
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# verbose build settings (V=1 or VERBOSE=1) |
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option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off) |
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if (($ENV{V} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "1")) |
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message(STATUS "NuttX verbose build enabled") |
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set(PX4_NUTTX_VERBOSE on) |
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endif() |
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if (PX4_NUTTX_VERBOSE) |
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set(nuttx_build_options) |
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set(nuttx_build_output) |
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set(nuttx_build_uses_terminal "USES_TERMINAL") |
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else() |
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set(nuttx_build_options "--quiet") |
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set(nuttx_build_output ">nuttx_build.log") |
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set(nuttx_build_uses_terminal) |
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endif() |
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# context |
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add_custom_command(OUTPUT ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h |
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COMMAND make ${nuttx_build_options} --no-print-directory context ${nuttx_build_output} |
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DEPENDS nuttx_configure ${NUTTX_DIR}/.config |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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${nuttx_build_uses_terminal} |
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) |
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add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h) |
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# library of NuttX libraries |
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add_library(nuttx_build INTERFACE) |
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add_dependencies(nuttx_build nuttx_context) |
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# builtins |
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set(nuttx_builtin_list) |
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if (CONFIG_NSH_LIBRARY) |
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# force builtins regeneration and apps rebuild if nuttx or px4 configuration have changed |
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add_custom_command(OUTPUT builtins_clean.stamp |
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COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.bdat -delete |
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COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.pdat -delete |
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COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h |
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COMMAND ${CMAKE_COMMAND} -E touch builtins_clean.stamp |
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DEPENDS |
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nuttx_configure |
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nuttx_context |
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${PX4_SOURCE_DIR}/cmake/configs/${CONFIG}.cmake |
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) |
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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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add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat |
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COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat |
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COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated |
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DEPENDS nuttx_context builtins_clean.stamp |
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VERBATIM |
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) |
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list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat) |
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add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat |
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COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat |
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COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated |
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DEPENDS nuttx_context builtins_clean.stamp |
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VERBATIM |
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) |
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list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat) |
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endif() |
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endforeach() |
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endif() |
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# APPS |
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# libapps.a |
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add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built |
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COMMAND find ${APPS_DIR} -name \*.o -delete |
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COMMAND make ${nuttx_build_options} --no-print-directory -C ../apps TOPDIR="${NUTTX_DIR}" libapps.a ${nuttx_build_output} |
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DEPENDS nuttx_context ${nuttx_builtin_list} |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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${nuttx_build_uses_terminal} |
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) |
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add_custom_target(nuttx_apps_build DEPENDS ${APPS_DIR}/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 ${APPS_DIR}/libapps.a) |
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add_dependencies(nuttx_build nuttx_apps_build) |
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target_link_libraries(nuttx_build INTERFACE nuttx_apps) |
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# helper for all targets |
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function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra) |
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file(GLOB_RECURSE nuttx_lib_files |
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LIST_DIRECTORIES false |
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${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*) |
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add_custom_command(OUTPUT ${NUTTX_DIR}/${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} ${nuttx_build_options} --no-print-directory lib${nuttx_lib}.a TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output} |
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DEPENDS ${nuttx_lib_files} nuttx_context |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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${nuttx_build_uses_terminal} |
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) |
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add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${NUTTX_DIR}/${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 ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a) |
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add_dependencies(nuttx_build nuttx_${nuttx_lib}_build) |
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target_link_libraries(nuttx_build INTERFACE nuttx_${nuttx_lib}) |
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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/arm/src y -D__KERNEL__) |
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add_nuttx_dir(binfmt binfmt y -D__KERNEL__) |
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add_nuttx_dir(configs configs 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 libc n "") |
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add_nuttx_dir(cxx libxx n "") |
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add_nuttx_dir(mm mm n "") |
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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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# oldconfig helper |
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add_custom_target(oldconfig |
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} oldconfig |
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COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig |
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COMMAND ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig |
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DEPENDS nuttx_configure |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running NuttX make oldconfig for ${BOARD} with ${nuttx_config_type}" |
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USES_TERMINAL |
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) |
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# menuconfig helper |
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add_custom_target(menuconfig |
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} menuconfig |
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COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig |
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COMMAND cd ${PX4_SOURCE_DIR} && platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig |
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DEPENDS nuttx_configure |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running NuttX make menuconfig for ${BOARD} with ${nuttx_config_type}" |
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USES_TERMINAL |
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) |
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# qconfig helper |
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add_custom_target(qconfig |
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} qconfig |
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COMMAND cp .config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig |
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DEPENDS nuttx_configure |
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WORKING_DIRECTORY ${NUTTX_DIR} |
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COMMENT "Running NuttX make qconfig for ${BOARD} with ${nuttx_config_type}" |
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USES_TERMINAL |
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)
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