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404 lines
14 KiB
404 lines
14 KiB
############################################################################ |
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# |
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# Copyright (c) 2018 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(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}) |
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set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc) |
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file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir}) |
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message(STATUS "ROMFS: ${romfs_path_relative}") |
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set_property(GLOBAL PROPERTY PX4_ROMFS_FILES) |
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set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES) |
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#============================================================================= |
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# |
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# px4_add_romfs_files |
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# |
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# This function builds a list of files to be included in the ROMFS. |
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# |
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# Usage: |
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# px4_add_romfs_files(<list of files in current directory to be added to the project>) |
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# |
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# Output: |
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# list config_romfs_files_list populated with a list of ROMFS src files including their full file path. |
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# |
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# Example: |
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# px4_add_module( |
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# <ROMFS_file_1> |
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# <ROMFS_file_2> |
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# <ROMFS_file_3> |
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# ) |
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# |
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function(px4_add_romfs_files) |
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set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE}) |
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foreach(arg IN LISTS ARGN) |
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if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${arg}) |
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message(FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/${arg} doesn't exist") |
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endif() |
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set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg}) |
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endforeach() |
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endfunction() |
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# get list of all ROMFS files |
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add_subdirectory(${romfs_src_dir}) |
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# directory setup |
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# copy all romfs files, process airframes |
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get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES) |
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get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES) |
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get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES) |
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file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja) |
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if (px4_constrained_flash_build) |
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set(added_arguments --constrained-flash) |
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endif() |
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if(PX4_ETHERNET) |
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set(added_arguments ${added_arguments} --ethernet) |
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endif() |
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# create list of relative romfs file names |
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set(romfs_copy_files_relative) |
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foreach(romfs_file IN LISTS romfs_copy_files) |
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string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file}) |
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list(APPEND romfs_copy_files_relative ${romfs_file_rel}) |
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endforeach() |
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# copy the ROMFS files by creating a tar and extracting it to the build |
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# directory (which preserves the directory structure) |
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file(MAKE_DIRECTORY ${romfs_gen_root_dir}) |
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set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar) |
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add_custom_command( |
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OUTPUT ${romfs_tar_file} |
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COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative} |
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WORKING_DIRECTORY ${romfs_src_dir} |
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DEPENDS |
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${romfs_copy_files} |
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${jinja_templates} |
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${module_config_files} |
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${romfs_cmake_files} |
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${PX4_SOURCE_DIR}/Tools/px_process_airframes.py |
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${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py |
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${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py |
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${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py |
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${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py |
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${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py |
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${PX4_SOURCE_DIR}/Tools/serial/generate_config.py |
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) |
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set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp) |
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add_custom_command( |
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OUTPUT ${romfs_extract_stamp} |
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/* |
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COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file} |
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COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp} |
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WORKING_DIRECTORY ${romfs_gen_root_dir} |
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DEPENDS ${romfs_tar_file} |
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VERBATIM |
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) |
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add_custom_command( |
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OUTPUT |
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${romfs_gen_root_dir}/init.d/rc.serial |
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${romfs_gen_root_dir}/init.d/rc.autostart |
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${romfs_gen_root_dir}/init.d/rc.autostart.post |
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romfs_copy.stamp |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py |
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--airframes-path ${romfs_gen_root_dir}/init.d |
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--start-script ${romfs_gen_root_dir}/init.d/rc.autostart |
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--board ${PX4_BOARD} |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py |
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--rc-dir ${romfs_gen_root_dir}/init.d |
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--serial-ports ${board_serial_ports} ${added_arguments} |
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--config-files ${module_config_files} #--verbose |
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COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp |
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DEPENDS |
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${romfs_extract_stamp} |
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COMMENT "ROMFS: copying, generating airframes" |
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) |
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# copy extras into ROMFS |
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set(extras_dependencies) |
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# copy px4io binary if configured |
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if(config_io_board) |
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list(APPEND extras_dependencies |
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copy_px4io_bin |
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${fw_io_bin} |
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) |
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file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin}) |
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message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin") |
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endif() |
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# board bootloader (built or included) |
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if(TARGET copy_bootloader_bin) |
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if(board_bootloader_firmware) |
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file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware}) |
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message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin") |
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else() |
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file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin}) |
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message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin") |
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endif() |
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list(APPEND extras_dependencies |
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copy_bootloader_bin |
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${bootloader_bin} |
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) |
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endif() |
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# optional board architecture defaults |
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set(board_arch_rc_file "rc.board_arch_defaults") |
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if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}") |
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file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}) |
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message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}") |
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add_custom_command( |
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OUTPUT |
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${romfs_gen_root_dir}/init.d/${board_arch_rc_file} |
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${board_arch_rc_file}.stamp |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file} |
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COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp |
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DEPENDS |
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${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} |
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romfs_copy.stamp |
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COMMENT "ROMFS: copying ${board_arch_rc_file}" |
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) |
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list(APPEND extras_dependencies |
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${board_arch_rc_file}.stamp |
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) |
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endif() |
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set(OPTIONAL_BOARD_RC) |
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list(APPEND OPTIONAL_BOARD_RC |
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rc.board_defaults |
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rc.board_sensors |
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rc.board_extras |
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rc.board_mavlink |
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) |
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foreach(board_rc_file ${OPTIONAL_BOARD_RC}) |
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if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}") |
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file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file}) |
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message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}") |
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add_custom_command( |
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OUTPUT |
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${romfs_gen_root_dir}/init.d/${board_rc_file} |
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${board_rc_file}.stamp |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file} |
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COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp |
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DEPENDS |
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${PX4_BOARD_DIR}/init/${board_rc_file} |
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romfs_copy.stamp |
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COMMENT "ROMFS: copying ${board_rc_file}" |
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) |
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list(APPEND extras_dependencies |
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${board_rc_file}.stamp |
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) |
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endif() |
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endforeach() |
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if(config_uavcan_peripheral_firmware) |
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include(ExternalProject) |
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foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware}) |
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# include the px4io binary in ROMFS |
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message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/") |
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ExternalProject_Add(build_${uavcan_peripheral_config} |
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SOURCE_DIR ${CMAKE_SOURCE_DIR} |
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DOWNLOAD_COMMAND "" |
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UPDATE_COMMAND "" |
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CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config} |
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INSTALL_COMMAND "" |
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USES_TERMINAL_BUILD true |
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DEPENDS git_nuttx git_nuttx_apps |
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BUILD_ALWAYS 1 |
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) |
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ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR) |
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add_custom_command( |
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OUTPUT |
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${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin |
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${uavcan_peripheral_config}.stamp |
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COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/ |
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COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/ |
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COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/ |
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COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp |
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DEPENDS |
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build_${uavcan_peripheral_config} |
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COMMENT "ROMFS: copying ${uavcan_peripheral_config}" |
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) |
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list(APPEND extras_dependencies |
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${uavcan_peripheral_config}.stamp |
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) |
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endforeach() |
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endif() |
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list(APPEND extras_dependencies |
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${config_romfs_extra_dependencies} |
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) |
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if (config_romfs_extra_files) |
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set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/) |
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else() |
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set(extras_copy_cmd "") |
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endif() |
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add_custom_command(OUTPUT romfs_extras.stamp |
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COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/ |
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/ |
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/ |
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${extras_copy_cmd} |
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COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp |
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DEPENDS |
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romfs_copy.stamp |
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${config_romfs_extra_files} |
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${extras_dependencies} |
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COMMENT "ROMFS: copying extras" |
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) |
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add_custom_target(romfs_gen_files_target |
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DEPENDS |
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${romfs_extract_stamp} |
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${romfs_gen_root_dir}/init.d/rc.serial |
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romfs_extras.stamp |
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) |
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add_custom_command( |
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OUTPUT romfs_pruned.stamp |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD} |
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COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp |
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DEPENDS |
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romfs_copy.stamp |
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romfs_extras.stamp |
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${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py |
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COMMENT "ROMFS: pruning" |
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) |
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if("${CONFIG_FS_CROMFS}" STREQUAL "y") |
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add_custom_command( |
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OUTPUT ${CMAKE_BINARY_DIR}/gencromfs |
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COMMAND make --no-print-directory --silent -f Makefile.host gencromfs |
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COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs |
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DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c |
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WORKING_DIRECTORY ${NUTTX_DIR}/tools |
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) |
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# create nsh_romfsimg.c |
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add_custom_command(OUTPUT nsh_romfsimg.c |
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COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c |
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COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir} nsh_romfsimg.c |
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DEPENDS |
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${CMAKE_BINARY_DIR}/gencromfs |
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romfs_pruned.stamp |
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COMMENT "ROMFS: generating image" |
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) |
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add_library(romfs STATIC nsh_romfsimg.c) |
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add_dependencies(romfs prebuild_targets) |
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set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C) |
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elseif("${CONFIG_FS_ROMFS}" STREQUAL "y") |
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# create romfs.img |
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find_program(GENROMFS genromfs) |
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if(NOT GENROMFS) |
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message(FATAL_ERROR "genromfs not found") |
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endif() |
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add_custom_command( |
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OUTPUT |
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romfs.img |
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romfs.txt |
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COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt |
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COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1 |
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DEPENDS romfs_pruned.stamp |
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COMMENT "ROMFS: generating image" |
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) |
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# create nsh_romfsimg.c |
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find_program(XXD xxd) |
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if(NOT XXD) |
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message(FATAL_ERROR "xxd not found") |
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endif() |
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find_program(SED sed) |
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if(NOT SED) |
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message(FATAL_ERROR "sed not found") |
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endif() |
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add_custom_command(OUTPUT nsh_romfsimg.c |
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COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c |
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COMMAND ${XXD} -i romfs.img nsh_romfsimg.c |
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COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c |
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DEPENDS romfs.img |
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) |
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add_library(romfs STATIC nsh_romfsimg.c) |
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add_dependencies(romfs prebuild_targets) |
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set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C) |
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endif() |
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# shellcheck |
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find_program(SHELLCHECK_PATH shellcheck) |
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if(SHELLCHECK_PATH) |
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# TODO: fix SC2086, SC2166 |
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add_custom_target(shellcheck |
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COMMAND ${SHELLCHECK_PATH} --shell=sh |
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--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location. |
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--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory) |
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--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value' |
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--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting. |
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--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined. |
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--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment) |
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--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails. |
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--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it) |
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--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it) |
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--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?. |
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`find ${romfs_gen_root_dir}/init.d -type f` |
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DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart |
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WORKING_DIRECTORY ${romfs_gen_root_dir} |
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USES_TERMINAL |
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) |
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endif()
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