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NuttX cmake build wrapper thorough dependencies

This commit is contained in:
Daniel Agar 2019-11-09 15:28:07 -05:00 committed by Lorenz Meier
parent 99aae8b891
commit 2af262ed1d
9 changed files with 182 additions and 269 deletions
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4
ROMFS/CMakeLists.txt
View File

@ -155,7 +155,7 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
OUTPUT
${romfs_gen_root_dir}/init.d/${board_rc_file}
${board_rc_file}.stamp
COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
DEPENDS
${PX4_BOARD_DIR}/init/${board_rc_file}
@ -196,7 +196,7 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
add_custom_command(
OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
COMMAND ${CMAKE_COMMAND} -E copy gencromfs ${CMAKE_BINARY_DIR}/gencromfs
COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs
DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
WORKING_DIRECTORY ${NUTTX_DIR}/tools
)

61
boards/holybro/durandal-v1/src/CMakeLists.txt
View File

@ -31,36 +31,37 @@
#
############################################################################
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
add_library(drivers_board
bootloader_main.c
usb.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
bootloader
)
add_library(drivers_board
bootloader_main.c
usb.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
bootloader
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader)
else()
add_library(drivers_board
can.c
init.c
led.c
manifest.c
sdio.c
spi.cpp
timer_config.c
usb.c
)
add_dependencies(drivers_board arch_board_hw_info)
add_library(drivers_board
can.c
init.c
led.c
manifest.c
sdio.c
spi.cpp
timer_config.c
usb.c
)
add_dependencies(drivers_board arch_board_hw_info)
target_link_libraries(drivers_board
PRIVATE
arch_board_hw_info
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
)
endif()
target_link_libraries(drivers_board
PRIVATE
arch_board_hw_info
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
)
endif()

7
cmake/px4_add_common_flags.cmake
View File

@ -131,9 +131,9 @@ function(px4_add_common_flags)
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-fcheck-new>)
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Intel")
message(FATAL_ERROR "Intel compiler not yet supported")
message(FATAL_ERROR "Intel compiler not yet supported")
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
message(FATAL_ERROR "MS compiler not yet supported")
message(FATAL_ERROR "MS compiler not yet supported")
endif()
# C only flags
@ -171,9 +171,6 @@ function(px4_add_common_flags)
${PX4_BINARY_DIR}
${PX4_BINARY_DIR}/src/lib
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/bootloader
endif()
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
${PX4_SOURCE_DIR}/platforms/common/include

24
platforms/nuttx/CMakeLists.txt
View File

@ -31,6 +31,10 @@
#
############################################################################
if(POLICY CMP0079)
cmake_policy(SET CMP0079 NEW)
endif()
include(cygwin_cygpath)
set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx)
@ -47,14 +51,14 @@ get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
set(nuttx_libs)
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
add_subdirectory(src/bootloader)
list(APPEND nuttx_libs
bootloader
bootloader_lib
drivers_board
)
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
add_subdirectory(src/bootloader)
list(APPEND nuttx_libs
bootloader
bootloader_lib
drivers_board
)
endif()
list(APPEND nuttx_libs
@ -81,10 +85,6 @@ file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_D
# because even relative linker script paths are different for linux, mac and windows
CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG)
if(POLICY CMP0079)
cmake_policy(SET CMP0079 NEW)
endif()
target_link_libraries(nuttx_arch
INTERFACE
drivers_board

243
platforms/nuttx/NuttX/CMakeLists.txt
View File

@ -33,17 +33,17 @@
if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
# copy with rsync and create file dependencies
set(cp_cmd "rsync")
set(cp_opts)
list(APPEND cp_opts
set(NUTTX_COPY_CMD "rsync")
set(NUTTX_COPY_CMD_OPTS)
list(APPEND NUTTX_COPY_CMD_OPTS
-rp
--inplace
)
else()
# copy with hard links
# archive, recursive, force, link (hardlinks)
set(cp_cmd "cp")
set(cp_opts "-aRfl")
set(NUTTX_COPY_CMD "cp")
set(NUTTX_COPY_CMD_OPTS "-aRfl")
endif()
set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
@ -56,24 +56,13 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# setup custom command to copy changes later
file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*)
# For any dependencies of commands on files we need to create a target.
# Otherwise, if "Unix Makefiles" are used as the generator the commands are run in
# parallel on the different files which often can lead to races or redundancies
# in our build.
# A nice write-up can be found here:
# https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make
add_custom_target(copy_nuttx_files_target
DEPENDS ${copy_nuttx_files}
)
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
DEPENDS copy_nuttx_files_target ${copy_nuttx_files} git_nuttx
DEPENDS
git_nuttx
${copy_nuttx_files}
COMMENT "Copying NuttX/nuttx to ${CP_DST}"
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
@ -86,132 +75,98 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# setup custom command to copy changes later
file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*)
add_custom_target(copy_apps_files_target
DEPENDS ${copy_apps_files}
)
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
DEPENDS copy_apps_files_target ${copy_apps_files} git_nuttx_apps
DEPENDS
git_nuttx_apps
${copy_apps_files}
COMMENT "Copying NuttX/apps to ${CP_DST}"
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
# For any dependencies of commands on files we need to create a target.
# Otherwise, if "Unix Makefiles" are used as the generator the commands are run in
# parallel on the different files which often can lead to races or redundancies
# in our build.
# A nice write-up can be found here:
# https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make
add_custom_target(nuttx_copy_and_apps_target
DEPENDS
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
# If the board provides a Kconfig Use it or create an empty one
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
add_custom_command(
OUTPUT
${NUTTX_DIR}/boards/dummy/Kconfig
${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
DEPENDS
nuttx_copy_and_apps_target
nuttx_copy_and_apps_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
else()
add_custom_command(
OUTPUT
${NUTTX_DIR}/boards/dummy/Kconfig
${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
DEPENDS
nuttx_copy_and_apps_target
nuttx_copy_and_apps_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
endif()
add_custom_target(nuttx_config_kconfig_target
DEPENDS
${NUTTX_DIR}/boards/dummy/Kconfig
${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
)
add_custom_target(nuttx_config_kconfig_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp)
###############################################################################
# NuttX configure
###############################################################################
# copy NuttX config directory
file(RELATIVE_PATH CP_SRC ${NUTTX_DIR} ${PX4_BOARD_DIR}/nuttx-config)
file(RELATIVE_PATH CP_DST ${NUTTX_DIR} ${PX4_BINARY_DIR}/NuttX)
add_custom_command(
OUTPUT
${PX4_BINARY_DIR}/NuttX/nuttx-config/include/board.h
${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
${PX4_BINARY_DIR}/NuttX/nuttx-config/scripts/script.ld
${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
DEPENDS
${NUTTX_SRC_DIR}/nsh_romfsimg.h
${NUTTX_CONFIG_DIR}/include/board.h
${NUTTX_CONFIG_DIR}/scripts/script.ld
nuttx_copy_and_apps_target
${NUTTX_SRC_DIR}/nsh_romfsimg.h
nuttx_config_kconfig_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX config ${NUTTX_CONFIG}"
)
add_custom_target(nuttx_copy_config_dir_target
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
)
add_custom_target(nuttx_copy_config_dir_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp)
# NuttX defconfig
# cmake should trigger reconfigure if defconfig changes
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
add_custom_target(nuttx_defconfig_target
# copy compressed PX4 defconfig into nuttx and inflate
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh ${NUTTX_DIR}
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
DEPENDS
${NUTTX_DEFCONFIG}
${NUTTX_DEFCONFIG}
nuttx_copy_config_dir_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating"
)
if (NOT config_expanded)
# copy compressed PX4 defconfig into nuttx and inflate
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh ${NUTTX_DIR}
DEPENDS
nuttx_defconfig_target
${NUTTX_DEFCONFIG}
nuttx_copy_config_dir_target
nuttx_config_kconfig_target
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating"
)
else()
# copy uncompressed PX4 defconfig into nuttx
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
DEPENDS
nuttx_defconfig_target
${NUTTX_DEFCONFIG}
nuttx_copy_config_dir_target
nuttx_config_kconfig_target
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX uncompressed config ${NUTTX_CONFIG}"
)
endif()
add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config)
add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp)
###############################################################################
# NuttX build
@ -222,12 +177,12 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
# verbose build settings (V=1 or VERBOSE=1)
option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
if (($ENV{V} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "1"))
if(($ENV{V} MATCHES "1") OR ($ENV{VERBOSE} MATCHES "1"))
message(STATUS "NuttX verbose build enabled")
set(PX4_NUTTX_VERBOSE on)
endif()
if (PX4_NUTTX_VERBOSE)
if(PX4_NUTTX_VERBOSE)
set(nuttx_build_options)
set(nuttx_build_output)
set(nuttx_build_uses_terminal "USES_TERMINAL")
@ -238,26 +193,27 @@ else()
endif()
# context
add_custom_command(OUTPUT ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
COMMAND make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y context > nuttx_context.log
DEPENDS nuttx_config_target
add_custom_command(
OUTPUT
${NUTTX_DIR}/include/nuttx/config.h
${NUTTX_DIR}/include/nuttx/version.h
COMMAND
make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y context > nuttx_context.log
DEPENDS
nuttx_config_target ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h)
)
add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h)
# library of NuttX libraries
add_library(nuttx_build INTERFACE)
add_dependencies(nuttx_build nuttx_context)
add_custom_target(px4_config_file_target
DEPENDS ${PX4_CONFIG_FILE}
)
add_custom_target(px4_config_file_target DEPENDS ${PX4_CONFIG_FILE})
# builtins
set(nuttx_builtin_list)
if (CONFIG_NSH_LIBRARY)
if(CONFIG_NSH_LIBRARY)
# force builtins regeneration and apps rebuild if nuttx or px4 configuration have changed
add_custom_command(OUTPUT builtins_clean.stamp
COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.bdat -delete
@ -265,17 +221,12 @@ if (CONFIG_NSH_LIBRARY)
COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h
COMMAND ${CMAKE_COMMAND} -E touch builtins_clean.stamp
DEPENDS
nuttx_config_target
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h
${NUTTX_DIR}/include/nuttx/config.h
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
px4_config_file_target ${PX4_CONFIG_FILE}
)
add_custom_target(builtins_clean_target
DEPENDS builtins_clean.stamp
)
add_custom_target(builtins_clean_target DEPENDS builtins_clean.stamp)
foreach(module ${module_libraries})
get_target_property(MAIN ${module} MAIN)
get_target_property(STACK_MAIN ${module} STACK_MAIN)
@ -286,9 +237,8 @@ if (CONFIG_NSH_LIBRARY)
COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
DEPENDS
builtins_clean_target
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
builtins_clean_target builtins_clean.stamp
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
VERBATIM
)
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat)
@ -297,9 +247,8 @@ if (CONFIG_NSH_LIBRARY)
COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
DEPENDS
builtins_clean_target
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
builtins_clean_target builtins_clean.stamp
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
VERBATIM
)
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat)
@ -308,9 +257,7 @@ if (CONFIG_NSH_LIBRARY)
endforeach()
endif()
add_custom_target(nuttx_builtin_list_target
DEPENDS ${nuttx_builtin_list}
)
add_custom_target(nuttx_builtin_list_target DEPENDS ${nuttx_builtin_list})
# APPS
@ -320,11 +267,10 @@ add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built
COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}" ../apps/libapps.a > nuttx_apps.log
DEPENDS
nuttx_builtin_list_target ${nuttx_builtin_list}
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
)
add_custom_target(nuttx_apps_build DEPENDS ${APPS_DIR}/libapps.a)
add_library(nuttx_apps STATIC IMPORTED GLOBAL)
set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${APPS_DIR}/libapps.a)
@ -342,11 +288,10 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output}
DEPENDS
${nuttx_lib_files}
nuttx_context
${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
)
add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a)
add_library(nuttx_${nuttx_lib} STATIC IMPORTED GLOBAL)
set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a)
@ -365,7 +310,7 @@ add_nuttx_dir(c libs/libc n "")
add_nuttx_dir(xx libs/libxx n "")
add_nuttx_dir(mm mm n "")
if (CONFIG_NET)
if(CONFIG_NET)
add_nuttx_dir(net net y -D__KERNEL__)
endif()
@ -390,15 +335,6 @@ add_custom_target(oldconfig
USES_TERMINAL
)
# NuttX oldconfig + copy uncompressed back to PX4
add_custom_target(oldconfig_uncompressed
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
DEPENDS oldconfig_nuttx
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running make oldconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
###############################################################################
# NuttX olddefconfig
add_custom_target(olddefconfig_nuttx
@ -420,15 +356,6 @@ add_custom_target(olddefconfig
USES_TERMINAL
)
# NuttX oldconfig + copy uncompressed back to PX4
add_custom_target(olddefconfig_uncompressed
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
DEPENDS olddefconfig_nuttx
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running make olddefconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
###############################################################################
# NuttX menuconfig
add_custom_target(menuconfig_nuttx
@ -450,15 +377,6 @@ add_custom_target(menuconfig
USES_TERMINAL
)
# NuttX menuconfig + copy uncompressed back to PX4
add_custom_target(menuconfig_uncompressed
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
DEPENDS menuconfig_nuttx
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running make nuttx_menuconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
###############################################################################
# NuttX qconfig
add_custom_target(qconfig_nuttx
@ -479,12 +397,3 @@ add_custom_target(qconfig
COMMENT "Running make qconfig then savedefconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# NuttX qconfig + copy uncompressed back to PX4
add_custom_target(qconfig_uncompressed
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG}
DEPENDS nuttx_config_target qconfig_nuttx
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running make qconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)

100
platforms/nuttx/cmake/init.cmake
View File

@ -52,19 +52,19 @@ set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps direc
px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx")
px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps")
if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
if(CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
# copy with rsync and create file dependencies
set(cp_cmd "rsync")
set(cp_opts)
list(APPEND cp_opts
set(NUTTX_COPY_CMD "rsync")
set(NUTTX_COPY_CMD_OPTS)
list(APPEND NUTTX_COPY_CMD_OPTS
-rp
--inplace
)
else()
# copy with hard links
# archive, recursive, force, link (hardlinks)
set(cp_cmd "cp")
set(cp_opts "-aRfl")
set(NUTTX_COPY_CMD "cp")
set(NUTTX_COPY_CMD_OPTS "-aRfl")
endif()
###############################################################################
@ -73,9 +73,12 @@ endif()
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# copy during cmake configure
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
# copy nuttx during cmake configure
if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy.stamp)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
endif()
###############################################################################
# NuttX apps: copy to build directory
@ -83,47 +86,48 @@ execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTO
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# copy during cmake configure
execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
###############################################################################
# nuttx-config: copy to build directory
###############################################################################
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
###############################################################################
# Create a temporary Toplevel Make.defs for the oldconfig step
###############################################################################
configure_file(${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
# If the board provides a Kconfig Use it or create an empty one
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig)
# copy apps during cmake configure
if(NOT EXISTS ${NUTTX_DIR}/apps_copy.stamp)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
endif()
execute_process(
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
)
###############################################################################
# board nuttx-config
###############################################################################
# NuttX extra files
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
# If the board provides a Kconfig Use it or create an empty one
if(NOT EXISTS ${NUTTX_DIR}/nuttx_config_kconfig.stamp)
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig)
endif()
# copy defconfig
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
endif()
# create empty drivers/Kconfig
execute_process(
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
)
if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy_config_dir.stamp)
# copy PX4 board config into nuttx
file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
if (NOT config_expanded)
# copy board's nuttx-config to NuttX/nuttx-config
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
endif()
# make olddefconfig (inflate defconfig to full .config)
if(NOT EXISTS ${NUTTX_DIR}/.config)
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
configure_file(${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
set(ENV{PATH} "${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools:$ENV{PATH}")
execute_process(
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
@ -135,9 +139,11 @@ if (NOT config_expanded)
if(NOT ret EQUAL "0")
# Show the log here as it will be deleted due to the incomplete configure step
file(READ ${NUTTX_DIR}/nuttx_olddefconfig.log DEFCONFIG_LOG)
message( STATUS "${DEFCONFIG_LOG}")
message( FATAL_ERROR "NuttX olddefconfig target failed. \
Possible cause: the board (${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}) has the wrong directory structure (i.e. missing files).")
message(STATUS "${DEFCONFIG_LOG}")
message(FATAL_ERROR "NuttX olddefconfig target failed. \
Possible cause: the board (${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}) has the wrong directory structure (i.e. missing files).")
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
endif()
# remove Toplevel Make.defs
file(REMOVE ${NUTTX_DIR}/Make.defs)

7
platforms/nuttx/cmake/px4_impl_os.cmake
View File

@ -52,9 +52,8 @@ function(px4_os_add_flags)
include_directories(BEFORE SYSTEM
${PX4_BINARY_DIR}/NuttX/nuttx/include
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx # custom new
)
include_directories(
@ -63,7 +62,7 @@ function(px4_os_add_flags)
${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
${PX4_BINARY_DIR}/NuttX/apps/include
)
)
# prevent using the toolchain's std c++ library
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)
@ -160,6 +159,6 @@ function(px4_os_prebuild_targets)
add_library(prebuild_targets INTERFACE)
target_link_libraries(prebuild_targets INTERFACE nuttx_xx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
add_dependencies(prebuild_targets DEPENDS nuttx_build uorb_headers)
endfunction()

3
platforms/nuttx/src/bootloader/CMakeLists.txt
View File

@ -36,5 +36,6 @@ add_library(bootloader
${PX4_CHIP}/main.c
)
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
add_subdirectory(lib)
add_dependencies(bootloader prebuild_targets)
add_dependencies(bootloader prebuild_targets)

2
platforms/nuttx/src/bootloader/lib/CMakeLists.txt
View File

@ -38,4 +38,4 @@ add_library(bootloader_lib
flash_cache.c
)
add_dependencies(bootloader_lib prebuild_targets)
add_dependencies(bootloader_lib prebuild_targets)