From 55f963be07dbb8acd147c290a0fcba0b4877336d Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Tue, 6 Oct 2015 12:10:23 -0400
Subject: [PATCH] Added ddd support.

---
 Makefile                                      |  2 +-
 .../toolchains/Toolchain-arm-none-eabi.cmake  | 14 +++++++++-
 src/firmware/nuttx/CMakeLists.txt             | 26 +++++++++++++++++++
 3 files changed, 40 insertions(+), 2 deletions(-)

diff --git a/Makefile b/Makefile
index 883e0663da..1d2cd152ff 100644
--- a/Makefile
+++ b/Makefile
@@ -153,7 +153,7 @@ distclean: clean
 	@cd ../../..
 
 # targets handled by cmake
-cmake_targets = test upload package package_source debug debug_io check_weak libuavcan
+cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean
diff --git a/cmake/toolchains/Toolchain-arm-none-eabi.cmake b/cmake/toolchains/Toolchain-arm-none-eabi.cmake
index 45da0d965c..ac13b9f517 100644
--- a/cmake/toolchains/Toolchain-arm-none-eabi.cmake
+++ b/cmake/toolchains/Toolchain-arm-none-eabi.cmake
@@ -49,6 +49,9 @@ endforeach()
 foreach(tool gdb gdbtui)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} arm-none-eabi-${tool})
+	if(NOT ${TOOL})
+		message(STATUS "could not find ${tool}")
+	endif()
 endforeach()
 
 # os tools
@@ -56,7 +59,16 @@ foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} ${tool})
 	if(NOT ${TOOL})
-		message(FATAL_ERROR "could not find ${TOOL}")
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()
+
+# optional os tools
+foreach(tool ddd)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(STATUS "could not find ${tool}")
 	endif()
 endforeach()
 
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index 2b1562b762..8767f3fde5 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -63,18 +63,44 @@ if(NOT ${BOARD} STREQUAL "sim")
 	configure_file(gdbinit.in .gdbinit)
 
 	add_custom_target(debug
+		COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		DEPENDS firmware_nuttx
+			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+		)
+
+	add_custom_target(debug_tui
 		COMMAND ${GDBTUI} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)
 
+	add_custom_target(debug_ddd
+		COMMAND ${DDD} --debugger ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		DEPENDS firmware_nuttx
+			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+		)
+
 	add_custom_target(debug_io
+		COMMAND ${GDB}
+			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}
+		DEPENDS firmware_nuttx
+			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+		)
+
+	add_custom_target(debug_io_tui
 		COMMAND ${GDBTUI}
 			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)
 
+	add_custom_target(debug_io_ddd
+		COMMAND ${DDD} --debugger ${GDB}
+			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}
+		DEPENDS firmware_nuttx
+			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+		)
+
 	px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
 		BUNDLE ${fw_file})
 endif()