forked from Archive/PX4-Autopilot
Merge pull request #2877 from jgoppert/cmake-io
Cmake: Added px4io bin to ROMFS.
This commit is contained in:
Lorenz Meier
commit
d24fea9baa
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@ -277,10 +277,12 @@ foreach(module ${config_module_list})
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endforeach()
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add_subdirectory(src/firmware/${OS})
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if (config_io_board)
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add_subdirectory(src/modules/px4iofirmware)
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endif()
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#=============================================================================
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# generate git version
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#
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2
Makefile
2
Makefile
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@ -110,7 +110,7 @@ clean:
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rm -rf build_*/
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# targets handled by cmake
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cmake_targets = test upload package package_source debug check_weak
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cmake_targets = test upload package package_source debug debug_io check_weak
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$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
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.PHONY: clean
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@ -551,7 +551,7 @@ function(px4_add_common_flags)
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endif()
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set(c_compile_flags
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-g3
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-g
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-std=gnu99
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-fno-common
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)
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@ -560,7 +560,7 @@ function(px4_add_common_flags)
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-Wno-missing-field-initializers
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)
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set(cxx_compile_flags
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-g3
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-g
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-fno-exceptions
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-fno-rtti
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-std=gnu++0x
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@ -735,4 +735,54 @@ function(px4_generate_parameters)
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set(${OUT} ${generated_files} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_copy_tracked
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#
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# Copy files to a directory and keep track of dependencies.
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#
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# Usage:
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# px4_copy_tracked(OUT <dest-files> FILES <in-files> DIR <dir-name>)
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#
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# Input:
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# FILES : the source files
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# DEST : the directory to copy files to
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# RELATIVE : relative directory for source files
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#
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# Output:
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# OUT : the copied files
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#
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# Example:
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# px4_copy_tracked(OUT copied_files FILES src_files DEST path RELATIVE path_rel)
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#
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function(px4_copy_tracked)
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px4_parse_function_args(
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NAME px4_copy_tracked
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ONE_VALUE DEST OUT RELATIVE
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MULTI_VALUE FILES
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REQUIRED DEST OUT FILES
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ARGN ${ARGN})
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set(files)
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# before build, make sure dest directory exists
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execute_process(
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COMMAND cmake -E make_directory ${DEST})
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# create rule to copy each file and set dependency as source file
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set(_files_out)
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foreach(_file ${FILES})
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if (RELATIVE)
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file(RELATIVE_PATH _file_path ${RELATIVE} ${_file})
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else()
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set(_file_path ${_file})
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endif()
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set(_dest_file ${DEST}/${_file_path})
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#message(STATUS "copy ${_file} -> ${_dest_file}")
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add_custom_command(OUTPUT ${_dest_file}
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COMMAND cmake -E copy ${_file} ${_dest_file}
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DEPENDS ${_file})
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list(APPEND _files_out ${_dest_file})
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endforeach()
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set(${OUT} ${_files_out} PARENT_SCOPE)
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endfunction()
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# vim: set noet fenc=utf-8 ff=unix nowrap:
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@ -40,7 +40,7 @@
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# * px4_nuttx_add_firmware
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# * px4_nuttx_generate_builtin_commands
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# * px4_nuttx_add_export
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# * px4_nuttx_generate_romfs
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# * px4_nuttx_add_romfs
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#
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# Required OS Inteface Functions
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#
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@ -260,61 +260,106 @@ endfunction()
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#=============================================================================
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#
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# px4_nuttx_generate_romfs
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# px4_nuttx_create_bin
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#
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# The functions generates the ROMFS filesystem for nuttx.
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# The functions generates a bin image for nuttx.
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#
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# Usage:
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# px4_nuttx_generate_romfs(OUT <out-target> ROOT <in-directory>)
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# px4_nuttx_create_bin(BIN <out-file> EXE <in-file>)
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#
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# Input:
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# EXE : the exe file
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#
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# Output:
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# OUT : the binary output file
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#
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# Example:
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# px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe)
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#
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function(px4_nuttx_create_bin)
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px4_parse_function_args(
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NAME px4_nuttx_create_bin
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ONE_VALUE EXE OUT
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REQUIRED EXE OUT
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ARGN ${ARGN})
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
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DEPENDS ${EXE})
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set(${OUT} ${${OUT}} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_nuttx_add_romfs
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#
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# The functions creates a ROMFS filesystem for nuttx.
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#
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# Usage:
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# px4_nuttx_add_romfs(
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# OUT <out-target>
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# ROOT <in-directory>
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# EXTRAS <in-list>)
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#
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# Input:
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# ROOT : the root of the ROMFS
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# EXTRAS : list of extra files
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#
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# Output:
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# OUT : the generated ROMFS
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# OUT : the ROMFS library target
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#
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# Example:
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# px4_nuttx_generate_romfs(OUT my_romfs ROOT "ROMFS/my_board")
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# px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board")
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#
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function(px4_nuttx_generate_romfs)
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function(px4_nuttx_add_romfs)
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px4_parse_function_args(
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NAME px4_nuttx_generate_romfs
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NAME px4_nuttx_add_romfs
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ONE_VALUE OUT ROOT
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MULTI_VALUE EXTRAS
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REQUIRED OUT ROOT
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ARGN ${ARGN})
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file(GLOB_RECURSE romfs_files ${ROOT}/*)
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set(romfs_temp_dir ${CMAKE_BINARY_DIR}/${ROOT})
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set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
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set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
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set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
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set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
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set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
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set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
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#message(STATUS "temp_dir: ${romfs_temp_dir}")
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#message(STATUS "src_dir: ${romfs_src_dir}")
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file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
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add_custom_command(OUTPUT rc.autostart
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COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
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-a ${romfs_src_dir}/init.d
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-s rc.autostart
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)
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set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
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add_custom_command(OUTPUT romfs.bin
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set(extras)
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foreach(extra ${EXTRAS})
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get_filename_component(file_name ${extra} NAME)
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set(file_dest ${extras_dir}/${file_name})
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add_custom_command(OUTPUT ${file_dest}
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COMMAND cmake -E copy ${extra} ${file_dest}
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DEPENDS ${extra}
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)
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list(APPEND extras ${file_dest})
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endforeach()
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add_custom_target(collect_extras DEPENDS ${extras})
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add_custom_command(OUTPUT romfs.o
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COMMAND cmake -E remove_directory ${romfs_temp_dir}
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COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
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COMMAND cmake -E copy rc.autostart ${romfs_temp_dir}/init.d
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#TODO add romfs cleanup of temp file .~, .swp etc
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COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras
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COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
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-a ${romfs_temp_dir}/init.d
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-s ${romfs_temp_dir}/init.d/rc.autostart
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COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
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--folder ${romfs_temp_dir}
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COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
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-d ${romfs_temp_dir} -V "NSHInitVol"
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DEPENDS ${romfs_files} rc.autostart
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
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)
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add_custom_command(OUTPUT romfs.o
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#COMMAND cmake -E remove_directory ${romfs_temp_dir}
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COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
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--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
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--c_compiler ${CMAKE_C_COMPILER}
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@ -322,11 +367,12 @@ function(px4_nuttx_generate_romfs)
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--obj romfs.o
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--var romfs_img
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--bin romfs.bin
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DEPENDS romfs.bin
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DEPENDS ${romfs_src_files} ${extras}
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
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)
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set(${OUT} romfs.o PARENT_SCOPE)
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add_library(${OUT} STATIC romfs.o)
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set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C)
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set(${OUT} ${${OUT}} PARENT_SCOPE)
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endfunction()
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@ -0,0 +1,52 @@
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#!/usr/bin/env python
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"""
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The module facilitates testing in cmake.
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It takes a command and a regex for failure ok passing.
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It passes if:
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* No stderr output.
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* Stdout doesn't match failure regex.
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* Stdout matches ok regex if given.
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"""
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from __future__ import print_function
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import argparse
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import subprocess
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import re
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import sys
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#pylint: disable=invalid-name
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parser = argparse.ArgumentParser()
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parser.add_argument('cmd')
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parser.add_argument('--re-fail')
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parser.add_argument('--re-ok')
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parser.add_argument('--verbose', '-v', dest='verbose', action='store_true')
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parser.set_defaults(verbose=False)
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args = parser.parse_args()
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proc = subprocess.Popen(args.cmd.split(), stdout=subprocess.PIPE, stderr=subprocess.PIPE)
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stdout, stderr = proc.communicate()
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if stderr != "":
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print(stderr)
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sys.exit(1)
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if args.re_fail is not None:
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fail_match = re.search(args.re_fail, stdout)
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if fail_match is not None:
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print(stdout)
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sys.exit(1)
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if args.re_ok is not None:
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ok_match = re.search(args.re_ok, stdout)
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if re.match(args.re_ok, stdout) is None:
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print(stdout)
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sys.exit(1)
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if args.verbose:
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print(stdout)
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sys.exit(0)
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# vim: set et ft=python fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
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@ -37,7 +37,7 @@ endif()
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cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
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# compiler tools
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foreach(tool objcopy nm ld gdb)
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foreach(tool objcopy nm ld)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} arm-none-eabi-${tool})
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if(NOT ${TOOL})
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@ -45,6 +45,12 @@ foreach(tool objcopy nm ld gdb)
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endif()
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endforeach()
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# optional compiler tools
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foreach(tool gdb gdbtui)
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string(TOUPPER ${tool} TOOL)
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find_program(${TOOL} arm-none-eabi-${tool})
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endforeach()
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# os tools
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foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
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string(TOUPPER ${tool} TOOL)
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@ -5,17 +5,22 @@ px4_nuttx_generate_builtin_commands(
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${config_extra_builtin_cmds}
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)
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px4_nuttx_generate_romfs(OUT romfs.o
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ROOT ROMFS/px4fmu_common)
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px4_nuttx_add_romfs(OUT romfs
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ROOT ROMFS/px4fmu_common
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EXTRAS ${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}.bin
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)
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add_dependencies(romfs fw_io)
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# add executable
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add_executable(firmware_nuttx
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builtin_commands.c
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romfs.o)
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builtin_commands.c)
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set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
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set(link_libs
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apps nuttx m gcc
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romfs apps nuttx m gcc
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)
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if(NOT ${BOARD} STREQUAL "sim")
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@ -56,7 +61,14 @@ if(NOT ${BOARD} STREQUAL "sim")
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configure_file(gdbinit.in .gdbinit)
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add_custom_target(debug
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COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
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COMMAND ${GDBTUI} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
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DEPENDS firmware_nuttx
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${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
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)
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add_custom_target(debug_io
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COMMAND ${GDBTUI}
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${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}
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DEPENDS firmware_nuttx
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${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
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)
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@ -103,10 +103,12 @@ elseif(${config_io_board} STREQUAL "px4io-v2")
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)
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endif()
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add_executable(firmware_io_nuttx
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set(fw_io_name ${config_io_board}_${LABEL})
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add_executable(${fw_io_name}
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${srcs})
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add_dependencies(firmware_io_nuttx
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add_dependencies(${fw_io_name}
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nuttx_export_${config_io_board}
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msg_gen
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io_prebuild_targets
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@ -119,20 +121,20 @@ set(main_link_flags
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"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
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)
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px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
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set_target_properties(firmware_io_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
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set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})
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set(io_fw_file ${CMAKE_CURRENT_BINARY_DIR}/${config_io_board}.px4)
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target_link_libraries(firmware_io_nuttx
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target_link_libraries(${fw_io_name}
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-Wl,--start-group
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apps nuttx nosys m gcc
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${config_io_extra_libs}
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-Wl,--end-group)
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px4_nuttx_add_firmware(OUT ${io_fw_file}
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BOARD ${config_io_board}
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EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_io_nuttx
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${config_firmware_options}
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px4_nuttx_create_bin(OUT ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin
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EXE ${fw_io_name}
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)
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add_custom_target(fw_io
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DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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