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px4-firmware/platforms/nuttx/CMakeLists.txt

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CMake
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############################################################################
#
# Copyright (c) 2017 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
if(POLICY CMP0079)
cmake_policy(SET CMP0079 NEW)
endif()
include(cygwin_cygpath)
add_executable(px4 ${PX4_SOURCE_DIR}/platforms/common/empty.c)
set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME})
add_dependencies(px4 git_nuttx)
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
if (NOT CONFIG_BUILD_FLAT)
add_executable(px4_kernel ${PX4_SOURCE_DIR}/platforms/common/empty.c)
set(KERNEL_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}_kernel.elf)
set_target_properties(px4_kernel PROPERTIES OUTPUT_NAME ${KERNEL_NAME})
add_dependencies(px4_kernel git_nuttx)
get_property(kernel_module_libraries GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES)
endif()
# build NuttX
add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
# check that CONFIG_ARCH_BOARD_CUSTOM_DIR is in PX4_BOARD_DIR
if(CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH)
get_filename_component(nuttx_defconfig_root "${NUTTX_DEFCONFIG}/../.." ABSOLUTE)
get_filename_component(nuttx_config_from_defconfig "${NUTTX_DIR}/${CONFIG_ARCH_BOARD_CUSTOM_DIR}" ABSOLUTE)
if(NOT ${nuttx_defconfig_root} MATCHES ${nuttx_config_from_defconfig})
message(FATAL_ERROR "NuttX custom board directory (${CONFIG_ARCH_BOARD_CUSTOM_DIR}) isn't in board directory (${PX4_BOARD_DIR})")
endif()
endif()
set(nuttx_libs)
set(SCRIPT_PREFIX)
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
add_subdirectory(src/bootloader)
list(APPEND nuttx_libs
bootloader
bootloader_lib
drivers_board
)
elseif("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
add_subdirectory(src/canbootloader)
list(APPEND nuttx_libs
canbootloader
drivers_board
)
target_link_libraries(px4 PRIVATE
-Wl,-wrap,nxsched_process_timer
-Wl,-wrap,nxsem_post
-Wl,-wrap,nxsem_wait
-Wl,-wrap,nxsem_wait_uninterruptible
-Wl,-wrap,arm_svcall
-Wl,-wrap,nx_start
-Wl,-wrap,exit
)
else()
if(NOT "${PX4_BOARD_LINKER_PREFIX}" STREQUAL "")
set(SCRIPT_PREFIX ${PX4_BOARD_LINKER_PREFIX}-)
endif()
endif()
list(APPEND nuttx_libs
nuttx_boards
nuttx_drivers
nuttx_fs
nuttx_sched
nuttx_crypto
nuttx_binfmt
nuttx_xx
)
if (NOT CONFIG_BUILD_FLAT)
list(APPEND nuttx_libs
px4_board_ctrl
nuttx_karch
nuttx_kmm
nuttx_stubs
nuttx_kc
)
else()
list(APPEND nuttx_libs
nuttx_apps
nuttx_arch
nuttx_mm
nuttx_c
)
endif()
if(CONFIG_NET)
list(APPEND nuttx_libs nuttx_net)
target_link_libraries(nuttx_fs INTERFACE nuttx_net)
endif()
file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_DIR})
# only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...)
# because even relative linker script paths are different for linux, mac and windows
CYGPATH(NUTTX_CONFIG_DIR NUTTX_CONFIG_DIR_CYG)
if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_CONFIG}_unsigned.bin)
add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin
COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
DEPENDS ${PX4_BINARY_OUTPUT}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
else()
set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin)
endif()
if (NOT CONFIG_BUILD_FLAT)
target_link_libraries(nuttx_karch
INTERFACE
drivers_board
arch_hrt
)
target_link_libraries(px4_kernel PRIVATE
-nostartfiles
-nodefaultlibs
-nostdlib
-nostdinc++
-fno-exceptions
-fno-rtti
-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}memory.ld,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}kernel-space.ld
-Wl,-Map=${PX4_CONFIG}_kernel.map
-Wl,--warn-common
-Wl,--gc-sections
-Wl,--start-group
${nuttx_libs}
${kernel_module_libraries}
-Wl,--end-group
m
gcc
)
if (config_romfs_root)
add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
target_link_libraries(px4_kernel PRIVATE romfs)
endif()
target_link_libraries(px4_kernel PRIVATE -Wl,--print-memory-usage)
set(nuttx_userspace)
list(APPEND nuttx_userspace
drivers_userspace
nuttx_arch
nuttx_apps
nuttx_mm
nuttx_proxies
nuttx_c
nuttx_xx
)
target_link_libraries(nuttx_c INTERFACE nuttx_proxies)
target_link_libraries(px4 PRIVATE
-nostartfiles
-nodefaultlibs
-nostdlib
-nostdinc++
-fno-exceptions
-fno-rtti
-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}memory.ld,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}user-space.ld
-Wl,-Map=${PX4_CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
-Wl,--start-group
${nuttx_userspace}
-Wl,--end-group
m
gcc
)
target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
target_link_libraries(px4 PRIVATE
${module_libraries}
)
add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${PX4_BOARD}_user.bin
COMMAND ${CMAKE_OBJCOPY} --gap-fill 0xFF --pad-to ${CONFIG_NUTTX_USERSPACE} -O binary ${PX4_BINARY_DIR_REL}/${KERNEL_NAME} ${PX4_BINARY_OUTPUT}
COMMAND cat ${PX4_BINARY_DIR_REL}/${PX4_BOARD}_user.bin >> ${PX4_BINARY_OUTPUT}
DEPENDS px4 px4_kernel
)
else()
target_link_libraries(nuttx_c INTERFACE nuttx_sched) # nxsched_get_streams
target_link_libraries(nuttx_arch
INTERFACE
drivers_board
arch_hrt
arch_board_reset
)
target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
target_link_libraries(nuttx_drivers INTERFACE nuttx_c)
target_link_libraries(nuttx_xx INTERFACE nuttx_c)
target_link_libraries(nuttx_fs INTERFACE nuttx_c)
target_link_libraries(px4 PRIVATE
-nostartfiles
-nodefaultlibs
-nostdlib
-nostdinc++
-fno-exceptions
-fno-rtti
-Wl,--script=${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}script.ld
-L${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}
-Wl,-Map=${PX4_CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
-Wl,--start-group
${nuttx_libs}
-Wl,--end-group
m
gcc
)
if(NOT USE_LD_GOLD)
target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
endif()
target_link_libraries(px4 PRIVATE ${module_libraries})
if(config_romfs_root)
add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
target_link_libraries(px4 PRIVATE romfs)
endif()
add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_OUTPUT}
DEPENDS px4
)
endif()
# create .px4 with parameter and airframe metadata
if (TARGET parameters_xml AND TARGET airframes_xml)
string(REPLACE ".elf" ".px4" fw_package ${PX4_BINARY_DIR}/${FW_NAME})
add_custom_command(
OUTPUT ${fw_package}
COMMAND
${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
--prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
--git_identity ${PX4_SOURCE_DIR}
--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
--image ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin > ${fw_package}
DEPENDS
${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
airframes_xml
parameters_xml
COMMENT "Creating ${fw_package}"
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
add_custom_target(px4_package ALL DEPENDS ${fw_package})
# upload helper
# create upload target helper if NuttX USB CDCACM is present
if (CONFIG_CDCACM)
include(upload)
endif()
endif()
if(${CONFIG_NSH_LIBRARY} MATCHES "y")
if(${CONFIG_NSH_DISABLE_ECHO} MATCHES "y")
message(FATAL_ERROR "init scripts require NSH SET (board has CONFIG_NSH_DISABLE_ECHO=y)")
endif()
if(${CONFIG_NSH_DISABLE_SET} MATCHES "y")
message(FATAL_ERROR "init scripts require NSH SET (board has CONFIG_NSH_DISABLE_SET=y)")
endif()
if(${CONFIG_NSH_DISABLE_SLEEP} MATCHES "y")
message(FATAL_ERROR "init scripts require NSH SET (board has CONFIG_NSH_DISABLE_SLEEP=y)")
endif()
if(${CONFIG_NSH_DISABLE_SOURCE} MATCHES "y")
message(FATAL_ERROR "init scripts require NSH SET (board has CONFIG_NSH_DISABLE_SOURCE=y)")
endif()
endif()
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
add_custom_command(OUTPUT ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin
COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin
DEPENDS px4
)
add_custom_target(px4_bootloader_keep ALL DEPENDS ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin)
endif()
# print weak symbols
add_custom_target(weak_symbols
COMMAND ${CMAKE_NM} $<TARGET_FILE:px4> | ${GREP} " w " | cat
DEPENDS px4
VERBATIM
USES_TERMINAL
)
# generate bootloader.elf and copy to top level build directory
if(NOT ("${PX4_BOARD_LABEL}" STREQUAL "bootloader") AND (EXISTS "${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin"))
add_custom_command(
OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
COMMAND
${CMAKE_OBJCOPY} -I binary -O elf32-little --change-section-address .data=0x08000000
${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
DEPENDS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
add_custom_target(bootloader_elf DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf)
endif()
# debugger helpers
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)
# vscode launch.json
# skip if built within another cmake project (eg px4_io-v2 with px4_fmu-v5)
if(NOT NUTTX_DIR MATCHES "external")
if(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
set(DEBUG_DEVICE "MIMXRT1062XXX6A")
set(DEBUG_SVD_FILE "MIMXRT1052.svd")
elseif(CONFIG_ARCH_CHIP_MIMXRT1176DVMAA)
set(DEBUG_DEVICE "MIMXRT1176DVMAA")
set(DEBUG_SVD_FILE "MIMXRT1176_cm7.xml")
elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
set(DEBUG_DEVICE "MK66FN2M0xxx18")
set(DEBUG_SVD_FILE "MK66F18.svd")
elseif(CONFIG_ARCH_CHIP_S32K344)
set(DEBUG_DEVICE "S32K344")
set(DEBUG_SVD_FILE "S32K344_M7.svd")
elseif(CONFIG_ARCH_CHIP_STM32F100C8)
set(DEBUG_DEVICE "STM32F100C8")
set(DEBUG_SVD_FILE "STM32F100xx.svd")
elseif(CONFIG_ARCH_CHIP_STM32F103RB)
set(DEBUG_DEVICE "STM32F103C4")
set(DEBUG_SVD_FILE "STM32F103xx.svd")
elseif(CONFIG_ARCH_CHIP_STM32F302K8)
set(DEBUG_DEVICE "STM32F302K8")
set(DEBUG_SVD_FILE "STM32F302.svd")
elseif(CONFIG_ARCH_CHIP_STM32F303CC)
set(DEBUG_DEVICE "STM32F303CC")
set(DEBUG_SVD_FILE "STM32F303.svd")
elseif(CONFIG_ARCH_CHIP_STM32F405RG)
set(DEBUG_DEVICE "STM32F405RG")
set(DEBUG_SVD_FILE "STM32F405.svd")
elseif(CONFIG_ARCH_CHIP_STM32F412CE)
set(DEBUG_DEVICE "STM32F412CE")
set(DEBUG_SVD_FILE "STM32F412.svd")
elseif(CONFIG_ARCH_CHIP_STM32F427V)
set(DEBUG_DEVICE "STM32F427VI")
set(DEBUG_SVD_FILE "STM32F427.svd")
elseif(CONFIG_ARCH_CHIP_STM32F429V)
set(DEBUG_DEVICE "STM32F429VI")
set(DEBUG_SVD_FILE "STM32F429.svd")
elseif(CONFIG_ARCH_CHIP_STM32F446R)
set(DEBUG_DEVICE "STM32F446RC")
set(DEBUG_SVD_FILE "STM32F446.svd")
elseif(CONFIG_ARCH_CHIP_STM32F469I)
set(DEBUG_DEVICE "STM32F469II")
set(DEBUG_SVD_FILE "STM32F469.svd")
elseif(CONFIG_ARCH_CHIP_STM32F722RE)
set(DEBUG_DEVICE "STM32F722RE")
set(DEBUG_SVD_FILE "STM32F7x2.svd")
elseif(CONFIG_ARCH_CHIP_STM32F745VG)
set(DEBUG_DEVICE "STM32F745VG")
set(DEBUG_SVD_FILE "STM32F7x5.svd")
elseif(CONFIG_ARCH_CHIP_STM32F765II)
set(DEBUG_DEVICE "STM32F765II")
set(DEBUG_SVD_FILE "STM32F7x5.svd")
elseif(CONFIG_ARCH_CHIP_STM32F777NI)
set(DEBUG_DEVICE "STM32F777NI")
set(DEBUG_SVD_FILE "STM32F7x7.svd")
elseif(CONFIG_ARCH_CHIP_STM32H743VI)
set(DEBUG_DEVICE "STM32H743VI")
set(DEBUG_SVD_FILE "STM32H7x3.svd")
elseif(CONFIG_ARCH_CHIP_STM32H743II)
set(DEBUG_DEVICE "STM32H743II")
set(DEBUG_SVD_FILE "STM32H7x3.svd")
elseif(CONFIG_ARCH_CHIP_STM32H743XI)
set(DEBUG_DEVICE "STM32H743XI")
set(DEBUG_SVD_FILE "STM32H7x3.svd")
elseif(CONFIG_ARCH_CHIP_STM32H743ZI)
set(DEBUG_DEVICE "STM32H743ZI")
set(DEBUG_SVD_FILE "STM32H7x3.svd")
elseif(CONFIG_ARCH_CHIP_STM32H753II)
set(DEBUG_DEVICE "STM32H753II")
set(DEBUG_SVD_FILE "STM32H7x3.svd")
else()
set(DEBUG_DEVICE "")
set(DEBUG_SVD_FILE "unknown")
endif()
file(GLOB_RECURSE DEBUG_SVD_FILE_PATH
LIST_DIRECTORIES false
${CMAKE_SOURCE_DIR}/../cmsis-svd/data/*/${DEBUG_SVD_FILE}
${CMAKE_SOURCE_DIR}/../svd/${DEBUG_SVD_FILE}
)
if(CONFIG_DEBUG_TCBINFO)
# jlink-nuttx.so
add_custom_command(
OUTPUT ${NUTTX_DIR}/tools/jlink-nuttx.so
COMMAND make --no-print-directory --silent -f Makefile.host jlink-nuttx
DEPENDS ${NUTTX_DIR}/tools/jlink-nuttx.c
WORKING_DIRECTORY ${NUTTX_DIR}/tools
)
add_custom_target(jlink-nuttx ALL
DEPENDS ${NUTTX_DIR}/tools/jlink-nuttx.so
)
# JLINK_RTOS_PATH used by launch.json.in
set(JLINK_RTOS_PATH ${NUTTX_DIR}/tools/jlink-nuttx.so)
else()
set(JLINK_RTOS_PATH "")
endif()
if(DEBUG_SVD_FILE_PATH)
message(STATUS "Found SVD: ${DEBUG_SVD_FILE_PATH}")
endif()
if(DEBUG_DEVICE)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json @ONLY)
endif()
endif()
add_custom_target(debug
COMMAND ${CMAKE_GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:px4>
DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
include(blackmagic)
include(jlink)
include(profile)
include(stack_check)
if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
include(${PX4_BOARD_DIR}/cmake/upload.cmake)
endif()
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