forked from Archive/PX4-Autopilot
310 lines
14 KiB
CMake
310 lines
14 KiB
CMake
############################################################################
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#
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# Copyright (c) 2019-2021 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(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
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set(APPS_DIR ${NUTTX_SRC_DIR}/apps)
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###############################################################################
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# NuttX build
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###############################################################################
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/Make.defs.in ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs)
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set(EXTRA_NUTTX_CONFIG_FILE ${CMAKE_CURRENT_BINARY_DIR}/extra_config_options)
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file(WRITE ${EXTRA_NUTTX_CONFIG_FILE} "")
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if(DEFINED ENV{PX4_EXTRA_NUTTX_CONFIG})
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message(STATUS "Adding extra nuttx config: $ENV{PX4_EXTRA_NUTTX_CONFIG}")
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# Allow to specify extra options via 'export PX4_EXTRA_NUTTX_CONFIG="CONFIG_xy=y;CONFIG_z=y"'
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foreach(OPTION $ENV{PX4_EXTRA_NUTTX_CONFIG})
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file(APPEND ${EXTRA_NUTTX_CONFIG_FILE} "${OPTION}\n")
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endforeach ()
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endif()
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# inflate .config
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add_custom_command(
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OUTPUT ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs
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COMMAND cat ${NUTTX_DEFCONFIG} ${EXTRA_NUTTX_CONFIG_FILE} > ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig
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COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config
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DEPENDS
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${NUTTX_DEFCONFIG}
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${NUTTX_DIR}/defconfig
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${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs
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${CMAKE_CURRENT_BINARY_DIR}/../defconfig_inflate_stamp
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WORKING_DIRECTORY ${NUTTX_DIR}
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#USES_TERMINAL
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)
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# context (.config -> include/nuttx/config.h, include/nuttx/version.h, dirlinks)
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add_custom_command(
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OUTPUT ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/arch/chip
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/.config ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs ${NUTTX_DIR}/Make.defs
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COMMAND make --no-print-directory --silent clean_context
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COMMAND make --no-print-directory --silent pass1dep > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_context.log
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DEPENDS
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${CMAKE_CURRENT_BINARY_DIR}/nuttx/Make.defs
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${NUTTX_DIR}/.config
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WORKING_DIRECTORY ${NUTTX_DIR}
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#USES_TERMINAL
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)
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add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/config.h)
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# builtins
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set(builtin_apps_string)
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set(builtin_apps_decl_string)
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if(CONFIG_NSH_LIBRARY)
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list(SORT module_libraries)
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foreach(module ${module_libraries})
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get_target_property(MAIN ${module} MAIN)
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get_target_property(STACK_MAIN ${module} STACK_MAIN)
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get_target_property(PRIORITY ${module} PRIORITY)
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if(MAIN)
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set(builtin_apps_string "${builtin_apps_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main },\n")
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set(builtin_apps_decl_string "${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
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endif()
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endforeach()
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endif()
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if (NOT CONFIG_BUILD_FLAT)
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set(KERNEL_BUILTIN_DIR ${CMAKE_CURRENT_BINARY_DIR}/kernel_builtin)
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set(kernel_builtin_apps_string)
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set(kernel_builtin_apps_proxy_string)
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set(kernel_builtin_apps_decl_string)
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list(SORT kernel_module_libraries)
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foreach(module ${kernel_module_libraries})
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get_target_property(MAIN ${module} MAIN)
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get_target_property(STACK_MAIN ${module} STACK_MAIN)
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get_target_property(PRIORITY ${module} PRIORITY)
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if(MAIN)
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set(kernel_builtin_apps_string "${kernel_builtin_apps_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main },\n")
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set(kernel_builtin_apps_proxy_string "${kernel_builtin_apps_proxy_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, launch_kmod_main },\n")
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set(kernel_builtin_apps_decl_string "${kernel_builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
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endif()
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endforeach()
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4_kernel.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.bdat)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4_kernel.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.pdat)
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add_custom_command(OUTPUT ${KERNEL_BUILTIN_DIR}/kernel_builtin_list.h ${KERNEL_BUILTIN_DIR}/kernel_builtin_proto.h
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WORKING_DIRECTORY ${KERNEL_BUILTIN_DIR}
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COMMAND ${CMAKE_COMMAND} -E remove -f kernel_builtin_list.h kernel_builtin_proto.h
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.bdat kernel_builtin_list.h
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.pdat kernel_builtin_proto.h
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)
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add_custom_target(px4_kernel_builtin_list_target DEPENDS ${KERNEL_BUILTIN_DIR}/kernel_builtin_list.h ${KERNEL_BUILTIN_DIR}/kernel_builtin_proto.h)
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endif() # NOT CONFIG_BUILD_FLAT
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat)
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# APPS
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# libapps.a
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file(GLOB_RECURSE nuttx_apps_files LIST_DIRECTORIES false
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${APPS_DIR}/*.c
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${APPS_DIR}/*.h
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)
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a
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COMMAND ${CMAKE_COMMAND} -E remove -f ${APPS_DIR}/libapps.a ${APPS_DIR}/builtin/builtin_list.h ${APPS_DIR}/builtin/builtin_proto.h
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COMMAND find ${APPS_DIR} -type f -name \*.o -delete
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat ${APPS_DIR}/builtin/registry/px4.bdat
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat ${APPS_DIR}/builtin/registry/px4.pdat
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COMMAND ${CMAKE_COMMAND} -E touch_nocreate ${APPS_DIR}/builtin/registry/.updated
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COMMAND make --no-print-directory --silent TOPDIR="${NUTTX_DIR}" > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_apps.log
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${APPS_DIR}/libapps.a ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a
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DEPENDS ${nuttx_apps_files} nuttx_context ${NUTTX_DIR}/include/nuttx/config.h
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WORKING_DIRECTORY ${APPS_DIR}
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#USES_TERMINAL
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)
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add_custom_target(nuttx_apps_build DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a)
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add_library(nuttx_apps STATIC IMPORTED GLOBAL)
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set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/apps/libapps.a)
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add_dependencies(nuttx_apps nuttx_apps_build)
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# helper for all targets
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function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra target)
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if (${target} STREQUAL all)
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set(nuttx_lib_target all)
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else()
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set(nuttx_lib_target lib${target}.a)
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endif()
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file(GLOB_RECURSE nuttx_lib_files LIST_DIRECTORIES false
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${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.c
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${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.h
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)
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
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COMMAND find ${nuttx_lib_dir} -type f -name \*.o -delete
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COMMAND make -C ${nuttx_lib_dir} --no-print-directory --silent ${nuttx_lib_target} TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRAFLAGS=${extra}
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a
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DEPENDS
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${nuttx_lib_files}
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nuttx_context ${NUTTX_DIR}/include/nuttx/config.h
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WORKING_DIRECTORY ${NUTTX_DIR}
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#USES_TERMINAL
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)
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add_custom_target(nuttx_${nuttx_lib}_build DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a)
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add_library(nuttx_${nuttx_lib} STATIC IMPORTED GLOBAL)
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set_property(TARGET nuttx_${nuttx_lib} PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a)
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add_dependencies(nuttx_${nuttx_lib} nuttx_${nuttx_lib}_build)
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endfunction()
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# add_nuttx_dir(NAME DIRECTORY KERNEL EXTRA)
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add_nuttx_dir(binfmt binfmt y -D__KERNEL__ all)
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add_nuttx_dir(boards boards y -D__KERNEL__ all)
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add_nuttx_dir(drivers drivers y -D__KERNEL__ all)
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add_nuttx_dir(fs fs y -D__KERNEL__ all)
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add_nuttx_dir(sched sched y -D__KERNEL__ all)
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add_nuttx_dir(xx libs/libxx n "" all)
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add_nuttx_dir(crypto crypto y -D__KERNEL__ all)
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if (NOT CONFIG_BUILD_FLAT)
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add_nuttx_dir(arch arch/${CONFIG_ARCH}/src n "" arch)
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add_dependencies(nuttx_arch_build nuttx_karch_build) # can't build these in parallel
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add_nuttx_dir(karch arch/${CONFIG_ARCH}/src y -D__KERNEL__ karch)
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add_nuttx_dir(c libs/libc n "" c)
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add_dependencies(nuttx_c_build nuttx_kc_build) # can't build these in parallel
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add_nuttx_dir(kc libs/libc y -D__KERNEL__ kc)
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add_nuttx_dir(mm mm n "" mm)
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add_dependencies(nuttx_mm_build nuttx_kmm_build) # can't build these in parallel
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add_nuttx_dir(kmm mm y -D__KERNEL__ kmm)
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add_nuttx_dir(proxies syscall n "" proxies)
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add_dependencies(nuttx_proxies_build nuttx_stubs_build) # can't build these in parallel
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add_nuttx_dir(stubs syscall y -D__KERNEL__ stubs)
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else()
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add_nuttx_dir(arch arch/${CONFIG_ARCH}/src y -D__KERNEL__ all)
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add_nuttx_dir(c libs/libc n "" all)
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add_nuttx_dir(mm mm n "" mm)
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endif()
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if(CONFIG_NET)
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add_nuttx_dir(net net y -D__KERNEL__ all)
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endif()
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###############################################################################
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# NuttX oldconfig: Update a configuration using a provided .config as base
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add_custom_target(oldconfig_nuttx
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COMMAND make --no-print-directory --silent oldconfig
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DEPENDS ${NUTTX_DIR}/.config
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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# NuttX oldconfig + savedefconfig back to PX4
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add_custom_target(oldconfig
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COMMAND make --no-print-directory --silent savedefconfig
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
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DEPENDS oldconfig_nuttx
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running make oldconfig then savedefconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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###############################################################################
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# NuttX olddefconfig: same as oldconfig, but additionally update deps and sets new symbols to their default value
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add_custom_target(olddefconfig_nuttx
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COMMAND make --no-print-directory --silent olddefconfig
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DEPENDS ${NUTTX_DIR}/.config
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running NuttX make olddefconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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# NuttX olddefconfig + savedefconfig back to PX4
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add_custom_target(olddefconfig
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COMMAND make --no-print-directory --silent savedefconfig
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
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DEPENDS olddefconfig_nuttx
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running make olddefconfig then savedefconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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###############################################################################
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# NuttX menuconfig
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add_custom_target(menuconfig_nuttx
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COMMAND make --no-print-directory --silent menuconfig
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DEPENDS ${NUTTX_DIR}/.config
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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# NuttX menuconfig + savedefconfig back to PX4
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add_custom_target(menuconfig
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COMMAND make --no-print-directory --silent savedefconfig
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
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DEPENDS menuconfig_nuttx
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running make nuttx_menuconfig then savedefconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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###############################################################################
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# NuttX qconfig
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add_custom_target(qconfig_nuttx
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COMMAND make --no-print-directory --silent qconfig
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DEPENDS ${NUTTX_DIR}/.config
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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# NuttX qconfig + savedefconfig back to PX4
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add_custom_target(qconfig
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COMMAND make --no-print-directory --silent savedefconfig
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/defconfig ${NUTTX_DEFCONFIG}
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/.config
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DEPENDS qconfig_nuttx
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Running make qconfig then savedefconfig for ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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