dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
px4-firmware/platforms/nuttx/CMakeLists.txt

410 lines
12 KiB
CMake
Raw Blame History

############################################################################
#
# 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.
#
############################################################################
include(cygwin_cygpath)
add_subdirectory(src)
if (NOT FW_NAME)
set(FW_NAME ${CONFIG}.elf)
endif()
add_executable(${FW_NAME} ${PX4_SOURCE_DIR}/src/platforms/empty.c)
add_dependencies(${FW_NAME} git_nuttx nuttx_build)
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
# build NuttX
add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
set(nuttx_libs)
list(APPEND nuttx_libs
nuttx_apps
nuttx_arch
nuttx_binfmt
nuttx_c
nuttx_configs
nuttx_cxx
nuttx_drivers
nuttx_fs
nuttx_mm
nuttx_sched
)
if (CONFIG_NET)
list(APPEND nuttx_libs nuttx_net)
target_link_libraries(nuttx_fs INTERFACE nuttx_net)
endif()
if (NOT LD_SCRIPT)
set(LD_SCRIPT ld.script)
endif()
file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_DIR})
# only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...)
# because even relative linker script paths are different for linux, mac and windows
CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG)
target_link_libraries(nuttx_arch
INTERFACE
drivers_board
drivers_arch
drivers_boards_common
drivers_boards_common_arch
)
target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
target_link_libraries(nuttx_cxx INTERFACE nuttx_c)
target_link_libraries(${FW_NAME} PRIVATE
-nodefaultlibs
-nostdlib
-fno-exceptions
-fno-rtti
-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${BOARD}/scripts/${LD_SCRIPT}
-Wl,-Map=${CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
-Wl,--start-group
${nuttx_libs}
-Wl,--end-group
m
)
target_link_libraries(${FW_NAME} PRIVATE ${module_libraries})
target_link_libraries(${FW_NAME} PRIVATE modules__uORB)
if (config_romfs_root)
add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
target_link_libraries(${FW_NAME} PRIVATE romfs)
endif()
# create px4 file (combined firmware and metadata)
# for historical reasons we name the final output binary without nuttx_
set(fw_name_short)
string(REPLACE "nuttx_" "" fw_name_short ${FW_NAME})
set(fw_file ${PX4_BINARY_DIR}/${fw_name_short})
string(REPLACE ".elf" ".px4" fw_file ${fw_file})
add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${BOARD}.bin
COMMAND ${OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${BOARD}.bin
DEPENDS ${FW_NAME}
)
if (NOT FW_PROTOTYPE)
set(FW_PROTOTYPE ${BOARD})
endif()
if (TARGET parameters_xml AND TARGET airframes_xml)
add_custom_command(OUTPUT ${fw_file}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
--prototype ${PX4_SOURCE_DIR}/platforms/nuttx/Images/${FW_PROTOTYPE}.prototype
--git_identity ${PX4_SOURCE_DIR}
--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
--image ${PX4_BINARY_DIR}/${BOARD}.bin > ${fw_file}
DEPENDS ${PX4_BINARY_DIR}/${BOARD}.bin parameters_xml airframes_xml
COMMENT "Creating ${fw_file}"
)
add_custom_target(px4 ALL DEPENDS ${fw_file})
# upload helper
if (${BOARD} STREQUAL "aerofc-v1")
# TODO: should be set only in aero config
add_custom_target(upload
COMMAND ${PX4_SOURCE_DIR}/Tools/aero_upload.sh ${fw_file}
DEPENDS ${fw_file}
COMMENT "uploading px4"
USES_TERMINAL
)
else()
# create upload target helper if NuttX USB CDCACM is present
if (CONFIG_CDCACM)
# NuttX CDCACM vendor and product strings
set(vendorstr_underscore)
set(productstr_underscore)
string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
set(serial_ports)
if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
set(px4_usb_path "${vendorstr_underscore}_${productstr_underscore}")
list(APPEND serial_ports
# NuttX vendor + product string
/dev/serial/by-id/*-${px4_usb_path}*
# Bootloader
/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string
/dev/serial/by-id/*BL_FMU*
# TODO: handle these per board
/dev/serial/by-id/usb-The_Autopilot*
/dev/serial/by-id/usb-Bitcraze*
/dev/serial/by-id/pci-Bitcraze*
/dev/serial/by-id/usb-Gumstix*
)
elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
list(APPEND serial_ports
/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
)
elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "CYGWIN")
list(APPEND serial_ports
/dev/ttyS*
)
elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
foreach(port RANGE 32 0)
list(APPEND serial_ports
"COM${port}")
endforeach()
endif()
px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
add_custom_target(upload
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_file}
DEPENDS ${fw_file}
COMMENT "uploading px4"
VERBATIM
USES_TERMINAL
)
add_custom_target(force-upload
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_file}
DEPENDS ${fw_file}
COMMENT "uploading px4 with --force"
VERBATIM
USES_TERMINAL
)
endif()
endif()
endif()
# print size
add_custom_target(size
COMMAND size ${FW_NAME}
DEPENDS ${FW_NAME}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
# print weak symbols
add_custom_target(weak_symbols
COMMAND ${CMAKE_NM} $<TARGET_FILE:${FW_NAME}> | ${GREP} " w " | cat
DEPENDS ${FW_NAME}
VERBATIM
USES_TERMINAL
)
add_custom_target(stack_check
COMMAND ${CMAKE_COMMAND} -E make_directory stack_usage && ${CMAKE_OBJDUMP} -d $<TARGET_FILE:${FW_NAME}> | ${PX4_SOURCE_DIR}/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
COMMAND ${CMAKE_COMMAND} -E echo ""
COMMAND ${CMAKE_COMMAND} -E echo ""
COMMAND ${CMAKE_COMMAND} -E echo "Top 50:"
COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
COMMAND head -n 50 stack_usage/checkstack_output.txt | c++filt
COMMAND ${CMAKE_COMMAND} -E echo ""
COMMAND ${CMAKE_COMMAND} -E echo "Symbols with 'run', 'task', 'thread', 'main', 'update':"
COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
COMMAND cat stack_usage/checkstack_output.txt | c++filt | grep -E 'run|task|thread|main|update'
DEPENDS ${FW_NAME}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
VERBATIM
)
find_program(BLOATY_PROGRAM bloaty)
if (BLOATY_PROGRAM)
# bloaty symbols
add_custom_target(bloaty_symbols
COMMAND ${BLOATY_PROGRAM} -d symbols -C full -n 50 -s vm $<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME}
USES_TERMINAL
)
# bloaty compilation units
add_custom_target(bloaty_compileunits
COMMAND ${BLOATY_PROGRAM} -d compileunits -C full -n 50 -s vm $<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME}
USES_TERMINAL
)
# bloaty templates
add_custom_target(bloaty_templates
COMMAND ${BLOATY_PROGRAM} -d shortsymbols,fullsymbols -n 50 $<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME}
USES_TERMINAL
)
# bloaty inlines
add_custom_target(bloaty_inlines
COMMAND ${BLOATY_PROGRAM} -d inlines -C full -n 50 $<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME}
USES_TERMINAL
)
# bloaty compare with last master build
add_custom_target(bloaty_compare_master
COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${FW_NAME} -O master_${FW_NAME}
COMMAND ${BLOATY_PROGRAM} -d symbols -n 50 -C full -s vm $<TARGET_FILE:${FW_NAME}> -- master_${FW_NAME}
DEPENDS ${FW_NAME}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
VERBATIM
USES_TERMINAL
)
endif()
# debugger helpers
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)
add_custom_target(debug
COMMAND ${GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
file(GLOB_RECURSE black_magic_probe_path
FOLLOW_SYMLINKS
/dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if00
)
file(GLOB_RECURSE black_magic_probe_console_path
FOLLOW_SYMLINKS
/dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if02
)
if(black_magic_probe_path)
add_custom_target(blackmagic_debug
COMMAND ${GDB} --nh
-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-ex 'target extended-remote ${black_magic_probe_path}'
-ex 'monitor version'
-ex 'monitor connect_srst enable'
-ex 'monitor swdp_scan'
-ex 'attach 1'
-ex 'load'
-ex 'run'
$<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
add_custom_target(blackmagic_upload
COMMAND ${GDB} --nx --batch
-ex 'target extended-remote ${black_magic_probe_path}'
-ex 'monitor version'
-ex 'monitor connect_srst enable'
-ex 'monitor swdp_scan'
-ex 'attach 1'
-ex 'load'
-ex 'kill'
$<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
COMMENT "Uploading with Black Magic Probe"
)
add_custom_target(blackmagic_console
COMMAND screen -t "${BOARD} console" ${black_magic_probe_console_path} 57600 8N1
USES_TERMINAL
)
endif()
add_custom_target(jlink_upload
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
COMMAND ${GDB} --nx --batch
-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-ex 'target remote localhost:2331'
-ex 'monitor reset'
-ex 'load'
-ex 'kill'
$<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
add_custom_target(jlink_debug
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
COMMAND ${GDB} --nh
-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-ex 'target remote localhost:2331'
-ex 'monitor reset'
-ex 'load'
-ex 'monitor reset'
-ex 'continue'
$<TARGET_FILE:${FW_NAME}>
DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
# Poor man's profiler
include(ExternalProject)
ExternalProject_Add(FlameGraph
GIT_REPOSITORY "https://github.com/brendangregg/FlameGraph.git"
UPDATE_COMMAND ""
PATCH_COMMAND ""
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
INSTALL_COMMAND ""
EXCLUDE_FROM_ALL 1
)
add_custom_target(profile
COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}"
${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:${FW_NAME}> --nsamples=10000
DEPENDS ${FW_NAME} ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh FlameGraph
USES_TERMINAL
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
View Git Blame Copy Permalink