forked from Archive/PX4-Autopilot
447 lines
18 KiB
CMake
447 lines
18 KiB
CMake
set(BOARD_DEFCONFIG ${PX4_CONFIG_FILE} CACHE FILEPATH "path to defconfig" FORCE)
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set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)
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execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
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if(ret EQUAL "1")
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message(FATAL_ERROR "kconfiglib is not installed or not in PATH\n"
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"please install using \"pip3 install kconfiglib\"\n")
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endif()
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set(MENUCONFIG_PATH ${PYTHON_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
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set(GUICONFIG_PATH ${PYTHON_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
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set(DEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
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set(SAVEDEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
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set(GENCONFIG_PATH ${PYTHON_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
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set(COMMON_KCONFIG_ENV_SETTINGS
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PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
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KCONFIG_CONFIG=${BOARD_CONFIG}
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# Set environment variables so that Kconfig can prune Kconfig source
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# files for other architectures
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PLATFORM=${PX4_PLATFORM}
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VENDOR=${PX4_BOARD_VENDOR}
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MODEL=${PX4_BOARD_MODEL}
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LABEL=${PX4_BOARD_LABEL}
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TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE}
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ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR}
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ROMFSROOT=${config_romfs_root}
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)
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set(config_user_list)
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if(EXISTS ${BOARD_DEFCONFIG})
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# Depend on BOARD_DEFCONFIG so that we reconfigure on config change
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set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${BOARD_DEFCONFIG})
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if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
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# Generate boardconfig from saved defconfig
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execute_process(COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
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${DEFCONFIG_PATH} ${BOARD_DEFCONFIG}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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OUTPUT_VARIABLE DUMMY_RESULTS)
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else()
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# Generate boardconfig from default.px4board and {label}.px4board
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execute_process(COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
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${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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OUTPUT_VARIABLE DUMMY_RESULTS)
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endif()
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# Generate header file for C/C++ preprocessor
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execute_process(COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
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${GENCONFIG_PATH} --header-path ${PX4_BINARY_DIR}/px4_boardconfig.h
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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OUTPUT_VARIABLE DUMMY_RESULTS)
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# parse board config options for cmake
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file(STRINGS ${BOARD_CONFIG} ConfigContents)
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foreach(NameAndValue ${ConfigContents})
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# Strip leading spaces
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string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
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# Find variable name
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string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
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if(Name)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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if(Value)
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# remove extra quotes
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string(REPLACE "\"" "" Value ${Value})
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# Set the variable
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set(${Name} ${Value} CACHE INTERNAL "BOARD DEFCONFIG: ${Name}" FORCE)
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endif()
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_BOARD_" Board ${NameAndValue})
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if(Board)
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string(REPLACE "CONFIG_BOARD_" "" ConfigKey ${Name})
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if(Value)
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set(${ConfigKey} ${Value})
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message(STATUS "${ConfigKey} ${Value}")
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endif()
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_USER[^=]+" Userspace ${NameAndValue})
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if(Userspace)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_USER_" "" module ${Name})
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string(TOLOWER ${module} module)
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list(APPEND config_user_list ${module})
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_DRIVERS[^=]+" Drivers ${NameAndValue})
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if(Drivers)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_DRIVERS_" "" driver ${Name})
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string(TOLOWER ${driver} driver)
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string(REPLACE "_" "/" driver_path ${driver})
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# Pattern 1 XXX / XXX_XXX
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\1" driver_p1_folder ${driver})
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\2" driver_p1_subfolder ${driver})
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# Pattern 2 XXX_XXX / XXXXXX
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string(REGEX REPLACE "(^[a-z]+_[a-z0-9]+)_([a-z0-9]+).*$" "\\1" driver_p2_folder ${driver})
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string(REGEX REPLACE "(^[a-z]+_[a-z0-9]+)_([a-z0-9]+).*$" "\\2" driver_p2_subfolder ${driver})
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# Pattern 3 XXXXXX / XXX_XXX / XXXXXX
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\1" driver_p3_folder ${driver})
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\2" driver_p3_subfolder ${driver})
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\3" driver_p3_subsubfolder ${driver})
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# Pattern 4 XXX_XXX / XXX_XXX_XXX
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string(REGEX REPLACE "(^[a-z]+_[a-z0-9]+)_([a-z_0-9]+).*$" "\\1" driver_p4_folder ${driver})
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string(REGEX REPLACE "(^[a-z]+_[a-z0-9]+)_([a-z_0-9]+).*$" "\\2" driver_p4_subfolder ${driver})
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# Pattern 5 XXXXXX / XXXXXX / XXX_XXX
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+[a-z0-9]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\1" driver_p5_folder ${driver})
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+[a-z0-9]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\2" driver_p5_subfolder ${driver})
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+[a-z0-9]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\3" driver_p5_subsubfolder ${driver})
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# Trick circumvent PX4 src naming problem with underscores and slashes
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if(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver})
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list(APPEND config_module_list drivers/${driver})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_path})
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list(APPEND config_module_list drivers/${driver_path})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p3_folder}/${driver_p3_subfolder}/${driver_p3_subsubfolder})
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list(APPEND config_module_list drivers/${driver_p3_folder}/${driver_p3_subfolder}/${driver_p3_subsubfolder})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p1_folder}/${driver_p1_subfolder})
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list(APPEND config_module_list drivers/${driver_p1_folder}/${driver_p1_subfolder})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p4_folder}/${driver_p4_subfolder})
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list(APPEND config_module_list drivers/${driver_p4_folder}/${driver_p4_subfolder})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p2_folder}/${driver_p2_subfolder})
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list(APPEND config_module_list drivers/${driver_p2_folder}/${driver_p2_subfolder})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p5_folder}/${driver_p5_subfolder}/${driver_p5_subsubfolder})
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list(APPEND config_module_list drivers/${driver_p5_folder}/${driver_p5_subfolder}/${driver_p5_subsubfolder})
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else()
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message(FATAL_ERROR "Couldn't find path for ${driver}")
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endif()
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_MODULES[^=]+" Modules ${NameAndValue})
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if(Modules)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_MODULES_" "" module ${Name})
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string(TOLOWER ${module} module)
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string(REPLACE "_" "/" module_path ${module})
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# Pattern 1 XXX / XXX_XXX
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\1" module_p1_folder ${module})
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+).*$" "\\2" module_p1_subfolder ${module})
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# Pattern 2 XXX / XXX_XXX_XXX
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+_[a-z0-9]+).*$" "\\1" module_p2_folder ${module})
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string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+_[a-z0-9]+).*$" "\\2" module_p2_subfolder ${module})
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# Trick circumvent PX4 src naming problem with underscores and slashes
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if(EXISTS ${PX4_SOURCE_DIR}/src/modules/${module})
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list(APPEND config_module_list modules/${module})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/modules/${module_path})
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list(APPEND config_module_list modules/${module_path})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/modules/${module_p1_folder}/${module_p1_subfolder})
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list(APPEND config_module_list modules/${module_p1_folder}/${module_p1_subfolder})
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elseif(EXISTS ${PX4_SOURCE_DIR}/src/modules/${module_p2_folder}/${module_p2_subfolder})
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list(APPEND config_module_list modules/${module_p2_folder}/${module_p2_subfolder})
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else()
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message(FATAL_ERROR "Couldn't find path for ${module}")
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endif()
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_SYSTEMCMDS[^=]+" Systemcmds ${NameAndValue})
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if(Systemcmds)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_SYSTEMCMDS_" "" systemcmd ${Name})
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string(TOLOWER ${systemcmd} systemcmd)
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list(APPEND config_module_list systemcmds/${systemcmd})
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endif()
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# Find variable name
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string(REGEX MATCH "^CONFIG_EXAMPLES[^=]+" Examples ${NameAndValue})
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if(Examples)
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# Find the value
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string(REPLACE "${Name}=" "" Value ${NameAndValue})
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string(REPLACE "CONFIG_EXAMPLES_" "" example ${Name})
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string(TOLOWER ${example} example)
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list(APPEND config_module_list examples/${example})
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endif()
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endforeach()
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# Put every module not in userspace also to kernel list
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foreach(modpath ${config_module_list})
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get_filename_component(module ${modpath} NAME)
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list(FIND config_user_list ${module} _index)
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if (${_index} EQUAL -1)
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list(APPEND config_kernel_list ${modpath})
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endif()
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endforeach()
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if(PLATFORM)
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# set OS, and append specific platform module path
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set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
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# platform-specific include path
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include_directories(${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include)
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endif()
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if(ARCHITECTURE)
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set(CMAKE_SYSTEM_PROCESSOR ${ARCHITECTURE} CACHE INTERNAL "system processor" FORCE)
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endif()
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if(TOOLCHAIN)
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set(CMAKE_TOOLCHAIN_FILE Toolchain-${TOOLCHAIN} CACHE INTERNAL "toolchain file" FORCE)
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endif()
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set(romfs_extra_files)
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set(config_romfs_extra_dependencies)
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# additional embedded metadata
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if (NOT CONSTRAINED_FLASH AND NOT EXTERNAL_METADATA AND NOT ${PX4_BOARD_LABEL} STREQUAL "test")
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list(APPEND romfs_extra_files
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${PX4_BINARY_DIR}/parameters.json.xz
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${PX4_BINARY_DIR}/events/all_events.json.xz
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${PX4_BINARY_DIR}/actuators.json.xz)
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list(APPEND romfs_extra_dependencies
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parameters_xml
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events_json
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actuators_json)
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endif()
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list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_general.json.xz)
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list(APPEND romfs_extra_dependencies component_general_json)
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set(config_romfs_extra_files ${romfs_extra_files} CACHE INTERNAL "extra ROMFS files" FORCE)
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set(config_romfs_extra_dependencies ${romfs_extra_dependencies} CACHE INTERNAL "extra ROMFS deps" FORCE)
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if(SERIAL_PORTS)
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set(board_serial_ports ${SERIAL_PORTS} PARENT_SCOPE)
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endif()
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# Serial ports
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set(board_serial_ports)
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if(SERIAL_URT6)
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list(APPEND board_serial_ports URT6:${SERIAL_URT6})
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endif()
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if(SERIAL_GPS1)
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list(APPEND board_serial_ports GPS1:${SERIAL_GPS1})
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endif()
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if(SERIAL_GPS2)
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list(APPEND board_serial_ports GPS2:${SERIAL_GPS2})
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endif()
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if(SERIAL_GPS3)
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list(APPEND board_serial_ports GPS3:${SERIAL_GPS3})
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endif()
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if(SERIAL_GPS4)
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list(APPEND board_serial_ports GPS4:${SERIAL_GPS4})
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endif()
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if(SERIAL_GPS5)
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list(APPEND board_serial_ports GPS5:${SERIAL_GPS5})
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endif()
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if(SERIAL_TEL1)
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list(APPEND board_serial_ports TEL1:${SERIAL_TEL1})
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endif()
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if(SERIAL_TEL2)
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list(APPEND board_serial_ports TEL2:${SERIAL_TEL2})
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endif()
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if(SERIAL_TEL3)
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list(APPEND board_serial_ports TEL3:${SERIAL_TEL3})
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endif()
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if(SERIAL_TEL4)
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list(APPEND board_serial_ports TEL4:${SERIAL_TEL4})
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endif()
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if(SERIAL_TEL5)
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list(APPEND board_serial_ports TEL5:${SERIAL_TEL5})
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endif()
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if(SERIAL_RC)
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list(APPEND board_serial_ports RC:${SERIAL_RC})
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endif()
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if(SERIAL_WIFI)
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list(APPEND board_serial_ports WIFI:${SERIAL_WIFI})
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endif()
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if(SERIAL_EXT2)
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list(APPEND board_serial_ports EXT2:${SERIAL_EXT2})
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endif()
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# ROMFS
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if(ROMFSROOT)
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set(config_romfs_root ${ROMFSROOT} CACHE INTERNAL "ROMFS root" FORCE)
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if(UAVCAN_PERIPHERALS)
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set(config_uavcan_peripheral_firmware ${UAVCAN_PERIPHERALS} CACHE INTERNAL "UAVCAN peripheral firmware" FORCE)
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endif()
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endif()
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if(UAVCAN_INTERFACES)
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set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
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endif()
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if(UAVCAN_TIMER_OVERRIDE)
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set(config_uavcan_timer_override ${UAVCAN_TIMER_OVERRIDE} CACHE INTERNAL "UAVCAN TIMER OVERRIDE" FORCE)
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endif()
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# OPTIONS
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if(CONSTRAINED_FLASH)
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set(px4_constrained_flash_build "1" CACHE INTERNAL "constrained flash build" FORCE)
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add_definitions(-DCONSTRAINED_FLASH)
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endif()
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if (NO_HELP)
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add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/main/en/modules/modules_main.html")
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endif()
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if(CONSTRAINED_MEMORY)
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set(px4_constrained_memory_build "1" CACHE INTERNAL "constrained memory build" FORCE)
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add_definitions(-DCONSTRAINED_MEMORY)
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endif()
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if(TESTING)
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set(PX4_TESTING "1" CACHE INTERNAL "testing enabled" FORCE)
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endif()
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if(ETHERNET)
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set(PX4_ETHERNET "1" CACHE INTERNAL "ethernet enabled" FORCE)
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endif()
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if(CRYPTO)
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set(PX4_CRYPTO "1" CACHE INTERNAL "PX4 crypto implementation" FORCE)
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add_definitions(-DPX4_CRYPTO)
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endif()
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if(LINKER_PREFIX)
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set(PX4_BOARD_LINKER_PREFIX ${LINKER_PREFIX} CACHE STRING "PX4 board linker prefix" FORCE)
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else()
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set(PX4_BOARD_LINKER_PREFIX "" CACHE STRING "PX4 board linker prefix" FORCE)
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endif()
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if(COMPILE_DEFINITIONS)
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add_definitions( ${COMPILE_DEFINITIONS})
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endif()
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if(LINUX_TARGET)
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add_definitions( "-D__PX4_LINUX" )
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endif()
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if(LOCKSTEP)
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set(ENABLE_LOCKSTEP_SCHEDULER yes)
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endif()
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if(NOLOCKSTEP)
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set(ENABLE_LOCKSTEP_SCHEDULER no)
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endif()
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if(FULL_OPTIMIZATION)
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set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
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endif()
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include(px4_impl_os)
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px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
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# add board config directory src to build modules
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file(RELATIVE_PATH board_support_src_rel ${PX4_SOURCE_DIR}/src ${PX4_BOARD_DIR})
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list(APPEND config_module_list ${board_support_src_rel}/src)
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set(config_module_list ${config_module_list})
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set(config_kernel_list ${config_kernel_list})
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endif()
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if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
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add_custom_target(boardconfig
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${CMAKE_COMMAND} -E env
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${COMMON_KCONFIG_ENV_SETTINGS}
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${MENUCONFIG_PATH} Kconfig
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COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
|
|
COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
|
|
COMMAND ${CMAKE_COMMAND} -E remove defconfig
|
|
COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
|
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
|
USES_TERMINAL
|
|
COMMAND_EXPAND_LISTS
|
|
)
|
|
|
|
add_custom_target(boardguiconfig
|
|
${CMAKE_COMMAND} -E env
|
|
${COMMON_KCONFIG_ENV_SETTINGS}
|
|
${GUICONFIG_PATH} Kconfig
|
|
COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
|
|
COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
|
|
COMMAND ${CMAKE_COMMAND} -E remove defconfig
|
|
COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
|
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
|
USES_TERMINAL
|
|
COMMAND_EXPAND_LISTS
|
|
)
|
|
else()
|
|
add_custom_target(boardconfig
|
|
${CMAKE_COMMAND} -E env
|
|
${COMMON_KCONFIG_ENV_SETTINGS}
|
|
${MENUCONFIG_PATH} Kconfig
|
|
COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
|
|
COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
|
|
COMMAND ${CMAKE_COMMAND} -E remove defconfig
|
|
COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
|
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
|
USES_TERMINAL
|
|
COMMAND_EXPAND_LISTS
|
|
)
|
|
|
|
add_custom_target(boardguiconfig
|
|
${CMAKE_COMMAND} -E env
|
|
${COMMON_KCONFIG_ENV_SETTINGS}
|
|
${GUICONFIG_PATH} Kconfig
|
|
COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
|
|
COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
|
|
COMMAND ${CMAKE_COMMAND} -E remove defconfig
|
|
COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
|
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
|
USES_TERMINAL
|
|
COMMAND_EXPAND_LISTS
|
|
)
|
|
endif()
|