mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
NuttX cmake support optional compressed defconfigs
This commit is contained in:
Daniel Agar
GitHub
@@ -100,8 +100,8 @@ target_link_libraries(px4 PRIVATE
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-Wl,--gc-sections
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-Wl,--start-group
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drivers_boards_common_arch
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${nuttx_libs}
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drivers_boards_common_arch
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${nuttx_libs}
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-Wl,--end-group
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m
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@@ -109,7 +109,6 @@ target_link_libraries(px4 PRIVATE
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)
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target_link_libraries(px4 PRIVATE ${module_libraries})
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target_link_libraries(px4 PRIVATE modules__uORB)
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if (config_romfs_root)
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add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
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@@ -1,13 +1,3 @@
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cmake_minimum_required(VERSION 3.2)
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px4_add_git_submodule(TARGET git_nuttx PATH "nuttx")
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px4_add_git_submodule(TARGET git_nuttx_apps PATH "apps")
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if(NOT PX4_BOARD)
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message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)")
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endif()
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project(NuttX_${PX4_BOARD} LANGUAGES ASM C CXX)
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if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
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# copy with rsync and create file dependencies
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@@ -24,46 +14,49 @@ else()
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set(cp_opts "-aRfl")
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endif()
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file(GLOB_RECURSE copy_nuttx_files
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LIST_DIRECTORIES false
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${CMAKE_CURRENT_SOURCE_DIR}/nuttx/*)
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file(GLOB_RECURSE copy_apps_files
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LIST_DIRECTORIES false
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${CMAKE_CURRENT_SOURCE_DIR}/apps/*)
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set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
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# copy nuttx to build directory
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file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/nuttx)
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###############################################################################
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# NuttX: copy to build directory
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###############################################################################
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file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
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file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
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# setup custom command to copy changes later
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file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*)
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add_custom_command(
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OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
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COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
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COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
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DEPENDS ${copy_nuttx_files} git_nuttx
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COMMENT "Copying NuttX/nuttx to ${CMAKE_CURRENT_BINARY_DIR}"
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COMMENT "Copying NuttX/nuttx to ${CP_DST}"
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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)
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)
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# copy apps to build directory
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file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/apps)
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###############################################################################
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# NuttX apps: copy to build directory
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###############################################################################
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file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
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file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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# setup custom command to copy changes later
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file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*)
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add_custom_command(
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OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
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COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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DEPENDS ${copy_apps_files} git_nuttx_apps
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COMMENT "Copying NuttX/apps to ${CMAKE_CURRENT_BINARY_DIR}"
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COMMENT "Copying NuttX/apps to ${CP_DST}"
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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)
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)
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set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
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# If the board provides a Kconfig Use it or create an empty one
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if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
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add_custom_command(
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OUTPUT ${NUTTX_DIR}/configs/dummy/Kconfig
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig
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DEPENDS
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${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
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${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
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@@ -78,8 +71,9 @@ else()
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)
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endif()
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# copy PX4 board config into nuttx
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file(STRINGS ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
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###############################################################################
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# NuttX configure
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###############################################################################
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if ("x${config_expanded}" STREQUAL "x")
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# copy PX4 board Compressed config into nuttx and inflate it
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@@ -87,22 +81,20 @@ if ("x${config_expanded}" STREQUAL "x")
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OUTPUT
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${NUTTX_DIR}/.config
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${NUTTX_DIR}/arch/arm/include/math.h
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
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COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps"
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
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COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/include/
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h # copy arm math.h into NuttX source
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
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DEPENDS
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${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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${NUTTX_CONFIG_DIR}/include/board.h
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${NUTTX_CONFIG_DIR}/scripts/ld.script
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${NUTTX_DIR}/configs/dummy/Kconfig
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${CMAKE_CURRENT_SOURCE_DIR}/math.h
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${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h
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${NUTTX_SRC_DIR}/math.h
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${NUTTX_SRC_DIR}/nsh_romfsimg.h
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WORKING_DIRECTORY ${NUTTX_DIR}
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COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
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)
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@@ -114,7 +106,6 @@ else()
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${NUTTX_DIR}/arch/arm/include/math.h
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COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
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COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
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COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
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@@ -133,6 +124,12 @@ else()
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)
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endif()
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###############################################################################
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# NuttX build
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###############################################################################
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
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# verbose build settings (V=1 or VERBOSE=1)
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option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
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@@ -277,11 +274,9 @@ add_custom_target(olddefconfig
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USES_TERMINAL
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)
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# menuconfig helper
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add_custom_target(menuconfig
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} menuconfig
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COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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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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@@ -291,52 +286,38 @@ add_custom_target(menuconfig
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# qconfig helper
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add_custom_target(qconfig
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} qconfig
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COMMAND cp .config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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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 ${NUTTX_CONFIG}"
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USES_TERMINAL
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)
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# savedefconfig helper needs apps Kconfig
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add_custom_target(apps_kconfig
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COMMAND
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TOPDIR=${NUTTX_APPS_DIR} make ${nuttx_build_options} --no-print-directory -C platform board TOPDIR="${NUTTX_DIR}" APPDIR="${NUTTX_APPS_DIR}"
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COMMAND
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TOPDIR=${NUTTX_APPS_DIR} make ${nuttx_build_options} --no-print-directory Kconfig ${nuttx_build_output}
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DEPENDS
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${NUTTX_DIR}/configs/dummy/Kconfig
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WORKING_DIRECTORY ${NUTTX_APPS_DIR}
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COMMENT "Running Kconfig Build on Apps"
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)
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# savedefconfig helper
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add_custom_target(savedefconfig
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COMMAND
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APPSDIR=${NUTTX_APPS_DIR} kconfig-conf --savedefconfig defconfig.tmp ${NUTTX_DIR}/Kconfig
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COMMAND
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sed -i -e "/CONFIG_APPS_DIR=/d" defconfig.tmp # remove CONFIG_APPS_DIR
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COMMAND
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grep "CONFIG_ARCH=" .config >> defconfig.tmp || true # preserve CONFIG_ARCH=
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COMMAND
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grep "^CONFIG_ARCH_CHIP_" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_CHIP_
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COMMAND
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grep "^CONFIG_ARCH_CHIP=" .config >> defconfig.tmp || true # PX4 Build preserve CONFIG_ARCH_CHIP=
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COMMAND
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grep "^CONFIG_ARCH_FAMILY=" .config >> defconfig.tmp || true # PX4 Build preserve CONFIG_ARCH_FAMILY
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COMMAND
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grep "CONFIG_ARCH_BOARD=" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_BOARD
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COMMAND
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grep "^CONFIG_ARCH_CUSTOM" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_CUSTOM
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COMMAND
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cat defconfig.tmp | LC_ALL=C sort | uniq > defconfig.updated # sort and save back to original defconfig
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COMMAND
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${CMAKE_COMMAND} -E copy_if_different defconfig.updated ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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COMMAND
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${CMAKE_COMMAND} -E remove -f defconfig.tmp defconfig.updated # cleanup
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DEPENDS
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apps_kconfig
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${NUTTX_DIR}/.config
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COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} savedefconfig
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/defconfig ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
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DEPENDS ${NUTTX_DIR}/.config
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COMMENT "Compressing .config and saving back to ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig"
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WORKING_DIRECTORY ${NUTTX_DIR}
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)
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# menuconfig and save
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add_custom_target(menuconfig_save
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COMMAND
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${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces menuconfig to run before savedefconfig
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DEPENDS menuconfig
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)
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# oldconfig and save
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add_custom_target(oldconfig_save
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COMMAND
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${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces oldconfig to run before savedefconfig
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DEPENDS oldconfig
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)
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# qconfig and save
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add_custom_target(qconfig_save
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COMMAND
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${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces qconfig to run before savedefconfig
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DEPENDS qconfig
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)
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114
platforms/nuttx/cmake/init.cmake
Normal file
114
platforms/nuttx/cmake/init.cmake
Normal file
@@ -0,0 +1,114 @@
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if(NOT PX4_BOARD)
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message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)")
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endif()
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if(NOT PX4_BINARY_DIR)
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message(FATAL_ERROR "PX4_BINARY_DIR must be set")
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endif()
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if(NOT PX4_BOARD_DIR)
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message(FATAL_ERROR "PX4_BOARD_DIR must be set")
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endif()
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set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX config" FORCE)
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set(NUTTX_SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/../NuttX)
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set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
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set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
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px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx")
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px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps")
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if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
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# copy with rsync and create file dependencies
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set(cp_cmd "rsync")
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set(cp_opts)
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list(APPEND cp_opts
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-rp
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--inplace
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)
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else()
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# copy with hard links
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# archive, recursive, force, link (hardlinks)
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set(cp_cmd "cp")
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set(cp_opts "-aRfl")
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endif()
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###############################################################################
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# NuttX: copy to build directory
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###############################################################################
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file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
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file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
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# copy during cmake configure
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execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
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execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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###############################################################################
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# NuttX apps: copy to build directory
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###############################################################################
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file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
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file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
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# copy during cmake configure
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execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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###############################################################################
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# nuttx-config: copy to build directory
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###############################################################################
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set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
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# If the board provides a Kconfig Use it or create an empty one
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if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
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execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig)
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else()
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execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig)
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endif()
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execute_process(
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
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)
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# NuttX extra files
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execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h) # copy arm math.h into NuttX source
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execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
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# copy defconfig
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execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
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# copy PX4 board config into nuttx
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file(STRINGS ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
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if ("x${config_expanded}" STREQUAL "x")
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execute_process(COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps" WORKING_DIRECTORY ${NUTTX_DIR})
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execute_process(COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig WORKING_DIRECTORY ${NUTTX_DIR})
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endif()
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###############################################################################
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# NuttX cmake defconfig
|
||||
###############################################################################
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# parse nuttx config options for cmake
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file(STRINGS ${NUTTX_DIR}/.config ConfigContents)
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foreach(NameAndValue ${ConfigContents})
|
||||
# Strip leading spaces
|
||||
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
|
||||
|
||||
# Find variable name
|
||||
string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
|
||||
|
||||
if (Name)
|
||||
# Find the value
|
||||
string(REPLACE "${Name}=" "" Value ${NameAndValue})
|
||||
|
||||
# remove extra quotes
|
||||
string(REPLACE "\"" "" Value ${Value})
|
||||
|
||||
# Set the variable
|
||||
#message(STATUS "${Name} ${Value}")
|
||||
set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
|
||||
endif()
|
||||
endforeach()
|
||||
@@ -125,25 +125,4 @@ function(px4_os_prebuild_targets)
|
||||
target_link_libraries(prebuild_targets INTERFACE nuttx_xx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
|
||||
add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
|
||||
|
||||
# parse nuttx config options for cmake
|
||||
file(STRINGS ${PX4_BOARD_DIR}/nuttx-config/${NUTTX_CONFIG}/defconfig ConfigContents)
|
||||
foreach(NameAndValue ${ConfigContents})
|
||||
# Strip leading spaces
|
||||
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
|
||||
|
||||
# Find variable name
|
||||
string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
|
||||
|
||||
if (Name)
|
||||
# Find the value
|
||||
string(REPLACE "${Name}=" "" Value ${NameAndValue})
|
||||
|
||||
# remove extra quotes
|
||||
string(REPLACE "\"" "" Value ${Value})
|
||||
|
||||
# Set the variable
|
||||
#message(STATUS "${Name} ${Value}")
|
||||
set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
|
||||
endif()
|
||||
endforeach()
|
||||
endfunction()
|
||||
|
||||
Reference in New Issue
Block a user