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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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NuttX CMakeLists.txt extract helpers (jlink, upload, etc)
This commit is contained in:
Daniel Agar
@@ -149,81 +149,11 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
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# upload helper
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# create upload target helper if NuttX USB CDCACM is present
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if (CONFIG_CDCACM)
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# NuttX CDCACM vendor and product strings
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set(vendorstr_underscore)
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set(productstr_underscore)
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string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
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string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
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set(serial_ports)
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if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
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set(px4_usb_path "${vendorstr_underscore}_${productstr_underscore}")
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list(APPEND serial_ports
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# NuttX vendor + product string
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/dev/serial/by-id/*-${px4_usb_path}*
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# Bootloader
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/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string
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/dev/serial/by-id/*BL_FMU*
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# TODO: handle these per board
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/dev/serial/by-id/usb-The_Autopilot*
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/dev/serial/by-id/usb-Bitcraze*
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/dev/serial/by-id/pci-Bitcraze*
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/dev/serial/by-id/usb-Gumstix*
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/dev/serial/by-id/usb-Hex_ProfiCNC*
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/dev/serial/by-id/usb-UVify_FMU_BL*
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)
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elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
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list(APPEND serial_ports
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/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
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)
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elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "CYGWIN")
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list(APPEND serial_ports
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/dev/ttyS*
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)
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elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
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foreach(port RANGE 32 0)
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list(APPEND serial_ports
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"COM${port}")
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endforeach()
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endif()
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string(REPLACE ";" "," serial_ports "${serial_ports}")
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add_custom_target(upload
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
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DEPENDS ${fw_package}
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COMMENT "uploading px4"
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VERBATIM
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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add_custom_target(force-upload
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
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DEPENDS ${fw_package}
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COMMENT "uploading px4 with --force"
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VERBATIM
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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include(upload)
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endif()
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endif()
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# print size
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add_custom_target(size
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COMMAND size $<TARGET_FILE:px4>
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DEPENDS px4
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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# print weak symbols
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add_custom_target(weak_symbols
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COMMAND ${CMAKE_NM} $<TARGET_FILE:px4> | ${GREP} " w " | cat
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@@ -232,24 +162,8 @@ add_custom_target(weak_symbols
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USES_TERMINAL
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)
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add_custom_target(stack_check
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COMMAND ${CMAKE_COMMAND} -E make_directory stack_usage && ${CMAKE_OBJDUMP} -d $<TARGET_FILE:px4> | ${PX4_SOURCE_DIR}/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
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COMMAND ${CMAKE_COMMAND} -E echo ""
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COMMAND ${CMAKE_COMMAND} -E echo ""
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COMMAND ${CMAKE_COMMAND} -E echo "Top 50:"
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COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
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COMMAND head -n 50 stack_usage/checkstack_output.txt | c++filt
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COMMAND ${CMAKE_COMMAND} -E echo ""
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COMMAND ${CMAKE_COMMAND} -E echo "Symbols with 'run', 'task', 'thread', 'main', 'update':"
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COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
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COMMAND cat stack_usage/checkstack_output.txt | c++filt | grep -E 'run|task|thread|main|update'
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DEPENDS px4
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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VERBATIM
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)
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# debugger helpers
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)
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add_custom_target(debug
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@@ -259,98 +173,7 @@ add_custom_target(debug
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USES_TERMINAL
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)
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file(GLOB_RECURSE black_magic_probe_path
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FOLLOW_SYMLINKS
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/dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if00
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)
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file(GLOB_RECURSE black_magic_probe_console_path
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FOLLOW_SYMLINKS
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/dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if02
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)
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if(black_magic_probe_path)
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add_custom_target(blackmagic_debug
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COMMAND ${GDB} --nh
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-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
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-ex 'target extended-remote ${black_magic_probe_path}'
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-ex 'monitor version'
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-ex 'monitor connect_srst enable'
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-ex 'monitor swdp_scan'
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-ex 'attach 1'
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-ex 'load'
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-ex 'run'
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$<TARGET_FILE:px4>
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DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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add_custom_target(blackmagic_upload
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COMMAND ${GDB} --nx --batch
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-ex 'target extended-remote ${black_magic_probe_path}'
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-ex 'monitor version'
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-ex 'monitor connect_srst enable'
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-ex 'monitor swdp_scan'
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-ex 'attach 1'
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-ex 'load'
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-ex 'kill'
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$<TARGET_FILE:px4>
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DEPENDS px4
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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COMMENT "Uploading with Black Magic Probe"
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)
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add_custom_target(blackmagic_console
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COMMAND screen -t "${PX4_BOARD} console" ${black_magic_probe_console_path} 57600 8N1
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USES_TERMINAL
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)
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endif()
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add_custom_target(jlink_upload
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_upload.sh $<TARGET_FILE:px4>
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DEPENDS px4
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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add_custom_target(jlink_debug
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COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
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COMMAND ${GDB} -nh
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-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
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-ex 'target remote localhost:2331'
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-ex 'monitor reset 0'
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-ex 'load'
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-ex 'compare-sections'
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-ex 'monitor reset 0'
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-ex 'monitor sleep 1000'
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-ex 'monitor go'
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-ex 'continue'
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$<TARGET_FILE:px4>
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DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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USES_TERMINAL
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)
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# Poor man's profiler
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include(ExternalProject)
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ExternalProject_Add(FlameGraph
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GIT_REPOSITORY "https://github.com/brendangregg/FlameGraph.git"
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UPDATE_COMMAND ""
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PATCH_COMMAND ""
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CONFIGURE_COMMAND ""
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BUILD_COMMAND ""
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INSTALL_COMMAND ""
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EXCLUDE_FROM_ALL 1
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)
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add_custom_target(profile
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COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}"
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${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:px4> --nsamples=10000
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DEPENDS px4 ${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh FlameGraph
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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include(blackmagic)
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include(jlink)
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include(profile)
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include(stack_check)
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