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Adding Nuttx Build infrastructure

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This commit is contained in:
David Sidrane
2016-12-12 13:11:51 -10:00
committed by Lorenz Meier
parent cb9517486d
commit d6098c8226
7 changed files with 360 additions and 96 deletions
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116
src/firmware/nuttx/CMakeLists.txt
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@@ -10,16 +10,49 @@ add_executable(firmware_nuttx
builtin_commands.c)
set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx/nuttx-export)
set(link_libs
romfs apps nuttx m gcc
apps nuttx m gcc
)
if("${romfs_used}" STREQUAL "y")
list(APPEND link_libs romfs)
endif()
#
# Bootloaders use a different ld file, a seperate startup file
# and need to override the os version of sched_process_timer
#
set(startup_libs)
if("${config_nuttx_config}" STREQUAL "bootloader")
set(nuttx_ld_prefix "bootloader")
set(nuttx_startup_files ${nuttx_export_dir}/startup/${nuttx_startup_files})
set(nuttx_bootloader_wrapers "-Wl,-wrap,sched_process_timer")
add_custom_command(OUTPUT
${nuttx_startup_files}
DEPENDS nuttx_export_${BOARD})
set_source_files_properties(
${nuttx_startup_files}
PROPERTIES
EXTERNAL_OBJECT true
GENERATED true)
add_library(startup
${nuttx_startup_files})
set_target_properties(startup
PROPERTIES
LINKER_LANGUAGE C)
list(APPEND startup_libs startup)
endif()
if(NOT ${BOARD} STREQUAL "sim")
list(APPEND link_libs nosys)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
"-T${nuttx_export_dir}/build/${nuttx_ld_prefix}ld.script"
"-Wl,-Map=${PX4_BINARY_DIR}/${BOARD}/main.map"
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
@@ -27,10 +60,14 @@ if(NOT ${BOARD} STREQUAL "sim")
endif()
target_link_libraries(firmware_nuttx
-Wl,--warn-common
-Wl,--gc-sections
-Wl,--start-group
${startup_libs}
${module_libraries}
${df_driver_libs}
${config_extra_libs}
${nuttx_bootloader_wrapers}
${link_libs}
-Wl,--end-group)
@@ -42,35 +79,36 @@ add_custom_target(check_weak
if(NOT ${BOARD} STREQUAL "sim")
if (config_io_board)
set(extras "${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
if ("${romfs_used}" STREQUAL "y")
if (config_io_board)
set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
endif()
message(STATUS "Adding ROMFS on ${BOARD}")
px4_nuttx_add_romfs(OUT romfs
ROOT ROMFS/${config_romfs_root}
EXTRAS ${extras}
)
if (config_io_board)
add_dependencies(romfs fw_io)
endif()
endif()
set(romfs_dir "ROMFS/px4fmu_common")
if (${BOARD} STREQUAL "tap-v1")
set(romfs_dir "ROMFS/tap_common")
set(fw_file
${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
#
# Bootloaders do not need .px4 or xml
#
if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
px4_nuttx_add_firmware(OUT ${fw_file}
BOARD ${BOARD}
EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
)
endif()
if (${BOARD} STREQUAL "px4fmu-v2" AND ${LABEL} STREQUAL "test")
set(romfs_dir "ROMFS/px4fmu_test")
endif()
px4_nuttx_add_romfs(OUT romfs
ROOT ${romfs_dir}
EXTRAS ${extras}
)
if (config_io_board)
add_dependencies(romfs fw_io)
endif()
set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
px4_nuttx_add_firmware(OUT ${fw_file}
BOARD ${BOARD}
EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
)
configure_file(gdbinit.in .gdbinit)
@@ -113,15 +151,19 @@ if(NOT ${BOARD} STREQUAL "sim")
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
if ("${BOARD}" STREQUAL "aerofc-v1")
px4_add_upload_aero(OUT upload OS ${OS} BOARD ${BOARD}
BUNDLE ${fw_file})
else()
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
BUNDLE ${fw_file})
if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
if ("${BOARD}" STREQUAL "aerofc-v1")
px4_add_upload_aero(OUT upload OS ${OS} BOARD ${BOARD}
BUNDLE ${fw_file})
else()
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
BUNDLE ${fw_file})
endif()
endif()
endif()
install(FILES ${fw_file} DESTINATION .)
if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
install(FILES ${fw_file} DESTINATION .)
endif()
# vim: set noet ft=cmake fenc=utf-8 ff=unix :