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fix(nuttx): unblock multi-board and protected builds (#27360)

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* fix(ci): wipe NuttX submodule state between boards in build_all_runner

NuttX .o and lib*.a live in the shared submodule trees under
platforms/nuttx/NuttX/{nuttx,apps}, not in per-board build/<board>/.
NuttX's recursive make doesn't treat PX4's per-board defconfig changes
as a reason to recompile, so consecutive board builds in one workspace
were linking stale objects from an earlier board (e.g. stm32_spi.o from
fmu-v2 linked into fmu-v4pro, which doesn't enable SPI4).

Run git clean -dXf on both NuttX submodules between iterations to drop
gitignored build state. This mirrors what make clean already does for
submodules and preserves the incremental-build wins for single-board
use.

* fix(cmake): isolate kernel mm/libc objects with BINDIR=kbin

mm and libs/libc compile the same sources for both the kernel and user
passes in protected builds. Without separate output dirs the kernel
objects clobber bin/*.o and the user-mode libmm.a/libc.a end up pulling
in kernel-only symbols (nxsem_wait, g_current_regs, nx_read, nx_write,
g_mmheap, ...) at link time. Matches NuttX's own tools/LibTargets.mk.
This commit is contained in:
Jacob Dahl
2026-05-17 18:00:06 -04:00
committed by GitHub
parent 731248bbeb
commit b4b36a2748
2 changed files with 17 additions and 1 deletions
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9
platforms/nuttx/NuttX/CMakeLists.txt
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@@ -181,8 +181,15 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra target)
${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.h
)
# Route kernel pass for mm/libc to kbin/; user pass uses bin/ for the
# same sources and would otherwise overwrite the kernel objects.
set(bindir_arg)
if(${kernel} STREQUAL y AND (${nuttx_lib_dir} STREQUAL mm OR ${nuttx_lib_dir} STREQUAL libs/libc))
set(bindir_arg BINDIR=kbin)
endif()
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a
COMMAND make -C ${nuttx_lib_dir} --no-print-directory --silent ${nuttx_lib_target} TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRAFLAGS=${extra}
COMMAND make -C ${nuttx_lib_dir} --no-print-directory --silent ${nuttx_lib_target} TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRAFLAGS=${extra} ${bindir_arg}
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a
DEPENDS
${nuttx_lib_files}