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NuttX build in place

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- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
    - slightly faster skipping necessary copying (depending on system)
    - allows debugging in place
    - easier to work directly in NuttX following official documentation
    - simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
 - the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
 - also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
This commit is contained in:
Daniel Agar
2021-11-15 18:47:38 -05:00
committed by GitHub
parent 7b7b7acd36
commit f5d9b01f5c
164 changed files with 351 additions and 751 deletions
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35
platforms/nuttx/CMakeLists.txt
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@@ -37,13 +37,10 @@ endif()
include(cygwin_cygpath)
set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx)
set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps)
add_executable(px4 ${PX4_SOURCE_DIR}/platforms/common/empty.c)
set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME})
add_dependencies(px4 git_nuttx nuttx_build)
add_dependencies(px4 git_nuttx)
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
@@ -97,7 +94,7 @@ list(APPEND nuttx_libs
nuttx_crypto
)
if (CONFIG_NET)
if(CONFIG_NET)
list(APPEND nuttx_libs nuttx_net)
target_link_libraries(nuttx_fs INTERFACE nuttx_net)
endif()
@@ -127,7 +124,7 @@ target_link_libraries(px4 PRIVATE
-fno-exceptions
-fno-rtti
-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}script.ld
-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}script.ld
-Wl,-Map=${PX4_CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
@@ -152,15 +149,15 @@ if(config_romfs_root)
endif()
if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD}_unsigned.bin)
set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_CONFIG}_unsigned.bin)
add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin
COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
DEPENDS ${PX4_BINARY_OUTPUT}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
else()
set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin)
endif()
add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
@@ -181,9 +178,9 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
--git_identity ${PX4_SOURCE_DIR}
--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
--image ${PX4_BINARY_DIR}/${PX4_BOARD}.bin > ${fw_package}
--image ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin > ${fw_package}
DEPENDS
${PX4_BINARY_DIR}/${PX4_BOARD}.bin
${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
airframes_xml
parameters_xml
COMMENT "Creating ${fw_package}"
@@ -200,6 +197,14 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
endif()
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
add_custom_command(OUTPUT ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin
COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin
DEPENDS px4
)
add_custom_target(px4_bootloader_keep ALL DEPENDS ${PX4_BOARD_DIR}/extras/${PX4_BOARD}_bootloader.bin)
endif()
# print weak symbols
add_custom_target(weak_symbols
COMMAND ${CMAKE_NM} $<TARGET_FILE:px4> | ${GREP} " w " | cat
@@ -209,14 +214,14 @@ add_custom_target(weak_symbols
)
# generate bootloader.elf and copy to top level build directory
if(EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
if(NOT ("${PX4_BOARD_LABEL}" STREQUAL "bootloader") AND (EXISTS "${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin"))
add_custom_command(
OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
COMMAND
${CMAKE_OBJCOPY} -I binary -O elf32-little --change-section-address .data=0x08000000
${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
DEPENDS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
DEPENDS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
add_custom_target(bootloader_elf DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf)