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Update Nuttx and NuttX-apps to 7.28+

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This commit is contained in:
David Sidrane
2018-11-27 10:13:43 -08:00
parent 3859bbb3b0
commit e505fe859d
10 changed files with 764 additions and 34 deletions
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platforms/nuttx/NuttX/CMakeLists.txt
+128 -23
View File
@@ -32,10 +32,8 @@ file(GLOB_RECURSE copy_apps_files
LIST_DIRECTORIES false
${CMAKE_CURRENT_SOURCE_DIR}/apps/*)
set(NUTTX_DIR ${CMAKE_CURRENT_BINARY_DIR}/nuttx)
set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
set(NUTTX_CONFIGS_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
# copy nuttx to build directory
@@ -61,24 +59,79 @@ add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
# If the board provides a Kconfig Use it or create an empty one
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
add_custom_command(
OUTPUT ${NUTTX_DIR}/configs/dummy/Kconfig
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig
DEPENDS
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
else()
add_custom_command(
OUTPUT ${NUTTX_DIR}/configs/dummy/Kconfig
COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig
DEPENDS
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
)
endif()
# copy PX4 board config into nuttx
add_custom_command(
OUTPUT ${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${NUTTX_DIR}/configs/${PX4_BOARD}/
COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR}/configs/${PX4_BOARD}/src
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${NUTTX_DIR}/configs/${PX4_BOARD}/include
DEPENDS
${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
${NUTTX_CONFIG_DIR}/include/board.h
${NUTTX_CONFIG_DIR}/scripts/ld.script
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
WORKING_DIRECTORY ${NUTTX_DIR}/tools
COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
)
file(STRINGS ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
if ("x${config_expanded}" STREQUAL "x")
# copy PX4 board Compressed config into nuttx and inflate it
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
${NUTTX_DIR}/arch/arm/include/math.h
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps"
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/include/
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
DEPENDS
${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
${NUTTX_CONFIG_DIR}/include/board.h
${NUTTX_CONFIG_DIR}/scripts/ld.script
${NUTTX_DIR}/configs/dummy/Kconfig
${CMAKE_CURRENT_SOURCE_DIR}/math.h
${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
)
else()
# copy PX4 board config into nuttx
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
${NUTTX_DIR}/arch/arm/include/math.h
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/include/
DEPENDS
${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
${NUTTX_CONFIG_DIR}/include/board.h
${NUTTX_CONFIG_DIR}/scripts/ld.script
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
${NUTTX_DIR}/configs/dummy/Kconfig
${CMAKE_CURRENT_SOURCE_DIR}/math.h
${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX uncompressed config ${NUTTX_CONFIG} and configuring"
)
endif()
# verbose build settings (V=1 or VERBOSE=1)
option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
@@ -196,8 +249,8 @@ add_nuttx_dir(configs configs y -D__KERNEL__)
add_nuttx_dir(drivers drivers y -D__KERNEL__)
add_nuttx_dir(fs fs y -D__KERNEL__)
add_nuttx_dir(sched sched y -D__KERNEL__)
add_nuttx_dir(c libc n "")
add_nuttx_dir(cxx libxx n "")
add_nuttx_dir(c libs/libc n "")
add_nuttx_dir(xx libs/libxx n "")
add_nuttx_dir(mm mm n "")
if (CONFIG_NET)
@@ -208,18 +261,27 @@ endif()
add_custom_target(oldconfig
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} oldconfig
COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
COMMAND ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# olddefconfig helper
add_custom_target(olddefconfig
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} olddefconfig
COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running NuttX make olddefconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# menuconfig helper
add_custom_target(menuconfig
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} menuconfig
COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
COMMAND cd ${PX4_SOURCE_DIR} && platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}"
@@ -235,3 +297,46 @@ add_custom_target(qconfig
COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# savedefconfig helper needs apps Kconfig
add_custom_target(apps_kconfig
COMMAND
TOPDIR=${NUTTX_APPS_DIR} make ${nuttx_build_options} --no-print-directory -C platform board TOPDIR="${NUTTX_DIR}" APPDIR="${NUTTX_APPS_DIR}"
COMMAND
TOPDIR=${NUTTX_APPS_DIR} make ${nuttx_build_options} --no-print-directory Kconfig ${nuttx_build_output}
DEPENDS
${NUTTX_DIR}/configs/dummy/Kconfig
WORKING_DIRECTORY ${NUTTX_APPS_DIR}
COMMENT "Running Kconfig Build on Apps"
)
# savedefconfig helper
add_custom_target(savedefconfig
COMMAND
APPSDIR=${NUTTX_APPS_DIR} kconfig-conf --savedefconfig defconfig.tmp ${NUTTX_DIR}/Kconfig
COMMAND
sed -i -e "/CONFIG_APPS_DIR=/d" defconfig.tmp # remove CONFIG_APPS_DIR
COMMAND
grep "CONFIG_ARCH=" .config >> defconfig.tmp || true # preserve CONFIG_ARCH=
COMMAND
grep "^CONFIG_ARCH_CHIP_" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_CHIP_
COMMAND
grep "^CONFIG_ARCH_CHIP=" .config >> defconfig.tmp || true # PX4 Build preserve CONFIG_ARCH_CHIP=
COMMAND
grep "^CONFIG_ARCH_FAMILY=" .config >> defconfig.tmp || true # PX4 Build preserve CONFIG_ARCH_FAMILY
COMMAND
grep "CONFIG_ARCH_BOARD=" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_BOARD
COMMAND
grep "^CONFIG_ARCH_CUSTOM" .config >> defconfig.tmp || true # preserve CONFIG_ARCH_CUSTOM
COMMAND
cat defconfig.tmp | LC_ALL=C sort | uniq > defconfig.updated # sort and save back to original defconfig
COMMAND
${CMAKE_COMMAND} -E copy_if_different defconfig.updated ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
COMMAND
${CMAKE_COMMAND} -E remove -f defconfig.tmp defconfig.updated # cleanup
DEPENDS
apps_kconfig
${NUTTX_DIR}/.config
COMMENT "Compressing .config and saving back to ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig"
WORKING_DIRECTORY ${NUTTX_DIR}
)
platforms/nuttx/NuttX/Make.defs.in
+1
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@@ -115,6 +115,7 @@ CXXFLAGS = $(ARCHXXINCLUDES) \
-fno-builtin \
-fno-exceptions \
-fno-rtti \
-nostdinc++ \
-Wno-double-promotion \
-Wno-missing-declarations
platforms/nuttx/NuttX/apps
+1 -1
Submodule platforms/nuttx/NuttX/apps updated: d19cc40bdc...6fb399fd65
platforms/nuttx/NuttX/include/cxx/new
+37
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@@ -0,0 +1,37 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
inline void* operator new (std::size_t, void* ptr) { return ptr; }
inline void* operator new[](std::size_t, void* ptr) { return ptr; }
inline void operator delete (void*, void*) {}
inline void operator delete[](void*, void*) {}
platforms/nuttx/NuttX/math.h
+579
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File diff suppressed because it is too large Load Diff
platforms/nuttx/NuttX/nuttx
+1 -1
Submodule platforms/nuttx/NuttX/nuttx updated: c225d4a691...a5682a6335
platforms/nuttx/cmake/px4_impl_os.cmake
+8
View File
@@ -53,7 +53,9 @@ function(px4_os_add_flags)
include_directories(BEFORE SYSTEM
${PX4_BINARY_DIR}/NuttX/nuttx/include
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx
)
include_directories(
@@ -64,6 +66,12 @@ function(px4_os_add_flags)
${PX4_BINARY_DIR}/NuttX/apps/include
)
# NuttX's disables inline below C99 (comiler.h), but __STDC_VERSION__ isn't set for C++
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-D__STDC_VERSION__=199901L>)
# prevent using the toolchain's std c++ library
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)
add_definitions(
-D__PX4_NUTTX
-D__DF_NUTTX