cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

platforms/nuttx/CMakeLists.txt

@@ -42,7 +42,7 @@ endif()
 add_executable(${FW_NAME} ${PX4_SOURCE_DIR}/src/platforms/empty.c)
 add_dependencies(${FW_NAME} git_nuttx nuttx_build)
 
-get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
+get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
 # build NuttX
 add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
@@ -76,24 +76,41 @@ file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_D
 # because even relative linker script paths are different for linux, mac and windows
 CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG)
 
-target_link_libraries(${FW_NAME}
+target_link_libraries(nuttx_arch
+	INTERFACE
+		drivers_board
+		drivers_arch
+		drivers_boards_common
+		drivers_boards_common_arch
+)
+
+target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
+target_link_libraries(nuttx_cxx INTERFACE nuttx_c)
+
+target_link_libraries(${FW_NAME} PRIVATE
+
+	-nodefaultlibs
+	-nostdlib
+
+	-fno-exceptions
+	-fno-rtti
 
 	-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${BOARD}/scripts/${LD_SCRIPT}
 	-Wl,-Map=${CONFIG}.map
-	-Wl,--warn-common,--gc-sections
+	-Wl,--warn-common
+	-Wl,--gc-sections
 
 	-Wl,--start-group
-		${module_libraries}
-		${nuttx_libs}
+	${nuttx_libs}
 	-Wl,--end-group
-
-	m
-	gcc
 	)
 
+target_link_libraries(${FW_NAME} PRIVATE ${module_libraries})
+target_link_libraries(${FW_NAME} PRIVATE modules__uORB)
+
 if (config_romfs_root)
 	add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
-	target_link_libraries(${FW_NAME} romfs)
+	target_link_libraries(${FW_NAME} PRIVATE romfs)
 endif()
 
 # create px4 file (combined firmware and metadata)
@@ -212,4 +229,3 @@ add_custom_target(profile
 	DEPENDS ${FW_NAME} ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh
 	USES_TERMINAL
 	)
-

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -110,7 +110,8 @@ function(px4_nuttx_make_uavcan_bootloadable)
 	add_custom_command(OUTPUT ${uavcan_bl_imange_name}
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
 			-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
-		DEPENDS ${BIN})
+		DEPENDS ${BIN}
+		)
 	add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
 endfunction()
 
@@ -188,11 +189,11 @@ function(px4_os_add_flags)
 		${PX4_BINARY_DIR}/NuttX/apps/include
 		)
 
-	#set(added_exe_linker_flags)
-	#set(added_link_dirs ${nuttx_export_dir}/libs)
-	set(added_definitions -D__PX4_NUTTX)
+	add_definitions(
+		-D__PX4_NUTTX
+		-D__DF_NUTTX
+		)
 
-	list(APPEND added_definitions -D__DF_NUTTX)
 
 	if("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
 		set(instrument_flags
@@ -240,7 +241,9 @@ function(px4_os_prebuild_targets)
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 
-	add_custom_target(${OUT} DEPENDS nuttx_context uorb_headers)
+	add_library(${OUT} INTERFACE)
+	target_link_libraries(${OUT} INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
+	add_dependencies(${OUT} DEPENDS nuttx_context uorb_headers)
 
 	# parse nuttx config options for cmake
 	file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/nsh/defconfig ConfigContents)
@@ -323,4 +326,3 @@ function(px4_nuttx_configure)
 	endif()
 endfunction()
 
-# vim: set noet fenc=utf-8 ff=unix nowrap:

platforms/nuttx/src/px4_layer/CMakeLists.txt

@@ -34,12 +34,12 @@
 # skip for px4_layer support on an IO board
 if (NOT ${BOARD} MATCHES "px4io")
 
-	px4_add_module(
-		MODULE platform_px4_layer
-		SRCS
-			px4_nuttx_tasks.c
-			px4_nuttx_impl.cpp
-		DEPENDS
-			prebuild_targets
-		)
+	add_library(px4_layer
+		px4_nuttx_tasks.c
+		px4_nuttx_impl.cpp
+	)
+	target_link_libraries(px4_layer PRIVATE nuttx_sched drivers_boards_common_arch)
+else()
+	add_library(px4_layer ${PX4_SOURCE_DIR}/src/platforms/empty.c)
 endif()
+add_dependencies(px4_layer prebuild_targets)