cmake: Use NUTTX(_DIR/_BIN_DIR) instead CMAKE(_SRC_DIR/_BIN_DIR)

This change fixes NuttX’s CMake support when NuttX is embedded
in another project via add_subdirectory(). CMake’s CMAKE_SOURCE_DIR
and CMAKE_BINARY_DIR refer to the outermost project, causing NuttX
to access its .config, generated files, host tools, and build artifacts
in the parent project’s directories. The fix introduces NUTTX_DIR and
NUTTX_BINARY_DIR, based on CMAKE_CURRENT_SOURCE_DIR and
CMAKE_CURRENT_BINARY_DIR, and consistently uses them for NuttX
self-references while preserving existing standalone builds. It fixes
the Kconfig initialization failure reported in #19697 and allows an
embedded sim:nsh build to configure, build, and boot successfully.
The change affects only the CMake build system (not Make or Kconfig
defaults), requires the corresponding nuttx-apps change, and does not
extend add_subdirectory() support to cross-compiled non-sim boards due
to CMake’s toolchain-file limitation.

Fixes #19697.

Assisted-by: Claude:claude-sonnet-5
Signed-off-by: Alan Carvalho de Assis <acassis@gmail.com>

CMakeLists.txt

@@ -89,6 +89,7 @@ set(CMAKE_USER_MAKE_RULES_OVERRIDE
 # Process board config & directory locations #################################
 
 set(NUTTX_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+set(NUTTX_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
 
 # uncleaned previous make build can cause various types of cmake error
 if(EXISTS "${NUTTX_DIR}/.config")
@@ -211,7 +212,7 @@ endif()
 
 get_filename_component(NUTTX_APPS_DIR ${NUTTX_APPS_DIR} ABSOLUTE)
 get_filename_component(apps_dir ${NUTTX_APPS_DIR} NAME)
-set(NUTTX_APPS_BINDIR "${CMAKE_BINARY_DIR}/${apps_dir}")
+set(NUTTX_APPS_BINDIR "${NUTTX_BINARY_DIR}/${apps_dir}")
 
 # Support not having application directory
 
@@ -220,10 +221,10 @@ if("${apps_dir}" STREQUAL "dummy")
   file(TOUCH ${NUTTX_APPS_BINDIR}/Kconfig)
 endif()
 
-set(ENV{PYTHONPYCACHEPREFIX} ${CMAKE_BINARY_DIR})
+set(ENV{PYTHONPYCACHEPREFIX} ${NUTTX_BINARY_DIR})
 set(ENV{APPSDIR} ${NUTTX_APPS_DIR}) # TODO: support not having apps/
 set(ENV{APPSBINDIR} ${NUTTX_APPS_BINDIR}) # TODO: support not having apps/
-set(ENV{BINDIR} ${CMAKE_BINARY_DIR}) # TODO: support not having apps/
+set(ENV{BINDIR} ${NUTTX_BINARY_DIR}) # TODO: support not having apps/
 set(ENV{EXTERNALDIR} dummy) # TODO
 set(ENV{DRIVERS_PLATFORM_DIR} dummy) # TODO
 
@@ -273,7 +274,7 @@ endif()
 
 # Custom board ###################################################
 
-file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/boards/dummy)
+file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/boards/dummy)
 if(CONFIG_ARCH_BOARD_CUSTOM)
   get_filename_component(NUTTX_BOARD_ABS_DIR ${CONFIG_ARCH_BOARD_CUSTOM_DIR}
                          ABSOLUTE BASE_DIR ${NUTTX_DIR})
@@ -291,22 +292,22 @@ if(CONFIG_ARCH_BOARD_CUSTOM
    AND EXISTS ${NUTTX_BOARD_ABS_DIR}/Kconfig
    AND NOT (IS_NUTTX_BOARD EQUAL 0))
   nuttx_create_symlink(${NUTTX_BOARD_ABS_DIR}/Kconfig
-                       ${CMAKE_BINARY_DIR}/boards/dummy/Kconfig)
+                       ${NUTTX_BINARY_DIR}/boards/dummy/Kconfig)
 else()
-  file(TOUCH ${CMAKE_BINARY_DIR}/boards/dummy/Kconfig)
+  file(TOUCH ${NUTTX_BINARY_DIR}/boards/dummy/Kconfig)
 endif()
 
 # board platform driver
 
-file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/drivers)
+file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/drivers)
 
 if(EXISTS ${NUTTX_BOARD_ABS_DIR}/../drivers
    AND EXISTS ${NUTTX_BOARD_ABS_DIR}/../drivers/Kconfig)
   nuttx_create_symlink(${NUTTX_BOARD_ABS_DIR}/../drivers
-                       ${CMAKE_BINARY_DIR}/drivers/platform)
+                       ${NUTTX_BINARY_DIR}/drivers/platform)
 else()
-  file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/drivers/platform)
-  file(TOUCH ${CMAKE_BINARY_DIR}/drivers/platform/Kconfig)
+  file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/drivers/platform)
+  file(TOUCH ${NUTTX_BINARY_DIR}/drivers/platform/Kconfig)
 endif()
 
 # Custom chip ###################################################
@@ -320,25 +321,25 @@ else()
       "${NUTTX_DIR}/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_CHIP}")
 endif()
 
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/arch/dummy)
-  file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/arch/dummy)
+if(NOT EXISTS ${NUTTX_BINARY_DIR}/arch/dummy)
+  file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/arch/dummy)
 endif()
 
 if(CONFIG_ARCH_CHIP_CUSTOM AND EXISTS ${NUTTX_CHIP_ABS_DIR}/Kconfig)
   nuttx_create_symlink(${NUTTX_CHIP_ABS_DIR}/Kconfig
-                       ${CMAKE_BINARY_DIR}/arch/dummy/Kconfig)
+                       ${NUTTX_BINARY_DIR}/arch/dummy/Kconfig)
 else()
-  file(TOUCH ${CMAKE_BINARY_DIR}/arch/dummy/Kconfig)
+  file(TOUCH ${NUTTX_BINARY_DIR}/arch/dummy/Kconfig)
 endif()
 
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH})
-  file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH})
-  file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src)
+if(NOT EXISTS ${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH})
+  file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH})
+  file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH}/src)
 endif()
 
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src/chip)
+if(NOT EXISTS ${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH}/src/chip)
   nuttx_create_symlink(${NUTTX_CHIP_ABS_DIR}
-                       ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src/chip)
+                       ${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH}/src/chip)
 endif()
 
 # Unsupported custom board/chips yet, workaround
@@ -351,28 +352,28 @@ endif()
 # Copy board defconfig into main directory and expand TODO: do also for changes
 # in board/config (by comparing stored defconfig to specified one)
 
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/.config OR NOT "${NUTTX_DEFCONFIG}" STREQUAL
+if(NOT EXISTS ${NUTTX_BINARY_DIR}/.config OR NOT "${NUTTX_DEFCONFIG}" STREQUAL
                                              "${NUTTX_DEFCONFIG_SAVED}")
 
   message(STATUS "Initializing NuttX")
   configure_file(${NUTTX_DEFCONFIG} defconfig COPYONLY)
   configure_file(${NUTTX_DEFCONFIG} .config.compressed COPYONLY)
 
-  set(ENV{KCONFIG_CONFIG} ${CMAKE_BINARY_DIR}/.config.compressed)
+  set(ENV{KCONFIG_CONFIG} ${NUTTX_BINARY_DIR}/.config.compressed)
 
   # Define host before the first olddefconfig so host-dependent defaults, such
   # as the sim toolchain choice on macOS, resolve the same way as configure.sh.
-  nuttx_sethost(CONFIG_FILE ${CMAKE_BINARY_DIR}/.config.compressed)
+  nuttx_sethost(CONFIG_FILE ${NUTTX_BINARY_DIR}/.config.compressed)
 
   # Do olddefconfig step to expand the abbreviated defconfig into normal config
   nuttx_olddefconfig()
 
-  file(RENAME ${CMAKE_BINARY_DIR}/.config.compressed
-       ${CMAKE_BINARY_DIR}/.config)
-  set(ENV{KCONFIG_CONFIG} ${CMAKE_BINARY_DIR}/.config)
+  file(RENAME ${NUTTX_BINARY_DIR}/.config.compressed
+       ${NUTTX_BINARY_DIR}/.config)
+  set(ENV{KCONFIG_CONFIG} ${NUTTX_BINARY_DIR}/.config)
 
   # Set CONFIG_BASE_DEFCONFIG so .config matches Make behavior (configure.sh)
-  file(READ ${CMAKE_BINARY_DIR}/.config _config_init_content)
+  file(READ ${NUTTX_BINARY_DIR}/.config _config_init_content)
   string(
     REGEX
     REPLACE "CONFIG_BASE_DEFCONFIG=\"[^\"]*\""
@@ -382,10 +383,10 @@ if(NOT EXISTS ${CMAKE_BINARY_DIR}/.config OR NOT "${NUTTX_DEFCONFIG}" STREQUAL
     string(APPEND _config_init_content
            "\nCONFIG_BASE_DEFCONFIG=\"${NUTTX_BOARD}/${NUTTX_CONFIG}\"\n")
   endif()
-  file(WRITE ${CMAKE_BINARY_DIR}/.config "${_config_init_content}")
+  file(WRITE ${NUTTX_BINARY_DIR}/.config "${_config_init_content}")
 
   # store original expanded .config
-  configure_file(${CMAKE_BINARY_DIR}/.config ${CMAKE_BINARY_DIR}/.config.orig
+  configure_file(${NUTTX_BINARY_DIR}/.config ${NUTTX_BINARY_DIR}/.config.orig
                  COPYONLY)
 
   set(NUTTX_DEFCONFIG_SAVED
@@ -422,7 +423,7 @@ add_custom_target(nuttx_global)
 
 # this exposes all Kconfig vars to CMake
 
-nuttx_export_kconfig(${CMAKE_BINARY_DIR}/.config)
+nuttx_export_kconfig(${NUTTX_BINARY_DIR}/.config)
 
 include(nuttx_generate_headers)
 include(nuttx_generate_outputs)
@@ -471,9 +472,9 @@ endif()
 
 # This needs to happen before project() when binaries are searched for
 
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/arch/${CONFIG_ARCH}/src/cmake)
+list(APPEND CMAKE_MODULE_PATH ${NUTTX_DIR}/arch/${CONFIG_ARCH}/src/cmake)
 set(CMAKE_TOOLCHAIN_FILE
-    "${CMAKE_SOURCE_DIR}/arch/${CONFIG_ARCH}/src/cmake/Toolchain.cmake")
+    "${NUTTX_DIR}/arch/${CONFIG_ARCH}/src/cmake/Toolchain.cmake")
 
 # Compiler detection must not try to link a full executable.  CMake validates a
 # compiler by building and linking a test program, but a bare metal cross
@@ -511,8 +512,8 @@ if(EXISTS ${NUTTX_BOARD_ABS_DIR}/cmake
 endif()
 
 # Support loadable and kernel options by specific arch
-if(EXISTS ${CMAKE_SOURCE_DIR}/arch/${CONFIG_ARCH}/src/cmake/elf.cmake)
-  include(${CMAKE_SOURCE_DIR}/arch/${CONFIG_ARCH}/src/cmake/elf.cmake)
+if(EXISTS ${NUTTX_DIR}/arch/${CONFIG_ARCH}/src/cmake/elf.cmake)
+  include(${NUTTX_DIR}/arch/${CONFIG_ARCH}/src/cmake/elf.cmake)
 endif()
 
 include(platform)
@@ -598,7 +599,7 @@ if(CONFIG_ARCH_SIM)
   # linked against final nuttx binary
 
   if(NOT WIN32)
-    target_link_libraries(nuttx PRIVATE ${CMAKE_BINARY_DIR}/nuttx.rel)
+    target_link_libraries(nuttx PRIVATE ${NUTTX_BINARY_DIR}/nuttx.rel)
   endif()
 else()
   # These flags apply to source files not part of the library. In sim build this
@@ -620,7 +621,7 @@ set_property(
 # Each subdirectory will generate a static library
 
 if(CONFIG_OPENAMP)
-  include_directories(${CMAKE_SOURCE_DIR}/openamp/open-amp/lib/include)
+  include_directories(${NUTTX_DIR}/openamp/open-amp/lib/include)
 endif()
 
 add_subdirectory(openamp)
@@ -678,7 +679,7 @@ if(NOT CONFIG_ARCH_SIM)
   set(ldscript_tmp_list)
   foreach(ld ${ldscript})
     get_filename_component(LD_SCRIPT_NAME ${ld} NAME)
-    set(LD_SCRIPT_TMP "${CMAKE_BINARY_DIR}/${LD_SCRIPT_NAME}.tmp")
+    set(LD_SCRIPT_TMP "${NUTTX_BINARY_DIR}/${LD_SCRIPT_NAME}.tmp")
 
     nuttx_generate_preprocess_target(SOURCE_FILE ${ld} TARGET_FILE
                                      ${LD_SCRIPT_TMP})
@@ -705,7 +706,7 @@ else()
 endif()
 
 # initialize manifest to hold all generated files
-file(TOUCH ${CMAKE_BINARY_DIR}/nuttx.manifest)
+file(TOUCH ${NUTTX_BINARY_DIR}/nuttx.manifest)
 
 get_property(nuttx_kernel_libs GLOBAL PROPERTY NUTTX_KERNEL_LIBRARIES)
 get_property(nuttx_extra_libs GLOBAL PROPERTY NUTTX_EXTRA_LIBRARIES)
@@ -749,7 +750,7 @@ if(NOT CONFIG_ARCH_SIM)
 
     # TODO: install? $(Q) if [ -w /tftpboot ] ; then \ cp -f uImage
     # /tftpboot/uImage; \ fi
-    file(APPEND ${CMAKE_BINARY_DIR}/nuttx.manifest uImage)
+    file(APPEND ${NUTTX_BINARY_DIR}/nuttx.manifest uImage)
   endif()
 elseif(WIN32)
   target_link_options(nuttx PUBLIC /SAFESEH:NO)
@@ -766,15 +767,15 @@ elseif(WIN32)
   endforeach()
 
   add_custom_command(
-    OUTPUT ${CMAKE_BINARY_DIR}/nuttx_all.lib
-    COMMAND ${CMAKE_AR} /OUT:${CMAKE_BINARY_DIR}/nuttx_all.lib
+    OUTPUT ${NUTTX_BINARY_DIR}/nuttx_all.lib
+    COMMAND ${CMAKE_AR} /OUT:${NUTTX_BINARY_DIR}/nuttx_all.lib
             ${nuttx_libs_paths}
     DEPENDS ${nuttx_libs}
     VERBATIM)
-  add_custom_target(nuttx_all-lib DEPENDS ${CMAKE_BINARY_DIR}/nuttx_all.lib)
+  add_custom_target(nuttx_all-lib DEPENDS ${NUTTX_BINARY_DIR}/nuttx_all.lib)
   add_dependencies(nuttx nuttx_all-lib)
   target_link_libraries(nuttx PRIVATE $<TARGET_OBJECTS:sim_head>
-                                      ${CMAKE_BINARY_DIR}/nuttx_all.lib)
+                                      ${NUTTX_BINARY_DIR}/nuttx_all.lib)
 else()
 
   if(NOT APPLE)
@@ -828,7 +829,7 @@ endif()
 
 # TODO: if we use an install target a manifest may not be needed
 if(CONFIG_ARCH_SIM)
-  file(APPEND ${CMAKE_BINARY_DIR}/nuttx.manifest "nuttx\n")
+  file(APPEND ${NUTTX_BINARY_DIR}/nuttx.manifest "nuttx\n")
 endif()
 
 # Generate system map using the compiler toolchain. Conventionally, the tool
@@ -862,7 +863,7 @@ if(CONFIG_BUILD_PROTECTED)
   set(user_ldscript_tmp_list)
   foreach(ldscript ${user_ldscript})
     get_filename_component(LD_SCRIPT_USER_NAME ${ldscript} NAME)
-    set(LD_SCRIPT_USER_TMP "${CMAKE_BINARY_DIR}/${LD_SCRIPT_USER_NAME}.tmp")
+    set(LD_SCRIPT_USER_TMP "${NUTTX_BINARY_DIR}/${LD_SCRIPT_USER_NAME}.tmp")
     nuttx_generate_preprocess_target(SOURCE_FILE ${ldscript} TARGET_FILE
                                      ${LD_SCRIPT_USER_TMP})
     add_custom_target(user_ldscript_tmp_${LD_SCRIPT_USER_NAME}
@@ -909,9 +910,8 @@ if(CONFIG_BUILD_PROTECTED)
             $<$<NOT:$<BOOL:${DISABLE_LINK_GROUP}>>:-Wl,--end-group>)
 
   target_include_directories(
-    nuttx_user SYSTEM
-    PRIVATE ${CMAKE_SOURCE_DIR}/include ${CMAKE_BINARY_DIR}/include
-            ${CMAKE_BINARY_DIR}/include_arch)
+    nuttx_user SYSTEM PRIVATE ${NUTTX_DIR}/include ${NUTTX_BINARY_DIR}/include
+                              ${NUTTX_BINARY_DIR}/include_arch)
 
   add_custom_command(
     OUTPUT User.map

arch/CMakeLists.txt

@@ -25,13 +25,13 @@
 # the "user" portion is named "arch_interface".
 
 nuttx_add_kernel_library(arch)
-target_include_directories(arch PRIVATE ${CMAKE_SOURCE_DIR}/sched)
+target_include_directories(arch PRIVATE ${NUTTX_DIR}/sched)
 
 if(CONFIG_BUILD_PROTECTED)
   nuttx_add_system_library(arch_interface)
   file(TOUCH "${CMAKE_CURRENT_BINARY_DIR}/empty.c")
   target_sources(arch_interface PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/empty.c")
-  target_include_directories(arch_interface PRIVATE ${CMAKE_SOURCE_DIR}/sched)
+  target_include_directories(arch_interface PRIVATE ${NUTTX_DIR}/sched)
 endif()
 
 # TODO: move this higher up ifeq ($(CONFIG_SCHED_INSTRUMENTATION_SYSCALL),y)

arch/arm/src/cmake/ghs.cmake

@@ -278,7 +278,7 @@ function(nuttx_generate_preprocess_target)
     COMMAND
       ${PREPROCESS}
       $<GENEX_EVAL:$<TARGET_PROPERTY:nuttx_global,NUTTX_CPP_COMPILE_OPTIONS>>
-      -I${CMAKE_BINARY_DIR}/include -filetype.cpp ${SOURCE_FILE} -o
+      -I${NUTTX_BINARY_DIR}/include -filetype.cpp ${SOURCE_FILE} -o
       ${EXPECT_TARGET_FILE_NAME}
     DEPENDS ${SOURCE_FILE} ${DEPENDS})
 

arch/arm/src/cmake/platform.cmake

@@ -58,7 +58,7 @@ else()
   message(FATAL_ERROR "CMAKE_SYSTEM_PROCESSOR not set")
 endif()
 
-get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${CMAKE_SOURCE_DIR}
+get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${NUTTX_DIR}
                                                      COMPILE_OPTIONS)
 
 set(NUTTX_EXTRA_FLAGS "")

arch/arm/src/common/ameba/cmake/ameba_board.cmake

@@ -247,7 +247,7 @@ target_link_options(
   -Wl,--defsym=_sdata=__sram_image2_start__
   -Wl,--defsym=_edata=__sram_image2_start__
   -Wl,--defsym=_eronly=__sram_image2_start__
-  -Wl,-Map=${CMAKE_BINARY_DIR}/nuttx.map
+  -Wl,-Map=${NUTTX_BINARY_DIR}/nuttx.map
   ${AMEBA_EXTRA_LINK_OPTIONS})
 
 # Append to NUTTX_EXTRA_LIBRARIES (not target_link_libraries): the top-level
@@ -267,19 +267,19 @@ if(EXISTS ${AMEBA_TOOLS_DIR}/ameba_package.sh)
   add_custom_target(
     nuttx_post_build
     DEPENDS nuttx
-    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
     COMMENT "PACK nuttx.bin (Ameba AP + NP image2)")
   add_custom_command(
     TARGET nuttx_post_build
     POST_BUILD
     COMMAND
       ${CMAKE_COMMAND} -E env
-      "AMEBA_FLASH_HINT=AMEBA_PORT=/dev/ttyUSB0 cmake --build ${CMAKE_BINARY_DIR} --target flash"
+      "AMEBA_FLASH_HINT=AMEBA_PORT=/dev/ttyUSB0 cmake --build ${NUTTX_BINARY_DIR} --target flash"
       sh ${AMEBA_TOOLS_DIR}/ameba_package.sh ${AMEBA_SDK} ${AMEBA_PY_SOC}
       ${AMEBA_SOC_NAME} ${AMEBA_PREBUILT} ${AMEBA_AP_PROJECT} ${AMEBA_KM_PROJ}
-      ${AMEBA_NP_TARGET} ${AMEBA_TOOLCHAIN_DIR} ${CMAKE_BINARY_DIR}/nuttx
-      ${CMAKE_BINARY_DIR}/nuttx.bin
-    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+      ${AMEBA_NP_TARGET} ${AMEBA_TOOLCHAIN_DIR} ${NUTTX_BINARY_DIR}/nuttx
+      ${NUTTX_BINARY_DIR}/nuttx.bin
+    WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
     # USES_TERMINAL -> Ninja "console" pool: stream the (long) SDK NP-build +
     # packaging output live instead of buffering it until the step finishes.
     USES_TERMINAL COMMAND_EXPAND_LISTS)
@@ -306,8 +306,8 @@ if(AMEBA_FLASH_PROFILE AND NOT TARGET flash)
     COMMAND
       ${CMAKE_COMMAND} -E env sh ${AMEBA_TOOLS_DIR}/ameba_flash.sh ${AMEBA_SDK}
       ${AMEBA_FLASH_PROFILE} ${AMEBA_AUTOCONF} ${AMEBA_PREBUILT}
-      ${CMAKE_BINARY_DIR}/nuttx.bin
-    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+      ${NUTTX_BINARY_DIR}/nuttx.bin
+    WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
     USES_TERMINAL VERBATIM
     COMMENT "Flashing Ameba ${AMEBA_PY_SOC} over ${AMEBA_PORT} (AMEBA_PORT env)"
   )

arch/arm/src/nrf52/CMakeLists.txt

@@ -162,7 +162,7 @@ if(CONFIG_NRF52_SOFTDEVICE_CONTROLLER)
           SOURCE_DIR
           ${CMAKE_CURRENT_LIST_DIR}/sdk-nrfxlib
           BINARY_DIR
-          ${CMAKE_BINARY_DIR}/arch/sdk-nrfxlib
+          ${NUTTX_BINARY_DIR}/arch/sdk-nrfxlib
           CONFIGURE_COMMAND
           ""
           BUILD_COMMAND

arch/arm/src/nrf53/CMakeLists.txt

@@ -129,7 +129,7 @@ if(CONFIG_NRF53_SOFTDEVICE_CONTROLLER)
           SOURCE_DIR
           ${CMAKE_CURRENT_LIST_DIR}/sdk-nrfxlib
           BINARY_DIR
-          ${CMAKE_BINARY_DIR}/arch/sdk-nrfxlib
+          ${NUTTX_BINARY_DIR}/arch/sdk-nrfxlib
           CONFIGURE_COMMAND
           ""
           BUILD_COMMAND

arch/arm/src/nrf91/CMakeLists.txt

@@ -102,7 +102,7 @@ if(CONFIG_NRF91_MODEM)
           SOURCE_DIR
           ${CMAKE_CURRENT_LIST_DIR}/sdk-nrfxlib
           BINARY_DIR
-          ${CMAKE_BINARY_DIR}/arch/sdk-nrfxlib
+          ${NUTTX_BINARY_DIR}/arch/sdk-nrfxlib
           CONFIGURE_COMMAND
           ""
           BUILD_COMMAND

arch/arm/src/rp2040/CMakeLists.txt

@@ -107,7 +107,7 @@ if(CONFIG_RP2040_FLASH_BOOT)
     set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
     include(${CMAKE_CURRENT_SOURCE_DIR}/boot2/rp2040_boot_stage2.cmake)
 
-    set(PATH_CHIP_RP2040 ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src/chip)
+    set(PATH_CHIP_RP2040 ${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH}/src/chip)
     pico_define_boot_stage2(rp2040_boot_stage2 ${PATH_CHIP_RP2040})
 
     if(EXISTS ${PATH_CHIP_RP2040}/rp2040_boot_stage2.S)

arch/arm64/src/cmake/platform.cmake

@@ -20,7 +20,7 @@
 #
 # ##############################################################################
 
-get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${CMAKE_SOURCE_DIR}
+get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${NUTTX_DIR}
                                                      COMPILE_OPTIONS)
 
 set(CMAKE_C_FLAG_ARGS)

arch/risc-v/src/cmake/platform.cmake

@@ -20,7 +20,7 @@
 #
 # ##############################################################################
 
-get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${CMAKE_SOURCE_DIR}
+get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${NUTTX_DIR}
                                                      COMPILE_OPTIONS)
 
 set(NUTTX_EXTRA_FLAGS "")

arch/risc-v/src/common/espressif/Bootloader.cmake

@@ -312,7 +312,7 @@ ExternalProject_Add(
 
 # Add bootloader files to clean list
 set_property(
-  DIRECTORY ${CMAKE_SOURCE_DIR}
+  DIRECTORY ${NUTTX_DIR}
   APPEND
   PROPERTY ADDITIONAL_CLEAN_FILES ${HALDIR} ${BOOTLOADER_SRCDIR}
            ${BOOTLOADER_BIN})

arch/risc-v/src/common/espressif/CMakeLists.txt

@@ -254,7 +254,7 @@ option(
 
 get_filename_component(
   ESP_HAL_3RDPARTY_CHIP_DIR
-  "${CMAKE_BINARY_DIR}/arch/risc-v/src/common/espressif/${ESP_HAL_3RDPARTY_REPO_NAME}"
+  "${NUTTX_BINARY_DIR}/arch/risc-v/src/common/espressif/${ESP_HAL_3RDPARTY_REPO_NAME}"
   REALPATH)
 
 set(EXECUTE_CLONE_ESP_HAL_3RDPARTY_REPO TRUE)
@@ -321,10 +321,10 @@ if(NOT IS_DIRECTORY "${ESP_HAL_3RDPARTY_REPO}")
 
   # Copy gpio_sig_map.h and irq.h from the esp-hal-3rdparty repository to the NuttX directory
   file(COPY ${ESP_HAL_3RDPARTY_REPO}/components/soc/${CHIP_SERIES}/include/soc/gpio_sig_map.h
-       DESTINATION ${CMAKE_BINARY_DIR}/include/arch/chip/)
+       DESTINATION ${NUTTX_BINARY_DIR}/include/arch/chip/)
 
   file(COPY ${ESP_HAL_3RDPARTY_REPO}/nuttx/${CHIP_SERIES}/include/irq.h
-       DESTINATION ${CMAKE_BINARY_DIR}/include/arch/chip/)
+       DESTINATION ${NUTTX_BINARY_DIR}/include/arch/chip/)
 
   if(CONFIG_ESPRESSIF_WIRELESS)
     message(
@@ -350,8 +350,8 @@ endif()
 
 # This is done previously on configure time but must be done again if a 'clean'
 # is executed.
-set(_gpio_sig_map ${CMAKE_BINARY_DIR}/include/arch/chip/gpio_sig_map.h)
-set(_irq ${CMAKE_BINARY_DIR}/include/arch/chip/irq.h)
+set(_gpio_sig_map ${NUTTX_BINARY_DIR}/include/arch/chip/gpio_sig_map.h)
+set(_irq ${NUTTX_BINARY_DIR}/include/arch/chip/irq.h)
 
 add_custom_command(
   OUTPUT ${_gpio_sig_map} ${_irq}
@@ -446,10 +446,9 @@ add_custom_command(
   TARGET nuttx_post_build
   POST_BUILD
   COMMAND
-    ${CMAKE_COMMAND} -DBINARY_DIR=${CMAKE_BINARY_DIR}
-    -DSOURCE_DIR=${CMAKE_SOURCE_DIR} -P
-    ${NUTTX_DIR}/tools/espressif/espressif_mkimage.cmake
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    ${CMAKE_COMMAND} -DBINARY_DIR=${NUTTX_BINARY_DIR} -DSOURCE_DIR=${NUTTX_DIR}
+    -P ${NUTTX_DIR}/tools/espressif/espressif_mkimage.cmake
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Generating ESP-compatible binary"
   VERBATIM)
 
@@ -471,10 +470,10 @@ add_custom_target(
   flash
   DEPENDS nuttx_post_build
   COMMAND
-    ${CMAKE_COMMAND} -DBINARY_DIR=${CMAKE_BINARY_DIR}
-    -DSOURCE_DIR=${CMAKE_SOURCE_DIR} -DNUTTX_DIR=${NUTTX_DIR} -P
+    ${CMAKE_COMMAND} -DBINARY_DIR=${NUTTX_BINARY_DIR} -DSOURCE_DIR=${NUTTX_DIR}
+    -DNUTTX_DIR=${NUTTX_DIR} -P
     ${NUTTX_DIR}/tools/espressif/espressif_flash.cmake
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Flashing firmware via esptool to $ENV{ESPTOOL_PORT}"
   VERBATIM)
 
@@ -497,6 +496,6 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
 endif()
 
 set_property(
-  DIRECTORY ${CMAKE_SOURCE_DIR}
+  DIRECTORY ${NUTTX_DIR}
   APPEND
   PROPERTY ADDITIONAL_CLEAN_FILES ${ESP_CLEAN_FILES})

arch/risc-v/src/common/espressif/esp_ulp.cmake

@@ -66,7 +66,7 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
   if(NOT ESP_HAL_3RDPARTY_REPO)
     get_filename_component(
       ESP_HAL_3RDPARTY_REPO
-      "${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src/common/espressif/esp-hal-3rdparty"
+      "${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH}/src/common/espressif/esp-hal-3rdparty"
       REALPATH)
   endif()
 
@@ -367,7 +367,7 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
       OUTPUT ${ULP_NUTTX_CONFIG_COPY}
       COMMAND ${CMAKE_COMMAND} -E make_directory ${ULP_FOLDER}/nuttx
       COMMAND
-        ${CMAKE_COMMAND} -E copy ${CMAKE_BINARY_DIR}/include/nuttx/config.h
+        ${CMAKE_COMMAND} -E copy ${NUTTX_BINARY_DIR}/include/nuttx/config.h
         ${ULP_NUTTX_CONFIG_COPY}
       DEPENDS nuttx_context ${ULP_VAR_MAP_HEADER}
       COMMENT "Copying nuttx/config.h for ULP build"
@@ -512,7 +512,7 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
   get_property(_esp_ulp_defer GLOBAL PROPERTY ESP_ULP_LINK_DEFER_REGISTERED)
   if(NOT _esp_ulp_defer)
     set_property(GLOBAL PROPERTY ESP_ULP_LINK_DEFER_REGISTERED TRUE)
-    cmake_language(DEFER DIRECTORY ${CMAKE_SOURCE_DIR} CALL
+    cmake_language(DEFER DIRECTORY ${NUTTX_DIR} CALL
                    _esp_ulp_add_nuttx_link_deps)
   endif()
 
@@ -521,7 +521,7 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
   # ############################################################################
 
   set_property(
-    DIRECTORY ${CMAKE_SOURCE_DIR}
+    DIRECTORY ${NUTTX_DIR}
     APPEND
     PROPERTY ADDITIONAL_CLEAN_FILES ${ULP_FOLDER} ${ULP_ARCH_FOLDER}
              ${ULP_ALIASES_LD} ${ULP_ARCH_FOLDER}/.ulp_shared_stubs_stamp)

arch/risc-v/src/esp32h2/hal_esp32h2.cmake

@@ -591,7 +591,7 @@ function(nuttx_generate_preprocess_target)
   add_custom_command(
     OUTPUT ${TARGET_FILE}
     COMMAND
-      ${PREPROCESS} -I${CMAKE_BINARY_DIR}/include -I${NUTTX_DIR}/include
+      ${PREPROCESS} -I${NUTTX_BINARY_DIR}/include -I${NUTTX_DIR}/include
       -I${NUTTX_CHIP_ABS_DIR} ${LD_SCRIPT_HAL_INCLUDE}
       ${LD_SCRIPT_ADDITIONAL_INCLUDE} -D__NuttX__ ${SOURCE_FILE} >
       ${TARGET_FILE}

arch/risc-v/src/esp32p4/hal_esp32p4.cmake

@@ -595,7 +595,7 @@ function(nuttx_generate_preprocess_target)
   add_custom_command(
     OUTPUT ${TARGET_FILE}
     COMMAND
-      ${PREPROCESS} -I${CMAKE_BINARY_DIR}/include -I${NUTTX_DIR}/include
+      ${PREPROCESS} -I${NUTTX_BINARY_DIR}/include -I${NUTTX_DIR}/include
       -I${NUTTX_CHIP_ABS_DIR} ${LD_SCRIPT_HAL_INCLUDE}
       ${LD_SCRIPT_ADDITIONAL_INCLUDE} -D__NuttX__ ${SOURCE_FILE} >
       ${TARGET_FILE}

arch/sim/src/sim/CMakeLists.txt

@@ -312,7 +312,7 @@ list(APPEND HOSTSRCS sim_errno.c)
 
 configure_file(${NUTTX_DIR}/include/nuttx/fs/hostfs.h
                ${CMAKE_CURRENT_BINARY_DIR}/hostfs.h COPYONLY)
-configure_file(${CMAKE_BINARY_DIR}/include/nuttx/config.h
+configure_file(${NUTTX_BINARY_DIR}/include/nuttx/config.h
                ${CMAKE_CURRENT_BINARY_DIR}/config.h COPYONLY)
 target_include_directories(nuttx PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
 

arch/tricore/src/cmake/platform.cmake

@@ -20,7 +20,7 @@
 #
 # ##############################################################################
 
-get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${CMAKE_SOURCE_DIR}
+get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${NUTTX_DIR}
                                                      COMPILE_OPTIONS)
 
 set(NUTTX_EXTRA_FLAGS "")

arch/tricore/src/common/CMakeLists.txt

@@ -76,5 +76,5 @@ target_sources(nuttx PRIVATE tricore_doirq.c)
 target_compile_options(arch PRIVATE ${IFXFLAGS})
 target_compile_options(nuttx PRIVATE ${IFXFLAGS})
 target_include_directories(
-  nuttx SYSTEM PRIVATE ${CMAKE_SOURCE_DIR}/include ${CMAKE_BINARY_DIR}/include
-                       ${CMAKE_BINARY_DIR}/include_arch)
+  nuttx SYSTEM PRIVATE ${NUTTX_DIR}/include ${NUTTX_BINARY_DIR}/include
+                       ${NUTTX_BINARY_DIR}/include_arch)

arch/tricore/src/tc3xx/CMakeLists.txt

@@ -29,7 +29,7 @@ if(CONFIG_TRICORE_TOOLCHAIN_TASKING)
   target_sources(c_fpu PRIVATE tc3xx_libc.c)
   target_link_options(
     nuttx PRIVATE
-    --library-directory=${CMAKE_BINARY_DIR}/arch/tricore/src/exclude_chip)
+    --library-directory=${NUTTX_BINARY_DIR}/arch/tricore/src/exclude_chip)
 endif()
 
 set(ILLD_UNPACK "${CMAKE_CURRENT_SOURCE_DIR}/../illd/tc3xx")
@@ -75,8 +75,8 @@ file(GLOB PATCH_FILES "${PATCHES_DIR}/*.patch")
 foreach(PATCH ${PATCH_FILES})
   execute_process(
     COMMAND git apply --reverse --check ${PATCH}
-    WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} # Patches are applied from the repo
-                                          # root
+    WORKING_DIRECTORY ${NUTTX_DIR} # Patches are applied from the repo
+                      # root
     RESULT_VARIABLE PATCH_NEEDED
     OUTPUT_QUIET ERROR_QUIET)
 
@@ -85,8 +85,8 @@ foreach(PATCH ${PATCH_FILES})
   else()
     execute_process(
       COMMAND git apply --whitespace=nowarn ${PATCH}
-      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} # Patches are applied from the repo
-                                            # root
+      WORKING_DIRECTORY ${NUTTX_DIR} # Patches are applied from the repo
+                        # root
       RESULT_VARIABLE APPLY_RESULT)
     if(NOT APPLY_RESULT EQUAL 0)
       message(FATAL_ERROR "Failed to apply patch ${PATCH}!")

arch/tricore/src/tc4xx/CMakeLists.txt

@@ -29,7 +29,7 @@ if(CONFIG_TRICORE_TOOLCHAIN_TASKING)
   target_sources(c_fpu PRIVATE tc4xx_libc.c)
   target_link_options(
     nuttx PRIVATE
-    --library-directory=${CMAKE_BINARY_DIR}/arch/tricore/src/exclude_chip)
+    --library-directory=${NUTTX_BINARY_DIR}/arch/tricore/src/exclude_chip)
 endif()
 
 set(ILLD_UNPACK "${CMAKE_CURRENT_SOURCE_DIR}/../illd/tc4xx")
@@ -75,8 +75,8 @@ file(GLOB PATCH_FILES "${PATCHES_DIR}/*.patch")
 foreach(PATCH ${PATCH_FILES})
   execute_process(
     COMMAND git apply --reverse --check ${PATCH}
-    WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} # Patches are applied from the repo
-                                          # root
+    WORKING_DIRECTORY ${NUTTX_DIR} # Patches are applied from the repo
+                      # root
     RESULT_VARIABLE PATCH_NEEDED
     OUTPUT_QUIET ERROR_QUIET)
 
@@ -85,8 +85,8 @@ foreach(PATCH ${PATCH_FILES})
   else()
     execute_process(
       COMMAND git apply --whitespace=nowarn ${PATCH}
-      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} # Patches are applied from the repo
-                                            # root
+      WORKING_DIRECTORY ${NUTTX_DIR} # Patches are applied from the repo
+                        # root
       RESULT_VARIABLE APPLY_RESULT)
     if(NOT APPLY_RESULT EQUAL 0)
       message(FATAL_ERROR "Failed to apply patch ${PATCH}!")

arch/x86_64/src/cmake/platform.cmake

@@ -20,7 +20,7 @@
 #
 # ##############################################################################
 
-get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${CMAKE_SOURCE_DIR}
+get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${NUTTX_DIR}
                                                      COMPILE_OPTIONS)
 
 set(NUTTX_EXTRA_FLAGS "")
@@ -68,11 +68,11 @@ set(PREPROCESS ${CMAKE_C_COMPILER} ${CMAKE_C_FLAG_ARGS} -E -P -x c)
 if(CONFIG_ARCH_MULTIBOOT1)
   message(STATUS "Generating: nuttx.mb1 in ELF32/multiboot1")
   if(CONFIG_ALLSYMS)
-    set(FINAL_NUTTX_ELF "${CMAKE_BINARY_DIR}/final_nuttx")
+    set(FINAL_NUTTX_ELF "${NUTTX_BINARY_DIR}/final_nuttx")
   else()
-    set(FINAL_NUTTX_ELF "${CMAKE_BINARY_DIR}/nuttx")
+    set(FINAL_NUTTX_ELF "${NUTTX_BINARY_DIR}/nuttx")
   endif()
-  set(NUTTX_ELF "${CMAKE_BINARY_DIR}/nuttx")
+  set(NUTTX_ELF "${NUTTX_BINARY_DIR}/nuttx")
   set(NUTTX_BIN "${NUTTX_ELF}.bin")
   set(NUTTX_REALMODE_BIN "${NUTTX_ELF}_realmode.bin")
   set(NUTTX_MB1 "${NUTTX_ELF}.mb1")
@@ -89,8 +89,8 @@ if(CONFIG_ARCH_MULTIBOOT1)
     COMMAND
       ${CMAKE_C_COMPILER} -m32 -no-pie -nostdlib -DNUTTX_BIN='"${NUTTX_BIN}"'
       -DNUTTX_REALMODE_BIN='"${NUTTX_REALMODE_BIN}"'
-      ${CMAKE_SOURCE_DIR}/arch/x86_64/src/common/multiboot1.S -T
-      ${CMAKE_SOURCE_DIR}/arch/x86_64/src/common/multiboot1.ld -o ${NUTTX_MB1}
+      ${NUTTX_DIR}/arch/x86_64/src/common/multiboot1.S -T
+      ${NUTTX_DIR}/arch/x86_64/src/common/multiboot1.ld -o ${NUTTX_MB1}
     DEPENDS ${NUTTX_BIN} ${NUTTX_REALMODE_BIN}
     COMMENT "Building nuttx.mb1 multiboot1 image")
   add_custom_target(multiboot1 ALL DEPENDS ${NUTTX_MB1})

arch/xtensa/src/cmake/platform.cmake

@@ -19,7 +19,7 @@
 # the License.
 #
 # ##############################################################################
-get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${CMAKE_SOURCE_DIR}
+get_directory_property(TOOLCHAIN_DIR_FLAGS DIRECTORY ${NUTTX_DIR}
                                                      COMPILE_OPTIONS)
 
 set(NUTTX_EXTRA_FLAGS "")

binfmt/CMakeLists.txt

@@ -69,4 +69,4 @@ endif()
 
 target_sources(binfmt PRIVATE ${SRCS})
 target_include_directories(binfmt PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-target_include_directories(binfmt PRIVATE ${CMAKE_SOURCE_DIR}/sched)
+target_include_directories(binfmt PRIVATE ${NUTTX_DIR}/sched)

boards/CMakeLists.txt

@@ -32,8 +32,8 @@
 # ifeq ($(CUSTOM_KCONFIG),y) BOARD_KCONFIG = $(CUSTOM_KPATH) else BOARD_KCONFIG
 # = $(TOPDIR)$(DELIM)configs$(DELIM)dummy$(DELIM)dummy_kconfig endif
 
-file(WRITE ${CMAKE_BINARY_DIR}/dummy.c "")
-nuttx_add_kernel_library(board ${CMAKE_BINARY_DIR}/dummy.c)
+file(WRITE ${NUTTX_BINARY_DIR}/dummy.c "")
+nuttx_add_kernel_library(board ${NUTTX_BINARY_DIR}/dummy.c)
 
 # boardctl support
 
@@ -54,9 +54,9 @@ if(EXISTS ${NUTTX_BOARD_ABS_DIR}/../common/CMakeLists.txt)
 
   # Create link ARCH_SRC_BOARD_BOARD_SYMLINK
 
-  file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src/board)
+  file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH}/src/board)
   nuttx_create_symlink(${NUTTX_BOARD_ABS_DIR}/src
-                       ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src/board/board)
+                       ${NUTTX_BINARY_DIR}/arch/${CONFIG_ARCH}/src/board/board)
 endif()
 
 if(EXISTS ${NUTTX_BOARD_ABS_DIR}/../drivers/CMakeLists.txt)

boards/arm/cxd56xx/spresense/CMakeLists.txt

@@ -31,9 +31,9 @@ endif()
 
 ExternalProject_Add(
   nuttx_post_build
-  SOURCE_DIR ${CMAKE_SOURCE_DIR}/tools/cxd56
-  INSTALL_DIR ${CMAKE_BINARY_DIR}/tools/cxd56
-  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}
+  SOURCE_DIR ${NUTTX_DIR}/tools/cxd56
+  INSTALL_DIR ${NUTTX_BINARY_DIR}/tools/cxd56
+  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${NUTTX_BINARY_DIR}
   USES_TERMINAL_CONFIGURE true
   USES_TERMINAL_BUILD true
   USES_TERMINAL_INSTALL true
@@ -43,5 +43,5 @@ add_custom_command(
   TARGET nuttx_post_build
   POST_BUILD
   BYPRODUCTS nuttx.spk
-  COMMAND ${CMAKE_BINARY_DIR}/bin/mkspk -c2 nuttx nuttx nuttx.spk
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
+  COMMAND ${NUTTX_BINARY_DIR}/bin/mkspk -c2 nuttx nuttx nuttx.spk
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR})

boards/arm/rp2040/adafruit-feather-rp2040/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/adafruit-kb2040/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/adafruit-qt-py-rp2040/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/pimoroni-tiny2040/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/raspberrypi-pico-w/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/raspberrypi-pico/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/seeed-xiao-rp2040/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/w5500-evb-pico/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/waveshare-rp2040-lcd-1.28/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp2040/waveshare-rp2040-zero/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp23xx/pimoroni-pico-2-plus/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp23xx/pimoroni-pico-plus-2-w/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp23xx/raspberrypi-pico-2/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/arm/rp23xx/xiao-rp2350/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/risc-v/k230/canmv230/src/CMakeLists.txt

@@ -23,8 +23,8 @@
 set(SRCS canmv_init.c)
 
 if(CONFIG_BUILD_KERNEL)
-  if(EXISTS ${CMAKE_BINARY_DIR}/romfs_boot.c)
-    list(APPEND SRCS ${CMAKE_BINARY_DIR}/romfs_boot.c)
+  if(EXISTS ${NUTTX_BINARY_DIR}/romfs_boot.c)
+    list(APPEND SRCS ${NUTTX_BINARY_DIR}/romfs_boot.c)
   else()
     list(APPEND SRCS romfs_stub.c)
   endif()

boards/risc-v/rp23xx-rv/raspberrypi-pico-2-rv/CMakeLists.txt

@@ -25,7 +25,7 @@ add_subdirectory(src)
 add_custom_target(
   nuttx_post_build
   DEPENDS nuttx
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")
 
 # The uf2 command to convert ELF/BIN to UF2
@@ -35,6 +35,6 @@ add_custom_command(
   COMMAND picotool ARGS uf2 convert --quiet -t elf nuttx nuttx.uf2
   COMMAND_EXPAND_LISTS
   COMMAND ${CMAKE_COMMAND} -E echo "nuttx.uf2" >>
-          ${CMAKE_BINARY_DIR}/nuttx.manifest
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+          ${NUTTX_BINARY_DIR}/nuttx.manifest
+  WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
   COMMENT "Regenerate nuttx.uf2")

boards/sim/sim/sim/CMakeLists.txt

@@ -26,7 +26,7 @@ if(CONFIG_HOST_LINUX)
   add_custom_target(
     nuttx_post_build
     DEPENDS nuttx
-    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    WORKING_DIRECTORY ${NUTTX_BINARY_DIR}
     COMMAND ${CMAKE_COMMAND} -E make_directory sim-pac
     COMMAND ${CMAKE_COMMAND} -E make_directory sim-pac/libs
     COMMAND ${CMAKE_COMMAND} -E copy nuttx sim-pac/nuttx
@@ -34,8 +34,7 @@ if(CONFIG_HOST_LINUX)
             '{}' cp -v '{}' sim-pac/libs
     COMMAND readelf -l nuttx | grep "program interpreter" | awk -F':' '{print
                 $$2}' | cut -d"]" -f1 | xargs -I '{}' cp -v '{}' sim-pac
-    COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_SOURCE_DIR}/tools/simlaunch.sh
-            sim-pac
+    COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/tools/simlaunch.sh sim-pac
     COMMAND tar -czf nuttx.tgz sim-pac
     COMMENT "Pac SIM with dynamic libs in nuttx.tgz")
 endif()

boards/x86_64/qemu/qemu-intel64/src/CMakeLists.txt

@@ -35,7 +35,7 @@ if(CONFIG_BUILD_KERNEL)
   # depend on (cycle).
   add_custom_command(
     OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/romfs_boot.c
-    COMMAND genromfs -f romfs.img -d ${CMAKE_BINARY_DIR}/bin -V NuttXBootVol
+    COMMAND genromfs -f romfs.img -d ${NUTTX_BINARY_DIR}/bin -V NuttXBootVol
     COMMAND xxd -i romfs.img romfs_boot.c
     DEPENDS $<TARGET_PROPERTY:nuttx,NUTTX_LOADABLE_APPS>
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})

cmake/menuconfig.cmake

@@ -24,9 +24,9 @@
 # changes)
 
 set(KCONFIG_ENV
-    "KCONFIG_CONFIG=${CMAKE_BINARY_DIR}/.config" "EXTERNALDIR=dummy"
+    "KCONFIG_CONFIG=${NUTTX_BINARY_DIR}/.config" "EXTERNALDIR=dummy"
     "APPSDIR=${NUTTX_APPS_DIR}" "DRIVERS_PLATFORM_DIR=dummy"
-    "APPSBINDIR=${NUTTX_APPS_BINDIR}" "BINDIR=${CMAKE_BINARY_DIR}")
+    "APPSBINDIR=${NUTTX_APPS_BINDIR}" "BINDIR=${NUTTX_BINARY_DIR}")
 
 # Use qconfig instead of menuconfig since PowerShell not support curses
 # redirection
@@ -41,7 +41,7 @@ add_custom_target(
   menuconfig
   COMMAND ${CMAKE_COMMAND} -E env ${KCONFIG_ENV} ${MENUCONFIG}
   COMMAND ${CMAKE_COMMAND} -E remove -f
-          ${CMAKE_BINARY_DIR}/include/nuttx/config.h # invalidate existing
+          ${NUTTX_BINARY_DIR}/include/nuttx/config.h # invalidate existing
                                                      # config
   COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_PARENT_LIST_FILE}
   WORKING_DIRECTORY ${NUTTX_DIR}
@@ -53,20 +53,20 @@ add_custom_target(
   qconfig
   COMMAND ${CMAKE_COMMAND} -E env ${KCONFIG_ENV} guiconfig
   COMMAND ${CMAKE_COMMAND} -E remove -f
-          ${CMAKE_BINARY_DIR}/include/nuttx/config.h # invalidate existing
+          ${NUTTX_BINARY_DIR}/include/nuttx/config.h # invalidate existing
                                                      # config
   COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_PARENT_LIST_FILE}
   WORKING_DIRECTORY ${NUTTX_DIR}
   USES_TERMINAL)
 
-# Refresh ${CMAKE_BINARY_DIR}/.config in place (set defaults, satisfy deps),
+# Refresh ${NUTTX_BINARY_DIR}/.config in place (set defaults, satisfy deps),
 # like "make olddefconfig". Use after hand-editing .config; does not copy from
 # board defconfig (see resetconfig for that).
 add_custom_target(
   olddefconfig
   COMMAND ${CMAKE_COMMAND} -E env ${KCONFIG_ENV} olddefconfig
   COMMAND ${CMAKE_COMMAND} -E remove -f
-          ${CMAKE_BINARY_DIR}/include/nuttx/config.h
+          ${NUTTX_BINARY_DIR}/include/nuttx/config.h
   COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_PARENT_LIST_FILE}
   WORKING_DIRECTORY ${NUTTX_DIR})
 
@@ -74,10 +74,10 @@ add_custom_target(
 add_custom_target(
   resetconfig
   COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DEFCONFIG}
-          ${CMAKE_BINARY_DIR}/.config
+          ${NUTTX_BINARY_DIR}/.config
   COMMAND ${CMAKE_COMMAND} -E env ${KCONFIG_ENV} olddefconfig
-  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_BINARY_DIR}/.config
-          ${CMAKE_BINARY_DIR}/.config.orig
+  COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_BINARY_DIR}/.config
+          ${NUTTX_BINARY_DIR}/.config.orig
   COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_PARENT_LIST_FILE}
   WORKING_DIRECTORY ${NUTTX_DIR})
 
@@ -88,26 +88,26 @@ add_custom_target(
 add_custom_target(
   distcleanconfig
   COMMAND
-    ${CMAKE_COMMAND} -E remove -f ${CMAKE_BINARY_DIR}/.config
-    ${CMAKE_BINARY_DIR}/.config.orig ${CMAKE_BINARY_DIR}/.config.prev
-    ${CMAKE_BINARY_DIR}/include/nuttx/config.h
+    ${CMAKE_COMMAND} -E remove -f ${NUTTX_BINARY_DIR}/.config
+    ${NUTTX_BINARY_DIR}/.config.orig ${NUTTX_BINARY_DIR}/.config.prev
+    ${NUTTX_BINARY_DIR}/include/nuttx/config.h
   WORKING_DIRECTORY ${NUTTX_DIR})
 
 # utility target to refresh .config from board's defconfig for GITHUB
 add_custom_target(
   refreshsilent
-  COMMAND ${CMAKE_COMMAND} -E remove -f ${CMAKE_BINARY_DIR}/SAVEconfig
-  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_BINARY_DIR}/.config
-          ${CMAKE_BINARY_DIR}/SAVEconfig
-  COMMAND ${CMAKE_COMMAND} -E remove -f ${CMAKE_BINARY_DIR}/.config
+  COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_BINARY_DIR}/SAVEconfig
+  COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_BINARY_DIR}/.config
+          ${NUTTX_BINARY_DIR}/SAVEconfig
+  COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_BINARY_DIR}/.config
   COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DEFCONFIG}
-          ${CMAKE_BINARY_DIR}/.config
+          ${NUTTX_BINARY_DIR}/.config
   COMMAND ${CMAKE_COMMAND} -E env ${KCONFIG_ENV} olddefconfig
   COMMAND ${CMAKE_COMMAND} -E env ${KCONFIG_ENV} savedefconfig --out
-          ${CMAKE_BINARY_DIR}/defconfig.tmp
+          ${NUTTX_BINARY_DIR}/defconfig.tmp
   COMMAND ${CMAKE_COMMAND} -P ${NUTTX_DIR}/cmake/savedefconfig.cmake
-          ${CMAKE_BINARY_DIR}/.config ${CMAKE_BINARY_DIR}/defconfig.tmp
-  COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_BINARY_DIR}/defconfig
+          ${NUTTX_BINARY_DIR}/.config ${NUTTX_BINARY_DIR}/defconfig.tmp
+  COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_BINARY_DIR}/defconfig
           ${NUTTX_DEFCONFIG}
   WORKING_DIRECTORY ${NUTTX_DIR})
 
@@ -115,16 +115,15 @@ add_custom_target(
 add_custom_target(
   savedefconfig
   COMMAND ${CMAKE_COMMAND} -E env ${KCONFIG_ENV} savedefconfig --out
-          ${CMAKE_BINARY_DIR}/defconfig.tmp
+          ${NUTTX_BINARY_DIR}/defconfig.tmp
   COMMAND ${CMAKE_COMMAND} -P ${NUTTX_DIR}/cmake/savedefconfig.cmake
-          ${CMAKE_BINARY_DIR}/.config ${CMAKE_BINARY_DIR}/defconfig.tmp
+          ${NUTTX_BINARY_DIR}/.config ${NUTTX_BINARY_DIR}/defconfig.tmp
   COMMAND
-    ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/process_config.py
-    postprocess ${CMAKE_BINARY_DIR}/config_tree.json
-    ${CMAKE_BINARY_DIR}/defconfig.orig ${CMAKE_BINARY_DIR}/defconfig
-    ${CMAKE_BINARY_DIR}/defconfig.post
+    ${Python3_EXECUTABLE} ${NUTTX_DIR}/tools/process_config.py postprocess
+    ${NUTTX_BINARY_DIR}/config_tree.json ${NUTTX_BINARY_DIR}/defconfig.orig
+    ${NUTTX_BINARY_DIR}/defconfig ${NUTTX_BINARY_DIR}/defconfig.post
   COMMAND ${CMAKE_COMMAND} -E copy_if_different
-          ${CMAKE_BINARY_DIR}/defconfig.post ${NUTTX_DEFCONFIG}
+          ${NUTTX_BINARY_DIR}/defconfig.post ${NUTTX_DEFCONFIG}
   COMMAND ${CMAKE_COMMAND} -E copy_if_different
-          ${CMAKE_BINARY_DIR}/defconfig.post ${NUTTX_ORIG_DEFCONFIG}
+          ${NUTTX_BINARY_DIR}/defconfig.post ${NUTTX_ORIG_DEFCONFIG}
   WORKING_DIRECTORY ${NUTTX_DIR})

cmake/nuttx_add_application.cmake

@@ -30,12 +30,12 @@ define_property(
 
 # Create a directories for the application binaries `bin` for stripped binaries
 # `bin_debug` for debug binaries
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/bin)
-  file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+if(NOT EXISTS ${NUTTX_BINARY_DIR}/bin)
+  file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/bin)
 endif()
 
-if(NOT EXISTS ${CMAKE_BINARY_DIR}/bin_debug)
-  file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/bin_debug)
+if(NOT EXISTS ${NUTTX_BINARY_DIR}/bin_debug)
+  file(MAKE_DIRECTORY ${NUTTX_BINARY_DIR}/bin_debug)
 endif()
 
 # ~~~
@@ -176,7 +176,7 @@ function(nuttx_add_application)
           POST_BUILD
           COMMAND
             # add default link option
-            ${CMAKE_LD} -T ${CMAKE_BINARY_DIR}/gnu-elf.ld
+            ${CMAKE_LD} -T ${NUTTX_BINARY_DIR}/gnu-elf.ld
             # add global MOD link option if dynlib link
             $<$<BOOL:${DYNLIB_ELF_MODE}>:$<TARGET_PROPERTY:nuttx_global,NUTTX_MOD_APP_LINK_OPTIONS>>
             # add global ELF link option if m&kernel link
@@ -195,19 +195,19 @@ function(nuttx_add_application)
             $<TARGET_FILE:${TARGET}>
             $<$<NOT:$<BOOL:${USE_LINKER}>>:-Wl,>--no-whole-archive
             $<$<NOT:$<BOOL:${USE_LINKER}>>:-Wl,>--end-group -o
-            ${CMAKE_BINARY_DIR}/bin_debug/${ELF_NAME}
+            ${NUTTX_BINARY_DIR}/bin_debug/${ELF_NAME}
           COMMAND
-            ${CMAKE_COMMAND} -E copy ${CMAKE_BINARY_DIR}/bin_debug/${ELF_NAME}
-            ${CMAKE_BINARY_DIR}/bin/${ELF_NAME}
+            ${CMAKE_COMMAND} -E copy ${NUTTX_BINARY_DIR}/bin_debug/${ELF_NAME}
+            ${NUTTX_BINARY_DIR}/bin/${ELF_NAME}
             # keep the application attribute symbols through strip so the binary
             # loader can still read them, see NX_KEEP in Application.mk
           COMMAND
             ${CMAKE_STRIP} -K nx_stacksize -K nx_priority -K nx_uid -K nx_gid -K
-            nx_mode ${CMAKE_BINARY_DIR}/bin/${ELF_NAME}
+            nx_mode ${NUTTX_BINARY_DIR}/bin/${ELF_NAME}
             # match the Application.mk install rule: ld -r output is not marked
             # executable, but filesystem images built from bin/ must carry the
             # execute permission
-          COMMAND chmod +x ${CMAKE_BINARY_DIR}/bin/${ELF_NAME}
+          COMMAND chmod +x ${NUTTX_BINARY_DIR}/bin/${ELF_NAME}
           COMMENT "Building ELF:${ELF_NAME}"
           COMMAND_EXPAND_LISTS)
       else()

cmake/nuttx_add_library.cmake

@@ -37,8 +37,7 @@ function(nuttx_add_library_internal target)
 
   # add main include directories
   target_include_directories(
-    ${target} SYSTEM PRIVATE ${CMAKE_SOURCE_DIR}/include
-                             ${CMAKE_BINARY_DIR}/include)
+    ${target} SYSTEM PRIVATE ${NUTTX_DIR}/include ${NUTTX_BINARY_DIR}/include)
 
   # Set global compile options & definitions We use the "nuttx" target to hold
   # these properties so that libraries added after this property is set can read

cmake/nuttx_add_romfs.cmake

@@ -235,7 +235,7 @@ function(nuttx_add_cromfs)
             copy_directory ${PATH} cromfs_${NAME} \; fi
     COMMAND if \[ \"${FILES}\" != \"\" \]; then ${CMAKE_COMMAND} -E copy
             ${FILES} cromfs_${NAME} \; fi
-    COMMAND ${CMAKE_BINARY_DIR}/bin_host/gencromfs cromfs_${NAME}
+    COMMAND ${NUTTX_BINARY_DIR}/bin_host/gencromfs cromfs_${NAME}
             cromfs_${NAME}.c
     DEPENDS ${DEPENDS})
 
@@ -353,12 +353,12 @@ function(process_all_directory_romfs)
     # Build mkpasswd.c as a host binary in the CMake build directory and keep
     # the source tree clean.
     set(MKPASSWD_SRC ${NUTTX_DIR}/tools/mkpasswd.c)
-    set(MKPASSWD_BIN ${CMAKE_BINARY_DIR}/tools/mkpasswd${HOST_EXE_SUFFIX})
+    set(MKPASSWD_BIN ${NUTTX_BINARY_DIR}/tools/mkpasswd${HOST_EXE_SUFFIX})
 
     if(NOT TARGET build_host_mkpasswd)
       add_custom_command(
         OUTPUT ${MKPASSWD_BIN}
-        COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_BINARY_DIR}/tools
+        COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_BINARY_DIR}/tools
         COMMAND ${HOST_CC} -o ${MKPASSWD_BIN} ${MKPASSWD_SRC}
         DEPENDS ${MKPASSWD_SRC}
         COMMENT "Building host tool: mkpasswd")

cmake/nuttx_add_symtab.cmake

@@ -87,7 +87,7 @@ function(nuttx_add_symtab)
     DEPENDS symtab_${NAME}_dat)
 
   # generate code which instantiates the symbol table
-  configure_file(${CMAKE_SOURCE_DIR}/cmake/symtab.c.in symtab_${NAME}.c @ONLY)
+  configure_file(${NUTTX_DIR}/cmake/symtab.c.in symtab_${NAME}.c @ONLY)
 
   # define an internal library to build the symtab file on its own
   add_library(symtab_${NAME} OBJECT

cmake/nuttx_export_header.cmake

@@ -111,7 +111,7 @@ function(nuttx_export_header)
     ${ARGN})
 
   # destination directory to be exported by install
-  set(EXPORT_PATH_PREFIX ${CMAKE_BINARY_DIR}/staging/include/${TARGET})
+  set(EXPORT_PATH_PREFIX ${NUTTX_BINARY_DIR}/staging/include/${TARGET})
   # destination directory origin compile
   set(INCLUDE_PATH_PREFIX ${NUTTX_APPS_BINDIR}/include/${TARGET})