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891# ##############################################################################
# CMakeLists.txt
#
# SPDX-License-Identifier: Apache-2.0
#
# Licensed to the Apache Software Foundation (ASF) under one or more contributor
# license agreements. See the NOTICE file distributed with this work for
# additional information regarding copyright ownership. The ASF licenses this
# file to you under the Apache License, Version 2.0 (the "License"); you may not
# use this file except in compliance with the License. You may obtain a copy of
# the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations under
# the License.
#
# ##############################################################################
# ~~~
# Instructions:
# - Run CMake from the user project directory:
# cmake -S <nuttx-dir> -B <build-directory> -DBOARD_CONFIG=<board>
# - NuttX will look for the nuttx-apps repository from its parent folder
# i.e., ../nuttx-apps.
# - A custom directory can be specified with -DNUTTX_APPS_DIR=<apps-dir>.
# - Build the user project with:
# cmake --build <build-dir>
# ~~~
# Request a version available on latest Ubuntu LTS (20.04)
cmake_minimum_required(VERSION 3.16)
# Handle newer CMake versions correctly by setting policies
if(POLICY CMP0115)
# do not auto-guess extension in target_sources()
cmake_policy(SET CMP0115 NEW)
endif()
# Avoid warning about DOWNLOAD_EXTRACT_TIMESTAMP in CMake 3.24:
if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24.0")
cmake_policy(SET CMP0135 NEW)
endif()
if(POLICY CMP0169)
# allow to call FetchContent_Populate directly
cmake_policy(SET CMP0169 OLD)
endif()
# Find Python 3 interpreter
find_package(Python3 REQUIRED COMPONENTS Interpreter)
if(NOT Python3_Interpreter_FOUND)
message(FATAL_ERROR "Did NOT find Python interpreter.")
endif()
# Basic CMake configuration ##################################################
set(CMAKE_CXX_EXTENSIONS OFF)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Setup build type (Debug Release RelWithDebInfo MinSizeRel Coverage). Default
# to minimum size release
# Use nuttx optimization configuration options, workaround for cmake build type
# TODO Integration the build type with CMAKE
# if (NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE "MinSizeRel" CACHE STRING
# "Build type" FORCE) endif() set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
# STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel")
# Process board config & directory locations #################################
set(NUTTX_DIR ${CMAKE_CURRENT_SOURCE_DIR})
# uncleaned previous make build can cause various types of cmake error
if(EXISTS "${NUTTX_DIR}/.config")
message(
FATAL_ERROR "Please distclean previous make build with `make distclean`")
endif()
if(NOT DEFINED BOARD_CONFIG)
message(FATAL_ERROR "Please define configuration with BOARD_CONFIG")
endif()
find_program(KCONFIGLIB olddefconfig)
if(NOT KCONFIGLIB)
# cmake-format: off
message(
FATAL_ERROR "Kconfig environment depends on kconfiglib, Please install:
(APT source)
$ sudo apt install python3-kconfiglib
or (pip source)
$ pip install kconfiglib
or (After Ubuntu 24.04)
$ pip install kconfiglib --break-system-packages")
# cmake-format: on
endif()
# BOARD CONFIG can be set to directory path, or <board-name>[/:]<config-name>
# configuration pair
if((EXISTS ${BOARD_CONFIG} AND EXISTS ${BOARD_CONFIG}/defconfig)
OR (EXISTS ${NUTTX_DIR}/${BOARD_CONFIG}
AND EXISTS ${NUTTX_DIR}/${BOARD_CONFIG}/defconfig))
get_filename_component(NUTTX_BOARD_ABS_DIR ${BOARD_CONFIG} ABSOLUTE BASE_DIR
${NUTTX_DIR})
string(REPLACE "/" ";" CONFIG_ARRAY ${NUTTX_BOARD_ABS_DIR})
list(LENGTH CONFIG_ARRAY CONFIG_ARRAY_LENGTH)
if(${CONFIG_ARRAY_LENGTH} LESS 4)
message(FATAL_ERROR "Please define correct board config : ${BOARD_CONFIG}")
endif()
math(EXPR NUTTX_CONFIG_INDEX "${CONFIG_ARRAY_LENGTH} - 1")
math(EXPR NUTTX_BOARD_INDEX "${CONFIG_ARRAY_LENGTH} - 3")
list(GET CONFIG_ARRAY ${NUTTX_BOARD_INDEX} NUTTX_BOARD)
list(GET CONFIG_ARRAY ${NUTTX_CONFIG_INDEX} NUTTX_CONFIG)
string(REGEX REPLACE "(.*)/(.*)/${NUTTX_CONFIG}" "\\1" NUTTX_BOARD_DIR
${NUTTX_BOARD_ABS_DIR})
set(NUTTX_DEFCONFIG ${NUTTX_BOARD_ABS_DIR}/defconfig)
else()
if(BOARD_CONFIG MATCHES "/")
set(MATCH_REGEX "/")
else()
set(MATCH_REGEX ":")
endif()
string(REPLACE ${MATCH_REGEX} ";" CONFIG_ARRAY ${BOARD_CONFIG})
list(LENGTH CONFIG_ARRAY CONFIG_ARRAY_LENGTH)
if(${CONFIG_ARRAY_LENGTH} LESS 2)
message(FATAL_ERROR "Please define correct board config : ${BOARD_CONFIG}")
endif()
list(GET CONFIG_ARRAY 0 NUTTX_BOARD)
list(GET CONFIG_ARRAY 1 NUTTX_CONFIG)
file(
GLOB NUTTX_BOARD_DIR
LIST_DIRECTORIES true
"${NUTTX_DIR}/boards/*/*/${NUTTX_BOARD}")
if(EXISTS ${NUTTX_BOARD_DIR}/configs/${NUTTX_CONFIG}/defconfig)
set(NUTTX_DEFCONFIG ${NUTTX_BOARD_DIR}/configs/${NUTTX_CONFIG}/defconfig)
endif()
endif()
if("${NUTTX_CONFIG}" STREQUAL "")
message(FATAL_ERROR "Please define correct board config : ${NUTTX_CONFIG}")
endif()
if(NOT EXISTS "${NUTTX_DEFCONFIG}")
message(FATAL_ERROR "No config file found at ${NUTTX_DEFCONFIG}")
endif()
# Process initial defconfig ###################################################
# Process initial defconfig to recursively expand #include in it
include(nuttx_process_config)
# Generate initial .config ###################################################
# This is needed right before any other configure step so that we can source
# Kconfig variables into CMake variables
# The following commands need these variables to be passed via environment
include(nuttx_kconfig)
nuttx_export_kconfig_by_value(${NUTTX_DEFCONFIG} "CONFIG_APPS_DIR")
if((NOT NUTTX_APPS_DIR) AND (NOT CONFIG_APPS_DIR))
if(EXISTS "${NUTTX_DIR}/../apps")
set(NUTTX_APPS_DIR "${NUTTX_DIR}/../apps")
elseif(EXISTS "${NUTTX_DIR}/../nuttx-apps")
set(NUTTX_APPS_DIR "${NUTTX_DIR}/../nuttx-apps")
else()
message(
WARNING
"apps/nuttx-apps directory is not found, use dummy directory instead")
set(NUTTX_APPS_DIR "${NUTTX_DIR}/dummy")
endif()
else()
set(NUTTX_APPS_DIR ${CONFIG_APPS_DIR})
set(CONFIG_APPS_DIR)
endif()
if(NOT EXISTS "${NUTTX_APPS_DIR}")
message(FATAL_ERROR "Application directory ${NUTTX_APPS_DIR} is not found")
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}/${apps_dir}")
# Support not having application directory
if("${apps_dir}" STREQUAL "dummy")
file(MAKE_DIRECTORY ${NUTTX_APPS_BINDIR})
file(TOUCH ${NUTTX_APPS_BINDIR}/Kconfig)
endif()
set(ENV{PYTHONPYCACHEPREFIX} ${CMAKE_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{EXTERNALDIR} dummy) # TODO
set(ENV{DRIVERS_PLATFORM_DIR} dummy) # TODO
set(ENV{HOST_LINUX} n)
set(ENV{HOST_MACOS} n)
set(ENV{HOST_BSD} n)
set(ENV{HOST_WINDOWS} n)
set(ENV{HOST_OTHER} n)
include(nuttx_sethost)
include(nuttx_parse_function_args)
include(nuttx_add_subdirectory)
include(nuttx_create_symlink)
# Add apps/ to the build (if present)
if(NOT EXISTS ${NUTTX_APPS_BINDIR}/Kconfig)
add_subdirectory(${NUTTX_APPS_DIR} preapps)
endif()
nuttx_export_kconfig(${NUTTX_DEFCONFIG})
if(CONFIG_ARCH_BOARD_CUSTOM)
get_filename_component(NUTTX_BOARD_DIR ${CONFIG_ARCH_BOARD_CUSTOM_DIR}
ABSOLUTE BASE_DIR ${NUTTX_DIR})
endif()
if("${NUTTX_BOARD_DIR}" STREQUAL "")
message(FATAL_ERROR "Please define correct board : ${NUTTX_BOARD_DIR}")
endif()
if(NOT EXISTS "${NUTTX_BOARD_DIR}/CMakeLists.txt"
AND NOT EXISTS "${NUTTX_BOARD_DIR}/../common/CMakeLists.txt")
message(FATAL_ERROR "No CMakeLists.txt found at ${NUTTX_BOARD_DIR}")
endif()
# Custom board ###################################################
file(MAKE_DIRECTORY ${CMAKE_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})
else()
set(NUTTX_BOARD_ABS_DIR ${NUTTX_BOARD_DIR})
endif()
# check if board custom dir points to NuttX upstream board. This is useful when
# an out-of-tree configuration uses an upstream board directory
string(FIND "${CONFIG_ARCH_BOARD_CUSTOM_DIR}" "boards/" IS_NUTTX_BOARD)
# link dummy/Kconfig only if this is not upstream board otherwise the same
# Kconfig file is included twice which cause CMake warnings
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)
else()
file(TOUCH ${CMAKE_BINARY_DIR}/boards/dummy/Kconfig)
endif()
# board platform driver
file(MAKE_DIRECTORY ${CMAKE_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)
else()
file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/drivers/platform)
file(TOUCH ${CMAKE_BINARY_DIR}/drivers/platform/Kconfig)
endif()
# Custom chip ###################################################
if(CONFIG_ARCH_CHIP_CUSTOM)
get_filename_component(NUTTX_CHIP_ABS_DIR ${CONFIG_ARCH_CHIP_CUSTOM_DIR}
ABSOLUTE BASE_DIR ${NUTTX_DIR})
set(NUTTX_CHIP_ABS_DIR ${NUTTX_CHIP_ABS_DIR})
else()
set(NUTTX_CHIP_ABS_DIR
"${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)
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)
else()
file(TOUCH ${CMAKE_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)
endif()
if(NOT EXISTS ${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src/chip)
nuttx_create_symlink(${NUTTX_CHIP_ABS_DIR}
${CMAKE_BINARY_DIR}/arch/${CONFIG_ARCH}/src/chip)
endif()
# Unsupported custom board/chips yet, workaround
if(NOT EXISTS ${NUTTX_APPS_BINDIR}/platform/board/Kconfig)
file(MAKE_DIRECTORY ${NUTTX_APPS_BINDIR}/platform/board)
file(TOUCH ${NUTTX_APPS_BINDIR}/platform/board/Kconfig)
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
"${NUTTX_DEFCONFIG_SAVED}")
message(STATUS "Initializing NuttX")
configure_file(${NUTTX_DEFCONFIG} defconfig COPYONLY)
configure_file(${NUTTX_DEFCONFIG} .config.compressed COPYONLY)
set(ENV{KCONFIG_CONFIG} ${CMAKE_BINARY_DIR}/.config.compressed)
# 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} ${CMAKE_BINARY_DIR}/.config)
# store original expanded .config
configure_file(${CMAKE_BINARY_DIR}/.config ${CMAKE_BINARY_DIR}/.config.orig
COPYONLY)
# We define host
nuttx_sethost()
set(NUTTX_DEFCONFIG_SAVED
${NUTTX_DEFCONFIG}
CACHE INTERNAL "Saved defconfig path" FORCE)
# Print configuration choices
message(STATUS " CMake: ${CMAKE_VERSION}")
if(CMAKE_GENERATOR MATCHES "Ninja")
execute_process(
COMMAND ninja --version
OUTPUT_VARIABLE ninja_version
OUTPUT_STRIP_TRAILING_WHITESPACE)
message(STATUS " Ninja: ${ninja_version}")
# Ninja generator does not yet know how to build archives in pieces, so
# response files must be used to deal with very long linker command lines.
set(CMAKE_NINJA_FORCE_RESPONSE_FILE
1
CACHE INTERNAL "")
endif()
message(STATUS " Board: ${NUTTX_BOARD}")
message(STATUS " Config: ${NUTTX_CONFIG}")
message(STATUS " Appdir: ${NUTTX_APPS_DIR}")
endif()
# declare global custom targets at very beginning `nuttx_global` is used to hold
# global target properties to solve that cmake GLOBAL property can not use
# generator expression this is needed to make sure added before project() create
# before Toolchain file added before all cmake modules are loaded
add_custom_target(nuttx_global)
# Include .cmake files #######################################################
# this exposes all Kconfig vars to CMake
nuttx_export_kconfig(${CMAKE_BINARY_DIR}/.config)
include(nuttx_generate_headers)
include(nuttx_generate_outputs)
include(nuttx_add_library)
# add NuttX CMake extension after nuttx_add_library
include(nuttx_extensions)
include(nuttx_add_application)
include(nuttx_add_romfs)
include(nuttx_add_symtab)
include(nuttx_add_module)
include(nuttx_add_dependencies)
include(nuttx_export_header)
include(nuttx_remove_compile_options)
include(nuttx_source_file_properties)
include(menuconfig)
include(ExternalProject)
include(FetchContent)
set(FETCHCONTENT_QUIET OFF)
# Board common directory #####################################################
if(CONFIG_ARCH_BOARD_COMMON)
file(
GLOB NUTTX_COMMON_DIR
LIST_DIRECTORIES true
"${NUTTX_DIR}/boards/${CONFIG_ARCH}/${CONFIG_ARCH_CHIP}/common")
endif()
# Setup ccache ###############################################################
if(CONFIG_CCACHE)
find_program(CCACHE_PROGRAM ccache)
if(CCACHE_PROGRAM)
message(STATUS "Using ccache: ${CCACHE_PROGRAM}")
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
else()
message(STATUS "Could not find ccache, skipping!")
endif()
endif()
# Setup toolchain ############################################################
# This needs to happen before project() when binaries are searched for
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/arch/${CONFIG_ARCH}/src/cmake)
set(CMAKE_TOOLCHAIN_FILE
"${CMAKE_SOURCE_DIR}/arch/${CONFIG_ARCH}/src/cmake/Toolchain.cmake")
# Define project #############################################################
# This triggers configuration
project(NuttX LANGUAGES C CXX ASM)
# include common toolchain setting
include(nuttx_toolchain)
if(WIN32)
enable_language(ASM_MASM)
endif()
# Setup platform options (this needs to happen after project(), once the
# toolchain file has been processed)
# Support board Toolchain options
if(EXISTS ${NUTTX_BOARD_ABS_DIR}/cmake
AND EXISTS ${NUTTX_BOARD_ABS_DIR}/cmake/Toolchain.cmake)
# must be added AFTER ToolchainFile and BEFORE platform
include(${NUTTX_BOARD_ABS_DIR}/cmake/Toolchain.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)
endif()
include(platform)
if(CONFIG_ARCH_TOOLCHAIN_TASKING)
if(CONFIG_INTELHEX_BINARY)
add_link_options(-Wl-onuttx.hex:IHEX:4 --hex-format=s)
endif()
if(CONFIG_MOTOROLA_SREC)
add_link_options(-Wl-onuttx.srec:SREC:4)
endif()
endif()
if(MSVC)
add_compile_options(
-W2
-wd4116 # unnamed type definition in parentheses
-wd4146 # unary minus operator applied to unsigned type, result still
# unsigned
-wd4244 # 'argument' : conversion from 'type1' to 'type2', possible loss of
# data
-wd4305 # 'context' : truncation from 'type1' to 'type2'
)
elseif(NOT CONFIG_ARCH_TOOLCHAIN_TASKING)
add_compile_options(
# system wide warnings
-Wall $<$<COMPILE_LANGUAGE:C>:-Wstrict-prototypes> -Wshadow -Wundef
# system wide options
$<$<COMPILE_LANGUAGE:ASM>:-D__ASSEMBLY__>)
endif()
if(CONFIG_NDEBUG)
add_compile_options(-DNDEBUG)
endif()
add_definitions(-D__NuttX__)
add_compile_options($<$<COMPILE_LANGUAGE:ASM>:-D__ASSEMBLY__>)
# Setup main nuttx target ####################################################
add_executable(nuttx)
add_custom_target(nuttx_post)
if(CONFIG_BUILD_PROTECTED)
add_executable(nuttx_user)
add_dependencies(nuttx_post nuttx_user)
nuttx_add_library_internal(nuttx_user)
endif()
if(CONFIG_ALLSYMS OR CONFIG_MM_KASAN_GLOBAL)
include(nuttx_multiple_link)
endif()
add_dependencies(nuttx nuttx_context)
add_dependencies(nuttx_post nuttx)
if(WIN32)
set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT
nuttx)
endif()
if(CONFIG_ARCH_SIM)
# Create separate sim_head OBJECT library built as part of NuttX kernel It
# must be separated to allow for linking against the rest of NuttX libraries
add_library(sim_head OBJECT)
nuttx_add_library_internal(sim_head)
get_property(
definitions
TARGET nuttx
PROPERTY NUTTX_KERNEL_DEFINITIONS)
target_compile_definitions(sim_head PRIVATE ${definitions})
get_property(
options
TARGET nuttx
PROPERTY NUTTX_KERNEL_COMPILE_OPTIONS)
target_compile_options(sim_head PRIVATE ${options})
target_compile_options(sim_head PRIVATE -fvisibility=default)
# We need the relocatable object to be first in the list of libraries to be
# linked against final nuttx binary
if(NOT WIN32)
target_link_libraries(nuttx PRIVATE ${CMAKE_BINARY_DIR}/nuttx.rel)
endif()
else()
# These flags apply to source files not part of the library. In sim build this
# corresponds to "host" files, so we only do this on non-sim build
target_compile_definitions(
nuttx
PRIVATE $<GENEX_EVAL:$<TARGET_PROPERTY:nuttx,NUTTX_COMPILE_DEFINITIONS>>)
target_compile_options(
nuttx PRIVATE $<GENEX_EVAL:$<TARGET_PROPERTY:nuttx,NUTTX_COMPILE_OPTIONS>>)
endif()
set_property(
TARGET nuttx
APPEND
PROPERTY NUTTX_KERNEL_DEFINITIONS __KERNEL__)
# Recurse subdirectories #####################################################
# Each subdirectory will generate a static library
if(CONFIG_OPENAMP)
include_directories(${CMAKE_SOURCE_DIR}/openamp/open-amp/lib/include)
endif()
add_subdirectory(openamp)
add_subdirectory(arch)
add_subdirectory(audio)
add_subdirectory(binfmt)
add_subdirectory(crypto)
add_subdirectory(drivers)
add_subdirectory(fs)
add_subdirectory(graphics)
add_subdirectory(libs)
add_subdirectory(mm)
add_subdirectory(net)
add_subdirectory(sched)
add_subdirectory(syscall)
add_subdirectory(wireless)
# This picks up the chosen board (as well as common board code)
add_subdirectory(boards)
# POSTBUILD -- Perform post build operations Some architectures require the use
# of special tools and special handling AFTER building the NuttX binary.
# Make.defs files for those architectures should override the following define
# with the correct operations for that platform
if(TARGET nuttx_post_build)
# ensure thae the custom post build is executed after all steps of the nuttx
# build are completed
add_dependencies(nuttx_post_build nuttx_post)
add_custom_target(post_build ALL DEPENDS nuttx_post_build)
endif()
# Add apps/ to the build (if present)
if(EXISTS ${NUTTX_APPS_DIR}/CMakeLists.txt)
add_subdirectory(${NUTTX_APPS_DIR} apps)
else()
message(
STATUS "Application directory not found at ${NUTTX_APPS_DIR}, skipping")
endif()
# after we traverse all build directories unify all target dependencies and all
# romfs target
process_all_target_dependencies()
process_all_directory_romfs()
# Link step ##################################################################
# Get linker script to use
get_property(ldscript GLOBAL PROPERTY LD_SCRIPT)
# Pre-compile linker script
if(NOT CONFIG_ARCH_SIM)
get_filename_component(LD_SCRIPT_NAME ${ldscript} NAME)
set(LD_SCRIPT_TMP "${CMAKE_BINARY_DIR}/${LD_SCRIPT_NAME}.tmp")
nuttx_generate_preprocess_target(SOURCE_FILE ${ldscript} TARGET_FILE
${LD_SCRIPT_TMP})
add_custom_target(ldscript_tmp DEPENDS ${LD_SCRIPT_TMP})
add_dependencies(nuttx ldscript_tmp)
set(ldscript ${LD_SCRIPT_TMP})
endif()
# Perform link
# Add empty source file to nuttx target since cmake requires at least one file
# and we will only be linking libraries
if(CONFIG_HAVE_CXX)
file(TOUCH "${CMAKE_CURRENT_BINARY_DIR}/empty.cxx")
target_sources(nuttx PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/empty.cxx")
else()
file(TOUCH "${CMAKE_CURRENT_BINARY_DIR}/empty.c")
target_sources(nuttx PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/empty.c")
endif()
# initialize manifest to hold all generated files
file(TOUCH ${CMAKE_BINARY_DIR}/nuttx.manifest)
get_property(nuttx_kernel_libs GLOBAL PROPERTY NUTTX_KERNEL_LIBRARIES)
get_property(nuttx_extra_libs GLOBAL PROPERTY NUTTX_EXTRA_LIBRARIES)
if(CONFIG_BUILD_FLAT)
get_property(nuttx_system_libs GLOBAL PROPERTY NUTTX_SYSTEM_LIBRARIES)
get_property(nuttx_apps_libs GLOBAL PROPERTY NUTTX_APPS_LIBRARIES)
endif()
set(nuttx_libs ${nuttx_kernel_libs} ${nuttx_system_libs} ${nuttx_apps_libs}
${nuttx_extra_libs})
if(NOT CONFIG_ARCH_SIM)
# TODO: nostart/nodefault not applicable to nuttx toolchain
if(CONFIG_ARCH_TOOLCHAIN_TASKING)
target_link_libraries(nuttx PRIVATE --lsl-file=${ldscript} ${nuttx_libs})
# Remove executable suffix
set(CMAKE_EXECUTABLE_SUFFIX "")
else()
target_link_libraries(
nuttx
PRIVATE ${NUTTX_EXTRA_FLAGS}
-T
${ldscript}
$<$<NOT:$<BOOL:${DISABLE_LINK_GROUP}>>:-Wl,--start-group>
${nuttx_libs}
$<$<NOT:$<BOOL:${DISABLE_LINK_GROUP}>>:-Wl,--end-group>)
endif()
# generate binary outputs in different formats (.bin, .hex, etc)
nuttx_generate_outputs(nuttx)
if(CONFIG_UBOOT_UIMAGE)
add_custom_command(
OUTPUT uImage
COMMAND
${MKIMAGE} -A ${CONFIG_ARCH} -O linux -C none -T kernel -a
${CONFIG_UIMAGE_LOAD_ADDRESS} -e ${CONFIG_UIMAGE_ENTRY_POINT} -n nuttx
-d nuttx.bin uImage
DEPENDS nuttx)
add_custom_target(nuttx-uImage ALL DEPENDS uImage)
# TODO: install? $(Q) if [ -w /tftpboot ] ; then \ cp -f uImage
# /tftpboot/uImage; \ fi
file(APPEND ${CMAKE_BINARY_DIR}/nuttx.manifest uImage)
endif()
elseif(WIN32)
target_link_options(nuttx PUBLIC /SAFESEH:NO)
math(EXPR LINK_STACKSIZE
"${CONFIG_SIM_STACKSIZE_ADJUSTMENT} + ${CONFIG_IDLETHREAD_STACKSIZE}"
OUTPUT_FORMAT DECIMAL)
target_link_options(nuttx PUBLIC /STACK:${LINK_STACKSIZE},${LINK_STACKSIZE})
if("${CMAKE_GENERATOR_PLATFORM}" STREQUAL "x64")
target_link_options(nuttx PUBLIC /LARGEADDRESSAWARE:NO)
endif()
set(nuttx_libs_paths)
foreach(lib ${nuttx_libs})
list(APPEND nuttx_libs_paths $<TARGET_FILE:${lib}>)
endforeach()
add_custom_command(
OUTPUT ${CMAKE_BINARY_DIR}/nuttx_all.lib
COMMAND ${CMAKE_AR} /OUT:${CMAKE_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_dependencies(nuttx nuttx_all-lib)
target_link_libraries(nuttx PRIVATE $<TARGET_OBJECTS:sim_head>
${CMAKE_BINARY_DIR}/nuttx_all.lib)
else()
if(NOT APPLE)
# generate SIM ld.script for cheat C++ global construction
include(nuttx_generate_sim_ld)
endif()
# On sim platform the link step is a little different. NuttX is first built
# into a partially linked relocatable object nuttx.rel with no interface to
# host OS. Then, the names of symbols that conflict with libc symbols are
# renamed. The final nuttx binary is built by linking the host-specific
# objects with the relocatable binary.
include(nuttx_redefine_symbols)
# TODO: do with single function call?
set(nuttx_libs_paths)
foreach(lib ${nuttx_libs})
list(APPEND nuttx_libs_paths $<TARGET_FILE:${lib}>)
endforeach()
if(APPLE)
add_custom_command(
OUTPUT nuttx.rel
COMMAND
${CMAKE_LINKER} ARGS -r $<$<BOOL:${CONFIG_SIM_M32}>:-m32>
$<TARGET_OBJECTS:sim_head> $<$<NOT:$<BOOL:${APPLE}>>:-Wl,--start-group>
${nuttx_libs_paths} $<$<NOT:$<BOOL:${APPLE}>>:-Wl,--end-group> -o
nuttx.rel
DEPENDS ${nuttx_libs} sim_head
COMMAND_EXPAND_LISTS)
else()
add_custom_command(
OUTPUT nuttx.rel
COMMAND
${CMAKE_C_COMPILER} ARGS -r $<$<BOOL:${CONFIG_SIM_M32}>:-m32>
$<$<BOOL:${CONFIG_HOST_LINUX}>:-Wl,-z,noexecstack>
$<TARGET_OBJECTS:sim_head> $<$<NOT:$<BOOL:${APPLE}>>:-Wl,--start-group>
${nuttx_libs_paths} $<$<NOT:$<BOOL:${APPLE}>>:-Wl,--end-group> -o
nuttx.rel
COMMAND ${CMAKE_OBJCOPY} --redefine-syms=nuttx-names.dat nuttx.rel
DEPENDS ${nuttx_libs} sim_head sim_redefine_symbols
COMMAND_EXPAND_LISTS)
endif()
add_custom_target(nuttx-rel DEPENDS nuttx.rel
$<$<NOT:$<BOOL:${APPLE}>>:nuttx.ld>)
# link the final nuttx binary
add_dependencies(nuttx nuttx-rel)
target_link_options(nuttx PUBLIC $<$<NOT:$<BOOL:${APPLE}>>:-T nuttx.ld>
$<$<BOOL:${CONFIG_SIM_M32}>:-m32>)
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")
endif()
# Generate system map using the compiler toolchain. Conventionally, the tool
# which dump symbols are called nm, though, some compiler toolchain may have a
# different name.
if(NOT CMAKE_HOST_WIN32)
add_custom_command(
OUTPUT System.map
COMMAND
${CMAKE_NM} nuttx | grep -v
'\(compiled\)\|\(\${CMAKE_C_OUTPUT_EXTENSION}$$\)\|\( [aUw] \)\|\(\.\.ng$$\)\|\(LASH[RL]DI\)'
| sort > System.map
DEPENDS nuttx)
add_custom_target(systemmap ALL DEPENDS System.map)
add_dependencies(nuttx_post systemmap)
endif()
# Userspace portion ##########################################################
if(CONFIG_BUILD_PROTECTED)
get_property(nuttx_system_libs GLOBAL PROPERTY NUTTX_SYSTEM_LIBRARIES)
get_property(nuttx_apps_libs GLOBAL PROPERTY NUTTX_APPS_LIBRARIES)
get_property(nuttx_user_extra_libs GLOBAL PROPERTY NUTTX_USER_EXTRA_LIBRARIES)
get_property(user_ldscript GLOBAL PROPERTY LD_SCRIPT_USER)
# Pre-compile linker script
get_filename_component(LD_SCRIPT_USER_NAME ${user_ldscript} NAME)
set(LD_SCRIPT_USER_TMP "${CMAKE_BINARY_DIR}/${LD_SCRIPT_USER_NAME}.tmp")
nuttx_generate_preprocess_target(SOURCE_FILE ${user_ldscript} TARGET_FILE
${LD_SCRIPT_USER_TMP})
add_custom_target(user_ldscript_tmp DEPENDS ${LD_SCRIPT_USER_TMP})
add_dependencies(nuttx_user user_ldscript_tmp)
set(user_ldscript ${LD_SCRIPT_USER_TMP})
# reset link options that don't fit userspace
get_target_property(nuttx_user_LINK_OPTIONS nuttx_user LINK_OPTIONS)
list(REMOVE_ITEM nuttx_user_LINK_OPTIONS "-Wl,--cref")
list(REMOVE_ITEM nuttx_user_LINK_OPTIONS "-Wl,-Map=nuttx.map")
if(CONFIG_ARCH_TOOLCHAIN_GHS)
list(REMOVE_ITEM nuttx_user_LINK_OPTIONS "-entry=__start")
list(REMOVE_ITEM nuttx_user_LINK_OPTIONS "-map=nuttx.map")
list(APPEND nuttx_user_LINK_OPTIONS "-map=nuttx_user.map")
else()
list(REMOVE_ITEM nuttx_user_LINK_OPTIONS "-Wl,--entry=__start")
list(APPEND nuttx_user_LINK_OPTIONS "-Wl,-Map=nuttx_user.map")
endif()
set_target_properties(nuttx_user PROPERTIES LINK_OPTIONS
"${nuttx_user_LINK_OPTIONS}")
if(CONFIG_ARCH_TOOLCHAIN_GHS)
target_link_options(nuttx_user PRIVATE -nostartfiles -minlib
-entry=${CONFIG_INIT_ENTRYPOINT})
else()
target_link_options(
nuttx_user PRIVATE -nostartfiles -nodefaultlibs
-Wl,--entry=${CONFIG_INIT_ENTRYPOINT}
-Wl,--undefined=${CONFIG_INIT_ENTRYPOINT})
endif()
target_link_libraries(
nuttx_user
PRIVATE -T
${user_ldscript}
$<$<NOT:$<BOOL:${DISABLE_LINK_GROUP}>>:-Wl,--start-group>
${nuttx_system_libs}
${nuttx_apps_libs}
${nuttx_user_extra_libs}
$<$<BOOL:${CONFIG_HAVE_CXX}>:supc++>
$<$<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)
add_custom_command(
OUTPUT User.map
COMMAND ${CMAKE_NM} nuttx_user > User.map
DEPENDS nuttx_user)
add_custom_target(usermap ALL DEPENDS User.map)
add_dependencies(nuttx_post usermap)
# generate binary outputs in different formats (.bin, .hex, etc)
nuttx_generate_outputs(nuttx_user)
# create merged .hex file ready to be flashed TODO: does not seem to be
# generating a functional hex file
if(CONFIG_INTELHEX_BINARY AND SREC_CAT)
add_custom_command(
OUTPUT nuttx_combined.hex
COMMAND ${SREC_CAT} nuttx.hex -intel nuttx_user.hex -intel -o
nuttx_combined.hex -intel
DEPENDS nuttx_user nuttx)
add_custom_target(nuttx-combined ALL DEPENDS nuttx_combined.hex)
endif()
# TODO: could also merge elf binaries
endif()
if(CONFIG_BUILD_KERNEL)
# TODO: generate nuttx-export-xxx.tar.gz for userland development
endif()