How To Compile A Kernel - The Ubuntu Way

本文档详细介绍了如何在Ubuntu系统上从源代码编译内核,包括所需步骤如安装必要的软件包、下载内核源代码、配置内核选项、编译及安装内核等。

How To Compile A Kernel - The Ubuntu Way(http://www.howtoforge.com/kernel_compilation_ubuntu_p2)

Version 1.0
Author: Falko Timme <ft [at] falkotimme [dot] com>
Last edited 11/05/2006

Each distribution has some specific tools to build a custom kernel from the sources. This article is about compiling a kernel on Ubuntu systems. It describes how to build a custom kernel using the latest unmodified kernel sources fromwww.kernel.org (vanilla kernel) so that you are independent from the kernels supplied by your distribution. It also shows how to patch the kernel sources if you need features that are not in there.

I have tested this on Ubuntu 6.10 Server ("Edgy Eft") and Ubuntu 6.06 Desktop ("Dapper Drake").

I want to say first that this is not the only way of setting up such a system. There are many ways of achieving this goal but this is the way I take. I do not issue any guarantee that this will work for you!

 

1 Preliminary Note

I prefer to do all the steps here as the root user. So if you haven't already created a root login, you should do so now:

sudo passwd root

Afterwards, log in as root:

su

If you would like to work as a normal user instead of root, remember to put sudo in front of all the commands shown in this tutorial. So when I run

apt-get update

you should run

sudo apt-get update

instead, etc.

 

1.1 /bin/sh on Ubuntu 6.10 ("Edgy Eft")

On Ubuntu 6.10, /bin/sh is a symlink to /bin/dash by default. /bin/dash seems to make problems when you compile software from the sources, at least I had that impression. That's why I make/bin/sh a symlink to /bin/bash instead.

If you are on Ubuntu 6.10, you should do this now:

rm -f /bin/sh
ln -s /bin/bash /bin/sh

 

2 Install Required Packages For Kernel Compilation

First we update our package database:

apt-get update

Then we install all needed packages like this:

apt-get install kernel-package libncurses5-dev fakeroot wget bzip2

 

3 Download The Kernel Sources

Next we download our desired kernel to /usr/src. Go towww.kernel.org and select the kernel you want to install, e.g.linux-2.6.18.1.tar.bz2 (you can find all 2.6 kernels here:http://www.kernel.org/pub/linux/kernel/v2.6/). Then you can download it to/usr/src like this:

cd /usr/src
wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.18.1.tar.bz2

Then we unpack the kernel sources and create a symlink linux to the kernel sources directory:

tar xjf linux-2.6.18.1.tar.bz2
ln -s linux-2.6.18.1 linux
cd /usr/src/linux

 

4 Apply Patches To The Kernel Sources (Optional)

Sometimes you need drivers for hardware that isn't supported by the new kernel by default, or you need support for virtualization techniques or some other bleeding-edge technology that hasn't made it to the kernel yet. In all these cases you have to patch the kernel sources (provided there is a patch available...).

Now let's assume you have downloaded the needed patch (I call it patch.bz2 in this example) to /usr/src. This is how you apply it to your kernel sources (you must still be in the/usr/src/linux directory):

bzip2 -dc /usr/src/patch.bz2 | patch -p1 --dry-run
bzip2 -dc /usr/src/patch.bz2 | patch -p1

The first command is just a test, it does nothing to your sources. If it doesn't show errors, you can run the second command which actually applies the patch. Don't do it if the first command shows errors!

You can also apply kernel prepatches to your kernel sources. For example, if you need a feature that is available only in kernel 2.6.19-rc4, but the full sources haven't been released yet for this kernel. Instead, apatch-2.6.19-rc4.bz2 is available. You can apply that patch to the 2.6.18 kernel sources, but not to kernel 2.6.18.1 or 2.6.18.2, etc. This is explained onhttp://kernel.org/patchtypes/pre.html:

Prepatches are the equivalent to alpha releases for Linux; they live in the testing directories in the archives. They should be applied using the patch(1) utility to the source code of the previous full release with a 3-part version number (for example, the 2.6.12-rc4 prepatch should be applied to the 2.6.11 kernel sources, not, for example, 2.6.11.10.)

So if you want to compile a 2.6.19-rc4 kernel, you must download the 2.6.18 kernel sources (http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.18.tar.bz2) in step 3 instead of kernel 2.6.18.1!

This is how you apply the 2.6.19-rc4 patch to kernel 2.6.18:

cd /usr/src
wget http://www.kernel.org/pub/linux/kernel/v2.6/testing/patch-2.6.19-rc4.bz2
cd /usr/src/linux
bzip2 -dc /usr/src/patch-2.6.19-rc4.bz2 | patch -p1 --dry-run
bzip2 -dc /usr/src/patch-2.6.19-rc4.bz2 | patch -p1

5 Configure The Kernel

 

It's a good idea to use the configuration of your current working kernel as a basis for your new kernel. Therefore we copy the existing configuration to/usr/src/linux:

cp /boot/config-`uname -r` ./.config

Then we run

make menuconfig

which brings up the kernel configuration menu. Go to Load an Alternate Configuration File and choose.config (which contains the configuration of your current working kernel) as the configuration file:

Then browse through the kernel configuration menu and make your choices. When you are finished and selectExit, answer the following question (Do you wish to save your new kernel configuration?) withYes:

 

6 Build The Kernel

To build the kernel, execute these two commands:

make-kpkg clean
fakeroot make-kpkg --initrd --append-to-version=-custom kernel_image kernel_headers

After --append-to-version= you can write any string that helps you identify the kernel, but it must begin with a minus (-) and must not contain whitespace.

Now be patient, the kernel compilation can take some hours, depending on your kernel configuration and your processor speed.

 

7 Install The New Kernel

After the successful kernel build, you can find two .deb packages in the /usr/src directory.

cd /usr/src
ls -l

On my test system they were called linux-image-2.6.18.1-custom_2.6.18.1-custom-10.00.Custom_i386.deb (which contains the actual kernel) andlinux-headers-2.6.18.1-custom_2.6.18.1-custom-10.00.Custom_i386.deb (which contains files needed if you want to compile additional kernel modules later on). I install them like this:

dpkg -i linux-image-2.6.18.1-custom_2.6.18.1-custom-10.00.Custom_i386.deb
dpkg -i linux-headers-2.6.18.1-custom_2.6.18.1-custom-10.00.Custom_i386.deb

(You can now even transfer the two .deb files to other Ubuntu systems and install them there exactly the same way, which means you don't have to compile the kernel there again.)

That's it. You can check /boot/grub/menu.lst now, you should find two stanzas for your new kernel there:

vi /boot/grub/menu.lst

The stanzas that were added on my test system look like these:

title           Ubuntu, kernel 2.6.18.1-custom
root            (hd0,0)
kernel          /boot/vmlinuz-2.6.18.1-custom root=/dev/sda1 ro quiet splash
initrd          /boot/initrd.img-2.6.18.1-custom
savedefault
boot

title           Ubuntu, kernel 2.6.18.1-custom (recovery mode)
root            (hd0,0)
kernel          /boot/vmlinuz-2.6.18.1-custom root=/dev/sda1 ro single
initrd          /boot/initrd.img-2.6.18.1-custom
boot

Now reboot the system:

shutdown -r now

If everything goes well, it should come up with the new kernel. You can check if it's really using your new kernel by running

uname -r

This should display something like

2.6.18.1-custom

If the system doesn't start, restart it, and when you see this:

press ESC to enter the GRUB menu:

Select your old kernel and start the system. You can now try again to compile a working kernel. Don't forget to remove the two stanzas of the not-working kernel from/boot/grub/menu.lst.




转载于:https://www.cnblogs.com/HuaiNianCiSheng/archive/2012/05/02/3074744.html

-- ROMFS: Adding boards/px4/fmu-v5/extras/px4_io-v2_default.bin -> /etc/extras/px4_io-v2_default.bin -- Configuring done -- Generating done -- Build files have been written to: /home/me/下载/px4-autopilot-1.15.4/build/px4_fmu-v5_default [1/1299] Generating git version header FAILED: src/lib/version/build_git_version.h cd /home/me/下载/px4-autopilot-1.15.4 && /usr/bin/python3 /home/me/下载/px4-autopilot-1.15.4/src/lib/version/px_update_git_header.py /home/me/下载/px4-autopilot-1.15.4/build/px4_fmu-v5_default/src/lib/version/build_git_version.h --validate Error: the git tag 'c49f4c2142' does not match the expected format. The expected format is 'v<PX4 version>[-<custom version>]' <PX4 version>: v<major>.<minor>.<patch>[-rc<rc>|-beta<beta>|-alpha<alpha>|-dev] <custom version>: <major>.<minor>.<patch>[-rc<rc>|-beta<beta>|-alpha<alpha>|-dev] Examples: v1.9.0-rc3 (preferred) v1.9.0-beta1 v1.9.0-1.0.0 v1.9.0-1.0.0-alpha2 See also https://docs.px4.io/main/en/dev_setup/building_px4.html#building-for-nuttx [2/1299] Generating ../../../platforms/nuttx/NuttX/nuttx/.config ninja: build stopped: subcommand failed. make: *** [Makefile:227:px4_fmu-v5_default] 错误 1如何修改代码避免此错误############################################################################ # # Copyright (c) 2017 - 2024 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. # ############################################################################ #============================================================================= # CMAKE CODING STANDARD FOR PX4 # # Structure # --------------------------------------------------------------------------- # # * Common functions should be included in px_base.cmake. # # * OS/ board specific fucntions should be include in # px_impl_${PX4_PLATFORM}.cmake # # Formatting # --------------------------------------------------------------------------- # # * Use hard indents to match the px4 source code. # # * All function and script arguments are upper case. # # * All local variables are lower case. # # * All cmake functions are lowercase. # # * For else, endif, endfunction, etc, never put the name of the statement # # Functions/Macros # --------------------------------------------------------------------------- # # * Use px4_parse_function_args to parse functions and check for required # arguments. Unless there is only one argument in the function and it is clear. # # * Never use macros. They allow overwriting global variables and this # makes variable declarations hard to locate. # # * If a target from add_custom_* is set in a function, explicitly pass it # as an output argument so that the target name is clear to the user. # # * Avoid use of global variables in functions. Functions in a nested # scope may use global variables, but this makes it difficult to # reuse functions. # # Included CMake Files # --------------------------------------------------------------------------- # # * All variables in config files must have the prefix "config_". # # * Never set global variables in an included cmake file, # you may only define functions. This excludes config and Toolchain files. # This makes it clear to the user when variables are being set or targets # are being created. # # * Setting a global variable in a CMakeLists.txt file is ok, because # each CMakeLists.txt file has scope in the current directory and all # subdirectories, so it is not truly global. # # * All toolchain files should be included in the cmake # directory and named Toolchain-"name".cmake. # # Misc # --------------------------------------------------------------------------- # # * If referencing a string variable, don't put it in quotes. # Don't do "${PX4_PLATFORM}" STREQUAL "posix", # instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an # error when ${PX4_PLATFORM} is not defined instead of silently # evaluating to false. # #============================================================================= cmake_minimum_required(VERSION 3.9 FATAL_ERROR) set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE) set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE) list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake) include(px4_parse_function_args) #============================================================================= # git # include(px4_git) execute_process( COMMAND git describe --exclude ext/* --always --tags OUTPUT_VARIABLE PX4_GIT_TAG OUTPUT_STRIP_TRAILING_WHITESPACE WORKING_DIRECTORY ${PX4_SOURCE_DIR} ) set(PX4_GIT_TAG "v1.15.4") # git describe to X.Y.Z version string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG}) # major version list(GET VERSION_LIST 0 PX4_VERSION_MAJOR) string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR}) # minor version list(GET VERSION_LIST 1 PX4_VERSION_MINOR) # patch version list(GET VERSION_LIST 2 PX4_VERSION_PATCH) string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH}) list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH) # # Capture only the hash part after 'g' string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}") set(PX4_GIT_HASH ${CMAKE_MATCH_1}) define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES BRIEF_DOCS "PX4 module libs" FULL_DOCS "List of all PX4 module libraries" ) define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES BRIEF_DOCS "PX4 kernel side module libs" FULL_DOCS "List of all PX4 kernel module libraries" ) define_property(GLOBAL PROPERTY PX4_MODULE_PATHS BRIEF_DOCS "PX4 module paths" FULL_DOCS "List of paths to all PX4 modules" ) define_property(GLOBAL PROPERTY PX4_SRC_FILES BRIEF_DOCS "src files from all PX4 modules & libs" FULL_DOCS "SRC files from px4_add_{module,library}" ) #============================================================================= # configuration # include(px4_add_module) set(config_module_list) set(config_kernel_list) # Find Python find_package(PythonInterp 3) # We have a custom error message to tell users how to install python3. if(NOT PYTHONINTERP_FOUND) message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n" " Ubuntu: sudo apt install python3 python3-dev python3-pip\n" " macOS: brew install python") endif() option(PYTHON_COVERAGE "Python code coverage" OFF) if(PYTHON_COVERAGE) message(STATUS "python coverage enabled") set(PYTHON_EXECUTABLE coverage run -p) endif() include(px4_config) include(kconfig) message(STATUS "PX4 config: ${PX4_CONFIG}") message(STATUS "PX4 platform: ${PX4_PLATFORM}") if($ENV{CLION_IDE}) # CLion automatically executes some compiler commands after configuring the # project. This would fail on NuttX, as visibility.h tries to (indirectly) # include nuttx/config.h, which at that point does not exist yet add_definitions(-DPX4_DISABLE_GCC_POISON) endif() if(${PX4_PLATFORM} STREQUAL "posix") if(ENABLE_LOCKSTEP_SCHEDULER) add_definitions(-DENABLE_LOCKSTEP_SCHEDULER) message(STATUS "PX4 lockstep: enabled") else() message(STATUS "PX4 lockstep: disabled") endif() endif() # external modules set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location") if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "") get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE) endif() set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES) include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake) list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake) if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake") include(init) endif() #============================================================================= # project definition # project(px4 CXX C ASM) # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage) if(NOT CMAKE_BUILD_TYPE) if(${PX4_PLATFORM} STREQUAL "nuttx") set(PX4_BUILD_TYPE "MinSizeRel") else() set(PX4_BUILD_TYPE "RelWithDebInfo") endif() set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE) endif() if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")) set(MAX_CUSTOM_OPT_LEVEL -O0) elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer") set(MAX_CUSTOM_OPT_LEVEL -O1) elseif(CMAKE_BUILD_TYPE MATCHES "Release") set(MAX_CUSTOM_OPT_LEVEL -O3) else() if(px4_constrained_flash_build) set(MAX_CUSTOM_OPT_LEVEL -Os) else() set(MAX_CUSTOM_OPT_LEVEL -O2) endif() endif() set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer") message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}") # Check if LTO option and check if toolchain supports it if(LTO) include(CheckIPOSupported) check_ipo_supported() message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production") set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE) endif() set(package-contact "px4users@googlegroups.com") set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD_REQUIRED ON) set(CMAKE_EXPORT_COMPILE_COMMANDS ON) set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR}) set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR}) set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR}) #============================================================================= # gold linker - use if available (posix only for now) if(${PX4_PLATFORM} STREQUAL "posix") include(CMakeDependentOption) CMAKE_DEPENDENT_OPTION(USE_LD_GOLD "Use GNU gold linker" ON "NOT WIN32;NOT APPLE" OFF ) if(USE_LD_GOLD) execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION) if("${LD_VERSION}" MATCHES "GNU gold") set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold") set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold") else() set(USE_LD_GOLD OFF) endif() endif() endif() #============================================================================= # Setup install paths if(${PX4_PLATFORM} STREQUAL "posix") # This makes it possible to dynamically load code which depends on symbols # inside the px4 executable. set(CMAKE_POSITION_INDEPENDENT_CODE ON) set(CMAKE_ENABLE_EXPORTS ON) if(CMAKE_BUILD_TYPE MATCHES "Coverage") include(coverage) endif() include(sanitizers) # Define GNU standard installation directories include(GNUInstallDirs) if (NOT CMAKE_INSTALL_PREFIX) set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE) endif() endif() include(ccache) #============================================================================= # get chip and chip manufacturer # px4_os_determine_build_chip() if(NOT PX4_CHIP_MANUFACTURER) message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER") endif() if(NOT PX4_CHIP) message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP") endif() #============================================================================= # build flags # include(px4_add_common_flags) px4_add_common_flags() px4_os_add_flags() #============================================================================= # board cmake init (optional) # if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake) include(${PX4_BOARD_DIR}/cmake/init.cmake) endif() #============================================================================= # message, and airframe generation # include(px4_metadata) add_subdirectory(msg EXCLUDE_FROM_ALL) px4_generate_airframes_xml(BOARD ${PX4_BOARD}) #============================================================================= # external projects # set(ep_base ${PX4_BINARY_DIR}/external) set_property(DIRECTORY PROPERTY EP_BASE ${ep_base}) # add external project install folders to build # add the directories so cmake won't warn execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}) execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install) execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib) link_directories(${ep_base}/Install/lib) execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include) include_directories(${ep_base}/Install/include) #============================================================================= # external modules # set(external_module_paths) if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "") message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}") add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules) foreach(external_module ${config_module_list_external}) add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module}) list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module}) endforeach() endif() #============================================================================= # Testing - Automatic unit and integration testing with CTest # # optionally enable cmake testing (supported only on posix) option(CMAKE_TESTING "Configure test targets" OFF) if(${PX4_CONFIG} STREQUAL "px4_sitl_test") set(CMAKE_TESTING ON) endif() if(CMAKE_TESTING) include(CTest) # sets BUILD_TESTING variable endif() # enable test filtering to run only specific tests with the ctest -R regex functionality set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)") # if testing is enabled download and configure gtest list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/) include(px4_add_gtest) if(BUILD_TESTING) include(gtest) add_custom_target(test_results COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL DEPENDS px4 examples__dyn_hello USES_TERMINAL COMMENT "Running tests" WORKING_DIRECTORY ${PX4_BINARY_DIR}) set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE) endif() #============================================================================= # subdirectories # add_library(parameters_interface INTERFACE) add_library(kernel_parameters_interface INTERFACE) add_library(events_interface INTERFACE) add_library(kernel_events_interface INTERFACE) include(px4_add_library) add_subdirectory(src/lib EXCLUDE_FROM_ALL) add_subdirectory(platforms/${PX4_PLATFORM}/src/px4) add_subdirectory(platforms EXCLUDE_FROM_ALL) if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt") add_subdirectory(${PX4_BOARD_DIR}) endif() foreach(module ${config_module_list}) add_subdirectory(src/${module}) endforeach() # add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES) add_subdirectory(src/lib/events EXCLUDE_FROM_ALL) # metadata needs PX4_MODULE_CONFIG_FILES add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL) # must be the last module before firmware add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL) if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT) target_link_libraries(parameters_interface INTERFACE usr_parameters) target_link_libraries(kernel_parameters_interface INTERFACE parameters) target_link_libraries(events_interface INTERFACE usr_events) target_link_libraries(kernel_events_interface INTERFACE events) else() target_link_libraries(parameters_interface INTERFACE parameters) target_link_libraries(events_interface INTERFACE events) endif() # firmware added last to generate the builtin for included modules add_subdirectory(platforms/${PX4_PLATFORM}) #============================================================================= # uORB graph generation: add a custom target 'uorb_graph' # set(uorb_graph_config ${PX4_BOARD}) set(graph_module_list "") foreach(module ${config_module_list}) set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}") endforeach() add_custom_command(OUTPUT ${uorb_graph_config} COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py ${graph_module_list} --src-path src/lib --merge-depends --exclude-path src/examples --exclude-path src/lib/parameters # FIXME: enable & fix --file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config} WORKING_DIRECTORY ${PX4_SOURCE_DIR} COMMENT "Generating uORB graph" ) add_custom_target(uorb_graph DEPENDS ${uorb_graph_config}) include(bloaty) include(doxygen) include(metadata) include(package) # install python requirements using configured python add_custom_target(install_python_requirements COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt USES_TERMINAL ) if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake") include(finalize) endif()
08-15
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