NuttX cmake bug fixes and improvements

CMakeLists.txt

@@ -156,7 +156,7 @@ endif()
 # external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
@@ -170,8 +170,8 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 endif()
 
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
-if (NOT CMAKE_BUILD_TYPE)
-	if (${PX4_PLATFORM} STREQUAL "nuttx")
+if(NOT CMAKE_BUILD_TYPE)
+	if(${PX4_PLATFORM} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -228,8 +228,7 @@ endif()
 #=============================================================================
 
 # Setup install paths
-if (${PX4_PLATFORM} STREQUAL "posix")
-
+if(${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)
@@ -422,7 +421,7 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${module_list}
+		${graph_module_list}
 		--exclude-path src/examples
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}

cmake/ccache.cmake

@@ -35,17 +35,18 @@
 
 option(CCACHE "Use ccache if available" ON)
 find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
-
+if(CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
 	get_filename_component(ccache_real_path ${CCACHE_PROGRAM} REALPATH)
 	get_filename_component(cxx_real_path ${CMAKE_CXX_COMPILER} REALPATH)
 	get_filename_component(cxx_abs_path ${CMAKE_CXX_COMPILER} ABSOLUTE)
 
 	if ("${ccache_real_path}" STREQUAL "${cxx_real_path}")
 		message(STATUS "ccache enabled via symlink (${cxx_abs_path} -> ${cxx_real_path})")
+		set(CCACHE_PROGRAM "" CACHE INTERNAL "ccache program" FORCE)
 	else()
 		message(STATUS "ccache enabled (export CCACHE_DISABLE=1 to disable)")
 		set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 	endif()
-
+else()
+	set(CCACHE_PROGRAM "" CACHE INTERNAL "ccache program" FORCE)
 endif()

platforms/nuttx/CMakeLists.txt

@@ -51,6 +51,7 @@ get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
 
 set(nuttx_libs)
+set(SCRIPT_PREFIX)
 if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
 	set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
 	add_subdirectory(src/bootloader)
@@ -230,7 +231,7 @@ if(NOT PX4_BUILD MATCHES "px4_io-v2")
 endif()
 
 add_custom_target(debug
-	COMMAND ${GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:px4>
+	COMMAND ${CMAKE_GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:px4>
 	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL

platforms/nuttx/NuttX/CMakeLists.txt

@@ -147,33 +147,30 @@ add_custom_command(
 add_custom_target(nuttx_copy_config_dir_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp)
 
 
-# NuttX defconfig
-#  cmake should trigger reconfigure if defconfig changes
-set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
 
 # copy compressed PX4 defconfig into nuttx and inflate
 add_custom_command(
 	OUTPUT
 		${NUTTX_DIR}/.config
 		${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
 	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh ${NUTTX_DIR}
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh > nuttx_olddefconfig.log
 	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
 	DEPENDS
+		${NUTTX_DIR}/Make.defs
 		${NUTTX_DEFCONFIG}
 		nuttx_copy_config_dir_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
 		${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh
 	WORKING_DIRECTORY ${NUTTX_DIR}
-	COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating"
+	COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating (make olddefconfig)"
 )
 add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp)
 
 ###############################################################################
 # NuttX build
 ###############################################################################
 
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
-
 # verbose build settings (V=1 or VERBOSE=1)
 option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
 
@@ -184,11 +181,9 @@ endif()
 
 if(PX4_NUTTX_VERBOSE)
 	set(nuttx_build_options)
-	set(nuttx_build_output)
 	set(nuttx_build_uses_terminal "USES_TERMINAL")
 else()
 	set(nuttx_build_options "--quiet")
-	set(nuttx_build_output ">nuttx_build.log")
 	set(nuttx_build_uses_terminal)
 endif()
 
@@ -198,8 +193,9 @@ add_custom_command(
 		${NUTTX_DIR}/include/nuttx/config.h
 		${NUTTX_DIR}/include/nuttx/version.h
 	COMMAND
-		make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y context > nuttx_context.log
+		make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y pass1dep > nuttx_context.log
 	DEPENDS
+		${NUTTX_DIR}/Make.defs
 		nuttx_config_target ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	${nuttx_build_uses_terminal}
@@ -264,11 +260,11 @@ add_custom_target(nuttx_builtin_list_target DEPENDS ${nuttx_builtin_list})
 # libapps.a
 add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built
 	COMMAND find ${APPS_DIR} -name \*.o -delete
-	COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}" ../apps/libapps.a > nuttx_apps.log
+	COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}"
 	DEPENDS
 		nuttx_builtin_list_target ${nuttx_builtin_list}
 		nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
-	WORKING_DIRECTORY ${NUTTX_DIR}
+	WORKING_DIRECTORY ${APPS_DIR}
 	${nuttx_build_uses_terminal}
 )
 add_custom_target(nuttx_apps_build DEPENDS ${APPS_DIR}/libapps.a)
@@ -285,7 +281,7 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
 
 	add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
 		COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete
-		COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output}
+		COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra}
 		DEPENDS
 			${nuttx_lib_files}
 			nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h

platforms/nuttx/NuttX/Make.defs.in

@@ -40,6 +40,7 @@ CC = ${CMAKE_C_COMPILER}
 CXX = ${CMAKE_CXX_COMPILER}
 CPP = ${CMAKE_C_COMPILER} -E
 LD = ${CMAKE_LD}
+STRIP = ${CMAKE_STRIP} --strip-unneeded
 AR = ${CMAKE_AR} rcs
 NM = ${CMAKE_NM}
 OBJCOPY = ${CMAKE_OBJCOPY}
@@ -51,6 +52,7 @@ ifneq (, $(findstring CYGWIN, $(shell uname)))
   ARCHINCLUDES = -I. -isystem "$(shell cygpath -w $(TOPDIR)/include)"
   ARCHXXINCLUDES = $(ARCHINCLUDES) -isystem "$(shell cygpath -w $(TOPDIR)/include/cxx)"
 else
+  MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
   ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
   ARCHXXINCLUDES = $(ARCHINCLUDES) -isystem $(TOPDIR)/include/cxx
 endif
@@ -119,4 +121,26 @@ CXXFLAGS = $(ARCHXXINCLUDES) \
 	-Wno-double-promotion \
 	-Wno-missing-declarations
 
+CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES)
 AFLAGS = $(CFLAGS) -D__ASSEMBLY__
+
+ASMEXT = .S
+OBJEXT = .o
+LIBEXT = .a
+EXEEXT =
+
+define COMPILE
+	$(Q) ${CCACHE_PROGRAM} $(CC) -c $(CFLAGS) $($(strip $1)_CFLAGS) $1 -o $2
+endef
+
+define COMPILEXX
+	$(Q) ${CCACHE_PROGRAM} $(CXX) -c $(CXXFLAGS) $($(strip $1)_CXXFLAGS) $1 -o $2
+endef
+
+define ASSEMBLE
+	$(Q) ${CCACHE_PROGRAM} $(CC) -c $(AFLAGS) $1 $($(strip $1)_AFLAGS) -o $2
+endef
+
+define ARCHIVE
+	$(Q) $(AR) $1 $(2)
+endef

platforms/nuttx/NuttX/tools/px4_nuttx_make_olddefconfig.sh

@@ -1,10 +1,8 @@
 #! /bin/bash
 
-NUTTX_DIR=${1}
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 # update PATH to include kconfiglib scripts
 export PATH=${DIR}:${PATH}
 
-make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y CONFIG_APPS_DIR="../apps" olddefconfig > nuttx_olddefconfig.log
+make --no-print-directory --silent CONFIG_ARCH_BOARD_CUSTOM=y CONFIG_APPS_DIR="../apps" olddefconfig

platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake

@@ -1,5 +1,5 @@
 
-if (CONFIG_ARCH_DPFPU)
+if(CONFIG_ARCH_DPFPU)
 	message(STATUS "Enabling double FP precision hardware instructions")
 	set(mfpu_type "fpv5-d16")
 else()

platforms/nuttx/cmake/Toolchain-arm-none-eabi.cmake

@@ -13,19 +13,21 @@ set(CMAKE_C_COMPILER_TARGET ${triple})
 set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
 set(CMAKE_CXX_COMPILER_TARGET ${triple})
 
-set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+set(CMAKE_ASM_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
 
 # needed for test compilation
 set(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nosys.specs")
 
 # compiler tools
-foreach(tool nm ld objcopy ranlib strip)
-	string(TOUPPER ${tool} TOOL)
-	find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
-	if(CMAKE-${TOOL} MATCHES "NOTFOUND")
-		message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
-	endif()
-endforeach()
+find_program(CMAKE_AR ${TOOLCHAIN_PREFIX}-gcc-ar)
+find_program(CMAKE_GDB ${TOOLCHAIN_PREFIX}-gdb)
+find_program(CMAKE_LD ${TOOLCHAIN_PREFIX}-ld)
+find_program(CMAKE_LINKER ${TOOLCHAIN_PREFIX}-ld)
+find_program(CMAKE_NM ${TOOLCHAIN_PREFIX}-gcc-nm)
+find_program(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}-objcopy)
+find_program(CMAKE_OBJDUMP ${TOOLCHAIN_PREFIX}-objdump)
+find_program(CMAKE_RANLIB ${TOOLCHAIN_PREFIX}-gcc-ranlib)
+find_program(CMAKE_STRIP ${TOOLCHAIN_PREFIX}-strip)
 
 set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
@@ -40,9 +42,3 @@ foreach(tool grep make)
 		message(FATAL_ERROR "could not find ${tool}")
 	endif()
 endforeach()
-
-# optional compiler tools
-foreach(tool gdb gdbtui)
-	string(TOUPPER ${tool} TOOL)
-	find_program(${TOOL} arm-none-eabi-${tool})
-endforeach()

platforms/nuttx/cmake/blackmagic.cmake

@@ -43,7 +43,7 @@ file(GLOB_RECURSE black_magic_probe_console_path
 if(black_magic_probe_path)
 
 	add_custom_target(blackmagic_debug
-		COMMAND ${GDB} --nh
+		COMMAND ${CMAKE_GDB} --nh
 			-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
 			-ex 'target extended-remote ${black_magic_probe_path}'
 			-ex 'monitor version'
@@ -59,7 +59,7 @@ if(black_magic_probe_path)
 		)
 
 	add_custom_target(blackmagic_upload
-		COMMAND ${GDB} --nx --batch
+		COMMAND ${CMAKE_GDB} --nx --batch
 			-ex 'target extended-remote ${black_magic_probe_path}'
 			-ex 'monitor version'
 			-ex 'monitor connect_srst enable'

platforms/nuttx/cmake/init.cmake

@@ -45,6 +45,11 @@ endif()
 
 set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX config" FORCE)
 
+# NuttX defconfig
+#  cmake should trigger reconfigure if defconfig changes
+set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
+set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
+
 set(NUTTX_SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/../NuttX)
 set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
 set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
@@ -67,27 +72,24 @@ else()
 	set(NUTTX_COPY_CMD_OPTS "-aRfl")
 endif()
 
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX)
+
 ###############################################################################
 # NuttX: copy to build directory
 ###############################################################################
-file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
-file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
-
-# copy nuttx during cmake configure
-if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy.stamp)
-	execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
+if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
+	file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
+	file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
 	execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
 	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
 endif()
 
 ###############################################################################
 # NuttX apps: copy to build directory
 ###############################################################################
-file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
-file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
-
-# copy apps during cmake configure
-if(NOT EXISTS ${NUTTX_DIR}/apps_copy.stamp)
+if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
+	file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
+	file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
 	execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
 	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
 endif()
@@ -97,7 +99,7 @@ endif()
 ###############################################################################
 
 # If the board provides a Kconfig Use it or create an empty one
-if(NOT EXISTS ${NUTTX_DIR}/nuttx_config_kconfig.stamp)
+if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
 	if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
 		execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
 	else()
@@ -107,8 +109,7 @@ if(NOT EXISTS ${NUTTX_DIR}/nuttx_config_kconfig.stamp)
 	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
 endif()
 
-if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy_config_dir.stamp)
-
+if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
 	# copy board's nuttx-config to NuttX/nuttx-config
 	file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config)
 	file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
@@ -120,17 +121,14 @@ if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy_config_dir.stamp)
 	execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
 
 	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
-
 endif()
 
 # make olddefconfig (inflate defconfig to full .config)
-if(NOT EXISTS ${NUTTX_DIR}/.config)
-	set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
-	configure_file(${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
+if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
+	execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
 	execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
-	set(ENV{PATH} "${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools:$ENV{PATH}")
 	execute_process(
-		COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
+		COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh
 		WORKING_DIRECTORY ${NUTTX_DIR}
 		OUTPUT_FILE nuttx_olddefconfig.log
 		ERROR_FILE nuttx_olddefconfig.log
@@ -146,7 +144,7 @@ if(NOT EXISTS ${NUTTX_DIR}/.config)
 		execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
 	endif()
 	# remove Toplevel Make.defs
-	file(REMOVE ${NUTTX_DIR}/Make.defs)
+	execute_process(COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/Make.defs)
 endif()
 
 ###############################################################################

platforms/nuttx/cmake/jlink.cmake

@@ -41,7 +41,7 @@ add_custom_target(jlink_upload
 
 add_custom_target(jlink_debug
 	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
-	COMMAND ${GDB} -nh
+	COMMAND ${CMAKE_GDB} -nh
 		-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
 		-ex 'target remote localhost:2331'
 		-ex 'monitor reset 0'