include_guard(GLOBAL)

include(CMakePrintHelpers)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
#set(CMAKE_C_STANDARD 11)

# TOP is path to root directory
set(TOP "${CMAKE_CURRENT_LIST_DIR}/../..")
get_filename_component(TOP ${TOP} ABSOLUTE)

set(UF2CONV_PY ${TOP}/tools/uf2/utils/uf2conv.py)
set(LINKERMAP_PY ${TOP}/tools/linkermap/linkermap.py)
set(METRICS_PY ${TOP}/tools/metrics.py)

function(family_resolve_board BOARD_NAME BOARD_PATH_OUT)
  if ("${BOARD_NAME}" STREQUAL "")
    message(FATAL_ERROR "You must set BOARD (e.g. metro_m4_express, raspberry_pi_pico). Use -DBOARD=xxx on the cmake command line.")
  endif()

  file(GLOB _board_paths
    LIST_DIRECTORIES true
    RELATIVE ${TOP}/hw/bsp
    ${TOP}/hw/bsp/*/boards/*
    )

  set(_hint_names "")
  foreach(_board_path ${_board_paths})
    get_filename_component(_board_name ${_board_path} NAME)
    if (_board_name STREQUAL "${BOARD_NAME}")
      set(${BOARD_PATH_OUT} ${_board_path} PARENT_SCOPE)
      return()
    endif()
    string(FIND "${_board_name}" "${BOARD_NAME}" _pos)
    if (_pos EQUAL 0)
      list(APPEND _hint_names ${_board_name})
    endif()
  endforeach()

  if (_hint_names)
    list(REMOVE_DUPLICATES _hint_names)
    list(SORT _hint_names)
    list(JOIN _hint_names ", " _hint_str)
    message(FATAL_ERROR "BOARD '${BOARD_NAME}' not found. Boards with the same prefix:\n${_hint_str}")
  else()
    message(FATAL_ERROR "BOARD '${BOARD_NAME}' not found under hw/bsp/*/boards")
  endif()
endfunction()

#-------------------------------------------------------------
# Toolchain
# Can be changed via -DTOOLCHAIN=gcc|iar or -DCMAKE_C_COMPILER= or ENV{CC}=
#-------------------------------------------------------------
function(detect_compiler COMPILER_PATH RESULT)
  string(FIND ${COMPILER_PATH} "iccarm" IS_IAR)
  string(FIND ${COMPILER_PATH} "clang" IS_CLANG)
  string(FIND ${COMPILER_PATH} "gcc" IS_GCC)

  if (NOT IS_IAR EQUAL -1)
    set(${RESULT} iar PARENT_SCOPE)
  elseif (NOT IS_CLANG EQUAL -1)
    set(${RESULT} clang PARENT_SCOPE)
  elseif (NOT IS_GCC EQUAL -1)
    set(${RESULT} gcc PARENT_SCOPE)
  endif ()
endfunction()

# Detect toolchain based on CMAKE_C_COMPILER or ENV{CC}
if (DEFINED CMAKE_C_COMPILER)
  detect_compiler(${CMAKE_C_COMPILER} TOOLCHAIN)
elseif (DEFINED ENV{CC})
  detect_compiler($ENV{CC} TOOLCHAIN)
endif ()

if (NOT DEFINED TOOLCHAIN)
  set(TOOLCHAIN gcc)
endif ()

set(WARN_FLAGS_GNU
  -Wall
  -Wextra
  -Werror
  -Wfatal-errors
  -Wdouble-promotion
  -Wstrict-prototypes
  -Wstrict-overflow
  -Werror-implicit-function-declaration
  -Wfloat-equal
  -Wundef
  -Wshadow
  -Wwrite-strings
  -Wsign-compare
  -Wmissing-format-attribute
  -Wunreachable-code
  -Wcast-align
  -Wcast-function-type
  -Wcast-qual
  -Wnull-dereference
  -Wuninitialized
  -Wunused
  -Wunused-function
  -Wreturn-type
  -Wredundant-decls
  -Wmissing-prototypes
#  -Wconversion
  )
set(WARN_FLAGS_Clang ${WARN_FLAGS_GNU})

set(WARN_FLAGS_IAR
  --warnings_are_errors
  --diag_suppress=Pa089
  --diag_suppress=Pe236
  )

# Optimization
if (NOT DEFINED CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
  set(CMAKE_BUILD_TYPE MinSizeRel CACHE STRING "Build type" FORCE)
endif ()

#-------------------------------------------------------------
# FAMILY and BOARD
#-------------------------------------------------------------
if (NOT DEFINED FAMILY)
  family_resolve_board("${BOARD}" BOARD_PATH)

  string(REPLACE "/" ";" BOARD_PATH ${BOARD_PATH})
  list(GET BOARD_PATH 0 FAMILY)
  set(FAMILY ${FAMILY} CACHE STRING "Board family")
endif ()

if (NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${FAMILY}/family.cmake)
  message(FATAL_ERROR "Family '${FAMILY}' is not known/supported")
endif()

if (NOT FAMILY STREQUAL rp2040)
  # enable LTO if supported skip rp2040
  include(CheckIPOSupported)
  check_ipo_supported(RESULT IPO_SUPPORTED)
  cmake_print_variables(IPO_SUPPORTED)
  if (IPO_SUPPORTED)
    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
  endif()
endif()

if (NOT DEFINED NO_WARN_RWX_SEGMENTS_SUPPORTED)
  set(NO_WARN_RWX_SEGMENTS_SUPPORTED 1)
endif()

#----------------------------------
# RTOS
#----------------------------------
if (NOT DEFINED RTOS)
  set(RTOS noos CACHE STRING "RTOS")
endif ()

if (RTOS STREQUAL zephyr)
  set(BOARD_ROOT ${TOP}/hw/bsp/${FAMILY})
  set(ZEPHYR_BOARD_ALIASES ${CMAKE_CURRENT_LIST_DIR}/zephyr_board_aliases.cmake)
  find_package(Zephyr REQUIRED HINTS ${TOP}/zephyr)
  list(REMOVE_ITEM WARN_FLAGS_GNU
    -Wredundant-decls
    -Wundef
    -Wcast-align
    )
endif ()

#-------------------------------------------------------------
# Functions
#-------------------------------------------------------------

# Filter example based on only.txt and skip.txt
function(family_filter RESULT DIR)
  get_filename_component(DIR ${DIR} ABSOLUTE BASE_DIR ${CMAKE_CURRENT_SOURCE_DIR})

  if (EXISTS "${DIR}/skip.txt")
    file(STRINGS "${DIR}/skip.txt" SKIPS_LINES)
    foreach(MCU IN LISTS FAMILY_MCUS)
      # For each line in only.txt
      foreach(_line ${SKIPS_LINES})
        # If mcu:xxx exists for this mcu then skip
        if (${_line} STREQUAL "mcu:${MCU}" OR ${_line} STREQUAL "board:${BOARD}" OR ${_line} STREQUAL "family:${FAMILY}")
          set(${RESULT} 0 PARENT_SCOPE)
          return()
        endif()
      endforeach()
    endforeach()
  endif ()

  if (EXISTS "${DIR}/only.txt")
    file(STRINGS "${DIR}/only.txt" ONLYS_LINES)
    foreach(MCU IN LISTS FAMILY_MCUS)
      # For each line in only.txt
      foreach(_line ${ONLYS_LINES})
        # If mcu:xxx exists for this mcu or board:xxx then include
        if (${_line} STREQUAL "mcu:${MCU}" OR ${_line} STREQUAL "board:${BOARD}" OR ${_line} STREQUAL "family:${FAMILY}")
          set(${RESULT} 1 PARENT_SCOPE)
          return()
        endif()
      endforeach()
    endforeach()

    # Didn't find it in only file so don't build
    set(${RESULT} 0 PARENT_SCOPE)
  else()
    # only.txt not exist so build
    set(${RESULT} 1 PARENT_SCOPE)
  endif()
endfunction()

function(family_add_subdirectory DIR)
  family_filter(SHOULD_ADD "${DIR}")
  if (SHOULD_ADD)
    add_subdirectory(${DIR})
  endif()
endfunction()

function(family_initialize_project PROJECT DIR)
  # set output suffix to .elf (skip espressif and rp2040)
  if(NOT FAMILY STREQUAL "espressif" AND NOT FAMILY STREQUAL "rp2040")
    set(CMAKE_EXECUTABLE_SUFFIX .elf PARENT_SCOPE)
  endif()

  family_filter(ALLOWED "${DIR}")
  if (NOT ALLOWED)
    get_filename_component(SHORT_NAME ${DIR} NAME)
    message(FATAL_ERROR "${SHORT_NAME} is not supported on FAMILY=${FAMILY}")
  endif()
endfunction()

# Add bloaty (https://github.com/google/bloaty/) target, required compile with -g (debug)
function(family_add_bloaty TARGET)
  find_program(BLOATY_EXE bloaty)
  if (BLOATY_EXE STREQUAL BLOATY_EXE-NOTFOUND)
    return()
  endif ()

  set(OPTION "--domain=vm -d compileunits,sections,symbols")
  if (DEFINED BLOATY_OPTION)
    string(APPEND OPTION " ${BLOATY_OPTION}")
  endif ()
  separate_arguments(OPTION_LIST UNIX_COMMAND ${OPTION})

  add_custom_target(${TARGET}-bloaty
    DEPENDS ${TARGET}
    COMMAND ${BLOATY_EXE} ${OPTION_LIST} $<TARGET_FILE:${TARGET}>
    VERBATIM)

  #set_property(TARGET ${TARGET}-bloaty PROPERTY FOLDER ${TARGET}-group)
  # post build
  #  add_custom_command(TARGET ${TARGET} POST_BUILD
  #    COMMAND ${BLOATY_EXE} --csv ${OPTION_LIST} $<TARGET_FILE:${TARGET}> > ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}_bloaty.csv
  #    VERBATIM
  #    )
endfunction()

# Add linkermap target (https://github.com/hathach/linkermap)
function(family_add_linkermap TARGET)
  set(OPTION "-j")
  if (DEFINED LINKERMAP_OPTION)
    string(APPEND OPTION " ${LINKERMAP_OPTION}")
  endif ()
  separate_arguments(OPTION_LIST UNIX_COMMAND ${OPTION})

  add_custom_target(${TARGET}-linkermap
    COMMAND python ${LINKERMAP_PY} ${OPTION_LIST} $<TARGET_FILE:${TARGET}>.map
    VERBATIM
    )

  #set_property(TARGET ${TARGET}-linkermap PROPERTY FOLDER ${TARGET}-group)

  # post build
  add_custom_command(TARGET ${TARGET} POST_BUILD
    COMMAND python ${LINKERMAP_PY} ${OPTION_LIST} $<TARGET_FILE:${TARGET}>.map
    VERBATIM)
endfunction()

# Add membrowse target (installed with pip install membrowse)
function(family_add_membrowse TARGET)
  find_program(MEMBROWSE_EXE membrowse)
  if (MEMBROWSE_EXE STREQUAL MEMBROWSE_EXE-NOTFOUND)
    # force anyway, bash login shell will find it from pip install path
    set(MEMBROWSE_EXE membrowse)
  endif ()

  set(OPTION "")
  if (DEFINED MEMBROWSE_OPTION)
    string(APPEND OPTION " ${MEMBROWSE_OPTION}")
  endif ()

  # For Ninja generator, extract all linker scripts from Ninja commands (with INCLUDE) and pass them to membrowse.
  if (CMAKE_GENERATOR MATCHES "Ninja")
    set(TARGET_ELF_PATH "$<TARGET_FILE_DIR:${TARGET}>/$<TARGET_FILE_NAME:${TARGET}>")
    set(MEMBROWSE_LD_SCRIPTS_CMD
      "ld_scripts=\"$(${CMAKE_MAKE_PROGRAM} -C ${CMAKE_BINARY_DIR} -t commands ${TARGET} | grep -oP '(?:-Wl,--script=|-T\\s*)\\K[A-Za-z0-9_./-]+\\.ld' | xargs)\"; \
all_ld_scripts=\"\"; \
pending_ld_scripts=\"$ld_scripts\"; \
while [ -n \"$pending_ld_scripts\" ]; do \
  next_pending=\"\"; \
  for script in $pending_ld_scripts; do \
    case \" $all_ld_scripts \" in *\" $script \"*) continue ;; esac; \
    all_ld_scripts=\"$all_ld_scripts $script\"; \
    script_dir=$(dirname \"$script\"); \
    include_scripts=$(grep -hoP '^\\s*INCLUDE\\s+[<\"]?\\K[^\">[:space:]]+\\.ld' \"$script\" 2>/dev/null | xargs); \
    for include_script in $include_scripts; do \
      resolved_script=\"\"; \
      if [ -f \"$include_script\" ]; then \
        resolved_script=\"$include_script\"; \
      elif [ -f \"$script_dir/$include_script\" ]; then \
        resolved_script=\"$script_dir/$include_script\"; \
      fi; \
      if [ -n \"$resolved_script\" ]; then \
        case \" $all_ld_scripts $next_pending \" in *\" $resolved_script \"*) ;; *) next_pending=\"$next_pending $resolved_script\" ;; esac; \
      fi; \
    done; \
  done; \
  pending_ld_scripts=\"$(echo \"$next_pending\" | xargs)\"; \
done; \
ld_scripts=\"$(echo \"$all_ld_scripts\" | xargs)\"")
    set(MEMBROWSE_LD_DEFS_CMD
      "ld_symbols=\"$(${CMAKE_MAKE_PROGRAM} -C ${CMAKE_BINARY_DIR} -t commands ${TARGET} | grep -oP '(?<=--defsym[=,])[^[:space:]]+' | xargs)\"; \
ld_defs=\"\"; \
for symbol in $ld_symbols; do \
  ld_defs=\"$ld_defs --def $symbol\"; \
done; \
ld_defs=\"$(echo \"$ld_defs\" | xargs)\"")
    set(MEMBROWSE_PREPARE_CMD
      "if [ -f \"${TARGET_ELF_PATH}\" ]; then \
  ${MEMBROWSE_LD_SCRIPTS_CMD}; \
  ${MEMBROWSE_LD_DEFS_CMD}; \
  map_arg=\"\"; \
  if [ -f \"${TARGET_ELF_PATH}.map\" ]; then map_arg=\"--map-file \\\"${TARGET_ELF_PATH}.map\\\"\"; fi; \
  if [ \"$MEMBROWSE_UPLOAD\" = \"1\" ]; then \
    MEMBROWSE_CMD=\"${MEMBROWSE_EXE} report ${OPTION} \\\"${TARGET_ELF_PATH}\\\" \\\"$ld_scripts\\\" $ld_defs $map_arg --upload --github --target-name ${BOARD}/${TARGET} --api-key $ENV{MEMBROWSE_API_KEY}\"; \
  else \
    MEMBROWSE_CMD=\"${MEMBROWSE_EXE} report ${OPTION} \\\"${TARGET_ELF_PATH}\\\" \\\"$ld_scripts\\\" $ld_defs $map_arg\"; \
  fi; \
else \
  if [ \"$MEMBROWSE_UPLOAD\" = \"1\" ]; then \
    MEMBROWSE_CMD=\"${MEMBROWSE_EXE} report ${OPTION} --identical --upload --github --target-name ${BOARD}/${TARGET} --api-key $ENV{MEMBROWSE_API_KEY}\"; \
  else \
    MEMBROWSE_CMD=\"${MEMBROWSE_EXE} report ${OPTION} --identical\"; \
  fi; \
fi; \
echo \"$MEMBROWSE_CMD\"")

    add_custom_target(${TARGET}-membrowse
      DEPENDS ${TARGET}
      COMMAND ${CMAKE_COMMAND} -E env MEMBROWSE_UPLOAD=0 bash -lc "${MEMBROWSE_PREPARE_CMD}; eval \"$MEMBROWSE_CMD\""
      VERBATIM
      )
    #set_property(TARGET ${TARGET}-membrowse PROPERTY FOLDER ${TARGET}-group)

    add_custom_target(${TARGET}-membrowse-upload
      COMMAND ${CMAKE_COMMAND} -E env MEMBROWSE_UPLOAD=1 bash -lc "${MEMBROWSE_PREPARE_CMD}; eval \"$MEMBROWSE_CMD\""
      VERBATIM
      )

    if (NOT TARGET examples-membrowse-upload)
      add_custom_target(examples-membrowse-upload)
    endif ()
    add_dependencies(examples-membrowse-upload ${TARGET}-membrowse-upload)

    #set_property(TARGET ${TARGET}-membrowse-upload PROPERTY FOLDER ${TARGET}-group)
  endif ()
endfunction()


#-------------------------------------------------------------
# Common Target Configure
# Most families use these settings except rp2040 and espressif
#-------------------------------------------------------------
function(family_add_board BOARD_TARGET)
  # empty function, should be overridden in FAMILY/family.cmake
endfunction()

# Add RTOS to example
function(family_add_rtos TARGET RTOS)
  if (RTOS STREQUAL "freertos")
    # RP2040 family uses Raspberry Pi's FreeRTOS-Kernel fork with platform-specific SMP port
    if (FAMILY STREQUAL "rp2040")
      if (NOT TARGET FreeRTOS-Kernel)
        set(FREERTOS_KERNEL_PATH ${TOP}/hw/mcu/raspberry_pi/FreeRTOS-Kernel)
        set(FREERTOS_CONFIG_FILE_DIRECTORY ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig)
        # FreeRTOS_Kernel_import.cmake auto-selects RP2040/RP2350/RISC-V port based on PICO_PLATFORM
        include(${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
      endif()
      target_link_libraries(${TARGET} PUBLIC FreeRTOS-Kernel-Static)
    else()
      # All other families: use upstream FreeRTOS-Kernel with add_subdirectory
      if (NOT TARGET freertos_config)
        add_library(freertos_config INTERFACE)
        target_include_directories(freertos_config INTERFACE
          ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig)
        target_link_libraries(freertos_config INTERFACE board_${BOARD})
      endif()

      if (NOT TARGET freertos_kernel)
        add_subdirectory(${TOP}/lib/FreeRTOS-Kernel ${CMAKE_BINARY_DIR}/lib/freertos_kernel)
      endif ()

      target_link_libraries(${TARGET} PUBLIC freertos_kernel)
    endif()

    target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_OS=OPT_OS_FREERTOS)
  elseif (RTOS STREQUAL "threadx")
    if (NOT TARGET threadx)
      # Derive THREADX_ARCH from CMAKE_SYSTEM_CPU if not explicitly set
      if (NOT DEFINED THREADX_ARCH)
        string(REPLACE "-" "_" THREADX_ARCH ${CMAKE_SYSTEM_CPU})
      endif ()
      # Derive THREADX_TOOLCHAIN from TOOLCHAIN if not explicitly set
      if (NOT DEFINED THREADX_TOOLCHAIN)
        if (TOOLCHAIN STREQUAL "iar")
          set(THREADX_TOOLCHAIN "iar")
        elseif (TOOLCHAIN STREQUAL "clang")
          set(THREADX_TOOLCHAIN "ac6")
        else ()
          set(THREADX_TOOLCHAIN "gnu")
        endif ()
      endif ()
      add_subdirectory(${TOP}/lib/threadx ${CMAKE_BINARY_DIR}/lib/threadx)
    endif ()
    target_link_libraries(${TARGET} PUBLIC threadx)
    target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_OS=OPT_OS_THREADX)
  elseif (RTOS STREQUAL "zephyr")
    target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_OS=OPT_OS_ZEPHYR)
    target_include_directories(${TARGET} PUBLIC ${ZEPHYR_BASE}/include)
  endif ()
endfunction()

# Add common configuration to example
function(family_configure_common TARGET RTOS)
  # Add board target
  set(BOARD_TARGET board_${BOARD})
  if (NOT RTOS STREQUAL zephyr)
    if (NOT TARGET ${BOARD_TARGET})
      family_add_board(${BOARD_TARGET})
      set_target_properties(${BOARD_TARGET} PROPERTIES
        ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib
        SKIP_LINTING ON # need cmake 4.2
        )
      if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
        set_target_properties(${BOARD_TARGET} PROPERTIES COMPILE_OPTIONS -w)
      endif ()
    endif ()
    target_link_libraries(${TARGET} PUBLIC ${BOARD_TARGET})
  endif ()

  family_add_rtos(${TARGET} ${RTOS})

  # Add BOARD_${BOARD} define
  string(TOUPPER ${BOARD} BOARD_UPPER)
  string(REPLACE "-" "_" BOARD_UPPER ${BOARD_UPPER})
  target_compile_definitions(${TARGET} PUBLIC
    BOARD_${BOARD_UPPER}
  )

  # CI_BUILD marks firmware built in CI (GitHub Actions sets CI). Examples can use
  # it to alter behavior under test, e.g. board_test idles to park HIL boards.
  if(DEFINED ENV{CI})
    target_compile_definitions(${TARGET} PUBLIC CI_BUILD=1)
  endif()

  # compile define from command line
  if(DEFINED CFLAGS_CLI)
    separate_arguments(CFLAGS_CLI)
    target_compile_options(${TARGET} PUBLIC ${CFLAGS_CLI})
  endif()

  # ETM Trace option
  if (TRACE_ETM STREQUAL "1")
    target_compile_definitions(${TARGET} PUBLIC TRACE_ETM)
  endif ()

  # LOGGER option
  if (DEFINED LOGGER)
    string(TOUPPER ${LOGGER} LOGGER)
    target_compile_definitions(${TARGET} PUBLIC LOGGER_${LOGGER})
    # Add segger rtt to example
    if(LOGGER STREQUAL "RTT")
      target_sources(${TARGET} PUBLIC ${TOP}/lib/SEGGER_RTT/RTT/SEGGER_RTT.c)
      target_include_directories(${TARGET}  PUBLIC ${TOP}/lib/SEGGER_RTT/RTT)
#      target_compile_definitions(${TARGET}  PUBLIC SEGGER_RTT_MODE_DEFAULT=SEGGER_RTT_MODE_BLOCK_IF_FIFO_FULL)
      set_source_files_properties(${TOP}/lib/SEGGER_RTT/RTT/SEGGER_RTT.c PROPERTIES SKIP_LINTING ON)
    endif ()
  else ()
    target_compile_definitions(${TARGET} PUBLIC LOGGER_UART)
  endif ()

  if (FAMILY STREQUAL "rp2040")
    # RP2040: apply warnings per-source-file (not per-target) since Pico SDK sources
    # are INTERFACE and would not inherit target-level warnings correctly
    family_add_default_example_warnings(${TARGET})
  elseif (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
    target_compile_options(${TARGET} PRIVATE ${WARN_FLAGS_${CMAKE_C_COMPILER_ID}})
    target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
    if (CMAKE_C_COMPILER_ID STREQUAL "GNU" AND CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0
      AND NO_WARN_RWX_SEGMENTS_SUPPORTED AND (NOT RTOS STREQUAL zephyr))
      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
    endif ()
  elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
    target_compile_options(${TARGET} PRIVATE $<$<OR:$<COMPILE_LANGUAGE:C>,$<COMPILE_LANGUAGE:CXX>>:${WARN_FLAGS_IAR}>)
    target_link_options(${TARGET} PUBLIC "LINKER:--map=$<TARGET_FILE:${TARGET}>.map")

    if (IAR_CSTAT)
      # link time analysis with C-STAT
      add_custom_command(TARGET ${TARGET} POST_BUILD
        COMMAND ${CMAKE_C_ICSTAT}
        --db=${CMAKE_BINARY_DIR}/cstat.db
        link_analyze -- ${CMAKE_LINKER} $<TARGET_OBJECTS:${TARGET}>
        COMMAND_EXPAND_LISTS
        )
      # generate C-STAT report
      add_custom_command(TARGET ${TARGET} POST_BUILD
        COMMAND mkdir -p ${CMAKE_CURRENT_BINARY_DIR}/cstat_report
        COMMAND ireport --db=${CMAKE_BINARY_DIR}/cstat.db --full --project ${TARGET} --output ${CMAKE_CURRENT_BINARY_DIR}/cstat_report/index.html
        )
    endif ()
  endif ()

  if (NOT RTOS STREQUAL zephyr)
    # Analyze size with bloaty and linkermap
    family_add_bloaty(${TARGET})
    family_add_linkermap(${TARGET})
    family_add_membrowse(${TARGET})
  endif ()

  # run size after build
#  find_program(SIZE_EXE ${CMAKE_SIZE})
#  if(NOT ${SIZE_EXE} STREQUAL SIZE_EXE-NOTFOUND)
#    add_custom_command(TARGET ${TARGET} POST_BUILD
#      COMMAND ${SIZE_EXE} $<TARGET_FILE:${TARGET}>
#      )
#  endif ()
endfunction()

# Add tinyusb to target
function(family_add_tinyusb TARGET OPT_MCU)
  # tinyusb's CMakeLists.txt
  include(${TOP}/src/CMakeLists.txt)

  # Add TinyUSB sources, include and common define
  tinyusb_target_add(${TARGET})
  target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_MCU=${OPT_MCU})
  if (DEFINED LOG)
    target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_DEBUG=${LOG})
    if (LOG STREQUAL "4") # no inline for debug level 4
      target_compile_definitions(${TARGET} PUBLIC TU_ATTR_ALWAYS_INLINE=)
    endif ()
  endif()

  # use max3421 as host controller
  if (MAX3421_HOST STREQUAL "1")
    target_compile_definitions(${TARGET} PUBLIC CFG_TUH_MAX3421=1)
    target_sources(${TARGET} PUBLIC
      ${TOP}/src/portable/analog/max3421/hcd_max3421.c
      )
  endif ()
endfunction()

# Add bin/hex output
function(family_add_bin_hex TARGET)
  if (CMAKE_C_COMPILER_ID STREQUAL "IAR")
    add_custom_command(TARGET ${TARGET} POST_BUILD
      COMMAND ${CMAKE_OBJCOPY} --bin $<TARGET_FILE:${TARGET}> $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin
      COMMAND ${CMAKE_OBJCOPY} --ihex $<TARGET_FILE:${TARGET}> $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex
      VERBATIM)
  else()
    add_custom_command(TARGET ${TARGET} POST_BUILD
      COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${TARGET}> $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin
      COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${TARGET}> $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex
      VERBATIM)
  endif()
endfunction()

# Add uf2 output
function(family_add_uf2 TARGET FAMILY_ID)
  set(BIN_FILE $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex)
  add_custom_command(TARGET ${TARGET} POST_BUILD
    COMMAND python ${UF2CONV_PY} -f ${FAMILY_ID} -c -o $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.uf2 ${BIN_FILE}
    VERBATIM)
endfunction()

#-------------------------------------------------------
# Example Target Configure (Default rule)
# These function can be overridden in FAMILY/family.cmake
#--------------------------------------------------------

function(family_configure_example TARGET RTOS)
  # empty function, should be overridden in FAMILY/family.cmake
endfunction()

# Configure device example with RTOS
function(family_configure_device_example TARGET RTOS)
  family_configure_example(${TARGET} ${RTOS})
endfunction()

# Configure host example with RTOS
function(family_configure_host_example TARGET RTOS)
  family_configure_example(${TARGET} ${RTOS})
endfunction()

# Configure host + device example with RTOS
function(family_configure_dual_usb_example TARGET RTOS)
  family_configure_example(${TARGET} ${RTOS})
endfunction()

function(family_example_missing_dependency TARGET DEPENDENCY)
  message(WARNING "${DEPENDENCY} submodule needed by ${TARGET} not found, please run 'python tools/get_deps.py ${DEPENDENCY}' to fetch it")
endfunction()

#----------------------------------
# Flashing target
#----------------------------------

# Add flash jlink target
function(family_flash_jlink TARGET)
  if (NOT DEFINED JLINKEXE)
    if(CMAKE_HOST_WIN32)
      set(JLINKEXE JLink.exe)
    else()
      set(JLINKEXE JLinkExe)
    endif()
  endif ()

  if (NOT DEFINED JLINK_IF)
    set(JLINK_IF swd)
  endif ()

  if (NOT DEFINED JLINK_OPTION)
    set(JLINK_OPTION "")
  endif ()
  separate_arguments(OPTION_LIST UNIX_COMMAND ${JLINK_OPTION})

  if (RTOS STREQUAL zephyr)
    set(BINARY_TARGET zephyr_final)
    set(NAME_TARGET ${CMAKE_PROJECT_NAME})
  else ()
    set(BINARY_TARGET ${TARGET})
    set(NAME_TARGET ${TARGET})
  endif ()

  file(GENERATE
    OUTPUT $<TARGET_FILE_DIR:${BINARY_TARGET}>/${BINARY_TARGET}.jlink
    CONTENT "halt
loadfile $<TARGET_FILE:${BINARY_TARGET}>
r
go
exit"
    )

  add_custom_target(${NAME_TARGET}-jlink
    DEPENDS ${BINARY_TARGET}
    COMMAND ${JLINKEXE} -device ${JLINK_DEVICE} ${OPTION_LIST} -if ${JLINK_IF} -JTAGConf -1,-1 -speed auto -CommandFile $<TARGET_FILE_DIR:${BINARY_TARGET}>/${BINARY_TARGET}.jlink
    VERBATIM
    )

#  set_property(TARGET ${NAME_TARGET}-jlink PROPERTY FOLDER ${NAME_TARGET}-group)
endfunction()


# Add flash stlink target
function(family_flash_stlink TARGET)
  if (NOT DEFINED STM32_PROGRAMMER_CLI)
    set(STM32_PROGRAMMER_CLI STM32_Programmer_CLI)
  endif ()

  add_custom_target(${TARGET}-stlink
    DEPENDS ${TARGET}
    COMMAND ${STM32_PROGRAMMER_CLI} --connect port=swd --write $<TARGET_FILE:${TARGET}> --go
    )

  #set_property(TARGET ${TARGET}-stlink PROPERTY FOLDER ${TARGET}-group)
endfunction()


# Add flash st-flash target
function(family_flash_stflash TARGET)
  if (NOT DEFINED ST_FLASH)
    set(ST_FLASH st-flash)
  endif ()

  add_custom_target(${TARGET}-stflash
    DEPENDS ${TARGET}
    COMMAND ${ST_FLASH} write $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin 0x8000000
    )

  #set_property(TARGET ${TARGET}-stflash PROPERTY FOLDER ${TARGET}-group)
endfunction()


# Add flash openocd target
function(family_flash_openocd TARGET)
  if (NOT DEFINED OPENOCD)
    set(OPENOCD openocd)
  endif ()

  if (NOT DEFINED OPENOCD_OPTION2)
    set(OPENOCD_OPTION2 "")
  endif ()

  if (DEFINED OPENOCD_SERIAL)
    set(OPENOCD_OPTION "-c \"adapter serial ${OPENOCD_SERIAL}\" ${OPENOCD_OPTION}")
  endif ()

  separate_arguments(OPTION_LIST UNIX_COMMAND ${OPENOCD_OPTION})
  separate_arguments(OPTION_LIST2 UNIX_COMMAND ${OPENOCD_OPTION2})

  # note skip verify since it has issue with rp2040
  add_custom_target(${TARGET}-openocd
    DEPENDS ${TARGET}
    COMMAND ${OPENOCD} -c "tcl_port disabled; gdb_port disabled" ${OPTION_LIST} -c "init; halt; program $<TARGET_FILE:${TARGET}>" -c reset ${OPTION_LIST2} -c exit
    VERBATIM
    )

  #set_property(TARGET ${TARGET}-openocd PROPERTY FOLDER ${TARGET}-group)
endfunction()


# Add flash openocd-wch target
# compiled from https://github.com/hathach/riscv-openocd-wch or https://github.com/dragonlock2/miscboards/blob/main/wch/SDK/riscv-openocd.tar.xz
function(family_flash_openocd_wch TARGET)
  if (NOT DEFINED OPENOCD)
    set(OPENOCD $ENV{HOME}/app/riscv-openocd-wch/src/openocd)
  endif ()

  family_flash_openocd(${TARGET})
endfunction()


# Add flash openocd adi (Analog Devices) target
# included with msdk or compiled from release branch of https://github.com/analogdevicesinc/openocd
function(family_flash_openocd_adi TARGET)
  if (DEFINED MAXIM_PATH)
    # use openocd from msdk with MAXIM_PATH cmake variable first if the user specified it
    set(OPENOCD ${MAXIM_PATH}/Tools/OpenOCD/openocd)
    set(OPENOCD_OPTION2 "-s ${MAXIM_PATH}/Tools/OpenOCD/scripts")
  elseif (DEFINED ENV{MAXIM_PATH})
    # use openocd from msdk with MAXIM_PATH environment variable. Normalize
    # since msdk can be Windows (MinGW) or Linux
    file(TO_CMAKE_PATH "$ENV{MAXIM_PATH}" MAXIM_PATH_NORM)
    set(OPENOCD ${MAXIM_PATH_NORM}/Tools/OpenOCD/openocd)
    set(OPENOCD_OPTION2 "-s ${MAXIM_PATH_NORM}/Tools/OpenOCD/scripts")
  else()
    # compiled from source
    if (NOT DEFINED OPENOCD_ADI_PATH)
      set(OPENOCD_ADI_PATH $ENV{HOME}/app/openocd_adi)
    endif ()
    set(OPENOCD ${OPENOCD_ADI_PATH}/src/openocd)
    set(OPENOCD_OPTION2 "-s ${OPENOCD_ADI_PATH}/tcl")
  endif ()

  family_flash_openocd(${TARGET})
endfunction()

# Add flash openocd-nuvoton target
# compiled from https://github.com/OpenNuvoton/OpenOCD-Nuvoton
function(family_flash_openocd_nuvoton TARGET)
  if (NOT DEFINED OPENOCD)
    set(OPENOCD $ENV{HOME}/app/OpenOCD-Nuvoton/src/openocd)
    set(OPENOCD_OPTION2 "-s $ENV{HOME}/app/OpenOCD-Nuvoton/tcl")
  endif ()

  family_flash_openocd(${TARGET})
endfunction()


# Add flash with https://github.com/ch32-rs/wlink
function(family_flash_wlink_rs TARGET)
  if (NOT DEFINED WLINK_RS)
    set(WLINK_RS wlink)
  endif ()

  add_custom_target(${TARGET}-wlink-rs
    DEPENDS ${TARGET}
    COMMAND ${WLINK_RS} flash $<TARGET_FILE:${TARGET}>
    )

  #set_property(TARGET ${TARGET}-wlink-rs PROPERTY FOLDER ${TARGET}-group)
endfunction()


# Add flash pycod target
function(family_flash_pyocd TARGET)
  if (NOT DEFINED PYOC)
    set(PYOCD pyocd)
  endif ()

  add_custom_target(${TARGET}-pyocd
    DEPENDS ${TARGET}
    COMMAND ${PYOCD} flash -t ${PYOCD_TARGET} $<TARGET_FILE:${TARGET}>
    )

  #set_property(TARGET ${TARGET}-pyocd PROPERTY FOLDER ${TARGET}-group)
endfunction()


# Flash with UF2
function(family_flash_uf2 TARGET FAMILY_ID)
  add_custom_target(${TARGET}-uf2
    DEPENDS ${TARGET}
    COMMAND python ${UF2CONV_PY} -f ${FAMILY_ID} --deploy $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.uf2
    )
  #set_property(TARGET ${TARGET}-uf2 PROPERTY FOLDER ${TARGET}-group)
endfunction()


# Add flash teensy_cli target
function(family_flash_teensy TARGET)
  if (NOT DEFINED TEENSY_CLI)
    set(TEENSY_CLI teensy_loader_cli)
  endif ()

  add_custom_target(${TARGET}-teensy
    DEPENDS ${TARGET}
    COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${TARGET}> $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex
    COMMAND ${TEENSY_CLI} --mcu=${TEENSY_MCU} -w -s $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex
    )

  #set_property(TARGET ${TARGET}-teensy PROPERTY FOLDER ${TARGET}-group)
endfunction()


# Add flash using NXP's LinkServer (redserver)
# https://www.nxp.com/design/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKERSERVER
function(family_flash_nxplink TARGET)
  if (NOT DEFINED LINKSERVER)
    set(LINKSERVER LinkServer)
  endif ()

  # LinkServer has a bug that can only execute with full path otherwise it throws:
  # realpath error: No such file or directory
  execute_process(COMMAND which ${LINKSERVER} OUTPUT_VARIABLE LINKSERVER_PATH OUTPUT_STRIP_TRAILING_WHITESPACE)

  add_custom_target(${TARGET}-nxplink
    DEPENDS ${TARGET}
    COMMAND ${LINKSERVER_PATH} flash ${NXPLINK_DEVICE} load $<TARGET_FILE:${TARGET}>
    )

  #set_property(TARGET ${TARGET}-nxplink PROPERTY FOLDER ${TARGET}-group)
endfunction()


function(family_flash_dfu_util TARGET OPTION)
  if (NOT DEFINED DFU_UTIL)
    set(DFU_UTIL dfu-util)
  endif ()

  add_custom_target(${TARGET}-dfu-util
    DEPENDS ${TARGET}
    COMMAND ${DFU_UTIL} -R -d ${DFU_UTIL_VID_PID} -a 0 -D $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin
    VERBATIM
    )

  #set_property(TARGET ${TARGET}-dfu-util PROPERTY FOLDER ${TARGET}-group)
endfunction()

function(family_flash_msp430flasher TARGET)
  if (NOT DEFINED MSP430Flasher)
    set(MSP430FLASHER MSP430Flasher)
  endif ()

  # set LD_LIBRARY_PATH to find libmsp430.so (directory containing MSP430Flasher)
  find_program(MSP430FLASHER_PATH MSP430Flasher)
  get_filename_component(MSP430FLASHER_PARENT_DIR "${MSP430FLASHER_PATH}" DIRECTORY)
  add_custom_target(${TARGET}-msp430flasher
    DEPENDS ${TARGET}
    COMMAND ${CMAKE_COMMAND} -E env LD_LIBRARY_PATH=${MSP430FLASHER_PARENT_DIR}
            ${MSP430FLASHER} -w $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex -z [VCC]
    )

  #set_property(TARGET ${TARGET}-msp430flasher PROPERTY FOLDER ${TARGET}-group)
endfunction()

function(family_flash_rfp TARGET)
  if (NOT DEFINED RFP_CLI)
    set(RFP_CLI rfp-cli)
  endif ()

  add_custom_target(${TARGET}-rfp
    DEPENDS ${TARGET}
    COMMAND ${CMAKE_OBJCOPY} -O srec -I elf32-rx-be-ns $<TARGET_FILE:${TARGET}> $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.mot
    COMMAND ${RFP_CLI} -device ${RFP_DEVICE} -tool ${RFP_TOOL} -if fine
      -fo id FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
      -auth id FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
      -auto $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.mot
    VERBATIM
    )

  #set_property(TARGET ${TARGET}-rfp PROPERTY FOLDER ${TARGET}-group)
endfunction()


function(family_flash_uniflash TARGET)
  if (NOT DEFINED DSLITE)
    set(DSLITE dslite.sh)
  endif ()

  separate_arguments(OPTION_LIST UNIX_COMMAND ${UNIFLASH_OPTION})

  add_custom_target(${TARGET}-uniflash
    DEPENDS ${TARGET}
    COMMAND ${DSLITE} ${UNIFLASH_OPTION} -f $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex
    VERBATIM
    )

  #set_property(TARGET ${TARGET}-uniflash PROPERTY FOLDER ${TARGET}-group)
endfunction()

# Add flash lm4flash target (lightweight flasher for TI Tiva-C/Stellaris ICDI boards)
function(family_flash_lm4flash TARGET)
  if (NOT DEFINED LM4FLASH)
    set(LM4FLASH lm4flash)
  endif ()

  if (NOT DEFINED LM4FLASH_OPTION)
    set(LM4FLASH_OPTION "")
  endif ()
  separate_arguments(OPTION_LIST UNIX_COMMAND ${LM4FLASH_OPTION})

  add_custom_target(${TARGET}-lm4flash
    DEPENDS ${TARGET}
    COMMAND ${LM4FLASH} ${OPTION_LIST} $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin
    VERBATIM
    )

  #set_property(TARGET ${TARGET}-lm4flash PROPERTY FOLDER ${TARGET}-group)
endfunction()

# Add flash ft9xx target need to remove kernal's ftdi_sio and bind D2XX drivers
# sudo rmmod ftdi_sio && for i in 0 1 2 3; do sudo sh -c "echo 3-3.4:1.$i > /sys/bus/usb/drivers/ftdi_sio/unbind" 2>/dev/null; done
function(family_flash_ft9xx TARGET)
  if (NOT DEFINED FT9XXPROG)
    set(FT9XXPROG FT9xxProg)
  endif ()

  add_custom_target(${TARGET}-ft9xx
    DEPENDS ${TARGET}
    COMMAND ${FT9XXPROG} -f $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin
    )

  #set_property(TARGET ${TARGET}-ft9xx PROPERTY FOLDER ${TARGET}-group)
endfunction()

#----------------------------------
# Family specific
#----------------------------------

# family specific: can override above functions
include(${CMAKE_CURRENT_LIST_DIR}/${FAMILY}/family.cmake)

if (NOT FAMILY_MCUS)
  set(FAMILY_MCUS ${FAMILY})
endif()

# if use max3421 as host controller, expand FAMILY_MCUS to include max3421
if (MAX3421_HOST STREQUAL "1")
  set(FAMILY_MCUS ${FAMILY_MCUS} MAX3421)
endif ()

# save it in case of re-inclusion
set(FAMILY_MCUS ${FAMILY_MCUS} CACHE INTERNAL "")