This assumes building on Linux, but in theory it would work elsewhere.
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Build your Kicad somewhere. I tend to put it outside of the source directory.
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Create a new C/C++ "Makefile project from existing code", select your code directory (not your build directory)
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Set the toolchain as required (I used Linux GCC)
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When you finish, the indexer will start to run after a few seconds. Stop this before it tries to index boost - this always hangs for me.
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If your build directory is not under the source directory, create a new linked folder under the project (New > Folder > Select "linked folder"). I called it "Build", but you might have several.
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Open the Project Properties > C/C++ General > Paths and Symbols
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Add relevant directories as source directories and remove the default top-level one. This prevents Eclipse spending ages looking around in boost, trying to index it and so on. You can also do this with a filter, but I find that more effort.
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