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@ -4,70 +4,198 @@
@@ -4,70 +4,198 @@
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# Currently this assumes that we're just compiling SRCS
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# and then linking the whole thing together.
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#
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# Requires:
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#
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# PLATFORM
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# Must be set to a platform name known to the PX4 distribution.
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#
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# Optional:
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#
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# PX4_BASE:
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# Points to a PX4 distribution. Normally determined based on the
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# path to this file.
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#
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# CONFIG:
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# Used to set the output filename; defaults to 'firmware'.
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#
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# WORK_DIR:
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# Sets the directory in which the firmware will be built. Defaults
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# to the directory 'build' under the directory containing the
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# parent Makefile.
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#
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################################################################################
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# Paths and configuration
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################################################################################
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#
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# Work out where this file is, so we can find other makefiles in the
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# same directory.
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#
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# If PX4_BASE wasn't set previously, set it here now.
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# If PX4_BASE wasn't set previously, work out what it should be
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# and set it here now.
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#
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export PX4_MK_INCLUDE ?= $(dir $(lastword $(MAKEFILE_LIST)))
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ifeq ($(PX4_BASE),) |
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export PX4_BASE := $(abspath $(PX4_MK_INCLUDE)/..)
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endif |
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$(info %% PX4_BASE $(PX4_BASE)) |
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#
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# Use the linker script from the NuttX export
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# If WORK_DIR is not set, create a 'build' directory next to the
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# parent Makefile.
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#
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LDSCRIPT = $(WORK_DIR)/nuttx-export/build/ld.script
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PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
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ifeq ($(WORK_DIR),) |
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export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build
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endif |
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$(info %% WORK_DIR $(WORK_DIR)) |
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#
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# Add directories from the NuttX export to the relevant search paths
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# Paths
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#
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INCLUDE_DIRS += $(WORK_DIR)/nuttx-export/include
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LIB_DIRS += $(WORK_DIR)/nuttx-export/libs
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LIBS += -lapps -lnuttx
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export NUTTX_SRC = $(PX4_BASE)/nuttx
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export NUTTX_APPS = $(PX4_BASE)/apps
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export MAVLINK_SRC = $(PX4_BASE)/mavlink
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export ROMFS_SRC = $(PX4_BASE)/ROMFS
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export IMAGE_DIR = $(PX4_BASE)/Images
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export BUILD_DIR = $(PX4_BASE)/Build
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export ARCHIVE_DIR = $(PX4_BASE)/Archives
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#
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# Things that, if they change, might affect everything
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# Extra tools.
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#
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GLOBAL_DEPS += $(MAKEFILE_LIST)
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# XXX should be in a common toolchain config somewhere.
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#
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MKFW = $(PX4_BASE)/Tools/px_mkfw.py
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UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
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COPY = cp
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REMOVE = rm -f
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RMDIR = rm -rf
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#
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# Include the platform configuration
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# Sanity-check the PLATFORM variable and then get the platform config.
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#
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# The platform config in turn will fetch the toolchain configuration.
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#
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ifeq ($(PLATFORM),) |
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$(error The PLATFORM variable must be set before including firmware.mk) |
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endif |
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include $(PX4_MK_INCLUDE)/$(PLATFORM).mk |
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#
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# What we're going to build
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# Makefile debugging.
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#
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Q := $(if $(V),,@)
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#
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# Host-specific paths, hacks and fixups
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#
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SYSTYPE := $(shell uname -s)
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ifeq ($(SYSTYPE),Darwin) |
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# Eclipse may not have the toolchain on its path.
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export PATH := $(PATH):/usr/local/bin
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endif |
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#
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# Serial port defaults.
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#
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# XXX The uploader should be smarter than this.
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#
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ifeq ($(SYSTYPE),Darwin) |
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SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
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endif |
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ifeq ($(SYSTYPE),Linux) |
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SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
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endif |
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ifeq ($(SERIAL_PORTS),) |
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SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
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endif |
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################################################################################
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# NuttX libraries and paths
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################################################################################
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#
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# Check that the NuttX archive for the selected platform is available.
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#
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NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)/$(PLATFORM).export)
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ifeq ($(NUTTX_ARCHIVE),) |
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$(error The NuttX export archive for $(PLATFORM) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) |
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endif |
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#
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# The NuttX config header should always be present in the NuttX archive, and
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# if it changes, everything should be rebuilt. So, use it as the trigger to
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# unpack the NuttX archive.
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#
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NUTTX_EXPORT_DIR = $(WORK_DIR)/nuttx-export
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NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h
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#
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# Use the linker script from the NuttX export
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#
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LDSCRIPT = $(NUTTX_EXPORT_DIR)/build/ld.script
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#
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# Add directories from the NuttX export to the relevant search paths
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#
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INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)/include
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LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs
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LIBS += -lapps -lnuttx
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LINK_DEPS += $(wildcard $(addsuffix /*.a,$(LIB_DIRS)))
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################################################################################
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# Build rules
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################################################################################
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#
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# Things that, if they change, might affect everything
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#
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GLOBAL_DEPS += $(MAKEFILE_LIST) $(NUTTX_CONFIG_HEADER)
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#
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# What we're going to build.
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#
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PRODUCT_BUNDLE = $(WORK_DIR)/firmware.px4
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PRODUCT_BIN = $(WORK_DIR)/firmware.bin
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PRODUCT_SYM = $(WORK_DIR)/firmware.sym
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PRODUCTS = $(PRODUCT_BIN) $(PRODUCT_SYM)
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.PHONY: all |
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all: $(PRODUCTS) |
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all: $(PRODUCT_BUNDLE) |
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#
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# Rules for building objects
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# Object files we will generate from sources
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#
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OBJS = $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
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$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c |
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@echo compile $<
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#
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# Rules
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#
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$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c $(GLOBAL_DEPS) |
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@mkdir -p $(dir $@)
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$(call COMPILE,$<,$@)
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$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp |
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$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) |
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@mkdir -p $(dir $@)
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$(call COMPILEXX,$<,$@)
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$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S |
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$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) |
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@mkdir -p $(dir $@)
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$(call ASSEMBLE,$<,$@)
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-include $(DEP_INCLUDES) |
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$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) |
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@echo %% Unpacking $(NUTTX_ARCHIVE)
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$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
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$(Q) touch $@
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$(PRODUCT_BUNDLE): $(PRODUCT_BIN) |
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@echo %% Generating $@
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(PLATFORM).prototype \
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--git_identity $(PX4_BASE) \
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--image $< > $@
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$(PRODUCT_BIN): $(PRODUCT_SYM) |
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$(call SYM_TO_BIN,$<,$@)
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@ -75,3 +203,16 @@ $(PRODUCT_BIN): $(PRODUCT_SYM)
@@ -75,3 +203,16 @@ $(PRODUCT_BIN): $(PRODUCT_SYM)
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$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) |
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$(call LINK,$@,$(OBJS))
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upload: $(PRODUCT_BUNDLE) $(UPLOADER) |
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@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(PRODUCT_BUNDLE)
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clean: |
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@echo %% cleaning
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$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
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$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES)
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$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
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#
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# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
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#
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-include $(DEP_INCLUDES) |
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px4dev
12 years ago