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467 lines
17 KiB
467 lines
17 KiB
############################################################################ |
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# |
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# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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# Enforce the presence of the GIT repository |
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# |
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# We depend on our submodules, so we have to prevent attempts to |
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# compile without it being present. |
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ifeq ($(wildcard .git),) |
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$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.) |
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endif |
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# Help |
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# -------------------------------------------------------------------- |
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# Don't be afraid of this makefile, it is just passing |
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# arguments to cmake to allow us to keep the wiki pages etc. |
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# that describe how to build the px4 firmware |
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# the same even when using cmake instead of make. |
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# |
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# Example usage: |
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# |
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# make px4_fmu-v2_default (builds) |
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# make px4_fmu-v2_default upload (builds and uploads) |
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# make px4_fmu-v2_default test (builds and tests) |
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# |
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# This tells cmake to build the nuttx px4_fmu-v2 default config in the |
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# directory build/px4_fmu-v2_default and then call make |
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# in that directory with the target upload. |
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|
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# explicity set default build target |
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all: px4_sitl_default |
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# Parsing |
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# -------------------------------------------------------------------- |
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# assume 1st argument passed is the main target, the |
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# rest are arguments to pass to the makefile generated |
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# by cmake in the subdirectory |
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FIRST_ARG := $(firstword $(MAKECMDGOALS)) |
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ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS)) |
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j ?= 4 |
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NINJA_BIN := ninja |
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ifndef NO_NINJA_BUILD |
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null) |
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ifndef NINJA_BUILD |
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NINJA_BIN := ninja-build |
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null) |
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endif |
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endif |
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ifdef NINJA_BUILD |
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PX4_CMAKE_GENERATOR := Ninja |
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PX4_MAKE := $(NINJA_BIN) |
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ifdef VERBOSE |
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PX4_MAKE_ARGS := -v |
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else |
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PX4_MAKE_ARGS := |
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endif |
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else |
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ifdef SYSTEMROOT |
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# Windows |
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PX4_CMAKE_GENERATOR := "MSYS\ Makefiles" |
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else |
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PX4_CMAKE_GENERATOR := "Unix\ Makefiles" |
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endif |
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PX4_MAKE = $(MAKE) |
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PX4_MAKE_ARGS = -j$(j) --no-print-directory |
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endif |
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SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))") |
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|
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# check if replay env variable is set & set build dir accordingly |
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ifdef replay |
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BUILD_DIR_SUFFIX := _replay |
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else |
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BUILD_DIR_SUFFIX := |
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endif |
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# additional config parameters passed to cmake |
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ifdef EXTERNAL_MODULES_LOCATION |
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CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION) |
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endif |
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ifdef PX4_CMAKE_BUILD_TYPE |
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE} |
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else |
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# Address Sanitizer |
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ifdef PX4_ASAN |
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer |
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endif |
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# Memory Sanitizer |
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ifdef PX4_MSAN |
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer |
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endif |
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# Thread Sanitizer |
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ifdef PX4_TSAN |
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer |
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endif |
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# Undefined Behavior Sanitizer |
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ifdef PX4_UBSAN |
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer |
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endif |
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endif |
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# Functions |
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# -------------------------------------------------------------------- |
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# describe how to build a cmake config |
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define cmake-build |
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+@$(eval PX4_CONFIG = $(1)) |
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+@$(eval BUILD_DIR = "$(SRC_DIR)"/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX)) |
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi |
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi |
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+@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS) |
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endef |
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COLOR_BLUE = \033[0;94m |
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NO_COLOR = \033[m |
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define colorecho |
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+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}' |
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endef |
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# Get a list of all config targets boards/*/*.cmake |
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ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort) |
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# Strip off default |
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CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS))) |
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# ADD CONFIGS HERE |
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# -------------------------------------------------------------------- |
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# Do not put any spaces between function arguments. |
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# All targets. |
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$(ALL_CONFIG_TARGETS): |
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$(call cmake-build,$@) |
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# Abbreviated config targets. |
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# nuttx_ is left off by default; provide a rule to allow that. |
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$(NUTTX_CONFIG_TARGETS): |
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$(call cmake-build,nuttx_$@) |
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all_nuttx_targets: $(NUTTX_CONFIG_TARGETS) |
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$(CONFIG_TARGETS_DEFAULT): |
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$(call cmake-build,$@_default) |
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all_default_targets: $(CONFIG_TARGETS_DEFAULT) |
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posix: px4_sitl_default |
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# board reorganization deprecation warnings (2018-11-22) |
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define deprecation_warning |
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$(warning $(1) has been deprecated and will be removed, please use $(2)!) |
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endef |
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px4fmu-%_default: |
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$(call deprecation_warning, ${@},$(subst px4fmu,px4_fmu,$@)) |
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$(MAKE) $(subst px4fmu,px4_fmu, $@) |
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posix_sitl_default: |
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$(call deprecation_warning, ${@},px4_sitl_default) |
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$(MAKE) px4_sitl_default |
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# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe). |
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.PHONY: all posix px4_sitl_default all_nuttx_targets all_default_targets |
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# Multi- config targets. |
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eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default |
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eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps |
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excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default |
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excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps |
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.PHONY: eagle_default eagle_rtps |
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.PHONY: excelsior_default excelsior_rtps |
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# Other targets |
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# -------------------------------------------------------------------- |
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps |
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# QGroundControl flashable NuttX firmware |
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware |
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# px4fmu NuttX firmware |
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px4fmu_firmware: \ |
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check_px4_io-v2_default \ |
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check_px4_fmu-v2_default \ |
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check_px4_fmu-v3_default \ |
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check_px4_fmu-v4_default \ |
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check_px4_fmu-v4pro_default \ |
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check_px4_fmu-v5_default \ |
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sizes |
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misc_qgc_extra_firmware: \ |
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check_gumstix_aerocore2_default \ |
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check_intel_aerofc-v1_default \ |
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check_auav_x21_default \ |
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check_bitcraze_crazyflie_default \ |
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check_airmind_mindpx-v2_default \ |
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check_px4_fmu-v2_lpe \ |
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sizes |
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# Other NuttX firmware |
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alt_firmware: \ |
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check_nxp_fmuk66-v3_default \ |
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check_atmel_same70xplained_default \ |
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check_stm_32f4discovery_default \ |
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check_px4_cannode-v1_default \ |
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check_px4_esc-v1_default \ |
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check_stm_nucleo-F767ZI_default \ |
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check_thiemar_s2740vc-v1_default \ |
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sizes |
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# builds with RTPS |
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check_rtps: \ |
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check_px4_fmu-v3_rtps \ |
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check_px4_fmu-v4_rtps \ |
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check_px4_fmu-v4pro_rtps \ |
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check_px4_sitl_rtps \ |
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sizes |
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.PHONY: sizes check quick_check check_rtps uorb_graphs |
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sizes: |
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@-find build -name *.elf -type f | xargs size 2> /dev/null || : |
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# All default targets that don't require a special build environment |
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check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format |
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# quick_check builds a single nuttx and posix target, runs testing, and checks the style |
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quick_check: check_px4_sitl_default check_px4_fmu-v5_default tests check_format |
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check_%: |
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@echo |
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$(call colorecho,'Building' $(subst check_,,$@)) |
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@$(MAKE) --no-print-directory $(subst check_,,$@) |
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@echo |
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uorb_graphs: |
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@./Tools/uorb_graph/create_from_startupscript.sh |
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@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full |
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@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph |
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@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph |
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@$(MAKE) --no-print-directory px4_sitl_default uorb_graph |
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.PHONY: coverity_scan |
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coverity_scan: px4_sitl_default |
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# Documentation |
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# -------------------------------------------------------------------- |
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.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen |
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parameters_metadata: |
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@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters |
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airframe_metadata: |
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@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes |
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module_documentation: |
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@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation |
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px4_metadata: parameters_metadata airframe_metadata module_documentation |
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doxygen: |
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@mkdir -p "$(SRC_DIR)"/build/doxygen |
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@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON |
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen |
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@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll |
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# Astyle |
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# -------------------------------------------------------------------- |
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.PHONY: check_format format |
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check_format: |
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$(call colorecho,'Checking formatting with astyle') |
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh |
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@cd "$(SRC_DIR)" && git diff --check |
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format: |
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$(call colorecho,'Formatting with astyle') |
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix |
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# Testing |
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# -------------------------------------------------------------------- |
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.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard |
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.PHONY: rostest python_coverage test_mixer_multirotor |
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test_mixer_multirotor: |
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@$(MAKE) -C "$(SRC_DIR)"/src/lib/mixer --no-print-directory tests |
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tests: test_mixer_multirotor |
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@$(MAKE) --no-print-directory px4_sitl_test test_results \ |
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ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \ |
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UBSAN_OPTIONS="color=always" |
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tests_coverage: |
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@$(MAKE) clean |
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@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage |
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@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage" |
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rostest: px4_sitl_default |
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@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo |
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tests_mission: rostest |
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test |
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tests_mission_coverage: |
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@$(MAKE) clean |
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@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage |
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@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage |
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol |
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@$(MAKE) --no-print-directory px4_sitl_default generate_coverage |
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tests_offboard: rostest |
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test |
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test |
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python_coverage: |
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@mkdir -p "$(SRC_DIR)"/build/python_coverage |
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@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON |
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage |
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes |
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters |
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#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py |
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@coverage combine `find . -name .coverage\*` |
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@coverage report -m |
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# static analyzers (scan-build, clang-tidy, cppcheck) |
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# -------------------------------------------------------------------- |
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.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet |
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.PHONY: cppcheck shellcheck_all validate_module_configs |
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scan-build: |
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@export CCC_CC=clang |
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@export CCC_CXX=clang++ |
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@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build |
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@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest |
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@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build |
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@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default |
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@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build |
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@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \; |
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px4_sitl_default-clang: |
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@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang |
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@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ |
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang |
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clang-tidy: px4_sitl_default-clang |
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@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p . |
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# to automatically fix a single check at a time, eg modernize-redundant-void-arg |
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# % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p . |
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clang-tidy-fix: px4_sitl_default-clang |
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@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p . |
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# modified version of run-clang-tidy.py to return error codes and only output relevant results |
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clang-tidy-quiet: px4_sitl_default-clang |
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@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p . |
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# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all |
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cppcheck: px4_sitl_default |
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@mkdir -p "$(SRC_DIR)"/build/cppcheck |
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@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null |
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@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/ |
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shellcheck_all: |
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@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/ |
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@make px4_fmu-v5_default shellcheck |
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validate_module_configs: |
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@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml |
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# Cleanup |
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# -------------------------------------------------------------------- |
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.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean |
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clean: |
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@rm -rf "$(SRC_DIR)"/build |
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submodulesclean: |
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@git submodule foreach --quiet --recursive git clean -ff -x -d |
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@git submodule update --quiet --init --recursive --force || true |
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@git submodule sync --recursive |
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@git submodule update --init --recursive --force |
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submodulesupdate: |
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@git submodule update --quiet --init --recursive || true |
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@git submodule sync --recursive |
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@git submodule update --init --recursive |
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gazeboclean: |
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@rm -rf ~/.gazebo/* |
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distclean: gazeboclean |
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@git submodule deinit -f . |
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@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode" |
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# -------------------------------------------------------------------- |
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# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error. |
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%: |
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$(if $(filter $(FIRST_ARG),$@), \ |
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$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#) |
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#help: |
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# @echo |
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# @echo "Type 'make ' and hit the tab key twice to see a list of the available" |
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# @echo "build configurations." |
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# @echo |
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empty := |
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space := $(empty) $(empty) |
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# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069) |
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help: |
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@echo "Usage: $(MAKE) <target>" |
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@echo "Where <target> is one of:" |
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@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \ |
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awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \ |
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egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)' |
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@echo |
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@echo "Or, $(MAKE) <config_target> [<make_target(s)>]" |
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@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets." |
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# Print a list of all config targets. |
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list_config_targets: |
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@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
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