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438 lines
16 KiB
438 lines
16 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 px4fmu-v2_default (builds) |
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# make px4fmu-v2_default upload (builds and uploads) |
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# make px4fmu-v2_default test (builds and tests) |
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# |
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# This tells cmake to build the nuttx px4fmu-v2 default config in the |
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# directory build_nuttx_px4fmu-v2_default and then call make |
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# in that directory with the target upload. |
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# explicity set default build target |
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all: posix_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 $(MAKEFILE_LIST)))) |
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# check if replay env variable is set & set build dir accordingly |
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ifdef replay |
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BUILD_DIR_SUFFIX := _replay |
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else |
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BUILD_DIR_SUFFIX := |
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endif |
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# NuttX verbose output |
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ifdef VN |
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export PX4_NUTTX_BUILD_VERBOSE=1 |
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export V=1 |
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endif |
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# NuttX verbose patches output |
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ifdef VNP |
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export PX4_NUTTX_PATCHES_VERBOSE=1 |
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endif |
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# additional config parameters passed to cmake |
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CMAKE_ARGS := |
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ifdef EXTERNAL_MODULES_LOCATION |
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CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(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=${PX4_CMAKE_BUILD_TYPE} |
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endif |
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# Functions |
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# -------------------------------------------------------------------- |
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# describe how to build a cmake config |
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define cmake-build |
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+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(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 $(2) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi |
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+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS)) |
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endef |
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COLOR_BLUE = \033[0;34m |
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NO_COLOR = \033[m |
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define colorecho |
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+@echo "${COLOR_BLUE}${1} ${NO_COLOR}" |
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endef |
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# Get a list of all config targets. |
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ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed -e 's:^.*/::' | sort)) |
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# Strip off leading nuttx_ |
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NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS))) |
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# ADD CONFIGS HERE |
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# -------------------------------------------------------------------- |
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# Do not put any spaces between function arguments. |
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# All targets. |
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$(ALL_CONFIG_TARGETS): |
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$(call cmake-build,$@,$(SRC_DIR)) |
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# Abbreviated config targets. |
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# nuttx_ is left off by default; provide a rule to allow that. |
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$(NUTTX_CONFIG_TARGETS): |
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$(call cmake-build,nuttx_$@,$(SRC_DIR)) |
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all_nuttx_targets: $(NUTTX_CONFIG_TARGETS) |
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posix: posix_sitl_default |
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broadcast: posix_sitl_broadcast |
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# Multi- config targets. |
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eagle_default: posix_eagle_default qurt_eagle_default |
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eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy |
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excelsior_default: posix_excelsior_default qurt_excelsior_default |
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excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy |
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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 broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets |
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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 |
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.PHONY: sizes check quick_check check_format tests |
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.PHONY: check_posix_sitl_default check_px4fmu-v3_default |
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# QGroundControl flashable NuttX firmware |
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes |
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# px4fmu NuttX firmware |
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px4fmu_firmware: \ |
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check_px4fmu-v2_default \ |
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check_px4fmu-v3_default \ |
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check_px4fmu-v4_default \ |
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check_px4fmu-v4pro_default \ |
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check_px4fmu-v5_default \ |
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sizes |
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misc_qgc_extra_firmware: \ |
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check_aerocore2_default \ |
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check_aerofc-v1_default \ |
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check_auav-x21_default \ |
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check_crazyflie_default \ |
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check_mindpx-v2_default \ |
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check_px4fmu-v2_lpe \ |
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check_tap-v1_default \ |
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sizes |
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# Other NuttX firmware |
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alt_firmware: \ |
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check_nxphlite-v3_default \ |
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check_px4-same70xplained-v1_default \ |
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check_px4-stm32f4discovery_default \ |
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check_px4cannode-v1_default \ |
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check_px4esc-v1_default \ |
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check_px4nucleoF767ZI-v1_default \ |
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check_s2740vc-v1_default \ |
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sizes |
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checks_bootloaders: \ |
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check_esc35-v1_bootloader \ |
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check_px4esc-v1_bootloader \ |
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check_px4flow-v2_bootloader \ |
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check_s2740vc-v1_bootloader \ |
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# not fitting in flash check_px4cannode-v1_bootloader \ |
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# not fitting in flash check_zubaxgnss-v1_bootloader \ |
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sizes |
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sizes: |
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@-find build_* -name firmware_nuttx -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_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders 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_posix_sitl_default check_px4fmu-v3_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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# Documentation |
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# -------------------------------------------------------------------- |
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.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata |
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parameters_metadata: posix_sitl_default |
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@python $(SRC_DIR)/Tools/px_process_params.py -s $(SRC_DIR)/src --markdown |
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airframe_metadata: |
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@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown |
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@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml |
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module_documentation: |
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@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src |
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px4_metadata: parameters_metadata airframe_metadata module_documentation |
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# S3 upload helpers |
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# -------------------------------------------------------------------- |
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# s3cmd uses these ENV variables |
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# AWS_ACCESS_KEY_ID |
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# AWS_SECRET_ACCESS_KEY |
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# AWS_S3_BUCKET |
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.PHONY: s3put_firmware s3put_qgc_firmware s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware s3put_metadata s3put_scan-build s3put_cppcheck s3put_coverage |
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Firmware.zip: |
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@rm -rf Firmware.zip |
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@zip --junk-paths Firmware.zip `find . -name \*.px4` |
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s3put_firmware: Firmware.zip |
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$(SRC_DIR)/Tools/s3put.sh Firmware.zip |
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s3put_qgc_firmware: s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware |
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s3put_px4fmu_firmware: px4fmu_firmware |
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@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \; |
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s3put_misc_qgc_extra_firmware: misc_qgc_extra_firmware |
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@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \; |
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s3put_metadata: px4_metadata |
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@$(SRC_DIR)/Tools/s3put.sh airframes.md |
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@$(SRC_DIR)/Tools/s3put.sh airframes.xml |
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@$(SRC_DIR)/Tools/s3put.sh build_posix_sitl_default/parameters.xml |
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@$(SRC_DIR)/Tools/s3put.sh parameters.md |
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s3put_scan-build: scan-build |
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@cd $(SRC_DIR) && ./Tools/s3put.sh `find build_scan-build -mindepth 1 -maxdepth 1 -type d`/ |
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s3put_cppcheck: cppcheck |
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@cd $(SRC_DIR) && ./Tools/s3put.sh cppcheck/ |
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s3put_coverage: tests_coverage |
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@cd $(SRC_DIR) && ./Tools/s3put.sh build_posix_sitl_default/coverage-html/ |
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# Astyle |
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# -------------------------------------------------------------------- |
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.PHONY: check_format format |
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check_format: |
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$(call colorecho,"Checking formatting with astyle") |
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@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh |
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@git diff --check |
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format: |
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$(call colorecho,"Formatting with astyle") |
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@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix |
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# Testing |
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# -------------------------------------------------------------------- |
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.PHONY: tests tests_coverage coveralls_upload codecov_upload |
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tests: |
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$(MAKE) --no-print-directory posix_sitl_default test_results |
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tests_coverage: |
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@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage |
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coveralls_upload: |
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@cpp-coveralls --include src/ \ |
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--exclude=src/lib/DriverFramework \ |
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--exclude=src/lib/ecl \ |
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--exclude=src/lib/Matrix \ |
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--exclude=src/modules/uavcan/libuavcan \ |
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--root . --build-root build_posix_sitl_default/ --follow-symlinks |
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codecov_upload: |
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@/bin/bash -c "bash <(curl -s https://codecov.io/bash)" |
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# static analyzers (scan-build, clang-tidy, cppcheck) |
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# -------------------------------------------------------------------- |
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.PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack |
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posix_sitl_default-clang: |
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@mkdir -p $(SRC_DIR)/build_posix_sitl_default-clang |
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@cd $(SRC_DIR)/build_posix_sitl_default-clang && cmake .. -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ |
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@cd $(SRC_DIR)/build_posix_sitl_default-clang && ninja |
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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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@mkdir -p $(SRC_DIR)/build_posix_sitl_default-scan-build |
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@cd $(SRC_DIR)/build_posix_sitl_default-scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default |
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@scan-build -o $(SRC_DIR)/build_scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default-scan-build |
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clang-tidy: posix_sitl_default-clang |
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@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(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: posix_sitl_default-clang |
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@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.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: posix_sitl_default-clang |
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@cd build_posix_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: posix_sitl_default |
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@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build_posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml |
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@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/ |
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check_stack: px4fmu-v3_default |
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@echo "Checking worst case stack usage with avstack.pl ..." |
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@echo " " |
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@cd build_px4fmu-v3_default/ && mkdir -p stack_usage && $(SRC_DIR)/Tools/stack_usage/avstack.pl `find . -name *.obj` > stack_usage/avstack_output.txt 2> stack_usage/avstack_errors.txt |
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@head -n 10 build_px4fmu-v3_default/stack_usage/avstack_output.txt | c++filt |
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@echo " " |
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@echo "Checking worst case stack usage with checkstack.pl ..." |
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@echo " " |
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@echo "Top 10:" |
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@cd build_px4fmu-v3_default/ && mkdir -p stack_usage && arm-none-eabi-objdump -d src/firmware/nuttx/firmware_nuttx | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt |
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@head -n 10 build_px4fmu-v3_default/stack_usage/checkstack_output.txt | c++filt |
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@echo " " |
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@echo "Symbols with 'main', 'thread' or 'task':" |
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@cat build_px4fmu-v3_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task' |
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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 $(SRC_DIR)/build_*/ |
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-@$(MAKE) --no-print-directory -C NuttX/nuttx clean |
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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: submodulesclean gazeboclean |
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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 '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#) |
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CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~") |
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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 $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
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