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295 lines
9.1 KiB
295 lines
9.1 KiB
# |
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# Copyright (c) 2012-2015 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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# Top-level Makefile for building PX4 firmware images. |
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# |
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TARGETS := nuttx posix posix-arm qurt |
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EXPLICIT_TARGET := $(filter $(TARGETS),$(MAKECMDGOALS)) |
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ifneq ($(EXPLICIT_TARGET),) |
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export PX4_TARGET_OS=$(EXPLICIT_TARGET) |
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export GOALS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS)) |
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endif |
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# |
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# Get path and tool configuration |
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# |
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export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/ |
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include $(PX4_BASE)makefiles/setup.mk |
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# |
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# Get a version string provided by git |
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# This assumes that git command is available and that |
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# the directory holding this file also contains .git directory |
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# |
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GIT_DESC := $(shell git log -1 --pretty=format:%H) |
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ifneq ($(words $(GIT_DESC)),1) |
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GIT_DESC := "unknown_git_version" |
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endif |
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GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16) |
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# |
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# Canned firmware configurations that we (know how to) build. |
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# |
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KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk)))) |
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CONFIGS ?= $(KNOWN_CONFIGS) |
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# |
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# Boards that we (know how to) build NuttX export kits for. |
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# |
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KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk)))) |
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BOARDS ?= $(KNOWN_BOARDS) |
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# |
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# Debugging |
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# |
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MQUIET = --no-print-directory |
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#MQUIET = --print-directory |
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################################################################################ |
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# No user-serviceable parts below |
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################################################################################ |
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# |
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# If the user has listed a config as a target, strip it out and override CONFIGS. |
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# |
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FIRMWARE_GOAL = firmware |
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EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS)) |
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ifneq ($(EXPLICIT_CONFIGS),) |
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CONFIGS := $(EXPLICIT_CONFIGS) |
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.PHONY: $(EXPLICIT_CONFIGS) |
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$(EXPLICIT_CONFIGS): all |
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# |
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# If the user has asked to upload, they must have also specified exactly one |
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# config. |
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# |
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ifneq ($(filter upload,$(MAKECMDGOALS)),) |
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ifneq ($(words $(EXPLICIT_CONFIGS)),1) |
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$(error In order to upload, exactly one board config must be specified) |
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endif |
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FIRMWARE_GOAL = upload |
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.PHONY: upload |
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upload: |
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@: |
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endif |
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endif |
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ifeq ($(PX4_TARGET_OS),nuttx) |
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include $(PX4_BASE)makefiles/nuttx/firmware_nuttx.mk |
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endif |
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ifeq ($(PX4_TARGET_OS),posix) |
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include $(PX4_BASE)makefiles/posix/firmware_posix.mk |
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endif |
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ifeq ($(PX4_TARGET_OS),posix-arm) |
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include $(PX4_BASE)makefiles/posix/firmware_posix.mk |
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endif |
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ifeq ($(PX4_TARGET_OS),qurt) |
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include $(PX4_BASE)makefiles/qurt/firmware_qurt.mk |
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endif |
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# |
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# Versioning |
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# |
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GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver |
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GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h |
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$(GIT_VER_FILE) : |
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$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \ |
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$(MKDIR) -p $(PX4_VERSIONING_DIR); \ |
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$(ECHO) "" > $(GIT_VER_FILE); \ |
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fi |
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.PHONY: checkgitversion |
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checkgitversion: $(GIT_VER_FILE) |
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$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \ |
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$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \ |
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$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \ |
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$(ECHO) "#define PX4_GIT_VERSION_STR \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \ |
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$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \ |
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$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \ |
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fi |
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# |
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# Sizes |
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# |
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.PHONY: size |
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size: |
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$(Q) for elfs in Build/*; do if [ -f $$elfs/firmware.elf ]; then $(SIZE) $$elfs/firmware.elf; fi done |
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# |
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# Submodule Checks |
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# |
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.PHONY: checksubmodules |
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checksubmodules: |
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$(Q) ($(PX4_BASE)/Tools/check_submodules.sh) |
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.PHONY: updatesubmodules |
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updatesubmodules: |
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$(Q) (git submodule init) |
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$(Q) (git submodule update) |
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MSG_DIR = $(PX4_BASE)msg |
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UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb |
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MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb |
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TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics |
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MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages |
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MULTIPLATFORM_PREFIX = px4_ |
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TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary |
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GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src |
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GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src |
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.PHONY: generateuorbtopicheaders |
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generateuorbtopicheaders: checksubmodules |
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@$(ECHO) "Generating uORB topic headers" |
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \ |
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \ |
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-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR)) |
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@$(ECHO) "Generating multiplatform uORB topic wrapper headers" |
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \ |
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \ |
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-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX)) |
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# clean up temporary files |
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$(Q) (rm -r $(TOPICHEADER_TEMP_DIR)) |
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# |
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# Testing targets |
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# |
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testbuild: |
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$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8) |
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$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images) |
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nuttx posix posix-arm qurt: |
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ifeq ($(GOALS),) |
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make PX4_TARGET_OS=$@ $(GOALS) |
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else |
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export PX4_TARGET_OS=$@ |
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endif |
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sitlrun: |
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Tools/sitl_run.sh |
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qurtrun: |
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make PX4_TARGET_OS=qurt sim |
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# |
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# Unittest targets. Builds and runs the host-level |
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# unit tests. |
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.PHONY: tests |
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tests: generateuorbtopicheaders |
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$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests) |
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.PHONY: format check_format |
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check_format: |
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$(Q) (./Tools/check_code_style.sh | sort -n) |
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# |
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# Cleanup targets. 'clean' should remove all built products and force |
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# a complete re-compilation, 'distclean' should remove everything |
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# that's generated leaving only files that are in source control. |
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# |
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.PHONY: clean |
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clean: |
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@echo > /dev/null |
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$(Q) $(RMDIR) $(BUILD_DIR)*.build |
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$(Q) $(RMDIR) $(PX4_VERSIONING_DIR) |
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$(Q) $(REMOVE) $(IMAGE_DIR)*.px4 |
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.PHONY: distclean |
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distclean: clean |
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@echo > /dev/null |
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$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export |
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$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean |
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$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) |
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# |
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# Print some help text |
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# |
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.PHONY: help |
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help: |
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@$(ECHO) "" |
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@$(ECHO) " PX4 firmware builder" |
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@$(ECHO) " ====================" |
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@$(ECHO) "" |
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@$(ECHO) " Available targets:" |
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@$(ECHO) " ------------------" |
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@$(ECHO) "" |
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ifeq ($(PX4_TARGET_OS),nuttx) |
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@$(ECHO) " archives" |
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@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build." |
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@$(ECHO) "" |
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endif |
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@$(ECHO) " all" |
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@$(ECHO) " Build all firmware configs: $(CONFIGS)" |
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@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>" |
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@$(ECHO) "" |
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@for config in $(CONFIGS); do \ |
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$(ECHO) " $$config"; \ |
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$(ECHO) " Build just the $$config firmware configuration."; \ |
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$(ECHO) ""; \ |
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done |
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@$(ECHO) " clean" |
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@$(ECHO) " Remove all firmware build pieces." |
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@$(ECHO) "" |
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ifeq ($(PX4_TARGET_OS),nuttx) |
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@$(ECHO) " distclean" |
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@$(ECHO) " Remove all compilation products, including NuttX RTOS archives." |
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@$(ECHO) "" |
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@$(ECHO) " upload" |
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@$(ECHO) " When exactly one config is being built, add this target to upload the" |
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@$(ECHO) " firmware to the board when the build is complete. Not supported for" |
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@$(ECHO) " all configurations." |
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@$(ECHO) "" |
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endif |
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@$(ECHO) " testbuild" |
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@$(ECHO) " Perform a complete clean build of the entire tree." |
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@$(ECHO) "" |
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@$(ECHO) " Common options:" |
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@$(ECHO) " ---------------" |
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@$(ECHO) "" |
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@$(ECHO) " V=1" |
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@$(ECHO) " If V is set, more verbose output is printed during the build. This can" |
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@$(ECHO) " help when diagnosing issues with the build or toolchain." |
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@$(ECHO) "" |
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ifeq ($(PX4_TARGET_OS),nuttx) |
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@$(ECHO) " To see help for a specifix target use 'make <target> help' where target is" |
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@$(ECHO) " one of: " |
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@$(ECHO) " nuttx" |
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@$(ECHO) " posix" |
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@$(ECHO) " qurt" |
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@$(ECHO) "" |
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endif |
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