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151 lines
5.7 KiB
151 lines
5.7 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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# Built products |
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# |
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DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4) |
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STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4) |
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FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4) |
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all: $(DESIRED_FIRMWARES) |
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# |
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# Copy FIRMWARES into the image directory. |
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# |
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# XXX copying the .bin files is a hack to work around the PX4IO uploader |
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# not supporting .px4 files, and it should be deprecated onced that |
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# is taken care of. |
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# |
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$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 |
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@$(ECHO) %% Copying $@ |
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$(Q) $(COPY) $< $@ |
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$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@) |
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# |
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# Generate FIRMWARES. |
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# |
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.PHONY: $(FIRMWARES) |
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$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@) |
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$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/ |
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$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: generateuorbtopicheaders checksubmodules |
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@$(ECHO) %%%% |
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@$(ECHO) %%%% Building $(config) in $(work_dir) |
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@$(ECHO) %%%% |
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$(Q) $(MKDIR) -p $(work_dir) |
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$(Q) $(MAKE) -r -C $(work_dir) \ |
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-f $(PX4_MK_DIR)firmware.mk \ |
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CONFIG=$(config) \ |
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WORK_DIR=$(work_dir) \ |
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$(FIRMWARE_GOAL) |
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# |
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# Make FMU firmwares depend on the corresponding IO firmware. |
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# |
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# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency |
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# and forces the _default config in all cases. There has to be a better way to do this... |
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# |
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FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1)))) |
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define FMU_DEP |
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$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4 |
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endef |
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FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS)) |
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$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config)))) |
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# |
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# Build the NuttX export archives. |
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# |
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# Note that there are no explicit dependencies extended from these |
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# archives. If NuttX is updated, the user is expected to rebuild the |
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# archives/build area manually. Likewise, when the 'archives' target is |
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# invoked, all archives are always rebuilt. |
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# |
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# XXX Should support fetching/unpacking from a separate directory to permit |
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# downloads of the prebuilt archives as well... |
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# |
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NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export) |
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.PHONY: archives |
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archives: checksubmodules $(NUTTX_ARCHIVES) |
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# We cannot build these parallel; note that we also force -j1 for the |
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# sub-make invocations. |
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ifneq ($(filter archives,$(MAKECMDGOALS)),) |
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.NOTPARALLEL: |
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endif |
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J?=1 |
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$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@)) |
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$(ARCHIVE_DIR)%.export: configuration = nsh |
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$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) |
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@$(ECHO) %% Configuring NuttX for $(board) |
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) |
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean |
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .) |
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration)) |
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@$(ECHO) %% Exporting NuttX for $(board) |
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export |
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$(Q) $(MKDIR) -p $(dir $@) |
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$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ |
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$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board)) |
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# |
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# The user can run the NuttX 'menuconfig' tool for a single board configuration with |
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# make BOARDS=<boardname> menuconfig |
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# |
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ifeq ($(MAKECMDGOALS),menuconfig) |
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ifneq ($(words $(BOARDS)),1) |
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$(error BOARDS must specify exactly one board for the menuconfig goal) |
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endif |
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BOARD = $(BOARDS) |
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menuconfig: $(NUTTX_SRC) |
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@$(ECHO) %% Configuring NuttX for $(BOARD) |
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) |
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean |
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .) |
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh) |
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@$(ECHO) %% Running menuconfig for $(BOARD) |
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig |
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@$(ECHO) %% Saving configuration file |
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$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig |
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else |
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menuconfig: |
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@$(ECHO) "" |
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@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified" |
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@$(ECHO) "" |
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endif |
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$(NUTTX_SRC): checksubmodules |
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$(UAVCAN_DIR): |
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$(Q) (./Tools/check_submodules.sh) |
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