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316 lines
11 KiB
316 lines
11 KiB
############################################################################ |
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# |
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# Copyright (c) 2015 - 2016 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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CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?) |
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ifneq ($(CMAKE_VER),0) |
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$(warning Not a valid CMake version or CMake not installed.) |
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$(warning On Ubuntu 16.04, install or upgrade via:) |
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$(warning ) |
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$(warning 3rd party PPA:) |
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$(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y) |
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$(warning sudo apt-get update) |
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$(warning sudo apt-get install cmake) |
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$(warning ) |
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$(warning Official website:) |
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$(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh) |
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$(warning chmod +x cmake-3.4.3-Linux-x86_64.sh) |
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$(warning sudo mkdir /opt/cmake-3.4.3) |
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$(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir) |
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$(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH) |
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$(warning ) |
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$(error Fatal) |
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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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ifndef NO_NINJA_BUILD |
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NINJA_BUILD := $(shell ninja --version 2>/dev/null) |
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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 |
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PX4_MAKE_ARGS = |
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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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# 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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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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SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST)))) |
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# Functions |
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# -------------------------------------------------------------------- |
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# describe how to build a cmake config |
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define cmake-build |
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+@$(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 $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) $(CMAKE_ARGS) || (cd .. && rm -rf $(BUILD_DIR)); fi |
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+@echo "PX4 CONFIG: $(BUILD_DIR)" |
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+@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS) |
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endef |
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define cmake-build-other |
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+@$(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) || (cd .. && 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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define colorecho |
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@tput setaf 6 |
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@echo $1 |
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@tput sgr0 |
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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 '*.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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$(call cmake-build,$@) |
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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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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_driver_default qurt_eagle_legacy_driver_default |
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excelsior_default: posix_excelsior_default qurt_excelsior_default |
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# Deprecated config targets. |
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ros_sitl_default: |
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@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead." |
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_sitl_deprecation: |
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@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or" |
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@echo "'make posix_sitl_default gazebo' if Gazebo is preferred." |
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run_sitl_quad: _sitl_deprecation |
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run_sitl_plane: _sitl_deprecation |
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run_sitl_ros: _sitl_deprecation |
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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_default run_sitl_quad run_sitl_plane run_sitl_ros all_nuttx_targets |
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# Other targets |
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# -------------------------------------------------------------------- |
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.PHONY: uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean |
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.NOTPARALLEL: |
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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: checks_defaults checks_bootloaders checks_tests checks_alts checks_uavcan checks_sitls checks_last quick_check check_px4fmu-v4_default tests extra_firmware |
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uavcan_firmware: |
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ifeq ($(VECTORCONTROL),1) |
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$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6") |
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@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh) |
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endif |
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check_px4fmu-v4_default: uavcan_firmware |
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check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default |
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@echo |
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ifeq ($(VECTORCONTROL),1) |
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@echo "Cleaning up vectorcontrol firmware" |
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@rm -rf vectorcontrol |
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@rm -rf ROMFS/px4fmu_common/uavcan |
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endif |
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# All default targets that don't require a special build environment (currently built on semaphore-ci) |
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check: check_px4fmu-v1_default \ |
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check_px4fmu-v2_default \ |
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check_px4fmu-v2_test \ |
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check_px4fmu-v4_default_and_uavcan \ |
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check_mindpx-v2_default \ |
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check_posix_sitl_default \ |
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check_tap-v1_default \ |
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check_asc-v1_default \ |
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check_px4-stm32f4discovery_default \ |
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check_crazyflie_default \ |
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check_tests \ |
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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-v4_default check_tests check_format |
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check_format: |
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$(call colorecho,"Checking formatting with astyle") |
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@./Tools/check_code_style_all.sh |
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@git diff --check |
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format: |
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$(call colorecho,"Formatting with astyle") |
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@./Tools/check_code_style_all.sh --fix |
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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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unittest: posix_sitl_default |
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$(call cmake-build-other,unittest, ../unittests) |
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@(cd build_unittest && ctest -j2 --output-on-failure) |
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run_tests_posix: posix_sitl_default |
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@(cd build_posix_sitl_default/ && ctest -V) |
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tests: check_unittest run_tests_posix |
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# QGroundControl flashable firmware (currently built by travis-ci) |
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qgc_firmware: \ |
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check_px4fmu-v1_default \ |
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check_px4fmu-v2_default \ |
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check_mindpx-v2_default \ |
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check_tap-v1_default \ |
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check_px4fmu-v4_default_and_uavcan \ |
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check_format |
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package_firmware: |
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@zip --junk-paths Firmware.zip `find . -name \*.px4` |
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clean: |
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@rm -rf build_*/ |
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-@$(MAKE) -C NuttX/nuttx clean |
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submodulesclean: |
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@git submodule sync --recursive |
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@git submodule deinit -f . |
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@git submodule update --init --recursive --force |
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distclean: submodulesclean clean |
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@git clean -ff -x -d -e ".project" -e ".cproject" |
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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 '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#) |
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.PHONY: clean |
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CONFIGS:=$(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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