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127 lines
4.2 KiB
127 lines
4.2 KiB
# PX4 build is via external build system |
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ifneq ($(PX4_ROOT),) |
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# try to cope with relative paths |
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ifeq ($(wildcard $(PX4_ROOT)/nuttx-configs),) |
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PX4_ROOT := $(shell cd $(SKETCHBOOK)/$(PX4_ROOT) && pwd) |
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endif |
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ifeq ($(wildcard $(PX4_ROOT)/nuttx-configs),) |
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$(error ERROR: PX4_ROOT not set correctly - no nuttx-configs directory found) |
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endif |
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# allow user to have NuttX git tree in directory above Firmware tree. This |
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# makes life simpler for git usage |
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ifeq ($(wildcard $(PX4_ROOT)/NuttX),) |
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ifeq ($(wildcard $(PX4_ROOT)/../NuttX),) |
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$(error ERROR: NuttX git tree not found) |
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endif |
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$(shell cd $(PX4_ROOT) && ln -s ../NuttX) |
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endif |
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# we have different config files for V1 and V2 |
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PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk |
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PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk |
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SKETCHFLAGS=$(SKETCHLIBINCLUDES) -I$(PWD) -DARDUPILOT_BUILD -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main |
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PX4_MAKE = make -C $(BUILDROOT) -f $(PX4_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) "$(EXTRAFLAGS) APM_MODULE_DIR=$(BUILDROOT) SKETCHBOOK=$(SKETCHBOOK) PX4_ROOT=$(PX4_ROOT) |
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$(BUILDROOT)/module.mk: |
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$(RULEHDR) |
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$(v) echo "# Auto-generated file - do not edit" > $@ |
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$(v) echo "MODULE_COMMAND = ArduPilot" >> $@ |
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$(v) echo "SRCS = $(SKETCH).cpp $(SKETCHLIBSRCS)" >> $@ |
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$(v) echo "MODULE_STACKSIZE = 4096" >> $@ |
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px4-v1: $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) $(BUILDROOT)/module.mk px4-io-v1 |
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$(RULEHDR) |
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# we shouldn't need to remove these files .... |
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$(v) find $(SKETCHBOOK)/libraries -type f -name '*.cpp.d' -exec rm -f {} \; |
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$(v) find $(SKETCHBOOK)/libraries -type f -name '*.cpp.o' -exec rm -f {} \; |
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$(v) ln -sf $(PWD)/$(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/ |
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$(v) $(PX4_MAKE) clean |
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$(v) $(PX4_MAKE) px4fmu-v1_APM |
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$(v) /bin/rm -f $(SKETCH)-v1.px4 |
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$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4 |
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$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4" |
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px4-v2: $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) $(BUILDROOT)/module.mk px4-io-v2 |
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$(RULEHDR) |
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# we shouldn't need to remove these files .... |
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$(v) find $(SKETCHBOOK)/libraries -type f -name '*.cpp.d' -exec rm -f {} \; |
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$(v) find $(SKETCHBOOK)/libraries -type f -name '*.cpp.o' -exec rm -f {} \; |
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$(v) ln -sf $(PWD)/$(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/ |
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$(v) $(PX4_MAKE) clean |
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$(v) $(PX4_MAKE) px4fmu-v2_APM |
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$(v) /bin/rm -f $(SKETCH)-v2.px4 |
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$(v) cp $(PX4_ROOT)/Images/px4fmu-v2_APM.px4 $(SKETCH)-v2.px4 |
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$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4" |
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px4: px4-v1 px4-v2 |
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px4-clean: clean px4-archives-clean |
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$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build |
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px4-v1-upload: |
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$(RULEHDR) |
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$(v) ln -sf $(PWD)/$(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/ |
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$(v) $(PX4_MAKE) px4fmu-v1_APM upload |
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px4-v2-upload: |
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$(RULEHDR) |
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$(v) ln -sf $(PWD)/$(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/ |
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$(v) $(PX4_MAKE) px4fmu-v2_APM upload |
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px4-upload: px4-v1-upload |
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px4-archives-clean: |
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$(v) /bin/rm -rf $(PX4_ROOT)/Archives |
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px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export |
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$(v) make -C $(PX4_ROOT) px4io-v1_default |
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$(v) /bin/rm -f px4io-v1.bin |
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$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin |
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$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/ |
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$(v) rm -f $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin |
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$(v) cp px4io-v1.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin |
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$(v) echo "PX4IOv1 Firmware is in px4io-v1.bin" |
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px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export |
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$(v) make -C $(PX4_ROOT) px4io-v2_default |
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$(v) /bin/rm -f px4io-v1.bin |
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$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.bin px4io-v2.bin |
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$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin |
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$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/ |
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$(v) rm -f $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin |
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$(v) cp px4io-v2.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin |
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$(v) echo "PX4IOv2 Firmware is in px4io-v2.bin" |
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px4-io: px4-io-v1 px4-io-v2 |
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$(PX4_ROOT)/Archives/px4fmu-v1.export: |
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make -C $(PX4_ROOT) archives |
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$(PX4_ROOT)/Archives/px4fmu-v2.export: |
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make -C $(PX4_ROOT) archives |
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$(PX4_ROOT)/Archives/px4io-v1.export: |
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make -C $(PX4_ROOT) archives |
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$(PX4_ROOT)/Archives/px4io-v2.export: |
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make -C $(PX4_ROOT) archives |
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px4-archives: |
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make -C $(PX4_ROOT) archives |
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else |
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px4: |
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$(error ERROR: You need to add PX4_ROOT to your config.mk) |
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px4-clean: px4 |
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px4-upload: px4 |
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endif
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