mirror of https://github.com/ArduPilot/ardupilot
148 lines
5.2 KiB
Makefile
148 lines
5.2 KiB
Makefile
# PX4 build is via external build system
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ifneq ($(PX4_ROOT),)
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# cope with relative paths
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ifeq ($(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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# check it is a valid PX4Firmware tree
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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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# default to PX4NuttX above the PX4Firmware tree
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ifeq ($(NUTTX_SRC),)
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NUTTX_SRC := $(shell cd $(PX4_ROOT)/../PX4NuttX/nuttx && pwd)/
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endif
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# cope with relative paths for NUTTX_SRC
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ifeq ($(wildcard $(NUTTX_SRC)/configs),)
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NUTTX_SRC := $(shell cd $(SKETCHBOOK)/$(NUTTX_SRC) && pwd)/
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endif
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ifeq ($(wildcard $(NUTTX_SRC)configs),)
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$(error ERROR: NUTTX_SRC not set correctly - no configs directory found)
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endif
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NUTTX_GIT_VERSION := $(shell cd $(NUTTX_SRC) && git rev-parse HEAD | cut -c1-8)
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PX4_GIT_VERSION := $(shell cd $(PX4_ROOT) && git rev-parse HEAD | cut -c1-8)
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EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
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EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
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# we have different config files for V1 and V2
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PX4_V1_CONFIG_FILE=$(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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WARNFLAGS = -Wno-psabi -Wno-packed
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PX4_MAKE = $(v) make -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os"
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PX4_MAKE_ARCHIVES = make -C $(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) archives MAXOPTIMIZATION="-Os"
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.PHONY: module_mk
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module_mk:
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$(RULEHDR)
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$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
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$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "SRCS = Build.$(SKETCH)/$(SKETCH).cpp $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
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$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
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$(v) rm -f $(SKETCHBOOK)/module.mk.new
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px4-v1: showflags $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
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$(RULEHDR)
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$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V1_CONFIG_FILE)
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$(v) cp $(PWD)/$(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/
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$(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: showflags $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
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$(RULEHDR)
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$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V2_CONFIG_FILE)
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$(v) cp $(PWD)/$(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/
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$(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 $(PX4_ROOT)/Build
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px4-v1-upload: px4-v1
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$(RULEHDR)
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$(v) $(PX4_MAKE) px4fmu-v1_APM upload
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px4-v2-upload: px4-v2
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$(RULEHDR)
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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) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
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$(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) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
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$(v) rm -f $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
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$(v) cp $(SKETCHBOOK)/mk/PX4/bootloader/px4fmu_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
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$(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-v2.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) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.elf px4io-v2.elf
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$(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) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
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$(v) rm -f $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
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$(v) cp $(SKETCHBOOK)/mk/PX4/bootloader/px4fmuv2_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
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$(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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$(PX4_ROOT)/Archives/px4fmu-v1.export:
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$(v) $(PX4_MAKE_ARCHIVES)
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$(PX4_ROOT)/Archives/px4fmu-v2.export:
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$(v) $(PX4_MAKE_ARCHIVES)
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$(PX4_ROOT)/Archives/px4io-v1.export:
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$(v) $(PX4_MAKE_ARCHIVES)
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$(PX4_ROOT)/Archives/px4io-v2.export:
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$(v) $(PX4_MAKE_ARCHIVES)
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px4-archives:
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$(v) $(PX4_MAKE_ARCHIVES)
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else
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px4:
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$(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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