mirror of https://github.com/ArduPilot/ardupilot
319 lines
14 KiB
Makefile
319 lines
14 KiB
Makefile
# VRBRAIN build is via external build system
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ifneq ($(VRBRAIN_ROOT),)
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$(error VRBRAIN_ROOT found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
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endif
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ifneq ($(NUTTX_SRC),)
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$(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
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endif
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#ifneq ($(UAVCAN_DIR),)
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#$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
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#endif
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# these can be overridden in developer.mk
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VRBRAINFIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
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VRBRAINNUTTX_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4NuttX
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UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
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VRBRAIN_ROOT := $(shell cd $(VRBRAINFIRMWARE_DIRECTORY) && pwd)
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NUTTX_ROOT := $(shell cd $(VRBRAINNUTTX_DIRECTORY) && pwd)
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NUTTX_SRC := $(NUTTX_ROOT)/nuttx/
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UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
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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 $(VRBRAIN_ROOT) && git rev-parse HEAD | cut -c1-8)
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EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
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EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
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EXTRAFLAGS += -DUAVCAN=1
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EXTRAFLAGS += -D__STDC_FORMAT_MACROS
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# Add missing parts from libc and libstdc++
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EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0
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EXTRAFLAGS += -DHAVE_ENDIAN_H=0
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EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
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EXTRAFLAGS += -DHAVE_OCLOEXEC=0
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EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
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EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
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EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
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VRBRAIN_MK_DIR=$(MK_DIR)/VRBRAIN
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# we have different config files for vrbrain-v51, vrbrain-v52, vrbrain-v54, vrcore-v10, vrubrain-v51, vrubrain-v52
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VRBRAIN_V51_CONFIG_FILE=config_vrbrain-v51_APM.mk
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VRBRAIN_V52_CONFIG_FILE=config_vrbrain-v52_APM.mk
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VRBRAIN_V52E_CONFIG_FILE=config_vrbrain-v52E_APM.mk
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VRBRAIN_V54_CONFIG_FILE=config_vrbrain-v54_APM.mk
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VRCORE_V10_CONFIG_FILE=config_vrcore-v10_APM.mk
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VRUBRAIN_V51_CONFIG_FILE=config_vrubrain-v51_APM.mk
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VRUBRAIN_V52_CONFIG_FILE=config_vrubrain-v52_APM.mk
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# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
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# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
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SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_VRBRAIN -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
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WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-attributes -Wno-unknown-pragmas -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Wno-trigraphs
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OPTFLAGS = -fsingle-precision-constant
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# avoid VRBRAIN submodules
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export GIT_SUBMODULES_ARE_EVIL = 1
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PYTHONPATH=$(VRBRAIN_ROOT)/Tools/genmsg/src:$(VRBRAIN_ROOT)/Tools/gencpp/src
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export PYTHONPATH
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VRBRAIN_MAKE = $(v)+ GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 $(MAKE) -C $(SKETCHBOOK) -f $(VRBRAIN_ROOT)/Makefile.make EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) $(OPTFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) VRBRAIN_ROOT=$(VRBRAIN_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
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VRBRAIN_MAKE_ARCHIVES = $(MAKE) -C $(VRBRAIN_ROOT) -f $(VRBRAIN_ROOT)/Makefile.make NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
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HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
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ifneq ($(wildcard $(VRBRAIN_ROOT)),)
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HASHADDER_FLAGS += --px4 "$(VRBRAIN_ROOT)"
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endif
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ifneq ($(wildcard $(NUTTX_SRC)/..),)
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HASHADDER_FLAGS += --nuttx "$(NUTTX_SRC)/.."
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endif
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HASHADDER_FLAGS += --uavcan "$(UAVCAN_DIR)"
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.PHONY: module_mk
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module_mk:
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$(v) echo "Building $(SKETCHBOOK)/module.mk"
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$(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 = $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp)) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
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$(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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vrbrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export $(SKETCHCPP) module_mk
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$(v) echo Building vrbrain-v51
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V51_CONFIG_FILE)
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$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
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$(v) $(VRBRAIN_MAKE) vrbrain-v51_APM
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V51_CONFIG_FILE)
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$(v) rm -f $(SKETCH)-vrbrain-v51.vrx
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$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v51_APM.build/firmware.elf
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$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51_APM.px4 $(SKETCH)-vrbrain-v51.vrx
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v51.vrx" "$(SKETCH)-vrbrain-v51.vrx"
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v51.vrx"
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vrbrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v52.export $(SKETCHCPP) module_mk
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$(v) echo Building vrbrain-v52
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52_CONFIG_FILE)
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$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V52_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
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$(v) $(VRBRAIN_MAKE) vrbrain-v52_APM
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52_CONFIG_FILE)
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$(v) rm -f $(SKETCH)-vrbrain-v52.vrx
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$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v52_APM.build/firmware.elf
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$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v52_APM.px4 $(SKETCH)-vrbrain-v52.vrx
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v52.vrx" "$(SKETCH)-vrbrain-v52.vrx"
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v52.vrx"
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vrbrain-v52E: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export $(SKETCHCPP) module_mk
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$(v) echo Building vrbrain-v52E
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52E_CONFIG_FILE)
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$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V52E_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
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$(v) $(VRBRAIN_MAKE) vrbrain-v52E_APM
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52E_CONFIG_FILE)
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$(v) rm -f $(SKETCH)-vrbrain-v52E.vrx
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$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v52E_APM.build/firmware.elf
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$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v52E_APM.px4 $(SKETCH)-vrbrain-v52E.vrx
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v52E.vrx" "$(SKETCH)-vrbrain-v52E.vrx"
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v52E.vrx"
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vrbrain-v54: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v54.export $(SKETCHCPP) module_mk
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$(v) echo Building vrbrain-v54
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V54_CONFIG_FILE)
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$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V54_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
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$(v) $(VRBRAIN_MAKE) vrbrain-v54_APM
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V54_CONFIG_FILE)
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$(v) rm -f $(SKETCH)-vrbrain-v54.vrx
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$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v54_APM.build/firmware.elf
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$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v54_APM.px4 $(SKETCH)-vrbrain-v54.vrx
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v54.vrx" "$(SKETCH)-vrbrain-v54.vrx"
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v54.vrx"
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vrcore-v10: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrcore-v10.export $(SKETCHCPP) module_mk
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$(v) echo Building vrcore-v10
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRCORE_V10_CONFIG_FILE)
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$(v) cp $(VRBRAIN_MK_DIR)/$(VRCORE_V10_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
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$(v) $(VRBRAIN_MAKE) vrcore-v10_APM
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRCORE_V10_CONFIG_FILE)
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$(v) rm -f $(SKETCH)-vrcore-v10.vrx
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$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrcore-v10_APM.build/firmware.elf
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$(v) cp $(VRBRAIN_ROOT)/Images/vrcore-v10_APM.px4 $(SKETCH)-vrcore-v10.vrx
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrcore-v10.vrx" "$(SKETCH)-vrcore-v10.vrx"
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrcore-v10.vrx"
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vrubrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v51.export $(SKETCHCPP) module_mk
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$(v) echo Building vrubrain-v51
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V51_CONFIG_FILE)
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$(v) cp $(VRBRAIN_MK_DIR)/$(VRUBRAIN_V51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
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$(v) $(VRBRAIN_MAKE) vrubrain-v51_APM
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V51_CONFIG_FILE)
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$(v) rm -f $(SKETCH)-vrubrain-v51.vrx
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$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrubrain-v51_APM.build/firmware.elf
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$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v51_APM.px4 $(SKETCH)-vrubrain-v51.vrx
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrubrain-v51.vrx" "$(SKETCH)-vrubrain-v51.vrx"
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v51.vrx"
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vrubrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v52.export $(SKETCHCPP) module_mk
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$(v) echo Building vrubrain-v52
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V52_CONFIG_FILE)
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$(v) cp $(VRBRAIN_MK_DIR)/$(VRUBRAIN_V52_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
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$(v) $(VRBRAIN_MAKE) vrubrain-v52_APM
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V52_CONFIG_FILE)
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$(v) rm -f $(SKETCH)-vrubrain-v52.vrx
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$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrubrain-v52_APM.build/firmware.elf
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$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v52_APM.px4 $(SKETCH)-vrubrain-v52.vrx
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrubrain-v52.vrx" "$(SKETCH)-vrubrain-v52.vrx"
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v52.vrx"
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# force the 3 build types to not run in parallel. We got bad binaries with incorrect parameter handling
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# when these were allowed to happen in parallel
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vrbrainStd:
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$(MAKE) vrbrain-v51
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$(MAKE) vrbrain-v52
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$(MAKE) vrbrain-v52E
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$(MAKE) vrbrain-v54
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$(MAKE) vrcore-v10
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$(MAKE) vrubrain-v51
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vrbrainStdP:
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vrbrainPro:
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vrbrainProP:
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vrbrain: vrbrainStd vrbrainStdP vrbrainPro vrbrainProP
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vrbrain-clean: clean CHECK_MODULES vrbrain-archives-clean vrbrain-cleandep
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$(v) /bin/rm -rf $(VRBRAIN_ROOT)/makefiles/build $(VRBRAIN_ROOT)/Build $(VRBRAIN_ROOT)/Images/*.px4 $(VRBRAIN_ROOT)/Images/*.bin
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$(v) /bin/rm -rf $(VRBRAIN_ROOT)/src/modules/uORB/topics $(VRBRAIN_ROOT)/src/platforms/nuttx/px4_messages
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$(v) /bin/rm -f $(SRCROOT)/*.o
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vrbrain-cleandep: clean
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$(v) mkdir -p $(VRBRAIN_ROOT)/Build
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$(v) find $(VRBRAIN_ROOT)/Build -type f -name '*.d' | xargs rm -f
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$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
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$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
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vrbrain-archives-clean:
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$(v) /bin/rm -rf $(VRBRAIN_ROOT)/Archives
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# These targets can't run in parallel because they all need to generate a tool
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# to generate the config.h inside them. This could trigger races if done in
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# parallel, trying to generate the tool and replacing it while the header is already
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# being generated
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#
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# We could serialize inside PX4Firmware, but it's easier to serialize here
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# while maintaining the rest of the build parallelized
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.NOTPARALLEL: \
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$(VRBRAIN_ROOT)/Archives/vrbrain-v51.export \
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$(VRBRAIN_ROOT)/Archives/vrbrain-v52.export \
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$(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export \
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$(VRBRAIN_ROOT)/Archives/vrbrain-v54.export \
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$(VRBRAIN_ROOT)/Archives/vrcore-v10.export \
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$(VRBRAIN_ROOT)/Archives/vrubrain-v51.export \
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$(VRBRAIN_ROOT)/Archives/vrubrain-v52.export
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$(VRBRAIN_ROOT)/Archives/vrbrain-v51.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v51"
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$(VRBRAIN_ROOT)/Archives/vrbrain-v52.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v52"
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$(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v52E"
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$(VRBRAIN_ROOT)/Archives/vrbrain-v54.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v54"
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$(VRBRAIN_ROOT)/Archives/vrcore-v10.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrcore-v10"
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$(VRBRAIN_ROOT)/Archives/vrubrain-v51.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrubrain-v51"
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$(VRBRAIN_ROOT)/Archives/vrubrain-v52.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrubrain-v52"
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vrbrain-archives:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="vrbrain-v51 vrbrain-v52 vrbrain-v52E vrbrain-v54 vrcore-v10 vrubrain-v51 vrubrain-v52"
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vrbrain-info: module_mk
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@echo "BUILDROOT $(BUILDROOT)"
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@echo "VRBRAINFIRMWARE_DIRECTORY $(VRBRAINFIRMWARE_DIRECTORY)"
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@echo "VRBRAINNUTTX_DIRECTORY $(VRBRAINNUTTX_DIRECTORY)"
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@echo "NUTTX_ROOT $(NUTTX_ROOT)"
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@echo "VRBRAIN_ROOT $(VRBRAIN_ROOT)"
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@echo "NUTTX_SRC $(NUTTX_SRC)"
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@echo "SKETCHLIBS $(SKETCHLIBS)"
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@echo "SKETCHLIBNAMES $(SKETCHLIBNAMES)"
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@echo "SKETCHLIBSRCDIRS $(SKETCHLIBSRCDIRS)"
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@echo "SKETCHLIBSRCS $(SKETCHLIBSRCS)"
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@echo "SKETCHLIBOBJS $(SKETCHLIBOBJS)"
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@echo "SKETCHLIBINCLUDES $(SKETCHLIBINCLUDES)"
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@echo "SKETCHLIBSRCSRELATIVE $(SKETCHLIBSRCSRELATIVE)"
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@echo "SRCS $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp))"
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@echo "SRCS $(wildcard $(SRCROOT)/*.cpp)"
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@echo "HASHADDER_FLAGS $(HASHADDER_FLAGS)"
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