forked from Archive/PX4-Autopilot
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers.
This commit is contained in:
px4dev
parent
2ebcd0fdcc
commit
d2d9800c2e
209
Makefile
209
Makefile
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@ -1,110 +1,150 @@
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#
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# Top-level Makefile for building PX4 firmware images.
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#
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#
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# Note that this is a transitional process; the eventual goal is for this
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# project to slim down and simply generate PX4 link kits via the NuttX
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# 'make export' mechanism.
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#
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#
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#
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# Some useful paths.
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#
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export PX4BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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export NUTTX_SRC = $(PX4BASE)/nuttx
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export NUTTX_APPS = $(PX4BASE)/apps
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export MAVLINK_SRC = $(PX4BASE)/mavlink
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export ROMFS_SRC = $(PX4BASE)/ROMFS
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export IMAGE_DIR = $(PX4BASE)/Images
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export PX4_BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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export NUTTX_SRC = $(PX4_BASE)/nuttx
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export NUTTX_APPS = $(PX4_BASE)/apps
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export MAVLINK_SRC = $(PX4_BASE)/mavlink
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export ROMFS_SRC = $(PX4_BASE)/ROMFS
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export IMAGE_DIR = $(PX4_BASE)/Images
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export BUILD_DIR = $(PX4_BASE)/Build
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export ARCHIVE_DIR = $(PX4_BASE)/Archives
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#
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# Tools
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#
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MKFW = $(PX4BASE)/Tools/px_mkfw.py
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UPLOADER = $(PX4BASE)/Tools/px_uploader.py
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MKFW = $(PX4_BASE)/Tools/px_mkfw.py
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UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
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COPY = cp
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REMOVE = rm -f
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RMDIR = rm -rf
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#
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# What are we currently configured for?
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# Canned firmware configurations that we build.
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#
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CONFIGURED = $(PX4BASE)/.configured
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ifneq ($(wildcard $(CONFIGURED)),)
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export TARGET := $(shell cat $(CONFIGURED))
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CONFIGS ?= px4fmu_default px4io_default
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#
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# If the user has listed a config as a target, strip it out and override CONFIGS
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#
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EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))
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ifneq ($(EXPLICIT_CONFIGS),)
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CONFIGS := $(EXPLICIT_CONFIGS)
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.PHONY: $(EXPLICIT_CONFIGS)
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$(EXPLICIT_CONFIGS): all
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endif
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#
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# What we will build
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# Platforms (boards) that we build prelink kits for.
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#
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FIRMWARE_BUNDLE = $(IMAGE_DIR)/$(TARGET).px4
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FIRMWARE_BINARY = $(IMAGE_DIR)/$(TARGET).bin
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FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype
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PLATFORMS = px4fmu px4io
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#
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# Some handy macros
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#
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PLATFORM_FROM_CONFIG = $(word 1,$(subst _, ,$1))
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#
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# Built products
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#
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FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)/$(config).px4)
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BINARIES = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build/firmware.bin)
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#
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# Debugging
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#
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MQUIET = --no-print-directory
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#MQUIET = --print-directory
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all: $(FIRMWARE_BUNDLE)
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#
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# Generate a wrapped .px4 file from the built binary
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#
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$(FIRMWARE_BUNDLE): $(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
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@echo Generating $@
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@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
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--git_identity $(PX4BASE) \
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--image $(FIRMWARE_BINARY) > $@
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#
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# Build the firmware binary.
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#
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.PHONY: $(FIRMWARE_BINARY)
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$(FIRMWARE_BINARY): setup_$(TARGET) configure-check
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@echo Building $@ for $(TARGET)
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@make -C $(NUTTX_SRC) -r $(MQUIET) all
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@cp $(NUTTX_SRC)/nuttx.bin $@
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#
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# The 'configure' targets select one particular firmware configuration
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# and makes it current.
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#
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configure_px4fmu:
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@echo Configuring for px4fmu
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@make -C $(PX4BASE) distclean
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@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
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@echo px4fmu > $(CONFIGURED)
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configure_px4io:
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@echo Configuring for px4io
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@make -C $(PX4BASE) distclean
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@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
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@echo px4io > $(CONFIGURED)
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configure-check:
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ifeq ($(wildcard $(CONFIGURED)),)
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@echo
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@echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first"
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@echo
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@exit 1
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ifeq ($(V),)
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Q = @
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else
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Q =
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endif
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all: $(FIRMWARES)
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#all: $(SYMBOLS)
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#
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# Per-configuration additional targets
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# Generate FIRMWARES from BINARIES
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#
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.PHONY: px4fmu_setup
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setup_px4fmu:
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@echo Generating ROMFS
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@make -C $(ROMFS_SRC) all
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$(IMAGE_DIR)/%.px4: basepath = $(basename $(@))
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$(IMAGE_DIR)/%.px4: config = $(notdir $(basepath))
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$(IMAGE_DIR)/%.px4: platform = $(call PLATFORM_FROM_CONFIG,$(config))
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$(FIRMWARES): $(IMAGE_DIR)/%.px4: $(BUILD_DIR)/%.build/firmware.bin
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@echo %% Generating $@ for $(config)
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(platform).prototype \
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--git_identity $(PX4_BASE) \
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--image $< > $@
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#
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# Generate the firmware executable
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#
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# XXX pick the right build tool for the host OS - force it on the generation side too.
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#
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$(BUILD_DIR)/%.build/firmware.bin: config = $(patsubst $(BUILD_DIR)/%.build/firmware.bin,%,$@)
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$(BUILD_DIR)/%.build/firmware.bin: work_dir = $(BUILD_DIR)/$(config).build
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$(BINARIES): $(BUILD_DIR)/%.build/firmware.bin: $(BUILD_DIR)/$(word 1,$(subst _, ,%)).build
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@echo %% Building $(config) in $(work_dir)
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$(Q) make -C $(work_dir) \
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-f $(PX4_BASE)/makefiles/$(config).mk \
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CONFIG=$(config) \
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PLATFORM=$(call PLATFORM_FROM_CONFIG,$(config)) \
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WORK_DIR=$(work_dir)
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#
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# Generate the config build directory.
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#
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BUILDAREAS = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build)
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.PHONY: buildareas
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buildareas: $(BUILDAREAS)
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$(BUILD_DIR)/%.build: config = $(notdir $(basename $@))
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$(BUILD_DIR)/%.build: platform = $(call PLATFORM_FROM_CONFIG,$(config))
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$(BUILDAREAS): $(BUILD_DIR)/%.build:
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@echo %% Setting up build environment for $(config)
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$(Q) mkdir -p $@
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$(Q) (cd $@ && $(RMDIR) nuttx-export && unzip -q $(ARCHIVE_DIR)/$(platform).export)
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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.
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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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# XXX PX4IO config name is bad - we should just call them all "px4"
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#
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NUTTX_ARCHIVES = $(foreach platform,$(PLATFORMS),$(ARCHIVE_DIR)/$(platform).export)
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.PHONY: archives
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archives: $(NUTTX_ARCHIVES)
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$(ARCHIVE_DIR)/%.export: platform = $(notdir $(basename $@))
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$(ARCHIVE_DIR)/%.export: config = $(if $(filter $(platform),px4io),io,nsh)
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$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS)
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@echo %% Configuring NuttX for $(platform)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/tools && ./configure.sh $(platform)/$(config))
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@echo Generating ROMFS for $(platform) XXX move this!
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$(Q) make -C $(ROMFS_SRC) all
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@echo %% Exporting NuttX for $(platform)
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export
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$(Q) mkdir -p $(dir $@)
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$(Q) $(COPY) $(NUTTX_SRC)/nuttx-export.zip $@
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setup_px4io:
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# fake target to make configure-check happy if TARGET is not set
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setup_:
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#
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# Firmware uploading.
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# Firmware upload.
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#
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# serial port defaults by operating system.
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@ -129,10 +169,12 @@ ifeq ($(JTAGCONFIG),)
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JTAGCONFIG=interface/olimex-jtag-tiny.cfg
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endif
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upload-jtag-px4fmu:
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.PHONY: upload-jtag-px4fmu
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upload-jtag-px4fmu: all
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@echo Attempting to flash PX4FMU board via JTAG
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@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
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.PHONY: upload-jtag-px4io
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upload-jtag-px4io: all
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@echo Attempting to flash PX4IO board via JTAG
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@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
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@ -151,14 +193,17 @@ endif
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# a complete re-compilation, 'distclean' should remove everything
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# that's generated leaving only files that are in source control.
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#
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.PHONY: clean upload-jtag-px4fmu
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.PHONY: clean
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clean:
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@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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@make -C $(ROMFS_SRC) -r $(MQUIET) clean
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$(Q) $(RMDIR) $(BUILD_DIR)/*.build
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$(Q) $(REMOVE) -f $(IMAGE_DIR)/*.bin
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$(Q) $(REMOVE) -f $(IMAGE_DIR)/*.sym
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$(Q) $(REMOVE) -f $(IMAGE_DIR)/*.px4
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$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) clean
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.PHONY: distclean
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distclean:
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@rm -f $(CONFIGURED)
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@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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@make -C $(ROMFS_SRC) -r $(MQUIET) distclean
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distclean: clean
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$(Q) $(REMOVE) -f $(ARCHIVE_DIR)/*.export
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) distclean
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@ -9,7 +9,12 @@
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# Work out where this file is, so we can find other makefiles in the
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# same directory.
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#
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# If PX4_BASE wasn't set previously, set it here now.
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#
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export PX4_MK_INCLUDE ?= $(dir $(lastword $(MAKEFILE_LIST)))
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ifeq ($(PX4_BASE),)
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export PX4_BASE := $(abspath $(PX4_MK_INCLUDE)/..)
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endif
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#
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# Use the linker script from the NuttX export
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@ -36,6 +41,7 @@ include $(PX4_MK_INCLUDE)/$(PLATFORM).mk
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#
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# What we're going to build
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#
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PRODUCT_BUNDLE = $(WORK_DIR)/firmware.px4
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PRODUCT_BIN = $(WORK_DIR)/firmware.bin
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PRODUCT_SYM = $(WORK_DIR)/firmware.sym
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PRODUCTS = $(PRODUCT_BIN) $(PRODUCT_SYM)
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# Makefile for the px4fmu_default configuration
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#
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SRCS = $(PX4BASE)/platforms/empty.c
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SRCS = $(PX4_BASE)/platforms/empty.c
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include $(PX4BASE)/makefiles/firmware.mk
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include $(PX_4BASE)/makefiles/firmware.mk
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# Makefile for the px4io_default configuration
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#
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SRCS = $(PX4BASE)/platforms/empty.c
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SRCS = $(PX4_BASE)/platforms/empty.c
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include $(PX4BASE)/makefiles/firmware.mk
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include $(PX4_BASE)/makefiles/firmware.mk
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