forked from Archive/PX4-Autopilot
318 lines
10 KiB
Makefile
318 lines
10 KiB
Makefile
#
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# Copyright (c) 2012, 2013 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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# Top-level Makefile for building PX4 firmware images.
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#
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#
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# Get path and tool configuration
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#
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export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
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include $(PX4_BASE)makefiles/setup.mk
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#
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# Get a version string provided by git
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# This assumes that git command is available and that
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# the directory holding this file also contains .git directory
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#
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GIT_DESC := $(shell git log -1 --pretty=format:%H)
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ifneq ($(words $(GIT_DESC)),1)
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GIT_DESC := "unknown_git_version"
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endif
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export GIT_DESC
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#
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# Canned firmware configurations that we (know how to) build.
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#
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KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
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CONFIGS ?= $(KNOWN_CONFIGS)
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#
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# Boards that we (know how to) build NuttX export kits for.
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#
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KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
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BOARDS ?= $(KNOWN_BOARDS)
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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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################################################################################
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# No user-serviceable parts below
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################################################################################
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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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FIRMWARE_GOAL = firmware
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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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#
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# If the user has asked to upload, they must have also specified exactly one
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# config.
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#
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ifneq ($(filter upload,$(MAKECMDGOALS)),)
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ifneq ($(words $(EXPLICIT_CONFIGS)),1)
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$(error In order to upload, exactly one board config must be specified)
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endif
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FIRMWARE_GOAL = upload
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.PHONY: upload
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upload:
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@:
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endif
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endif
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#
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# Built products
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#
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DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
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STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
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FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
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all: checksubmodules generateuorbtopicheaders $(DESIRED_FIRMWARES)
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#
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# Copy FIRMWARES into the image directory.
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#
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# XXX copying the .bin files is a hack to work around the PX4IO uploader
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# not supporting .px4 files, and it should be deprecated onced that
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# is taken care of.
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#
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$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
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@$(ECHO) %% Copying $@
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$(Q) $(COPY) $< $@
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$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
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#
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# Generate FIRMWARES.
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#
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.PHONY: $(FIRMWARES)
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$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
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$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
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$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
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@$(ECHO) %%%%
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@$(ECHO) %%%% Building $(config) in $(work_dir)
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@$(ECHO) %%%%
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$(Q) $(MKDIR) -p $(work_dir)
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$(Q) $(MAKE) -r -C $(work_dir) \
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-f $(PX4_MK_DIR)firmware.mk \
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CONFIG=$(config) \
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WORK_DIR=$(work_dir) \
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$(FIRMWARE_GOAL)
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#
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# Make FMU firmwares depend on the corresponding IO firmware.
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#
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# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
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# and forces the _default config in all cases. There has to be a better way to do this...
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#
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FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
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define FMU_DEP
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$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
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endef
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FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
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$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
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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. Likewise, when the 'archives' target is
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# invoked, all archives are always rebuilt.
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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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NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
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.PHONY: archives
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archives: $(NUTTX_ARCHIVES)
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# We cannot build these parallel; note that we also force -j1 for the
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# sub-make invocations.
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ifneq ($(filter archives,$(MAKECMDGOALS)),)
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.NOTPARALLEL:
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endif
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$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
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$(ARCHIVE_DIR)%.export: configuration = nsh
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$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(board)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
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@$(ECHO) %% Exporting NuttX for $(board)
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$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
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$(Q) $(MKDIR) -p $(dir $@)
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$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
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$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
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#
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# The user can run the NuttX 'menuconfig' tool for a single board configuration with
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# make BOARDS=<boardname> menuconfig
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#
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ifeq ($(MAKECMDGOALS),menuconfig)
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ifneq ($(words $(BOARDS)),1)
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$(error BOARDS must specify exactly one board for the menuconfig goal)
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endif
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BOARD = $(BOARDS)
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menuconfig: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(BOARD)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
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@$(ECHO) %% Running menuconfig for $(BOARD)
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$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
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@$(ECHO) %% Saving configuration file
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$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
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else
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menuconfig:
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@$(ECHO) ""
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@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
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@$(ECHO) ""
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endif
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$(NUTTX_SRC):
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$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
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$(UAVCAN_DIR):
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$(Q) (./Tools/check_submodules.sh)
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.PHONY: checksubmodules
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checksubmodules:
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$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
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.PHONY: updatesubmodules
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updatesubmodules:
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$(Q) (git submodule init)
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$(Q) (git submodule update)
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MSG_DIR = $(PX4_BASE)msg
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MSG_TEMPLATE_DIR = $(PX4_BASE)msg/templates
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TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
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TOPICS_TEMPORARY_DIR = $(BUILD_DIR)topics_temporary
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GENMSG_PYTHONPATH = $(PX4_BASE)/Tools/genmsg/src
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GENCPP_PYTHONPATH = $(PX4_BASE)/Tools/gencpp/src
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.PHONY: generateuorbtopicheaders
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generateuorbtopicheaders:
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@$(ECHO) "Generating uORB topic headers"
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
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-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR) -t $(TOPICS_TEMPORARY_DIR))
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# clean up temporary files
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$(Q) (rm -r $(TOPICS_TEMPORARY_DIR))
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#
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# Testing targets
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#
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testbuild:
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$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
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$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
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#
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# Unittest targets. Builds and runs the host-level
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# unit tests.
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.PHONY: tests
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tests:
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$(Q) (cd $(PX4_BASE)/unittests && $(MAKE) unittests)
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#
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# Cleanup targets. 'clean' should remove all built products and force
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# a complete re-compilation, 'distclean' should remove everything
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# that's generated leaving only files that are in source control.
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#
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.PHONY: clean
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clean:
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$(Q) $(RMDIR) $(BUILD_DIR)*.build > /dev/null
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$(Q) $(REMOVE) $(IMAGE_DIR)*.px4 > /dev/null
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.PHONY: distclean
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distclean: clean
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$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export > /dev/null
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$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean > /dev/null
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$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) > /dev/null
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#
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# Print some help text
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#
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.PHONY: help
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help:
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@$(ECHO) ""
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@$(ECHO) " PX4 firmware builder"
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@$(ECHO) " ===================="
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@$(ECHO) ""
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@$(ECHO) " Available targets:"
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@$(ECHO) " ------------------"
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@$(ECHO) ""
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@$(ECHO) " archives"
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@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
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@$(ECHO) ""
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@$(ECHO) " all"
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@$(ECHO) " Build all firmware configs: $(CONFIGS)"
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@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
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@$(ECHO) ""
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@for config in $(CONFIGS); do \
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$(ECHO) " $$config"; \
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$(ECHO) " Build just the $$config firmware configuration."; \
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$(ECHO) ""; \
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done
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@$(ECHO) " clean"
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@$(ECHO) " Remove all firmware build pieces."
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@$(ECHO) ""
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@$(ECHO) " distclean"
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@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
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@$(ECHO) ""
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@$(ECHO) " upload"
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@$(ECHO) " When exactly one config is being built, add this target to upload the"
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@$(ECHO) " firmware to the board when the build is complete. Not supported for"
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@$(ECHO) " all configurations."
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@$(ECHO) ""
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@$(ECHO) " testbuild"
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@$(ECHO) " Perform a complete clean build of the entire tree."
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@$(ECHO) ""
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@$(ECHO) " Common options:"
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@$(ECHO) " ---------------"
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@$(ECHO) ""
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@$(ECHO) " V=1"
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@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
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@$(ECHO) " help when diagnosing issues with the build or toolchain."
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@$(ECHO) ""
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