forked from Archive/PX4-Autopilot
410 lines
15 KiB
Makefile
410 lines
15 KiB
Makefile
############################################################################
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#
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# Copyright (c) 2015 - 2017 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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# Enforce the presence of the GIT repository
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#
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# We depend on our submodules, so we have to prevent attempts to
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# compile without it being present.
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ifeq ($(wildcard .git),)
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$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
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endif
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# Help
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# --------------------------------------------------------------------
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# Don't be afraid of this makefile, it is just passing
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# arguments to cmake to allow us to keep the wiki pages etc.
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# that describe how to build the px4 firmware
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# the same even when using cmake instead of make.
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#
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# Example usage:
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#
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# make px4fmu-v2_default (builds)
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# make px4fmu-v2_default upload (builds and uploads)
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# make px4fmu-v2_default test (builds and tests)
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#
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# This tells cmake to build the nuttx px4fmu-v2 default config in the
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# directory build/nuttx_px4fmu-v2_default and then call make
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# in that directory with the target upload.
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# explicity set default build target
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all: posix_sitl_default
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# Parsing
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# --------------------------------------------------------------------
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# assume 1st argument passed is the main target, the
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# rest are arguments to pass to the makefile generated
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# by cmake in the subdirectory
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FIRST_ARG := $(firstword $(MAKECMDGOALS))
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ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
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j ?= 4
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NINJA_BIN := ninja
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ifndef NO_NINJA_BUILD
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
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ifndef NINJA_BUILD
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NINJA_BIN := ninja-build
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
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endif
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endif
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ifdef NINJA_BUILD
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PX4_CMAKE_GENERATOR := Ninja
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PX4_MAKE := $(NINJA_BIN)
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ifdef VERBOSE
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PX4_MAKE_ARGS := -v
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else
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PX4_MAKE_ARGS :=
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endif
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else
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ifdef SYSTEMROOT
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# Windows
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PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
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else
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PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
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endif
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PX4_MAKE = $(MAKE)
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PX4_MAKE_ARGS = -j$(j) --no-print-directory
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endif
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SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
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# check if replay env variable is set & set build dir accordingly
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ifdef replay
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BUILD_DIR_SUFFIX := _replay
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else
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BUILD_DIR_SUFFIX :=
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endif
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# additional config parameters passed to cmake
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ifdef EXTERNAL_MODULES_LOCATION
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CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
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endif
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ifdef PX4_CMAKE_BUILD_TYPE
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
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endif
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# Functions
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# --------------------------------------------------------------------
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# describe how to build a cmake config
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define cmake-build
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+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
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+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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endef
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COLOR_BLUE = \033[0;34m
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NO_COLOR = \033[m
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define colorecho
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+@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
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endef
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# Get a list of all config targets cmake/configs/*.cmake
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ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed -e 's:^.*/::' | sort))
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# Strip off leading nuttx_
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NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
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# ADD CONFIGS HERE
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# --------------------------------------------------------------------
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# Do not put any spaces between function arguments.
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# All targets.
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$(ALL_CONFIG_TARGETS):
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$(call cmake-build,$@,$(SRC_DIR))
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# Abbreviated config targets.
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# nuttx_ is left off by default; provide a rule to allow that.
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$(NUTTX_CONFIG_TARGETS):
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$(call cmake-build,nuttx_$@,$(SRC_DIR))
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all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
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posix: posix_sitl_default
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broadcast: posix_sitl_broadcast
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# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
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.PHONY: all posix broadcast all_nuttx_targets
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# Multi- config targets.
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eagle_default: posix_eagle_default qurt_eagle_default
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eagle_rtps: posix_eagle_rtps qurt_eagle_default
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eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
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excelsior_default: posix_excelsior_default qurt_excelsior_default
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excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
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excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
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.PHONY: eagle_default eagle_rtps eagle_legacy_default
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.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
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# QGroundControl flashable NuttX firmware
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
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# px4fmu NuttX firmware
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px4fmu_firmware: \
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check_px4io-v2_default \
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check_px4fmu-v2_default \
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check_px4fmu-v3_default \
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check_px4fmu-v4_default \
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check_px4fmu-v4pro_default \
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check_px4fmu-v5_default \
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sizes
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misc_qgc_extra_firmware: \
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check_aerocore2_default \
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check_aerofc-v1_default \
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check_auav-x21_default \
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check_crazyflie_default \
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check_mindpx-v2_default \
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check_px4fmu-v2_lpe \
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check_tap-v1_default \
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sizes
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# Other NuttX firmware
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alt_firmware: \
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check_nxphlite-v3_default \
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check_px4-same70xplained-v1_default \
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check_px4-stm32f4discovery_default \
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check_px4cannode-v1_default \
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check_px4esc-v1_default \
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check_px4nucleoF767ZI-v1_default \
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check_s2740vc-v1_default \
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sizes
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# builds with RTPS
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check_rtps: \
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check_px4fmu-v3_rtps \
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check_px4fmu-v4_rtps \
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check_px4fmu-v4pro_rtps \
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check_posix_sitl_rtps \
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sizes
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.PHONY: sizes check quick_check check_rtps
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sizes:
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@-find build -name *.elf -type f | xargs size 2> /dev/null || :
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# All default targets that don't require a special build environment
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check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
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# quick_check builds a single nuttx and posix target, runs testing, and checks the style
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quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format
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check_%:
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@echo
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$(call colorecho,"Building" $(subst check_,,$@))
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@$(MAKE) --no-print-directory $(subst check_,,$@)
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@echo
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# Documentation
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# --------------------------------------------------------------------
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.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
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parameters_metadata:
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@python $(SRC_DIR)/Tools/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/Tools/parameters_injected.xml --markdown
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@python $(SRC_DIR)/Tools/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/Tools/parameters_injected.xml --xml
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airframe_metadata:
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@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
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@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
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module_documentation:
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@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
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px4_metadata: parameters_metadata airframe_metadata module_documentation
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# S3 upload helpers
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# --------------------------------------------------------------------
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# s3cmd uses these ENV variables
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# AWS_ACCESS_KEY_ID
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# AWS_SECRET_ACCESS_KEY
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# AWS_S3_BUCKET
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.PHONY: s3put_firmware s3put_qgc_firmware s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware s3put_metadata s3put_scan-build s3put_cppcheck s3put_coverage
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s3put_qgc_firmware: s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware
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s3put_px4fmu_firmware: px4fmu_firmware
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@find $(SRC_DIR)/build -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
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s3put_misc_qgc_extra_firmware: misc_qgc_extra_firmware
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@find $(SRC_DIR)/build -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
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s3put_metadata: px4_metadata
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@$(SRC_DIR)/Tools/s3put.sh airframes.md
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@$(SRC_DIR)/Tools/s3put.sh airframes.xml
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@$(SRC_DIR)/Tools/s3put.sh parameters.xml
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@$(SRC_DIR)/Tools/s3put.sh parameters.md
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s3put_scan-build: scan-build
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@$(SRC_DIR)/Tools/s3put.sh `find $(SRC_DIR)/build/scan-build -mindepth 1 -maxdepth 1 -type d`/
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s3put_cppcheck: cppcheck
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@$(SRC_DIR)/Tools/s3put.sh $(SRC_DIR)/build/cppcheck/
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s3put_coverage: tests_coverage
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@$(SRC_DIR)/Tools/s3put.sh $(SRC_DIR)/build/posix_sitl_default/coverage-html/
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# Astyle
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# --------------------------------------------------------------------
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.PHONY: check_format format
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check_format:
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$(call colorecho,"Checking formatting with astyle")
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@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
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@cd $(SRC_DIR) && git diff --check
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format:
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$(call colorecho,"Formatting with astyle")
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@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
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# Testing
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# --------------------------------------------------------------------
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.PHONY: tests tests_coverage
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tests:
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@$(MAKE) --no-print-directory posix_sitl_default test_results \
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ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
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UBSAN_OPTIONS="color=always"
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tests_coverage:
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@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
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@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
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# static analyzers (scan-build, clang-tidy, cppcheck)
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# --------------------------------------------------------------------
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.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
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scan-build:
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@export CCC_CC=clang
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@export CCC_CXX=clang++
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@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
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@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default
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@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
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posix_sitl_default-clang:
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@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
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@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
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@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
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clang-tidy: posix_sitl_default-clang
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@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
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# to automatically fix a single check at a time, eg modernize-redundant-void-arg
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# % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
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clang-tidy-fix: posix_sitl_default-clang
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@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
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# modified version of run-clang-tidy.py to return error codes and only output relevant results
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clang-tidy-quiet: posix_sitl_default-clang
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@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
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# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
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cppcheck: posix_sitl_default
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@mkdir -p $(SRC_DIR)/build/cppcheck
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@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
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@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/
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check_stack: px4fmu-v4pro_default
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@echo "Checking worst case stack usage with checkstack.pl ..."
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@echo " "
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@echo "Top 10:"
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@cd $(SRC_DIR)/build/px4fmu-v4pro_default && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v4pro_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
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@head -n 10 $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt
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@echo " "
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@echo "Symbols with 'main', 'thread' or 'task':"
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@cat $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
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# Cleanup
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# --------------------------------------------------------------------
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.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
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clean:
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@rm -rf $(SRC_DIR)/build
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submodulesclean:
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@git submodule foreach --quiet --recursive git clean -ff -x -d
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@git submodule update --quiet --init --recursive --force || true
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@git submodule sync --recursive
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@git submodule update --init --recursive --force
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submodulesupdate:
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@git submodule update --quiet --init --recursive || true
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@git submodule sync --recursive
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@git submodule update --init --recursive
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gazeboclean:
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@rm -rf ~/.gazebo/*
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distclean: submodulesclean gazeboclean
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@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
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# --------------------------------------------------------------------
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# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
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%:
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$(if $(filter $(FIRST_ARG),$@), \
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$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
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#help:
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# @echo
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# @echo "Type 'make ' and hit the tab key twice to see a list of the available"
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# @echo "build configurations."
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# @echo
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empty :=
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space := $(empty) $(empty)
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# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
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help:
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@echo "Usage: $(MAKE) <target>"
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@echo "Where <target> is one of:"
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@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
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awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
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egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
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@echo
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@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
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@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
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# Print a list of all config targets.
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list_config_targets:
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@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
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