forked from Archive/PX4-Autopilot
318 lines
11 KiB
Makefile
318 lines
11 KiB
Makefile
############################################################################
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#
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# Copyright (c) 2015 - 2016 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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CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
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ifneq ($(CMAKE_VER),0)
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$(warning Not a valid CMake version or CMake not installed.)
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$(warning On Ubuntu 16.04, install or upgrade via:)
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$(warning )
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$(warning 3rd party PPA:)
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$(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
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$(warning sudo apt-get update)
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$(warning sudo apt-get install cmake)
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$(warning )
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$(warning Official website:)
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$(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
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$(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
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$(warning sudo mkdir /opt/cmake-3.4.3)
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$(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
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$(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
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$(warning )
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$(error Fatal)
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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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ifndef NO_NINJA_BUILD
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NINJA_BUILD := $(shell ninja --version 2>/dev/null)
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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
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PX4_MAKE_ARGS =
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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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# 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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CMAKE_ARGS :=
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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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SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
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# Functions
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# --------------------------------------------------------------------
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# describe how to build a cmake config
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define cmake-build
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+@$(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 $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) $(CMAKE_ARGS) || (cd .. && rm -rf $(BUILD_DIR)); fi
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+@echo "PX4 CONFIG: $(BUILD_DIR)"
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+@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)
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endef
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define cmake-build-other
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+@$(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) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
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+@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)
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endef
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define colorecho
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@tput setaf 6
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@echo $1
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@tput sgr0
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endef
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# Get a list of all config targets.
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ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -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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$(call cmake-build,$@)
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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_$@)
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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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# Multi- config targets.
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eagle_default: posix_eagle_default qurt_eagle_default
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eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
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excelsior_default: posix_excelsior_default qurt_excelsior_default
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# Deprecated config targets.
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ros_sitl_default:
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@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
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_sitl_deprecation:
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@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
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@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
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run_sitl_quad: _sitl_deprecation
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run_sitl_plane: _sitl_deprecation
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run_sitl_ros: _sitl_deprecation
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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 eagle_default eagle_legacy_default excelsior_default run_sitl_quad run_sitl_plane run_sitl_ros all_nuttx_targets
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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.NOTPARALLEL:
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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: checks_defaults checks_bootloaders checks_tests checks_alts checks_uavcan checks_sitls checks_last quick_check tests extra_firmware
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uavcan_firmware:
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ifeq ($(VECTORCONTROL),1)
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$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
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@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
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endif
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check_px4fmu-v4_default: uavcan_firmware
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check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
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@echo
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ifeq ($(VECTORCONTROL),1)
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@echo "Cleaning up vectorcontrol firmware"
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@rm -rf vectorcontrol
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@rm -rf ROMFS/px4fmu_common/uavcan
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endif
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# All default targets that don't require a special build environment (currently built on semaphore-ci)
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check: check_px4fmu-v1_default \
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check_px4fmu-v2_default \
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check_px4fmu-v2_test \
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check_px4fmu-v4_default_and_uavcan \
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check_mindpx-v2_default \
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check_posix_sitl_default \
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check_tap-v1_default \
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check_aerofc-v1_default \
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check_px4-stm32f4discovery_default \
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check_crazyflie_default \
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check_tests \
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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-v4_default check_tests check_format
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check_format:
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$(call colorecho,"Checking formatting with astyle")
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@./Tools/check_code_style_all.sh
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@git diff --check
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format:
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$(call colorecho,"Formatting with astyle")
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@./Tools/check_code_style_all.sh --fix
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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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unittest: posix_sitl_default
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$(call cmake-build-other,unittest, ../unittests)
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@(cd build_unittest && ctest -j2 --output-on-failure)
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run_tests_posix: posix_sitl_default
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@(cd build_posix_sitl_default/ && ctest -V)
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tests: check_unittest run_tests_posix
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# QGroundControl flashable firmware (currently built by travis-ci)
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qgc_firmware: \
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check_px4fmu-v1_default \
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check_px4fmu-v2_default \
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check_px4fmu-v3_default \
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check_px4fmu-v4_default_and_uavcan \
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check_mindpx-v2_default \
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check_tap-v1_default \
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check_format
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package_firmware:
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@zip --junk-paths Firmware.zip `find . -name \*.px4`
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clean:
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@rm -rf build_*/
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-@$(MAKE) -C NuttX/nuttx clean
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submodulesclean:
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@git submodule sync --recursive
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@git submodule deinit -f .
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@git submodule update --init --recursive --force
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distclean: submodulesclean clean
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@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
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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 '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
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.PHONY: clean
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CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
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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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