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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Checkpoint: application framework makefile done
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px4dev
+146
-68
@@ -1,8 +1,5 @@
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#
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# Generic Makefile for PX4 firmware.
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#
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# Currently this assumes that we're just compiling SRCS
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# and then linking the whole thing together.
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# Generic Makefile for PX4 firmware images.
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#
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# Requires:
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#
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@@ -12,6 +9,39 @@
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#
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# Optional:
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#
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# APPS
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# Contains a list of application paths or path fragments used
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# to find applications. The names listed here are searched in
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# the following directories:
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# <absolute path>
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# $(APP_SEARCH_DIRS)
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# WORK_DIR
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# APP_SRC
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# PX4_APP_SRC
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#
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# Application directories are expected to contain an 'app.mk'
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# file which provides build configuration for the app. See
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# application.mk for more details.
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#
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# LIBS
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# Contains a list of library paths or path fragments used
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# to find libraries. The names listed here are searched in the
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# following directories:
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# <absolute path>
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# $(LIB_SEARCH_DIRS)
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# WORK_DIR
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# LIB_SRC
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# PX4_LIB_SRC
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#
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# Library directories are expected to contain a 'lib.mk'
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# file which provides build configuration for the library. See
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# library.mk for more details.
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#
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# BUILTIN_COMMANDS
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# Contains a list of built-in commands not explicitly provided
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# by applications / libraries. Each entry in this list is formatted
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# as <command>.<priority>.<stacksize>.<entrypoint>
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#
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# PX4_BASE:
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# Points to a PX4 distribution. Normally determined based on the
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# path to this file.
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@@ -29,6 +59,14 @@
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# containing the files under the directory and linked into the final
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# image.
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#
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# APP_SEARCH_DIRS:
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# Extra directories to search first for APPS before looking in the
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# usual places.
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#
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# LIB_SEARCH_DIRS:
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# Extra directories to search first for LIBS before looking in the
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# usual places.
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#
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################################################################################
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# Paths and configuration
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@@ -41,17 +79,57 @@
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# If PX4_BASE wasn't set previously, work out what it should be
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# and set it here now.
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#
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export MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST)))
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MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST)))
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ifeq ($(PX4_BASE),)
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export PX4_BASE := $(abspath $(MK_DIR)/..)
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$(info %% set PX4_BASE to $(PX4_BASE))
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endif
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#
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# Set a default target so that included makefiles or errors here don't
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# cause confusion.
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#
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# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
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# of the maintenance targets and set CONFIG based on it.
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#
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all: firmware
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#
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# Get path and tool config
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#
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include $(MK_DIR)/setup.mk
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#
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# Locate the configuration file
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#
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ifeq ($(CONFIG),)
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$(error Missing configuration name or file (specify with CONFIG=<config>))
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endif
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CONFIG_FILE := $(firstword $(wildcard $(CONFIG)) $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk))
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ifeq ($(CONFIG_FILE),)
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$(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONFIG).mk)
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endif
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export CONFIG
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include $(CONFIG_FILE)
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$(info %% CONFIG $(CONFIG))
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#
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# Sanity-check the BOARD variable and then get the board config.
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# If BOARD was not set by the configuration, extract it automatically.
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#
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# The board config in turn will fetch the toolchain configuration.
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#
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ifeq ($(BOARD),)
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BOARD := $(firstword $(subst _, ,$(CONFIG)))
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endif
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BOARD_FILE := $(wildcard $(PX4_MK_DIR)/board_$(BOARD).mk)
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ifeq ($(BOARD_FILE),)
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$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
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endif
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export BOARD
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include $(BOARD_FILE)
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$(info %% BOARD $(BOARD))
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#
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# If WORK_DIR is not set, create a 'build' directory next to the
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# parent Makefile.
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@@ -60,65 +138,68 @@ PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEF
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ifeq ($(WORK_DIR),)
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export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build
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endif
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$(info %% WORK_DIR $(WORK_DIR))
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#
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# Sanity-check the BOARD variable and then get the board config.
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# If BOARD is not set, but CONFIG is, use that.
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#
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# The board config in turn will fetch the toolchain configuration.
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#
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ifeq ($(BOARD),)
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ifeq ($(CONFIG),)
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$(error At least one of the BOARD or CONFIG variables must be set before including firmware.mk)
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endif
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BOARD := $(firstword $(subst _, ,$(CONFIG)))
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endif
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include $(PX4_MK_DIR)/board_$(BOARD).mk
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$(info %% WORK_DIR $(WORK_DIR))
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#
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# Things that, if they change, might affect everything
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#
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GLOBAL_DEPS += $(MAKEFILE_LIST)
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################################################################################
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# Applications
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################################################################################
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# where to look for applications
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APP_SEARCH_DIRS += $(WORK_DIR) $(APP_SRC) $(PX4_APP_SRC)
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# sort and unique the apps list
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APPS := $(sort $(APPS))
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# locate the first instance of an app by full path or by looking on the
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# application search path
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define APP_SEARCH
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$(firstword $(wildcard $(1)/app.mk) \
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$(foreach search_dir,$(APP_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/app.mk)) \
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MISSING_$1)
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endef
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APP_MKFILES := $(foreach app,$(APPS),$(call APP_SEARCH,$(app)))
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MISSING_APPS := $(subst MISSING_,,$(filter MISSING_%,$(APP_MKFILES)))
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ifneq ($(MISSING_APPS),)
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$(error Can't find application(s): $(MISSING_APPS))
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endif
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APP_OBJS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/app.pre.o)
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$(APP_OBJS): relpath = $(patsubst $(WORK_DIR)/%,%,$@)
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$(APP_OBJS): mkfile = $(patsubst %/app.pre.o,%/app.mk,$(relpath))
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$(APP_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
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@echo %%
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@echo %% Building app in $(relpath) using $(mkfile)
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@echo %%
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$(Q) make -f $(PX4_MK_DIR)/application.mk \
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APP_WORK_DIR=$(dir $@) \
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APP_OBJ=$@ \
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APP_MK=$(mkfile) \
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app
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APP_CLEANS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/clean)
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.PHONY: $(APP_CLEANS)
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$(APP_CLEANS): relpath = $(patsubst $(WORK_DIR)/%,%,$@)
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$(APP_CLEANS): mkfile = $(patsubst %/clean,%/app.mk,$(relpath))
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$(APP_CLEANS):
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@echo %% cleaning using $(mkfile)
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$(Q) make -f $(PX4_MK_DIR)/application.mk \
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APP_WORK_DIR=$(dir $@) \
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APP_MK=$(mkfile) \
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clean
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################################################################################
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# NuttX libraries and paths
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################################################################################
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#
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# Check that the NuttX archive for the selected board is available.
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#
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NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)/$(BOARD).export)
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ifeq ($(NUTTX_ARCHIVE),)
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$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
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endif
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#
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# The NuttX config header should always be present in the NuttX archive, and
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# if it changes, everything should be rebuilt. So, use it as the trigger to
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# unpack the NuttX archive.
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#
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NUTTX_EXPORT_DIR = $(WORK_DIR)/nuttx-export
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NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h
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GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER)
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#
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# Use the linker script from the NuttX export
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#
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LDSCRIPT = $(NUTTX_EXPORT_DIR)/build/ld.script
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#
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# Add directories from the NuttX export to the relevant search paths
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#
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INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)/include
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LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs
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LIBS += -lapps -lnuttx
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LINK_DEPS += $(wildcard $(addsuffix /*.a,$(LIB_DIRS)))
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$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
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@echo %% Unpacking $(NUTTX_ARCHIVE)
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$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
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$(Q) touch $@
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include $(PX4_MK_DIR)/nuttx.mk
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################################################################################
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# ROMFS generation
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@@ -149,7 +230,7 @@ $(ROMFS_CSRC): $(ROMFS_IMG)
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@echo %% generating $@
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$(Q) (cd $(dir $<) && xxd -i $(notdir $<)) > $@
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$(ROMFS_IMG): $(ROMFS_DEPS)
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$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
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@echo %% generating $@
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$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
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@@ -163,8 +244,6 @@ endif
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# Note that we can't just put builtin_commands.c in SRCS, as it's depended on by the
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# NuttX export library. Instead, we have to treat it like a library.
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#
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# XXX need to fix stack size numbers here so that apps can set them.
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#
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# Builtin commands can be generated by the configuration, in which case they
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# must refer to commands that already exist, or indirectly generated by applications
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# when they are built.
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@@ -181,7 +260,7 @@ endif
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BUILTIN_CSRC = $(WORK_DIR)/builtin_commands.c
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# add command definitions from apps
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BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)/builtin_commands/APP.*)))
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BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)/builtin_commands/COMMAND.*)))
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# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
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define BUILTIN_PROTO
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@@ -193,7 +272,7 @@ define BUILTIN_DEF
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echo ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
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endef
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$(BUILTIN_CSRC): $(MAKEFILE_LIST)
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$(BUILTIN_CSRC): $(GLOBAL_DEPS)
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@echo %% generating $@
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$(Q) echo '/* builtin command list - automatically generated, do not edit */' > $@
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$(Q) echo '#include <nuttx/config.h>' >> $@
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@@ -209,7 +288,7 @@ BUILTIN_OBJ = $(BUILTIN_CSRC:.c=.o)
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LIBS += $(BUILTIN_OBJ)
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LINK_DEPS += $(BUILTIN_OBJ)
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$(BUILTIN_OBJ): $(BUILTIN_CSRC) $(GLOBAL_DEPS)
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$(BUILTIN_OBJ): $(BUILTIN_CSRC)
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$(Q) $(call COMPILE,$<,$@)
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################################################################################
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@@ -239,7 +318,7 @@ 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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.PHONY: all
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.PHONY: firmware
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firmware: $(PRODUCT_BUNDLE)
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#
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@@ -254,15 +333,12 @@ OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
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$(OBJS): $(GLOBAL_DEPS)
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$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c
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@mkdir -p $(dir $@)
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$(call COMPILE,$<,$@)
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$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS)
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@mkdir -p $(dir $@)
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$(call COMPILEXX,$<,$@)
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$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS)
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@mkdir -p $(dir $@)
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$(call ASSEMBLE,$<,$@)
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#
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@@ -278,21 +354,23 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN)
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$(PRODUCT_BIN): $(PRODUCT_SYM)
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$(call SYM_TO_BIN,$<,$@)
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$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS)
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$(call LINK,$@,$(OBJS))
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$(PRODUCT_SYM): $(OBJS) $(APP_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(APP_MKFILES)
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$(call LINK,$@,$(OBJS) $(APP_OBJS))
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#
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# Utility rules
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#
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.PHONY: upload
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upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN)
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$(Q) make -f $(PX4_MK_INCLUDE)/upload.mk \
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$(Q) make -f $(PX4_MK_DIR)/upload.mk \
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METHOD=serial \
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PRODUCT=$(PRODUCT) \
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BUNDLE=$(PRODUCT_BUNDLE) \
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BIN=$(PRODUCT_BIN)
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clean:
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.PHONY: clean
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clean: $(APP_CLEANS)
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@echo %% cleaning
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$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
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$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES)
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