mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 14:23:33 +08:00
NuttX: fixes for NuttX build
In the upstream tree ringbuffer.h includes the method implementations in the header file which causes multiple definitions in the link for other targets. Changed so ringbuffer.cpp is build separately for other platforms and is included by ringbuffer.h on NuttX. uORB changes do not link without uORBTest_UnitTest.cpp enabled for the NuttX build. px4_getopt was not exported and wasn't visible in NuttX build. The makefiles were restored to be as close as possible to upstream so the NuttX build builtin's work again. The code will have to be refactored after the merge. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
+189
-4
@@ -213,7 +213,7 @@ endef
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MODULE_MKFILES := $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module)))
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MISSING_MODULES := $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES)))
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ifneq ($(MISSING_MODULES),)
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$(error Can't find module(s): $(MISSING_MODULES))
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$(error Cant find module(s): $(MISSING_MODULES))
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endif
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# Make a list of the object files we expect to build from modules
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@@ -273,7 +273,7 @@ endef
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LIBRARY_MKFILES := $(foreach library,$(LIBRARIES),$(call LIBRARY_SEARCH,$(library)))
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MISSING_LIBRARIES := $(subst MISSING_,,$(filter MISSING_%,$(LIBRARY_MKFILES)))
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ifneq ($(MISSING_LIBRARIES),)
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$(error Can't find library(s): $(MISSING_LIBRARIES))
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$(error Cant find library(s): $(MISSING_LIBRARIES))
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endif
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# Make a list of the archive files we expect to build from libraries
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@@ -311,6 +311,132 @@ $(LIBRARY_CLEANS):
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LIBRARY_MK=$(mkfile) \
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clean
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ifeq ($(PX4_TARGET_OS),nuttx)
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################################################################################
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# ROMFS generation
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################################################################################
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ifneq ($(ROMFS_ROOT),)
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ifeq ($(wildcard $(ROMFS_ROOT)),)
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$(error ROMFS_ROOT specifies a directory that does not exist)
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endif
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#
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# Note that there is no support for more than one root directory or constructing
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# a root from several templates. That would be a nice feature.
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#
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# Add dependencies on anything in the ROMFS root directory
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ROMFS_FILES += $(wildcard \
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$(ROMFS_ROOT)/* \
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$(ROMFS_ROOT)/*/* \
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$(ROMFS_ROOT)/*/*/* \
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$(ROMFS_ROOT)/*/*/*/* \
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$(ROMFS_ROOT)/*/*/*/*/* \
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$(ROMFS_ROOT)/*/*/*/*/*/*)
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ifeq ($(ROMFS_FILES),)
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$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
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endif
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ROMFS_DEPS += $(ROMFS_FILES)
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# Extra files that may be copied into the ROMFS /extras directory
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# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
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ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES))
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ROMFS_DEPS += $(ROMFS_EXTRA_FILES)
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ROMFS_IMG = romfs.img
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ROMFS_SCRATCH = romfs_scratch
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ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
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ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
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LIBS += $(ROMFS_OBJ)
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LINK_DEPS += $(ROMFS_OBJ)
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# Remove all comments from startup and mixer files
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ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
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# Turn the ROMFS image into an object file
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$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
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$(call BIN_TO_OBJ,$<,$@,romfs_img)
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# Generate the ROMFS image from the root
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$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
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@$(ECHO) "ROMFS: $@"
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$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
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# Construct the ROMFS scratch root from the canonical root
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$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
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$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
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$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
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# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
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$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
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ifneq ($(ROMFS_EXTRA_FILES),)
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$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
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$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
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endif
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$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
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EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
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endif
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################################################################################
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# Builtin command list generation
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################################################################################
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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 modules
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# when they are built.
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#
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# The configuration supplies builtin command information in the BUILTIN_COMMANDS
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# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
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# filename contains the same information.
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#
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# In each case, the command information consists of four fields separated with a
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# period. These fields are the command's name, its thread priority, its stack size
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# and the name of the function to call when starting the thread.
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#
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BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c
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# command definitions from modules (may be empty at Makefile parsing time...)
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MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
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# We must have at least one pre-defined builtin command in order to generate
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# any of this.
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#
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ifneq ($(BUILTIN_COMMANDS),)
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# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
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define BUILTIN_PROTO
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$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
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endef
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# (BUILTIN_DEF,<cmdspec>,<outputfile>)
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define BUILTIN_DEF
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$(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
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endef
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# Don't generate until modules have updated their command files
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$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
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@$(ECHO) "CMDS: $@"
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$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
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$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
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$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
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$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
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$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
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$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
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$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
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$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
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$(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@
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$(Q) $(ECHO) '};' >> $@
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$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
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SRCS += $(BUILTIN_CSRC)
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EXTRA_CLEANS += $(BUILTIN_CSRC)
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endif
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endif
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################################################################################
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# Default SRCS generation
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@@ -329,9 +455,22 @@ SRCS += $(EMPTY_SRC)
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endif
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################################################################################
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# Generic Build rules
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# Build rules
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################################################################################
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ifeq ($(PX4_TARGET_OS),nuttx)
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#
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# What we're going to build.
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#
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PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
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PRODUCT_BIN = $(WORK_DIR)firmware.bin
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PRODUCT_ELF = $(WORK_DIR)firmware.elf
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PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
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.PHONY: firmware
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firmware: $(PRODUCT_BUNDLE)
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endif
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#
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# Object files we will generate from sources
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#
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@@ -352,13 +491,59 @@ $(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
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$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
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$(call ASSEMBLE,$<,$@)
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ifeq ($(PX4_TARGET_OS),nuttx)
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#
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# Built product rules
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#
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$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
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@$(ECHO) %% Generating $@
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ifdef GEN_PARAM_XML
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$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
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--git_identity $(PX4_BASE) \
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--parameter_xml $(PRODUCT_PARAMXML) \
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--image $< > $@
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else
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
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--git_identity $(PX4_BASE) \
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--image $< > $@
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endif
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$(PRODUCT_BIN): $(PRODUCT_ELF)
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$(call SYM_TO_BIN,$<,$@)
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$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
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$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
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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 $(PX4_MK_DIR)/upload.mk \
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METHOD=serial \
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CONFIG=$(CONFIG) \
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BOARD=$(BOARD) \
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BUNDLE=$(PRODUCT_BUNDLE) \
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BIN=$(PRODUCT_BIN)
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.PHONY: clean
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clean: $(MODULE_CLEANS)
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@$(ECHO) %% cleaning
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$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
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$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
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$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
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endif
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# Include the OS specific build rules
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# The rules must define the "firmware" make target
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#
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ifeq ($(PX4_TARGET_OS),nuttx)
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include $(MK_DIR)/nuttx_romfs.mk
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# TODO
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# Move above nuttx specific rules to $(MK_DIR)/nuttx_romfs.mk
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endif
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ifeq ($(PX4_TARGET_OS),posix)
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include $(MK_DIR)/posix_elf.mk
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+1
-1
@@ -34,7 +34,7 @@
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# building firmware.
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#
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#MODULES += platforms/nuttx/px4_layer
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MODULES += platforms/nuttx/px4_layer platforms/common
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#
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# Check that the NuttX archive for the selected board is available.
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