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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
6a439f7ddc
DSPAL for QuRT is still missing the pthreads exports and there is no exported sleep function. These functions are stubbed out for the time being. This is based on the 6.4.05 version of the Hexagon tools. The Hexagon tools and DSPAL are needed to build the qurt target. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
238 lines
7.5 KiB
Makefile
238 lines
7.5 KiB
Makefile
#
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# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Top-level Makefile for building PX4 firmware images.
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#
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#
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# Get path and tool configuration
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#
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export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
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include $(PX4_BASE)makefiles/setup.mk
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#
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# Get a version string provided by git
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# This assumes that git command is available and that
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# the directory holding this file also contains .git directory
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#
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GIT_DESC := $(shell git log -1 --pretty=format:%H)
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ifneq ($(words $(GIT_DESC)),1)
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GIT_DESC := "unknown_git_version"
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endif
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export GIT_DESC
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#
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# Canned firmware configurations that we (know how to) build.
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#
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KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
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CONFIGS ?= $(KNOWN_CONFIGS)
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#
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# Boards that we (know how to) build NuttX export kits for.
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#
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KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
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BOARDS ?= $(KNOWN_BOARDS)
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#
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# Debugging
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#
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MQUIET = --no-print-directory
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#MQUIET = --print-directory
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################################################################################
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# No user-serviceable parts below
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################################################################################
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#
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# If the user has listed a config as a target, strip it out and override CONFIGS.
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#
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FIRMWARE_GOAL = firmware
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EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))
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ifneq ($(EXPLICIT_CONFIGS),)
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CONFIGS := $(EXPLICIT_CONFIGS)
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.PHONY: $(EXPLICIT_CONFIGS)
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$(EXPLICIT_CONFIGS): all
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#
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# If the user has asked to upload, they must have also specified exactly one
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# config.
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#
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ifneq ($(filter upload,$(MAKECMDGOALS)),)
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ifneq ($(words $(EXPLICIT_CONFIGS)),1)
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$(error In order to upload, exactly one board config must be specified)
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endif
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FIRMWARE_GOAL = upload
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.PHONY: upload
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upload:
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@:
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endif
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endif
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ifeq ($(PX4_TARGET_OS),nuttx)
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include $(PX4_BASE)makefiles/firmware_nuttx.mk
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endif
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ifeq ($(PX4_TARGET_OS),posix)
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include $(PX4_BASE)makefiles/firmware_posix.mk
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endif
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ifeq ($(PX4_TARGET_OS),qurt)
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include $(PX4_BASE)makefiles/firmware_qurt.mk
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endif
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MSG_DIR = $(PX4_BASE)msg
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UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
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MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
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TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
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MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
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MULTIPLATFORM_PREFIX = px4_
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TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
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GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
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GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
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.PHONY: checksubmodules
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checksubmodules:
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$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
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.PHONY: updatesubmodules
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updatesubmodules:
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$(Q) (git submodule init)
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$(Q) (git submodule update)
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.PHONY: generateuorbtopicheaders
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generateuorbtopicheaders: checksubmodules
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@$(ECHO) "Generating uORB topic headers"
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
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-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
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@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
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-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
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# clean up temporary files
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$(Q) (rm -r $(TOPICHEADER_TEMP_DIR))
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#
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# Testing targets
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#
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testbuild:
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$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
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$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
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posix:
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make PX4_TARGET_OS=posix
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nuttx:
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make PX4_TARGET_OS=nuttx
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qurt:
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make PX4_TARGET_OS=qurt
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posixrun:
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Tools/posix_run.sh
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qurtrun:
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make PX4_TARGET_OS=qurt sim
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#
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# Unittest targets. Builds and runs the host-level
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# unit tests.
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.PHONY: tests
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tests: generateuorbtopicheaders
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$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
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.PHONY: format check_format
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check_format:
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$(Q) (./Tools/check_code_style.sh | sort -n)
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#
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# Cleanup targets. 'clean' should remove all built products and force
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# a complete re-compilation, 'distclean' should remove everything
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# that's generated leaving only files that are in source control.
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#
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.PHONY: clean
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clean:
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@echo > /dev/null
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$(Q) $(RMDIR) $(BUILD_DIR)*.build
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$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
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.PHONY: distclean
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distclean: clean
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@echo > /dev/null
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$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
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$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
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#
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# Print some help text
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#
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.PHONY: help
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help:
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@$(ECHO) ""
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@$(ECHO) " PX4 firmware builder"
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@$(ECHO) " ===================="
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@$(ECHO) ""
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@$(ECHO) " Available targets:"
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@$(ECHO) " ------------------"
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@$(ECHO) ""
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@$(ECHO) " archives"
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@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
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@$(ECHO) ""
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@$(ECHO) " all"
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@$(ECHO) " Build all firmware configs: $(CONFIGS)"
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@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
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@$(ECHO) ""
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@for config in $(CONFIGS); do \
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$(ECHO) " $$config"; \
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$(ECHO) " Build just the $$config firmware configuration."; \
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$(ECHO) ""; \
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done
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@$(ECHO) " clean"
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@$(ECHO) " Remove all firmware build pieces."
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@$(ECHO) ""
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@$(ECHO) " distclean"
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@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
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@$(ECHO) ""
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@$(ECHO) " upload"
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@$(ECHO) " When exactly one config is being built, add this target to upload the"
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@$(ECHO) " firmware to the board when the build is complete. Not supported for"
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@$(ECHO) " all configurations."
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@$(ECHO) ""
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@$(ECHO) " testbuild"
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@$(ECHO) " Perform a complete clean build of the entire tree."
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@$(ECHO) ""
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@$(ECHO) " Common options:"
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@$(ECHO) " ---------------"
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@$(ECHO) ""
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@$(ECHO) " V=1"
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@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
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@$(ECHO) " help when diagnosing issues with the build or toolchain."
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@$(ECHO) ""
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