mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 05:17:35 +08:00
Mark Charlebois
838e9fc769
Moved the NuttX specific board files to makefiles/nuttx and added a makfiles/linux directory with sample config and board files. Created a makefiles/toolchain_native.mk file for building for Linux with the native system compiler. GCC or clang can be used by setting a flag in the file. The Linux build creates an archive file and will build the tasks as threads. Other code changes are required to support both task based and thread based builds. The NuttX source should not be required for the Linux build. The target OS (NuttX or Linux) is selected by commenting out the desired line in setup.mk Signed-off-by: Mark Charlebois <charlebm@gmail.com>
220 lines
7.7 KiB
Makefile
220 lines
7.7 KiB
Makefile
#
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# Copyright (C) 2012 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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# Makefile for PX4 Nuttx based firmware images.
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#
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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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################################################################################
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# Build rules
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################################################################################
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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: $(PRODUCT_BUNDLE)
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#
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# Built product rules
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#
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$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
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@$(ECHO) %% Generating $@
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ifdef GEN_PARAM_XML
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python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
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$(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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