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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 02:47:35 +08:00
px4dev
128 lines
3.6 KiB
Makefile
128 lines
3.6 KiB
Makefile
#
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# Top-level Makefile for building PX4 firmware images.
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#
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#
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# Some useful paths.
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#
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export PX4_BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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export NUTTX_SRC = $(PX4_BASE)/nuttx
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export NUTTX_APPS = $(PX4_BASE)/apps
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export MAVLINK_SRC = $(PX4_BASE)/mavlink
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export ROMFS_SRC = $(PX4_BASE)/ROMFS
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export IMAGE_DIR = $(PX4_BASE)/Images
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export BUILD_DIR = $(PX4_BASE)/Build
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export ARCHIVE_DIR = $(PX4_BASE)/Archives
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#
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# Tools
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#
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MKFW = $(PX4_BASE)/Tools/px_mkfw.py
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UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
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COPY = cp
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REMOVE = rm -f
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RMDIR = rm -rf
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#
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# Canned firmware configurations that we build.
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#
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CONFIGS ?= px4fmu_default px4io_default
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#
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# Platforms (boards) that we build NuttX export kits for.
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#
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PLATFORMS = px4fmu px4io
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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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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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endif
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#
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# Built products
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#
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STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)/$(config).px4)
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FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build/firmware.px4)
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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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Q := $(if $(V),,@)
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all: $(STAGED_FIRMWARES)
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#
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# Copy FIRMWARES into the image directory.
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#
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$(STAGED_FIRMWARES): $(IMAGE_DIR)/%.px4: $(BUILD_DIR)/%.build/firmware.px4
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@echo %% Copying $@
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$(Q) $(COPY) $< $@
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#
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# Generate FIRMWARES.
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#
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.PHONY: $(FIRMWARES)
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$(BUILD_DIR)/%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)/%.build/firmware.px4,%,$@)
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$(BUILD_DIR)/%.build/firmware.px4: work_dir = $(BUILD_DIR)/$(config).build
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$(FIRMWARES): $(BUILD_DIR)/%.build/firmware.px4:
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@echo %%%% Building $(config) in $(work_dir)
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$(Q) mkdir -p $(work_dir)
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$(Q) make -C $(work_dir) \
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-f $(PX4_BASE)/makefiles/config_$(config).mk \
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WORK_DIR=$(work_dir)
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#
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# Build the NuttX export archives.
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#
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# Note that there are no explicit dependencies extended from these
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# archives. If NuttX is updated, the user is expected to rebuild the
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# archives/build area manually. Likewise, when the 'archives' target is
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# invoked, all archives are always rebuilt.
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#
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# XXX Should support fetching/unpacking from a separate directory to permit
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# downloads of the prebuilt archives as well...
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#
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# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
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#
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NUTTX_ARCHIVES = $(foreach platform,$(PLATFORMS),$(ARCHIVE_DIR)/$(platform).export)
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.PHONY: archives
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archives: $(NUTTX_ARCHIVES)
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$(ARCHIVE_DIR)/%.export: platform = $(notdir $(basename $@))
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$(ARCHIVE_DIR)/%.export: configuration = $(if $(filter $(platform),px4io),io,nsh)
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$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS)
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@echo %% Configuring NuttX for $(platform)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/tools && ./configure.sh $(platform)/$(configuration))
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@echo %% Exporting NuttX for $(platform)
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export
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$(Q) mkdir -p $(dir $@)
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$(Q) $(COPY) $(NUTTX_SRC)/nuttx-export.zip $@
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#
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# Cleanup targets. 'clean' should remove all built products and force
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# a complete re-compilation, 'distclean' should remove everything
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# that's generated leaving only files that are in source control.
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#
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.PHONY: clean
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clean:
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$(Q) $(RMDIR) $(BUILD_DIR)/*.build
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$(Q) $(REMOVE) -f $(IMAGE_DIR)/*.px4
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$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) clean
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.PHONY: distclean
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distclean: clean
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$(Q) $(REMOVE) -f $(ARCHIVE_DIR)/*.export
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) distclean
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