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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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px4dev
f70a4b3b70
If there is an IO firmware image already built when we build the corresponding FMU ROMFS, copy it into the ROMFS. Note - due to there being no fixed build ordering, to be certain that you have the most current IO firmware, you must build the IO firmware explicitly first.
257 lines
8.4 KiB
Makefile
257 lines
8.4 KiB
Makefile
#
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# Copyright (c) 2012, 2013 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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# Canned firmware configurations that we build.
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#
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CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
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#
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# Boards that we build NuttX export kits for.
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#
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BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
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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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#
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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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all: $(STAGED_FIRMWARES)
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#
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# Copy FIRMWARES into the image directory.
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#
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# XXX copying the .bin files is a hack to work around the PX4IO uploader
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# not supporting .px4 files, and it should be deprecated onced that
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# is taken care of.
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#
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$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
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@$(ECHO) %% Copying $@
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$(Q) $(COPY) $< $@
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$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
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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) %%%%
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@$(ECHO) %%%% Building $(config) in $(work_dir)
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@$(ECHO) %%%%
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$(Q) $(MKDIR) -p $(work_dir)
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$(Q) $(MAKE) -r -C $(work_dir) \
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-f $(PX4_MK_DIR)firmware.mk \
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CONFIG=$(config) \
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WORK_DIR=$(work_dir) \
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$(FIRMWARE_GOAL)
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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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NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
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.PHONY: archives
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archives: $(NUTTX_ARCHIVES)
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# We cannot build these parallel; note that we also force -j1 for the
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# sub-make invocations.
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ifneq ($(filter archives,$(MAKECMDGOALS)),)
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.NOTPARALLEL:
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endif
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$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
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$(ARCHIVE_DIR)%.export: configuration = nsh
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$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(board)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
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@$(ECHO) %% Exporting NuttX for $(board)
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$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
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$(Q) $(MKDIR) -p $(dir $@)
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$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
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$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
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#
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# The user can run the NuttX 'menuconfig' tool for a single board configuration with
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# make BOARDS=<boardname> menuconfig
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#
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ifeq ($(MAKECMDGOALS),menuconfig)
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ifneq ($(words $(BOARDS)),1)
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$(error BOARDS must specify exactly one board for the menuconfig goal)
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endif
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BOARD = $(BOARDS)
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menuconfig: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(BOARD)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
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@$(ECHO) %% Running menuconfig for $(BOARD)
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$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
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@$(ECHO) %% Saving configuration file
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$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
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else
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menuconfig:
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@$(ECHO) ""
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@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
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@$(ECHO) ""
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endif
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$(NUTTX_SRC):
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@$(ECHO) ""
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@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
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@$(ECHO) ""
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#
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# Testing targets
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#
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testbuild:
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$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
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#
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# Cleanup targets. 'clean' should remove all built products and force
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# a complete re-compilation, 'distclean' should remove everything
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# that's generated leaving only files that are in source control.
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#
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.PHONY: clean
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clean:
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$(Q) $(RMDIR) $(BUILD_DIR)*.build
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$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
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.PHONY: distclean
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distclean: clean
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$(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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