mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
51396d5272
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2926 ebee16cc-31ac-478f-84a7-5cbb03baadba
385 lines
13 KiB
Makefile
385 lines
13 KiB
Makefile
# Set up some macros for common directories within the tree
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ROOT_DIR=$(CURDIR)
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TOOLS_DIR=$(ROOT_DIR)/tools
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BUILD_DIR=$(ROOT_DIR)/build
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DL_DIR=$(ROOT_DIR)/downloads
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# We almost need to consider autoconf/automake instead of this
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# I don't know if windows supports uname :-(
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QT_SPEC=win32-g++
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UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/debug/uavobjgenerator.exe"
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UNAME := $(shell uname)
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ifeq ($(UNAME), Linux)
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QT_SPEC=linux-g++
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UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
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endif
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ifeq ($(UNAME), Darwin)
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QT_SPEC=macx-g++
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UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
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endif
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# Set up misc host tools
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RM=rm
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# Decide on a verbosity level based on the V= parameter
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export AT := @
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ifndef V
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export V0 :=
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export V1 := $(AT)
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else ifeq ($(V), 0)
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export V0 := $(AT)
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export V1 := $(AT)
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else ifeq ($(V), 1)
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endif
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.PHONY: areyousureyoushouldberunningthis
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areyousureyoushouldberunningthis:
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@echo
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@echo " This Makefile will probably only work on Linux and Mac right now."
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@echo " If you're sure you want to be using this, you may wish to try the following targets:"
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@echo
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@echo " [Tool Installers]"
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@echo " qt_sdk_install - Install the QT v4.6.2 tools"
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@echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain"
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@echo " openocd_install - Install the OpenOCD JTAG daemon"
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@echo
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@echo " [Big Hammer]"
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@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
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@echo " all_clean - Remove your build directory ($(BUILD_DIR))"
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@echo
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@echo " [Firmware]"
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@echo " openpilot - Build firmware for the OpenPilot board"
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@echo " openpilot_clean - Delete all build output for the OpenPilot firmware"
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@echo " openpilot_program - Program the firmware onto the OpenPilot board"
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@echo " ahrs - Build firmware for the AHRS board"
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@echo " ahrs_clean - Delete all build output for the AHRS firmware"
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@echo " ahrs_program - Program the firmware onto the AHRS board"
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@echo " coptercontrol - Build firmware for the CopterControl board"
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@echo
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@echo " NOTE: To build firmware to be chain loaded from a bootloader, use"
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@echo " make openpilot USE_BOOTLOADER=YES"
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@echo " Don't forget to do a clean between builds with/without bootloader"
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@echo
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@echo " [Simulation]"
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@echo " sim_posix - Build OpenPilot simulation firmware for"
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@echo " a POSIX compatible system (Linux, Mac OS X, ...)"
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@echo " sim_posix_clean - Delete all build output for the POSIX simulation"
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@echo " sim_win32 - Build OpenPilot simulation firmware for"
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@echo " Windows using mingw and msys"
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@echo " sim_win32_clean - Delete all build output for the win32 simulation"
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@echo
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@echo " [GCS]"
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@echo " gcs - Build the Ground Control System application"
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@echo
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@echo " [UAVObjects]"
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@echo " uavobjects - Generate source files from the UAVObject definition XML files"
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@echo " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... "
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@echo " uavobjects_flight - Generate flight source files from the UAVObject definition XML files"
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@echo " uavobjects_gcs - Generate groundstation source files from the UAVObject definition XML files"
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@echo " uavobjects_python - Generate python source files from the UAVObject definition XML files"
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@echo " uavobjects_matlab - Generate matlab source files from the UAVObject definition XML files"
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@echo
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@echo " Note: All tools will be installed into $(TOOLS_DIR)"
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@echo " All build output will be placed in $(BUILD_DIR)"
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@echo
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.PHONY: all
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all: uavobjects all_ground all_flight
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.PHONY: all_clean
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all_clean:
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[ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
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$(DL_DIR):
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mkdir -p $@
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$(TOOLS_DIR):
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mkdir -p $@
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$(BUILD_DIR):
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mkdir -p $@
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###############################################################
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#
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# Installers for tools required by the ground and flight builds
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#
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# NOTE: These are not tied to the default goals
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# and must be invoked manually
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#
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###############################################################
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# Set up QT toolchain
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QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-2010.02
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.PHONY: qt_sdk_install
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qt_sdk_install: QT_SDK_URL := http://get.qt.nokia.com/qtsdk/qt-sdk-linux-x86-opensource-2010.02.bin
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qt_sdk_install: QT_SDK_FILE := $(notdir $(QT_SDK_URL))
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qt_sdk_install: qt_sdk_clean $(TOOLS_DIR)
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# download the source only if it's newer than what we already have
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$(V1) wget -N -P "$(DL_DIR)" "$(QT_SDK_URL)"
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#installer is an executable, make it executable and run it
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$(V1) chmod u+x "$(DL_DIR)/$(QT_SDK_FILE)"
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"$(DL_DIR)/$(QT_SDK_FILE)" --installdir "$(QT_SDK_DIR)"
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.PHONY: qt_sdk_clean
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qt_sdk_clean:
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$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR)
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# Set up ARM (STM32) SDK
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ARM_SDK_DIR := $(TOOLS_DIR)/arm-2009q3
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.PHONY: arm_sdk_install
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arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package5353/public/arm-none-eabi/arm-2009q3-68-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
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arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
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arm_sdk_install: arm_sdk_clean $(TOOLS_DIR)
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# download the source only if it's newer than what we already have
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$(V1) wget -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
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# binary only release so just extract it
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$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
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.PHONY: arm_sdk_clean
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arm_sdk_clean:
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$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r $(ARM_SDK_DIR)
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# Set up openocd tools
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OPENOCD_DIR := $(TOOLS_DIR)/openocd
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.PHONY: openocd_install
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openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.4.0/openocd-0.4.0.tar.bz2/download
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openocd_install: OPENOCD_FILE := openocd-0.4.0.tar.bz2
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openocd_install: openocd_clean $(TOOLS_DIR)
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# download the source only if it's newer than what we already have
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$(V1) wget -N -P "$(DL_DIR)" --trust-server-name "$(OPENOCD_URL)"
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# extract the source
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$(V1) [ ! -d "$(DL_DIR)/openocd-build" ] || $(RM) -r "$(DL_DIR)/openocd-build"
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$(V1) mkdir -p "$(DL_DIR)/openocd-build"
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$(V1) tar -C $(DL_DIR)/openocd-build -xjf "$(DL_DIR)/$(OPENOCD_FILE)"
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# build and install
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$(V1) mkdir -p "$(OPENOCD_DIR)"
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$(V1) ( \
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cd $(DL_DIR)/openocd-build/openocd-0.4.0 ; \
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./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi ; \
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$(MAKE) ; \
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$(MAKE) install ; \
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)
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# delete the extracted source when we're done
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$(V1) [ ! -d "$(DL_DIR)/openocd-build" ] || $(RM) -r "$(DL_DIR)/openocd-build"
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.PHONY: openocd_clean
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openocd_clean:
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$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
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##############################
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#
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# Set up paths to tools
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#
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##############################
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ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && echo "exists"), exists)
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QMAKE=$(QT_SDK_DIR)/qt/bin/qmake
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else
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# not installed, hope it's in the path...
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QMAKE=qmake
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endif
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ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
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ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
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else
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# not installed, hope it's in the path...
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ARM_SDK_PREFIX ?= arm-none-eabi-
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endif
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ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && echo "exists"), exists)
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OPENOCD := $(OPENOCD_DIR)/bin/openocd
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else
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# not installed, hope it's in the path...
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OPENOCD ?= openocd
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endif
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##############################
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#
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# GCS related components
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#
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##############################
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.PHONY: all_ground
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all_ground: openpilotgcs
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# Convenience target for the GCS
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.PHONY: gcs
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gcs: openpilotgcs
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.PHONY: openpilotgcs
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openpilotgcs: uavobjects_gcs
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$(V1) mkdir -p $(BUILD_DIR)/ground/$@
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$(V1) ( cd $(BUILD_DIR)/ground/$@ ; \
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$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=debug ; \
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$(MAKE) -w ; \
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)
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.PHONY: uavobjgenerator
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uavobjgenerator:
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$(V1) mkdir -p $(BUILD_DIR)/ground/$@
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$(V1) ( cd $(BUILD_DIR)/ground/$@ ; \
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$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+=debug ; \
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$(MAKE) --no-print-directory -w ; \
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)
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.PHONY:uavobjects
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uavobjects: uavobjects_gcs uavobjects_flight uavobjects_python uavobjects_matlab uavobjects_java
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UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
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UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
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$(UAVOBJ_OUT_DIR):
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$(V1) mkdir -p $@
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uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
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$(V1) ( cd $(UAVOBJ_OUT_DIR) ; \
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$(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
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)
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uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
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$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
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uavobjects_clean:
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$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
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##############################
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#
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# Flight related components
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#
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##############################
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FW_TARGETS := openpilot ahrs coptercontrol pipxtreme
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BL_TARGETS := $(addprefix bl_, $(FW_TARGETS))
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.PHONY: all_fw all_fw_clean
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all_fw: $(addsuffix _bin, $(FW_TARGETS))
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all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
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.PHONY: all_bw all_bw_clean
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all_bl: $(addsuffix _elf, $(BL_TARGETS))
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all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
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.PHONY: all_flight all_flight_clean
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all_flight: all_fw all_bl
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all_flight_clean: all_fw_clean all_bl_clean
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.PHONY: openpilot
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openpilot: openpilot_bin
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openpilot_%: uavobjects_flight
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$(V1) mkdir -p $(BUILD_DIR)/openpilot/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/OpenPilot $*
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.PHONY: openpilot_clean
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openpilot_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/openpilot
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.PHONY: bl_openpilot
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bl_openpilot: bl_openpilot_elf
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bl_openpilot_%:
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$(V1) mkdir -p $(BUILD_DIR)/bl_openpilot/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/Bootloaders/OpenPilot $*
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.PHONY: bl_openpilot_clean
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bl_openpilot_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/bl_openpilot
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.PHONY: ahrs
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ahrs: ahrs_bin
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ahrs_%: uavobjects_flight
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$(V1) mkdir -p $(BUILD_DIR)/ahrs/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/AHRS $*
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.PHONY: ahrs_clean
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ahrs_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/ahrs
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.PHONY: bl_ahrs
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bl_ahrs: bl_ahrs_elf
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bl_ahrs_%:
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$(V1) mkdir -p $(BUILD_DIR)/bl_ahrs/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/Bootloaders/AHRS $*
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.PHONY: bl_ahrs_clean
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bl_ahrs_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/bl_ahrs
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.PHONY: coptercontrol
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coptercontrol: coptercontrol_bin
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coptercontrol_%: uavobjects_flight
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$(V1) mkdir -p $(BUILD_DIR)/coptercontrol/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/CopterControl $*
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.PHONY: coptercontrol_clean
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coptercontrol_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/coptercontrol
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.PHONY: bl_coptercontrol
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bl_coptercontrol: bl_coptercontrol_elf
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bl_coptercontrol_%:
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$(V1) mkdir -p $(BUILD_DIR)/bl_coptercontrol/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/Bootloaders/CopterControl $*
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.PHONY: bl_coptercontrol_clean
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bl_coptercontrol_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/bl_coptercontrol
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.PHONY: pipxtreme
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pipxtreme: pipxtreme_bin
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pipxtreme_%: uavobjects_flight
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$(V1) mkdir -p $(BUILD_DIR)/pipxtreme/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/PipXtreme $*
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.PHONY: pipxtreme_clean
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pipxtreme_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/pipxtreme
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.PHONY: bl_pipxtreme
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bl_pipxtreme: bl_pipxtreme_elf
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bl_pipxtreme_%:
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$(V1) mkdir -p $(BUILD_DIR)/bl_pipxtreme/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/Bootloaders/PipXtreme $*
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.PHONY: bl_pipxtreme_clean
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bl_pipxtreme_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/bl_pipxtreme
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.PHONY: sim_posix
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sim_posix: sim_posix_elf
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sim_posix_%: uavobjects_flight
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$(V1) mkdir -p $(BUILD_DIR)/sitl_posix
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$(V1) $(MAKE) --no-print-directory -C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.posix $*
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.PHONY: sim_win32
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sim_win32: sim_win32_exe
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sim_win32_%: uavobjects_flight
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$(V1) mkdir -p $(BUILD_DIR)/flight/sitl_win32
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$(V1) $(MAKE) --no-print-directory -C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $*
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