mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
316 lines
9.5 KiB
Makefile
316 lines
9.5 KiB
Makefile
export FLIGHT_MAKEFILE := TRUE
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export FLIGHT_ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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export PIOS := $(FLIGHT_ROOT_DIR)/pios
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export FLIGHTLIB := $(FLIGHT_ROOT_DIR)/libraries
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export OPMODULEDIR := $(FLIGHT_ROOT_DIR)/modules
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export OPUAVOBJ := $(FLIGHT_ROOT_DIR)/uavobjects
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export OPUAVTALK := $(FLIGHT_ROOT_DIR)/uavtalk
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export FLIGHT_OUT_DIR ?= $(CURDIR)
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# Define supported board lists
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ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
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# Short names of each board (used to display board name in parallel builds)
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coptercontrol_short := 'cc '
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oplinkmini_short := 'oplm'
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revolution_short := 'revo'
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osd_short := 'osd '
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revoproto_short := 'revp'
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revonano_short := 'revn'
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simposix_short := 'posx'
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discoveryf4bare_short := 'df4b'
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gpsplatinum_short := 'gps9'
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# SimPosix only builds on Linux so drop it from the list for
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# all other platforms.
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ifneq ($(UNAME), Linux)
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ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
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endif
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# Start out assuming that we'll build fw, bl and bu for all boards
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FW_BOARDS := $(ALL_BOARDS)
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BL_BOARDS := $(ALL_BOARDS)
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BU_BOARDS := $(ALL_BOARDS)
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EF_BOARDS := $(ALL_BOARDS)
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# SimPosix doesn't have a BL, BU or EF target so we need to
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# filter them out to prevent errors on the all_flight target.
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BL_BOARDS := $(filter-out simposix, $(BL_BOARDS))
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BU_BOARDS := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
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EF_BOARDS := $(filter-out simposix, $(EF_BOARDS))
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# Generate the targets for whatever boards are left in each list
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FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
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BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
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BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
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EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
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ALL_FLIGHT := all_fw all_bl all_bu all_ef
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ALL_FLIGHT_CLEAN := $(addsuffix _clean,$(ALL_FLIGHT))
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.PHONY: all_flight all_flight_clean
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all_flight: $(ALL_FLIGHT)
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all_flight_clean: $(ALL_FLIGHT_CLEAN)
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# TEMPLATES (used to generate build rules)
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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# $(2) = Short name for board (e.g cc)
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define FW_TEMPLATE
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.PHONY: $(1) fw_$(1)
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$(1): fw_$(1)_opfw
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fw_$(1): fw_$(1)_opfw
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fw_$(1)_%: flight_uavobjects
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$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
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$(V1) mkdir -p $(FLIGHT_OUT_DIR)/fw_$(1)/dep
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$(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware && \
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$$(MAKE) -r --no-print-directory \
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BUILD_TYPE=fw \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(2) \
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TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware \
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OUTDIR=$(FLIGHT_OUT_DIR)/fw_$(1) \
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TARGET=fw_$(1) \
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$$*
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.PHONY: $(1)_clean
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$(1)_clean: fw_$(1)_clean
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fw_$(1)_clean:
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@echo " CLEAN $(call toprel, $(FLIGHT_OUT_DIR)/fw_$(1))"
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$(V1) rm -fr $(FLIGHT_OUT_DIR)/fw_$(1)
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endef
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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# $(2) = Short name for board (e.g cc)
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define BL_TEMPLATE
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.PHONY: bl_$(1)
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bl_$(1): bl_$(1)_bin
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bl_$(1)_bino: bl_$(1)_bin
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bl_$(1)_%:
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$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
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$(V1) mkdir -p $(FLIGHT_OUT_DIR)/bl_$(1)/dep
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$(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader && \
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$$(MAKE) -r --no-print-directory \
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BUILD_TYPE=bl \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(2) \
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TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader \
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OUTDIR=$(FLIGHT_OUT_DIR)/bl_$(1) \
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TARGET=bl_$(1) \
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$$*
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.PHONY: unbrick_$(1)
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unbrick_$(1): bl_$(1)_hex
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$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
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$(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)"
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$(V1) $(STM32FLASH_DIR)/stm32flash \
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-w $(FLIGHT_OUT_DIR)/bl_$(1)/bl_$(1).hex \
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-g 0x0 \
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$$(UNBRICK_TTY)
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,
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$(V0) @echo
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$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
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$(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
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)
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.PHONY: bl_$(1)_clean
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bl_$(1)_clean:
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@echo " CLEAN $(call toprel, $(FLIGHT_OUT_DIR)/bl_$(1))"
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$(V1) rm -fr $(FLIGHT_OUT_DIR)/bl_$(1)
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endef
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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# $(2) = Short name for board (e.g cc)
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define BU_TEMPLATE
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.PHONY: bu_$(1)
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bu_$(1): bu_$(1)_opfw
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bu_$(1)_%: bl_$(1)_bino
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$(V1) mkdir -p $(FLIGHT_OUT_DIR)/bu_$(1)/dep
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$(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater && \
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$$(MAKE) -r --no-print-directory \
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BUILD_TYPE=bu \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(2) \
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TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater \
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OUTDIR=$(FLIGHT_OUT_DIR)/bu_$(1) \
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TARGET=bu_$(1) \
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$$*
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.PHONY: bu_$(1)_clean
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bu_$(1)_clean:
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@echo " CLEAN $(call toprel, $(FLIGHT_OUT_DIR)/bu_$(1))"
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$(V1) rm -fr $(FLIGHT_OUT_DIR)/bu_$(1)
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endef
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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# $(2) = Short name for board (e.g cc)
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define EF_TEMPLATE
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.PHONY: ef_$(1)
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ef_$(1): ef_$(1)_bin
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ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
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$(V1) mkdir -p $(FLIGHT_OUT_DIR)/ef_$(1)
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$(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/entire_flash && \
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$$(MAKE) -r --no-print-directory \
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BUILD_TYPE=ef \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(2) \
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DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
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TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/entire_flash \
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OUTDIR=$(FLIGHT_OUT_DIR)/ef_$(1) \
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TARGET=ef_$(1) \
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$$*
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.PHONY: ef_$(1)_clean
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ef_$(1)_clean:
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@echo " CLEAN $(call toprel, $(FLIGHT_OUT_DIR)/ef_$(1))"
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$(V1) rm -fr $(FLIGHT_OUT_DIR)/ef_$(1)
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endef
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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define BOARD_PHONY_TEMPLATE
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.PHONY: all_$(1)
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all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
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all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
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all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
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all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
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.PHONY: all_$(1)_clean
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all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
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all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
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all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
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all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
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endef
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# Generate flight build rules
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.PHONY: first
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first: all_fw
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.PHONY: all_fw all_fw_clean
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all_fw: $(addsuffix _opfw, $(FW_TARGETS))
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all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
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.PHONY: all_bl all_bl_clean
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all_bl: $(addsuffix _bin, $(BL_TARGETS))
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all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
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.PHONY: all_bu all_bu_clean
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all_bu: $(addsuffix _opfw, $(BU_TARGETS))
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all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
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.PHONY: all_ef all_ef_clean
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all_ef: $(EF_TARGETS)
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all_ef_clean: $(addsuffix _clean, $(EF_TARGETS))
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# Expand the groups of targets for each board
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$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
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# Expand the firmware rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
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# Expand the bootloader rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
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# Expand the bootloader updater rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
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# Expand the entire-flash rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
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.PHONY: sim_win32
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sim_win32: sim_win32_exe
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sim_win32_%: flight_uavobjects
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$(V1) mkdir -p $(FLIGHT_OUT_DIR)/sitl_win32
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$(V1) $(MAKE) --no-print-directory \
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-C $(FLIGHT_ROOT_DIR)/targets/OpenPilot --file=$(FLIGHT_ROOT_DIR)/targets/OpenPilot/Makefile.win32 $*
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.PHONY: sim_osx
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sim_osx: sim_osx_elf
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sim_osx_%: flight_uavobjects
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$(V1) mkdir -p $(FLIGHT_OUT_DIR)/sim_osx
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$(V1) $(MAKE) --no-print-directory \
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-C $(FLIGHT_ROOT_DIR)/targets/SensorTest --file=$(FLIGHT_ROOT_DIR)/targets/SensorTest/Makefile.osx $*
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##############################
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#
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# UAV Objects
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#
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##############################
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UAVOBJGENERATOR ?= $(shell which uavobjgenerator)
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UAVOBJ_XML_DIR := $(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition
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export FLIGHT_UAVOBJ_DIR := $(FLIGHT_OUT_DIR)/uavobjects
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.PHONY: flight_uavobjects
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flight_uavobjects: $(UAVOBJGENERATOR)
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@mkdir -p $(FLIGHT_UAVOBJ_DIR)
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$(V1) cd $(FLIGHT_UAVOBJ_DIR) && \
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$(UAVOBJGENERATOR) -flight $(UAVOBJ_XML_DIR) $(FLIGHT_ROOT_DIR)/..
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##############################
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#
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# Unit Tests
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#
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##############################
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ALL_UNITTESTS := logfs math lednotification
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# Build the directory for the unit tests
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UT_OUT_DIR := $(BUILD_DIR)/unit_tests
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DIRS += $(UT_OUT_DIR)
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.PHONY: all_ut
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all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
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.PHONY: all_ut_xml
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all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
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.PHONY: all_ut_run
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all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
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.PHONY: all_ut_clean
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all_ut_clean:
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@$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR))"
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$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
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# $(1) = Unit test name
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define UT_TEMPLATE
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.PHONY: ut_$(1)
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ut_$(1): ut_$(1)_run
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ut_$(1)_%: $$(UT_OUT_DIR)
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$(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
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$(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
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$$(MAKE) -r --no-print-directory \
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BUILD_TYPE=ut \
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BOARD_SHORT_NAME=$(1) \
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TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
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OUTDIR="$(UT_OUT_DIR)/$(1)" \
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TARGET=$(1) \
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$$*
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.PHONY: ut_$(1)_clean
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ut_$(1)_clean:
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@$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR)/$(1))"
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$(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
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endef
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# Expand the unittest rules
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$(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
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# Disable parallel make when the all_ut_run target is requested otherwise the TAP
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# output is interleaved with the rest of the make output.
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ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
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.NOTPARALLEL:
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$(info $(EMPTY) NOTE Parallel make disabled by all_ut_run target so we have sane console output)
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endif
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