mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 15:40:31 +08:00
Merge branch 'master' of github.com:PX4/Firmware
This commit is contained in:
Lorenz Meier
@@ -159,11 +159,11 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
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.PHONY: clean
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clean:
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$(Q) $(RMDIR) $(BUILD_DIR)*.build
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$(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4
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$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
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.PHONY: distclean
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distclean: clean
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$(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export
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$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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#
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@@ -196,6 +196,11 @@ help:
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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 " Common options:"
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@echo " ---------------"
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@echo ""
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@@ -0,0 +1,71 @@
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PX4 Build System
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================
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The files in this directory implement the PX4 runtime firmware build system
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and configuration for the standard PX4 boards and software, in conjunction
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with Makefile in the parent directory.
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../Makefile
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Top-level makefile for the PX4 build system. This makefile supports
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building NuttX archives, as well as supervising the building of all
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of the defined PX4 firmware configurations.
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Try 'make help' in the parent directory for documentation.
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firmware.mk
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Manages the build for one specific firmware configuration.
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See the comments at the top of this file for detailed documentation.
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Builds modules, builtin command lists and the ROMFS (if configured).
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This is the makefile directly used by external build systems; it can
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be configured to compile modules both inside and outside the PX4
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source tree. When used in this mode, at least BOARD, MODULES and
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CONFIG_FILE must be set.
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module.mk
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Called by firmware.mk to build individual modules.
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See the comments at the top of this file for detailed documentation.
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Not normally used other than by firmware.mk.
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nuttx.mk
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Called by ../Makefile to build or download the NuttX archives.
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upload.mk
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Called by ../Makefile to upload files to a target board. Can be used
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by external build systems as well.
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setup.mk
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Provides common path and tool definitions. Implements host system-specific
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compatibility hacks.
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board_<boardname>.mk
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Board-specific configuration for <boardname>. Typically sets CONFIG_ARCH
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and then includes the toolchain definition for the board.
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config_<boardname>_<configname>.mk
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Parameters for a specific configuration on a specific board.
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The board name is derived from the filename. Sets MODULES to select
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source modules to be included in the configuration, may also set
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ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module
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commands (e.g. from NuttX)
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toolchain_<toolchainname>.mk
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Provides macros used to compile and link source files.
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Accepts EXTRADEFINES to add additional pre-processor symbol definitions,
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EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass
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additional flags to the C compiler, C++ compiler, assembler and linker
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respectively.
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Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK
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macros that are used elsewhere in the build system.
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+17
-10
@@ -223,12 +223,15 @@ MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
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.PHONY: $(MODULE_OBJS)
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$(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
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$(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
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$(MODULE_OBJS): workdir = $(@D)
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$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
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$(Q) $(MKDIR) -p $(workdir)
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$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
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MODULE_WORK_DIR=$(dir $@) \
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-C $(workdir) \
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MODULE_WORK_DIR=$(workdir) \
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MODULE_OBJ=$@ \
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MODULE_MK=$(mkfile) \
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MODULE_NAME=$(lastword $(subst /, ,$(@D))) \
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MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \
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module
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# make a list of phony clean targets for modules
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@@ -266,14 +269,18 @@ endif
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#
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# Add dependencies on anything in the ROMFS root
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ROMFS_DEPS += $(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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ROMFS_IMG = $(WORK_DIR)romfs.img
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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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ROMFS_IMG = romfs.img
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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 += $(ROMFS_OBJ)
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+31
-20
@@ -39,6 +39,10 @@
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# symbols, as the global namespace is shared between all modules. Normally an
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# module will just export one or more <command>_main functions.
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#
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# IMPORTANT NOTE:
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#
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# This makefile assumes it is being invoked in the module's output directory.
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#
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#
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# Variables that can be set by the module's module.mk:
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@@ -179,26 +183,30 @@ CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibi
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#
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module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES)
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##
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## Locate sources (allows relative source paths in module.mk)
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##
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#define SRC_SEARCH
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# $(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
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#endef
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#
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# Locate sources (allows relative source paths in module.mk)
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#ABS_SRCS ?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
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#MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
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#ifneq ($(MISSING_SRCS),)
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#$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
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#endif
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#ifeq ($(ABS_SRCS),)
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#$(error $(MODULE_MK): nothing to compile in SRCS)
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#endif
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#
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define SRC_SEARCH
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$(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
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endef
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##
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## Object files we will generate from sources
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##
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#OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
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ABS_SRCS ?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
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MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
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ifneq ($(MISSING_SRCS),)
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$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
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endif
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ifeq ($(ABS_SRCS),)
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$(error $(MODULE_MK): nothing to compile in SRCS)
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endif
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#
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# Object files we will generate from sources
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#
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OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
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OBJS = $(addsuffix .o,$(SRCS))
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$(info SRCS $(SRCS))
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$(info OBJS $(OBJS))
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#
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# SRCS -> OBJS rules
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@@ -206,13 +214,16 @@ OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
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$(OBJS): $(GLOBAL_DEPS)
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$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
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vpath %.c $(MODULE_SRC)
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$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
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$(call COMPILE,$<,$@)
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$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
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vpath %.cpp $(MODULE_SRC)
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$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
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$(call COMPILEXX,$<,$@)
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$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
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vpath %.S $(MODULE_SRC)
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$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
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$(call ASSEMBLE,$<,$@)
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#
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@@ -254,6 +254,20 @@ endef
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# - relink the object and insert the binary file
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# - edit symbol names to suit
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#
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# NOTE: exercise caution using this with absolute pathnames; it looks
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# like the MinGW tools insert an extra _ in the binary symbol name; e.g.
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# the path:
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#
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# /d/px4/firmware/Build/px4fmu_default.build/romfs.img
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#
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# is assigned symbols like:
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#
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# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
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#
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# when we would expect
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#
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# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
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#
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define BIN_SYM_PREFIX
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_binary_$(subst /,_,$(subst .,_,$1))
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endef
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@@ -267,4 +281,5 @@ define BIN_TO_OBJ
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--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
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--redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \
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--strip-symbol $(call BIN_SYM_PREFIX,$1)_end
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$(Q) $(REMOVE) $2.c $2.c.o
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endef
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@@ -38,8 +38,9 @@
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#
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# Find sources
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#
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DSPLIB_SRCDIR := $(PX4_MODULE_SRC)/modules/mathlib/CMSIS
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ABS_SRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
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DSPLIB_SRCDIR := $(dir $(lastword $(MAKEFILE_LIST)))
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SRCLIST := $(wildcard $(DSPLIB_SRCDIR)DSP_Lib/Source/*/*.c)
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SRCS := $(patsubst $(DSPLIB_SRCDIR)%,%,$(SRCLIST))
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INCLUDE_DIRS += $(DSPLIB_SRCDIR)/Include \
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$(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
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