mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-29 19:17:28 +08:00
[build system] clean up makefiles and fix dependencies, parallel build with make -j 8 seems to work now
This commit is contained in:
Felix Ruess
@@ -1,6 +1,5 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Paparazzi main $Id$
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# Copyright (C) 2004 Pascal Brisset Antoine Drouin
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#
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# This file is part of paparazzi.
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@@ -38,18 +37,49 @@ ifeq ($(PAPARAZZI_HOME),)
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PAPARAZZI_HOME=$(PAPARAZZI_SRC)
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endif
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# export the PAPARAZZI environment to sub-make
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export PAPARAZZI_SRC
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export PAPARAZZI_HOME
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OCAML=$(shell which ocaml)
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OCAMLRUN=$(shell which ocamlrun)
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BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
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#
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# define some paths
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#
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LIB=sw/lib
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STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
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CONF=$(PAPARAZZI_SRC)/conf
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AIRBORNE=sw/airborne
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SIMULATOR=sw/simulator
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MULTIMON=sw/ground_segment/multimon
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COCKPIT=sw/ground_segment/cockpit
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TMTC=sw/ground_segment/tmtc
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MULTIMON=sw/ground_segment/multimon
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TOOLS=$(PAPARAZZI_SRC)/sw/tools
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EXT=sw/ext
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#
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# build some stuff in subdirs
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# nothing should depend on these...
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#
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PPRZCENTER=sw/supervision
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MISC=sw/ground_segment/misc
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LOGALIZER=sw/logalizer
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SIMULATOR=sw/simulator
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EXT=sw/ext
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MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
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CONF=$(PAPARAZZI_SRC)/conf
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STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
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SUBDIRS = $(PPRZCENTER) $(MISC) $(LOGALIZER)
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#
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# xml files used as input for header generation
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#
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MESSAGES_XML = $(CONF)/messages.xml
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UBX_XML = $(CONF)/ubx.xml
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MTK_XML = $(CONF)/mtk.xml
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XSENS_XML = $(CONF)/xsens_MTi-G.xml
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#
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# generated header files
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#
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MESSAGES_H=$(STATICINCLUDE)/messages.h
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MESSAGES2_H=$(STATICINCLUDE)/messages2.h
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UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
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@@ -58,79 +88,72 @@ XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
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DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
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DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
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ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
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MESSAGES_XML = $(CONF)/messages.xml
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UBX_XML = $(CONF)/ubx.xml
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MTK_XML = $(CONF)/mtk.xml
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XSENS_XML = $(CONF)/xsens_MTi-G.xml
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TOOLS=$(PAPARAZZI_SRC)/sw/tools
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OCAML=$(shell which ocaml)
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OCAMLRUN=$(shell which ocamlrun)
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BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
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GEN_HEADERS = $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
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all: print_build_version conf commands static
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all: print_build_version update_google_version conf ext lib subdirs lpctools commands static
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print_build_version:
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@echo "------------------------------------------------------------"
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@echo "Building Paparazzi version" $(shell ./paparazzi_version)
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@echo "------------------------------------------------------------"
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static: lib center tools cockpit multimon tmtc misc logalizer lpc21iap sim_static static_h usb_lib ext
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update_google_version:
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-$(MAKE) -C data/maps
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conf: conf/conf.xml conf/control_panel.xml conf/maps.xml FORCE
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conf: conf/conf.xml conf/control_panel.xml conf/maps.xml
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conf/%.xml :conf/%.xml.example
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[ -L $@ ] || [ -f $@ ] || cp $< $@
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conf/maps.xml: conf/maps.xml.example FORCE
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-cd data/maps; $(MAKE)
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$(Q)if test ! -e $@; then cp $< $@; fi
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FORCE:
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static: cockpit tmtc tools sim_static static_h
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lib:
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cd $(LIB)/ocaml; $(MAKE)
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center: lib
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cd sw/supervision; $(MAKE)
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tools: lib
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cd $(TOOLS); $(MAKE)
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logalizer: lib
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cd $(LOGALIZER); $(MAKE)
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sim_static : lib
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cd $(SIMULATOR); $(MAKE) PAPARAZZI_SRC=$(PAPARAZZI_SRC)
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cockpit: lib
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cd $(COCKPIT); $(MAKE) all
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tmtc: lib cockpit
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cd $(TMTC); $(MAKE) all
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misc:
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cd $(MISC); $(MAKE) all
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$(MAKE) -C $(LIB)/ocaml
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multimon:
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cd $(MULTIMON); $(MAKE)
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$(MAKE) -C $(MULTIMON)
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static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
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cockpit: lib
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$(MAKE) -C $(COCKPIT)
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usb_lib:
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@[ -d sw/airborne/arch/lpc21/lpcusb ] && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE)) || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
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tmtc: lib cockpit multimon
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$(MAKE) -C $(TMTC)
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tools: lib
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$(MAKE) -C $(TOOLS)
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sim_static: lib
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$(MAKE) -C $(SIMULATOR)
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ext:
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$(MAKE) -C$(EXT) all
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$(MAKE) -C $(EXT)
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$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) tools
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#
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# make misc subdirs
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#
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subdirs: $(SUBDIRS)
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$(SUBDIRS):
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$(MAKE) -C $@
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$(PPRZCENTER): lib
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$(LOGALIZER): lib
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static_h: $(GEN_HEADERS)
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$(MESSAGES_H) : $(MESSAGES_XML) tools
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$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
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@echo BUILD $@
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > /tmp/msg.h
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$(Q)mv /tmp/msg.h $@
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$(Q)chmod a+r $@
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$(MESSAGES2_H) : $(MESSAGES_XML) $(CONF_XML) tools
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$(MESSAGES2_H) : $(MESSAGES_XML) tools
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$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
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@echo BUILD $@
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > /tmp/msg2.h
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@@ -167,48 +190,31 @@ $(ABI_MESSAGES_H) : $(MESSAGES_XML) tools
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > /tmp/abi.h
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$(Q)mv /tmp/abi.h $@
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include Makefile.ac
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sim : sim_static
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ac_h ac fbw ap: static conf tools ext
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sim: sim_static
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ac_h ac1 ac2 ac3 ac fbw ap: static conf
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##### preliminary hard wired arm7 bootloader rules
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#
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# Commands
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#
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# call with : make bl PROC=[TINY|FBW|AP|GENERIC]
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bl:
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cd $(AIRBORNE)/arch/lpc21/test/bootloader; $(MAKE) clean; $(MAKE)
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BOOTLOADER_DEV=/dev/ttyUSB0
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upload_bl bl.upload: bl
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lpc21isp -control $(AIRBORNE)/arch/lpc21/test/bootloader/bl.hex $(BOOTLOADER_DEV) 38400 12000
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# stuff to build and upload the lpc bootloader ...
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include Makefile.lpctools
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lpctools: lpc21iap usb_lib
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JTAG_INTERFACE = olimex-jtag-tiny.cfg
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#JTAG_INTERFACE = olimex-arm-usb-ocd.cfg
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commands: paparazzi sw/simulator/launchsitl
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upload_jtag: bl
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openocd -f interface/$(JTAG_INTERFACE) -f board/olimex_lpc_h2148.cfg -c init -c halt -c "flash write_image erase $(AIRBORNE)/arch/lpc21/test/bootloader/bl.hex" -c reset -c shutdown
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paparazzi:
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cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
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chmod a+x $@
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lpc21iap:
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cd sw/ground_segment/lpc21iap; $(MAKE)
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upgrade_bl bl.upgrade: bl lpc21iap
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$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl_ram.elf
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$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl.elf
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ms:
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cd $(AIRBORNE)/arch/lpc21/lpcusb; $(MAKE)
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cd $(AIRBORNE)/arch/lpc21/lpcusb/examples; $(MAKE)
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upload_ms ms.upload: ms
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$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/lpcusb/examples/msc.elf
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#####
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#####
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sw/simulator/launchsitl:
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cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
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chmod a+x $@
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run_sitl :
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$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
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@@ -219,21 +225,16 @@ install :
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uninstall :
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$(MAKE) -f Makefile.install PREFIX=$(PREFIX) uninstall
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DISTRO=lenny
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deb :
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chmod u+x debian/rules
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cp debian/control.$(DISTRO) debian/control
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cp debian/changelog.$(DISTRO) debian/changelog
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dpkg-buildpackage $(DEBFLAGS) -Ivar -rfakeroot
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fast_deb:
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$(MAKE) deb OCAMLC=ocamlc.opt DEBFLAGS=-b
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#
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# Cleaning
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#
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clean:
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$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-base debian/paparazzi-bin
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$(Q)rm -f $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(DL_PROTOCOL_H)
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$(Q)rm -f $(GEN_HEADERS)
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$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
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$(Q)make -C sw/ext clean
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$(Q)$(MAKE) -C $(EXT) clean
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$(Q)find . -name '*~' -exec rm -f {} \;
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$(Q)rm -f paparazzi sw/simulator/launchsitl
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@@ -256,6 +257,11 @@ dist_clean_irreversible: clean
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ab_clean:
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find sw/airborne -name '*~' -exec rm -f {} \;
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#
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# Tests
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#
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replace_current_conf_xml:
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test conf/conf.xml && mv conf/conf.xml conf/conf.xml.backup.$(BUILD_DATETIME)
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cp conf/tests_conf.xml conf/conf.xml
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@@ -263,19 +269,15 @@ replace_current_conf_xml:
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restore_conf_xml:
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test conf/conf.xml.backup.$(BUILD_DATETIME) && mv conf/conf.xml.backup.$(BUILD_DATETIME) conf/conf.xml
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commands: paparazzi sw/simulator/launchsitl
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paparazzi:
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cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
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chmod a+x $@
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sw/simulator/launchsitl:
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cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
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chmod a+x $@
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run_tests:
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cd tests; $(MAKE) test
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test: all replace_current_conf_xml run_tests restore_conf_xml
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.PHONY: all print_build_version clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible run_sitl install uninstall test replace_current_conf_xml run_tests restore_conf_xml
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.PHONY: all print_build_version update_google_version \
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subdirs $(SUBDIRS) conf ext lib multimon cockpit tmtc tools\
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static sim_static lpctools \
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commands run_sitl install uninstall \
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clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
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test replace_current_conf_xml run_tests restore_conf_xml
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