mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Felix Ruess
f9a3c2f18d
Baro event handling using ABI interface Main benefits: less crappy handler functions in main.c files possibility to use multiple sources of sensors (integrated to the board or not) the filters don't need to know who is sending the raw values (not completely true with the old alt_float filter yet) the pressure are now standardized in Pascal and the standard atmosphere model is used The INS_BARO_SENS is hence not needed anymore. onboard baros are automatically available in fixedwing firmware as well (use same code as rotorcraft now) disable onboard baro with <configure name="USE_BARO_BOARD" value="FALSE"/> Some stuff to do before using: find the default conversion factor to convert ADC values to Pascal (mostly older boards/baro, recent digital sensors can output pressure in Pascal already) Also all baro_board implementations use the same BARO_BOARD_SENDER_ID, since there can only be one baro_board at the same time and this provides a good default for INS_BARO_ID. So if you want to use an onboard baro the INS_BARO_ID is already ok (also if you have additional baro modules). To use a baro module for INS: <define name="INS_BARO_ID" value="BARO_x_SENDER_ID"/> closes #525
314 lines
8.5 KiB
Makefile
314 lines
8.5 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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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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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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# The default is to produce a quiet echo of compilation commands
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# Launch with "make Q=''" to get full echo
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Q=@
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ifeq ($(Q),@)
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MAKEFLAGS += --no-print-directory
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endif
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PAPARAZZI_SRC=$(shell pwd)
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empty=
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space=$(empty) $(empty)
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ifneq ($(findstring $(space),$(PAPARAZZI_SRC)),)
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$(error No spaces allowed in the current directory name)
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endif
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ifeq ($(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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# default mktemp in OS X doesn't work, use gmktemp with macports coreutils
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UNAME = $(shell uname -s)
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ifeq ("$(UNAME)","Darwin")
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MKTEMP = gmktemp
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else
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MKTEMP = mktemp
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endif
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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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TOOLS=$(PAPARAZZI_SRC)/sw/tools
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JOYSTICK=sw/ground_segment/joystick
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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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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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ABI_XML = $(CONF)/abi.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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MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h
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XSENS_PROTOCOL_H=$(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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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: ground_segment ext lpctools
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print_build_version:
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@echo "------------------------------------------------------------"
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@echo "Building Paparazzi version" $(shell ./paparazzi_version)
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@echo "------------------------------------------------------------"
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update_google_version:
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-$(MAKE) -C data/maps
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conf: conf/conf.xml conf/control_panel.xml conf/maps.xml
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conf/%.xml :conf/%_example.xml
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[ -L $@ ] || [ -f $@ ] || cp $< $@
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ground_segment: print_build_version update_google_version conf libpprz subdirs commands static
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ground_segment.opt: ground_segment cockpit.opt tmtc.opt
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static: cockpit tmtc tools sim_static joystick static_h
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libpprz:
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$(MAKE) -C $(LIB)/ocaml
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multimon:
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$(MAKE) -C $(MULTIMON)
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cockpit: libpprz
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$(MAKE) -C $(COCKPIT)
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cockpit.opt: libpprz
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$(MAKE) -C $(COCKPIT) opt
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tmtc: libpprz cockpit multimon
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$(MAKE) -C $(TMTC)
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tmtc.opt: libpprz cockpit.opt multimon
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$(MAKE) -C $(TMTC) opt
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tools: libpprz
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$(MAKE) -C $(TOOLS)
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joystick: libpprz
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$(MAKE) -C $(JOYSTICK)
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sim_static: libpprz
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$(MAKE) -C $(SIMULATOR)
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ext:
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$(MAKE) -C $(EXT)
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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): libpprz
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$(LOGALIZER): libpprz
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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 GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(MESSAGES2_H) : $(MESSAGES_XML) tools
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$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(UBX_PROTOCOL_H) : $(UBX_XML) tools
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_ubx.out $< > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(MTK_PROTOCOL_H) : $(MTK_XML) tools
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_mtk.out $< > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(XSENS_PROTOCOL_H) : $(XSENS_XML) tools
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_xsens.out $< > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(DL_PROTOCOL_H) : $(MESSAGES_XML) tools
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< datalink > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(DL_PROTOCOL2_H) : $(MESSAGES_XML) tools
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< datalink > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(ABI_MESSAGES_H) : $(ABI_XML) tools
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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include Makefile.ac
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ac_h ac fbw ap: static conf tools ext
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sim: sim_static
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#
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# Commands
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#
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# stuff to build and upload the lpc bootloader ...
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include Makefile.lpctools
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lpctools: lpc21iap
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commands: paparazzi
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paparazzi:
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cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
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chmod a+x $@
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#
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# doxygen html documentation
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#
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dox:
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$(Q)PAPARAZZI_HOME=$(PAPARAZZI_HOME) sw/tools/doxygen_gen/gen_modules_doc.py -pv
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@echo "Generationg doxygen html documentation in doc/generated/html"
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$(Q)( cat Doxyfile ; echo "PROJECT_NUMBER=$(./paparazzi_version)"; echo "QUIET=YES") | doxygen -
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@echo "Done. Open doc/generated/html/index.html in your browser to view it."
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#
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# Cleaning
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#
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clean:
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$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml
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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 $(EXT) clean
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$(Q)find . -name '*~' -exec rm -f {} \;
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cleanspaces:
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find sw -path sw/ext -prune -o -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
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find conf -name '*.makefile' -exec sed -i {} -e 's/[ \t]*$$//' ';'
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find . -path ./sw/ext -prune -o -name Makefile -exec sed -i {} -e 's/[ \t]*$$//' ';'
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find sw -name '*.ml' -o -name '*.mli' -exec sed -i {} -e 's/[ \t]*$$//' ';'
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find conf -name '*.xml' -exec sed -i {} -e 's/[ \t]*$$//' ';'
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distclean : dist_clean
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dist_clean :
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@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: make dist_clean_irreversible"
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dist_clean_irreversible: clean
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rm -rf conf/maps_data conf/maps.xml
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rm -rf conf/conf.xml conf/controlpanel.xml
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rm -rf var
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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.$(BUILD_DATETIME)
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cp conf/conf_tests.xml conf/conf.xml
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restore_conf_xml:
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test conf/conf.xml.backup.$(BUILD_DATETIME) && mv conf/conf.xml.backup.$(BUILD_DATETIME) conf/conf.xml
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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 update_google_version dox ground_segment ground_segment.opt \
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subdirs $(SUBDIRS) conf ext libpprz multimon cockpit cockpit.opt tmtc tmtc.opt tools\
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static sim_static lpctools commands \
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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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