mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Christophe De Wagter
175 lines
6.2 KiB
Makefile
175 lines
6.2 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2009-2013 The Paparazzi Team
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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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#
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#
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# find compiler toolchain
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#
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include $(PAPARAZZI_SRC)/conf/Makefile.arm-linux
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# Define programs and commands.
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# Launch with "make Q=''" to get full command display
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Q=@
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OPT=3
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CSTANDARD = -std=gnu99
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CINCS = $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/include
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# Compiler flags.
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CFLAGS += $(CINCS)
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CFLAGS += -O$(OPT) -mfloat-abi=softfp -mtune=cortex-a8 -mfpu=vfp -march=armv7-a
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CFLAGS += -fno-short-enums
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# CFLAGS += -malignment-traps
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CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
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CFLAGS += -Wpointer-arith -Wswitch
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CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
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#-Wno-unused-result
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#CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
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#CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
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CFLAGS += -lm
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# flags only for C
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CFLAGS += -Wstrict-prototypes -Wmissing-declarations
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CFLAGS += -Wmissing-prototypes -Wnested-externs
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CFLAGS += $(CSTANDARD)
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CFLAGS += $($(TARGET).CFLAGS)
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LDFLAGS += -lm
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CXXFLAGS = -pipe -O3 -fshow-column -ffast-math -fPIC
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CXXFLAGS += -g -ffunction-sections -fdata-sections
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CXXFLAGS += -mfloat-abi=softfp -mtune=cortex-a8 -mfpu=vfp -march=armv7-a
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CXXFLAGS += -Wall -Wextra
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CXXFLAGS += $($(TARGET).CXXFLAGS)
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SRC_C_OMAP = $($(TARGET).srcs)
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OBJ_C_OMAP = $(SRC_C_OMAP:%.c=$(OBJDIR)/%.o)
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SRC_CPP_OMAP = $($(TARGET).cpp_srcs)
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OBJ_CPP_OMAP = $(SRC_CPP_OMAP:%.cpp=$(OBJDIR)/%.o)
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all: printcommands build
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build: $(OBJDIR) elf
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$(OBJDIR):
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@echo CREATING object dir $(OBJDIR)
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@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
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elf: $(OBJDIR)/$(TARGET).elf
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# Allow modules or other raw makefiles to add actions to the upload
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upload_extra:
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DRONE = $(PAPARAZZI_HOME)/sw/ext/ardrone2_drivers/ardrone2.py
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# Program the device and start it.
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load upload program: upload_extra $(OBJDIR)/$(TARGET).elf
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$(Q)$(DRONE) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
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$(Q)$(DRONE) upload_paparazzi $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
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$(Q)$(DRONE) status
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# Program the device and start it.
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load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
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# Kill the application
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-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
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# Make the target dir and edit the config
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-{ \
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echo "mkdir -p $(TARGET_DIR)"; \
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echo "if grep -q \"start_paparazzi *= \" /data/config.ini; then sed -i 's/\(start_paparazzi *= *\).*/\\\1$(ARDRONE2_START_PAPARAZZI)/g' /data/config.ini; else echo \"start_paparazzi = $(ARDRONE2_START_PAPARAZZI)\" >> /data/config.ini; fi"; \
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echo "if grep -q \"wifi_mode *= \" /data/config.ini; then sed -i 's/\(wifi_mode *= *\).*/\\\1$(ARDRONE2_WIFI_MODE)/g' /data/config.ini; else echo \"wifi_mode = $(ARDRONE2_WIFI_MODE)\" >> /data/config.ini; fi"; \
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echo "if grep -q \"ssid_single_player *= \" /data/config.ini; then sed -i 's/\(ssid_single_player *= *\).*/\\\1$(ARDRONE2_SSID)/g' /data/config.ini; else echo \"ssid_single_player = $(ARDRONE2_SSID)\" >> /data/config.ini; fi"; \
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echo "if grep -q \"static_ip_address_base *= \" /data/config.ini; then sed -i 's/\(static_ip_address_base *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_BASE)/g' /data/config.ini; else echo \"static_ip_address_base = $(ARDRONE2_IP_ADDRESS_BASE)\" >> /data/config.ini; fi"; \
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echo "if grep -q \"static_ip_address_probe *= \" /data/config.ini; then sed -i 's/\(static_ip_address_probe *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_PROBE)/g' /data/config.ini; else echo \"static_ip_address_probe = $(ARDRONE2_IP_ADDRESS_PROBE)\" >> /data/config.ini; fi"; \
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} | telnet $(HOST)
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# Upload the drivers and new application
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{ \
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echo "binary"; \
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echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko /$(SUB_DIR)/cdc-acm.ko"; \
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echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/check_update.sh check_update.sh"; \
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echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/wifi_setup.sh wifi_setup.sh"; \
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echo "put $(OBJDIR)/$(TARGET).elf /$(SUB_DIR)/$(TARGET).elf"; \
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echo "quit"; \
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} | ftp -n $(HOST)
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# Upload the modules and start the application
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-{ \
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echo "mv /data/video/check_update.sh /bin/"; \
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echo "mv /data/video/wifi_setup.sh /bin/"; \
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echo "chmod 777 /bin/check_update.sh" \
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echo "chmod 777 /bin/wifi_setup.sh" \
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echo "insmod $(TARGET_DIR)/cdc-acm.ko"; \
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echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf"; \
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echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &"; \
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} | telnet $(HOST)
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ifeq ($(ARDRONE2_REBOOT),1)
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-{ \
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echo "reboot"; \
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} | telnet $(HOST)
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endif
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# Link: create ELF output file from object files.
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.SECONDARY : $(OBJDIR)/$(TARGET).elf
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.PRECIOUS : $(OBJ_C_OMAP) $(OBJ_CPP_OMAP)
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%.elf: $(OBJ_C_OMAP) $(OBJ_CPP_OMAP)
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@echo LD $@
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$(Q)if (expr "$($(TARGET).cpp_srcs)"); \
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then $(CXX) $(CXXFLAGS) $(OBJ_CPP_OMAP) $(OBJ_C_OMAP) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS); \
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else $(CC) $(CFLAGS) $(OBJ_C_OMAP) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS); fi
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# Compile: create object files from C source files
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$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
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@echo CC $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
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# Compile: create object files from C++ source files
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$(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
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@echo CXX $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(Q)$(CXX) -MMD -c $(CXXFLAGS) $< -o $@
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# Listing of phony targets.
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.PHONY : all build elf clean clean_list
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#
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# Dependencies
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#
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DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
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ifneq ($(MAKECMDGOALS),clean)
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-include $(DEPS)
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endif
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