mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
b2814e7169
currently, the dtd is the same, but it can be changed in the future to be more adapted to ABI messages
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/%.xml.example
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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.$(BUILD_DATETIME)
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cp conf/tests_conf.xml conf/conf.xml
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restore_conf_xml:
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test conf/conf.xml.backup.$(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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