mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Piotr Esden-Tempski
2c23b9754d
An interesting lesson here is that ocamlc assumes that all .so files are shared libraries. It does not do the same for .dylib files. This is why we have to compile a dylib and save it away as a .so so that ocamlc is able to do the right thing.
156 lines
3.9 KiB
Makefile
156 lines
3.9 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2006 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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#
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#
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# This is the common Makefile for the sim target.
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#
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# this should not be needed
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SRC_ARCH = arch/sim
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include $(PAPARAZZI_SRC)/sw/Makefile.ocaml
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CC = gcc
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SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
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CAMLINCLUDES = -I $(LIBPPRZDIR) -I $(SIMDIR) -I $(OBJDIR)
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PKG = -package glibivy,pprz
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LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
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SIMSITLML = $(OBJDIR)/simsitl.ml
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SITLCMA = $(SIMDIR)/sitl.cma
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OPT ?= 2
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# Launch with "make Q=''" to get full command display
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Q=@
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#
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# End of configuration part.
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#
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INCLUDES += -I $(shell $(OCAMLC) -where)
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CFLAGS = -W -Wall
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CFLAGS += $(INCLUDES)
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CFLAGS += $($(TARGET).CFLAGS)
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CFLAGS += $(USER_CFLAGS)
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CFLAGS += -fPIC
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CFLAGS += -O$(OPT)
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CFLAGS += -g
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CFLAGS += -std=gnu99
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CFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)
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LDFLAGS = -lm
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LIBFLAGS = -shared
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UNAME = $(shell uname -s)
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ifeq ($(UNAME),Darwin)
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LIBFLAGS = -dynamiclib -undefined suppress -flat_namespace
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endif
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# build sim in custom mode for ARM systems for now...
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MNAME = $(shell uname -m)
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ifneq (,$(findstring arm,$(MNAME)))
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SIMSITLCUSTOM=TRUE
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endif
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ifdef SIMSITLCUSTOM
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CAMLINCLUDES += $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format glibivy)
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CAMLCMAS = unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma
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endif
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#
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# General rules
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#
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$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
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$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
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$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
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all compile: $(OBJDIR) $(OBJDIR)/simsitl
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$(OBJDIR):
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@echo CREATING object dir $(OBJDIR)
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@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
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# shared library of the C autopilot part
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# Note: On darwin the file should actually have the .dylib ending but ocamlc
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# only assumes that .so files are shared libraries, even though this is only
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# correct on linux.
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autopilot.so : $($(TARGET).objs)
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@echo BUILD $@
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$(Q)$(CC) $(LIBFLAGS) $^ -o $(OBJDIR)/$@
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ifdef SIMSITLCUSTOM
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$(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
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@echo LD $@
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$(Q)$(OCAMLC) -g -custom $(CAMLINCLUDES) -o $@ $(CAMLCMAS) $^
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else
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$(OBJDIR)/simsitl : autopilot.so $(SITLCMA) $(SIMSITLML)
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@echo LD $@
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$(Q)$(OCAMLC) -g $(CAMLINCLUDES) -o $@ $(LINKPKG) $^ -dllpath $(OBJDIR) -dllpath $(SIMDIR)
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endif
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# The id of the A/C is hardcoded in the code (to be improved with dynlink ?)
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$(SIMSITLML) : $(SIMDIR)/simsitl.ml
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@echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
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@cat $< >> $@
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%.s: %.c
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$(CC) $(CFLAGS) -S -o $@ $<
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%.s: %.cpp
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$(CC) $(CFLAGS) -S -o $@ $<
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$(OBJDIR)/%.s: %.c
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@echo CC $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(CC) $(CFLAGS) -S -o $@ $<
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$(OBJDIR)/%.s: %.cpp
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@echo CC $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(CC) $(CFLAGS) -S -o $@ $<
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$(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 $(CFLAGS) -c -o $@ $<
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$(OBJDIR)/%.o: %.cpp $(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 $(CFLAGS) -c -o $@ $<
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.PHONY: all compile
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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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