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# Hey Emacs, this is a -*- makefile -*-
#
# Paparazzi main $Id$
# Copyright (C) 2004 Pascal Brisset Antoine Drouin
#
# This file is part of paparazzi.
#
# paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
# The default is to produce a quiet echo of compilation commands
# Launch with "make Q=''" to get full echo
Q=@
ifeq ($(Q),@)
MAKEFLAGS += --no-print-directory
endif
PAPARAZZI_SRC=$(shell pwd)
empty=
space=$(empty) $(empty)
ifneq ($(findstring $(space),$(PAPARAZZI_SRC)),)
$(error No fucking spaces allowed in the current directory name)
endif
ifeq ($(PAPARAZZI_HOME),)
PAPARAZZI_HOME=$(PAPARAZZI_SRC)
endif
LIB=sw/lib
AIRBORNE=sw/airborne
COCKPIT=sw/ground_segment/cockpit
TMTC=sw/ground_segment/tmtc
MULTIMON=sw/ground_segment/multimon
MISC=sw/ground_segment/misc
LOGALIZER=sw/logalizer
SIMULATOR=sw/simulator
MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
CONF=$(PAPARAZZI_SRC)/conf
STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
MESSAGES_H=$(STATICINCLUDE)/messages.h
MESSAGES2_H=$(STATICINCLUDE)/messages2.h
UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h
XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
MESSAGES_XML = $(CONF)/messages.xml
UBX_XML = $(CONF)/ubx.xml
MTK_XML = $(CONF)/mtk.xml
XSENS_XML = $(CONF)/xsens_MTi-G.xml
TOOLS=$(PAPARAZZI_SRC)/sw/tools
OCAML=$(shell which ocaml)
OCAMLRUN=$(shell which ocamlrun)
BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
# try to find the paparazzi multilib toolchain
TOOLCHAIN=$(shell find -L /opt/paparazzi/arm-multilib ~/sat -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1)
ifneq ($(TOOLCHAIN),)
TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
#found the compiler from the paparazzi multilib package
ARMGCC=$(TOOLCHAIN_DIR)/bin/arm-none-eabi-gcc
else
#try picking up the arm-none-eabi compiler from the path, otherwise use arm-elf
HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
ARMGCC=$(shell which arm-elf-gcc)
else
ARMGCC=$(HAVE_ARM_NONE_EABI_GCC)
endif
endif
all: conf commands static
static : lib center tools cockpit multimon tmtc misc logalizer lpc21iap sim_static static_h usb_lib
conf: conf/conf.xml conf/control_panel.xml conf/maps.xml FORCE
conf/%.xml :conf/%.xml.example
[ -L $@ ] || [ -f $@ ] || cp $< $@
conf/maps.xml: conf/maps.xml.example FORCE
-cd data/maps; $(MAKE)
if test ! -e $@; then cp $< $@; fi
FORCE:
lib:
cd $(LIB)/ocaml; $(MAKE)
center: lib
cd sw/supervision; $(MAKE)
tools: lib
cd $(TOOLS); $(MAKE)
logalizer: lib
cd $(LOGALIZER); $(MAKE)
sim_static : lib
cd $(SIMULATOR); $(MAKE) PAPARAZZI_SRC=$(PAPARAZZI_SRC)
cockpit: lib
cd $(COCKPIT); $(MAKE) all
tmtc: lib cockpit
cd $(TMTC); $(MAKE) all
misc:
cd $(MISC); $(MAKE) all
multimon:
cd $(MULTIMON); $(MAKE)
static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H)
usb_lib:
@[ -d sw/airborne/arch/lpc21/lpcusb ] && ((test -x "$(ARMGCC)" && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE))) || echo "Not building usb_lib: ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) tools
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > /tmp/msg.h
$(Q)mv /tmp/msg.h $@
$(Q)chmod a+r $@
$(MESSAGES2_H) : $(MESSAGES_XML) $(CONF_XML) tools
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > /tmp/msg2.h
$(Q)mv /tmp/msg2.h $@
$(Q)chmod a+r $@
$(UBX_PROTOCOL_H) : $(UBX_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
$(Q)mv /tmp/ubx.h $@
$(MTK_PROTOCOL_H) : $(MTK_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_mtk.out $< > /tmp/mtk.h
$(Q)mv /tmp/mtk.h $@
$(XSENS_PROTOCOL_H) : $(XSENS_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_xsens.out $< > /tmp/xsens.h
$(Q)mv /tmp/xsens.h $@
$(DL_PROTOCOL_H) : $(MESSAGES_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< datalink > /tmp/dl.h
$(Q)mv /tmp/dl.h $@
$(DL_PROTOCOL2_H) : $(MESSAGES_XML) tools
@echo BUILD $@
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< datalink > /tmp/dl2.h
$(Q)mv /tmp/dl2.h $@
include Makefile.ac
sim : sim_static
ac_h ac1 ac2 ac3 ac fbw ap: static conf
##### preliminary hard wired arm7 bootloader rules
#
#
# call with : make bl PROC=[TINY|FBW|AP|GENERIC]
bl:
cd $(AIRBORNE)/arch/lpc21/test/bootloader; $(MAKE) clean; $(MAKE)
BOOTLOADER_DEV=/dev/ttyUSB0
upload_bl bl.upload: bl
lpc21isp -control $(AIRBORNE)/arch/lpc21/test/bootloader/bl.hex $(BOOTLOADER_DEV) 38400 12000
JTAG_INTERFACE = olimex-jtag-tiny.cfg
#JTAG_INTERFACE = olimex-arm-usb-ocd.cfg
upload_jtag: bl
openocd -f interface/$(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
lpc21iap:
cd sw/ground_segment/lpc21iap; $(MAKE)
upgrade_bl bl.upgrade: bl lpc21iap
$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl_ram.elf
$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl.elf
ms:
cd $(AIRBORNE)/arch/lpc21/lpcusb; $(MAKE)
cd $(AIRBORNE)/arch/lpc21/lpcusb/examples; $(MAKE)
upload_ms ms.upload: ms
$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/lpcusb/examples/msc.elf
#####
#####
doxygen:
mkdir -p dox
doxygen Doxyfile
run_sitl :
$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
install :
$(MAKE) -f Makefile.install PREFIX=$(PREFIX)
uninstall :
$(MAKE) -f Makefile.install PREFIX=$(PREFIX) uninstall
DISTRO=lenny
deb :
chmod u+x debian/rules
cp debian/control.$(DISTRO) debian/control
cp debian/changelog.$(DISTRO) debian/changelog
dpkg-buildpackage $(DEBFLAGS) -Ivar -rfakeroot
fast_deb:
$(MAKE) deb OCAMLC=ocamlc.opt DEBFLAGS=-b
clean:
$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-base debian/paparazzi-bin
$(Q)rm -f $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(DL_PROTOCOL_H)
$(Q)find . -mindepth 2 -name Makefile -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
$(Q)find . -name '*~' -exec rm -f {} \;
$(Q)rm -f paparazzi sw/simulator/launchsitl
cleanspaces:
find ./sw/airborne -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
find ./conf -name '*.makefile' -exec sed -i {} -e 's/[ \t]*$$//' ';'
find ./sw -name '*.ml' -exec sed -i {} -e 's/[ \t]*$$//' ';'
find ./sw -name '*.mli' -exec sed -i {} -e 's/[ \t]*$$//' ';'
find ./conf -name '*.xml' -exec sed -i {} -e 's/[ \t]*$$//' ';'
distclean : dist_clean
dist_clean :
@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"
dist_clean_irreversible: clean
rm -rf conf/maps_data conf/maps.xml
rm -rf conf/conf.xml conf/controlpanel.xml
rm -rf var
ab_clean:
find sw/airborne -name '*~' -exec rm -f {} \;
replace_current_conf_xml:
test conf/conf.xml && mv conf/conf.xml conf/conf.xml.backup.$(BUILD_DATETIME)
cp conf/conf.xml.example conf/conf.xml
restore_conf_xml:
test conf/conf.xml.backup.$(BUILD_DATETIME) && mv conf/conf.xml.backup.$(BUILD_DATETIME) conf/conf.xml
commands: paparazzi sw/simulator/launchsitl
paparazzi:
cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
chmod a+x $@
sw/simulator/launchsitl:
cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
chmod a+x $@
run_tests:
cd tests; $(MAKE) test
test: all replace_current_conf_xml run_tests restore_conf_xml
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