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LibrePilot/flight/Makefile

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export FLIGHT_MAKEFILE := TRUE
export FLIGHT_ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
export PIOS := $(FLIGHT_ROOT_DIR)/pios
export FLIGHTLIB := $(FLIGHT_ROOT_DIR)/libraries
export OPMODULEDIR := $(FLIGHT_ROOT_DIR)/modules
export OPUAVOBJ := $(FLIGHT_ROOT_DIR)/uavobjects
export OPUAVTALK := $(FLIGHT_ROOT_DIR)/uavtalk
export FLIGHT_OUT_DIR ?= $(CURDIR)
# Define supported board lists
ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
# Short names of each board (used to display board name in parallel builds)
coptercontrol_short := 'cc '
oplinkmini_short := 'oplm'
revolution_short := 'revo'
osd_short := 'osd '
revoproto_short := 'revp'
revonano_short := 'revn'
simposix_short := 'posx'
discoveryf4bare_short := 'df4b'
gpsplatinum_short := 'gps9'
# SimPosix only builds on Linux so drop it from the list for
# all other platforms.
ifneq ($(UNAME), Linux)
ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
endif
# Start out assuming that we'll build fw, bl and bu for all boards
FW_BOARDS := $(ALL_BOARDS)
BL_BOARDS := $(ALL_BOARDS)
BU_BOARDS := $(ALL_BOARDS)
EF_BOARDS := $(ALL_BOARDS)
# SimPosix doesn't have a BL, BU or EF target so we need to
# filter them out to prevent errors on the all_flight target.
BL_BOARDS := $(filter-out simposix, $(BL_BOARDS))
BU_BOARDS := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
EF_BOARDS := $(filter-out simposix, $(EF_BOARDS))
# Generate the targets for whatever boards are left in each list
FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
ALL_FLIGHT := all_fw all_bl all_bu all_ef
ALL_FLIGHT_CLEAN := $(addsuffix _clean,$(ALL_FLIGHT))
.PHONY: all_flight all_flight_clean
all_flight: $(ALL_FLIGHT)
all_flight_clean: $(ALL_FLIGHT_CLEAN)
# TEMPLATES (used to generate build rules)
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Short name for board (e.g cc)
define FW_TEMPLATE
.PHONY: $(1) fw_$(1)
$(1): fw_$(1)_opfw
fw_$(1): fw_$(1)_opfw
fw_$(1)_%: flight_uavobjects
$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
$(V1) mkdir -p $(FLIGHT_OUT_DIR)/fw_$(1)/dep
$(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware && \
$$(MAKE) -r --no-print-directory \
BUILD_TYPE=fw \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(2) \
TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware \
OUTDIR=$(FLIGHT_OUT_DIR)/fw_$(1) \
TARGET=fw_$(1) \
$$*
.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean:
@echo " CLEAN $(call toprel, $(FLIGHT_OUT_DIR)/fw_$(1))"
$(V1) rm -fr $(FLIGHT_OUT_DIR)/fw_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Short name for board (e.g cc)
define BL_TEMPLATE
.PHONY: bl_$(1)
bl_$(1): bl_$(1)_bin
bl_$(1)_bino: bl_$(1)_bin
bl_$(1)_%:
$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
$(V1) mkdir -p $(FLIGHT_OUT_DIR)/bl_$(1)/dep
$(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader && \
$$(MAKE) -r --no-print-directory \
BUILD_TYPE=bl \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(2) \
TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader \
OUTDIR=$(FLIGHT_OUT_DIR)/bl_$(1) \
TARGET=bl_$(1) \
$$*
.PHONY: unbrick_$(1)
unbrick_$(1): bl_$(1)_hex
$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
$(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)"
$(V1) $(STM32FLASH_DIR)/stm32flash \
-w $(FLIGHT_OUT_DIR)/bl_$(1)/bl_$(1).hex \
-g 0x0 \
$$(UNBRICK_TTY)
,
$(V0) @echo
$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
$(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
)
.PHONY: bl_$(1)_clean
bl_$(1)_clean:
@echo " CLEAN $(call toprel, $(FLIGHT_OUT_DIR)/bl_$(1))"
$(V1) rm -fr $(FLIGHT_OUT_DIR)/bl_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Short name for board (e.g cc)
define BU_TEMPLATE
.PHONY: bu_$(1)
bu_$(1): bu_$(1)_opfw
bu_$(1)_%: bl_$(1)_bino
$(V1) mkdir -p $(FLIGHT_OUT_DIR)/bu_$(1)/dep
$(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater && \
$$(MAKE) -r --no-print-directory \
BUILD_TYPE=bu \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(2) \
TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater \
OUTDIR=$(FLIGHT_OUT_DIR)/bu_$(1) \
TARGET=bu_$(1) \
$$*
.PHONY: bu_$(1)_clean
bu_$(1)_clean:
@echo " CLEAN $(call toprel, $(FLIGHT_OUT_DIR)/bu_$(1))"
$(V1) rm -fr $(FLIGHT_OUT_DIR)/bu_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Short name for board (e.g cc)
define EF_TEMPLATE
.PHONY: ef_$(1)
ef_$(1): ef_$(1)_bin
ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
$(V1) mkdir -p $(FLIGHT_OUT_DIR)/ef_$(1)
$(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/entire_flash && \
$$(MAKE) -r --no-print-directory \
BUILD_TYPE=ef \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(2) \
DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/entire_flash \
OUTDIR=$(FLIGHT_OUT_DIR)/ef_$(1) \
TARGET=ef_$(1) \
$$*
.PHONY: ef_$(1)_clean
ef_$(1)_clean:
@echo " CLEAN $(call toprel, $(FLIGHT_OUT_DIR)/ef_$(1))"
$(V1) rm -fr $(FLIGHT_OUT_DIR)/ef_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BOARD_PHONY_TEMPLATE
.PHONY: all_$(1)
all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
.PHONY: all_$(1)_clean
all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
endef
# Generate flight build rules
.PHONY: first
first: all_fw
.PHONY: all_fw all_fw_clean
all_fw: $(addsuffix _opfw, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
.PHONY: all_bl all_bl_clean
all_bl: $(addsuffix _bin, $(BL_TARGETS))
all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
.PHONY: all_bu all_bu_clean
all_bu: $(addsuffix _opfw, $(BU_TARGETS))
all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
.PHONY: all_ef all_ef_clean
all_ef: $(EF_TARGETS)
all_ef_clean: $(addsuffix _clean, $(EF_TARGETS))
# Expand the groups of targets for each board
$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
# Expand the firmware rules
$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
# Expand the bootloader rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
# Expand the bootloader updater rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
# Expand the entire-flash rules
$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
.PHONY: sim_win32
sim_win32: sim_win32_exe
sim_win32_%: flight_uavobjects
$(V1) mkdir -p $(FLIGHT_OUT_DIR)/sitl_win32
$(V1) $(MAKE) --no-print-directory \
-C $(FLIGHT_ROOT_DIR)/targets/OpenPilot --file=$(FLIGHT_ROOT_DIR)/targets/OpenPilot/Makefile.win32 $*
.PHONY: sim_osx
sim_osx: sim_osx_elf
sim_osx_%: flight_uavobjects
$(V1) mkdir -p $(FLIGHT_OUT_DIR)/sim_osx
$(V1) $(MAKE) --no-print-directory \
-C $(FLIGHT_ROOT_DIR)/targets/SensorTest --file=$(FLIGHT_ROOT_DIR)/targets/SensorTest/Makefile.osx $*
##############################
#
# UAV Objects
#
##############################
UAVOBJGENERATOR ?= $(shell which uavobjgenerator)
UAVOBJ_XML_DIR := $(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition
export FLIGHT_UAVOBJ_DIR := $(FLIGHT_OUT_DIR)/uavobjects
.PHONY: flight_uavobjects
flight_uavobjects: $(UAVOBJGENERATOR)
@mkdir -p $(FLIGHT_UAVOBJ_DIR)
$(V1) cd $(FLIGHT_UAVOBJ_DIR) && \
$(UAVOBJGENERATOR) -flight $(UAVOBJ_XML_DIR) $(FLIGHT_ROOT_DIR)/..
##############################
#
# Unit Tests
#
##############################
ALL_UNITTESTS := logfs math lednotification
# Build the directory for the unit tests
UT_OUT_DIR := $(BUILD_DIR)/unit_tests
DIRS += $(UT_OUT_DIR)
.PHONY: all_ut
all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
.PHONY: all_ut_xml
all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
.PHONY: all_ut_run
all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
.PHONY: all_ut_clean
all_ut_clean:
@$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR))"
$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
# $(1) = Unit test name
define UT_TEMPLATE
.PHONY: ut_$(1)
ut_$(1): ut_$(1)_run
ut_$(1)_%: $$(UT_OUT_DIR)
$(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
$(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
$$(MAKE) -r --no-print-directory \
BUILD_TYPE=ut \
BOARD_SHORT_NAME=$(1) \
TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
OUTDIR="$(UT_OUT_DIR)/$(1)" \
TARGET=$(1) \
$$*
.PHONY: ut_$(1)_clean
ut_$(1)_clean:
@$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR)/$(1))"
$(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
endef
# Expand the unittest rules
$(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
# Disable parallel make when the all_ut_run target is requested otherwise the TAP
# output is interleaved with the rest of the make output.
ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
.NOTPARALLEL:
$(info $(EMPTY) NOTE Parallel make disabled by all_ut_run target so we have sane console output)
endif