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= 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