# Set up a default goal .DEFAULT_GOAL := help # Set up some macros for common directories within the tree ROOT_DIR=$(CURDIR) TOOLS_DIR=$(ROOT_DIR)/tools BUILD_DIR=$(ROOT_DIR)/build DL_DIR=$(ROOT_DIR)/downloads # Clean out undesirable variables from the environment and command-line # to remove the chance that they will cause problems with our build define SANITIZE_VAR $(if $(filter-out undefined,$(origin $(1))), $(info *NOTE* Sanitized $(2) variable '$(1)' from $(origin $(1))) MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES)) override $(1) := unexport $(1) ) endef # These specific variables can influence gcc in unexpected (and undesirable) ways SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed))) # These specific variables used to be valid but now they make no sense SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated))) # We almost need to consider autoconf/automake instead of this # I don't know if windows supports uname :-( QT_SPEC=win32-g++ UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/debug/uavobjgenerator.exe" UNAME := $(shell uname) ifeq ($(UNAME), Linux) QT_SPEC=linux-g++ UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator" endif ifeq ($(UNAME), Darwin) QT_SPEC=macx-g++ UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator" endif # OpenPilot GCS build configuration (debug | release) GCS_BUILD_CONF ?= debug # Set up misc host tools RM=rm # Decide on a verbosity level based on the V= parameter export AT := @ ifndef V export V0 := export V1 := $(AT) else ifeq ($(V), 0) export V0 := $(AT) export V1 := $(AT) else ifeq ($(V), 1) endif .PHONY: help help: @echo @echo " This Makefile is known to work on Linux and Mac in a standard shell environment." @echo " It also works on Windows by following the instructions in make/winx86/README.txt." @echo @echo " Here is a summary of the available targets:" @echo @echo " [Tool Installers]" @echo " qt_sdk_install - Install the QT v4.7.3 tools" @echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain" @echo " openocd_install - Install the OpenOCD JTAG daemon" @echo " stm32flash_install - Install the stm32flash tool for unbricking boards" @echo " dfuutil_install - Install the dfu-util tool for unbricking F4-based boards" @echo @echo " [Big Hammer]" @echo " all - Generate UAVObjects, build openpilot firmware and gcs" @echo " all_flight - Build all firmware, bootloaders and bootloader updaters" @echo " all_fw - Build only firmware for all boards" @echo " all_bl - Build only bootloaders for all boards" @echo " all_bu - Build only bootloader updaters for all boards" @echo @echo " all_clean - Remove your build directory ($(BUILD_DIR))" @echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters" @echo " all_fw_clean - Remove firmware for all boards" @echo " all_bl_clean - Remove bootlaoders for all boards" @echo " all_bu_clean - Remove bootloader updaters for all boards" @echo @echo " all_ - Build all available images for " @echo " all__clean - Remove all available images for " @echo @echo " [Firmware]" @echo " - Build firmware for " @echo " supported boards are ($(ALL_BOARDS))" @echo " fw_ - Build firmware for " @echo " supported boards are ($(FW_BOARDS))" @echo " fw__clean - Remove firmware for " @echo " fw__program - Use OpenOCD + JTAG to write firmware to " @echo @echo " [Bootloader]" @echo " bl_ - Build bootloader for " @echo " supported boards are ($(BL_BOARDS))" @echo " bl__clean - Remove bootloader for " @echo " bl__program - Use OpenOCD + JTAG to write bootloader to " @echo @echo " [Bootloader Updater]" @echo " bu_ - Build bootloader updater for " @echo " supported boards are ($(BU_BOARDS))" @echo " bu__clean - Remove bootloader updater for " @echo @echo " [Unbrick a board]" @echo " unbrick_ - Use the STM32's built in boot ROM to write a bootloader to " @echo " supported boards are ($(BL_BOARDS))" @echo @echo " [Simulation]" @echo " sim_osx - Build OpenPilot simulation firmware for OSX" @echo " sim_osx_clean - Delete all build output for the osx simulation" @echo " sim_win32 - Build OpenPilot simulation firmware for" @echo " Windows using mingw and msys" @echo " sim_win32_clean - Delete all build output for the win32 simulation" @echo @echo " [GCS]" @echo " gcs - Build the Ground Control System (GCS) application" @echo " gcs_clean - Remove the Ground Control System (GCS) application" @echo @echo " [UAVObjects]" @echo " uavobjects - Generate source files from the UAVObject definition XML files" @echo " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... " @echo " uavobjects_ - Generate source files from a subset of the UAVObject definition XML files" @echo " supported groups are ($(UAVOBJ_TARGETS))" @echo @echo " Note: All tools will be installed into $(TOOLS_DIR)" @echo " All build output will be placed in $(BUILD_DIR)" @echo .PHONY: all all: uavobjects all_ground all_flight .PHONY: all_clean all_clean: [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)" $(DL_DIR): mkdir -p $@ $(TOOLS_DIR): mkdir -p $@ $(BUILD_DIR): mkdir -p $@ ############################################################### # # Installers for tools required by the ground and flight builds # # NOTE: These are not tied to the default goals # and must be invoked manually # ############################################################### # Set up QT toolchain QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2 .PHONY: qt_sdk_install qt_sdk_install: QT_SDK_URL := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/8ea74da4-fec1-4277-8b26-c58cc82e204b/Qt_SDK_Lin32_offline qt_sdk_install: QT_SDK_FILE := Qt_SDK_Lin32_offline_v1_2_en.run #qt_sdk_install: QT_SDK_URL := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/c365bbf5-c2b9-4dda-9c1f-34b2c8d07785/Qt_SDK_Lin32_offline_v1_1_2 #qt_sdk_install: QT_SDK_FILE := Qt_SDK_Lin32_offline_v1_1_2_en.run # order-only prereq on directory existance: qt_sdk_install : | $(DL_DIR) $(TOOLS_DIR) qt_sdk_install: qt_sdk_clean # download the source only if it's newer than what we already have $(V1) wget -N --content-disposition -P "$(DL_DIR)" "$(QT_SDK_URL)" # tell the user exactly which path they should select in the GUI $(V1) echo "*** NOTE NOTE NOTE ***" $(V1) echo "*" $(V1) echo "* In the GUI, please use exactly this path as the installation path:" $(V1) echo "* $(QT_SDK_DIR)" $(V1) echo "*" $(V1) echo "*** NOTE NOTE NOTE ***" #installer is an executable, make it executable and run it $(V1) chmod u+x "$(DL_DIR)/$(QT_SDK_FILE)" $(V1) "$(DL_DIR)/$(QT_SDK_FILE)" -style cleanlooks .PHONY: qt_sdk_clean qt_sdk_clean: $(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR) # Set up ARM (STM32) SDK ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03 .PHONY: arm_sdk_install arm_sdk_install: ARM_SDK_URL := https://sourcery.mentor.com/sgpp/lite/arm/portal/package8736/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2 arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL)) # order-only prereq on directory existance: arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR) arm_sdk_install: arm_sdk_clean # download the source only if it's newer than what we already have $(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ARM_SDK_URL)" # binary only release so just extract it $(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)" .PHONY: arm_sdk_clean arm_sdk_clean: $(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r $(ARM_SDK_DIR) # Set up openocd tools OPENOCD_DIR := $(TOOLS_DIR)/openocd OPENOCD_WIN_DIR := $(TOOLS_DIR)/openocd_win OPENOCD_BUILD_DIR := $(DL_DIR)/openocd-build .PHONY: openocd_install openocd_install: | $(DL_DIR) $(TOOLS_DIR) openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.5.0/openocd-0.5.0.tar.bz2/download openocd_install: OPENOCD_FILE := openocd-0.5.0.tar.bz2 openocd_install: openocd_clean # download the source only if it's newer than what we already have $(V1) wget -N -P "$(DL_DIR)" --trust-server-name "$(OPENOCD_URL)" # extract the source $(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -r "$(OPENOCD_BUILD_DIR)" $(V1) mkdir -p "$(OPENOCD_BUILD_DIR)" $(V1) tar -C $(OPENOCD_BUILD_DIR) -xjf "$(DL_DIR)/$(OPENOCD_FILE)" # build and install $(V1) mkdir -p "$(OPENOCD_DIR)" $(V1) ( \ cd $(OPENOCD_BUILD_DIR)/openocd-0.5.0 ; \ ./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi ; \ $(MAKE) --silent ; \ $(MAKE) --silent install ; \ ) # delete the extracted source when we're done $(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)" .PHONY: ftd2xx_install FTD2XX_DIR := $(DL_DIR)/ftd2xx ftd2xx_install: | $(DL_DIR) ftd2xx_install: FTD2XX_URL := http://www.ftdichip.com/Drivers/CDM/Beta/CDM20817.zip ftd2xx_install: FTD2XX_FILE := CDM20817.zip ftd2xx_install: ftd2xx_clean # download the file only if it's newer than what we already have $(V0) @echo " DOWNLOAD $(FTD2XX_URL)" $(V1) wget -q -N -P "$(DL_DIR)" "$(FTD2XX_URL)" # extract the source $(V0) @echo " EXTRACT $(FTD2XX_FILE) -> $(FTD2XX_DIR)" $(V1) mkdir -p "$(FTD2XX_DIR)" $(V1) unzip -q -d "$(FTD2XX_DIR)" "$(DL_DIR)/$(FTD2XX_FILE)" .PHONY: ftd2xx_clean ftd2xx_clean: $(V0) @echo " CLEAN $(FTD2XX_DIR)" $(V1) [ ! -d "$(FTD2XX_DIR)" ] || $(RM) -r "$(FTD2XX_DIR)" .PHONY: ftd2xx_install LIBUSB_WIN_DIR := $(DL_DIR)/libusb-win32-bin-1.2.6.0 libusb_win_install: | $(DL_DIR) libusb_win_install: LIBUSB_WIN_URL := http://sourceforge.net/projects/libusb-win32/files/libusb-win32-releases/1.2.6.0/libusb-win32-bin-1.2.6.0.zip/download libusb_win_install: LIBUSB_WIN_FILE := libusb-win32-bin-1.2.6.0.zip libusb_win_install: libusb_win_clean # download the file only if it's newer than what we already have $(V0) @echo " DOWNLOAD $(LIBUSB_WIN_URL)" $(V1) wget -q -N -P "$(DL_DIR)" --trust-server-name "$(LIBUSB_WIN_URL)" # extract the source $(V0) @echo " EXTRACT $(LIBUSB_WIN_FILE) -> $(LIBUSB_WIN_DIR)" $(V1) mkdir -p "$(LIBUSB_WIN_DIR)" $(V1) unzip -q -d "$(DL_DIR)" "$(DL_DIR)/$(LIBUSB_WIN_FILE)" # fixup .h file needed by openocd build $(V0) @echo " FIXUP $(LIBUSB_WIN_DIR)" $(V1) ln -s "$(LIBUSB_WIN_DIR)/include/lusb0_usb.h" "$(LIBUSB_WIN_DIR)/include/usb.h" .PHONY: libusb_win_clean libusb_win_clean: $(V0) @echo " CLEAN $(LIBUSB_WIN_DIR)" $(V1) [ ! -d "$(LIBUSB_WIN_DIR)" ] || $(RM) -r "$(LIBUSB_WIN_DIR)" .PHONY: openocd_git_win_install openocd_git_win_install: | $(DL_DIR) $(TOOLS_DIR) openocd_git_win_install: OPENOCD_URL := git://openocd.git.sourceforge.net/gitroot/openocd/openocd openocd_git_win_install: OPENOCD_REV := f1c0133321c8fcadadd10bba5537c0a634eb183b openocd_git_win_install: openocd_win_clean libusb_win_install ftd2xx_install # download the source $(V0) @echo " DOWNLOAD $(OPENOCD_URL) @ $(OPENOCD_REV)" $(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)" $(V1) mkdir -p "$(OPENOCD_BUILD_DIR)" $(V1) git clone --no-checkout $(OPENOCD_URL) "$(DL_DIR)/openocd-build" $(V1) ( \ cd $(OPENOCD_BUILD_DIR) ; \ git checkout -q $(OPENOCD_REV) ; \ ) # apply patches $(V0) @echo " PATCH $(OPENOCD_BUILD_DIR)" $(V1) ( \ cd $(OPENOCD_BUILD_DIR) ; \ git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \ git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \ ) # build and install $(V0) @echo " BUILD $(OPENOCD_WIN_DIR)" $(V1) mkdir -p "$(OPENOCD_WIN_DIR)" $(V1) ( \ cd $(OPENOCD_BUILD_DIR) ; \ ./bootstrap ; \ ./configure --enable-maintainer-mode --prefix="$(OPENOCD_WIN_DIR)" \ --build=i686-pc-linux-gnu --host=i586-mingw32msvc \ CPPFLAGS=-I$(LIBUSB_WIN_DIR)/include \ LDFLAGS=-L$(LIBUSB_WIN_DIR)/lib/gcc \ --enable-ft2232_ftd2xx --with-ftd2xx-win32-zipdir=$(FTD2XX_DIR) \ --disable-werror \ --enable-stlink ; \ $(MAKE) ; \ $(MAKE) install ; \ ) # delete the extracted source when we're done $(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)" .PHONY: openocd_win_clean openocd_win_clean: $(V0) @echo " CLEAN $(OPENOCD_WIN_DIR)" $(V1) [ ! -d "$(OPENOCD_WIN_DIR)" ] || $(RM) -r "$(OPENOCD_WIN_DIR)" .PHONY: openocd_git_install openocd_git_install: | $(DL_DIR) $(TOOLS_DIR) openocd_git_install: OPENOCD_URL := git://openocd.git.sourceforge.net/gitroot/openocd/openocd openocd_git_install: OPENOCD_REV := f1c0133321c8fcadadd10bba5537c0a634eb183b openocd_git_install: openocd_clean # download the source $(V0) @echo " DOWNLOAD $(OPENOCD_URL) @ $(OPENOCD_REV)" $(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)" $(V1) mkdir -p "$(OPENOCD_BUILD_DIR)" $(V1) git clone --no-checkout $(OPENOCD_URL) "$(OPENOCD_BUILD_DIR)" $(V1) ( \ cd $(OPENOCD_BUILD_DIR) ; \ git checkout -q $(OPENOCD_REV) ; \ ) # apply patches $(V0) @echo " PATCH $(OPENOCD_DIR)" $(V1) ( \ cd $(OPENOCD_BUILD_DIR) ; \ git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \ git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \ ) # build and install $(V0) @echo " BUILD $(OPENOCD_DIR)" $(V1) mkdir -p "$(OPENOCD_DIR)" $(V1) ( \ cd $(OPENOCD_BUILD_DIR) ; \ ./bootstrap ; \ ./configure --enable-maintainer-mode --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate --enable-stlink ; \ $(MAKE) ; \ $(MAKE) install ; \ ) # delete the extracted source when we're done $(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)" .PHONY: openocd_clean openocd_clean: $(V0) @echo " CLEAN $(OPENOCD_DIR)" $(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)" STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash .PHONY: stm32flash_install stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk stm32flash_install: STM32FLASH_REV := 61 stm32flash_install: stm32flash_clean # download the source $(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)" $(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)" # build $(V0) @echo " BUILD $(STM32FLASH_DIR)" $(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all .PHONY: stm32flash_clean stm32flash_clean: $(V0) @echo " CLEAN $(STM32FLASH_DIR)" $(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)" DFUUTIL_DIR := $(TOOLS_DIR)/dfu-util .PHONY: dfuutil_install dfuutil_install: DFUUTIL_URL := http://dfu-util.gnumonks.org/releases/dfu-util-0.5.tar.gz dfuutil_install: DFUUTIL_FILE := $(notdir $(DFUUTIL_URL)) dfuutil_install: | $(DL_DIR) $(TOOLS_DIR) dfuutil_install: dfuutil_clean # download the source $(V0) @echo " DOWNLOAD $(DFUUTIL_URL)" $(V1) wget -N -P "$(DL_DIR)" "$(DFUUTIL_URL)" # extract the source $(V0) @echo " EXTRACT $(DFUUTIL_FILE)" $(V1) [ ! -d "$(DL_DIR)/dfuutil-build" ] || $(RM) -r "$(DL_DIR)/dfuutil-build" $(V1) mkdir -p "$(DL_DIR)/dfuutil-build" $(V1) tar -C $(DL_DIR)/dfuutil-build -xf "$(DL_DIR)/$(DFUUTIL_FILE)" # build $(V0) @echo " BUILD $(DFUUTIL_DIR)" $(V1) mkdir -p "$(DFUUTIL_DIR)" $(V1) ( \ cd $(DL_DIR)/dfuutil-build/dfu-util-0.5 ; \ ./configure --prefix="$(DFUUTIL_DIR)" ; \ $(MAKE) ; \ $(MAKE) install ; \ ) .PHONY: dfuutil_clean dfuutil_clean: $(V0) @echo " CLEAN $(DFUUTIL_DIR)" $(V1) [ ! -d "$(DFUUTIL_DIR)" ] || $(RM) -r "$(DFUUTIL_DIR)" ############################## # # Set up paths to tools # ############################## ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && echo "exists"), exists) QMAKE=$(QT_SDK_DIR)/Desktop/Qt/4.8.0/gcc/bin/qmake else # not installed, hope it's in the path... QMAKE=qmake endif ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists) ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi- else # not installed, hope it's in the path... ARM_SDK_PREFIX ?= arm-none-eabi- endif ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && echo "exists"), exists) OPENOCD := $(OPENOCD_DIR)/bin/openocd else # not installed, hope it's in the path... OPENOCD ?= openocd endif ############################## # # GCS related components # ############################## .PHONY: all_ground all_ground: openpilotgcs # Convenience target for the GCS .PHONY: gcs gcs_clean gcs: openpilotgcs gcs_clean: openpilotgcs_clean .PHONY: openpilotgcs openpilotgcs: uavobjects_gcs $(V1) mkdir -p $(BUILD_DIR)/ground/$@ $(V1) ( cd $(BUILD_DIR)/ground/$@ && \ $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) && \ $(MAKE) -w ; \ ) .PHONY: openpilotgcs_clean openpilotgcs_clean: $(V0) @echo " CLEAN $@" $(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs" .PHONY: uavobjgenerator uavobjgenerator: $(V1) mkdir -p $(BUILD_DIR)/ground/$@ $(V1) ( cd $(BUILD_DIR)/ground/$@ && \ $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+=debug && \ $(MAKE) --no-print-directory -w ; \ ) UAVOBJ_TARGETS := gcs flight python matlab java .PHONY:uavobjects uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS)) UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics $(UAVOBJ_OUT_DIR): $(V1) mkdir -p $@ uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator $(V1) ( cd $(UAVOBJ_OUT_DIR) && \ $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \ ) uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator $(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR) uavobjects_clean: $(V0) @echo " CLEAN $@" $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)" ############################## # # Flight related components # ############################## # $(1) = Canonical board name all in lower case (e.g. coptercontrol) # $(2) = Name of board used in source tree (e.g. CopterControl) # $(3) = 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)_%: uavobjects_flight $(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep $(V1) cd $(ROOT_DIR)/flight/$(2) && \ $$(MAKE) -r --no-print-directory \ BOARD_NAME=$(1) \ BOARD_SHORT_NAME=$(3) \ BUILD_TYPE=fw \ TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \ REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \ $$* .PHONY: $(1)_clean $(1)_clean: fw_$(1)_clean fw_$(1)_clean: $(V0) @echo " CLEAN $$@" $(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1) endef # $(1) = Canonical board name all in lower case (e.g. coptercontrol) # $(2) = Name of board used in source tree (e.g. CopterControl) define BL_TEMPLATE .PHONY: bl_$(1) bl_$(1): bl_$(1)_bin bl_$(1)_bino: bl_$(1)_bin bl_$(1)_%: $(V1) mkdir -p $(BUILD_DIR)/bl_$(1)/dep $(V1) cd $(ROOT_DIR)/flight/Bootloaders/$(2) && \ $$(MAKE) -r --no-print-directory \ BOARD_NAME=$(1) \ BOARD_SHORT_NAME=$(3) \ BUILD_TYPE=bl \ TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \ REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \ $$* .PHONY: unbrick_$(1) unbrick_$(1): bl_$(1)_hex $(if $(filter-out undefined,$(origin UNBRICK_TTY)), $(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)" $(V1) $(STM32FLASH_DIR)/stm32flash \ -w $(BUILD_DIR)/bl_$(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) $$@ UNBRICK_TTY=/dev/ttyUSB0" ) .PHONY: bl_$(1)_clean bl_$(1)_clean: $(V0) @echo " CLEAN $$@" $(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1) endef # $(1) = Canonical board name all in lower case (e.g. coptercontrol) define BU_TEMPLATE .PHONY: bu_$(1) bu_$(1): bu_$(1)_opfw bu_$(1)_%: bl_$(1)_bino $(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep $(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \ $$(MAKE) -r --no-print-directory \ BOARD_NAME=$(1) \ BOARD_SHORT_NAME=$(3) \ BUILD_TYPE=bu \ TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \ REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \ $$* .PHONY: bu_$(1)_clean bu_$(1)_clean: $(V0) @echo " CLEAN $$@" $(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1) endef # $(1) = Canonical board name all in lower case (e.g. coptercontrol) define EF_TEMPLATE .PHONY: ef_$(1) ef_$(1): ef_$(1)_bin ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw $(V1) mkdir -p $(BUILD_DIR)/ef_$(1)/dep $(V1) cd $(ROOT_DIR)/flight/EntireFlash && \ $$(MAKE) -r --no-print-directory \ BOARD_NAME=$(1) \ BOARD_SHORT_NAME=$(3) \ BUILD_TYPE=ef \ TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \ DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \ $$* .PHONY: ef_$(1)_clean ef_$(1)_clean: $(V0) @echo " CLEAN $$@" $(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1) endef # When building any of the "all_*" targets, tell all sub makefiles to display # additional details on each line of output to describe which build and target # that each line applies to. ifneq ($(strip $(filter all_%,$(MAKECMDGOALS))),) export ENABLE_MSG_EXTRA := yes endif # When building more than one goal in a single make invocation, also # enable the extra context for each output line ifneq ($(word 2,$(MAKECMDGOALS)),) export ENABLE_MSG_EXTRA := yes endif # $(1) = Canonical board name all in lower case (e.g. coptercontrol) define BOARD_PHONY_TEMPLATE .PHONY: all_$(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 ALL_BOARDS := coptercontrol pipxtreme revolution simposix # Friendly names of each board (used to find source tree) coptercontrol_friendly := CopterControl pipxtreme_friendly := PipXtreme revolution_friendly := Revolution simposix_friendly := SimPosix # Short hames of each board (used to display board name in parallel builds) coptercontrol_short := 'cc ' pipxtreme_short := 'pipx' revolution_short := 'revo' simposix_short := 'posx' osd_short := 'osd ' # # 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) # FIXME: The BU image doesn't work for F4 boards so we need to # filter them out to prevent errors. BU_BOARDS := $(filter-out revolution, $(BU_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, $(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)) .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)) .PHONY: all_flight all_flight_clean all_flight: all_fw all_bl all_bu all_ef all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean # Expand the groups of targets for each board $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board)))) # Expand the bootloader updater rules $(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short)))) # Expand the firmware rules $(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short)))) # Expand the bootloader rules $(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short)))) # Expand the entire-flash rules $(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short)))) .PHONY: sim_win32 sim_win32: sim_win32_exe sim_win32_%: uavobjects_flight $(V1) mkdir -p $(BUILD_DIR)/sitl_win32 $(V1) $(MAKE) --no-print-directory \ -C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $* .PHONY: sim_osx sim_osx: sim_osx_elf sim_osx_%: uavobjects_flight $(V1) mkdir -p $(BUILD_DIR)/sim_osx $(V1) $(MAKE) --no-print-directory \ -C $(ROOT_DIR)/flight/Revolution --file=$(ROOT_DIR)/flight/Revolution/Makefile.osx $* ############################## # # Packaging components # ############################## .PHONY: package package: $(V1) cd $@ && $(MAKE) --no-print-directory $@