mirror of
https://bitbucket.org/librepilot/librepilot.git
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4082b1498a
opfw_resource make target now depends on built firmware images. They are referenced directly from Qt resource file generated. No extra copies are now necessary.
893 lines
30 KiB
Makefile
893 lines
30 KiB
Makefile
#
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# Top level Makefile for the OpenPilot project build system.
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# Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
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#
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# This program 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 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# This top level Makefile passes down some variables to sub-makes through
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# the environment. They are explicitly exported using the export keyword.
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# Lower level makefiles assume that these variables are defined. To ensure
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# that a special magic variable is exported here. It must be checked for
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# existance by each sub-make.
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export OPENPILOT_IS_COOL := Fuck Yeah!
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# Set up a default goal
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.DEFAULT_GOAL := help
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# Set up some macros for common directories within the tree
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export ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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export TOOLS_DIR := $(ROOT_DIR)/tools
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export BUILD_DIR := $(ROOT_DIR)/build
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export DL_DIR := $(ROOT_DIR)/downloads
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# Set up default build configurations (debug | release)
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UAVOGEN_BUILD_CONF ?= debug
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GCS_BUILD_CONF ?= debug
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ANDROIDGCS_BUILD_CONF ?= debug
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GOOGLE_API_VERSION ?= 14
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# Function for converting an absolute path to one relative
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# to the top of the source tree.
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toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
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# Clean out undesirable variables from the environment and command-line
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# to remove the chance that they will cause problems with our build
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define SANITIZE_VAR
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$(if $(filter-out undefined,$(origin $(1))),
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$(info *NOTE* Sanitized $(2) variable '$(1)' from $(origin $(1)))
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MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
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override $(1) :=
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unexport $(1)
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)
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endef
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# These specific variables can influence gcc in unexpected (and undesirable) ways
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SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
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SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
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$(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
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# These specific variables used to be valid but now they make no sense
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SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER
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$(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
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# Make sure this isn't being run as root (no whoami on Windows, but that is ok here)
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ifeq ($(shell whoami 2>/dev/null),root)
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$(error You should not be running this as root)
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endif
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# Decide on a verbosity level based on the V= parameter
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export AT := @
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ifndef V
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export V0 :=
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export V1 := $(AT)
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else ifeq ($(V), 0)
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export V0 := $(AT)
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export V1 := $(AT)
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else ifeq ($(V), 1)
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endif
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# Make sure we know few things about the architecture before including
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# the tools.mk to ensure that we download/install the right tools.
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UNAME := $(shell uname)
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ARCH := $(shell uname -m)
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# Here and everywhere if not Linux or OSX then assume Windows
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ifeq ($(filter Linux Darwin, $(UNAME)), )
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UNAME := Windows
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endif
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# Set up misc host tools
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export ECHO := echo
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export MKDIR := mkdir
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export RM := rm
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export LN := ln
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export CAT := cat
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export SED := sed
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export TAR := tar
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export ANT := ant
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export JAVAC := javac
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export JAR := jar
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export GIT := git
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export PYTHON := python
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export INSTALL := install
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# version-info cmd to extract some repository data
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export VERSION_INFO := $(PYTHON) "$(ROOT_DIR)/make/scripts/version-info.py" --path="$(ROOT_DIR)"
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# Test if quotes are needed for the echo-command
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ifeq (${shell $(ECHO) "test"}, test)
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export QUOTE := '
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# This line is just to clear out the single quote above '
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else
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export QUOTE :=
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endif
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# The tools.mk uses wget to fetch tarballs or packages
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ifeq ($(shell [ -x "$(TOOLS_DIR)/bin/wget" ] && $(ECHO) "exists"), exists)
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WGET := $(TOOLS_DIR)/bin/wget
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else
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# not installed, hope it's in the path...
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WGET ?= wget
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endif
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# Include tools installers
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include $(ROOT_DIR)/make/tools.mk
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# Set up paths to tools
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ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
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QMAKE := $(QT_SDK_QMAKE_PATH)
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else
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# not installed, hope it's in the path...
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QMAKE ?= qmake
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endif
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ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && $(ECHO) "exists"), exists)
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export ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
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else
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# not installed, hope it's in the path...
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export ARM_SDK_PREFIX ?= arm-none-eabi-
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endif
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ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && $(ECHO) "exists"), exists)
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export OPENOCD := $(OPENOCD_DIR)/bin/openocd
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else
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# not installed, hope it's in the path...
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export OPENOCD ?= openocd
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endif
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ifeq ($(shell [ -d "$(ANDROID_SDK_DIR)" ] && $(ECHO) "exists"), exists)
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ANDROID := $(ANDROID_SDK_DIR)/tools/android
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ANDROID_DX := $(ANDROID_SDK_DIR)/platform-tools/dx
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else
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# not installed, hope it's in the path...
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ANDROID ?= android
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ANDROID_DX ?= dx
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endif
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# We almost need to consider autoconf/automake instead of this
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ifeq ($(UNAME), Linux)
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QT_SPEC = linux-g++
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UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
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else ifeq ($(UNAME), Darwin)
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QT_SPEC = macx-g++
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UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
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else
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QT_SPEC = win32-g++
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UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/$(UAVOGEN_BUILD_CONF)/uavobjgenerator.exe"
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endif
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##############################
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#
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# All targets
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#
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##############################
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.PHONY: all
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all: uavobjects all_ground all_flight
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.PHONY: all_clean
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all_clean:
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[ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
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$(DL_DIR):
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$(MKDIR) -p $@
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$(TOOLS_DIR):
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$(MKDIR) -p $@
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$(BUILD_DIR):
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$(MKDIR) -p $@
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##############################
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#
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# UAVObjects
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#
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##############################
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ifeq ($(V), 1)
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UAVOGEN_SILENT :=
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else
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UAVOGEN_SILENT := silent
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endif
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.PHONY: uavobjgenerator
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uavobjgenerator:
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$(V1) $(MKDIR) -p $(BUILD_DIR)/ground/$@
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$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
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$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="$(UAVOGEN_BUILD_CONF) $(UAVOGEN_SILENT)" && \
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$(MAKE) --no-print-directory -w ; \
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)
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UAVOBJ_TARGETS := gcs flight python matlab java wireshark
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.PHONY: uavobjects
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uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
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UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
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UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
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$(UAVOBJ_OUT_DIR):
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$(V1) $(MKDIR) -p $@
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uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
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$(V1) ( cd $(UAVOBJ_OUT_DIR) && \
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$(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
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)
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uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
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$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
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uavobjects_clean:
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$(V0) @$(ECHO) " CLEAN $@"
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$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
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##############################
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#
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# Flight related components
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#
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##############################
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# Define some pointers to the various important pieces of the flight code
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# to prevent these being repeated in every sub makefile
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export PIOS := $(ROOT_DIR)/flight/PiOS
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export FLIGHTLIB := $(ROOT_DIR)/flight/Libraries
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export OPMODULEDIR := $(ROOT_DIR)/flight/Modules
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export OPUAVOBJ := $(ROOT_DIR)/flight/targets/UAVObjects
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export OPUAVTALK := $(ROOT_DIR)/flight/targets/UAVTalk
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export HWDEFS := $(ROOT_DIR)/flight/targets/board_hw_defs
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export DOXYGENDIR := $(ROOT_DIR)/flight/Doc/Doxygen
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export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
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# Define supported board lists
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ALL_BOARDS := coptercontrol pipxtreme revolution revomini simposix osd
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ALL_BOARDS_BU := coptercontrol pipxtreme simposix
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# Friendly names of each board (used to find source tree)
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coptercontrol_friendly := CopterControl
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pipxtreme_friendly := PipXtreme
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revolution_friendly := Revolution
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revomini_friendly := RevoMini
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simposix_friendly := SimPosix
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osd_friendly := OSD
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# Short names of each board (used to display board name in parallel builds)
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coptercontrol_short := 'cc '
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pipxtreme_short := 'pipx'
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revolution_short := 'revo'
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revomini_short := 'rm '
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simposix_short := 'posx'
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osd_short := 'osd '
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# SimPosix only builds on Linux so drop it from the list for
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# all other platforms.
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ifneq ($(UNAME), Linux)
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ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
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ALL_BOARDS_BU := $(filter-out simposix, $(ALL_BOARDS_BU))
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endif
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# Start out assuming that we'll build fw, bl and bu for all boards
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FW_BOARDS := $(ALL_BOARDS)
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BL_BOARDS := $(ALL_BOARDS)
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BU_BOARDS := $(ALL_BOARDS_BU)
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EF_BOARDS := $(ALL_BOARDS)
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# SimPosix doesn't have a BL, BU or EF target so we need to
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# filter them out to prevent errors on the all_flight target.
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BL_BOARDS := $(filter-out simposix, $(BL_BOARDS))
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BU_BOARDS := $(filter-out simposix, $(BU_BOARDS))
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EF_BOARDS := $(filter-out simposix, $(EF_BOARDS))
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# Generate the targets for whatever boards are left in each list
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FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
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BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
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BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
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EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
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# When building any of the "all_*" targets, tell all sub makefiles to display
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# additional details on each line of output to describe which build and target
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# that each line applies to. The same applies also to opfw_resource target.
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ifneq ($(strip $(filter all_% opfw_resource,$(MAKECMDGOALS))),)
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export ENABLE_MSG_EXTRA := yes
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endif
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# When building more than one goal in a single make invocation, also
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# enable the extra context for each output line
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ifneq ($(word 2,$(MAKECMDGOALS)),)
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export ENABLE_MSG_EXTRA := yes
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endif
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# TEMPLATES (used to generate build rules)
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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# $(2) = Name of board used in source tree (e.g. CopterControl)
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# $(3) = Short name for board (e.g CC)
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define FW_TEMPLATE
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.PHONY: $(1) fw_$(1)
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$(1): fw_$(1)_opfw
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fw_$(1): fw_$(1)_opfw
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fw_$(1)_%: uavobjects_flight
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$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
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$(V1) cd $(ROOT_DIR)/flight/targets/$(2) && \
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$$(MAKE) -r --no-print-directory \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=fw \
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HWDEFSINC=$(HWDEFS)/$(1) \
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TOPDIR=$(ROOT_DIR)/flight/targets/$(2) \
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OUTDIR=$(BUILD_DIR)/fw_$(1) \
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TARGET=fw_$(1) \
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$$*
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.PHONY: $(1)_clean
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$(1)_clean: fw_$(1)_clean
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fw_$(1)_clean:
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$(V0) @$(ECHO) " CLEAN $$@"
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$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
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endef
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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# $(2) = Name of board used in source tree (e.g. CopterControl)
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define BL_TEMPLATE
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.PHONY: bl_$(1)
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bl_$(1): bl_$(1)_bin
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bl_$(1)_bino: bl_$(1)_bin
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bl_$(1)_%:
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$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
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$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
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$$(MAKE) -r --no-print-directory \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=bl \
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HWDEFSINC=$(HWDEFS)/$(1) \
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TOPDIR=$(ROOT_DIR)/flight/targets/Bootloaders/$(2) \
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OUTDIR=$(BUILD_DIR)/bl_$(1) \
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TARGET=bl_$(1) \
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$$*
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.PHONY: unbrick_$(1)
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unbrick_$(1): bl_$(1)_hex
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$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
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$(V0) @$(ECHO) " UNBRICK $(1) via $$(UNBRICK_TTY)"
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$(V1) $(STM32FLASH_DIR)/stm32flash \
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-w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
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-g 0x0 \
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$$(UNBRICK_TTY)
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,
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$(V0) @$(ECHO)
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$(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
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$(V0) @$(ECHO) " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
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)
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.PHONY: bl_$(1)_clean
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bl_$(1)_clean:
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$(V0) @$(ECHO) " CLEAN $$@"
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$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
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endef
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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define BU_TEMPLATE
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.PHONY: bu_$(1)
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bu_$(1): bu_$(1)_opfw
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bu_$(1)_%: bl_$(1)_bino
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$(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
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$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/BootloaderUpdater && \
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$$(MAKE) -r --no-print-directory \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=bu \
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HWDEFSINC=$(HWDEFS)/$(1) \
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TOPDIR=$(ROOT_DIR)/flight/targets/Bootloaders/BootloaderUpdater \
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OUTDIR=$(BUILD_DIR)/bu_$(1) \
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TARGET=bu_$(1) \
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$$*
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.PHONY: bu_$(1)_clean
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bu_$(1)_clean:
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$(V0) @$(ECHO) " CLEAN $$@"
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$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
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endef
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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define EF_TEMPLATE
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.PHONY: ef_$(1)
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ef_$(1): ef_$(1)_bin
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ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
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$(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)/dep
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$(V1) cd $(ROOT_DIR)/flight/targets/EntireFlash && \
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$$(MAKE) -r --no-print-directory \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=ef \
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TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
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DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
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\
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TARGET=ef_$(1) \
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OUTDIR=$(BUILD_DIR)/ef_$(1) \
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\
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$$*
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.PHONY: ef_$(1)_clean
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ef_$(1)_clean:
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$(V0) @$(ECHO) " CLEAN $$@"
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$(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
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endef
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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define BOARD_PHONY_TEMPLATE
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.PHONY: all_$(1)
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all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
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all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
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all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
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all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
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.PHONY: all_$(1)_clean
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all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
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all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
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all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
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all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
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endef
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# Generate flight build rules
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.PHONY: all_fw all_fw_clean
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all_fw: $(addsuffix _opfw, $(FW_TARGETS))
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all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
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.PHONY: all_bl all_bl_clean
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all_bl: $(addsuffix _bin, $(BL_TARGETS))
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all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
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|
.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 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 bootloader updater rules
|
|
$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(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 $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/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 $(ROOT_DIR)/flight/targets/Revolution --file=$(ROOT_DIR)/flight/targets/Revolution/Makefile.osx $*
|
|
|
|
##############################
|
|
#
|
|
# GCS related components
|
|
#
|
|
##############################
|
|
|
|
.PHONY: all_ground
|
|
all_ground: openpilotgcs
|
|
|
|
# Convenience target for the GCS
|
|
.PHONY: gcs gcs_clean
|
|
gcs: openpilotgcs
|
|
gcs_clean: openpilotgcs_clean
|
|
|
|
ifeq ($(V), 1)
|
|
GCS_SILENT :=
|
|
else
|
|
GCS_SILENT := silent
|
|
endif
|
|
|
|
.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) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) && \
|
|
$(MAKE) -w ; \
|
|
)
|
|
|
|
.PHONY: openpilotgcs_clean
|
|
openpilotgcs_clean:
|
|
$(V0) @$(ECHO) " CLEAN $@"
|
|
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
|
|
|
|
################################
|
|
#
|
|
# Android GCS related components
|
|
#
|
|
################################
|
|
|
|
# Build the output directory for the Android GCS build
|
|
ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
|
|
$(ANDROIDGCS_OUT_DIR):
|
|
$(V1) $(MKDIR) -p $@
|
|
|
|
# Build the asset directory for the android assets
|
|
ANDROIDGCS_ASSETS_DIR := $(ANDROIDGCS_OUT_DIR)/assets
|
|
$(ANDROIDGCS_ASSETS_DIR)/uavos:
|
|
$(V1) $(MKDIR) -p $@
|
|
|
|
ifeq ($(V), 1)
|
|
ANT_QUIET :=
|
|
ANDROID_SILENT :=
|
|
else
|
|
ANT_QUIET := -q
|
|
ANDROID_SILENT := -s
|
|
endif
|
|
|
|
.PHONY: androidgcs
|
|
androidgcs: uavo-collections_java
|
|
$(V0) @$(ECHO) " ANDROID $(call toprel, $(ANDROIDGCS_OUT_DIR))"
|
|
$(V1) $(MKDIR) -p $(ANDROIDGCS_OUT_DIR)
|
|
$(V1) $(ANDROID) $(ANDROID_SILENT) update project \
|
|
--target "Google Inc.:Google APIs:$(GOOGLE_API_VERSION)" \
|
|
--name androidgcs \
|
|
--path ./androidgcs
|
|
$(V1) $(ANT) -f ./androidgcs/build.xml \
|
|
$(ANT_QUIET) \
|
|
-Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
|
|
-Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
|
|
$(ANDROIDGCS_BUILD_CONF)
|
|
|
|
.PHONY: androidgcs_clean
|
|
androidgcs_clean:
|
|
$(V0) @$(ECHO) " CLEAN $@"
|
|
$(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
|
|
|
|
# We want to take snapshots of the UAVOs at each point that they change
|
|
# to allow the GCS to be compatible with as many versions as possible.
|
|
# We always include a pseudo collection called "srctree" which represents
|
|
# the UAVOs in the source tree. So not necessary to add current tree UAVO
|
|
# hash here, it is always included.
|
|
|
|
# Find the git hashes of each commit that changes uavobjects with:
|
|
# git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
|
|
# List only UAVO hashes of past releases, do not list current hash.
|
|
UAVO_GIT_VERSIONS := 5e14f53
|
|
|
|
# All versions includes also the current source tree UAVO hash
|
|
UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
|
|
|
|
# This is where the UAVO collections are stored
|
|
UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
|
|
|
|
# $(1) git hash of a UAVO snapshot
|
|
define UAVO_COLLECTION_GIT_TEMPLATE
|
|
|
|
# Make the output directory that will contain all of the synthetics for the
|
|
# uavo collection referenced by the git hash $(1)
|
|
$$(UAVO_COLLECTION_DIR)/$(1):
|
|
$$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
|
|
|
|
# Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
|
|
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
|
|
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
|
|
$$(V0) @$(ECHO) " UAVOTAR $(1)"
|
|
$$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
|
|
|
|
# Extract the uavo xml files from our snapshot
|
|
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
|
|
$$(V0) @$(ECHO) " UAVOUNTAR $(1)"
|
|
$$(V1) $(RM) -rf $$@
|
|
$$(V1) $(MKDIR) -p $$@
|
|
$$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
|
|
endef
|
|
|
|
# Map the current working directory into the set of UAVO collections
|
|
$(UAVO_COLLECTION_DIR)/srctree:
|
|
$(V1) $(MKDIR) -p $@
|
|
|
|
$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
|
|
$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
|
|
$(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
|
|
|
|
# $(1) git hash (or symbolic name) of a UAVO snapshot
|
|
define UAVO_COLLECTION_BUILD_TEMPLATE
|
|
|
|
# This leaves us with a (broken) symlink that points to the full sha1sum of the collection
|
|
$$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
|
|
# Compute the sha1 hash for this UAVO collection
|
|
# The sed bit truncates the UAVO hash to 16 hex digits
|
|
$$(V1) $$(VERSION_INFO) \
|
|
--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
|
|
--format='$$$${UAVOSHA1TXT}' | \
|
|
$(SED) -e 's|\(................\).*|\1|' > $$@
|
|
|
|
$$(V0) @$(ECHO) " UAVOHASH $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
|
|
|
|
# Generate the java uavobjects for this UAVO collection
|
|
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
|
|
$$(V0) @$(ECHO) " UAVOJAVA $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
|
|
$$(V1) $(MKDIR) -p $$@
|
|
$$(V1) ( \
|
|
cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
|
|
$$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
|
|
)
|
|
|
|
# Build a jar file for this UAVO collection
|
|
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
|
|
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
|
|
$$(V0) @$(ECHO) " UAVOJAR $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
|
|
$$(V1) ( \
|
|
HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
|
|
cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
|
|
$(JAVAC) java/*.java \
|
|
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
|
|
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
|
|
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
|
|
-d . && \
|
|
find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
|
|
$(JAR) cf tmp_uavobjects.jar @classlist.txt && \
|
|
$$(ANDROID_DX) \
|
|
--dex \
|
|
--output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
|
|
tmp_uavobjects.jar && \
|
|
$(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
|
|
)
|
|
|
|
endef
|
|
|
|
# One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
|
|
$(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
|
|
|
|
# One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
|
|
$(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
|
|
|
|
.PHONY: uavo-collections_java
|
|
uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
|
|
|
|
.PHONY: uavo-collections
|
|
uavo-collections: uavo-collections_java
|
|
|
|
.PHONY: uavo-collections_clean
|
|
uavo-collections_clean:
|
|
$(V0) @$(ECHO) " CLEAN $(UAVO_COLLECTION_DIR)"
|
|
$(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
|
|
|
|
##############################
|
|
#
|
|
# Unit Tests
|
|
#
|
|
##############################
|
|
|
|
ALL_UNITTESTS := logfs
|
|
|
|
# Build the directory for the unit tests
|
|
UT_OUT_DIR := $(BUILD_DIR)/unit_tests
|
|
$(UT_OUT_DIR):
|
|
$(V1) $(MKDIR) -p $@
|
|
|
|
.PHONY: all_ut
|
|
all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
|
|
|
|
.PHONY: all_ut_xml
|
|
all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
|
|
|
|
.PHONY: all_ut_run
|
|
all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
|
|
|
|
.PHONY: all_ut_clean
|
|
all_ut_clean:
|
|
$(V0) @$(ECHO) " CLEAN $@"
|
|
$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
|
|
|
|
# $(1) = Unit test name
|
|
define UT_TEMPLATE
|
|
.PHONY: ut_$(1)
|
|
ut_$(1): ut_$(1)_run
|
|
|
|
ut_$(1)_%: $$(UT_OUT_DIR)
|
|
$(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
|
|
$(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
|
|
$$(MAKE) -r --no-print-directory \
|
|
BUILD_TYPE=ut \
|
|
BOARD_SHORT_NAME=$(1) \
|
|
TCHAIN_PREFIX="" \
|
|
REMOVE_CMD="$(RM)" \
|
|
\
|
|
TARGET=$(1) \
|
|
OUTDIR="$(UT_OUT_DIR)/$(1)" \
|
|
\
|
|
PIOS=$(PIOS) \
|
|
OPUAVOBJ=$(OPUAVOBJ) \
|
|
OPUAVTALK=$(OPUAVTALK) \
|
|
FLIGHTLIB=$(FLIGHTLIB) \
|
|
\
|
|
GTEST_DIR=$(GTEST_DIR) \
|
|
\
|
|
$$*
|
|
|
|
.PHONY: ut_$(1)_clean
|
|
ut_$(1)_clean:
|
|
$(V0) @$(ECHO) " CLEAN $(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 *NOTE* Parallel make disabled by all_ut_run target so we have sane console output)
|
|
endif
|
|
|
|
##############################
|
|
#
|
|
# Packaging components
|
|
#
|
|
##############################
|
|
|
|
# Rules to generate GCS resources used to embed firmware binaries into the GCS.
|
|
# They are used later by the vehicle setup wizard to update board firmware.
|
|
# To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
|
|
OPFW_RESOURCE := $(BUILD_DIR)/ground/opfw_resource/opfw_resource.qrc
|
|
OPFW_RESOURCE_PREFIX := ../../../
|
|
OPFW_FILES := $(foreach fw_targ, $(FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
|
|
OPFW_CONTENTS := \
|
|
<!DOCTYPE RCC><RCC version="1.0"> \
|
|
<qresource prefix="/firmware"> \
|
|
$(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(OPFW_RESOURCE_PREFIX)$(fw_file)</file>) \
|
|
</qresource> \
|
|
</RCC>
|
|
|
|
.PHONY: opfw_resource
|
|
opfw_resource: $(OPFW_RESOURCE)
|
|
|
|
$(OPFW_RESOURCE): $(FW_TARGETS)
|
|
@$(ECHO) Generating OPFW resource file $(call toprel, $@)
|
|
$(V1) $(MKDIR) -p $(dir $@)
|
|
$(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
|
|
|
|
.PHONY: package
|
|
package:
|
|
$(V1) cd $@ && $(MAKE) --no-print-directory $@
|
|
|
|
.PHONY: package_resources
|
|
package_resources:
|
|
$(V1) cd package && $(MAKE) --no-print-directory opfw_resource
|
|
|
|
##############################
|
|
#
|
|
# Build info
|
|
#
|
|
##############################
|
|
|
|
.PHONY: build-info
|
|
build-info:
|
|
$(V1) $(MKDIR) -p $(BUILD_DIR)
|
|
$(V1) $(VERSION_INFO) \
|
|
--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
|
|
--template="make/templates/$@.txt" \
|
|
--outfile="$(BUILD_DIR)/$@.txt"
|
|
|
|
##############################
|
|
#
|
|
# Help message, the default Makefile goal
|
|
#
|
|
##############################
|
|
|
|
.PHONY: help
|
|
help:
|
|
@$(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 GNU 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) " android_sdk_install - Install the Android SDK tools"
|
|
@$(ECHO)
|
|
@$(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_<board> - Build all available images for <board>"
|
|
@$(ECHO) " all_<board>_clean - Remove all available images for <board>"
|
|
@$(ECHO)
|
|
@$(ECHO) " all_ut - Build all unit tests"
|
|
@$(ECHO) " all_ut_tap - Run all unit tests and capture all TAP output to files"
|
|
@$(ECHO) " all_ut_run - Run all unit tests and dump TAP output to console"
|
|
@$(ECHO)
|
|
@$(ECHO) " [Firmware]"
|
|
@$(ECHO) " <board> - Build firmware for <board>"
|
|
@$(ECHO) " supported boards are ($(ALL_BOARDS))"
|
|
@$(ECHO) " fw_<board> - Build firmware for <board>"
|
|
@$(ECHO) " supported boards are ($(FW_BOARDS))"
|
|
@$(ECHO) " fw_<board>_clean - Remove firmware for <board>"
|
|
@$(ECHO) " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
|
|
@$(ECHO)
|
|
@$(ECHO) " [Bootloader]"
|
|
@$(ECHO) " bl_<board> - Build bootloader for <board>"
|
|
@$(ECHO) " supported boards are ($(BL_BOARDS))"
|
|
@$(ECHO) " bl_<board>_clean - Remove bootloader for <board>"
|
|
@$(ECHO) " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
|
|
@$(ECHO)
|
|
@$(ECHO) " [Bootloader Updater]"
|
|
@$(ECHO) " bu_<board> - Build bootloader updater for <board>"
|
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@$(ECHO) " supported boards are ($(BU_BOARDS))"
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@$(ECHO) " bu_<board>_clean - Remove bootloader updater for <board>"
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@$(ECHO)
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@$(ECHO) " [Unbrick a board]"
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@$(ECHO) " unbrick_<board> - Use the STM32's built in boot ROM to write a bootloader to <board>"
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@$(ECHO) " supported boards are ($(BL_BOARDS))"
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@$(ECHO) " [Unittests]"
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@$(ECHO) " ut_<test> - Build unit test <test>"
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@$(ECHO) " ut_<test>_tap - Run test and capture TAP output into a file"
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@$(ECHO) " ut_<test>_run - Run test and dump TAP output to console"
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@$(ECHO)
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@$(ECHO) " [Simulation]"
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@$(ECHO) " sim_osx - Build OpenPilot simulation firmware for OSX"
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@$(ECHO) " sim_osx_clean - Delete all build output for the osx simulation"
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@$(ECHO) " sim_win32 - Build OpenPilot simulation firmware for"
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@$(ECHO) " Windows using mingw and msys"
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@$(ECHO) " sim_win32_clean - Delete all build output for the win32 simulation"
|
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@$(ECHO)
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@$(ECHO) " [GCS]"
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@$(ECHO) " gcs - Build the Ground Control System (GCS) application"
|
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@$(ECHO) " gcs_clean - Remove the Ground Control System (GCS) application"
|
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@$(ECHO)
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@$(ECHO) " [UAVObjects]"
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@$(ECHO) " uavobjects - Generate source files from the UAVObject definition XML files"
|
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@$(ECHO) " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... "
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@$(ECHO) " uavobjects_<group> - Generate source files from a subset of the UAVObject definition XML files"
|
|
@$(ECHO) " supported groups are ($(UAVOBJ_TARGETS))"
|
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@$(ECHO)
|
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@$(ECHO) " Hint: Add V=1 to your command line to see verbose build output."
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@$(ECHO)
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@$(ECHO) " Note: All tools will be installed into $(TOOLS_DIR)"
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@$(ECHO) " All build output will be placed in $(BUILD_DIR)"
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@$(ECHO)
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