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LibrePilot/Makefile

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#
# Top level Makefile for the OpenPilot project build system.
# Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
# This top level Makefile passes down some variables to sub-makes through
# the environment. They are explicitly exported using the export keyword.
# Lower level makefiles assume that these variables are defined. To ensure
# that a special magic variable is exported here. It must be checked for
# existance by each sub-make.
export OPENPILOT_IS_COOL := Fuck Yeah!
# Set up a default goal
.DEFAULT_GOAL := help
# Set up some macros for common directories within the tree
export ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
export TOOLS_DIR := $(ROOT_DIR)/tools
export BUILD_DIR := $(ROOT_DIR)/build
export DL_DIR := $(ROOT_DIR)/downloads
# Set up default build configurations (debug | release)
UAVOGEN_BUILD_CONF ?= debug
GCS_BUILD_CONF ?= debug
ANDROIDGCS_BUILD_CONF ?= debug
GOOGLE_API_VERSION ?= 14
# Function for converting an absolute path to one relative
# to the top of the source tree.
toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
# 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)))
# Make sure this isn't being run as root (no whoami on Windows, but that is ok here)
ifeq ($(shell whoami 2>/dev/null),root)
$(error You should not be running this as root)
endif
# 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
# Make sure we know few things about the architecture before including
# the tools.mk to ensure that we download/install the right tools.
UNAME := $(shell uname)
ARCH := $(shell uname -m)
# Here and everywhere if not Linux or OSX then assume Windows
ifeq ($(filter Linux Darwin, $(UNAME)), )
UNAME := Windows
endif
# Set up misc host tools
export ECHO := echo
export MKDIR := mkdir
export RM := rm
export LN := ln
export CAT := cat
export SED := sed
export TAR := tar
export ANT := ant
export JAVAC := javac
export JAR := jar
export GIT := git
export PYTHON := python
export INSTALL := install
# version-info cmd to extract some repository data
export VERSION_INFO := $(PYTHON) "$(ROOT_DIR)/make/scripts/version-info.py" --path="$(ROOT_DIR)"
# Test if quotes are needed for the echo-command
ifeq (${shell $(ECHO) "test"}, test)
export QUOTE := '
# This line is just to clear out the single quote above '
else
export QUOTE :=
endif
# The tools.mk uses wget to fetch tarballs or packages
ifeq ($(shell [ -x "$(TOOLS_DIR)/bin/wget" ] && $(ECHO) "exists"), exists)
WGET := $(TOOLS_DIR)/bin/wget
else
# not installed, hope it's in the path...
WGET ?= wget
endif
# Include tools installers
include $(ROOT_DIR)/make/tools.mk
# Set up paths to tools
ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
QMAKE := $(QT_SDK_QMAKE_PATH)
else
# not installed, hope it's in the path...
QMAKE ?= qmake
endif
ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && $(ECHO) "exists"), exists)
export ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
else
# not installed, hope it's in the path...
export ARM_SDK_PREFIX ?= arm-none-eabi-
endif
ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && $(ECHO) "exists"), exists)
export OPENOCD := $(OPENOCD_DIR)/bin/openocd
else
# not installed, hope it's in the path...
export OPENOCD ?= openocd
endif
ifeq ($(shell [ -d "$(ANDROID_SDK_DIR)" ] && $(ECHO) "exists"), exists)
ANDROID := $(ANDROID_SDK_DIR)/tools/android
ANDROID_DX := $(ANDROID_SDK_DIR)/platform-tools/dx
else
# not installed, hope it's in the path...
ANDROID ?= android
ANDROID_DX ?= dx
endif
# We almost need to consider autoconf/automake instead of this
ifeq ($(UNAME), Linux)
QT_SPEC = linux-g++
UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
else ifeq ($(UNAME), Darwin)
QT_SPEC = macx-g++
UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
else
QT_SPEC = win32-g++
UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/$(UAVOGEN_BUILD_CONF)/uavobjgenerator.exe"
endif
##############################
#
# All targets
#
##############################
.PHONY: all
all: uavobjects all_ground all_flight
.PHONY: all_clean
all_clean:
[ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
$(DL_DIR):
$(MKDIR) -p $@
$(TOOLS_DIR):
$(MKDIR) -p $@
$(BUILD_DIR):
$(MKDIR) -p $@
##############################
#
# UAVObjects
#
##############################
ifeq ($(V), 1)
UAVOGEN_SILENT :=
else
UAVOGEN_SILENT := silent
endif
.PHONY: uavobjgenerator
uavobjgenerator:
$(V1) $(MKDIR) -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="$(UAVOGEN_BUILD_CONF) $(UAVOGEN_SILENT)" && \
$(MAKE) --no-print-directory -w ; \
)
UAVOBJ_TARGETS := gcs flight python matlab java wireshark
.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)"
##############################
#
# 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/$$$${HASH}.jar uavobjects.jar \
)
endef
# One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
$(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
# One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
$(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
.PHONY: uavo-collections_java
uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
.PHONY: uavo-collections
uavo-collections: uavo-collections_java
.PHONY: uavo-collections_clean
uavo-collections_clean:
$(V0) @$(ECHO) " CLEAN $(UAVO_COLLECTION_DIR)"
$(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
##############################
#
# Flight related components
#
##############################
# Define some pointers to the various important pieces of the flight code
# to prevent these being repeated in every sub makefile
export PIOS := $(ROOT_DIR)/flight/PiOS
export FLIGHTLIB := $(ROOT_DIR)/flight/Libraries
export OPMODULEDIR := $(ROOT_DIR)/flight/Modules
export OPUAVOBJ := $(ROOT_DIR)/flight/targets/UAVObjects
export OPUAVTALK := $(ROOT_DIR)/flight/targets/UAVTalk
export HWDEFS := $(ROOT_DIR)/flight/targets/board_hw_defs
export DOXYGENDIR := $(ROOT_DIR)/flight/Doc/Doxygen
export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
# $(3) = Short name for board (e.g CC)
define FW_TEMPLATE
.PHONY: $(1) fw_$(1)
$(1): fw_$(1)_opfw
fw_$(1): fw_$(1)_opfw
fw_$(1)_%: uavobjects_flight
$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/targets/$(2) && \
$$(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="$(OPENOCD)" \
\
TARGET=fw_$(1) \
OUTDIR=$(BUILD_DIR)/fw_$(1) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
HWDEFSINC=$(HWDEFS)/$(1) \
DOXYGENDIR=$(DOXYGENDIR) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
\
$$*
.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean:
$(V0) @$(ECHO) " CLEAN $$@"
$(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 $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=bl \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
\
TARGET=bl_$(1) \
OUTDIR=$(BUILD_DIR)/bl_$(1) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
HWDEFSINC=$(HWDEFS)/$(1) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
DOXYGENDIR=$(DOXYGENDIR) \
\
$$*
.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=<serial-device> to use for unbricking."
$(V0) @$(ECHO) " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
)
.PHONY: bl_$(1)_clean
bl_$(1)_clean:
$(V0) @$(ECHO) " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BU_TEMPLATE
.PHONY: bu_$(1)
bu_$(1): bu_$(1)_opfw
bu_$(1)_%: bl_$(1)_bino
$(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/BootloaderUpdater && \
$$(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="$(OPENOCD)" \
\
TARGET=bu_$(1) \
OUTDIR=$(BUILD_DIR)/bu_$(1) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
HWDEFSINC=$(HWDEFS)/$(1) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
DOXYGENDIR=$(DOXYGENDIR) \
\
$$*
.PHONY: bu_$(1)_clean
bu_$(1)_clean:
$(V0) @$(ECHO) " CLEAN $$@"
$(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/targets/EntireFlash && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=ef \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
\
TARGET=ef_$(1) \
OUTDIR=$(BUILD_DIR)/ef_$(1) \
\
$$*
.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 simposix revolution revomini osd
ALL_BOARDS_BU := coptercontrol pipxtreme simposix
# 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))
ALL_BOARDS_BU := $(filter-out simposix, $(ALL_BOARDS_BU))
endif
# Friendly names of each board (used to find source tree)
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme
revolution_friendly := Revolution
revomini_friendly := RevoMini
simposix_friendly := SimPosix
osd_friendly := OSD
# Short names of each board (used to display board name in parallel builds)
coptercontrol_short := 'cc '
pipxtreme_short := 'pipx'
revolution_short := 'revo'
revomini_short := 'rm '
simposix_short := 'posx'
osd_short := 'osd '
# 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_BU)
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, $(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/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 $*
##############################
#
# 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
#
##############################
.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]"
@$(ECHO) " bu_<board> - Build bootloader updater for <board>"
@$(ECHO) " supported boards are ($(BU_BOARDS))"
@$(ECHO) " bu_<board>_clean - Remove bootloader updater for <board>"
@$(ECHO)
@$(ECHO) " [Unbrick a board]"
@$(ECHO) " unbrick_<board> - Use the STM32's built in boot ROM to write a bootloader to <board>"
@$(ECHO) " supported boards are ($(BL_BOARDS))"
@$(ECHO) " [Unittests]"
@$(ECHO) " ut_<test> - Build unit test <test>"
@$(ECHO) " ut_<test>_tap - Run test and capture TAP output into a file"
@$(ECHO) " ut_<test>_run - Run test and dump TAP output to console"
@$(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, ... "
@$(ECHO) " uavobjects_<group> - Generate source files from a subset of the UAVObject definition XML files"
@$(ECHO) " supported groups are ($(UAVOBJ_TARGETS))"
@$(ECHO)
@$(ECHO) " Hint: Add V=1 to your command line to see verbose build output."
@$(ECHO)
@$(ECHO) " Note: All tools will be installed into $(TOOLS_DIR)"
@$(ECHO) " All build output will be placed in $(BUILD_DIR)"
@$(ECHO)
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