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af1b290381
LibrePilot/Makefile
Stacey Sheldon af1b290381 makefile: stop using -I or -i in xargs 
Windows doesn't like -I.  Mac doesn't like -i.

This now avoids using either option to xargs by
using awk to reorder the ln command line args prior
to invoking xargs.
2012-10-12 23:57:02 -04:00

962 lines
34 KiB
Makefile
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# 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
# 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)))
# 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)
ARCH := $(shell uname -m)
ifeq ($(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 " 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 ($(BUILD_DIR))"
@echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
@echo " all_fw_clean - Remove firmware for all boards"
@echo " all_bl_clean - Remove bootlaoders for all boards"
@echo " all_bu_clean - Remove bootloader updaters for all boards"
@echo
@echo " all_<board> - Build all available images for <board>"
@echo " all_<board>_clean - Remove all available images for <board>"
@echo
@echo " [Firmware]"
@echo " <board> - Build firmware for <board>"
@echo " supported boards are ($(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
@echo " [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 " 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 := $(TOOLS_DIR)/qtsdk-v1.2.1
.PHONY: qt_sdk_install
# Choose the appropriate installer based on host architecture
ifneq (,$(filter $(ARCH), x86_64 amd64))
# 64-bit
qt_sdk_install: QT_SDK_FILE := QtSdk-offline-linux-x86_64-v1.2.1.run
qt_sdk_install: QT_SDK_URL := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/14b2039c-0e1f-4774-a4f2-9aa60b6d5313/Qt_SDK_Lin64_offline
else
# 32-bit
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 := QtSdk-offline-linux-x86-v1.2.1.run
endif
# 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)"
# see http://developer.android.com/sdk/ for latest versions
ANDROID_SDK_DIR := $(TOOLS_DIR)/android-sdk-linux
.PHONY: android_sdk_install
android_sdk_install: ANDROID_SDK_URL := http://dl.google.com/android/android-sdk_r20.0.3-linux.tgz
android_sdk_install: ANDROID_SDK_FILE := $(notdir $(ANDROID_SDK_URL))
# order-only prereq on directory existance:
android_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
android_sdk_install: android_sdk_clean
# download the source only if it's newer than what we already have
$(V0) @echo " DOWNLOAD $(ANDROID_SDK_URL)"
$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ANDROID_SDK_URL)"
# binary only release so just extract it
$(V0) @echo " EXTRACT $(ANDROID_SDK_FILE)"
$(V1) tar -C $(TOOLS_DIR) -xf "$(DL_DIR)/$(ANDROID_SDK_FILE)"
.PHONY: android_sdk_clean
android_sdk_clean:
$(V0) @echo " CLEAN $(ANDROID_SDK_DIR)"
$(V1) [ ! -d "$(ANDROID_SDK_DIR)" ] || $(RM) -r $(ANDROID_SDK_DIR)
.PHONY: android_sdk_update
android_sdk_update:
$(V0) @echo " UPDATE $(ANDROID_SDK_DIR)"
$(ANDROID_SDK_DIR)/tools/android update sdk --no-ui -t platform-tools,android-16,addon-google_apis-google-16
##############################
#
# Set up paths to tools
#
##############################
ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && echo "exists"), exists)
QMAKE=$(QT_SDK_DIR)/Desktop/Qt/4.8.1/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 := $(OPENOCD_DIR)/bin/openocd
else
# not installed, hope it's in the path...
OPENOCD ?= openocd
endif
ifeq ($(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
##############################
#
# 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) $(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"
.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 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)"
################################
#
# 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:16' --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" \
debug
.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.
#
# Find the git hashes of each commit that changes uavobjects with:
# git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
UAVO_GIT_VERSIONS := 684620d 43f85d9
# All versions includes a pseudo collection called "working" which represents
# the UAVOs in the source tree
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
# The awk bit is just to get the arguments to ln in the right order without
# using the '-I' option to xargs since it doesn't work on windows.
$$(V1) python $$(ROOT_DIR)/make/scripts/version-info.py \
--path=$$(ROOT_DIR) \
--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
--format='$$$${UAVOSHA1TXT}' | \
sed -re 's|(.{16}).*|\1|' | \
awk '{ print $$$$1, "$$(UAVO_COLLECTION_DIR)/$(1)/uavohash" }' | \
xargs ln -sf
# Create the target of the symlink (ie. a directory named by the actual UAVO hash)
$$(V0) @echo " UAVOHASH $(1) ->" $$$$(readlink $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) mkdir -p $$(UAVO_COLLECTION_DIR)/$(1)/$$$$(readlink $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
# Generate the java uavobjects for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/uavohash/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
$$(V0) @echo " UAVOJAVA $(1) " $$$$(readlink $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) mkdir -p $$@
$$(V1) ( \
cd $$(UAVO_COLLECTION_DIR)/$(1)/uavohash/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)/uavohash/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
$$(UAVO_COLLECTION_DIR)/$(1)/uavohash/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash/java-build/java
$$(V0) @echo " UAVOJAR $(1) " $$$$(readlink $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) ( \
HASH=$$$$(readlink $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
cd $$(UAVO_COLLECTION_DIR)/$(1)/uavohash/java-build && \
javac java/*.java \
$$(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/$$$${HASH}.jar uavobjects.jar \
)
endef
# One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
$(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
# One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
$(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
.PHONY: uavo-collections_java
uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/uavohash/java-build/uavobjects.jar)
.PHONY: uavo-collections
uavo-collections: uavo-collections_java
.PHONY: uavo-collections_clean
uavo-collections_clean:
$(V0) @echo " CLEAN $(UAVO_COLLECTION_DIR)"
$(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
##############################
#
# Flight related components
#
##############################
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
# $(3) = Short name for board (e.g CC)
define FW_TEMPLATE
.PHONY: $(1) fw_$(1)
$(1): fw_$(1)_opfw
fw_$(1): fw_$(1)_opfw
fw_$(1)_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/$(2) && \
$$(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=<serial-device> to use for unbricking."
$(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
)
.PHONY: bl_$(1)_clean
bl_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BU_TEMPLATE
.PHONY: bu_$(1)
bu_$(1): bu_$(1)_opfw
bu_$(1)_%: bl_$(1)_bino
$(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$$(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 simposix
# SimPosix only builds on Linux so drop it from the list for
# all other platforms.
ifneq ($(UNAME), Linux)
ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
endif
# Friendly names of each board (used to find source tree)
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme
revolution_friendly := Revolution
simposix_friendly := SimPosix
# SimPosix only builds on Linux so drop it from the list for
# all other platforms.
ifneq ($(UNAME), Linux)
ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
endif
# 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 '
# 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 INS build doesn't have a bootloader or bootloader
# updater yet so we need to filter them out to prevent errors.
BL_BOARDS := $(filter-out ins, $(BL_BOARDS))
BU_BOARDS := $(filter-out ins, $(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 $*
##############################
#
# 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
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