mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
d53b760937
Linux users can now cross-compile openocd to run on windows. Here are the steps: sudo apt-get install mingw32 make ftd2xx_install make libusb_win_install make openocd_git_win_install (cd tools; zip -r openocd-win-patched.zip openocd_win/) This should simplify rolling out new versions of the tool and provides an example for how to cross-compile future tools as well.
710 lines
24 KiB
Makefile
710 lines
24 KiB
Makefile
# 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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ROOT_DIR=$(CURDIR)
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TOOLS_DIR=$(ROOT_DIR)/tools
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BUILD_DIR=$(ROOT_DIR)/build
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DL_DIR=$(ROOT_DIR)/downloads
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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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# We almost need to consider autoconf/automake instead of this
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# I don't know if windows supports uname :-(
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QT_SPEC=win32-g++
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UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/debug/uavobjgenerator.exe"
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UNAME := $(shell uname)
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ifeq ($(UNAME), Linux)
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QT_SPEC=linux-g++
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UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
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endif
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ifeq ($(UNAME), Darwin)
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QT_SPEC=macx-g++
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UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
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endif
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# OpenPilot GCS build configuration (debug | release)
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GCS_BUILD_CONF ?= debug
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# Set up misc host tools
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RM=rm
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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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.PHONY: help
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help:
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@echo
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@echo " This Makefile is known to work on Linux and Mac in a standard shell environment."
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@echo " It also works on Windows by following the instructions in make/winx86/README.txt."
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@echo
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@echo " Here is a summary of the available targets:"
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@echo
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@echo " [Tool Installers]"
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@echo " qt_sdk_install - Install the QT v4.6.2 tools"
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@echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain"
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@echo " openocd_install - Install the OpenOCD JTAG daemon"
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@echo " stm32flash_install - Install the stm32flash tool for unbricking boards"
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@echo " dfuutil_install - Install the dfu-util tool for unbricking F4-based boards"
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@echo
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@echo " [Big Hammer]"
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@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
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@echo " all_flight - Build all firmware, bootloaders and bootloader updaters"
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@echo " all_fw - Build only firmware for all boards"
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@echo " all_bl - Build only bootloaders for all boards"
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@echo " all_bu - Build only bootloader updaters for all boards"
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@echo
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@echo " all_clean - Remove your build directory ($(BUILD_DIR))"
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@echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
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@echo " all_fw_clean - Remove firmware for all boards"
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@echo " all_bl_clean - Remove bootlaoders for all boards"
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@echo " all_bu_clean - Remove bootloader updaters for all boards"
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@echo
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@echo " all_<board> - Build all available images for <board>"
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@echo " all_<board>_clean - Remove all available images for <board>"
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@echo
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@echo " [Firmware]"
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@echo " <board> - Build firmware for <board>"
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@echo " supported boards are ($(ALL_BOARDS))"
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@echo " fw_<board> - Build firmware for <board>"
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@echo " supported boards are ($(FW_BOARDS))"
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@echo " fw_<board>_clean - Remove firmware for <board>"
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@echo " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
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@echo
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@echo " [Bootloader]"
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@echo " bl_<board> - Build bootloader for <board>"
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@echo " supported boards are ($(BL_BOARDS))"
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@echo " bl_<board>_clean - Remove bootloader for <board>"
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@echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
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@echo
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@echo " [Bootloader Updater]"
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@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
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@echo " [Simulation]"
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@echo " sim_posix - Build OpenPilot simulation firmware for"
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@echo " a POSIX compatible system (Linux, Mac OS X, ...)"
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@echo " sim_posix_clean - Delete all build output for the POSIX 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"
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@echo " supported groups are ($(UAVOBJ_TARGETS))"
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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 $(BUILD_DIR)"
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@echo
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.PHONY: all
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all: uavobjects all_ground all_flight
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.PHONY: all_clean
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all_clean:
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[ ! -d "$(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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# Installers for tools required by the ground and flight builds
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#
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# NOTE: These are not tied to the default goals
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# and must be invoked manually
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#
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###############################################################
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# Set up QT toolchain
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QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-2010.02
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.PHONY: qt_sdk_install
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qt_sdk_install: QT_SDK_URL := http://get.qt.nokia.com/qtsdk/qt-sdk-linux-x86-opensource-2010.02.bin
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qt_sdk_install: QT_SDK_FILE := $(notdir $(QT_SDK_URL))
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# order-only prereq on directory existance:
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qt_sdk_install : | $(DL_DIR) $(TOOLS_DIR)
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qt_sdk_install: qt_sdk_clean
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# download the source only if it's newer than what we already have
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$(V1) wget -N -P "$(DL_DIR)" "$(QT_SDK_URL)"
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#installer is an executable, make it executable and run it
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$(V1) chmod u+x "$(DL_DIR)/$(QT_SDK_FILE)"
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"$(DL_DIR)/$(QT_SDK_FILE)" --installdir "$(QT_SDK_DIR)"
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.PHONY: qt_sdk_clean
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qt_sdk_clean:
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$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR)
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# Set up ARM (STM32) SDK
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ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03
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.PHONY: arm_sdk_install
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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
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arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
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# order-only prereq on directory existance:
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arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
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arm_sdk_install: arm_sdk_clean
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# download the source only if it's newer than what we already have
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$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
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# binary only release so just extract it
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$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
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.PHONY: arm_sdk_clean
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arm_sdk_clean:
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$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r $(ARM_SDK_DIR)
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# Set up openocd tools
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OPENOCD_DIR := $(TOOLS_DIR)/openocd
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OPENOCD_WIN_DIR := $(TOOLS_DIR)/openocd_win
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OPENOCD_BUILD_DIR := $(DL_DIR)/openocd-build
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.PHONY: openocd_install
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openocd_install: | $(DL_DIR) $(TOOLS_DIR)
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openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.5.0/openocd-0.5.0.tar.bz2/download
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openocd_install: OPENOCD_FILE := openocd-0.5.0.tar.bz2
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openocd_install: openocd_clean
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# download the source only if it's newer than what we already have
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$(V1) wget -N -P "$(DL_DIR)" --trust-server-name "$(OPENOCD_URL)"
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# extract the source
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$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -r "$(OPENOCD_BUILD_DIR)"
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$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
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$(V1) tar -C $(OPENOCD_BUILD_DIR) -xjf "$(DL_DIR)/$(OPENOCD_FILE)"
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# build and install
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$(V1) mkdir -p "$(OPENOCD_DIR)"
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$(V1) ( \
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cd $(OPENOCD_BUILD_DIR)/openocd-0.5.0 ; \
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./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate; \
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$(MAKE) --silent ; \
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$(MAKE) --silent install ; \
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)
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# delete the extracted source when we're done
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$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
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.PHONY: ftd2xx_install
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FTD2XX_DIR := $(DL_DIR)/ftd2xx
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ftd2xx_install: | $(DL_DIR)
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ftd2xx_install: FTD2XX_URL := http://www.ftdichip.com/Drivers/CDM/Beta/CDM20817.zip
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ftd2xx_install: FTD2XX_FILE := CDM20817.zip
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ftd2xx_install: ftd2xx_clean
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# download the file only if it's newer than what we already have
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$(V0) @echo " DOWNLOAD $(FTD2XX_URL)"
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$(V1) wget -q -N -P "$(DL_DIR)" "$(FTD2XX_URL)"
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# extract the source
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$(V0) @echo " EXTRACT $(FTD2XX_FILE) -> $(FTD2XX_DIR)"
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$(V1) mkdir -p "$(FTD2XX_DIR)"
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$(V1) unzip -q -d "$(FTD2XX_DIR)" "$(DL_DIR)/$(FTD2XX_FILE)"
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.PHONY: ftd2xx_clean
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ftd2xx_clean:
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$(V0) @echo " CLEAN $(FTD2XX_DIR)"
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$(V1) [ ! -d "$(FTD2XX_DIR)" ] || $(RM) -r "$(FTD2XX_DIR)"
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.PHONY: ftd2xx_install
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LIBUSB_WIN_DIR := $(DL_DIR)/libusb-win32-bin-1.2.6.0
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libusb_win_install: | $(DL_DIR)
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libusb_win_install: LIBUSB_WIN_URL := http://sourceforge.net/projects/libusb-win32/files/libusb-win32-releases/1.2.6.0/libusb-win32-bin-1.2.6.0.zip/download
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libusb_win_install: LIBUSB_WIN_FILE := libusb-win32-bin-1.2.6.0.zip
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libusb_win_install: libusb_win_clean
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# download the file only if it's newer than what we already have
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$(V0) @echo " DOWNLOAD $(LIBUSB_WIN_URL)"
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$(V1) wget -q -N -P "$(DL_DIR)" --trust-server-name "$(LIBUSB_WIN_URL)"
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# extract the source
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$(V0) @echo " EXTRACT $(LIBUSB_WIN_FILE) -> $(LIBUSB_WIN_DIR)"
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$(V1) mkdir -p "$(LIBUSB_WIN_DIR)"
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$(V1) unzip -q -d "$(DL_DIR)" "$(DL_DIR)/$(LIBUSB_WIN_FILE)"
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# fixup .h file needed by openocd build
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$(V0) @echo " FIXUP $(LIBUSB_WIN_DIR)"
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$(V1) ln -s "$(LIBUSB_WIN_DIR)/include/lusb0_usb.h" "$(LIBUSB_WIN_DIR)/include/usb.h"
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.PHONY: libusb_win_clean
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libusb_win_clean:
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$(V0) @echo " CLEAN $(LIBUSB_WIN_DIR)"
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$(V1) [ ! -d "$(LIBUSB_WIN_DIR)" ] || $(RM) -r "$(LIBUSB_WIN_DIR)"
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.PHONY: openocd_git_win_install
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openocd_git_win_install: | $(DL_DIR) $(TOOLS_DIR)
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openocd_git_win_install: OPENOCD_URL := git://openocd.git.sourceforge.net/gitroot/openocd/openocd
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openocd_git_win_install: OPENOCD_REV := dec6b913809bd3f857af31be178ffde65e42dbab
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openocd_git_win_install: openocd_win_clean libusb_win_install ftd2xx_install
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# download the source
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$(V0) @echo " DOWNLOAD $(OPENOCD_URL) @ $(OPENOCD_REV)"
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$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
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$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
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$(V1) git clone --depth 1 --no-checkout $(OPENOCD_URL) "$(DL_DIR)/openocd-build"
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$(V1) ( \
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cd $(OPENOCD_BUILD_DIR) ; \
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git checkout -q $(OPENOCD_REV) ; \
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)
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# apply patches
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$(V0) @echo " PATCH $(OPENOCD_BUILD_DIR)"
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$(V1) ( \
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cd $(OPENOCD_BUILD_DIR) ; \
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git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \
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git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \
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)
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# build and install
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$(V0) @echo " BUILD $(OPENOCD_WIN_DIR)"
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$(V1) mkdir -p "$(OPENOCD_WIN_DIR)"
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$(V1) ( \
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cd $(OPENOCD_BUILD_DIR) ; \
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./bootstrap ; \
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./configure --enable-maintainer-mode --prefix="$(OPENOCD_WIN_DIR)" \
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--build=i686-pc-linux-gnu --host=i586-mingw32msvc \
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CPPFLAGS=-I$(LIBUSB_WIN_DIR)/include \
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LDFLAGS=-L$(LIBUSB_WIN_DIR)/lib/gcc \
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--enable-ft2232_ftd2xx --with-ftd2xx-win32-zipdir=$(FTD2XX_DIR) \
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--disable-werror \
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--enable-stlink ; \
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$(MAKE) ; \
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$(MAKE) install ; \
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)
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# delete the extracted source when we're done
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$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
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.PHONY: openocd_win_clean
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openocd_win_clean:
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$(V0) @echo " CLEAN $(OPENOCD_WIN_DIR)"
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$(V1) [ ! -d "$(OPENOCD_WIN_DIR)" ] || $(RM) -r "$(OPENOCD_WIN_DIR)"
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.PHONY: openocd_git_install
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openocd_git_install: | $(DL_DIR) $(TOOLS_DIR)
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openocd_git_install: OPENOCD_URL := git://openocd.git.sourceforge.net/gitroot/openocd/openocd
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openocd_git_install: OPENOCD_REV := dec6b913809bd3f857af31be178ffde65e42dbab
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openocd_git_install: openocd_clean
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# download the source
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$(V0) @echo " DOWNLOAD $(OPENOCD_URL) @ $(OPENOCD_REV)"
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$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
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$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
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$(V1) git clone --depth 1 --no-checkout $(OPENOCD_URL) "$(OPENOCD_BUILD_DIR)"
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$(V1) ( \
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cd $(OPENOCD_BUILD_DIR) ; \
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git checkout -q $(OPENOCD_REV) ; \
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)
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# apply patches
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$(V0) @echo " PATCH $(OPENOCD_DIR)"
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$(V1) ( \
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cd $(OPENOCD_BUILD_DIR) ; \
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git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \
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git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \
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)
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# build and install
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$(V0) @echo " BUILD $(OPENOCD_DIR)"
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$(V1) mkdir -p "$(OPENOCD_DIR)"
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$(V1) ( \
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cd $(OPENOCD_BUILD_DIR) ; \
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./bootstrap ; \
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./configure --enable-maintainer-mode --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate --enable-stlink ; \
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$(MAKE) ; \
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$(MAKE) install ; \
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)
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# delete the extracted source when we're done
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$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
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.PHONY: openocd_clean
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openocd_clean:
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$(V0) @echo " CLEAN $(OPENOCD_DIR)"
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$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
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STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
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.PHONY: stm32flash_install
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stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
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stm32flash_install: STM32FLASH_REV := 61
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stm32flash_install: stm32flash_clean
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# download the source
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$(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
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$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
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# build
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$(V0) @echo " BUILD $(STM32FLASH_DIR)"
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$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
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.PHONY: stm32flash_clean
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stm32flash_clean:
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$(V0) @echo " CLEAN $(STM32FLASH_DIR)"
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$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
|
|
|
|
DFUUTIL_DIR := $(TOOLS_DIR)/dfu-util
|
|
|
|
.PHONY: dfuutil_install
|
|
dfuutil_install: DFUUTIL_URL := http://dfu-util.gnumonks.org/releases/dfu-util-0.5.tar.gz
|
|
dfuutil_install: DFUUTIL_FILE := $(notdir $(DFUUTIL_URL))
|
|
dfuutil_install: | $(DL_DIR) $(TOOLS_DIR)
|
|
dfuutil_install: dfuutil_clean
|
|
# download the source
|
|
$(V0) @echo " DOWNLOAD $(DFUUTIL_URL)"
|
|
$(V1) wget -N -P "$(DL_DIR)" "$(DFUUTIL_URL)"
|
|
|
|
# extract the source
|
|
$(V0) @echo " EXTRACT $(DFUUTIL_FILE)"
|
|
$(V1) [ ! -d "$(DL_DIR)/dfuutil-build" ] || $(RM) -r "$(DL_DIR)/dfuutil-build"
|
|
$(V1) mkdir -p "$(DL_DIR)/dfuutil-build"
|
|
$(V1) tar -C $(DL_DIR)/dfuutil-build -xf "$(DL_DIR)/$(DFUUTIL_FILE)"
|
|
|
|
# build
|
|
$(V0) @echo " BUILD $(DFUUTIL_DIR)"
|
|
$(V1) mkdir -p "$(DFUUTIL_DIR)"
|
|
$(V1) ( \
|
|
cd $(DL_DIR)/dfuutil-build/dfu-util-0.5 ; \
|
|
./configure --prefix="$(DFUUTIL_DIR)" ; \
|
|
$(MAKE) ; \
|
|
$(MAKE) install ; \
|
|
)
|
|
|
|
.PHONY: dfuutil_clean
|
|
dfuutil_clean:
|
|
$(V0) @echo " CLEAN $(DFUUTIL_DIR)"
|
|
$(V1) [ ! -d "$(DFUUTIL_DIR)" ] || $(RM) -r "$(DFUUTIL_DIR)"
|
|
|
|
##############################
|
|
#
|
|
# Set up paths to tools
|
|
#
|
|
##############################
|
|
|
|
ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && echo "exists"), exists)
|
|
QMAKE=$(QT_SDK_DIR)/qt/bin/qmake
|
|
else
|
|
# not installed, hope it's in the path...
|
|
QMAKE=qmake
|
|
endif
|
|
|
|
ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
|
|
ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
|
|
else
|
|
# not installed, hope it's in the path...
|
|
ARM_SDK_PREFIX ?= arm-none-eabi-
|
|
endif
|
|
|
|
ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && echo "exists"), exists)
|
|
OPENOCD := $(OPENOCD_DIR)/bin/openocd
|
|
else
|
|
# not installed, hope it's in the path...
|
|
OPENOCD ?= openocd
|
|
endif
|
|
|
|
##############################
|
|
#
|
|
# GCS related components
|
|
#
|
|
##############################
|
|
|
|
.PHONY: all_ground
|
|
all_ground: openpilotgcs
|
|
|
|
# Convenience target for the GCS
|
|
.PHONY: gcs gcs_clean
|
|
gcs: openpilotgcs
|
|
gcs_clean: openpilotgcs_clean
|
|
|
|
.PHONY: openpilotgcs
|
|
openpilotgcs: uavobjects_gcs
|
|
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
|
|
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
|
|
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) && \
|
|
$(MAKE) -w ; \
|
|
)
|
|
|
|
.PHONY: openpilotgcs_clean
|
|
openpilotgcs_clean:
|
|
$(V0) @echo " CLEAN $@"
|
|
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
|
|
|
|
.PHONY: uavobjgenerator
|
|
uavobjgenerator:
|
|
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
|
|
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
|
|
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+=debug && \
|
|
$(MAKE) --no-print-directory -w ; \
|
|
)
|
|
|
|
UAVOBJ_TARGETS := gcs flight python matlab java
|
|
.PHONY:uavobjects
|
|
uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
|
|
|
|
UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
|
|
UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
|
|
|
|
$(UAVOBJ_OUT_DIR):
|
|
$(V1) mkdir -p $@
|
|
|
|
uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
|
|
$(V1) ( cd $(UAVOBJ_OUT_DIR) && \
|
|
$(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
|
|
)
|
|
|
|
uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
|
|
$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
|
|
|
|
uavobjects_clean:
|
|
$(V0) @echo " CLEAN $@"
|
|
$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
|
|
|
|
##############################
|
|
#
|
|
# Flight related components
|
|
#
|
|
##############################
|
|
|
|
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
|
|
# $(2) = Name of board used in source tree (e.g. CopterControl)
|
|
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) && \
|
|
$$(MAKE) -r --no-print-directory \
|
|
BOARD_NAME=$(1) \
|
|
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
|
|
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
|
|
$$*
|
|
|
|
.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=$(1) \
|
|
TCHAIN_PREFIX="$(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 && \
|
|
$$(MAKE) -r --no-print-directory \
|
|
BOARD_NAME=$(1) \
|
|
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
|
|
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
|
|
$$*
|
|
|
|
.PHONY: bu_$(1)_clean
|
|
bu_$(1)_clean:
|
|
$(V0) @echo " CLEAN $$@"
|
|
$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
|
|
endef
|
|
|
|
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
|
|
define EF_TEMPLATE
|
|
.PHONY: ef_$(1)
|
|
ef_$(1): ef_$(1)_bin
|
|
|
|
ef_$(1)_%: bl_$(1)_bin fw_$(1)_bin
|
|
$(V1) mkdir -p $(BUILD_DIR)/ef_$(1)/dep
|
|
$(V1) cd $(ROOT_DIR)/flight/EntireFlash && \
|
|
$$(MAKE) -r --no-print-directory \
|
|
BOARD_NAME=$(1) \
|
|
TCHAIN_PREFIX="$(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
|
|
|
|
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
|
|
define BOARD_PHONY_TEMPLATE
|
|
.PHONY: all_$(1)
|
|
all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
|
|
all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
|
|
all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
|
|
all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
|
|
|
|
.PHONY: all_$(1)_clean
|
|
all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
|
|
all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
|
|
all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
|
|
all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
|
|
endef
|
|
|
|
ALL_BOARDS := coptercontrol pipxtreme revolution
|
|
|
|
# Friendly names of each board (used to find source tree)
|
|
coptercontrol_friendly := CopterControl
|
|
pipxtreme_friendly := PipXtreme
|
|
revolution_friendly := Revolution
|
|
|
|
# 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, $(ALL_BOARDS))
|
|
BU_BOARDS := $(filter-out ins, $(ALL_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))))
|
|
|
|
# Expand the firmware rules
|
|
$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly))))
|
|
|
|
# Expand the bootloader rules
|
|
$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly))))
|
|
|
|
# Expand the entire-flash rules
|
|
$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly))))
|
|
|
|
.PHONY: sim_posix
|
|
sim_posix: sim_posix_elf
|
|
|
|
sim_posix_%: uavobjects_flight
|
|
$(V1) mkdir -p $(BUILD_DIR)/sitl_posix
|
|
$(V1) $(MAKE) --no-print-directory \
|
|
-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.posix $*
|
|
|
|
.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 $@
|