mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
f934ebfd4c
When running the build as root, any bugs in the Makefiles can have disasterous results. This will be even more important once we start automatically running unit tests as part of our build. This change ensures that the builds cannot be run as root.
778 lines
25 KiB
Makefile
778 lines
25 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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# Function for converting an absolute path to one relative
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# to the top of the source tree.
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toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
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# Clean out undesirable variables from the environment and command-line
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# to remove the chance that they will cause problems with our build
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define SANITIZE_VAR
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$(if $(filter-out undefined,$(origin $(1))),
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$(info *NOTE* Sanitized $(2) variable '$(1)' from $(origin $(1)))
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MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
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override $(1) :=
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unexport $(1)
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)
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endef
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# These specific variables can influence gcc in unexpected (and undesirable) ways
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SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
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SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
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$(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
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# These specific variables used to be valid but now they make no sense
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SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER
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$(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
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# Deal with unreasonable requests
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# See: http://xkcd.com/149/
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ifeq ($(MAKECMDGOALS),me a sandwich)
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ifeq ($(shell whoami),root)
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$(error Okay)
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else
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$(error What? Make it yourself)
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endif
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endif
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# Make sure this isn't being run as root
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ifeq ($(shell whoami),root)
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$(error You should not be running this as root)
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endif
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# Decide on a verbosity level based on the V= parameter
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export AT := @
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ifndef V
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export V0 :=
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export V1 := $(AT)
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else ifeq ($(V), 0)
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export V0 := $(AT)
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export V1 := $(AT)
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else ifeq ($(V), 1)
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endif
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include $(ROOT_DIR)/make/tools.mk
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# We almost need to consider autoconf/automake instead of this
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# I don't know if windows supports uname :-(
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QT_SPEC=win32-g++
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UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/debug/uavobjgenerator.exe"
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UNAME := $(shell uname)
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ARCH := $(shell uname -m)
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ifeq ($(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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.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 v4.7.3 tools"
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@echo " arm_sdk_install - Install the GNU 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 " android_sdk_install - Install the Android SDK tools"
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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 ($(BL_BOARDS))"
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@echo
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@echo " [Simulation]"
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@echo " sim_osx - Build OpenPilot simulation firmware for OSX"
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@echo " sim_osx_clean - Delete all build output for the osx simulation"
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@echo " sim_win32 - Build OpenPilot simulation firmware for"
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@echo " Windows using mingw and msys"
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@echo " sim_win32_clean - Delete all build output for the win32 simulation"
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@echo
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@echo " [GCS]"
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@echo " gcs - Build the Ground Control System (GCS) application"
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@echo " gcs_clean - Remove the Ground Control System (GCS) application"
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@echo
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@echo " [UAVObjects]"
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@echo " uavobjects - Generate source files from the UAVObject definition XML files"
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@echo " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... "
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@echo " uavobjects_<group> - Generate source files from a subset of the UAVObject definition XML files"
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@echo " supported groups are ($(UAVOBJ_TARGETS))"
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@echo
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@echo " Hint: Add V=1 to your command line to see verbose build output."
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@echo
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@echo " Note: All tools will be installed into $(TOOLS_DIR)"
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@echo " All build output will be placed in $(BUILD_DIR)"
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@echo
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.PHONY: all
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all: uavobjects all_ground all_flight
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.PHONY: all_clean
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all_clean:
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[ ! -d "$(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 $@
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##############################
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#
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# Set up paths to tools
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#
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##############################
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ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && echo "exists"), exists)
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QMAKE=$(QT_SDK_DIR)/Desktop/Qt/4.8.1/gcc/bin/qmake
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else
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# not installed, hope it's in the path...
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QMAKE=qmake
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endif
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ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
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ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
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else
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# not installed, hope it's in the path...
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ARM_SDK_PREFIX ?= arm-none-eabi-
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endif
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ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && echo "exists"), exists)
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OPENOCD := $(OPENOCD_DIR)/bin/openocd
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else
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# not installed, hope it's in the path...
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OPENOCD ?= openocd
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endif
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ifeq ($(shell [ -d "$(ANDROID_SDK_DIR)" ] && echo "exists"), exists)
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ANDROID := $(ANDROID_SDK_DIR)/tools/android
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ANDROID_DX := $(ANDROID_SDK_DIR)/platform-tools/dx
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else
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# not installed, hope it's in the path...
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ANDROID ?= android
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ANDROID_DX ?= dx
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endif
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##############################
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#
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# GCS related components
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#
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##############################
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.PHONY: all_ground
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all_ground: openpilotgcs
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# Convenience target for the GCS
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.PHONY: gcs gcs_clean
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gcs: openpilotgcs
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gcs_clean: openpilotgcs_clean
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ifeq ($(V), 1)
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GCS_SILENT :=
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else
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GCS_SILENT := silent
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endif
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.PHONY: openpilotgcs
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openpilotgcs: uavobjects_gcs
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$(V1) mkdir -p $(BUILD_DIR)/ground/$@
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$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
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$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) && \
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$(MAKE) -w ; \
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)
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.PHONY: openpilotgcs_clean
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openpilotgcs_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
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ifeq ($(V), 1)
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UAVOGEN_SILENT :=
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else
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UAVOGEN_SILENT := silent
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endif
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.PHONY: uavobjgenerator
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uavobjgenerator:
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$(V1) mkdir -p $(BUILD_DIR)/ground/$@
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$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
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$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="debug $(UAVOGEN_SILENT)" && \
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$(MAKE) --no-print-directory -w ; \
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)
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UAVOBJ_TARGETS := gcs flight python matlab java wireshark
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.PHONY:uavobjects
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uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
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UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
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UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
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$(UAVOBJ_OUT_DIR):
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$(V1) mkdir -p $@
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uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
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$(V1) ( cd $(UAVOBJ_OUT_DIR) && \
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$(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
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)
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uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
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$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
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uavobjects_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
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################################
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#
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# Android GCS related components
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#
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################################
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# Build the output directory for the Android GCS build
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ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
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$(ANDROIDGCS_OUT_DIR):
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$(V1) mkdir -p $@
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# Build the asset directory for the android assets
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ANDROIDGCS_ASSETS_DIR := $(ANDROIDGCS_OUT_DIR)/assets
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$(ANDROIDGCS_ASSETS_DIR)/uavos:
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$(V1) mkdir -p $@
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ifeq ($(V), 1)
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ANT_QUIET :=
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ANDROID_SILENT :=
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else
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ANT_QUIET := -q
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ANDROID_SILENT := -s
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endif
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.PHONY: androidgcs
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androidgcs: uavo-collections_java
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$(V0) @echo " ANDROID $(call toprel, $(ANDROIDGCS_OUT_DIR))"
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$(V1) mkdir -p $(ANDROIDGCS_OUT_DIR)
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$(V1) $(ANDROID) $(ANDROID_SILENT) update project --target 'Google Inc.:Google APIs:16' --name androidgcs --path ./androidgcs
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$(V1) ant -f ./androidgcs/build.xml \
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$(ANT_QUIET) \
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-Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
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-Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
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debug
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.PHONY: androidgcs_clean
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androidgcs_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
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# We want to take snapshots of the UAVOs at each point that they change
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# to allow the GCS to be compatible with as many versions as possible.
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#
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# Find the git hashes of each commit that changes uavobjects with:
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# git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
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UAVO_GIT_VERSIONS := 684620d 43f85d9
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# All versions includes a pseudo collection called "working" which represents
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# the UAVOs in the source tree
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UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
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# This is where the UAVO collections are stored
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UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
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# $(1) git hash of a UAVO snapshot
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define UAVO_COLLECTION_GIT_TEMPLATE
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# Make the output directory that will contain all of the synthetics for the
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# uavo collection referenced by the git hash $(1)
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$$(UAVO_COLLECTION_DIR)/$(1):
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$$(V1) mkdir -p $$(UAVO_COLLECTION_DIR)/$(1)
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# Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
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$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
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$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
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$$(V0) @echo " UAVOTAR $(1)"
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$$(V1) git archive $(1) -o $$@ -- shared/uavobjectdefinition/
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# Extract the uavo xml files from our snapshot
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$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
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$$(V0) @echo " UAVOUNTAR $(1)"
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$$(V1) rm -rf $$@
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$$(V1) mkdir -p $$@
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$$(V1) tar -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || rm -rf $$@
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endef
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# Map the current working directory into the set of UAVO collections
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$(UAVO_COLLECTION_DIR)/srctree:
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$(V1) mkdir -p $@
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$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
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$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
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$(V1) ln -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
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# $(1) git hash (or symbolic name) of a UAVO snapshot
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define UAVO_COLLECTION_BUILD_TEMPLATE
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# This leaves us with a (broken) symlink that points to the full sha1sum of the collection
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$$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
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# Compute the sha1 hash for this UAVO collection
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# The sed bit truncates the UAVO hash to 16 hex digits
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$$(V1) python $$(ROOT_DIR)/make/scripts/version-info.py \
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--path=$$(ROOT_DIR) \
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--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
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--format='$$$${UAVOSHA1TXT}' | \
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sed -e 's|\(................\).*|\1|' > $$@
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$$(V0) @echo " UAVOHASH $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
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# Generate the java uavobjects for this UAVO collection
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$$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
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$$(V0) @echo " UAVOJAVA $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
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$$(V1) mkdir -p $$@
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$$(V1) ( \
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cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
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$$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
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)
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# Build a jar file for this UAVO collection
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$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
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$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
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$$(V0) @echo " UAVOJAR $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
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$$(V1) ( \
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HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
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cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
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javac java/*.java \
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$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
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$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
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$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
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-d . && \
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find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
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jar cf tmp_uavobjects.jar @classlist.txt && \
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$$(ANDROID_DX) \
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--dex \
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--output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
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tmp_uavobjects.jar && \
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ln -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
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)
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endef
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# One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
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$(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
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# One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
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$(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
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.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
|
|
PIOS := $(ROOT_DIR)/flight/PiOS
|
|
FLIGHTLIB := $(ROOT_DIR)/flight/Libraries
|
|
OPMODULEDIR := $(ROOT_DIR)/flight/Modules
|
|
OPUAVOBJ := $(ROOT_DIR)/flight/targets/UAVObjects
|
|
OPUAVTALK := $(ROOT_DIR)/flight/targets/UAVTalk
|
|
HWDEFS := $(ROOT_DIR)/flight/targets/board_hw_defs
|
|
DOXYGENDIR := $(ROOT_DIR)/flight/Doc/Doxygen
|
|
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 revolution revomini simposix 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)
|
|
|
|
# FIXME: The BU image doesn't work for F4 boards so we need to
|
|
# filter them out to prevent errors.
|
|
BU_BOARDS := $(filter-out revolution osd, $(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 $(ROOT_DIR)/flight/targets/OpenPilot --file=$(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
|
|
#
|
|
##############################
|
|
|
|
UT_TARGETS := logfs
|
|
.PHONY: ut_all
|
|
ut_all: $(addprefix ut_, $(UT_TARGETS))
|
|
|
|
UT_OUT_DIR := $(BUILD_DIR)/unit_tests
|
|
|
|
$(UT_OUT_DIR):
|
|
$(V1) mkdir -p $@
|
|
|
|
ut_%: $(UT_OUT_DIR)
|
|
$(V1) cd $(ROOT_DIR)/flight/tests/$* && \
|
|
$(MAKE) --no-print-directory \
|
|
BUILD_TYPE=ut \
|
|
BOARD_SHORT_NAME=$* \
|
|
TCHAIN_PREFIX="" \
|
|
REMOVE_CMD="$(RM)" \
|
|
\
|
|
TARGET=$* \
|
|
OUTDIR="$(UT_OUT_DIR)/$*" \
|
|
\
|
|
PIOS=$(PIOS) \
|
|
OPUAVOBJ=$(OPUAVOBJ) \
|
|
OPUAVTALK=$(OPUAVTALK) \
|
|
FLIGHTLIB=$(FLIGHTLIB) \
|
|
\
|
|
$*
|
|
|
|
.PHONY: ut_clean
|
|
ut_clean:
|
|
$(V0) @echo " CLEAN $@"
|
|
$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
|
|
|
|
##############################
|
|
#
|
|
# 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
|