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build: support all copter frame types on all boards

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This commit is contained in:
Andrew Tridgell 2013-11-13 09:06:20 +11:00
parent 159d6320bf
commit 6deeca1cc0
3 changed files with 22 additions and 138 deletions
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4
mk/px4_targets.mk
View File

@ -43,7 +43,7 @@ module_mk:
$(v) echo "SRCS = Build.$(SKETCH)/$(SKETCH).cpp $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk
$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk
px4-v1: $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
px4-v1: showflags $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
$(RULEHDR)
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V1_CONFIG_FILE)
$(v) cp $(PWD)/$(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/
@ -52,7 +52,7 @@ px4-v1: $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
px4-v2: $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
px4-v2: showflags $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
$(RULEHDR)
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V2_CONFIG_FILE)
$(v) cp $(PWD)/$(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/

5
mk/sketch_sources.mk
View File

@ -62,9 +62,12 @@ else
v =
endif
showflags:
@echo "HAL_BOARD=$(HAL_BOARD) TOOLCHAIN=$(TOOLCHAIN) EXTRAFLAGS=$(EXTRAFLAGS)"
#
# Build the sketch.cpp file
$(SKETCHCPP): $(SKETCHCPP_SRC)
$(SKETCHCPP): showflags $(SKETCHCPP_SRC)
@echo "building $(SKETCHCPP)"
$(RULEHDR)
$(v)$(AWK) -v mode=header '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) > $@

151
mk/targets.mk
View File

@ -29,148 +29,29 @@ empty: HAL_BOARD = HAL_BOARD_EMPTY
empty: TOOLCHAIN = AVR
empty: all
# cope with HIL targets
%-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
%-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
nologging: EXTRAFLAGS += "-DLOGGING_ENABLED=DISABLED "
nologging: all
# cope with copter and hil targets
FRAMES = quad tri hexa y6 octa octa-quad heli
BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux
nogps: EXTRAFLAGS += "-DGPS_PROTOCOL=GPS_PROTOCOL_NONE "
nogps: nologging
define frame_template
$(1)-$(2) : EXTRAFLAGS += "-DFRAME_CONFIG=$(shell echo $(2) | tr a-z A-Z | sed s/-/_/g)_FRAME "
$(1)-$(2) : $(1)
$(1)-$(2)-hil : $(1)-$(2)
$(1)-$(2)-hilsensors : $(1)-$(2)
$(1)-hil : $(1)
$(1)-hilsensors : $(1)
endef
clidisabled-nologging: EXTRAFLAGS += "-DCLI_ENABLED=DISABLED "
clidisabled-nologging: nologging
hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
hil: apm1
hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
apm1-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
apm1-hil: apm1
apm2-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
apm2-hil: apm2
apm1-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
apm1-hilsensors: apm1
apm2-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
apm2-hilsensors: apm2
apm2-nologging: EXTRAFLAGS += "-DLOGGING_ENABLED=DISABLED "
apm2-nologging: apm2
heli: EXTRAFLAGS += "-DFRAME_CONFIG=HELI_FRAME "
heli: all
dmp: EXTRAFLAGS += "-DDMP_ENABLED=ENABLED"
dmp: apm2
apm1-quad: EXTRAFLAGS += "-DFRAME_CONFIG=QUAD_FRAME "
apm1-quad: apm1
apm1-quad-hil: EXTRAFLAGS += "-DFRAME_CONFIG=QUAD_FRAME "
apm1-quad-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
apm1-quad-hil: apm1
apm1-tri: EXTRAFLAGS += "-DFRAME_CONFIG=TRI_FRAME "
apm1-tri: apm1
apm1-hexa: EXTRAFLAGS += "-DFRAME_CONFIG=HEXA_FRAME "
apm1-hexa: apm1
apm1-y6: EXTRAFLAGS += "-DFRAME_CONFIG=Y6_FRAME "
apm1-y6: apm1
apm1-octa: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_FRAME "
apm1-octa: apm1
apm1-octa-quad: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_QUAD_FRAME "
apm1-octa-quad: apm1
apm1-heli: EXTRAFLAGS += "-DFRAME_CONFIG=HELI_FRAME "
apm1-heli: apm1
apm1-heli-hil: EXTRAFLAGS += "-DFRAME_CONFIG=HELI_FRAME "
apm1-heli-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
apm1-heli-hil: apm1
apm2-quad: EXTRAFLAGS += "-DFRAME_CONFIG=QUAD_FRAME "
apm2-quad: apm2
apm2-quad-hil: EXTRAFLAGS += "-DFRAME_CONFIG=QUAD_FRAME "
apm2-quad-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
apm2-quad-hil: apm2
apm2-tri: EXTRAFLAGS += "-DFRAME_CONFIG=TRI_FRAME "
apm2-tri: apm2
apm2-hexa: EXTRAFLAGS += "-DFRAME_CONFIG=HEXA_FRAME "
apm2-hexa: apm2
apm2-y6: EXTRAFLAGS += "-DFRAME_CONFIG=Y6_FRAME "
apm2-y6: apm2
apm2-octa: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_FRAME "
apm2-octa: apm2
apm2-octa-quad: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_QUAD_FRAME "
apm2-octa-quad: apm2
apm2-heli: EXTRAFLAGS += "-DFRAME_CONFIG=HELI_FRAME "
apm2-heli: apm2
apm2-heli-hil: EXTRAFLAGS += "-DFRAME_CONFIG=HELI_FRAME "
apm2-heli-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
apm2-heli-hil: apm2
px4-quad: EXTRAFLAGS += "-DFRAME_CONFIG=QUAD_FRAME "
px4-quad: px4
px4-quad-hil: EXTRAFLAGS += "-DFRAME_CONFIG=QUAD_FRAME -DHIL_MODE=HIL_MODE_ATTITUDE "
px4-quad-hil: px4
px4-tri: EXTRAFLAGS += "-DFRAME_CONFIG=TRI_FRAME "
px4-tri: px4
px4-hexa: EXTRAFLAGS += "-DFRAME_CONFIG=HEXA_FRAME "
px4-hexa: px4
px4-y6: EXTRAFLAGS += "-DFRAME_CONFIG=Y6_FRAME "
px4-y6: px4
px4-octa: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_FRAME "
px4-octa: px4
px4-octa-quad: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_QUAD_FRAME "
px4-octa-quad: px4
px4-heli: EXTRAFLAGS += "-DFRAME_CONFIG=HELI_FRAME "
px4-heli: px4
px4-heli-hil: EXTRAFLAGS += "-DFRAME_CONFIG=HELI_FRAME -DHIL_MODE=HIL_MODE_ATTITUDE "
px4-heli-hil: px4
px4-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_ATTITUDE "
px4-hil: px4
px4-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
px4-hilsensors: px4
# generate targets of the form BOARD-FRAME and BOARD-FRAME-HIL
$(foreach board,$(BOARDS),$(foreach frame,$(FRAMES),$(eval $(call frame_template,$(board),$(frame)))))
apm2beta: EXTRAFLAGS += "-DAPM2_BETA_HARDWARE "
apm2beta: apm2
sitl-octa: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_FRAME "
sitl-octa: sitl
sitl-hexa: EXTRAFLAGS += "-DFRAME_CONFIG=HEXA_FRAME "
sitl-hexa: sitl
sitl-y6: EXTRAFLAGS += "-DFRAME_CONFIG=OCTA_FRAME "
sitl-y6: sitl
obc-sitl: EXTRAFLAGS += "-DOBC_FAILSAFE=ENABLED "
obc-sitl: EXTRAFLAGS += "-DSERIAL_BUFSIZE=512 "
obc-sitl: sitl