mirror of https://github.com/ArduPilot/ardupilot
build: remove remaining make build
This commit is contained in:
Andrew Tridgell
parent
088442880e
commit
f056391fea
52
mk/apm.mk
52
mk/apm.mk
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@ -1,52 +0,0 @@
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# find the mk/ directory, which is where this makefile fragment
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# lives. (patsubst strips the trailing slash.)
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SYSTYPE := $(shell uname)
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ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
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MK_DIR := $(shell cygpath -m ../mk)
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else
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MK_DIR := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
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endif
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include $(MK_DIR)/environ.mk
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# short-circuit build for the configure target
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ifeq ($(MAKECMDGOALS),configure)
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include $(MK_DIR)/configure.mk
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else
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# short-circuit build for the help target
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include $(MK_DIR)/help.mk
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# common makefile components
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include $(MK_DIR)/targets.mk
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include $(MK_DIR)/sketch_sources.mk
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include $(SKETCHBOOK)/modules/uavcan/libuavcan/include.mk
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ifneq ($(MAKECMDGOALS),clean)
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# board specific includes
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ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
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include $(MK_DIR)/board_native.mk
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endif
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ifeq ($(HAL_BOARD),HAL_BOARD_LINUX)
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include $(MK_DIR)/board_linux.mk
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endif
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ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
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include $(MK_DIR)/board_px4.mk
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endif
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ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN)
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include $(MK_DIR)/board_vrbrain.mk
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endif
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ifeq ($(HAL_BOARD),HAL_BOARD_F4LIGHT)
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include $(MK_DIR)/board_F4Light.mk
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endif
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endif
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endif
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@ -1,376 +0,0 @@
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TOOLCHAIN = ARM
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ARM_CXX := arm-none-eabi-g++
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ARM_CC := arm-none-eabi-gcc
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ARM_AS := arm-none-eabi-gcc
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ARM_AR := arm-none-eabi-ar
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#ARM_LD := arm-none-eabi-g++
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ARM_LD := arm-none-eabi-ld
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ARM_GDB := arm-none-eabi-gdb
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ARM_OBJCOPY := arm-none-eabi-objcopy
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SIZE := arm-none-eabi-size
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DISAS := arm-none-eabi-objdump
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#TOOLCHAIN = arm-none-eabi
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include $(MK_DIR)/find_tools.mk
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.DEFAULT_GOAL := all
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##
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## Target-specific configuration. This determines some compiler and
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## linker options/flags.
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##
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PATH:=$(PATH):/usr/local/bin
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# these default to a Maple Flash build.
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BOARD ?= f4light_Revolution
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MEMORY_TARGET ?= flash
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##
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## Useful paths, constants, etc.
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##
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STFLASH := /usr/local/stlink/st-flash
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STUTIL := /usr/local/stlink/st-util
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BL_ADDRESS := 0x08000000
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FLASH_ADDRESS := 0x08010000
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UPLOADER := dfu-util
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#leaflabs bootloader
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USBID := 1EAF:0003
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BLDROOT := $(SRCROOT)/..
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#BUILD_PATH := $(BLDROOT)/build
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BUILD_PATH := $(BUILDROOT)
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LIBRARIES_PATH := $(BLDROOT)/libraries
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HAL_PATH := $(LIBRARIES_PATH)/AP_HAL_F4Light
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WIRISH_PATH := $(HAL_PATH)/wirish
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BOARDS_PATH := $(HAL_PATH)/boards
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HARDWARE_PATH := $(HAL_PATH)/hardware
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HAL_HW_PATH := $(HAL_PATH)/hardware/hal
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STM32_PATH := $(HARDWARE_PATH)/STM32F4xx_DSP_StdPeriph_Lib_V1.1.0
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STM32USB_PATH := $(HARDWARE_PATH)/STM32_USB_Driver
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cpu_flags := -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
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FIRMWARE_PATH := $(BLDROOT)/$(SKETCH)
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# List of input files to the sketch.cpp file in the order they should be appended to create it
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LIBRARY_INCLUDES :=
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SUPPORT_PATH := $(BLDROOT)/libraries/AP_HAL_F4Light/support
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TOOLS_PATH := $(BLDROOT)/libraries/AP_HAL_F4Light/support/tools
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# Support files for linker
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LDDIR := $(BOARDS_PATH)/$(BOARD)/ld
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BOOTLOADERS := $(BLDROOT)/Tools/bootloaders
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APJTOOL := $(BLDROOT)/Tools/ardupilotwaf/px_mkfw.py
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# $(BOARD)- and $(MEMORY_TARGET)-specific configuration
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include $(BOARDS_PATH)/$(BOARD)/target-config.mk
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##
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## Compilation flags
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##
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EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_BYTESWAP_H=0
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EXTRAFLAGS += $(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DSKETCH_MAIN=ArduPilot_main
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GITFLAGS := -DGIT_VERSION="\"$(GIT_VERSION) $(shell date --rfc-3339=date)\""
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#-Werror
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WARNFLAGS = -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-psabi -Wno-unused-parameter -Wno-error=cast-align -Wno-error=unused-but-set-variable
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WARNFLAGS += -Wwrite-strings -Wformat=2 -Wshadow -Wfloat-equal -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-pragmas
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WARNFLAGS += -Wextra -Wlogical-op -Wno-unknown-pragmas -Wno-redundant-decls -Wno-packed -Wno-error=double-promotion -Wno-error=type-limits
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WARNFLAGS += -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=unused-parameter -Wno-missing-field-initializers
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WARNFLAGS += -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Werror=format-security -Werror=array-bounds
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WARNFLAGS += -Wno-error=unused-label -Wno-trigraphs
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OPTFLAGS = -Os
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OPTFLAGS += -fsingle-precision-constant -g3 -fno-strict-aliasing -fomit-frame-pointer -frename-registers
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#-fno-strength-reduce
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OPTFLAGS += -fno-builtin-printf -fno-aggressive-loop-optimizations -fpredictive-commoning
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#OPTFLAGS += -fassociative-math -freciprocal-math -ffast-math - cause EKF errors
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OPTFLAGS += -fno-signed-zeros -fno-trapping-math
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OPTFLAGS += -finline-functions-called-once -fearly-inlining -finline-small-functions
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OPTFLAGS += -fmerge-all-constants
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WARNFLAGSCXX = -Wno-reorder
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DEPFLAGS = -MD -MT $@
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GLOBAL_FLAGS := -D$(VECT_BASE_ADDR)
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GLOBAL_FLAGS += -DBOARD_$(BOARD)
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GLOBAL_FLAGS += -DMCU_$(MCU)
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GLOBAL_FLAGS += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
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GLOBAL_FLAGS += -DSTM32F4XX
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GLOBAL_FLAGS += -DUSE_STDPERIPH_DRIVER
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GLOBAL_FLAGS += -DARM_MATH_CM4
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GLOBAL_FLAGS += -DUSE_OTG_FS_CORE
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GLOBAL_FLAGS += -DUSE_USB_OTG_FS
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GLOBAL_FLAGS += -DUSE_EMBEDDED_PHY
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GLOBAL_FLAGS += -D__FPU_PRESENT
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GLOBAL_FLAGS += -D__FPU_USED=1
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GLOBAL_FLAGS += -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
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GLOBAL_FLAGS += $(WARNFLAGS) $(DEPFLAGS) $(EXTRAFLAGS) $(OPTS)
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#
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GLOBAL_FLAGS += -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
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GLOBAL_FLAGS += -ffunction-sections
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GLOBAL_FLAGS += -fdata-sections
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#Produce debugging information in the operating system's native format
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GLOBAL_FLAGS += -ggdb
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#GLOBAL_FLAGS += -v -save-temps # for GCC bugreport
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# GLOBAL_CFLAGS -----------------------------------------------------------------------------------
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GLOBAL_CFLAGS := $(cpu_flags)
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#GLOBAL_CFLAGS += -nostdlib #Do not use the standard system startup files or libraries when linking
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GLOBAL_CFLAGS += -Wall #This enables all the warnings about constructions that some users consider questionable, and that are easy to avoid (or modify to prevent the warning), even in conjunction with macros
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GLOBAL_CFLAGS += $(GLOBAL_FLAGS) $(OPTFLAGS)
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GLOBAL_CFLAGS += -include $(BOARDS_PATH)/$(BOARD)/board.h
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# GLOBAL_CXXFLAGS ---------------------------------------------------------------------------------
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GLOBAL_CXXFLAGS := -fno-rtti #Disable generation of information about every class with virtual functions for use by the C++ runtime type identification features
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GLOBAL_CXXFLAGS += -fno-exceptions -fno-threadsafe-statics # not true C++
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GLOBAL_CXXFLAGS += -fconserve-space -fno-enforce-eh-specs -fno-use-cxa-atexit
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GLOBAL_CXXFLAGS += -std=gnu++11
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# Downgrade some diagnostics about nonconformant code from errors to warnings. Thus, using "-fpermissive" will allow some nonconforming code to compile.
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GLOBAL_CXXFLAGS += $(GLOBAL_CFLAGS)
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# -fpermissive
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# missing definitions
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GLOBAL_CXXFLAGS += -c -include $(WIRISH_PATH)/defs.h
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# GLOBAL_ASFLAGS ----------------------------------------------------------------------------------
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GLOBAL_ASFLAGS := $(cpu_flags)
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GLOBAL_ASFLAGS += -x assembler-with-cpp
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GLOBAL_ASFLAGS += $(GLOBAL_FLAGS) $(OPTFLAGS)
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# GLOBAL_LDFLAGS ----------------------------------------------------------------------------------
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LDFLAGS := $(cpu_flags)
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LDFLAGS += -static
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LDFLAGS += -lm -lgcc
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LDFLAGS += -Wall
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LDFLAGS += -Wl,--gc-sections
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LDFLAGS += -Wl,--cref
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#LDFLAGS += -Wl,--print-gc-sections
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LDFLAGS += -Wl,-Map -Wl,$(BUILD_PATH)/$(BOARD).map
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LDFLAGS += -T$(LDDIR)/$(LDSCRIPT)
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LDFLAGS += -L$(LDDIR)
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LDFLAGS += -Wl,--warn-common
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# -Wl,--verbose
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#let's linker optimize whole program itself
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LDFLAGS += -Wl,--relax
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#LDFLAGS += -fwhole-program
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##
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# -fwhole-program
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#--plugin=/usr/local/arm-none-eabi/lib/gcc/arm-none-eabi/5.2.1/liblto_plugin.so
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# -flto -fuse-linker-plugin
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# used to collect files from HAL folders tree
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TGT_BIN :=
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COREINCLUDES = -I$(HAL_HW_PATH) -I$(STM32_PATH) -I$(WIRISH_PATH) -I$(BOARDS_PATH)/$(BOARD) -I$(STM32USB_PATH) \
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-I$(HARDWARE_PATH) \
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-I$(STM32_PATH)/Libraries/STM32F4xx_StdPeriph_Driver/inc \
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-I$(STM32_PATH)/Libraries/CMSIS/Include \
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-I$(STM32_PATH)/Libraries/CMSIS/Device/ST/STM32F4xx/Include \
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-I$(BUILDROOT)/libraries/GCS_MAVLink/ \
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-I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v2.0
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TGT_ASFLAGS = $(COREINCLUDES)
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##
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## Build rules and useful templates
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##
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include $(MK_DIR)/find_tools.mk
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# all subfolder's rules
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include $(WIRISH_PATH)/rules.mk
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include $(HARDWARE_PATH)/hal/rules.mk
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include $(HARDWARE_PATH)/4way/rules.mk
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include $(HARDWARE_PATH)/sd/rules.mk
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include $(HARDWARE_PATH)/STM32_USB_Driver/rules.mk
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include $(HARDWARE_PATH)/STM32F4xx_DSP_StdPeriph_Lib_V1.1.0/rules.mk
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include $(MK_DIR)/build_rules.mk
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LIBGCC := $(shell $(CC) $(GLOBAL_FLAGS) -print-libgcc-file-name)
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CFLAGS = $(GLOBAL_CFLAGS) $(TGT_CFLAGS) $(COREINCLUDES) -I$(LIBRARIES_PATH) $(LIBRARY_INCLUDES)
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CXXFLAGS = $(GLOBAL_CXXFLAGS) $(TGT_CFLAGS) $(COREINCLUDES) -I$(LIBRARIES_PATH) $(LIBRARY_INCLUDES) $(GITFLAGS)
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ASFLAGS = $(GLOBAL_ASFLAGS) $(TGT_ASFLAGS)
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##
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## Set all submodules here
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##
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SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES)
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SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES)
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################################################################################
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# Built products
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#
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# Library object files
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LIBOBJS := $(SKETCHLIBOBJS)
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# The ELF file
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SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
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BUILDELF = $(notdir $(SKETCHELF))
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# HEX file
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SKETCHHEX = $(BUILDROOT)/$(SKETCH).hex
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# BIN file
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SKETCHBIN = $(BUILDROOT)/$(SKETCH).bin
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# EEP file
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SKETCHEEP = $(BUILDROOT)/$(SKETCH).eep
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# Map file
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SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
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# All of the objects that may be built
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ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
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# All of the dependency files that may be generated
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ALLDEPS = $(ALLOBJS:%.o=%.d)
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CAT := cat
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FIND := /usr/bin/find
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################################################################################
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# Targets
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#
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all: $(SKETCHELF) $(SKETCHEEP) $(BUILD_PATH)/$(BOARD).bin
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print-%:
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echo "$*=$($*)"
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.PHONY: upload
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#upload via maple bootloader
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f4light-maple-upload: $(SKETCHBIN)
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$(LIBMAPLE_PATH)/support/scripts/reset.py && sleep 1 && $(UPLOADER) -a1 -d $(USBID) -D $(SKETCHBIN) -R
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#upload via BOOT0 hardware bootloader
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f4light-upload: $(SKETCHBIN)
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$(UPLOADER) -a 0 --dfuse-address $(FLASH_ADDRESS) -D $(SKETCHBIN) -R
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# sorry byt I use ST_LINK and SWD, not JTAG - @NG
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#f4light-debug:
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# $(AVARICE) --mkII --capture --jtag usb :4242 & \
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# gnome-terminal -x $(GDB) $(SKETCHELF) & \
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# echo -e '\n\nat the gdb prompt type "target remote localhost:4242"'
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## this allows you to flash your image via JTAG for when you
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## have completely broken your USB
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#f4light-jtag-program:
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# $(AVARICE) --mkII --jtag usb --erase --program --file $(SKETCHELF)
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f4light-debug:
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$(STUTIL) -m -p 4242
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## this allows you to flash your image via SWD for when you have completely broken your USB
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f4light-program:
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$(STFLASH) --reset write $(SKETCHBIN) $(FLASH_ADDRESS)
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################################################################################
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# Rules
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#
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# fetch dependency info from a previous build if any of it exists
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-include $(ALLDEPS)
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f4light-clean: clean
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$(v) $(FIND) $(HAL_PATH) -type f -name "*.d" -delete
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$(v) $(FIND) $(HAL_PATH) -type f -name "*.o" -delete
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$(v) $(FIND) $(HAL_PATH) -type f -name "*.i" -delete
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$(v) $(FIND) $(HAL_PATH) -type f -name "*.ii" -delete
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$(v) $(FIND) $(HAL_PATH) -type f -name "*.d" -delete
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# Link the final object. this line sets compilation order
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$(SKETCHELF): $(LIBOBJS) $(TGT_BIN) $(BUILD_PATH)/main.o $(SKETCHOBJS)
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$(RULEHDR)
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# $(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
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$(SILENT_LD) $(CXX) $(LDFLAGS) -o $@ $(TGT_BIN) $(BUILD_PATH)/main.o $(SKETCHOBJS) $(LIBOBJS) $(LIBS) $(LIBGCC) -Wl,-Map,$(BUILD_PATH)/$(BOARD).map
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# $(v) $(LD) $(LDFLAGS) -Map $(BUILD_PATH)/$(BOARD).map -o $(TGT_BIN) --start-group $(BUILD_PATH)/main.o $(SKETCHOBJS) $(LIBOBJS) $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
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#
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$(v)cp $(SKETCHELF) .
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@echo "Firmware is in $(BUILDELF)"
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# Create the eep file
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$(SKETCHEEP): $(SKETCHELF)
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$(RULEHDR)
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$(v)$(OBJCOPY) -O ihex -j.eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 $< $@
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$(BUILD_PATH)/main.o: $(WIRISH_PATH)/main.cxx
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$(SILENT_CXX) $(CXX) $(CXXFLAGS) $(LIBRARY_INCLUDES) -o $@ -c $<
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$(BUILD_PATH)/$(BOARD).bin: $(SKETCHELF)
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$(SILENT_OBJCOPY) $(OBJCOPY) -v -Obinary $(SKETCHELF) --gap-fill 0xFF $@ 1>/dev/null
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$(OBJCOPY) -v -Oihex $(SKETCHELF) $(BUILD_PATH)/$(BOARD).hex 1>/dev/null
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$(SILENT_DISAS) $(DISAS) -S $(SKETCHELF) > $(BUILD_PATH)/$(BOARD).disas
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@echo " "
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$(TOOLS_PATH)/dfu-convert --ihex $(BUILD_PATH)/$(BOARD).hex $(BUILD_PATH)/$(BOARD).dfu
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# python $(APJTOOL) --image $(BUILD_PATH)/$(BOARD).bin --prototype $(BUILDROOT)/apj.prototype > $(BUILD_PATH)/$(BOARD).apj
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python $(APJTOOL) --image $(BUILD_PATH)/$(BOARD).bin --board_id $(BOARD_TYPE) --board_revision $(BOARD_REV) > $(BUILD_PATH)/$(BOARD).apj
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dd if=/dev/zero ibs=1k count=64 | tr "\000" "\377" >$(BUILDROOT)/rom.bin
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dd if=$(BOOTLOADERS)/$(BOOTLOADER).bin of=$(BUILDROOT)/rom.bin conv=notrunc
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(printf '%02x %02x' "$(BOARD_TYPE)" "$(BOARD_REV)" ) | xxd -r -p - $(BUILDROOT)/board_id.bin
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dd if=$(BUILDROOT)/board_id.bin of=$(BUILDROOT)/rom.bin obs=1 seek=16368 conv=notrunc
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(cat $(BUILDROOT)/rom.bin; cat $(BUILD_PATH)/$(BOARD).bin) > $(BUILD_PATH)/$(BOARD)_bl.bin
|
||||
$(TOOLS_PATH)/dfu-convert -b $(BL_ADDRESS):$(BUILDROOT)/rom.bin -b $(FLASH_ADDRESS):$(BUILD_PATH)/$(BOARD).bin $(BUILD_PATH)/$(BOARD)_bl.dfu
|
||||
$(v)cp $(BUILD_PATH)/$(BOARD).hex .
|
||||
$(v)cp $(BUILD_PATH)/$(BOARD).bin .
|
||||
$(v)cp $(BUILD_PATH)/$(BOARD).dfu .
|
||||
$(v)cp $(BUILD_PATH)/$(BOARD).apj .
|
||||
$(v)cp $(BUILD_PATH)/$(BOARD)_bl.bin .
|
||||
$(v)cp $(BUILD_PATH)/$(BOARD)_bl.dfu .
|
||||
@echo "Object file sizes:"
|
||||
@find $(BUILD_PATH) -iname "*.o" | xargs $(SIZE) -t > $(BUILD_PATH)/$(BOARD).sizes
|
||||
cd $(HAL_PATH); find . -follow -iname "*.o" | xargs $(SIZE) -t >> $(BUILD_PATH)/$(BOARD).sizes
|
||||
@cat $(BUILD_PATH)/$(BOARD).sizes
|
||||
@echo " "
|
||||
@echo "Final Size:"
|
||||
@$(SIZE) $<
|
||||
@echo $(MEMORY_TARGET) > $(BUILD_PATH)/build-type
|
||||
|
||||
#
|
||||
# Build sketch objects
|
||||
#
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
TOOLCHAIN = NATIVE
|
||||
|
||||
include $(MK_DIR)/find_tools.mk
|
||||
|
||||
# Linux build is just the same as SITL for now
|
||||
LIBS = -lm -pthread -lrt
|
||||
include $(MK_DIR)/board_native.mk
|
||||
include $(MK_DIR)/upload_firmware.mk
|
||||
|
|
@ -1,146 +0,0 @@
|
|||
TOOLCHAIN = NATIVE
|
||||
|
||||
include $(MK_DIR)/find_tools.mk
|
||||
|
||||
UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
|
||||
UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
|
||||
|
||||
# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
|
||||
EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
|
||||
|
||||
EXTRAFLAGS += -DHAVE_ENDIAN_H -DHAVE_BYTESWAP_H
|
||||
|
||||
# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
|
||||
# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
|
||||
EXTRAFLAGS += -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr
|
||||
|
||||
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
|
||||
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
|
||||
|
||||
#
|
||||
# Tool options
|
||||
#
|
||||
DEFINES = -DF_CPU=$(F_CPU)
|
||||
DEFINES += -DSKETCH=\"$(SKETCH)\" -DSKETCHNAME="\"$(SKETCH)\"" -DSKETCHBOOK="\"$(SKETCHBOOK)\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
|
||||
DEFINES += $(EXTRAFLAGS)
|
||||
DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE)
|
||||
WARNFLAGS = -Wall -Wextra -Wformat -Wshadow -Wpointer-arith -Wcast-align \
|
||||
-Wlogical-op -Wwrite-strings -Wformat=2 -Wno-unused-parameter -Wno-unknown-pragmas -Wno-trigraphs
|
||||
WARNFLAGSCXX = \
|
||||
-Wno-missing-field-initializers \
|
||||
-Wno-reorder \
|
||||
-Werror=format-security \
|
||||
-Werror=array-bounds \
|
||||
-Werror=unused-but-set-variable \
|
||||
-Werror=uninitialized \
|
||||
-Werror=init-self \
|
||||
-Wfatal-errors \
|
||||
-Wundef \
|
||||
-Wno-unknown-warning-option \
|
||||
-Wno-trigraphs
|
||||
DEPFLAGS = -MD -MP -MT $@
|
||||
|
||||
CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
|
||||
COPTS = -ffunction-sections -fdata-sections -fsigned-char
|
||||
|
||||
ASOPTS = -x assembler-with-cpp
|
||||
|
||||
# features: TODO detect dependecy and make them optional
|
||||
HAVE_LTTNG_UST=
|
||||
|
||||
ifeq ($(HAVE_LTTNG_UST),1)
|
||||
DEFINES += -DHAVE_LTTNG_UST=1
|
||||
LIBS += -llttng-ust -ldl
|
||||
endif
|
||||
|
||||
# disable as this breaks distcc
|
||||
#ifneq ($(SYSTYPE),Darwin)
|
||||
#LISTOPTS = -adhlns=$(@:.o=.lst)
|
||||
#endif
|
||||
|
||||
CPUFLAGS = -D_GNU_SOURCE
|
||||
CPULDFLAGS = -g
|
||||
OPTFLAGS ?= -O3 -g
|
||||
|
||||
CXXFLAGS = -g $(CPUFLAGS) $(DEFINES) $(OPTFLAGS)
|
||||
CXXFLAGS += -std=gnu++11 $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS)
|
||||
CFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(OPTFLAGS)
|
||||
CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS)
|
||||
ASFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(DEPFLAGS)
|
||||
ASFLAGS += $(ASOPTS)
|
||||
LDFLAGS = -g $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS)
|
||||
|
||||
ifneq ($(SYSTYPE),Darwin)
|
||||
LDFLAGS += -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP)
|
||||
endif
|
||||
|
||||
LIBS ?= -lm -pthread
|
||||
|
||||
ifneq ($(SYSTYPE),Darwin)
|
||||
LIBS += -lrt
|
||||
endif
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
LIBS += -lwinmm
|
||||
endif
|
||||
|
||||
ifeq ($(VERBOSE),)
|
||||
v = @
|
||||
else
|
||||
v =
|
||||
endif
|
||||
|
||||
# Library object files
|
||||
LIBOBJS := $(SKETCHLIBOBJS)
|
||||
|
||||
|
||||
################################################################################
|
||||
# Built products
|
||||
#
|
||||
|
||||
# The ELF file
|
||||
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
||||
BUILDELF = $(notdir $(SKETCHELF))
|
||||
|
||||
# HEX file
|
||||
SKETCHHEX = $(BUILDROOT)/$(SKETCH).hex
|
||||
|
||||
# EEP file
|
||||
SKETCHEEP = $(BUILDROOT)/$(SKETCH).eep
|
||||
|
||||
# Map file
|
||||
SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
|
||||
|
||||
# All of the objects that may be built
|
||||
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
|
||||
|
||||
# All of the dependency files that may be generated
|
||||
ALLDEPS = $(ALLOBJS:%.o=%.d)
|
||||
|
||||
################################################################################
|
||||
# Targets
|
||||
#
|
||||
|
||||
all: $(SKETCHELF)
|
||||
|
||||
print-%:
|
||||
echo "$*=$($*)"
|
||||
|
||||
################################################################################
|
||||
# Rules
|
||||
#
|
||||
|
||||
# fetch dependency info from a previous build if any of it exists
|
||||
-include $(ALLDEPS)
|
||||
|
||||
# Link the final object
|
||||
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
|
||||
@echo "Building $(SKETCHELF)"
|
||||
$(RULEHDR)
|
||||
$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
|
||||
$(v)cp $(SKETCHELF) .
|
||||
@echo "Firmware is in $(BUILDELF)"
|
||||
|
||||
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
|
||||
SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
|
||||
|
||||
include $(MK_DIR)/build_rules.mk
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
TOOLCHAIN = NATIVE
|
||||
include $(MK_DIR)/find_tools.mk
|
||||
include $(MK_DIR)/px4_targets.mk
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
TOOLCHAIN = NATIVE
|
||||
include $(MK_DIR)/find_tools.mk
|
||||
include $(MK_DIR)/vrbrain_targets.mk
|
||||
|
|
@ -1,36 +0,0 @@
|
|||
|
||||
#
|
||||
# Build sketch objects
|
||||
#
|
||||
|
||||
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
|
||||
$(RULEHDR)
|
||||
$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
|
||||
$(RULEHDR)
|
||||
$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/%.o: $(SRCROOT)/%.c $(UAVCAN_HEADERS)
|
||||
$(RULEHDR)
|
||||
$(v)$(CCACHE) $(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/%.o: $(SRCROOT)/%.S
|
||||
$(RULEHDR)
|
||||
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
||||
|
||||
#
|
||||
# Build library objects from sources in the sketchbook
|
||||
#
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
|
||||
$(RULEHDR)
|
||||
$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
|
||||
$(RULEHDR)
|
||||
$(v)$(CCACHE) $(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
|
||||
$(RULEHDR)
|
||||
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
configure:
|
||||
@echo "make configure is no longer required"
|
||||
163
mk/environ.mk
163
mk/environ.mk
|
|
@ -1,163 +0,0 @@
|
|||
# find key paths and system type
|
||||
|
||||
# Save the system type for later use.
|
||||
#
|
||||
SYSTYPE := $(shell uname)
|
||||
|
||||
GIT_VERSION ?= $(shell git rev-parse HEAD | cut -c1-8)
|
||||
EXTRAFLAGS += -DGIT_VERSION="\"$(GIT_VERSION)\""
|
||||
|
||||
# Add missing parts from libc and libstdc++ for all boards
|
||||
EXTRAFLAGS += -I$(SKETCHBOOK)/libraries/AP_Common/missing
|
||||
|
||||
# force LANG to C so awk works sanely on MacOS
|
||||
export LANG=C
|
||||
|
||||
#
|
||||
# Locate the sketch sources based on the initial Makefile's path
|
||||
#
|
||||
SRCROOT := $(realpath $(dir $(firstword $(MAKEFILE_LIST))))
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
# Workaround a $(realpath ) bug on cygwin
|
||||
ifeq ($(SRCROOT),)
|
||||
SRCROOT := $(shell cygpath -m ${CURDIR})
|
||||
$(warning your realpath function is not working)
|
||||
$(warning > setting SRCROOT to $(SRCROOT))
|
||||
endif
|
||||
endif
|
||||
|
||||
#
|
||||
# We need to know the location of the sketchbook. If it hasn't been overridden,
|
||||
# try the parent of the current directory. If there is no libraries directory
|
||||
# there, assume that we are in a library's examples directory and try backing up
|
||||
# further.
|
||||
#
|
||||
ifeq ($(SKETCHBOOK),)
|
||||
SKETCHBOOK := $(shell cd $(SRCROOT)/.. && pwd)
|
||||
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
||||
$(error ERROR: cannot determine sketchbook location - please specify on the commandline with SKETCHBOOK=<path>)
|
||||
endif
|
||||
else
|
||||
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
||||
$(warning WARNING: sketchbook directory $(SKETCHBOOK) contains no libraries)
|
||||
endif
|
||||
endif
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
# Convert cygwin path into a windows normal path
|
||||
SKETCHBOOK := $(shell cygpath ${SKETCHBOOK})
|
||||
endif
|
||||
|
||||
ifneq ($(wildcard $(SKETCHBOOK)/config.mk),)
|
||||
$(info Reading $(SKETCHBOOK)/config.mk)
|
||||
include $(SKETCHBOOK)/config.mk
|
||||
endif
|
||||
|
||||
ifneq ($(wildcard $(SKETCHBOOK)/developer.mk),)
|
||||
$(info Reading $(SKETCHBOOK)/developer.mk)
|
||||
include $(SKETCHBOOK)/developer.mk
|
||||
endif
|
||||
|
||||
#
|
||||
# Work out the sketch name from the name of the source directory.
|
||||
#
|
||||
SKETCH := $(lastword $(subst /, ,$(SRCROOT)))
|
||||
# Workaround a $(lastword ) bug on cygwin
|
||||
ifeq ($(SKETCH),)
|
||||
WORDLIST := $(subst /, ,$(SRCROOT))
|
||||
SKETCH := $(word $(words $(WORDLIST)),$(WORDLIST))
|
||||
endif
|
||||
|
||||
#
|
||||
# Work out where we are going to be building things
|
||||
#
|
||||
TMPDIR ?= /tmp
|
||||
|
||||
ifneq ($(findstring px4, $(MAKECMDGOALS)),)
|
||||
# when building px4 we need all sources to be inside the sketchbook directory
|
||||
# as the NuttX build system relies on it
|
||||
BUILDROOT := $(SKETCHBOOK)/Build.$(SKETCH)
|
||||
endif
|
||||
|
||||
ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
|
||||
# when building vrbrain we need all sources to be inside the sketchbook directory
|
||||
# as the NuttX build system relies on it
|
||||
BUILDROOT := $(SKETCHBOOK)/Build.$(SKETCH)
|
||||
endif
|
||||
|
||||
ifneq ($(findstring vrubrain, $(MAKECMDGOALS)),)
|
||||
# when building vrbrain we need all sources to be inside the sketchbook directory
|
||||
# as the NuttX build system relies on it
|
||||
BUILDROOT := $(SKETCHBOOK)/Build.$(SKETCH)
|
||||
endif
|
||||
|
||||
ifneq ($(findstring vrcore, $(MAKECMDGOALS)),)
|
||||
# when building vrcore we need all sources to be inside the sketchbook directory
|
||||
# as the NuttX build system relies on it
|
||||
BUILDROOT := $(SKETCHBOOK)/Build.$(SKETCH)
|
||||
endif
|
||||
|
||||
ifeq ($(BUILDROOT),)
|
||||
BUILDROOT := $(abspath $(TMPDIR)/$(SKETCH).build)
|
||||
endif
|
||||
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
# Workaround a $(abspath ) bug on cygwin
|
||||
ifeq ($(BUILDROOT),)
|
||||
BUILDROOT := C:$(TMPDIR)/$(SKETCH).build
|
||||
$(warning your abspath function is not working)
|
||||
$(warning > setting BUILDROOT to $(BUILDROOT))
|
||||
else
|
||||
BUILDROOT := $(shell cygpath ${BUILDROOT})
|
||||
endif
|
||||
endif
|
||||
|
||||
ifneq ($(findstring mavlink1, $(MAKECMDGOALS)),)
|
||||
EXTRAFLAGS += -DMAVLINK_PROTOCOL_VERSION=1
|
||||
MAVLINK_SUBDIR=v1.0
|
||||
MAVLINK_WIRE_PROTOCOL=1.0
|
||||
else
|
||||
EXTRAFLAGS += -DMAVLINK_PROTOCOL_VERSION=2
|
||||
MAVLINK_SUBDIR=v2.0
|
||||
MAVLINK_WIRE_PROTOCOL=2.0
|
||||
endif
|
||||
|
||||
ifneq ($(APPDIR),)
|
||||
# this is a recusive PX4 build
|
||||
HAL_BOARD = HAL_BOARD_PX4
|
||||
endif
|
||||
|
||||
# handle target based overrides for board type
|
||||
ifneq ($(findstring px4, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_PX4
|
||||
endif
|
||||
|
||||
ifneq ($(findstring sitl, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_SITL
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_VRBRAIN
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring vrubrain, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_VRBRAIN
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring vrcore, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_VRBRAIN
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring f4light, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_F4LIGHT
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
# default to SITL
|
||||
ifeq ($(HAL_BOARD),)
|
||||
HAL_BOARD = HAL_BOARD_SITL
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
|
@ -1,68 +0,0 @@
|
|||
################################################################################
|
||||
# Tools
|
||||
#
|
||||
|
||||
#
|
||||
# Decide where we are going to look for tools
|
||||
#
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
# use the tools that come with Arduino
|
||||
# use BWK awk
|
||||
AWK = awk
|
||||
FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))))
|
||||
endif
|
||||
ifeq ($(SYSTYPE),Linux)
|
||||
# expect that tools are on the path
|
||||
TOOLPATH := $(subst :, ,$(PATH))
|
||||
FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))))
|
||||
endif
|
||||
ifeq ($(findstring CYGWIN, $(SYSTYPE)),CYGWIN)
|
||||
TOOLPATH := $(subst :, ,$(PATH))
|
||||
FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1).exe,$(TOOLPATH))))
|
||||
endif
|
||||
ifeq ($(findstring MINGW, $(SYSTYPE)),MINGW)
|
||||
# expect that tools are on the path
|
||||
TOOLPATH := $(subst :, ,$(PATH))
|
||||
FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1).exe,$(TOOLPATH))))
|
||||
endif
|
||||
|
||||
NATIVE_CXX := g++
|
||||
NATIVE_CC := gcc
|
||||
NATIVE_AS := gcc
|
||||
NATIVE_AR := ar
|
||||
NATIVE_LD := g++
|
||||
NATIVE_GDB := gdb
|
||||
NATIVE_OBJCOPY := objcopy
|
||||
|
||||
AVARICE := $(call FIND_TOOL,avarice)
|
||||
|
||||
# enable ccache if installed
|
||||
CCACHE := $(call FIND_TOOL,ccache)
|
||||
export CCACHE
|
||||
|
||||
# toolchain used for sitl-arm
|
||||
RPI_CXX := arm-linux-gnueabihf-g++
|
||||
RPI_CC := arm-linux-gnueabihf-gcc
|
||||
RPI_AS := arm-linux-gnueabihf-gcc
|
||||
RPI_AR := arm-linux-gnueabihf-ar
|
||||
RPI_LD := arm-linux-gnueabihf-g++
|
||||
RPI_GDB := arm-linux-gnueabihf-gdb
|
||||
RPI_OBJCOPY := arm-linux-gnueabihf-obj
|
||||
|
||||
CXX = $(CCACHE) $($(TOOLCHAIN)_CXX)
|
||||
CC = $(CCACHE) $($(TOOLCHAIN)_CC)
|
||||
AS = $($(TOOLCHAIN)_AS)
|
||||
AR = $($(TOOLCHAIN)_AR)
|
||||
LD = $($(TOOLCHAIN)_LD)
|
||||
GDB = $($(TOOLCHAIN)_GDB)
|
||||
OBJCOPY = $($(TOOLCHAIN)_OBJCOPY)
|
||||
|
||||
ifeq ($(CXX),)
|
||||
$(error ERROR: cannot find the compiler tools for $(TOOLCHAIN) anywhere on the path $(TOOLPATH))
|
||||
endif
|
||||
|
||||
# Find awk
|
||||
AWK ?= gawk
|
||||
ifeq ($(shell which $(AWK)),)
|
||||
$(error ERROR: cannot find $(AWK) - you may need to install GNU awk)
|
||||
endif
|
||||
32
mk/help.mk
32
mk/help.mk
|
|
@ -1,32 +0,0 @@
|
|||
help:
|
||||
@echo ""
|
||||
@echo " ArduPilot Building"
|
||||
@echo " =================="
|
||||
@echo ""
|
||||
@echo " The following web page has detailed information on building the code"
|
||||
@echo " http://dev.ardupilot.org/wiki/building-the-code/"
|
||||
@echo ""
|
||||
@echo " Linux boards should use waf build system"
|
||||
@echo ""
|
||||
@echo " Before building a target you need to be in the target vehicle type directory"
|
||||
@echo " e.g. ArduPlane, ArduCopter, APMrover2, AntennaTracker"
|
||||
@echo ""
|
||||
@echo " Most targets support a \"-upload\" extension to upload the firmware"
|
||||
@echo " to a connected board. e.g. \"make px4-v2-upload\""
|
||||
@echo ""
|
||||
@echo " Some targets support a \"-debug\" extension to enable a debug build"
|
||||
@echo " (with debug symbols, and without optimisation)"
|
||||
@echo ""
|
||||
@echo " Note that the px4 builds are NOT parallel safe, NO -j flag"
|
||||
@echo ""
|
||||
@echo ""
|
||||
@echo " Targets"
|
||||
@echo " -------"
|
||||
@echo ""
|
||||
@echo " px4-v1 - the PX4v1 board"
|
||||
@echo " px4-v2 - the Pixhawk"
|
||||
@echo " px4-v3 - the Pixhawk with 2M flash"
|
||||
@echo " px4-v4 - the XRacer"
|
||||
@echo " vrbrain - the VRBrain boards"
|
||||
@echo " sitl - the SITL Software In The Loop simulation"
|
||||
@echo " f4light - the OpenPilot Revolution, Revolution Mini, AirbotF4 and similar boards"
|
||||
12
mk/mavgen.mk
12
mk/mavgen.mk
|
|
@ -1,12 +0,0 @@
|
|||
|
||||
# mavlink header generation
|
||||
MAVLINK_DIR := $(SKETCHBOOK)/modules/mavlink/
|
||||
MESSAGE_DEFINITIONS := $(SKETCHBOOK)/modules/mavlink/message_definitions/v1.0
|
||||
MAVLINK_HEADERS := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/ardupilotmega/mavlink.h $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/,*.h) $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/ardupilotmega,*.h)
|
||||
MAVLINK_OUTPUT_DIR := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)
|
||||
|
||||
$(MAVLINK_HEADERS): $(MESSAGE_DEFINITIONS)/ardupilotmega.xml $(MESSAGE_DEFINITIONS)/common.xml
|
||||
echo "Generating MAVLink headers..."
|
||||
#goto mavlink module directory and run the most recent generator script
|
||||
echo "Generating C code using mavgen.py located at" $(SKETCHBOOK)/modules/mavlink/
|
||||
PYTHONPATH=$(MAVLINK_DIR) python $(MAVLINK_DIR)/pymavlink/tools/mavgen.py --lang=C --wire-protocol=$(MAVLINK_WIRE_PROTOCOL) --output=$(MAVLINK_OUTPUT_DIR) $(MESSAGE_DEFINITIONS)/ardupilotmega.xml; if [ $$? -le 0 -o $$? -gt 128 ]; then echo "mavgen: success"; exit 0; else echo "mavgen: failed"; exit 1; fi
|
||||
|
|
@ -1,28 +0,0 @@
|
|||
|
||||
# git submodule support
|
||||
|
||||
define echowarning
|
||||
@echo "WARNING: $1" >&2
|
||||
endef
|
||||
|
||||
define echoallwarnings
|
||||
$(call echowarning)
|
||||
$(call echowarning)
|
||||
$(call echowarning,make build system is deprecated for Linux boards)
|
||||
$(call echowarning,new features are not going to be added anymore)
|
||||
$(call echowarning,See README-WAF.md: https://github.com/ArduPilot/ardupilot/blob/master/README-WAF.md)
|
||||
$(call echowarning)
|
||||
$(call echowarning,The make build system will soon be removed)
|
||||
$(call echowarning)
|
||||
$(call echowarning)
|
||||
endef
|
||||
|
||||
CHECK_MODULES:
|
||||
$(if $(BUILDSYS_DEPRECATED),$(call echoallwarnings))
|
||||
$(v)$(MK_DIR)/check_modules.sh
|
||||
|
||||
.PHONY: CHECK_MODULES
|
||||
all: CHECK_MODULES
|
||||
|
||||
module-update:
|
||||
git submodule update
|
||||
|
|
@ -1,254 +0,0 @@
|
|||
# PX4 build is via external build system
|
||||
|
||||
ifneq ($(PX4_ROOT),)
|
||||
$(error PX4_ROOT found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
|
||||
endif
|
||||
|
||||
ifneq ($(NUTTX_SRC),)
|
||||
$(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
|
||||
endif
|
||||
|
||||
#ifneq ($(UAVCAN_DIR),)
|
||||
#$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
|
||||
#endif
|
||||
|
||||
# these can be overridden in developer.mk
|
||||
PX4FIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
|
||||
PX4NUTTX_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4NuttX
|
||||
UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
|
||||
|
||||
PX4_ROOT := $(shell cd $(PX4FIRMWARE_DIRECTORY) && pwd)
|
||||
NUTTX_ROOT := $(shell cd $(PX4NUTTX_DIRECTORY) && pwd)
|
||||
NUTTX_SRC := $(NUTTX_ROOT)/nuttx/
|
||||
UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
|
||||
|
||||
NUTTX_GIT_VERSION ?= $(shell cd $(NUTTX_SRC) && git rev-parse HEAD | cut -c1-8)
|
||||
PX4_GIT_VERSION ?= $(shell cd $(PX4_ROOT) && git rev-parse HEAD | cut -c1-8)
|
||||
|
||||
EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
|
||||
EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
|
||||
EXTRAFLAGS += -DUAVCAN=1
|
||||
EXTRAFLAGS += -D__STDC_FORMAT_MACROS
|
||||
|
||||
# Add missing parts from libc and libstdc++
|
||||
EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0
|
||||
EXTRAFLAGS += -DHAVE_ENDIAN_H=0
|
||||
EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
|
||||
EXTRAFLAGS += -DHAVE_OCLOEXEC=0
|
||||
|
||||
EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
|
||||
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
|
||||
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
|
||||
|
||||
# we have different config files for V1 and V2
|
||||
PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
|
||||
PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk
|
||||
PX4_V3_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v3_APM.mk
|
||||
PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk
|
||||
PX4_V4PRO_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4pro_APM.mk
|
||||
|
||||
# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
|
||||
# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
|
||||
SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
|
||||
|
||||
WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-attributes -Wno-unknown-pragmas -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Wno-trigraphs
|
||||
OPTFLAGS = -fsingle-precision-constant
|
||||
|
||||
# avoid PX4 submodules
|
||||
export GIT_SUBMODULES_ARE_EVIL = 1
|
||||
|
||||
PYTHONPATH=$(SKETCHBOOK)/mk/PX4/Tools/genmsg/src:$(SKETCHBOOK)/mk/PX4/Tools/gencpp/src
|
||||
export PYTHONPATH
|
||||
|
||||
PX4_MAKE = $(v)+ GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 $(MAKE) -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile.make EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) $(OPTFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
|
||||
PX4_MAKE_ARCHIVES = $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
|
||||
|
||||
HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
|
||||
|
||||
ifneq ($(wildcard $(PX4_ROOT)),)
|
||||
HASHADDER_FLAGS += --px4 "$(PX4_ROOT)"
|
||||
endif
|
||||
ifneq ($(wildcard $(NUTTX_SRC)/..),)
|
||||
HASHADDER_FLAGS += --nuttx "$(NUTTX_SRC)/.."
|
||||
endif
|
||||
HASHADDER_FLAGS += --uavcan "$(UAVCAN_DIR)"
|
||||
|
||||
.PHONY: module_mk
|
||||
module_mk:
|
||||
$(v) echo "Building $(SKETCHBOOK)/module.mk"
|
||||
$(RULEHDR)
|
||||
$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
|
||||
$(v) rm -f $(SKETCHBOOK)/module.mk.new
|
||||
|
||||
px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
|
||||
$(v) echo Building px4-v1
|
||||
$(RULEHDR)
|
||||
$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
||||
$(v) $(PX4_MAKE) px4fmu-v1_APM
|
||||
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v1_APM.build/firmware.elf
|
||||
$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4"
|
||||
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
|
||||
|
||||
px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
|
||||
$(v) echo Building px4-v2
|
||||
$(RULEHDR)
|
||||
$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
||||
$(PX4_MAKE) px4fmu-v2_APM
|
||||
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v2_APM.build/firmware.elf
|
||||
$(v) cp $(PX4_ROOT)/Images/px4fmu-v2_APM.px4 $(SKETCH)-v2.px4
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4"
|
||||
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4"
|
||||
|
||||
px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v3.export $(SKETCHCPP) module_mk px4-io-v2
|
||||
$(v) echo Building px4-v3
|
||||
$(RULEHDR)
|
||||
$(v) cp $(PX4_V3_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
||||
$(PX4_MAKE) px4fmu-v3_APM
|
||||
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v3_APM.build/firmware.elf
|
||||
$(v) cp $(PX4_ROOT)/Images/px4fmu-v3_APM.px4 $(SKETCH)-v3.px4
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v3.px4" "$(SKETCH)-v3.px4"
|
||||
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v3.px4"
|
||||
|
||||
px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
|
||||
$(v) echo Building px4-v4
|
||||
$(RULEHDR)
|
||||
$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
||||
$(PX4_MAKE) px4fmu-v4_APM
|
||||
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4_APM.build/firmware.elf
|
||||
$(v) cp $(PX4_ROOT)/Images/px4fmu-v4_APM.px4 $(SKETCH)-v4.px4
|
||||
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
|
||||
$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmuv4_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4.px4" "$(SKETCH)-v4.px4"
|
||||
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4.px4"
|
||||
|
||||
px4-v4pro: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4pro.export $(SKETCHCPP) module_mk px4-io-v2
|
||||
$(v) echo Building px4-v4pro
|
||||
$(RULEHDR)
|
||||
$(v) cp $(PX4_V4PRO_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
||||
$(PX4_MAKE) px4fmu-v4pro_APM
|
||||
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4pro_APM.build/firmware.elf
|
||||
$(v) cp $(PX4_ROOT)/Images/px4fmu-v4pro_APM.px4 $(SKETCH)-v4pro.px4
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4pro.px4" "$(SKETCH)-v4pro.px4"
|
||||
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4pro.px4"
|
||||
|
||||
# force the 3 build types to not run in parallel. We got bad binaries with incorrect parameter handling
|
||||
# when these were allowed to happen in parallel
|
||||
px4:
|
||||
$(MAKE) px4-v1
|
||||
$(MAKE) px4-v2
|
||||
$(MAKE) px4-v3
|
||||
$(MAKE) px4-v4
|
||||
$(MAKE) px4-v4pro
|
||||
|
||||
px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep
|
||||
$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build $(PX4_ROOT)/Images/*.px4 $(PX4_ROOT)/Images/*.bin
|
||||
$(v) /bin/rm -rf $(PX4_ROOT)/src/modules/uORB/topics $(PX4_ROOT)/src/platforms/nuttx/px4_messages
|
||||
$(v) /bin/rm -rf $(SKETCHBOOK)/modules/uavcan/libuavcan/include/dsdlc_generated
|
||||
$(v) /bin/rm -f $(SRCROOT)/*.o
|
||||
|
||||
px4-cleandep: clean
|
||||
$(v) mkdir -p $(PX4_ROOT)/Build
|
||||
$(v) find $(PX4_ROOT)/Build -type f -name '*.d' | xargs rm -f
|
||||
$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
|
||||
$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
|
||||
$(v) /bin/rm -rf $(SKETCHBOOK)/modules/uavcan/libuavcan/include/dsdlc_generated
|
||||
|
||||
px4-v2-upload-solo: px4-v2
|
||||
scp $(SKETCH)-v2.px4 root@10.1.1.10:/tmp/
|
||||
ssh root@10.1.1.10 PYTHONUNBUFFERED=1 loadPixhawk.py /tmp/ArduCopter-v2.px4
|
||||
ssh root@10.1.1.10 rm /tmp/ArduCopter-v2.px4;
|
||||
|
||||
px4-v1-upload: px4-v1
|
||||
$(RULEHDR)
|
||||
$(v) $(PX4_MAKE) px4fmu-v1_APM upload
|
||||
|
||||
px4-v2-upload: px4-v2
|
||||
$(RULEHDR)
|
||||
$(v) $(PX4_MAKE) px4fmu-v2_APM upload
|
||||
|
||||
px4-v3-upload: px4-v3
|
||||
$(RULEHDR)
|
||||
$(v) $(PX4_MAKE) px4fmu-v3_APM upload
|
||||
|
||||
px4-v4-upload: px4-v4
|
||||
$(RULEHDR)
|
||||
$(v) $(PX4_MAKE) px4fmu-v4_APM upload
|
||||
|
||||
px4-v4pro-upload: px4-v4pro
|
||||
$(RULEHDR)
|
||||
$(v) $(PX4_MAKE) px4fmu-v4pro_APM upload
|
||||
|
||||
px4-upload: px4-v1-upload
|
||||
|
||||
px4-archives-clean:
|
||||
$(v) /bin/rm -rf $(PX4_ROOT)/Archives
|
||||
|
||||
px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
|
||||
$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v1_default EXTRADEFINES="-DARDUPILOT_BUILD"
|
||||
$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin
|
||||
$(v) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
|
||||
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
|
||||
$(v) cp px4io-v1.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
|
||||
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
|
||||
$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmu_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
|
||||
$(v) echo "PX4IOv1 Firmware is in px4io-v1.bin"
|
||||
|
||||
|
||||
px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
|
||||
$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v2_default EXTRADEFINES="-DARDUPILOT_BUILD"
|
||||
$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin
|
||||
$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.elf px4io-v2.elf
|
||||
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
|
||||
$(v) cp px4io-v2.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
|
||||
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
|
||||
$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmuv2_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
|
||||
$(v) echo "PX4IOv2 Firmware is in px4io-v2.bin"
|
||||
|
||||
px4-io: px4-io-v1 px4-io-v2
|
||||
|
||||
# These targets can't run in parallel because they all need to generate a tool
|
||||
# to generate the config.h inside them. This could trigger races if done in
|
||||
# parallel, trying to generate the tool and replacing it while the header is already
|
||||
# being generated
|
||||
#
|
||||
# We could serialize inside PX4Firmware, but it's easier to serialize here
|
||||
# while maintaining the rest of the build parallelized
|
||||
|
||||
.NOTPARALLEL: \
|
||||
$(PX4_ROOT)/Archives/px4fmu-v1.export \
|
||||
$(PX4_ROOT)/Archives/px4fmu-v2.export \
|
||||
$(PX4_ROOT)/Archives/px4fmu-v3.export \
|
||||
$(PX4_ROOT)/Archives/px4fmu-v4.export \
|
||||
$(PX4_ROOT)/Archives/px4fmu-v4pro.export \
|
||||
$(PX4_ROOT)/Archives/px4io-v1.export \
|
||||
$(PX4_ROOT)/Archives/px4io-v2.export
|
||||
|
||||
$(PX4_ROOT)/Archives/px4fmu-v1.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v1"
|
||||
|
||||
$(PX4_ROOT)/Archives/px4fmu-v2.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v2"
|
||||
|
||||
$(PX4_ROOT)/Archives/px4fmu-v3.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v3"
|
||||
|
||||
$(PX4_ROOT)/Archives/px4fmu-v4.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4"
|
||||
|
||||
$(PX4_ROOT)/Archives/px4fmu-v4pro.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4pro"
|
||||
|
||||
$(PX4_ROOT)/Archives/px4io-v1.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1"
|
||||
|
||||
$(PX4_ROOT)/Archives/px4io-v2.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v2"
|
||||
|
||||
px4-archives:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v3 px4fmu-v4 px4fmu-v4pro"
|
||||
|
|
@ -1,105 +0,0 @@
|
|||
################################################################################
|
||||
# Sketch
|
||||
#
|
||||
|
||||
SRCSUFFIXES = *.cpp
|
||||
|
||||
MAKE_INC=$(wildcard $(SRCROOT)/make.inc)
|
||||
ifeq (,$(MAKE_INC))
|
||||
$(error You must have a make.inc file to list library dependencies)
|
||||
endif
|
||||
|
||||
GLOBAL_MAKE_INC=$(wildcard $(SKETCHBOOK)/mk/make.inc)
|
||||
ifeq (,$(GLOBAL_MAKE_INC))
|
||||
$(error You must have a make.inc in mk/ directory)
|
||||
endif
|
||||
|
||||
# Sketch source files
|
||||
SKETCHSRCS := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
|
||||
SKETCHCPP := $(SRCROOT)/$(SKETCH).cpp
|
||||
|
||||
# Sketch object files
|
||||
SKETCHOBJS := $(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS))
|
||||
SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
|
||||
|
||||
# get list of libraries from make.inc
|
||||
include $(MAKE_INC)
|
||||
include $(GLOBAL_MAKE_INC)
|
||||
LIBTOKENS := $(LIBRARIES)
|
||||
|
||||
|
||||
# HAL and board specific libraries are included here.
|
||||
LIBTOKENS += \
|
||||
AP_HAL \
|
||||
AP_HAL_Empty
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_APM1)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_APM
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_APM2)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_APM
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_SITL \
|
||||
SITL
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_LINUX)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_Linux
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_PX4
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_VRBRAIN
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_F4LIGHT)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_F4Light
|
||||
endif
|
||||
|
||||
#
|
||||
# Find sketchbook libraries referenced by the sketch.
|
||||
#
|
||||
# Include paths for sketch libraries
|
||||
#
|
||||
SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
|
||||
SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
|
||||
SKETCHLIBSRCDIRS := $(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
|
||||
SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
|
||||
SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
|
||||
SKETCHLIBINCLUDES := -I$(SKETCHBOOK)/libraries/ -I$(BUILDROOT)/libraries/ -I$(BUILDROOT)/libraries/GCS_MAVLink/
|
||||
SKETCHLIBSRCSRELATIVE := $(subst $(SKETCHBOOK)/,,$(SKETCHLIBSRCS))
|
||||
|
||||
ifeq ($(VERBOSE),)
|
||||
v = @
|
||||
else
|
||||
v =
|
||||
endif
|
||||
|
||||
FORCE:
|
||||
|
||||
$(BUILDROOT)/make.flags: FORCE
|
||||
@mkdir -p $(BUILDROOT)
|
||||
@echo "// BUILDROOT=$(BUILDROOT) HAL_BOARD=$(HAL_BOARD) HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE) TOOLCHAIN=$(TOOLCHAIN) EXTRAFLAGS=$(EXTRAFLAGS)" > $(BUILDROOT)/make.flags.new
|
||||
@cmp $(BUILDROOT)/make.flags $(BUILDROOT)/make.flags.new > /dev/null 2>&1 || rm -f $(SRCROOT)/*.o
|
||||
@cmp $(BUILDROOT)/make.flags $(BUILDROOT)/make.flags.new > /dev/null 2>&1 || mv $(BUILDROOT)/make.flags.new $(BUILDROOT)/make.flags
|
||||
@rm -f $(BUILDROOT)/make.flags.new
|
||||
@cat $(BUILDROOT)/make.flags
|
||||
|
||||
# common header for rules, prints what is being built
|
||||
define RULEHDR
|
||||
@echo %% $(subst $(BUILDROOT)/,,$@)
|
||||
@mkdir -p $(dir $@)
|
||||
endef
|
||||
|
|
@ -1,86 +0,0 @@
|
|||
default: help
|
||||
|
||||
# convenient targets for our supported boards
|
||||
sitl: HAL_BOARD = HAL_BOARD_SITL
|
||||
sitl: TOOLCHAIN = NATIVE
|
||||
sitl: all
|
||||
|
||||
sitl-arm: HAL_BOARD = HAL_BOARD_SITL
|
||||
sitl-arm: TOOLCHAIN = RPI
|
||||
sitl-arm: all
|
||||
|
||||
apm1 apm1-1280 apm2 apm2beta:
|
||||
$(error $@ is deprecated on master branch; use master-AVR)
|
||||
|
||||
flymaple flymaple-hil:
|
||||
$(error $@ is deprecated on master branch; use master-AVR)
|
||||
|
||||
f4light: HAL_BOARD = HAL_BOARD_F4LIGHT
|
||||
f4light: TOOLCHAIN = ARM
|
||||
f4light: all
|
||||
|
||||
# cope with HIL targets
|
||||
%-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
|
||||
%-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
|
||||
|
||||
# cope with OBC targets
|
||||
%-obc: EXTRAFLAGS += "-DOBC_FAILSAFE=ENABLED "
|
||||
|
||||
# support debug build
|
||||
%-debug: OPTFLAGS = -g -O0
|
||||
|
||||
# support address sanitiser
|
||||
%-asan: OPTFLAGS = -g -O0 -fsanitize=address -fno-omit-frame-pointer
|
||||
%-asan: LDFLAGS += -fsanitize=address
|
||||
|
||||
# cope with copter and hil targets
|
||||
FRAMES = heli
|
||||
BOARDS = apm1 apm2 apm2beta apm1-1280 px4-v1 px4-v2 px4-v3 px4-v4 px4-v4pro sitl flymaple
|
||||
BOARDS += vrbrain
|
||||
BOARDS += vrbrain-v51 vrbrain-v52 vrbrain-v52E vrbrain-v54
|
||||
BOARDS += vrcore-v10
|
||||
BOARDS += vrubrain-v51 vrubrain-v52
|
||||
|
||||
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)-debug : $(1)-$(2)
|
||||
$(1)-$(2)-mavlink1 : $(1)-$(2)
|
||||
$(1)-$(2)-debug-mavlink1 : $(1)-$(2)
|
||||
$(1)-$(2)-hilsensors : $(1)-$(2)
|
||||
$(1)-$(2)-upload : $(1)-$(2)
|
||||
$(1)-$(2)-upload : $(1)-upload
|
||||
endef
|
||||
|
||||
define board_template
|
||||
$(1)-hil : $(1)
|
||||
$(1)-debug : $(1)
|
||||
$(1)-mavlink1 : $(1)
|
||||
$(1)-debug-mavlink1 : $(1)-debug
|
||||
$(1)-asan : $(1)
|
||||
$(1)-hilsensors : $(1)
|
||||
endef
|
||||
|
||||
USED_BOARDS := $(foreach board,$(BOARDS), $(findstring $(board), $(MAKECMDGOALS)))
|
||||
USED_FRAMES := $(foreach frame,$(FRAMES), $(findstring $(frame), $(MAKECMDGOALS)))
|
||||
|
||||
# generate targets of the form BOARD-FRAME and BOARD-FRAME-HIL
|
||||
$(foreach board,$(USED_BOARDS),$(eval $(call board_template,$(board))))
|
||||
$(foreach board,$(USED_BOARDS),$(foreach frame,$(USED_FRAMES),$(eval $(call frame_template,$(board),$(frame)))))
|
||||
|
||||
sitl-mount: EXTRAFLAGS += "-DMOUNT=ENABLED"
|
||||
sitl-mount: sitl
|
||||
|
||||
.PHONY: etags
|
||||
etags:
|
||||
cd .. && etags -f ArduCopter/TAGS --lang=c++ $$(git ls-files ArduCopter libraries)
|
||||
cd .. && etags -f ArduPlane/TAGS --lang=c++ $$(git ls-files ArduPlane libraries)
|
||||
cd .. && etags -f APMrover2/TAGS --lang=c++ $$(git ls-files APMrover2 libraries)
|
||||
|
||||
clean:
|
||||
@rm -fr $(BUILDROOT)
|
||||
|
||||
include $(MK_DIR)/modules.mk
|
||||
include $(MK_DIR)/uavcangen.mk
|
||||
include $(MK_DIR)/mavgen.mk
|
||||
|
|
@ -1,21 +0,0 @@
|
|||
#
|
||||
#include $(SKETCHBOOK)/modules/uavcan/libuavcan/include.mk
|
||||
|
||||
ifeq ($(UAVCAN_DIRECTORY),)
|
||||
UAVCAN_DIRECTORY := $(SKETCHBOOK)/modules/uavcan
|
||||
endif
|
||||
|
||||
UAVCAN_GEN := $(UAVCAN_DIRECTORY)/libuavcan/include/#$(BUILDROOT)/modules/uavcan/
|
||||
UAVCAN_GEN_INC := $(UAVCAN_GEN)dsdlc_generated/
|
||||
UAVCAN_HEADERS := $(UAVCAN_GEN_INC)/uavcan/Timestamp.hpp $(wildcard $(UAVCAN_GEN_INC),*.hpp)
|
||||
UAVCAN_DSDL_MESSAGE_DEFINITIONS := $(wildcard $(UAVCAN_DIRECTORY)/dsdl/uavcan/,*.uavcan) # $(UAVCAN_DIRECTORY)/dsdl/uavcan/Timestamp.uavcan
|
||||
|
||||
UAVCANgen: $(UAVCAN_HEADERS)
|
||||
|
||||
$(UAVCAN_HEADERS): $(UAVCAN_DSDL_MESSAGE_DEFINITIONS)
|
||||
@echo "Generating UAVCAN headers..."
|
||||
|
||||
# PYTHONPATH=$(UAVCAN_DIR)libuavcan/dsdl_compiler/python $(UAVCAN_DIR)libuavcan/dsdl_compiler/setup.py build
|
||||
# PYTHONPATH=$(UAVCAN_DIR)libuavcan/dsdl_compiler/ python $(UAVCAN_DIR)libuavcan/dsdl_compiler/setup.py install
|
||||
|
||||
PYTHONPATH=$(UAVCAN_DIRECTORY)/libuavcan/ python $(UAVCAN_DIRECTORY)/libuavcan/dsdl_compiler/libuavcan_dsdlc "$(UAVCAN_DIRECTORY)/dsdl/uavcan" -O"$(UAVCAN_GEN_INC)"
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
ifneq ($(BOARD_LINUX_HOST),)
|
||||
upload: $(SKETCHELF).timestamp-upload
|
||||
|
||||
$(SKETCHELF).timestamp-upload: $(SKETCHELF)
|
||||
scp $(SKETCHELF) $(BOARD_LINUX_HOST):
|
||||
touch $@
|
||||
else
|
||||
upload:
|
||||
@echo Check your config.mk: BOARD_LINUX_HOST should be defined to upload firmware
|
||||
exit 1
|
||||
endif
|
||||
|
|
@ -1,319 +0,0 @@
|
|||
# VRBRAIN build is via external build system
|
||||
|
||||
ifneq ($(VRBRAIN_ROOT),)
|
||||
$(error VRBRAIN_ROOT found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
|
||||
endif
|
||||
|
||||
ifneq ($(NUTTX_SRC),)
|
||||
$(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
|
||||
endif
|
||||
|
||||
#ifneq ($(UAVCAN_DIR),)
|
||||
#$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
|
||||
#endif
|
||||
|
||||
# these can be overridden in developer.mk
|
||||
VRBRAINFIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
|
||||
VRBRAINNUTTX_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4NuttX
|
||||
UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
|
||||
|
||||
VRBRAIN_ROOT := $(shell cd $(VRBRAINFIRMWARE_DIRECTORY) && pwd)
|
||||
NUTTX_ROOT := $(shell cd $(VRBRAINNUTTX_DIRECTORY) && pwd)
|
||||
NUTTX_SRC := $(NUTTX_ROOT)/nuttx/
|
||||
UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
|
||||
|
||||
NUTTX_GIT_VERSION ?= $(shell cd $(NUTTX_SRC) && git rev-parse HEAD | cut -c1-8)
|
||||
PX4_GIT_VERSION ?= $(shell cd $(VRBRAIN_ROOT) && git rev-parse HEAD | cut -c1-8)
|
||||
|
||||
EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
|
||||
EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
|
||||
EXTRAFLAGS += -DUAVCAN=1
|
||||
EXTRAFLAGS += -D__STDC_FORMAT_MACROS
|
||||
|
||||
# Add missing parts from libc and libstdc++
|
||||
EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0
|
||||
EXTRAFLAGS += -DHAVE_ENDIAN_H=0
|
||||
EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
|
||||
EXTRAFLAGS += -DHAVE_OCLOEXEC=0
|
||||
|
||||
EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
|
||||
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
|
||||
EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
|
||||
|
||||
VRBRAIN_MK_DIR=$(MK_DIR)/VRBRAIN
|
||||
|
||||
# we have different config files for vrbrain-v51, vrbrain-v52, vrbrain-v54, vrcore-v10, vrubrain-v51, vrubrain-v52
|
||||
VRBRAIN_V51_CONFIG_FILE=config_vrbrain-v51_APM.mk
|
||||
VRBRAIN_V52_CONFIG_FILE=config_vrbrain-v52_APM.mk
|
||||
VRBRAIN_V52E_CONFIG_FILE=config_vrbrain-v52E_APM.mk
|
||||
VRBRAIN_V54_CONFIG_FILE=config_vrbrain-v54_APM.mk
|
||||
VRCORE_V10_CONFIG_FILE=config_vrcore-v10_APM.mk
|
||||
VRUBRAIN_V51_CONFIG_FILE=config_vrubrain-v51_APM.mk
|
||||
VRUBRAIN_V52_CONFIG_FILE=config_vrubrain-v52_APM.mk
|
||||
|
||||
# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
|
||||
# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
|
||||
SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_VRBRAIN -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
|
||||
|
||||
WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-attributes -Wno-unknown-pragmas -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Wno-trigraphs
|
||||
OPTFLAGS = -fsingle-precision-constant
|
||||
|
||||
# avoid VRBRAIN submodules
|
||||
export GIT_SUBMODULES_ARE_EVIL = 1
|
||||
|
||||
PYTHONPATH=$(VRBRAIN_ROOT)/Tools/genmsg/src:$(VRBRAIN_ROOT)/Tools/gencpp/src
|
||||
export PYTHONPATH
|
||||
|
||||
VRBRAIN_MAKE = $(v)+ GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 $(MAKE) -C $(SKETCHBOOK) -f $(VRBRAIN_ROOT)/Makefile.make EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) $(OPTFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) VRBRAIN_ROOT=$(VRBRAIN_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
|
||||
VRBRAIN_MAKE_ARCHIVES = $(MAKE) -C $(VRBRAIN_ROOT) -f $(VRBRAIN_ROOT)/Makefile.make NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
|
||||
|
||||
HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
|
||||
|
||||
ifneq ($(wildcard $(VRBRAIN_ROOT)),)
|
||||
HASHADDER_FLAGS += --px4 "$(VRBRAIN_ROOT)"
|
||||
endif
|
||||
ifneq ($(wildcard $(NUTTX_SRC)/..),)
|
||||
HASHADDER_FLAGS += --nuttx "$(NUTTX_SRC)/.."
|
||||
endif
|
||||
HASHADDER_FLAGS += --uavcan "$(UAVCAN_DIR)"
|
||||
|
||||
.PHONY: module_mk
|
||||
module_mk:
|
||||
$(v) echo "Building $(SKETCHBOOK)/module.mk"
|
||||
$(RULEHDR)
|
||||
$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "SRCS = $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp)) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
|
||||
$(v) rm -f $(SKETCHBOOK)/module.mk.new
|
||||
|
||||
vrbrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export $(SKETCHCPP) module_mk
|
||||
$(v) echo Building vrbrain-v51
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V51_CONFIG_FILE)
|
||||
$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
|
||||
$(v) $(VRBRAIN_MAKE) vrbrain-v51_APM
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V51_CONFIG_FILE)
|
||||
$(v) rm -f $(SKETCH)-vrbrain-v51.vrx
|
||||
$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v51_APM.build/firmware.elf
|
||||
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51_APM.px4 $(SKETCH)-vrbrain-v51.vrx
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v51.vrx" "$(SKETCH)-vrbrain-v51.vrx"
|
||||
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v51.vrx"
|
||||
|
||||
vrbrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v52.export $(SKETCHCPP) module_mk
|
||||
$(v) echo Building vrbrain-v52
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52_CONFIG_FILE)
|
||||
$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V52_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
|
||||
$(v) $(VRBRAIN_MAKE) vrbrain-v52_APM
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52_CONFIG_FILE)
|
||||
$(v) rm -f $(SKETCH)-vrbrain-v52.vrx
|
||||
$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v52_APM.build/firmware.elf
|
||||
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v52_APM.px4 $(SKETCH)-vrbrain-v52.vrx
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v52.vrx" "$(SKETCH)-vrbrain-v52.vrx"
|
||||
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v52.vrx"
|
||||
|
||||
vrbrain-v52E: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export $(SKETCHCPP) module_mk
|
||||
$(v) echo Building vrbrain-v52E
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52E_CONFIG_FILE)
|
||||
$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V52E_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
|
||||
$(v) $(VRBRAIN_MAKE) vrbrain-v52E_APM
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V52E_CONFIG_FILE)
|
||||
$(v) rm -f $(SKETCH)-vrbrain-v52E.vrx
|
||||
$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v52E_APM.build/firmware.elf
|
||||
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v52E_APM.px4 $(SKETCH)-vrbrain-v52E.vrx
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v52E.vrx" "$(SKETCH)-vrbrain-v52E.vrx"
|
||||
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v52E.vrx"
|
||||
|
||||
vrbrain-v54: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrbrain-v54.export $(SKETCHCPP) module_mk
|
||||
$(v) echo Building vrbrain-v54
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V54_CONFIG_FILE)
|
||||
$(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_V54_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
|
||||
$(v) $(VRBRAIN_MAKE) vrbrain-v54_APM
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRBRAIN_V54_CONFIG_FILE)
|
||||
$(v) rm -f $(SKETCH)-vrbrain-v54.vrx
|
||||
$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrbrain-v54_APM.build/firmware.elf
|
||||
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v54_APM.px4 $(SKETCH)-vrbrain-v54.vrx
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrbrain-v54.vrx" "$(SKETCH)-vrbrain-v54.vrx"
|
||||
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v54.vrx"
|
||||
|
||||
vrcore-v10: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrcore-v10.export $(SKETCHCPP) module_mk
|
||||
$(v) echo Building vrcore-v10
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRCORE_V10_CONFIG_FILE)
|
||||
$(v) cp $(VRBRAIN_MK_DIR)/$(VRCORE_V10_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
|
||||
$(v) $(VRBRAIN_MAKE) vrcore-v10_APM
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRCORE_V10_CONFIG_FILE)
|
||||
$(v) rm -f $(SKETCH)-vrcore-v10.vrx
|
||||
$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrcore-v10_APM.build/firmware.elf
|
||||
$(v) cp $(VRBRAIN_ROOT)/Images/vrcore-v10_APM.px4 $(SKETCH)-vrcore-v10.vrx
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrcore-v10.vrx" "$(SKETCH)-vrcore-v10.vrx"
|
||||
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrcore-v10.vrx"
|
||||
|
||||
vrubrain-v51: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v51.export $(SKETCHCPP) module_mk
|
||||
$(v) echo Building vrubrain-v51
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V51_CONFIG_FILE)
|
||||
$(v) cp $(VRBRAIN_MK_DIR)/$(VRUBRAIN_V51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
|
||||
$(v) $(VRBRAIN_MAKE) vrubrain-v51_APM
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V51_CONFIG_FILE)
|
||||
$(v) rm -f $(SKETCH)-vrubrain-v51.vrx
|
||||
$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrubrain-v51_APM.build/firmware.elf
|
||||
$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v51_APM.px4 $(SKETCH)-vrubrain-v51.vrx
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrubrain-v51.vrx" "$(SKETCH)-vrubrain-v51.vrx"
|
||||
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v51.vrx"
|
||||
|
||||
vrubrain-v52: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(VRBRAIN_ROOT)/Archives/vrubrain-v52.export $(SKETCHCPP) module_mk
|
||||
$(v) echo Building vrubrain-v52
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V52_CONFIG_FILE)
|
||||
$(v) cp $(VRBRAIN_MK_DIR)/$(VRUBRAIN_V52_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/nuttx/
|
||||
$(v) $(VRBRAIN_MAKE) vrubrain-v52_APM
|
||||
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/nuttx/$(VRUBRAIN_V52_CONFIG_FILE)
|
||||
$(v) rm -f $(SKETCH)-vrubrain-v52.vrx
|
||||
$(v) arm-none-eabi-size $(VRBRAIN_ROOT)/Build/vrubrain-v52_APM.build/firmware.elf
|
||||
$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v52_APM.px4 $(SKETCH)-vrubrain-v52.vrx
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-vrubrain-v52.vrx" "$(SKETCH)-vrubrain-v52.vrx"
|
||||
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v52.vrx"
|
||||
|
||||
# force the 3 build types to not run in parallel. We got bad binaries with incorrect parameter handling
|
||||
# when these were allowed to happen in parallel
|
||||
vrbrainStd:
|
||||
$(MAKE) vrbrain-v51
|
||||
$(MAKE) vrbrain-v52
|
||||
$(MAKE) vrbrain-v52E
|
||||
$(MAKE) vrbrain-v54
|
||||
$(MAKE) vrcore-v10
|
||||
$(MAKE) vrubrain-v51
|
||||
vrbrainStdP:
|
||||
vrbrainPro:
|
||||
vrbrainProP:
|
||||
|
||||
vrbrain: vrbrainStd vrbrainStdP vrbrainPro vrbrainProP
|
||||
|
||||
vrbrain-clean: clean CHECK_MODULES vrbrain-archives-clean vrbrain-cleandep
|
||||
$(v) /bin/rm -rf $(VRBRAIN_ROOT)/makefiles/build $(VRBRAIN_ROOT)/Build $(VRBRAIN_ROOT)/Images/*.px4 $(VRBRAIN_ROOT)/Images/*.bin
|
||||
$(v) /bin/rm -rf $(VRBRAIN_ROOT)/src/modules/uORB/topics $(VRBRAIN_ROOT)/src/platforms/nuttx/px4_messages
|
||||
$(v) /bin/rm -f $(SRCROOT)/*.o
|
||||
|
||||
vrbrain-cleandep: clean
|
||||
$(v) mkdir -p $(VRBRAIN_ROOT)/Build
|
||||
$(v) find $(VRBRAIN_ROOT)/Build -type f -name '*.d' | xargs rm -f
|
||||
$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
|
||||
$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
vrbrain-archives-clean:
|
||||
$(v) /bin/rm -rf $(VRBRAIN_ROOT)/Archives
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# These targets can't run in parallel because they all need to generate a tool
|
||||
# to generate the config.h inside them. This could trigger races if done in
|
||||
# parallel, trying to generate the tool and replacing it while the header is already
|
||||
# being generated
|
||||
#
|
||||
# We could serialize inside PX4Firmware, but it's easier to serialize here
|
||||
# while maintaining the rest of the build parallelized
|
||||
|
||||
.NOTPARALLEL: \
|
||||
$(VRBRAIN_ROOT)/Archives/vrbrain-v51.export \
|
||||
$(VRBRAIN_ROOT)/Archives/vrbrain-v52.export \
|
||||
$(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export \
|
||||
$(VRBRAIN_ROOT)/Archives/vrbrain-v54.export \
|
||||
$(VRBRAIN_ROOT)/Archives/vrcore-v10.export \
|
||||
$(VRBRAIN_ROOT)/Archives/vrubrain-v51.export \
|
||||
$(VRBRAIN_ROOT)/Archives/vrubrain-v52.export
|
||||
|
||||
$(VRBRAIN_ROOT)/Archives/vrbrain-v51.export:
|
||||
$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v51"
|
||||
|
||||
$(VRBRAIN_ROOT)/Archives/vrbrain-v52.export:
|
||||
$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v52"
|
||||
|
||||
$(VRBRAIN_ROOT)/Archives/vrbrain-v52E.export:
|
||||
$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v52E"
|
||||
|
||||
$(VRBRAIN_ROOT)/Archives/vrbrain-v54.export:
|
||||
$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrbrain-v54"
|
||||
|
||||
$(VRBRAIN_ROOT)/Archives/vrcore-v10.export:
|
||||
$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrcore-v10"
|
||||
|
||||
$(VRBRAIN_ROOT)/Archives/vrubrain-v51.export:
|
||||
$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrubrain-v51"
|
||||
|
||||
$(VRBRAIN_ROOT)/Archives/vrubrain-v52.export:
|
||||
$(v) $(VRBRAIN_MAKE_ARCHIVES) BOARDS="vrubrain-v52"
|
||||
|
||||
vrbrain-archives:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="vrbrain-v51 vrbrain-v52 vrbrain-v52E vrbrain-v54 vrcore-v10 vrubrain-v51 vrubrain-v52"
|
||||
|
||||
vrbrain-info: module_mk
|
||||
@echo "BUILDROOT $(BUILDROOT)"
|
||||
@echo "VRBRAINFIRMWARE_DIRECTORY $(VRBRAINFIRMWARE_DIRECTORY)"
|
||||
@echo "VRBRAINNUTTX_DIRECTORY $(VRBRAINNUTTX_DIRECTORY)"
|
||||
@echo "NUTTX_ROOT $(NUTTX_ROOT)"
|
||||
@echo "VRBRAIN_ROOT $(VRBRAIN_ROOT)"
|
||||
@echo "NUTTX_SRC $(NUTTX_SRC)"
|
||||
@echo "SKETCHLIBS $(SKETCHLIBS)"
|
||||
@echo "SKETCHLIBNAMES $(SKETCHLIBNAMES)"
|
||||
@echo "SKETCHLIBSRCDIRS $(SKETCHLIBSRCDIRS)"
|
||||
@echo "SKETCHLIBSRCS $(SKETCHLIBSRCS)"
|
||||
@echo "SKETCHLIBOBJS $(SKETCHLIBOBJS)"
|
||||
@echo "SKETCHLIBINCLUDES $(SKETCHLIBINCLUDES)"
|
||||
@echo "SKETCHLIBSRCSRELATIVE $(SKETCHLIBSRCSRELATIVE)"
|
||||
@echo "SRCS $(subst $(SKETCHBOOK)/,,$(wildcard $(SRCROOT)/*.cpp))"
|
||||
@echo "SRCS $(wildcard $(SRCROOT)/*.cpp)"
|
||||
@echo "HASHADDER_FLAGS $(HASHADDER_FLAGS)"
|
||||
Loading…
Reference in New Issue