mirror of https://github.com/ArduPilot/ardupilot
255 lines
11 KiB
Makefile
255 lines
11 KiB
Makefile
# PX4 build is via external build system
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ifneq ($(PX4_ROOT),)
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$(error PX4_ROOT found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
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endif
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ifneq ($(NUTTX_SRC),)
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$(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
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endif
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#ifneq ($(UAVCAN_DIR),)
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#$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
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#endif
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# these can be overridden in developer.mk
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PX4FIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
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PX4NUTTX_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4NuttX
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UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
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PX4_ROOT := $(shell cd $(PX4FIRMWARE_DIRECTORY) && pwd)
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NUTTX_ROOT := $(shell cd $(PX4NUTTX_DIRECTORY) && pwd)
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NUTTX_SRC := $(NUTTX_ROOT)/nuttx/
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UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
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NUTTX_GIT_VERSION ?= $(shell cd $(NUTTX_SRC) && git rev-parse HEAD | cut -c1-8)
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PX4_GIT_VERSION ?= $(shell cd $(PX4_ROOT) && git rev-parse HEAD | cut -c1-8)
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EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
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EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
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EXTRAFLAGS += -DUAVCAN=1
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EXTRAFLAGS += -D__STDC_FORMAT_MACROS
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# Add missing parts from libc and libstdc++
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EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0
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EXTRAFLAGS += -DHAVE_ENDIAN_H=0
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EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
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EXTRAFLAGS += -DHAVE_OCLOEXEC=0
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EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
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EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
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EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
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# we have different config files for V1 and V2
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PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
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PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk
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PX4_V3_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v3_APM.mk
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PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk
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PX4_V4PRO_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4pro_APM.mk
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# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
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# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
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SKETCHFLAGS=$(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)
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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
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OPTFLAGS = -fsingle-precision-constant
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# avoid PX4 submodules
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export GIT_SUBMODULES_ARE_EVIL = 1
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PYTHONPATH=$(SKETCHBOOK)/mk/PX4/Tools/genmsg/src:$(SKETCHBOOK)/mk/PX4/Tools/gencpp/src
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export PYTHONPATH
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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)
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PX4_MAKE_ARCHIVES = $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
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HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
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ifneq ($(wildcard $(PX4_ROOT)),)
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HASHADDER_FLAGS += --px4 "$(PX4_ROOT)"
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endif
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ifneq ($(wildcard $(NUTTX_SRC)/..),)
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HASHADDER_FLAGS += --nuttx "$(NUTTX_SRC)/.."
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endif
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HASHADDER_FLAGS += --uavcan "$(UAVCAN_DIR)"
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.PHONY: module_mk
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module_mk:
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$(v) echo "Building $(SKETCHBOOK)/module.mk"
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$(RULEHDR)
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$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
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$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
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$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
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$(v) rm -f $(SKETCHBOOK)/module.mk.new
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px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
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$(v) echo Building px4-v1
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$(RULEHDR)
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$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
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$(v) $(PX4_MAKE) px4fmu-v1_APM
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$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v1_APM.build/firmware.elf
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$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4"
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$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
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px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
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$(v) echo Building px4-v2
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$(RULEHDR)
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$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
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$(PX4_MAKE) px4fmu-v2_APM
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$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v2_APM.build/firmware.elf
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$(v) cp $(PX4_ROOT)/Images/px4fmu-v2_APM.px4 $(SKETCH)-v2.px4
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4"
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$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4"
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px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v3.export $(SKETCHCPP) module_mk px4-io-v2
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$(v) echo Building px4-v3
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$(RULEHDR)
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$(v) cp $(PX4_V3_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
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$(PX4_MAKE) px4fmu-v3_APM
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$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v3_APM.build/firmware.elf
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$(v) cp $(PX4_ROOT)/Images/px4fmu-v3_APM.px4 $(SKETCH)-v3.px4
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v3.px4" "$(SKETCH)-v3.px4"
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$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v3.px4"
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px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
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$(v) echo Building px4-v4
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$(RULEHDR)
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$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
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$(PX4_MAKE) px4fmu-v4_APM
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$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4_APM.build/firmware.elf
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$(v) cp $(PX4_ROOT)/Images/px4fmu-v4_APM.px4 $(SKETCH)-v4.px4
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$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
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$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmuv4_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4.px4" "$(SKETCH)-v4.px4"
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$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4.px4"
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px4-v4pro: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4pro.export $(SKETCHCPP) module_mk px4-io-v2
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$(v) echo Building px4-v4pro
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$(RULEHDR)
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$(v) cp $(PX4_V4PRO_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
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$(PX4_MAKE) px4fmu-v4pro_APM
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$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4pro_APM.build/firmware.elf
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$(v) cp $(PX4_ROOT)/Images/px4fmu-v4pro_APM.px4 $(SKETCH)-v4pro.px4
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$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4pro.px4" "$(SKETCH)-v4pro.px4"
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$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4pro.px4"
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# force the 3 build types to not run in parallel. We got bad binaries with incorrect parameter handling
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# when these were allowed to happen in parallel
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px4:
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$(MAKE) px4-v1
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$(MAKE) px4-v2
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$(MAKE) px4-v3
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$(MAKE) px4-v4
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$(MAKE) px4-v4pro
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px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep
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$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build $(PX4_ROOT)/Images/*.px4 $(PX4_ROOT)/Images/*.bin
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$(v) /bin/rm -rf $(PX4_ROOT)/src/modules/uORB/topics $(PX4_ROOT)/src/platforms/nuttx/px4_messages
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$(v) /bin/rm -rf $(SKETCHBOOK)/modules/uavcan/libuavcan/include/dsdlc_generated
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$(v) /bin/rm -f $(SRCROOT)/*.o
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px4-cleandep: clean
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$(v) mkdir -p $(PX4_ROOT)/Build
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$(v) find $(PX4_ROOT)/Build -type f -name '*.d' | xargs rm -f
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$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
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$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
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$(v) /bin/rm -rf $(SKETCHBOOK)/modules/uavcan/libuavcan/include/dsdlc_generated
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px4-v2-upload-solo: px4-v2
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scp $(SKETCH)-v2.px4 root@10.1.1.10:/tmp/
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ssh root@10.1.1.10 PYTHONUNBUFFERED=1 loadPixhawk.py /tmp/ArduCopter-v2.px4
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ssh root@10.1.1.10 rm /tmp/ArduCopter-v2.px4;
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px4-v1-upload: px4-v1
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$(RULEHDR)
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$(v) $(PX4_MAKE) px4fmu-v1_APM upload
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px4-v2-upload: px4-v2
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$(RULEHDR)
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$(v) $(PX4_MAKE) px4fmu-v2_APM upload
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px4-v3-upload: px4-v3
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$(RULEHDR)
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$(v) $(PX4_MAKE) px4fmu-v3_APM upload
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px4-v4-upload: px4-v4
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$(RULEHDR)
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$(v) $(PX4_MAKE) px4fmu-v4_APM upload
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px4-v4pro-upload: px4-v4pro
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$(RULEHDR)
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$(v) $(PX4_MAKE) px4fmu-v4pro_APM upload
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px4-upload: px4-v1-upload
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px4-archives-clean:
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$(v) /bin/rm -rf $(PX4_ROOT)/Archives
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px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
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$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v1_default EXTRADEFINES="-DARDUPILOT_BUILD"
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$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin
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$(v) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
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$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
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$(v) cp px4io-v1.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
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$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
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$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmu_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
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$(v) echo "PX4IOv1 Firmware is in px4io-v1.bin"
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px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
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$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v2_default EXTRADEFINES="-DARDUPILOT_BUILD"
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$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin
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$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.elf px4io-v2.elf
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$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
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$(v) cp px4io-v2.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
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$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
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$(v) cp $(SKETCHBOOK)/Tools/bootloaders/px4fmuv2_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
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$(v) echo "PX4IOv2 Firmware is in px4io-v2.bin"
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px4-io: px4-io-v1 px4-io-v2
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# These targets can't run in parallel because they all need to generate a tool
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# to generate the config.h inside them. This could trigger races if done in
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# parallel, trying to generate the tool and replacing it while the header is already
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# being generated
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#
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# We could serialize inside PX4Firmware, but it's easier to serialize here
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# while maintaining the rest of the build parallelized
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.NOTPARALLEL: \
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$(PX4_ROOT)/Archives/px4fmu-v1.export \
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$(PX4_ROOT)/Archives/px4fmu-v2.export \
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$(PX4_ROOT)/Archives/px4fmu-v3.export \
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$(PX4_ROOT)/Archives/px4fmu-v4.export \
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$(PX4_ROOT)/Archives/px4fmu-v4pro.export \
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$(PX4_ROOT)/Archives/px4io-v1.export \
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$(PX4_ROOT)/Archives/px4io-v2.export
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$(PX4_ROOT)/Archives/px4fmu-v1.export:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v1"
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$(PX4_ROOT)/Archives/px4fmu-v2.export:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v2"
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$(PX4_ROOT)/Archives/px4fmu-v3.export:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v3"
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$(PX4_ROOT)/Archives/px4fmu-v4.export:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4"
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$(PX4_ROOT)/Archives/px4fmu-v4pro.export:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4pro"
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$(PX4_ROOT)/Archives/px4io-v1.export:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1"
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$(PX4_ROOT)/Archives/px4io-v2.export:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v2"
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px4-archives:
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$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v3 px4fmu-v4 px4fmu-v4pro"
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