forked from Archive/PX4-Autopilot
220 lines
7.7 KiB
Makefile
220 lines
7.7 KiB
Makefile
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Makefile for PX4 Nuttx based firmware images.
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#
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################################################################################
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# ROMFS generation
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################################################################################
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ifneq ($(ROMFS_ROOT),)
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ifeq ($(wildcard $(ROMFS_ROOT)),)
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$(error ROMFS_ROOT specifies a directory that does not exist)
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endif
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#
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# Note that there is no support for more than one root directory or constructing
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# a root from several templates. That would be a nice feature.
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#
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# Add dependencies on anything in the ROMFS root directory
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ROMFS_FILES += $(wildcard \
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$(ROMFS_ROOT)/* \
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$(ROMFS_ROOT)/*/* \
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$(ROMFS_ROOT)/*/*/* \
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$(ROMFS_ROOT)/*/*/*/* \
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$(ROMFS_ROOT)/*/*/*/*/* \
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$(ROMFS_ROOT)/*/*/*/*/*/*)
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ifeq ($(ROMFS_FILES),)
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$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
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endif
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ROMFS_DEPS += $(ROMFS_FILES)
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# Extra files that may be copied into the ROMFS /extras directory
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# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
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ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES))
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ROMFS_DEPS += $(ROMFS_EXTRA_FILES)
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ROMFS_IMG = romfs.img
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ROMFS_SCRATCH = romfs_scratch
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ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
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ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
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LIBS += $(ROMFS_OBJ)
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LINK_DEPS += $(ROMFS_OBJ)
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# Remove all comments from startup and mixer files
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ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
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# Turn the ROMFS image into an object file
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$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
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$(call BIN_TO_OBJ,$<,$@,romfs_img)
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# Generate the ROMFS image from the root
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$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
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@$(ECHO) "ROMFS: $@"
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$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
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# Construct the ROMFS scratch root from the canonical root
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$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
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$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
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$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
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# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
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$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
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ifneq ($(ROMFS_EXTRA_FILES),)
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$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
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$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
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endif
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$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
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EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
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endif
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################################################################################
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# Builtin command list generation
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################################################################################
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#
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# Builtin commands can be generated by the configuration, in which case they
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# must refer to commands that already exist, or indirectly generated by modules
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# when they are built.
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#
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# The configuration supplies builtin command information in the BUILTIN_COMMANDS
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# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
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# filename contains the same information.
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#
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# In each case, the command information consists of four fields separated with a
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# period. These fields are the command's name, its thread priority, its stack size
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# and the name of the function to call when starting the thread.
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#
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BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c
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# command definitions from modules (may be empty at Makefile parsing time...)
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MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
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# We must have at least one pre-defined builtin command in order to generate
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# any of this.
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#
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ifneq ($(BUILTIN_COMMANDS),)
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# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
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define BUILTIN_PROTO
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$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
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endef
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# (BUILTIN_DEF,<cmdspec>,<outputfile>)
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define BUILTIN_DEF
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$(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
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endef
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# Don't generate until modules have updated their command files
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$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
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@$(ECHO) "CMDS: $@"
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$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
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$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
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$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
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$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
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$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
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$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
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$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
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$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
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$(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@
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$(Q) $(ECHO) '};' >> $@
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$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
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SRCS += $(BUILTIN_CSRC)
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EXTRA_CLEANS += $(BUILTIN_CSRC)
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endif
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################################################################################
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# Build rules
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################################################################################
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#
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# What we're going to build.
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#
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PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
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PRODUCT_BIN = $(WORK_DIR)firmware.bin
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PRODUCT_ELF = $(WORK_DIR)firmware.elf
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PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
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.PHONY: firmware
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firmware: $(PRODUCT_BUNDLE)
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#
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# Built product rules
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#
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$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
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@$(ECHO) %% Generating $@
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ifdef GEN_PARAM_XML
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python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
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--git_identity $(PX4_BASE) \
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--parameter_xml $(PRODUCT_PARAMXML) \
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--image $< > $@
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else
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
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--git_identity $(PX4_BASE) \
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--image $< > $@
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endif
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$(PRODUCT_BIN): $(PRODUCT_ELF)
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$(call SYM_TO_BIN,$<,$@)
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$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
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$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
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#
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# Utility rules
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#
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.PHONY: upload
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upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN)
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$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
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METHOD=serial \
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CONFIG=$(CONFIG) \
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BOARD=$(BOARD) \
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BUNDLE=$(PRODUCT_BUNDLE) \
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BIN=$(PRODUCT_BIN)
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.PHONY: clean
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clean: $(MODULE_CLEANS)
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@$(ECHO) %% cleaning
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$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
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$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
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$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
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