px4-firmware/Makefile

#
# Top-level Makefile for building PX4 firmware images.
#

#
# Get path and tool configuration
#
export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk

#
# Canned firmware configurations that we build.
#
CONFIGS			?= px4fmu_default px4io_default

#
# Boards that we build NuttX export kits for.
#
BOARDS			 = px4fmu px4io

#
# Debugging
#
MQUIET			 = --no-print-directory
#MQUIET			 = --print-directory

################################################################################
# No user-serviceable parts below
################################################################################

#
# If the user has listed a config as a target, strip it out and override CONFIGS.
#
EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
ifneq ($(EXPLICIT_CONFIGS),)
CONFIGS			:= $(EXPLICIT_CONFIGS)
.PHONY:			$(EXPLICIT_CONFIGS)
$(EXPLICIT_CONFIGS):	all
endif

#
# Built products
#
STAGED_FIRMWARES	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)

all:			$(STAGED_FIRMWARES)

#
# Copy FIRMWARES into the image directory.
#
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
	@echo %% Copying $@
	$(Q) $(COPY) $< $@

#
# Generate FIRMWARES.
#
.PHONY: $(FIRMWARES)
$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
	@echo %%%%
	@echo %%%% Building $(config) in $(work_dir)
	@echo %%%%
	$(Q) mkdir -p $(work_dir)
	$(Q) make -C $(work_dir) \
		-f $(PX4_MK_DIR)firmware.mk \
		CONFIG=$(config) \
		WORK_DIR=$(work_dir) \
		firmware

#
# Build the NuttX export archives.
#
# Note that there are no explicit dependencies extended from these
# archives. If NuttX is updated, the user is expected to rebuild the 
# archives/build area manually. Likewise, when the 'archives' target is
# invoked, all archives are always rebuilt.
#
# XXX Should support fetching/unpacking from a separate directory to permit
#     downloads of the prebuilt archives as well...
#
# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
#
NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
.PHONY:			archives
archives:		$(NUTTX_ARCHIVES)

$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
$(ARCHIVE_DIR)%.export:	configuration = $(if $(filter $(board),px4io),io,nsh)
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
	@echo %% Configuring NuttX for $(board)
	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
	@echo %% Exporting NuttX for $(board)
	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export
	$(Q) mkdir -p $(dir $@)
	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@

#
# Cleanup targets.  'clean' should remove all built products and force
# a complete re-compilation, 'distclean' should remove everything 
# that's generated leaving only files that are in source control.
#
.PHONY:	clean
clean:
	$(Q) $(RMDIR) $(BUILD_DIR)*.build
	$(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4

.PHONY:	distclean
distclean: clean
	$(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export
	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
			`# Top-level Makefile for building PX4 firmware images.`
			`#`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
Auto-generate builtin command prototypes. Tidy up path configuration, etc. 2013-02-21 01:12:59 -04:00			`# Get path and tool configuration`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/`
			`include $(PX4_BASE)makefiles/setup.mk`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00
			`#`
			`# Canned firmware configurations that we build.`
			`#`
			`CONFIGS ?= px4fmu_default px4io_default`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00
Simplify the PLATFORM/CONFIG handling a little. 2013-01-17 02:38:47 -04:00			`#`
platform -> board 2013-02-21 01:25:04 -04:00			`# Boards that we build NuttX export kits for.`
Simplify the PLATFORM/CONFIG handling a little. 2013-01-17 02:38:47 -04:00			`#`
platform -> board 2013-02-21 01:25:04 -04:00			`BOARDS = px4fmu px4io`
Simplify the PLATFORM/CONFIG handling a little. 2013-01-17 02:38:47 -04:00
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
platform -> board 2013-02-21 01:25:04 -04:00			`# Debugging`
			`#`
			`MQUIET = --no-print-directory`
			`#MQUIET = --print-directory`

			`################################################################################`
			`# No user-serviceable parts below`
			`################################################################################`

			`#`
			`# If the user has listed a config as a target, strip it out and override CONFIGS.`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))`
			`ifneq ($(EXPLICIT_CONFIGS),)`
			`CONFIGS := $(EXPLICIT_CONFIGS)`
			`.PHONY: $(EXPLICIT_CONFIGS)`
			`$(EXPLICIT_CONFIGS): all`
Manually fixup merge botches via direct comparison with NuttX r5447. 2013-01-11 06:14:43 -04:00			`endif`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`#`
			`# Built products`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)`
			`FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00
Move more functionality into firmware.mk. Now we build the px4 bundles in a way that will let external builders generate them too. Pass the platform define into the firmware builder. 2013-01-17 01:03:27 -04:00			`all: $(STAGED_FIRMWARES)`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00
			`#`
Move more functionality into firmware.mk. Now we build the px4 bundles in a way that will let external builders generate them too. Pass the platform define into the firmware builder. 2013-01-17 01:03:27 -04:00			`# Copy FIRMWARES into the image directory.`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4`
Move more functionality into firmware.mk. Now we build the px4 bundles in a way that will let external builders generate them too. Pass the platform define into the firmware builder. 2013-01-17 01:03:27 -04:00			`@echo %% Copying $@`
			`$(Q) $(COPY) $< $@`
Force a configure before compiling in order to work around more NuttX/config dependency issues. 2013-01-03 02:13:30 -04:00
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
Simplify the PLATFORM/CONFIG handling a little. 2013-01-17 02:38:47 -04:00			`# Generate FIRMWARES.`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`#`
Rename makefiles to help categorise them. 2013-01-17 02:44:27 -04:00			`.PHONY: $(FIRMWARES)`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)`
			`$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/`
			`$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:`
Checkpoint: application framework makefile done 2013-02-23 03:27:24 -04:00			`@echo %%%%`
Move more functionality into firmware.mk. Now we build the px4 bundles in a way that will let external builders generate them too. Pass the platform define into the firmware builder. 2013-01-17 01:03:27 -04:00			`@echo %%%% Building $(config) in $(work_dir)`
Checkpoint: application framework makefile done 2013-02-23 03:27:24 -04:00			`@echo %%%%`
Move more functionality into firmware.mk. Now we build the px4 bundles in a way that will let external builders generate them too. Pass the platform define into the firmware builder. 2013-01-17 01:03:27 -04:00			`$(Q) mkdir -p $(work_dir)`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`$(Q) make -C $(work_dir) \`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`-f $(PX4_MK_DIR)firmware.mk \`
Checkpoint: application framework makefile done 2013-02-23 03:27:24 -04:00			`CONFIG=$(config) \`
Auto-generate builtin command prototypes. Tidy up path configuration, etc. 2013-02-21 01:12:59 -04:00			`WORK_DIR=$(work_dir) \`
			`firmware`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00
			`#`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`# Build the NuttX export archives.`
			`#`
			`# Note that there are no explicit dependencies extended from these`
			`# archives. If NuttX is updated, the user is expected to rebuild the`
Move more functionality into firmware.mk. Now we build the px4 bundles in a way that will let external builders generate them too. Pass the platform define into the firmware builder. 2013-01-17 01:03:27 -04:00			`# archives/build area manually. Likewise, when the 'archives' target is`
			`# invoked, all archives are always rebuilt.`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`#`
			`# XXX Should support fetching/unpacking from a separate directory to permit`
			`# downloads of the prebuilt archives as well...`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`#`
Rename makefiles to help categorise them. 2013-01-17 02:44:27 -04:00			`# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`#`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`.PHONY: archives`
			`archives: $(NUTTX_ARCHIVES)`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))`
			`$(ARCHIVE_DIR)%.export: configuration = $(if $(filter $(board),px4io),io,nsh)`
			`$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)`
platform -> board 2013-02-21 01:25:04 -04:00			`@echo %% Configuring NuttX for $(board)`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)`
			`$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))`
platform -> board 2013-02-21 01:25:04 -04:00			`@echo %% Exporting NuttX for $(board)`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export`
			`$(Q) mkdir -p $(dir $@)`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00
			`#`
			`# Cleanup targets. 'clean' should remove all built products and force`
			`# a complete re-compilation, 'distclean' should remove everything`
			`# that's generated leaving only files that are in source control.`
			`#`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`.PHONY: clean`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00			`clean:`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`$(Q) $(RMDIR) $(BUILD_DIR)*.build`
			`$(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00
			`.PHONY: distclean`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`distclean: clean`
APP -> MODULE remove as many duplicate slashes, etc. as seems practical 2013-02-23 16:23:34 -04:00			`$(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export`
Recover commits lost in the previous merge. Syllableise PX4_BASE like its peers. 2013-01-16 22:23:49 -04:00			`$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean`
Fresh import of the PX4 firmware sources. 2012-08-04 19:12:36 -03:00