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Makefile multi-target support 

NuttX is still the default target and all NuttX configs can still
be built with:

make

Individual NuttX, POSIX, and QuRT configs can now be built more
easily by specifying the target and configs:

make posix posix_default
make qurt qurt_hello
make nuttx aerocore_default

Running make with just the target will make all the configs for
that target:

make nuttx
make qurt
make posix

The help is also target specific:
make nuttx help
make qurt help
make posix help

"make help" will still assume you want help for the NuttX target

Added a new QuRT config called qurt_hello as a sample config to
test buiding in different commands for separate configs.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-05-20 19:19:08 -07:00
parent 00296ba241
commit 43345e29dc
8 changed files with 216 additions and 34 deletions
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20
Makefile
View File

@ -33,6 +33,12 @@
# Top-level Makefile for building PX4 firmware images.
#
TARGETS := nuttx posix qurt
EXPLICIT_TARGET := $(filter $(TARGETS),$(MAKECMDGOALS))
ifneq ($(EXPLICIT_TARGET),)
export PX4_TARGET_OS=$(EXPLICIT_TARGET)
endif
#
# Get path and tool configuration
#
@ -271,14 +277,14 @@ testbuild:
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
posix:
make PX4_TARGET_OS=posix
nuttx:
make PX4_TARGET_OS=nuttx
make PX4_TARGET_OS=$@ $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
posix:
make PX4_TARGET_OS=$@ $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
qurt:
make PX4_TARGET_OS=qurt
make PX4_TARGET_OS=$@ $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
posixrun:
Tools/posix_run.sh
@ -327,9 +333,11 @@ help:
@$(ECHO) " Available targets:"
@$(ECHO) " ------------------"
@$(ECHO) ""
ifeq ($(PX4_TARGET_OS),nuttx)
@$(ECHO) " archives"
@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
@$(ECHO) ""
endif
@$(ECHO) " all"
@$(ECHO) " Build all firmware configs: $(CONFIGS)"
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@ -342,6 +350,7 @@ help:
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."
@$(ECHO) ""
ifeq ($(PX4_TARGET_OS),nuttx)
@$(ECHO) " distclean"
@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
@$(ECHO) ""
@ -350,6 +359,7 @@ help:
@$(ECHO) " firmware to the board when the build is complete. Not supported for"
@$(ECHO) " all configurations."
@$(ECHO) ""
endif
@$(ECHO) " testbuild"
@$(ECHO) " Perform a complete clean build of the entire tree."
@$(ECHO) ""

2
makefiles/firmware_posix.mk
View File

@ -32,7 +32,7 @@
#
# Built products
#
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
all: $(FIRMWARES)

2
makefiles/firmware_qurt.mk
View File

@ -32,7 +32,7 @@
#
# Built products
#
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
all: $(FIRMWARES)

73
makefiles/qurt/config_qurt_hello.mk Normal file
View File

@ -0,0 +1,73 @@
#
# Makefile for the Foo *default* configuration
#
#
# Board support modules
#
MODULES += drivers/device
#MODULES += drivers/blinkm
#MODULES += drivers/hil
#MODULES += drivers/led
#MODULES += drivers/rgbled
#MODULES += modules/sensors
#MODULES += drivers/ms5611
#
# System commands
#
MODULES += systemcmds/param
#
# General system control
#
#MODULES += modules/mavlink
#
# Estimation modules (EKF/ SO3 / other filters)
#
#MODULES += modules/attitude_estimator_ekf
#MODULES += modules/ekf_att_pos_estimator
#
# Vehicle Control
#
#MODULES += modules/mc_att_control
#
# Library modules
#
MODULES += modules/systemlib
#MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#MODULES += modules/dataman
#MODULES += modules/sdlog2
#MODULES += modules/simulator
#MODULES += modules/commander
#
# Libraries
#
#MODULES += lib/mathlib
#MODULES += lib/mathlib/math/filter
#MODULES += lib/geo
#MODULES += lib/geo_lookup
#MODULES += lib/conversion
#
# QuRT port
#
MODULES += platforms/qurt/px4_layer
#MODULES += platforms/posix/drivers/accelsim
#MODULES += platforms/posix/drivers/gyrosim
#MODULES += platforms/posix/drivers/adcsim
#MODULES += platforms/posix/drivers/barosim
#
# Unit tests
#
MODULES += platforms/qurt/tests/hello
#MODULES += platforms/posix/tests/vcdev_test
#MODULES += platforms/posix/tests/hrt_test
#MODULES += platforms/posix/tests/wqueue

68
src/platforms/qurt/px4_layer/commands_default.c Normal file
View File

@ -0,0 +1,68 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file hello.c
* Commands to run for the QuRT "default" target
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
const char *get_commands()
{
static const char *commands =
"hello start\n"
"uorb start\n"
"simulator start -s\n"
"barosim start\n"
"adcsim start\n"
"accelsim start\n"
"gyrosim start\n"
"list_devices\n"
"list_topics\n"
"list_tasks\n"
"param show *\n"
"rgbled start\n"
#if 0
"sensors start\n"
"param set CAL_GYRO0_ID 2293760\n"
"param set CAL_ACC0_ID 1310720\n"
"hil mode_pwm"
"param set CAL_ACC1_ID 1376256\n"
"param set CAL_MAG0_ID 196608\n"
"mavlink start -d /tmp/ttyS0\n"
"commander start\n"
#endif
;
return commands;
}

45
src/platforms/qurt/px4_layer/commands_hello.c Normal file
View File

@ -0,0 +1,45 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file hello.c
* Commands to run for the QuRT "hello" target
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
const char *get_commands()
{
static const char *commands = "hello start";
return commands;
}

30
src/platforms/qurt/px4_layer/main.cpp
View File

@ -50,30 +50,10 @@ using namespace std;
extern void init_app_map(map<string,px4_main_t> &apps);
extern void list_builtins(map<string,px4_main_t> &apps);
static const char *commands =
"hello start\n"
"uorb start\n"
"simulator start -s\n"
"barosim start\n"
"adcsim start\n"
"accelsim start\n"
"gyrosim start\n"
"list_devices\n"
"list_topics\n"
"list_tasks\n"
"param show *\n"
"rgbled start\n"
#if 0
"hil mode_pwm"
"param set CAL_GYRO0_ID 2293760\n"
"param set CAL_ACC0_ID 1310720\n"
"param set CAL_ACC1_ID 1376256\n"
"param set CAL_MAG0_ID 196608\n"
"sensors start\n"
"mavlink start -d /tmp/ttyS0\n"
"commander start\n"
#endif
;
__BEGIN_DECLS
// The commands to run are specified in a target file: commands_<target>.c
extern const char *get_commands(void);
__END_DECLS
static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs) {
// command is appargs[0]
@ -158,7 +138,7 @@ int main(int argc, char **argv)
init_app_map(apps);
px4::init_once();
px4::init(argc, argv, "mainapp");
process_commands(apps, commands);
process_commands(apps, get_commands());
for (;;) {}
}

6
src/platforms/qurt/px4_layer/module.mk
View File

@ -53,5 +53,11 @@ SRCS = \
sq_addafter.c \
dq_rem.c \
main.cpp
ifeq ($(CONFIG),qurt_hello)
SRCS += commands_hello.c
endif
ifeq ($(CONFIG),qurt_default)
SRCS += commands_default.c
endif
MAXOPTIMIZATION = -Os