############################################################################ # # Copyright (c) 2015 - 2017 PX4 Development Team. 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. # ############################################################################ # Enforce the presence of the GIT repository # # We depend on our submodules, so we have to prevent attempts to # compile without it being present. ifeq ($(wildcard .git),) $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.) endif # Help # -------------------------------------------------------------------- # Don't be afraid of this makefile, it is just passing # arguments to cmake to allow us to keep the wiki pages etc. # that describe how to build the px4 firmware # the same even when using cmake instead of make. # # Example usage: # # make px4fmu-v2_default (builds) # make px4fmu-v2_default upload (builds and uploads) # make px4fmu-v2_default test (builds and tests) # # This tells cmake to build the nuttx px4fmu-v2 default config in the # directory build_nuttx_px4fmu-v2_default and then call make # in that directory with the target upload. # explicity set default build target all: posix_sitl_default # Parsing # -------------------------------------------------------------------- # assume 1st argument passed is the main target, the # rest are arguments to pass to the makefile generated # by cmake in the subdirectory FIRST_ARG := $(firstword $(MAKECMDGOALS)) ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS)) j ?= 4 NINJA_BIN := ninja ifndef NO_NINJA_BUILD NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null) ifndef NINJA_BUILD NINJA_BIN := ninja-build NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null) endif endif ifdef NINJA_BUILD PX4_CMAKE_GENERATOR := Ninja PX4_MAKE := $(NINJA_BIN) PX4_MAKE_ARGS := else ifdef SYSTEMROOT # Windows PX4_CMAKE_GENERATOR := "MSYS\ Makefiles" else PX4_CMAKE_GENERATOR := "Unix\ Makefiles" endif PX4_MAKE = $(MAKE) PX4_MAKE_ARGS = -j$(j) --no-print-directory endif SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST)))) # check if replay env variable is set & set build dir accordingly ifdef replay BUILD_DIR_SUFFIX := _replay else BUILD_DIR_SUFFIX := endif # additional config parameters passed to cmake CMAKE_ARGS := ifdef EXTERNAL_MODULES_LOCATION CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION) endif # Functions # -------------------------------------------------------------------- # describe how to build a cmake config define cmake-build +@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX)) +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi +@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi +@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS)) endef define colorecho +@tput setaf 6 +@echo $1 +@tput sgr0 endef # Get a list of all config targets. ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed -e 's:^.*/::' | sort)) # Strip off leading nuttx_ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS))) # ADD CONFIGS HERE # -------------------------------------------------------------------- # Do not put any spaces between function arguments. # All targets. $(ALL_CONFIG_TARGETS): $(call cmake-build,$@,$(SRC_DIR)) # Abbreviated config targets. # nuttx_ is left off by default; provide a rule to allow that. $(NUTTX_CONFIG_TARGETS): $(call cmake-build,nuttx_$@,$(SRC_DIR)) all_nuttx_targets: $(NUTTX_CONFIG_TARGETS) posix: posix_sitl_default broadcast: posix_sitl_broadcast # Multi- config targets. eagle_default: posix_eagle_default qurt_eagle_default eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy excelsior_default: posix_excelsior_default qurt_excelsior_default excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe). .PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets # Other targets # -------------------------------------------------------------------- .PHONY: qgc_firmware alt_firmware checks_bootloaders uavcan_firmware sizes check quick_check # QGroundControl flashable NuttX firmware qgc_firmware: \ check_auav-x21_default \ check_aerofc-v1_default \ check_crazyflie_default \ check_mindpx-v2_default \ check_px4fmu-v1_default \ check_px4fmu-v2_default \ check_px4fmu-v2_lpe \ check_px4fmu-v3_default \ check_px4fmu-v4_default \ check_tap-v1_default \ check_sizes # Other NuttX firmware alt_firmware: \ check_px4-stm32f4discovery_default \ check_px4cannode-v1_default \ check_px4esc-v1_default \ check_px4fmu-v4pro_default \ check_px4fmu-v5_default \ check_px4nucleoF767ZI-v1_default \ check_s2740vc-v1_default \ check_sizes checks_bootloaders: \ check_esc35-v1_bootloader \ check_px4cannode-v1_bootloader \ check_px4esc-v1_bootloader \ check_px4flow-v2_bootloader \ check_s2740vc-v1_bootloader \ # not fitting in flash check_zubaxgnss-v1_bootloader \ check_sizes uavcan_firmware: $(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6") @rm -rf vectorcontrol @git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol @BOARD=s2740vc_1_0 make --silent --no-print-directory @BOARD=px4esc_1_6 make --silent --no-print-directory && $(SRC_DIR)/Tools/uavcan_copy.sh) sizes: @-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || : # All default targets that don't require a special build environment check: check_posix_sitl_default qgc_firmware alt_firmware checks_bootloaders tests check_format # quick_check builds a single nuttx and posix target, runs testing, and checks the style quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format check_%: @echo $(call colorecho,"Building" $(subst check_,,$@)) @$(MAKE) --no-print-directory $(subst check_,,$@) @echo # S3 upload helpers # -------------------------------------------------------------------- # s3cmd uses these ENV variables # AWS_ACCESS_KEY_ID # AWS_SECRET_ACCESS_KEY # AWS_S3_BUCKET .PHONY: s3put_firmware s3put_qgc_firmware Firmware.zip: @rm -rf Firmware.zip @zip --junk-paths Firmware.zip `find . -name \*.px4` s3put_firmware: Firmware.zip $(SRC_DIR)/Tools/s3put.sh Firmware.zip s3put_qgc_firmware: qgc_firmware @$(SRC_DIR)/Tools/s3put.sh $(SRC_DIR)/build_px4fmu-v3_default/airframes.xml @$(SRC_DIR)/Tools/s3put.sh $(SRC_DIR)/build_px4fmu-v3_default/parameters.xml @find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \; # Astyle # -------------------------------------------------------------------- .PHONY: check_format format check_format: $(call colorecho,"Checking formatting with astyle") @$(SRC_DIR)/Tools/check_code_style_all.sh @git diff --check format: $(call colorecho,"Formatting with astyle") @$(SRC_DIR)/Tools/check_code_style_all.sh --fix # Testing # -------------------------------------------------------------------- .PHONY: unittest run_tests_posix tests tests_coverage unittest: posix_sitl_default $(call cmake-build,unittest,$(SRC_DIR)/unittests) @(cd build_unittest && ctest -j2 --output-on-failure) run_tests_posix: $(MAKE) --no-print-directory posix_sitl_default test_results tests: unittest run_tests_posix tests_coverage: @lcov --zerocounters --directory $(SRC_DIR) --quiet @lcov --capture --initial --directory $(SRC_DIR) --quiet --output-file coverage.info @$(MAKE) --no-print-directory unittest PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 @$(MAKE) --no-print-directory posix_sitl_default test_results PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 @lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info @lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' --quiet --output-file coverage.info @genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info @$(MAKE) --no-print-directory posix_sitl_default test_results_junit # Clang analyzers # -------------------------------------------------------------------- .PHONY: scan-build clang-check clang-tidy scan-build: @export CCACHE_DISABLE=1 @mkdir -p $(SRC_DIR)/build_posix_sitl_default_scan-build @cd $(SRC_DIR)/build_posix_sitl_default_scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default @scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default_scan-build clang-check: @CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default @$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-check clang-tidy: rm -rf $(SRC_DIR)/build_posix_sitl_default @CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default @$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-tidy clang-tidy-parallel: rm -rf $(SRC_DIR)/build_posix_sitl_default @CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default @$(SRC_DIR)/Tools/run-clang-tidy.py -j$(j) -p $(SRC_DIR)/build_posix_sitl_default clang-tidy-fix: rm -rf $(SRC_DIR)/build_posix_sitl_default @CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default @run-clang-tidy.py -fix -j$(j) -p $(SRC_DIR)/build_posix_sitl_default # Cleanup # -------------------------------------------------------------------- .PHONY: clean submodulesclean distclean clean: @rm -rf $(SRC_DIR)/build_*/ -@$(MAKE) --no-print-directory -C NuttX/nuttx clean submodulesclean: @git submodule sync --recursive @git submodule deinit -f . @git submodule update --init --recursive --force distclean: submodulesclean @git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" # -------------------------------------------------------------------- # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error. %: $(if $(filter $(FIRST_ARG),$@), \ $(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#) CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~") #help: # @echo # @echo "Type 'make ' and hit the tab key twice to see a list of the available" # @echo "build configurations." # @echo empty := space := $(empty) $(empty) # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069) help: @echo "Usage: $(MAKE) " @echo "Where is one of:" @$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \ awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \ egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)' @echo @echo "Or, $(MAKE) []" @echo "Use '$(MAKE) list_config_targets' for a list of configuration targets." # Print a list of all config targets. list_config_targets: @for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done