forked from Archive/PX4-Autopilot
143 lines
3.5 KiB
Makefile
143 lines
3.5 KiB
Makefile
#
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# Top-level Makefile for building PX4 firmware images.
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#
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#
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# Note that this is a transitional process; the eventual goal is for this
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# project to slim down and simply generate PX4 link kits via the NuttX
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# 'make export' mechanism.
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#
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#
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#
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# Some useful paths.
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#
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export PX4BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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export NUTTX_SRC = $(PX4BASE)/nuttx
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export NUTTX_APPS = $(PX4BASE)/apps
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export MAVLINK_SRC = $(PX4BASE)/mavlink
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export ROMFS_SRC = $(PX4BASE)/ROMFS
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export IMAGE_DIR = $(PX4BASE)/Images
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#
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# Tools
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#
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MKFW = $(PX4BASE)/Tools/px_mkfw.py
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UPLOADER = $(PX4BASE)/Tools/px_uploader.py
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#
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# What are we currently configured for?
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#
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CONFIGURED = $(PX4BASE)/.configured
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ifeq ($(wildcard $(CONFIGURED)),)
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# the $(CONFIGURED) target will make this a reality before building
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export TARGET = px4fmu
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$(shell echo $(TARGET) > $(CONFIGURED))
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else
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export TARGET = $(shell cat $(CONFIGURED))
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endif
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#
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# What we will build
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#
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FIRMWARE_BUNDLE = $(IMAGE_DIR)/$(TARGET).px4
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FIRMWARE_BINARY = $(IMAGE_DIR)/$(TARGET).bin
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FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype
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#
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# Debugging
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#
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MQUIET = --no-print-directory
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#MQUIET = --print-directory
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all: $(FIRMWARE_BUNDLE)
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#
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# Generate a wrapped .px4 file from the built binary
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#
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$(FIRMWARE_BUNDLE): $(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
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@echo Generating $@
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@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
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--git_identity $(PX4BASE) \
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--image $(FIRMWARE_BINARY) > $@
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#
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# Build the firmware binary.
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#
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.PHONY: $(FIRMWARE_BINARY)
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$(FIRMWARE_BINARY): configure_$(TARGET) setup_$(TARGET)
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@echo Building $@
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@make -C $(NUTTX_SRC) -r $(MQUIET) all
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@cp $(NUTTX_SRC)/nuttx.bin $@
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#
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# The 'configure' targets select one particular firmware configuration
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# and makes it current.
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#
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configure_px4fmu:
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ifneq ($(TARGET),px4fmu)
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@make -C $(PX4BASE) distclean
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endif
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@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
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@echo px4fmu > $(CONFIGURED)
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configure_px4io:
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ifneq ($(TARGET),px4io)
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@make -C $(PX4BASE) distclean
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endif
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@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
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@echo px4io > $(CONFIGURED)
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#
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# Per-configuration additional targets
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#
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.PHONY: px4fmu_setup
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setup_px4fmu:
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@echo Generating ROMFS
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@make -C $(ROMFS_SRC) all
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setup_px4io:
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#
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# Firmware uploading.
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#
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# serial port defaults by operating system.
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SYSTYPE = $(shell uname)
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ifeq ($(SYSTYPE),Darwin)
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SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4"
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endif
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ifeq ($(SYSTYPE),Linux)
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SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
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endif
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ifeq ($(SERIAL_PORTS),)
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SERIAL_PORTS = "\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
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endif
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upload: $(FIRMWARE_BUNDLE) $(UPLOADER)
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@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
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#
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# Hacks and fixups
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#
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ifeq ($(SYSTYPE),Darwin)
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# PATH inherited by Eclipse may not include toolchain install location
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export PATH := $(PATH):/usr/local/bin
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endif
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#
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# Cleanup targets. 'clean' should remove all built products and force
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# a complete re-compilation, 'distclean' should remove everything
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# that's generated leaving only files that are in source control.
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#
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.PHONY: clean
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clean:
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@make -C $(NUTTX_SRC) -r $(MQUIET) clean
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@make -C $(ROMFS_SRC) -r $(MQUIET) clean
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.PHONY: distclean
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distclean:
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@rm -f $(CONFIGURED)
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@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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@make -C $(ROMFS_SRC) -r $(MQUIET) distclean
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