forked from Archive/PX4-Autopilot
152 lines
5.7 KiB
Makefile
152 lines
5.7 KiB
Makefile
#
|
|
# Copyright (c) 2012-2015 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.
|
|
#
|
|
|
|
#
|
|
# Built products
|
|
#
|
|
|
|
DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
|
|
STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
|
|
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
|
|
|
|
all: $(DESIRED_FIRMWARES)
|
|
|
|
#
|
|
# Copy FIRMWARES into the image directory.
|
|
#
|
|
# XXX copying the .bin files is a hack to work around the PX4IO uploader
|
|
# not supporting .px4 files, and it should be deprecated onced that
|
|
# is taken care of.
|
|
#
|
|
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
|
|
@$(ECHO) %% Copying $@
|
|
$(Q) $(COPY) $< $@
|
|
$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
|
|
|
|
#
|
|
# 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): $(BUILD_DIR)%.build/firmware.px4: generateuorbtopicheaders checksubmodules
|
|
@$(ECHO) %%%%
|
|
@$(ECHO) %%%% Building $(config) in $(work_dir)
|
|
@$(ECHO) %%%%
|
|
$(Q) $(MKDIR) -p $(work_dir)
|
|
$(Q) $(MAKE) -r -C $(work_dir) \
|
|
-f $(PX4_MK_DIR)firmware.mk \
|
|
CONFIG=$(config) \
|
|
WORK_DIR=$(work_dir) \
|
|
$(FIRMWARE_GOAL)
|
|
|
|
#
|
|
# Make FMU firmwares depend on the corresponding IO firmware.
|
|
#
|
|
# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
|
|
# and forces the _default config in all cases. There has to be a better way to do this...
|
|
#
|
|
FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
|
|
define FMU_DEP
|
|
$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
|
|
endef
|
|
FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
|
|
$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
|
|
|
|
#
|
|
# 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...
|
|
#
|
|
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
|
|
.PHONY: archives
|
|
archives: checksubmodules $(NUTTX_ARCHIVES)
|
|
|
|
# We cannot build these parallel; note that we also force -j1 for the
|
|
# sub-make invocations.
|
|
ifneq ($(filter archives,$(MAKECMDGOALS)),)
|
|
.NOTPARALLEL:
|
|
endif
|
|
|
|
J?=1
|
|
|
|
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
|
|
$(ARCHIVE_DIR)%.export: configuration = nsh
|
|
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
|
|
@$(ECHO) %% Configuring NuttX for $(board)
|
|
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
|
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
|
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
|
|
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
|
|
@$(ECHO) %% Exporting NuttX for $(board)
|
|
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
|
|
$(Q) $(MKDIR) -p $(dir $@)
|
|
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
|
|
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
|
|
|
|
#
|
|
# The user can run the NuttX 'menuconfig' tool for a single board configuration with
|
|
# make BOARDS=<boardname> menuconfig
|
|
#
|
|
ifeq ($(MAKECMDGOALS),menuconfig)
|
|
ifneq ($(words $(BOARDS)),1)
|
|
$(error BOARDS must specify exactly one board for the menuconfig goal)
|
|
endif
|
|
BOARD = $(BOARDS)
|
|
menuconfig: $(NUTTX_SRC)
|
|
@$(ECHO) %% Configuring NuttX for $(BOARD)
|
|
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
|
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
|
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
|
|
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
|
|
@$(ECHO) %% Running menuconfig for $(BOARD)
|
|
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
|
|
@$(ECHO) %% Saving configuration file
|
|
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
|
|
else
|
|
menuconfig:
|
|
@$(ECHO) ""
|
|
@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
|
|
@$(ECHO) ""
|
|
endif
|
|
|
|
$(NUTTX_SRC): checksubmodules
|
|
|
|
$(UAVCAN_DIR):
|
|
$(Q) (./Tools/check_submodules.sh)
|
|
|