forked from Archive/PX4-Autopilot
308 lines
9.5 KiB
Makefile
308 lines
9.5 KiB
Makefile
#
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# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Top-level Makefile for building PX4 firmware images.
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#
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TARGETS := nuttx posix posix-arm qurt
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EXPLICIT_TARGET := $(filter $(TARGETS),$(MAKECMDGOALS))
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ifneq ($(EXPLICIT_TARGET),)
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export PX4_TARGET_OS=$(EXPLICIT_TARGET)
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export GOALS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
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endif
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#
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# Get path and tool configuration
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#
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export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
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include $(PX4_BASE)makefiles/setup.mk
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#
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# Get a version string provided by git
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# This assumes that git command is available and that
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# the directory holding this file also contains .git directory
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#
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GIT_DESC := $(shell git log -1 --pretty=format:%H)
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ifneq ($(words $(GIT_DESC)),1)
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GIT_DESC := "unknown_git_version"
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endif
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GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
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#
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# Canned firmware configurations that we (know how to) build.
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#
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KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
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CONFIGS ?= $(KNOWN_CONFIGS)
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#
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# Boards that we (know how to) build NuttX export kits for.
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#
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KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
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BOARDS ?= $(KNOWN_BOARDS)
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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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################################################################################
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# No user-serviceable parts below
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################################################################################
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#
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# If the user has listed a config as a target, strip it out and override CONFIGS.
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#
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FIRMWARE_GOAL = firmware
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EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))
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ifneq ($(EXPLICIT_CONFIGS),)
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CONFIGS := $(EXPLICIT_CONFIGS)
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.PHONY: $(EXPLICIT_CONFIGS)
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$(EXPLICIT_CONFIGS): all
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#
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# If the user has asked to upload, they must have also specified exactly one
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# config.
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#
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ifneq ($(filter upload,$(MAKECMDGOALS)),)
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ifneq ($(words $(EXPLICIT_CONFIGS)),1)
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$(error In order to upload, exactly one board config must be specified)
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endif
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FIRMWARE_GOAL = upload
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.PHONY: upload
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upload:
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@:
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endif
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endif
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ifeq ($(PX4_TARGET_OS),nuttx)
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include $(PX4_BASE)makefiles/nuttx/firmware_nuttx.mk
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endif
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ifeq ($(PX4_TARGET_OS),posix)
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include $(PX4_BASE)makefiles/posix/firmware_posix.mk
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endif
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ifeq ($(PX4_TARGET_OS),posix-arm)
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include $(PX4_BASE)makefiles/posix/firmware_posix.mk
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endif
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ifeq ($(PX4_TARGET_OS),qurt)
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include $(PX4_BASE)makefiles/qurt/firmware_qurt.mk
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endif
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qurt_fixup:
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makefiles/qurt/setup.sh $(PX4_BASE)
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restore:
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cd src/lib/eigen && git checkout .
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git submodule update
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#
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# Versioning
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#
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GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
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GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h
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$(GIT_VER_FILE) :
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$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
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$(MKDIR) -p $(PX4_VERSIONING_DIR); \
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$(ECHO) "" > $(GIT_VER_FILE); \
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fi
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.PHONY: checkgitversion
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checkgitversion: $(GIT_VER_FILE)
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$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
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$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
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$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
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$(ECHO) "#define PX4_GIT_VERSION_STR \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
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$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
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$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
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fi
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#
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# Sizes
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#
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.PHONY: size
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size:
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$(Q) for elfs in Build/*; do if [ -f $$elfs/firmware.elf ]; then $(SIZE) $$elfs/firmware.elf; fi done
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#
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# Submodule Checks
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#
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.PHONY: checksubmodules
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checksubmodules:
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$(Q) ($(PX4_BASE)/Tools/check_submodules.sh $(PX4_TARGET_OS))
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.PHONY: updatesubmodules
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updatesubmodules:
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$(Q) (git submodule init)
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$(Q) (git submodule update)
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MSG_DIR = $(PX4_BASE)msg
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UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
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MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
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TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
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MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
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MULTIPLATFORM_PREFIX = px4_
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TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
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MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
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GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
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GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
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.PHONY: generateuorbtopicheaders
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generateuorbtopicheaders: checksubmodules
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@$(ECHO) "Generating uORB topic headers"
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
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-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
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@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
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-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
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#
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# Testing targets
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#
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testbuild:
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$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
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$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
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nuttx posix posix-arm qurt:
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ifeq ($(GOALS),)
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$(MAKE) PX4_TARGET_OS=$@ $(GOALS)
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else
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export PX4_TARGET_OS=$@
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endif
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sitl_quad:
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$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
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sitl_quad_gazebo:
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$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
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sitl_plane:
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$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
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qurtrun:
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$(MAKE) PX4_TARGET_OS=qurt sim
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#
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# Unittest targets. Builds and runs the host-level
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# unit tests.
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.PHONY: tests
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tests: generateuorbtopicheaders
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$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) --no-print-directory unittests)
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.PHONY: check_format
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check_format:
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$(Q) (./Tools/check_code_style.sh)
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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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@echo > /dev/null
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$(Q) $(RMDIR) $(BUILD_DIR)*.build
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$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
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$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
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$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
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$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
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.PHONY: distclean
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distclean: clean
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@echo > /dev/null
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$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
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$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
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#
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# Print some help text
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#
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.PHONY: help
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help:
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@$(ECHO) ""
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@$(ECHO) " PX4 firmware builder"
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@$(ECHO) " ===================="
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@$(ECHO) ""
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@$(ECHO) " Available targets:"
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@$(ECHO) " ------------------"
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@$(ECHO) ""
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ifeq ($(PX4_TARGET_OS),nuttx)
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@$(ECHO) " archives"
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@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
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@$(ECHO) ""
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endif
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@$(ECHO) " all"
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@$(ECHO) " Build all firmware configs: $(CONFIGS)"
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@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
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@$(ECHO) ""
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@for config in $(CONFIGS); do \
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$(ECHO) " $$config"; \
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$(ECHO) " Build just the $$config firmware configuration."; \
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$(ECHO) ""; \
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done
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@$(ECHO) " clean"
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@$(ECHO) " Remove all firmware build pieces."
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@$(ECHO) ""
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ifeq ($(PX4_TARGET_OS),nuttx)
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@$(ECHO) " distclean"
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@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
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@$(ECHO) ""
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@$(ECHO) " upload"
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@$(ECHO) " When exactly one config is being built, add this target to upload the"
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@$(ECHO) " firmware to the board when the build is complete. Not supported for"
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@$(ECHO) " all configurations."
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@$(ECHO) ""
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endif
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@$(ECHO) " testbuild"
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@$(ECHO) " Perform a complete clean build of the entire tree."
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@$(ECHO) ""
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@$(ECHO) " Common options:"
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@$(ECHO) " ---------------"
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@$(ECHO) ""
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@$(ECHO) " V=1"
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@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
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@$(ECHO) " help when diagnosing issues with the build or toolchain."
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@$(ECHO) ""
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ifeq ($(PX4_TARGET_OS),nuttx)
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@$(ECHO) " To see help for a specifix target use 'make <target> help' where target is"
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@$(ECHO) " one of: "
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@$(ECHO) " nuttx"
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@$(ECHO) " posix"
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@$(ECHO) " qurt"
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@$(ECHO) ""
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endif
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