forked from Archive/PX4-Autopilot
425 lines
15 KiB
Makefile
425 lines
15 KiB
Makefile
############################################################################
|
|
#
|
|
# 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)
|
|
|
|
ifdef VERBOSE
|
|
PX4_MAKE_ARGS := -v
|
|
else
|
|
PX4_MAKE_ARGS :=
|
|
endif
|
|
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 $(MAKEFILE_LIST))))
|
|
|
|
# check if replay env variable is set & set build dir accordingly
|
|
ifdef replay
|
|
BUILD_DIR_SUFFIX := _replay
|
|
else
|
|
BUILD_DIR_SUFFIX :=
|
|
endif
|
|
|
|
# NuttX verbose output
|
|
ifdef VN
|
|
export PX4_NUTTX_BUILD_VERBOSE=1
|
|
export V=1
|
|
endif
|
|
|
|
# NuttX verbose patches output
|
|
ifdef VNP
|
|
export PX4_NUTTX_PATCHES_VERBOSE=1
|
|
endif
|
|
|
|
# additional config parameters passed to cmake
|
|
CMAKE_ARGS := -Wno-deprecated
|
|
|
|
ifdef EXTERNAL_MODULES_LOCATION
|
|
CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
|
|
endif
|
|
|
|
ifdef PX4_CMAKE_BUILD_TYPE
|
|
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
|
|
endif
|
|
|
|
# Functions
|
|
# --------------------------------------------------------------------
|
|
# describe how to build a cmake config
|
|
define cmake-build
|
|
+@$(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) $(ARGS))
|
|
endef
|
|
|
|
COLOR_BLUE = \033[0;34m
|
|
NO_COLOR = \033[m
|
|
|
|
define colorecho
|
|
+@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
|
|
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 px4fmu_firmware misc_qgc_extra_firmware alt_firmware
|
|
.PHONY: sizes check quick_check
|
|
|
|
# QGroundControl flashable NuttX firmware
|
|
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
|
|
|
|
# px4fmu NuttX firmware
|
|
px4fmu_firmware: \
|
|
check_px4io-v2_default \
|
|
check_px4fmu-v2_default \
|
|
check_px4fmu-v3_default \
|
|
check_px4fmu-v4_default \
|
|
check_px4fmu-v4pro_default \
|
|
check_px4fmu-v5_default \
|
|
sizes
|
|
|
|
misc_qgc_extra_firmware: \
|
|
check_aerocore2_default \
|
|
check_aerofc-v1_default \
|
|
check_auav-x21_default \
|
|
check_crazyflie_default \
|
|
check_mindpx-v2_default \
|
|
check_px4fmu-v2_lpe \
|
|
check_tap-v1_default \
|
|
sizes
|
|
|
|
# Other NuttX firmware
|
|
alt_firmware: \
|
|
check_nxphlite-v3_default \
|
|
check_px4-same70xplained-v1_default \
|
|
check_px4-stm32f4discovery_default \
|
|
check_px4cannode-v1_default \
|
|
check_px4esc-v1_default \
|
|
check_px4nucleoF767ZI-v1_default \
|
|
check_s2740vc-v1_default \
|
|
sizes
|
|
|
|
sizes:
|
|
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
|
|
|
|
# All default targets that don't require a special build environment
|
|
check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware 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
|
|
|
|
# Documentation
|
|
# --------------------------------------------------------------------
|
|
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
|
|
|
|
parameters_metadata: posix_sitl_default
|
|
@python $(SRC_DIR)/Tools/px_process_params.py -s $(SRC_DIR)/src --markdown
|
|
|
|
airframe_metadata:
|
|
@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
|
|
@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
|
|
|
|
module_documentation:
|
|
@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
|
|
|
|
px4_metadata: parameters_metadata airframe_metadata module_documentation
|
|
|
|
# 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 s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware s3put_metadata s3put_scan-build s3put_cppcheck s3put_coverage
|
|
|
|
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: s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware
|
|
|
|
s3put_px4fmu_firmware: px4fmu_firmware
|
|
@find $(SRC_DIR)/build -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
|
|
|
|
s3put_misc_qgc_extra_firmware: misc_qgc_extra_firmware
|
|
@find $(SRC_DIR)/build -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
|
|
|
|
s3put_metadata: px4_metadata
|
|
@$(SRC_DIR)/Tools/s3put.sh airframes.md
|
|
@$(SRC_DIR)/Tools/s3put.sh airframes.xml
|
|
@$(SRC_DIR)/Tools/s3put.sh build/posix_sitl_default/parameters.xml
|
|
@$(SRC_DIR)/Tools/s3put.sh parameters.md
|
|
|
|
s3put_scan-build: scan-build
|
|
@cd $(SRC_DIR) && ./Tools/s3put.sh `find build/scan-build -mindepth 1 -maxdepth 1 -type d`/
|
|
|
|
s3put_cppcheck: cppcheck
|
|
@cd $(SRC_DIR) && ./Tools/s3put.sh cppcheck/
|
|
|
|
s3put_coverage: tests_coverage
|
|
@cd $(SRC_DIR) && ./Tools/s3put.sh build/posix_sitl_default/coverage-html/
|
|
|
|
# Astyle
|
|
# --------------------------------------------------------------------
|
|
.PHONY: check_format format
|
|
|
|
check_format:
|
|
$(call colorecho,"Checking formatting with astyle")
|
|
@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
|
|
@git diff --check
|
|
|
|
format:
|
|
$(call colorecho,"Formatting with astyle")
|
|
@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
|
|
|
|
# Testing
|
|
# --------------------------------------------------------------------
|
|
.PHONY: tests tests_coverage coveralls_upload codecov_upload
|
|
|
|
tests:
|
|
$(MAKE) --no-print-directory posix_sitl_default test_results
|
|
|
|
tests_coverage:
|
|
@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
|
|
|
|
coveralls_upload:
|
|
@cpp-coveralls --include src/ \
|
|
--exclude=src/lib/DriverFramework \
|
|
--exclude=src/lib/ecl \
|
|
--exclude=src/lib/Matrix \
|
|
--exclude=src/modules/uavcan/libuavcan \
|
|
--root . --build-root build/posix_sitl_default/ --follow-symlinks
|
|
|
|
codecov_upload:
|
|
@/bin/bash -c "bash <(curl -s https://codecov.io/bash)"
|
|
|
|
# static analyzers (scan-build, clang-tidy, cppcheck)
|
|
# --------------------------------------------------------------------
|
|
.PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
|
|
|
|
posix_sitl_default-clang:
|
|
@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
|
|
@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
|
|
@cd $(SRC_DIR)/build/posix_sitl_default-clang && ninja
|
|
|
|
scan-build:
|
|
@export CCC_CC=clang
|
|
@export CCC_CXX=clang++
|
|
@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 -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
|
|
|
|
clang-tidy: posix_sitl_default-clang
|
|
@cd build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
|
|
|
|
# to automatically fix a single check at a time, eg modernize-redundant-void-arg
|
|
# % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
|
|
clang-tidy-fix: posix_sitl_default-clang
|
|
@cd build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
|
|
|
|
# modified version of run-clang-tidy.py to return error codes and only output relevant results
|
|
clang-tidy-quiet: posix_sitl_default-clang
|
|
@cd build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
|
|
|
|
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
|
|
cppcheck: posix_sitl_default
|
|
@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build/posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
|
|
@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/
|
|
|
|
check_stack: px4fmu-v3_default
|
|
@echo "Checking worst case stack usage with checkstack.pl ..."
|
|
@echo " "
|
|
@echo "Top 10:"
|
|
@cd build/px4fmu-v3_default/ && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v3_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
|
|
@head -n 10 build/px4fmu-v3_default/stack_usage/checkstack_output.txt | c++filt
|
|
@echo " "
|
|
@echo "Symbols with 'main', 'thread' or 'task':"
|
|
@cat build/px4fmu-v3_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
|
|
|
|
# Cleanup
|
|
# --------------------------------------------------------------------
|
|
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
|
|
|
clean:
|
|
@rm -rf $(SRC_DIR)/build
|
|
|
|
submodulesclean:
|
|
@git submodule foreach --quiet --recursive git clean -ff -x -d
|
|
@git submodule update --quiet --init --recursive --force || true
|
|
@git submodule sync --recursive
|
|
@git submodule update --init --recursive --force
|
|
|
|
submodulesupdate:
|
|
@git submodule update --quiet --init --recursive || true
|
|
@git submodule sync --recursive
|
|
@git submodule update --init --recursive
|
|
|
|
gazeboclean:
|
|
@rm -rf ~/.gazebo/*
|
|
|
|
distclean: submodulesclean gazeboclean
|
|
@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
|
|
|
|
# --------------------------------------------------------------------
|
|
|
|
# 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: $(MAKE) <target>"
|
|
@echo "Where <target> is one of:"
|
|
@$(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, $(MAKE) <config_target> [<make_target(s)>]"
|
|
@echo "Use '$(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
|