forked from PX4/PX4-Autopilot
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Makefile
307 lines (272 loc) · 9.48 KB
/
Makefile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
#
# 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.
#
#
# Top-level Makefile for building PX4 firmware images.
#
TARGETS := nuttx posix posix-arm qurt
EXPLICIT_TARGET := $(filter $(TARGETS),$(MAKECMDGOALS))
ifneq ($(EXPLICIT_TARGET),)
export PX4_TARGET_OS=$(EXPLICIT_TARGET)
export GOALS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
endif
#
# Get path and tool configuration
#
export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk
#
# Get a version string provided by git
# This assumes that git command is available and that
# the directory holding this file also contains .git directory
#
GIT_DESC := $(shell git log -1 --pretty=format:%H)
ifneq ($(words $(GIT_DESC)),1)
GIT_DESC := "unknown_git_version"
endif
GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
#
# Canned firmware configurations that we (know how to) build.
#
KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
CONFIGS ?= $(KNOWN_CONFIGS)
#
# Boards that we (know how to) build NuttX export kits for.
#
KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
BOARDS ?= $(KNOWN_BOARDS)
#
# Debugging
#
MQUIET = --no-print-directory
#MQUIET = --print-directory
################################################################################
# No user-serviceable parts below
################################################################################
#
# If the user has listed a config as a target, strip it out and override CONFIGS.
#
FIRMWARE_GOAL = firmware
EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))
ifneq ($(EXPLICIT_CONFIGS),)
CONFIGS := $(EXPLICIT_CONFIGS)
.PHONY: $(EXPLICIT_CONFIGS)
$(EXPLICIT_CONFIGS): all
#
# If the user has asked to upload, they must have also specified exactly one
# config.
#
ifneq ($(filter upload,$(MAKECMDGOALS)),)
ifneq ($(words $(EXPLICIT_CONFIGS)),1)
$(error In order to upload, exactly one board config must be specified)
endif
FIRMWARE_GOAL = upload
.PHONY: upload
upload:
@:
endif
endif
ifeq ($(PX4_TARGET_OS),nuttx)
include $(PX4_BASE)makefiles/nuttx/firmware_nuttx.mk
endif
ifeq ($(PX4_TARGET_OS),posix)
include $(PX4_BASE)makefiles/posix/firmware_posix.mk
endif
ifeq ($(PX4_TARGET_OS),posix-arm)
include $(PX4_BASE)makefiles/posix/firmware_posix.mk
endif
ifeq ($(PX4_TARGET_OS),qurt)
include $(PX4_BASE)makefiles/qurt/firmware_qurt.mk
endif
qurt_fixup:
makefiles/qurt/setup.sh $(PX4_BASE)
restore:
cd src/lib/eigen && git checkout .
git submodule update
#
# Versioning
#
GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h
$(GIT_VER_FILE) :
$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
$(MKDIR) -p $(PX4_VERSIONING_DIR); \
$(ECHO) "" > $(GIT_VER_FILE); \
fi
.PHONY: checkgitversion
checkgitversion: $(GIT_VER_FILE)
$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
$(ECHO) "#define PX4_GIT_VERSION_STR \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
fi
#
# Sizes
#
.PHONY: size
size:
$(Q) for elfs in Build/*; do if [ -f $$elfs/firmware.elf ]; then $(SIZE) $$elfs/firmware.elf; fi done
#
# Submodule Checks
#
.PHONY: checksubmodules
checksubmodules:
$(Q) ($(PX4_BASE)/Tools/check_submodules.sh $(PX4_TARGET_OS))
.PHONY: updatesubmodules
updatesubmodules:
$(Q) (git submodule init)
$(Q) (git submodule update)
MSG_DIR = $(PX4_BASE)msg
UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
MULTIPLATFORM_PREFIX = px4_
TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
.PHONY: generateuorbtopicheaders
generateuorbtopicheaders: checksubmodules
@$(ECHO) "Generating uORB topic headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
#
# Testing targets
#
testbuild:
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
nuttx posix posix-arm qurt:
ifeq ($(GOALS),)
$(MAKE) PX4_TARGET_OS=$@ $(GOALS)
else
export PX4_TARGET_OS=$@
endif
sitl_quad:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
sitl_quad_gazebo:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
sitl_plane:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
qurtrun:
$(MAKE) PX4_TARGET_OS=qurt sim
#
# Unittest targets. Builds and runs the host-level
# unit tests.
.PHONY: tests
tests: generateuorbtopicheaders
$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) --no-print-directory unittests)
.PHONY: check_format
check_format:
$(Q) (./Tools/check_code_style.sh)
#
# Cleanup targets. 'clean' should remove all built products and force
# a complete re-compilation, 'distclean' should remove everything
# that's generated leaving only files that are in source control.
#
.PHONY: clean
clean:
@echo > /dev/null
$(Q) $(RMDIR) $(BUILD_DIR)*.build
$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
.PHONY: distclean
distclean: clean
@echo > /dev/null
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
#
# Print some help text
#
.PHONY: help
help:
@$(ECHO) ""
@$(ECHO) " PX4 firmware builder"
@$(ECHO) " ===================="
@$(ECHO) ""
@$(ECHO) " Available targets:"
@$(ECHO) " ------------------"
@$(ECHO) ""
ifeq ($(PX4_TARGET_OS),nuttx)
@$(ECHO) " archives"
@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
@$(ECHO) ""
endif
@$(ECHO) " all"
@$(ECHO) " Build all firmware configs: $(CONFIGS)"
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@$(ECHO) ""
@for config in $(CONFIGS); do \
$(ECHO) " $$config"; \
$(ECHO) " Build just the $$config firmware configuration."; \
$(ECHO) ""; \
done
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."
@$(ECHO) ""
ifeq ($(PX4_TARGET_OS),nuttx)
@$(ECHO) " distclean"
@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
@$(ECHO) ""
@$(ECHO) " upload"
@$(ECHO) " When exactly one config is being built, add this target to upload the"
@$(ECHO) " firmware to the board when the build is complete. Not supported for"
@$(ECHO) " all configurations."
@$(ECHO) ""
endif
@$(ECHO) " testbuild"
@$(ECHO) " Perform a complete clean build of the entire tree."
@$(ECHO) ""
@$(ECHO) " Common options:"
@$(ECHO) " ---------------"
@$(ECHO) ""
@$(ECHO) " V=1"
@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
@$(ECHO) " help when diagnosing issues with the build or toolchain."
@$(ECHO) ""
ifeq ($(PX4_TARGET_OS),nuttx)
@$(ECHO) " To see help for a specifix target use 'make <target> help' where target is"
@$(ECHO) " one of: "
@$(ECHO) " nuttx"
@$(ECHO) " posix"
@$(ECHO) " qurt"
@$(ECHO) ""
endif