#
# Generic Makefile for PX4 firmware.
#
# Currently this assumes that we're just compiling SRCS
# and then linking the whole thing together.
#
# Requires:
#
# PLATFORM
# Must be set to a platform name known to the PX4 distribution.
#
# Optional:
#
# PX4_BASE:
# Points to a PX4 distribution. Normally determined based on the
# path to this file.
#
# CONFIG:
# Used to set the output filename; defaults to 'firmware'.
#
# WORK_DIR:
# Sets the directory in which the firmware will be built. Defaults
# to the directory 'build' under the directory containing the
# parent Makefile.
#
# ROMFS_ROOT:
# If set to the path to a directory, a ROMFS image will be generated
# containing the files under the directory and linked into the final
# image.
#
################################################################################
# Paths and configuration
################################################################################
#
# Work out where this file is, so we can find other makefiles in the
# same directory.
#
# If PX4_BASE wasn't set previously, work out what it should be
# and set it here now.
#
export PX4_MK_INCLUDE ?= $(dir $(lastword $(MAKEFILE_LIST)))
ifeq ($(PX4_BASE),)
export PX4_BASE := $(abspath $(PX4_MK_INCLUDE)/..)
endif
$(info %% PX4_BASE $(PX4_BASE))
#
# If WORK_DIR is not set, create a 'build' directory next to the
# parent Makefile.
#
PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
ifeq ($(WORK_DIR),)
export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build
endif
$(info %% WORK_DIR $(WORK_DIR))
#
# Paths
#
export NUTTX_SRC = $(PX4_BASE)/nuttx
export NUTTX_APPS = $(PX4_BASE)/apps
export MAVLINK_SRC = $(PX4_BASE)/mavlink
export ROMFS_SRC = $(PX4_BASE)/ROMFS
export IMAGE_DIR = $(PX4_BASE)/Images
export BUILD_DIR = $(PX4_BASE)/Build
export ARCHIVE_DIR = $(PX4_BASE)/Archives
#
# Extra tools.
#
# XXX should be in a common toolchain config somewhere.
#
MKFW = $(PX4_BASE)/Tools/px_mkfw.py
COPY = cp
REMOVE = rm -f
RMDIR = rm -rf
GENROMFS = genromfs
#
# Sanity-check the PLATFORM variable and then get the platform config.
# If PLATFORM is not set, but CONFIG is, use that.
#
# The platform config in turn will fetch the toolchain configuration.
#
ifeq ($(PLATFORM),)
ifeq ($(CONFIG),)
$(error At least one of the PLATFORM or CONFIG variables must be set before including firmware.mk)
endif
PLATFORM := $(firstword $(subst _, ,$(CONFIG)))
endif
include $(PX4_MK_INCLUDE)/platform_$(PLATFORM).mk
#
# Makefile debugging.
#
Q := $(if $(V),,@)
#
# Host-specific paths, hacks and fixups
#
SYSTYPE := $(shell uname -s)
ifeq ($(SYSTYPE),Darwin)
# Eclipse may not have the toolchain on its path.
export PATH := $(PATH):/usr/local/bin
endif
################################################################################
# NuttX libraries and paths
################################################################################
#
# Check that the NuttX archive for the selected platform is available.
#
NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)/$(PLATFORM).export)
ifeq ($(NUTTX_ARCHIVE),)
$(error The NuttX export archive for $(PLATFORM) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
endif
#
# The NuttX config header should always be present in the NuttX archive, and
# if it changes, everything should be rebuilt. So, use it as the trigger to
# unpack the NuttX archive.
#
NUTTX_EXPORT_DIR = $(WORK_DIR)/nuttx-export
NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h
#
# Use the linker script from the NuttX export
#
LDSCRIPT = $(NUTTX_EXPORT_DIR)/build/ld.script
#
# Add directories from the NuttX export to the relevant search paths
#
INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)/include
LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs
LIBS += -lapps -lnuttx
LINK_DEPS += $(wildcard $(addsuffix /*.a,$(LIB_DIRS)))
################################################################################
# ROMFS generation
################################################################################
#
# Note that we can't just put romfs.c in SRCS, as it's depended on by the
# NuttX export library. Instead, we have to treat it like a library.
#
ifneq ($(ROMFS_ROOT),)
ROMFS_DEPS += $(wildcard \
(ROMFS_ROOT)/* \
(ROMFS_ROOT)/*/* \
(ROMFS_ROOT)/*/*/* \
(ROMFS_ROOT)/*/*/*/* \
(ROMFS_ROOT)/*/*/*/*/* \
(ROMFS_ROOT)/*/*/*/*/*/*)
ROMFS_IMG = $(WORK_DIR)/romfs.img
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
LINK_DEPS += $(ROMFS_OBJ)
endif
################################################################################
# Build rules
################################################################################
#
# Things that, if they change, might affect everything
#
GLOBAL_DEPS += $(MAKEFILE_LIST) $(NUTTX_CONFIG_HEADER)
#
# What we're going to build.
#
PRODUCT_BUNDLE = $(WORK_DIR)/firmware.px4
PRODUCT_BIN = $(WORK_DIR)/firmware.bin
PRODUCT_SYM = $(WORK_DIR)/firmware.sym
.PHONY: all
all: $(PRODUCT_BUNDLE)
#
# Object files we will generate from sources
#
OBJS = $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
#
# SRCS -> OBJS rules
#
$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c $(GLOBAL_DEPS)
@mkdir -p $(dir $@)
$(call COMPILE,$<,$@)
$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS)
@mkdir -p $(dir $@)
$(call COMPILEXX,$<,$@)
$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS)
@mkdir -p $(dir $@)
$(call ASSEMBLE,$<,$@)
#
# Build directory setup rules
#
$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
@echo %% Unpacking $(NUTTX_ARCHIVE)
$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
$(Q) touch $@
#
# Built product rules
#
$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
@echo %% Generating $@
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(PLATFORM).prototype \
--git_identity $(PX4_BASE) \
--image $< > $@
$(PRODUCT_BIN): $(PRODUCT_SYM)
$(call SYM_TO_BIN,$<,$@)
$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS)
$(call LINK,$@,$(OBJS))
#
# ROMFS rules
#
$(ROMFS_OBJ): $(ROMFS_CSRC)
$(call COMPILE,$<,$@)
$(ROMFS_CSRC): $(ROMFS_IMG)
@echo %% generating $@
$(Q) (cd $(dir $<) && xxd -i $(notdir $<)) > $@
$(ROMFS_IMG): $(ROMFS_DEPS)
@echo %% generating $@
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
#
# Utility rules
#
upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN)
$(Q) make -f $(PX4_MK_INCLUDE)/upload.mk \
METHOD=serial \
PRODUCT=$(PRODUCT) \
BUNDLE=$(PRODUCT_BUNDLE) \
BIN=$(PRODUCT_BIN)
clean:
@echo %% cleaning
$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES)
$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
#
# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
#
-include $(DEP_INCLUDES)
