diff options
Diffstat (limited to 'Makefile')
| -rw-r--r-- | Makefile | 263 |
1 files changed, 152 insertions, 111 deletions
@@ -1,43 +1,53 @@ # -# Top-level Makefile for building PX4 firmware images. -# -# -# Note that this is a transitional process; the eventual goal is for this -# project to slim down and simply generate PX4 link kits via the NuttX -# 'make export' mechanism. -# +# Copyright (c) 2012, 2013 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. # # -# Some useful paths. +# Top-level Makefile for building PX4 firmware images. # -export PX4BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST)))) -export NUTTX_SRC = $(PX4BASE)/nuttx -export NUTTX_APPS = $(PX4BASE)/apps -export MAVLINK_SRC = $(PX4BASE)/mavlink -export ROMFS_SRC = $(PX4BASE)/ROMFS -export IMAGE_DIR = $(PX4BASE)/Images # -# Tools +# Get path and tool configuration # -MKFW = $(PX4BASE)/Tools/px_mkfw.py -UPLOADER = $(PX4BASE)/Tools/px_uploader.py +export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/ +include $(PX4_BASE)makefiles/setup.mk # -# What are we currently configured for? +# Canned firmware configurations that we build. # -CONFIGURED = $(PX4BASE)/.configured -ifneq ($(wildcard $(CONFIGURED)),) -export TARGET := $(shell cat $(CONFIGURED)) -endif +CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk)))) # -# What we will build +# Boards that we build NuttX export kits for. # -FIRMWARE_BUNDLE = $(IMAGE_DIR)/$(TARGET).px4 -FIRMWARE_BINARY = $(IMAGE_DIR)/$(TARGET).bin -FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype +BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk)))) # # Debugging @@ -45,120 +55,151 @@ FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype MQUIET = --no-print-directory #MQUIET = --print-directory -all: $(FIRMWARE_BUNDLE) +################################################################################ +# No user-serviceable parts below +################################################################################ # -# Generate a wrapped .px4 file from the built binary +# If the user has listed a config as a target, strip it out and override CONFIGS. # -$(FIRMWARE_BUNDLE): $(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE) - @echo Generating $@ - @$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \ - --git_identity $(PX4BASE) \ - --image $(FIRMWARE_BINARY) > $@ +FIRMWARE_GOAL = firmware +EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS)) +ifneq ($(EXPLICIT_CONFIGS),) +CONFIGS := $(EXPLICIT_CONFIGS) +.PHONY: $(EXPLICIT_CONFIGS) +$(EXPLICIT_CONFIGS): all # -# Build the firmware binary. +# If the user has asked to upload, they must have also specified exactly one +# config. # -.PHONY: $(FIRMWARE_BINARY) -$(FIRMWARE_BINARY): setup_$(TARGET) configure-check - @echo Building $@ for $(TARGET) - @make -C $(NUTTX_SRC) -r $(MQUIET) all - @cp $(NUTTX_SRC)/nuttx.bin $@ +ifneq ($(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 # -# The 'configure' targets select one particular firmware configuration -# and makes it current. +# Built products # -configure_px4fmu: - @echo Configuring for px4fmu - @make -C $(PX4BASE) distclean - @cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh - @echo px4fmu > $(CONFIGURED) - -configure_px4io: - @echo Configuring for px4io - @make -C $(PX4BASE) distclean - @cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io - @echo px4io > $(CONFIGURED) - -configure-check: -ifeq ($(wildcard $(CONFIGURED)),) - @echo - @echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first" - @echo - @exit 1 -endif +STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4) +FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4) +all: $(STAGED_FIRMWARES) # -# Per-configuration additional targets +# Copy FIRMWARES into the image directory. # -.PHONY: px4fmu_setup -setup_px4fmu: - @echo Generating ROMFS - @make -C $(ROMFS_SRC) all - -setup_px4io: - -# fake target to make configure-check happy if TARGET is not set -setup_: +$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 + @echo %% Copying $@ + $(Q) $(COPY) $< $@ # -# Firmware uploading. +# Generate FIRMWARES. # - -# serial port defaults by operating system. -SYSTYPE = $(shell uname) -ifeq ($(SYSTYPE),Darwin) -SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4" -endif -ifeq ($(SYSTYPE),Linux) -SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0" -endif -ifeq ($(SERIAL_PORTS),) -SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0" -endif - -upload: $(FIRMWARE_BUNDLE) $(UPLOADER) - $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE) +.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: + @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) \ + $(FIRMWARE_GOAL) # -# JTAG firmware uploading with OpenOCD +# Build the NuttX export archives. # -ifeq ($(JTAGCONFIG),) -JTAGCONFIG=interface/olimex-jtag-tiny.cfg -endif - -upload-jtag-px4fmu: - @echo Attempting to flash PX4FMU board via JTAG - @openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown - -upload-jtag-px4io: all - @echo Attempting to flash PX4IO board via JTAG - @openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown - +# 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. # -# Hacks and fixups +# XXX Should support fetching/unpacking from a separate directory to permit +# downloads of the prebuilt archives as well... # +# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4" +# +NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export) +.PHONY: archives +archives: $(NUTTX_ARCHIVES) -ifeq ($(SYSTYPE),Darwin) -# PATH inherited by Eclipse may not include toolchain install location -export PATH := $(PATH):/usr/local/bin +# We cannot build these parallel; note that we also force -j1 for the +# sub-make invocations. +ifneq ($(filter archives,$(MAKECMDGOALS)),) +.NOTPARALLEL: endif +$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@)) +$(ARCHIVE_DIR)%.export: configuration = $(if $(filter $(board),px4io),io,nsh) +$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS) + @echo %% Configuring NuttX for $(board) + $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) + $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration)) + @echo %% Exporting NuttX for $(board) + $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export + $(Q) mkdir -p $(dir $@) + $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ + # # 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 upload-jtag-px4fmu +.PHONY: clean clean: - @make -C $(NUTTX_SRC) -r $(MQUIET) distclean - @make -C $(ROMFS_SRC) -r $(MQUIET) clean + $(Q) $(RMDIR) $(BUILD_DIR)*.build + $(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4 .PHONY: distclean -distclean: - @rm -f $(CONFIGURED) - @make -C $(NUTTX_SRC) -r $(MQUIET) distclean - @make -C $(ROMFS_SRC) -r $(MQUIET) distclean - +distclean: clean + $(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export + $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean + +# +# Print some help text +# +.PHONY: help +help: + @echo "" + @echo " PX4 firmware builder" + @echo " ====================" + @echo "" + @echo " Available targets:" + @echo " ------------------" + @echo "" + @echo " archives" + @echo " Build the NuttX RTOS archives that are used by the firmware build." + @echo "" + @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 "" + @echo " distclean" + @echo " Remove all compilation products, including NuttX RTOS archives." + @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 "" |