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#
# Copyright (C) 2012 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.
#
#
# Get path and tool configuration
#
export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk
#
# Canned firmware configurations that we build.
#
CONFIGS ?= px4fmu_default px4io_default
#
# Boards that we build NuttX export kits for.
#
BOARDS = px4fmu px4io
#
# 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.
#
EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))
ifneq ($(EXPLICIT_CONFIGS),)
CONFIGS := $(EXPLICIT_CONFIGS)
.PHONY: $(EXPLICIT_CONFIGS)
$(EXPLICIT_CONFIGS): all
endif
#
# Built products
#
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
all: $(STAGED_FIRMWARES)
#
# Copy FIRMWARES into the image directory.
#
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
@echo %% Copying $@
$(Q) $(COPY) $< $@
#
# Generate FIRMWARES.
#
.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 -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
firmware
#
# Build the NuttX export archives.
#
# 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.
#
# 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)
$(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 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@echo %% Exporting NuttX for $(board)
$(Q) make -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
clean:
$(Q) $(RMDIR) $(BUILD_DIR)*.build
$(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4
.PHONY: 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:"
@echo ""
@echo " 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 ""
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