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|
#
# Top-level Makefile for building PX4 firmware images.
#
#
# Some useful paths.
#
export PX4_BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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
#
# Tools
#
MKFW = $(PX4_BASE)/Tools/px_mkfw.py
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
COPY = cp
REMOVE = rm -f
RMDIR = rm -rf
#
# Canned firmware configurations that we build.
#
CONFIGS ?= px4fmu_default px4io_default
#
# 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
#
# Platforms (boards) that we build prelink kits for.
#
PLATFORMS = px4fmu px4io
#
# Some handy macros
#
PLATFORM_FROM_CONFIG = $(word 1,$(subst _, ,$1))
#
# Built products
#
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)/$(config).px4)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build/firmware.px4)
#
# Debugging
#
MQUIET = --no-print-directory
#MQUIET = --print-directory
Q := $(if $(V),,@)
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
#
$(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 %%%% Building $(config) in $(work_dir)
$(Q) mkdir -p $(work_dir)
$(Q) make -C $(work_dir) \
-f $(PX4_BASE)/makefiles/$(config).mk \
CONFIG=$(config) \
PLATFORM=$(call PLATFORM_FROM_CONFIG,$(config)) \
WORK_DIR=$(work_dir)
#
# Generate the config build directory.
#
#BUILDAREAS = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build)
#.PHONY: buildareas
#buildareas: $(BUILDAREAS)
#
#$(BUILD_DIR)/%.build: config = $(notdir $(basename $@))
#$(BUILD_DIR)/%.build: platform = $(call PLATFORM_FROM_CONFIG,$(config))
#$(BUILDAREAS): $(BUILD_DIR)/%.build:
# @echo %% Setting up build environment for $(config)
# $(Q) mkdir -p $@
# $(Q) (cd $@ && $(RMDIR) nuttx-export && unzip -q $(ARCHIVE_DIR)/$(platform).export)
#
# 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 config name is bad - we should just call them all "px4"
#
NUTTX_ARCHIVES = $(foreach platform,$(PLATFORMS),$(ARCHIVE_DIR)/$(platform).export)
.PHONY: archives
archives: $(NUTTX_ARCHIVES)
$(ARCHIVE_DIR)/%.export: platform = $(notdir $(basename $@))
$(ARCHIVE_DIR)/%.export: config = $(if $(filter $(platform),px4io),io,nsh)
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS)
@echo %% Configuring NuttX for $(platform)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/tools && ./configure.sh $(platform)/$(config))
@echo Generating ROMFS for $(platform) XXX move this!
$(Q) make -C $(ROMFS_SRC) all
@echo %% Exporting NuttX for $(platform)
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export
$(Q) mkdir -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)/nuttx-export.zip $@
setup_px4io:
#
# Firmware upload.
#
# 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)
@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
#
# JTAG firmware uploading with OpenOCD
#
ifeq ($(JTAGCONFIG),)
JTAGCONFIG=interface/olimex-jtag-tiny.cfg
endif
.PHONY: upload-jtag-px4fmu
upload-jtag-px4fmu: all
@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
.PHONY: upload-jtag-px4io
upload-jtag-px4io: all
@echo Attempting to flash PX4IO board via JTAG
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
#
# Hacks and fixups
#
ifeq ($(SYSTYPE),Darwin)
# PATH inherited by Eclipse may not include toolchain install location
export PATH := $(PATH):/usr/local/bin
endif
#
# 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
$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) clean
.PHONY: distclean
distclean: clean
$(Q) $(REMOVE) -f $(ARCHIVE_DIR)/*.export
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) distclean
|
