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Makefile
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# Makefile for Taulabs project
.DEFAULT_GOAL := help
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
ROOT_DIR := $(realpath $(WHEREAMI)/ )
# import macros common to all supported build systems
include $(ROOT_DIR)/make/system-id.mk
# configure some directories that are relative to wherever ROOT_DIR is located
TOOLS_DIR := $(ROOT_DIR)/tools
BUILD_DIR := $(ROOT_DIR)/build
DL_DIR := $(ROOT_DIR)/downloads
export RM := rm
export CCACHE_BIN := $(shell which ccache 2>/dev/null)
# import macros that are OS specific
include $(ROOT_DIR)/make/$(OSFAMILY).mk
# include the tools makefile
include $(ROOT_DIR)/make/tools.mk
# make sure this isn't being run as root, not relevant for windows
ifndef WINDOWS
# Deal with unreasonable requests
# See: http://xkcd.com/149/
ifeq ($(MAKECMDGOALS),me a sandwich)
ifeq ($(shell whoami),root)
$(error Okay)
else
$(error What? Make it yourself)
endif
endif
# Seriously though, you shouldn't ever run this as root
ifeq ($(shell whoami),root)
$(error You should not be running this as root)
endif
endif
# Function for converting an absolute path to one relative
# to the top of the source tree.
toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
# Clean out undesirable variables from the environment and command-line
# to remove the chance that they will cause problems with our build
define SANITIZE_VAR
$(if $(filter-out undefined,$(origin $(1))),
$(info *NOTE* Sanitized $(2) variable '$(1)' from $(origin $(1)))
MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
override $(1) :=
unexport $(1)
)
endef
# These specific variables can influence gcc in unexpected (and undesirable) ways
SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
SANITIZE_GCC_VARS += ARCHFLAGS
$(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
# These specific variables used to be valid but now they make no sense
SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER
$(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
# Decide on a verbosity level based on the V= parameter
export AT := @
ifndef V
export V0 :=
export V1 := $(AT)
else ifeq ($(V), 0)
export V0 := $(AT)
export V1 := $(AT)
else ifeq ($(V), 1)
endif
ALL_BOARDS :=
include $(ROOT_DIR)/flight/targets/*/target-defs.mk
# OpenPilot GCS build configuration (debug | release)
GCS_BUILD_CONF ?= debug
# And the flight build configuration (debug | default | release)
export FLIGHT_BUILD_CONF ?= default
##############################
#
# Check that environmental variables are sane
#
##############################
# Checking for $(ANDROIDGCS_BUILD_CONF) to be sane
ifdef ANDROIDGCS_BUILD_CONF
ifneq ($(ANDROIDGCS_BUILD_CONF), release)
ifneq ($(ANDROIDGCS_BUILD_CONF), debug)
$(error Only debug or release are allowed for ANDROIDGCS_BUILD_CONF)
endif
endif
endif
# Checking for $(GCS_BUILD_CONF) to be sane
ifdef GCS_BUILD_CONF
ifneq ($(GCS_BUILD_CONF), release)
ifneq ($(GCS_BUILD_CONF), debug)
$(error Only debug or release are allowed for GCS_BUILD_CONF)
endif
endif
endif
ifdef FLIGHT_BUILD_CONF
ifneq ($(FLIGHT_BUILD_CONF), release)
ifneq ($(FLIGHT_BUILD_CONF), debug)
ifneq ($(FLIGHT_BUILD_CONF), default)
$(error Only debug or release are allowed for FLIGHT_BUILD_CONF)
endif
endif
endif
endif
##############################
#
# Help instructions
#
##############################
.PHONY: help
help:
@echo
@echo " This Makefile is known to work on Linux and Mac in a standard shell environment."
@echo " It also works on Windows by following the instructions in make/winx86/README.txt."
@echo
@echo " Here is a summary of the available targets:"
@echo
@echo " [Tool Installers]"
@echo " qt_sdk_install - Install the Qt tools"
@echo " arm_sdk_install - Install the GNU ARM gcc toolchain"
@echo " openocd_install - Install the OpenOCD SWD/JTAG daemon"
@echo " \$$OPENOCD_FTDI - Set to no in order not to install legacy FTDI support for OpenOCD."
@echo " stm32flash_install - Install the stm32flash tool for unbricking boards"
@echo " dfuutil_install - Install the dfu-util tool for unbricking F4-based boards"
@echo " android_sdk_install - Install the Android SDK tools"
@echo " gtest_install - Install the google unit test suite"
@echo " astyle_install - Install the astyle code formatter (deprecated)"
@echo " uncrustify_install - Install the uncrustify code formatter"
@echo " openssl_install - Install the openssl libraries on windows machines"
@echo
@echo " [Big Hammer]"
@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
@echo " all_flight - Build all firmware, bootloaders and bootloader updaters"
@echo " all_fw - Build only firmware for all boards"
@echo " all_bl - Build only bootloaders for all boards"
@echo " all_bu - Build only bootloader updaters for all boards"
@echo
@echo " all_clean - Remove your build directory ($(BUILD_DIR))"
@echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
@echo " all_fw_clean - Remove firmware for all boards"
@echo " all_bl_clean - Remove bootlaoders for all boards"
@echo " all_bu_clean - Remove bootloader updaters for all boards"
@echo
@echo " all_<board> - Build all available images for <board>"
@echo " all_<board>_clean - Remove all available images for <board>"
@echo
@echo " all_ut - Build all unit tests"
@echo " all_ut_tap - Run all unit tests and capture all TAP output to files"
@echo " all_ut_run - Run all unit tests and dump TAP output to console"
@echo
@echo " [Firmware]"
@echo " <board> - Build firmware for <board>"
@echo " supported boards are ($(ALL_BOARDS))"
@echo " fw_<board> - Build firmware for <board>"
@echo " supported boards are ($(FW_BOARDS))"
@echo " fw_<board>_clean - Remove firmware for <board>"
@echo " fw_<board>_program - Use OpenOCD + SWD/JTAG to write firmware to <board>"
@echo " fw_<board>_wipe - Use OpenOCD + SWD/JTAG to wipe entire firmware section on <board>"
@echo
@echo " [Bootloader]"
@echo " bl_<board> - Build bootloader for <board>"
@echo " supported boards are ($(BL_BOARDS))"
@echo " bl_<board>_clean - Remove bootloader for <board>"
@echo " bl_<board>_program - Use OpenOCD + SWD/JTAG to write bootloader to <board>"
@echo
@echo " [Entire Flash]"
@echo " ef_<board> - Build entire flash image for <board>"
@echo " supported boards are ($(EF_BOARDS))"
@echo " ef_<board>_clean - Remove entire flash image for <board>"
@echo " ef_<board>_program - Use OpenOCD + SWD/JTAG to write entire flash image to <board>"
@echo
@echo " [Bootloader Updater]"
@echo " bu_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BU_BOARDS))"
@echo " bu_<board>_clean - Remove bootloader updater for <board>"
@echo
@echo " [Unbrick a board]"
@echo " unbrick_<board> - Use the STM32's built in boot ROM to write a bootloader to <board>"
@echo " supported boards are ($(BL_BOARDS))"
@echo " [Unit tests]"
@echo " ut_<test> - Build unit test <test>"
@echo " ut_<test>_tap - Run test and capture TAP output into a file"
@echo " ut_<test>_run - Run test and dump TAP output to console"
@echo
@echo " [Simulation]"
@echo " simulation - Build host simulation firmware"
@echo " simulation_clean - Delete all build output for the simulation"
@echo
@echo " [GCS]"
@echo " gcs - Build the Ground Control System (GCS) application"
@echo " GCS_QMAKE_OPTS= - Optional build flags with the following arguments:"
@echo " \"CONFIG+=LIGHTWEIGHT_GCS\" - Build a lightweight GCS suitable for low-powered platforms"
@echo " \"CONFIG+=SDL\" - Enable joystick and gamepad support"
@echo " \"CONFIG+=OSG\" - Enable OpenSceneGraph support"
@echo " \"CONFIG+=KML\" - Enable KML file support"
@echo " gcs_clean - Remove the Ground Control System (GCS) application"
@echo
@echo " [AndroidGCS]"
@echo " androidgcs - Build the Ground Control System (GCS) application"
@echo " androidgcs_install - Use ADB to install the Ground Control System (GCS) application"
@echo " androidgcs_run - Run the Ground Control System (GCS) application"
@echo " androidgcs_clean - Remove the Ground Control System (GCS) application"
@echo
@echo " [UAVObjects]"
@echo " uavobjects - Generate source files from the UAVObject definition XML files"
@echo " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... "
@echo
@echo " [Package]"
@echo " package - Executes a make all_clean and then generates a complete package build for"
@echo " standalone - Executes a make all_clean and compiles a package without packaging"
@echo " the GCS and all target board firmwares."
@echo
@echo " [Misc]"
@echo " astyle_flight FILE=<name> - Executes the astyle code formatter to reformat"
@echo " a c source file (deprecated)"
@echo " uncrustify_flight FILE=<name> - Executes uncrustify to reformat a c source"
@echo " file according to the flight code style"
@echo
@echo " Hint: Add V=1 to your command line to see verbose build output."
@echo
@echo " Note: All tools will be installed into $(TOOLS_DIR)"
@echo " All build output will be placed in $(BUILD_DIR)"
@echo
.PHONY: all
all: all_ground all_flight
.PHONY: all_clean
all_clean:
[ ! -d "$(BUILD_DIR)" ] || $(RM) -r "$(BUILD_DIR)"
$(DL_DIR):
mkdir -p $@
$(TOOLS_DIR):
mkdir -p $@
$(BUILD_DIR):
mkdir -p $@
##############################
#
# GCS related components
#
##############################
USE_MSVC ?= NO
ifeq ($(USE_MSVC), YES)
QT_SPEC=win32-msvc2013
endif
.PHONY: all_ground
all_ground: gcs
ifndef WINDOWS
# unfortunately the silent linking command is broken on windows
ifeq ($(V), 1)
GCS_SILENT :=
else
GCS_SILENT := silent
endif
endif
.PHONY: gcs
gcs: uavobjects
ifeq ($(USE_MSVC), NO)
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
PYTHON=$(PYTHON) $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) && \
$(MAKE) --no-print-directory -w ; \
)
else
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
PYTHON=$(PYTHON) $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) && \
MAKEFLAGS= jom $(JOM_OPTIONS); \
)
endif
# Workaround for qmake bug that prevents copying the application icon
ifneq (,$(filter $(UNAME), Darwin))
$(V1) ( cd $(BUILD_DIR)/ground/gcs/src/app && \
$(MAKE) ../../bin/Tau\ Labs\ GCS.app/Contents/Resources/taulabs.icns && \
$(MAKE) ../../bin/Tau\ Labs\ GCS.app/Contents/Info.plist ; \
)
endif
.PHONY: gcs_clean
gcs_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(BUILD_DIR)/ground/gcs" ] || $(RM) -r "$(BUILD_DIR)/ground/gcs"
ifndef WINDOWS
# unfortunately the silent linking command is broken on windows
ifeq ($(V), 1)
UAVOGEN_SILENT :=
else
UAVOGEN_SILENT := silent
endif
endif
.PHONY: uavobjgenerator
uavobjgenerator:
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
ifeq ($(USE_MSVC), NO)
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
PYTHON=$(PYTHON) $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="debug $(UAVOGEN_SILENT)" && \
$(MAKE) --no-print-directory -w; \
)
else
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
PYTHON=$(PYTHON) $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="debug $(UAVOGEN_SILENT)" && \
MAKEFLAGS= jom $(JOM_OPTIONS); \
)
endif
UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
uavobjects: uavobjgenerator
$(V1) mkdir -p $(UAVOBJ_OUT_DIR)
$(V1) ( cd $(UAVOBJ_OUT_DIR) && \
$(UAVOBJGENERATOR) $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
)
uavobjects_test: uavobjgenerator
$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
uavobjects_clean: uavobjects_armsoftfp_clean uavobjects_armhardfp_clean
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
##############################
#
# Matlab related components
#
##############################
MATLAB_OUT_DIR := $(BUILD_DIR)/matlab
$(MATLAB_OUT_DIR):
$(V1) mkdir -p $@
FORCE:
$(MATLAB_OUT_DIR)/LogConvert.m: $(MATLAB_OUT_DIR) uavobjects FORCE
$(V1) $(PYTHON) $(ROOT_DIR)/make/scripts/version-info.py \
--path=$(ROOT_DIR) \
--template=$(BUILD_DIR)/uavobject-synthetics/matlab/LogConvert.m.pass1 \
--outfile=$@ \
--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition
.PHONY: matlab
matlab: uavobjects $(MATLAB_OUT_DIR)/LogConvert.m
################################
#
# Android GCS related components
#
################################
ANDROIDGCS_BUILD_CONF ?= debug
# Build the output directory for the Android GCS build
ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
$(ANDROIDGCS_OUT_DIR):
$(V1) mkdir -p $@
# Build the asset directory for the android assets
ANDROIDGCS_ASSETS_DIR := $(ANDROIDGCS_OUT_DIR)/assets
$(ANDROIDGCS_ASSETS_DIR)/uavos:
$(V1) mkdir -p $@
ifeq ($(V), 1)
ANT_QUIET := -d
ANDROID_SILENT :=
else
ANT_QUIET := -q
ANDROID_SILENT := -s
endif
.PHONY: androidgcs
androidgcs: $(ANDROIDGCS_OUT_DIR)/bin/androidgcs-$(ANDROIDGCS_BUILD_CONF).apk
$(ANDROIDGCS_OUT_DIR)/bin/androidgcs-$(ANDROIDGCS_BUILD_CONF).apk: uavo-collections_java
$(V0) @echo " ANDROID $(call toprel, $(ANDROIDGCS_OUT_DIR))"
$(V1) mkdir -p $(ANDROIDGCS_OUT_DIR)
$(V1) $(ANDROID) $(ANDROID_SILENT) update project --subprojects --target 'Google Inc.:Google APIs:19' --name androidgcs --path ./androidgcs
$(V1) ant -f ./androidgcs/google-play-services_lib/build.xml \
$(ANT_QUIET) debug
$(V1) ant -f ./androidgcs/build.xml \
$(ANT_QUIET) \
-Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
-Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
$(ANDROIDGCS_BUILD_CONF)
.PHONY: androidgcs_run
androidgcs_run: androidgcs_install
$(V0) @echo " AGCS RUN "
$(V1) $(ANDROID_ADB) shell am start -n org.taulabs.androidgcs/.HomePage
.PHONY: androidgcs_install
androidgcs_install: $(ANDROIDGCS_OUT_DIR)/bin/androidgcs-$(ANDROIDGCS_BUILD_CONF).apk
$(V0) @echo " AGCS INST "
$(V1) $(ANDROID_ADB) install -r $(ANDROIDGCS_OUT_DIR)/bin/androidgcs-$(ANDROIDGCS_BUILD_CONF).apk
.PHONY: androidgcs_clean
androidgcs_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
# We want to take snapshots of the UAVOs at each point that they change
# to allow the GCS to be compatible with as many versions as possible.
#
# Find the git hashes of each commit that changes uavobjects with:
# git log --format=%h -- shared/uavobjectdefinition/ | head -n 6 | tr '\n' ' '
UAVO_GIT_VERSIONS := HEAD
# All versions includes a pseudo collection called "working" which represents
# the UAVOs in the source tree
UAVO_ALL_VERSIONS := $(sort $(UAVO_GIT_VERSIONS) srctree)
# This is where the UAVO collections are stored
UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
# $(1) git hash of a UAVO snapshot
define UAVO_COLLECTION_GIT_TEMPLATE
# Make the output directory that will contain all of the synthetics for the
# uavo collection referenced by the git hash $(1)
$$(UAVO_COLLECTION_DIR)/$(1):
$$(V1) mkdir -p $$(UAVO_COLLECTION_DIR)/$(1)
# Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
$$(V0) @echo " UAVOTAR $(1)"
$$(V1) git archive $(1) -o $$@ -- shared/uavobjectdefinition/
# Extract the uavo xml files from our snapshot
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
$$(V0) @echo " UAVOUNTAR $(1)"
$$(V1) rm -rf $$@
$$(V1) mkdir -p $$@
$$(V1) tar -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || rm -rf $$@
endef
# Map the current working directory into the set of UAVO collections
$(UAVO_COLLECTION_DIR)/srctree:
$(V1) mkdir -p $@
$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
$(V1) ln -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
# $(1) git hash (or symbolic name) of a UAVO snapshot
define UAVO_COLLECTION_BUILD_TEMPLATE
# This leaves us with a (broken) symlink that points to the full sha1sum of the collection
$$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
# Compute the sha1 hash for this UAVO collection
# The sed bit truncates the UAVO hash to 16 hex digits
$$(V1) $(PYTHON) $$(ROOT_DIR)/make/scripts/version-info.py \
--path=$$(ROOT_DIR) \
--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
--format='$$$${UAVOSHA1TXT}' | \
sed -e 's|\(................\).*|\1|' > $$@
$$(V0) @echo " UAVOHASH $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
# Generate the java uavobjects for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash uavobjgenerator
$$(V0) @echo " UAVOJAVA $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) ( \
mkdir -p $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
$$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
)
# Build a jar file for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
$$(V0) @echo " UAVOJAR $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) ( \
HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
javac -source 1.6 -target 1.6 java/*.java \
$$(ROOT_DIR)/androidgcs/src/org/taulabs/uavtalk/UAVDataObject.java \
$$(ROOT_DIR)/androidgcs/src/org/taulabs/uavtalk/UAVObject*.java \
$$(ROOT_DIR)/androidgcs/src/org/taulabs/uavtalk/UAVMetaObject.java \
-d . && \
find ./org/taulabs/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
jar cf tmp_uavobjects.jar @classlist.txt && \
$$(ANDROID_DX) \
--dex \
--output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
tmp_uavobjects.jar && \
ln -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
)
# Generate the matlab uavobjects for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/matlab-build/matlab: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash uavobjgenerator
$$(V0) @echo " UAVOMATLAB $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) mkdir -p $$@
$$(V1) ( \
cd $$(UAVO_COLLECTION_DIR)/$(1)/matlab-build && \
$$(UAVOBJGENERATOR) -matlab $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
)
# Build a jar file for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/matlab-build/LogConvert.m: $$(UAVO_COLLECTION_DIR)/$(1)/matlab-build/matlab
$$(V0) @echo " UAVOMAT $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) ( \
HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
cd $$(UAVO_COLLECTION_DIR)/$(1)/matlab-build && \
$(PYTHON) $(ROOT_DIR)/make/scripts/version-info.py \
--path=$$(ROOT_DIR) \
--template=$$(UAVO_COLLECTION_DIR)/$(1)/matlab-build/matlab/LogConvert.m.pass1 \
--outfile=$$@ \
--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
)
endef
# One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
$(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
# One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
$(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
.PHONY: uavo-collections_java
uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
.PHONY: uavo-collections_matlab
uavo-collections_matlab: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/matlab-build/LogConvert.m)
.PHONY: uavo-collections
uavo-collections: uavo-collections_java
.PHONY: uavo-collections_clean
uavo-collections_clean:
$(V0) @echo " CLEAN $(UAVO_COLLECTION_DIR)"
$(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
##############################
#
# Flight related components
#
##############################
# Define some pointers to the various important pieces of the flight code
# to prevent these being repeated in every sub makefile
MAKE_INC_DIR := $(ROOT_DIR)/make
PIOS := $(ROOT_DIR)/flight/PiOS
FLIGHTLIB := $(ROOT_DIR)/flight/Libraries
OPMODULEDIR := $(ROOT_DIR)/flight/Modules
OPUAVOBJ := $(ROOT_DIR)/flight/UAVObjects
OPUAVTALK := $(ROOT_DIR)/flight/UAVTalk
DOXYGENDIR := $(ROOT_DIR)/flight/Doc/Doxygen
SHAREDAPIDIR := $(ROOT_DIR)/shared/api
OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Unused
# $(3) = Short name for board (e.g. CC)
# $(4) = Host sim variant (e.g. posix)
# $(5) = Build output type (e.g. elf, exe)
.PHONY: simulation
simulation: sim_posix
# Legacy for people who were using the old target name
.PHONY: sim_posix_revolution
sim_posix_revolution: sim_posix
define SIM_TEMPLATE
sim_$(4): TARGET=sim_$(4)
sim_$(4): OUTDIR=$(BUILD_DIR)/$$(TARGET)
sim_$(4): BOARD_ROOT_DIR=$(ROOT_DIR)/flight/targets/$(1)
sim_$(4): uavobjects
$(V1) mkdir -p $$(OUTDIR)/dep
$(V1) cd $$(BOARD_ROOT_DIR)/fw && \
$$(MAKE) --no-print-directory \
--file=Makefile.$(4) \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=sm \
TCHAIN_PREFIX="" \
REMOVE_CMD="$(RM)" \
\
MAKE_INC_DIR=$(MAKE_INC_DIR) \
ROOT_DIR=$(ROOT_DIR) \
BOARD_ROOT_DIR=$$(BOARD_ROOT_DIR) \
BOARD_INFO_DIR=$$(BOARD_ROOT_DIR)/board-info \
TARGET=$$(TARGET) \
OUTDIR=$$(OUTDIR) \
\
PIOS=$(PIOS).$(4) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
DOXYGENDIR=$(DOXYGENDIR) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
SHAREDAPIDIR=$(SHAREDAPIDIR) \
\
$$*
.PHONY: sim_$(4)_clean
sim_$(4)_clean: TARGET=sim_$(4)
sim_$(4)_clean: OUTDIR=$(BUILD_DIR)/$$(TARGET)
sim_$(4)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) [ ! -d "$$(OUTDIR)" ] || $(RM) -r "$$(OUTDIR)"
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Unused
# $(3) = Short name for board (e.g CC)
define FW_TEMPLATE
.PHONY: $(1) fw_$(1)
$(1): fw_$(1)_tlfw
fw_$(1): fw_$(1)_tlfw
fw_$(1)_%: TARGET=fw_$(1)
fw_$(1)_%: OUTDIR=$(BUILD_DIR)/$$(TARGET)
fw_$(1)_%: BOARD_ROOT_DIR=$(ROOT_DIR)/flight/targets/$(1)
fw_$(1)_%: uavobjects_armsoftfp uavobjects_armhardfp
$(V1) mkdir -p $$(OUTDIR)/dep
$(V1) cd $$(BOARD_ROOT_DIR)/fw && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=fw \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
\
MAKE_INC_DIR=$(MAKE_INC_DIR) \
ROOT_DIR=$(ROOT_DIR) \
BOARD_ROOT_DIR=$$(BOARD_ROOT_DIR) \
BOARD_INFO_DIR=$$(BOARD_ROOT_DIR)/board-info \
TARGET=$$(TARGET) \
OUTDIR=$$(OUTDIR) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
DOXYGENDIR=$(DOXYGENDIR) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
SHAREDAPIDIR=$(SHAREDAPIDIR) \
\
$$*
.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean: TARGET=fw_$(1)
fw_$(1)_clean: OUTDIR=$(BUILD_DIR)/$$(TARGET)
fw_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) [ ! -d "$$(OUTDIR)" ] || $(RM) -r "$$(OUTDIR)"
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = CPU arch (e.g. f1, f3, f4)
# $(3) = Short name for board (e.g CC)
define BL_TEMPLATE
.PHONY: bl_$(1)
bl_$(1): bl_$(1)_bin
bl_$(1)_%: TARGET=bl_$(1)
bl_$(1)_%: OUTDIR=$(BUILD_DIR)/$$(TARGET)
bl_$(1)_%: BOARD_ROOT_DIR=$(ROOT_DIR)/flight/targets/$(1)
bl_$(1)_%: BLSRCDIR=$(ROOT_DIR)/flight/targets/bl
bl_$(1)_%: BLCOMMONDIR=$$(BLSRCDIR)/common
bl_$(1)_%: BLARCHDIR=$$(BLSRCDIR)/$(2)
bl_$(1)_%: BLBOARDDIR=$$(BOARD_ROOT_DIR)/bl
bl_$(1)_%:
$(V1) mkdir -p $$(OUTDIR)/dep
$(V1) cd $$(BLARCHDIR) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=bl \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
\
MAKE_INC_DIR=$(MAKE_INC_DIR) \
ROOT_DIR=$(ROOT_DIR) \
BOARD_ROOT_DIR=$$(BOARD_ROOT_DIR) \
BOARD_INFO_DIR=$$(BOARD_ROOT_DIR)/board-info \
TARGET=$$(TARGET) \
OUTDIR=$$(OUTDIR) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
BLCOMMONDIR=$$(BLCOMMONDIR) \
BLARCHDIR=$$(BLARCHDIR) \
BLBOARDDIR=$$(BLBOARDDIR) \
DOXYGENDIR=$(DOXYGENDIR) \
\
$$*
.PHONY: unbrick_$(1)
unbrick_$(1): TARGET=bl_$(1)
unbrick_$(1): OUTDIR=$(BUILD_DIR)/$$(TARGET)
unbrick_$(1): bl_$(1)_hex
$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
$(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)"
$(V1) $(STM32FLASH_DIR)/stm32flash \
-w $$(OUTDIR)/bl_$(1).hex \
-g 0x0 \
$$(UNBRICK_TTY)
,
$(V0) @echo
$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
$(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
)
.PHONY: bl_$(1)_clean
bl_$(1)_clean: TARGET=bl_$(1)
bl_$(1)_clean: OUTDIR=$(BUILD_DIR)/$$(TARGET)
bl_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) [ ! -d "$$(OUTDIR)" ] || $(RM) -r "$$(OUTDIR)"
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Unused
# $(3) = Short name for board (e.g CC)
define BU_TEMPLATE
.PHONY: bu_$(1)
bu_$(1): bu_$(1)_tlfw
bu_$(1)_%: TARGET=bu_$(1)
bu_$(1)_%: OUTDIR=$(BUILD_DIR)/$$(TARGET)
bu_$(1)_%: BOARD_ROOT_DIR=$(ROOT_DIR)/flight/targets/$(1)
bu_$(1)_%: BUSRCDIR=$(ROOT_DIR)/flight/targets/bu
bu_$(1)_%: BUCOMMONDIR=$$(BUSRCDIR)/common
bu_$(1)_%: BUARCHDIR=$$(BUSRCDIR)/$(2)
bu_$(1)_%: BUBOARDDIR=$$(BOARD_ROOT_DIR)/bu
bu_$(1)_%: bl_$(1)_bin
$(V1) mkdir -p $$(OUTDIR)/dep
$(V1) cd $$(BUARCHDIR) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=bu \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
\
MAKE_INC_DIR=$(MAKE_INC_DIR) \
ROOT_DIR=$(ROOT_DIR) \
BOARD_ROOT_DIR=$$(BOARD_ROOT_DIR) \
BOARD_INFO_DIR=$$(BOARD_ROOT_DIR)/board-info \
TARGET=$$(TARGET) \
OUTDIR=$$(OUTDIR) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
BUCOMMONDIR=$$(BUCOMMONDIR) \
BUARCHDIR=$$(BUARCHDIR) \
BUBOARDDIR=$$(BUBOARDDIR) \
DOXYGENDIR=$(DOXYGENDIR) \
\
$$*
.PHONY: bu_$(1)_clean
bu_$(1)_clean: TARGET=bu_$(1)
bu_$(1)_clean: OUTDIR=$(BUILD_DIR)/$$(TARGET)
bu_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) [ ! -d "$$(OUTDIR)" ] || $(RM) -r "$$(OUTDIR)"
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define EF_TEMPLATE
.PHONY: ef_$(1)
ef_$(1): ef_$(1)_bin
ef_$(1)_%: TARGET=ef_$(1)
ef_$(1)_%: OUTDIR=$(BUILD_DIR)/$$(TARGET)
ef_$(1)_%: BOARD_ROOT_DIR=$(ROOT_DIR)/flight/targets/$(1)
ef_$(1)_%: bl_$(1)_bin fw_$(1)_tlfw
$(V1) mkdir -p $$(OUTDIR)/dep
$(V1) cd $(ROOT_DIR)/flight/targets/EntireFlash && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=ef \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
\
MAKE_INC_DIR=$(MAKE_INC_DIR) \
ROOT_DIR=$(ROOT_DIR) \
BOARD_ROOT_DIR=$$(BOARD_ROOT_DIR) \
BOARD_INFO_DIR=$$(BOARD_ROOT_DIR)/board-info \
TARGET=$$(TARGET) \
OUTDIR=$$(OUTDIR) \
\
$$*
.PHONY: ef_$(1)_clean
ef_$(1)_clean: TARGET=ef_$(1)
ef_$(1)_clean: OUTDIR=$(BUILD_DIR)/$$(TARGET)
ef_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) [ ! -d "$$(OUTDIR)" ] || $(RM) -r "$$(OUTDIR)"
endef
# When building any of the "all_*" targets, tell all sub makefiles to display
# additional details on each line of output to describe which build and target
# that each line applies to.
ifneq ($(strip $(filter all_%,$(MAKECMDGOALS))),)
export ENABLE_MSG_EXTRA := yes
endif
ifneq (,$(filter sim_%, $(MAKECMDGOALS)))
export ENABLE_MSG_EXTRA := yes
endif
# When building more than one goal in a single make invocation, also
# enable the extra context for each output line
ifneq ($(word 2,$(MAKECMDGOALS)),)
export ENABLE_MSG_EXTRA := yes
endif
UAVOLIB_SOFT_OUT_DIR = $(BUILD_DIR)/uavobjects_armsoftfp
UAVOLIB_HARD_OUT_DIR = $(BUILD_DIR)/uavobjects_armhardfp
uavobjects_armsoftfp: TARGET=uavobjects_armsoftfp
uavobjects_armsoftfp: OUTDIR=$(UAVOLIB_SOFT_OUT_DIR)
uavobjects_armhardfp: TARGET=uavobjects_armhardfp
uavobjects_armhardfp: OUTDIR=$(UAVOLIB_HARD_OUT_DIR)
uavobjects_%: uavobjects
$(V1) mkdir -p $(OUTDIR)/dep
$(V1) cd $(ROOT_DIR)/flight/uavobjectlib && \
$(MAKE) -r --no-print-directory \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" \
\
MAKE_INC_DIR=$(MAKE_INC_DIR) \
ROOT_DIR=$(ROOT_DIR) \
TARGET=$(TARGET) \
OUTDIR=$(OUTDIR) \
\
FLIGHTLIB=$(FLIGHTLIB) \
PIOS=$(PIOS) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
DOXYGENDIR=$(DOXYGENDIR) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
\
$@
.PHONY: uavobjects_armsoftfp_clean uavobjects_armhardfp_clean
uavobjects_armsoftfp_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(UAVOLIB_SOFT_OUT_DIR)" ] || $(RM) -r "$(UAVOLIB_SOFT_OUT_DIR)"
uavobjects_armhardfp_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(UAVOLIB_HARD_OUT_DIR)" ] || $(RM) -r "$(UAVOLIB_HARD_OUT_DIR)"
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BOARD_PHONY_TEMPLATE
.PHONY: all_$(1)
all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
.PHONY: all_$(1)_clean
all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
endef
# Start out assuming that we'll build fw, bl and bu for all boards
FW_BOARDS := $(ALL_BOARDS)
BL_BOARDS := $(filter-out naze32, $(ALL_BOARDS))
BU_BOARDS := $(BL_BOARDS)
EF_BOARDS := $(filter-out naze32, $(ALL_BOARDS))
# Sim targets are different for each host OS
ifeq ($(UNAME), Linux)
SIM_BOARDS := sim_posix
else ifeq ($(UNAME), Darwin)
SIM_BOARDS := sim_posix
else ifdef WINDOWS
SIM_BOARDS :=
else # unknown OS
SIM_BOARDS :=
endif
# Generate the targets for whatever boards are left in each list
FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
.PHONY: all_fw all_fw_clean
all_fw: $(addsuffix _tlfw, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS)) uavobjects_armsoftfp_clean uavobjects_armhardfp_clean
.PHONY: all_bl all_bl_clean
all_bl: $(addsuffix _bin, $(BL_TARGETS))
all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
.PHONY: all_bu all_bu_clean
all_bu: $(addsuffix _tlfw, $(BU_TARGETS))
all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
.PHONY: all_ef all_ef_clean
all_ef: $(EF_TARGETS)
all_ef_clean: $(addsuffix _clean, $(EF_TARGETS))
.PHONY: all_sim all_sim_clean
all_sim: $(SIM_BOARDS)
all_sim_clean: $(addsuffix _clean, $(SIM_BOARDS))
.PHONY: all_flight all_flight_clean
all_flight: all_fw all_bl all_bu all_ef all_sim
all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean all_sim_clean
# Expand the groups of targets for each board
$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
# Expand the bootloader updater rules
$(foreach board, $(BU_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_cpuarch),$($(board)_short))))
# Expand the firmware rules
$(foreach board, $(FW_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
# Expand the bootloader rules
$(foreach board, $(BL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_cpuarch),$($(board)_short))))
# Expand the entire-flash rules
$(foreach board, $(EF_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
# Expand the available simulator rules
$(eval $(call SIM_TEMPLATE,simulation,Simulation,'sim ',posix,elf))
##############################
#
# Unit Tests
#
##############################
ALL_UNITTESTS := logfs i2c_vm misc_math coordinate_conversions error_correcting streamfs dsm timeutils
ALL_UNITTESTS += statistics
ALL_PYTHON_UNITTESTS := python_ut_test
UT_OUT_DIR := $(BUILD_DIR)/unit_tests
$(UT_OUT_DIR):
$(V1) mkdir -p $@
.PHONY: all_ut
all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS))) $(ALL_PYTHON_UNITTESTS)
# The all_ut_tap goal is a legacy alias for the all_ut_xml target so that Jenkins
# can still build old branches. This can be deleted in a few months when all
# branches are using the newer targets.
.PHONY: all_ut_tap
all_ut_tap: all_ut_xml
.PHONY: all_ut_xml
all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
.PHONY: all_ut_run
all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS))) $(ALL_PYTHON_UNITTESTS)
.PHONY: all_ut_gcov
all_ut_gcov: | $(addsuffix _gcov, $(addprefix ut_, $(ALL_UNITTESTS)))
.PHONY: all_ut_clean
all_ut_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
# $(1) = Unit test name
define UT_TEMPLATE
.PHONY: ut_$(1)
ut_$(1): ut_$(1)_run