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fix WhatsNew for release
[librepilot.git] / Makefile
blob921abe833b5117241cee6b59dcff673fc9910b21
1 #
2 # Top level Makefile for the LibrePilot Project build system.
3 # Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
4 # Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
5 # Use 'make help' for instructions.
6 #
7 # This program is free software; you can redistribute it and/or modify
8 # it under the terms of the GNU General Public License as published by
9 # the Free Software Foundation; either version 3 of the License, or
10 # (at your option) any later version.
11 #
12 # This program is distributed in the hope that it will be useful, but
13 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
14 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
15 # for more details.
16 #
17 # You should have received a copy of the GNU General Public License along
18 # with this program; if not, write to the Free Software Foundation, Inc.,
19 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
20 #
21
22 # This top level Makefile passes down some variables to sub-makes through
23 # the environment. They are explicitly exported using the export keyword.
24 # Lower level makefiles assume that these variables are defined. To ensure
25 # that a special magic variable is exported here. It must be checked for
26 # existance by each sub-make.
27 export TOP_LEVEL_MAKEFILE := TRUE
28
29 # The root directory that this makefile resides in
30 export ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
31
32 # Include some helper functions
33 include $(ROOT_DIR)/make/functions.mk
34
35 # This file can be used to override default options using the "override" keyword
36 CONFIG_FILE := config
37 -include $(CONFIG_FILE)
38
39 ##############################
40 # It is possible to set DL_DIR and/or TOOLS_DIR environment
41 # variables to override local tools download and installation directorys. So the
42 # same toolchains can be used for all working copies. Particularly useful for CI
43 # server build agents, but also for local installations.
44 override DL_DIR := $(if $(DL_DIR),$(call slashfix,$(DL_DIR)),$(ROOT_DIR)/downloads)
45 override TOOLS_DIR := $(if $(TOOLS_DIR),$(call slashfix,$(TOOLS_DIR)),$(ROOT_DIR)/tools)
46 export DL_DIR
47 export TOOLS_DIR
48
49 # Set up some macros for common directories within the tree
50 export BUILD_DIR := $(CURDIR)/build
51 export PACKAGE_DIR := $(BUILD_DIR)/package
52 export DIST_DIR := $(BUILD_DIR)/dist
53 export OPGCSSYNTHDIR := $(BUILD_DIR)/gcs-synthetics
54
55 DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR) $(OPGCSSYNTHDIR)
56
57 # Naming for binaries and packaging etc,.
58 export ORG_BIG_NAME := LibrePilot
59 GCS_BIG_NAME := ${ORG_BIG_NAME} GCS
60 # These should be lowercase with no spaces
61 export ORG_SMALL_NAME := $(call smallify,$(ORG_BIG_NAME))
62 GCS_SMALL_NAME := $(call smallify,$(GCS_BIG_NAME))
63 # Change this once the DNS is set to http://wiki.librepilot.org/
64 WIKI_URL_ROOT := https://librepilot.atlassian.net/wiki/display/LPDOC/
65
66 USAGETRACKER_URL := https://usagetracker.librepilot.org/
67
68 # Set up default build configurations (debug | release)
69 GCS_BUILD_CONF := release
70 GOOGLE_API_VERSION := 14
71
72 # Clean out undesirable variables from the environment and command-line
73 # to remove the chance that they will cause problems with our build
74 define SANITIZE_VAR
75 $(if $(filter-out undefined,$(origin $(1))),
76 $(info $(EMPTY) NOTE Sanitized $(2) variable '$(1)' from $(origin $(1)))
77 MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
78 override $(1) :=
79 unexport $(1)
80 )
81 endef
82
83 # These specific variables can influence compilation in unexpected (and undesirable) ways
84 # gcc flags
85 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
86 # preprocessor flags
87 SANITIZE_GCC_VARS += CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
88 # make flags
89 SANITIZE_GCC_VARS += CFLAGS CXXFLAGS CPPFLAGS LDFLAGS LDLIBS
90 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
91
92 # These specific variables used to be valid but now they make no sense
93 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
94 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
95
96 # Make sure this isn't being run as root unless installing (no whoami on Windows, but that is ok here)
97 ifeq ($(shell whoami 2>/dev/null),root)
98 ifeq ($(filter install uninstall,$(MAKECMDGOALS)),)
99 ifndef FAKEROOTKEY
100 $(error You should not be running this as root)
101 endif
102 endif
103 endif
104
105 # Decide on a verbosity level based on the V= parameter
106 export AT := @
107 ifndef V
108 export V0 :=
109 export V1 := $(AT)
110 else ifeq ($(V), 0)
111 export V0 := $(AT)
112 export V1 := $(AT)
113 else ifeq ($(V), 1)
114 endif
115
116 # Make sure we know few things about the architecture before including
117 # the tools.mk to ensure that we download/install the right tools.
118 UNAME := $(shell uname)
119 ARCH := $(shell uname -m)
120 # Here and everywhere if not Linux or Mac then assume Windows
121 ifeq ($(filter Linux Darwin, $(UNAME)), )
122 UNAME := Windows
123 endif
124
125 # Include tools installers
126 include $(ROOT_DIR)/make/tools.mk
127
128 # Include third party builders if available
129 -include $(ROOT_DIR)/make/3rdparty/3rdparty.mk
130
131 # We almost need to consider autoconf/automake instead of this
132 ifeq ($(UNAME), Linux)
133 QT_SPEC := linux-g++
134 UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
135 else ifeq ($(UNAME), Darwin)
136 QT_SPEC := macx-g++
137 UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
138 else ifeq ($(UNAME), Windows)
139 QT_SPEC := win32-g++
140 UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
141 endif
142
143 export UAVOBJGENERATOR
144
145 ##############################
146 #
147 # All targets
148 #
149 ##############################
150
151 .PHONY: all
152 all: uavobjects all_ground all_flight
153
154 .PHONY: all_clean
155 all_clean:
156 @$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR))"
157 $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
158
159 .PHONY: clean
160 clean: all_clean
161
162
163 ##############################
164 #
165 # UAVObjects
166 #
167 ##############################
168
169 UAVOBJGENERATOR_DIR := $(BUILD_DIR)/uavobjgenerator
170 DIRS += $(UAVOBJGENERATOR_DIR)
171
172 .PHONY: uavobjgenerator
173 uavobjgenerator: $(UAVOBJGENERATOR)
174
175 $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
176 $(V1) cd $(UAVOBJGENERATOR_DIR) && \
177 ( [ -f Makefile ] || $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
178 -spec $(QT_SPEC) CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) ) && \
179 $(MAKE) --no-print-directory -w
180
181 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
182
183 .PHONY: uavobjects
184 uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
185
186 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
187 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
188
189 uavobjects_%: $(UAVOBJGENERATOR)
190 @$(MKDIR) -p $(UAVOBJ_OUT_DIR)/$*
191 $(V1) ( cd $(UAVOBJ_OUT_DIR)/$* && \
192 $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
193 )
194
195 uavobjects_test: $(UAVOBJGENERATOR)
196 $(V1) $(UAVOBJGENERATOR) -v $(UAVOBJ_XML_DIR) $(ROOT_DIR)
197
198 uavobjects_clean:
199 @$(ECHO) " CLEAN $(call toprel, $(UAVOBJ_OUT_DIR))"
200 $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
201
202 ##############################
203 #
204 # Flight related components
205 #
206 ##############################
207
208
209 # When building any of the "all_*" targets, tell all sub makefiles to display
210 # additional details on each line of output to describe which build and target
211 # that each line applies to. The same applies also to all, opfw_resource,
212 # package targets
213 ifneq ($(strip $(filter all_% all opfw_resource package,$(MAKECMDGOALS))),)
214 export ENABLE_MSG_EXTRA := yes
215 endif
216
217 # When building more than one goal in a single make invocation, also
218 # enable the extra context for each output line
219 ifneq ($(word 2,$(MAKECMDGOALS)),)
220 export ENABLE_MSG_EXTRA := yes
221 endif
222
223 FLIGHT_OUT_DIR := $(BUILD_DIR)/firmware
224 DIRS += $(FLIGHT_OUT_DIR)
225
226 include $(ROOT_DIR)/flight/Makefile
227
228 ##############################
229 #
230 # GCS related components
231 #
232 ##############################
233
234 .PHONY: all_ground
235 all_ground: gcs uploader
236
237 ifeq ($(V), 1)
238 GCS_SILENT :=
239 else
240 GCS_SILENT := silent
241 endif
242
243 GCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
244 DIRS += $(GCS_DIR)
245
246 GCS_MAKEFILE := $(GCS_DIR)/Makefile
247
248 .PHONY: gcs_qmake
249 gcs_qmake $(GCS_MAKEFILE): | $(GCS_DIR)
250 $(V1) cd $(GCS_DIR) && \
251 $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro \
252 -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) \
253 'GCS_BIG_NAME="$(GCS_BIG_NAME)"' GCS_SMALL_NAME=$(GCS_SMALL_NAME) \
254 'ORG_BIG_NAME="$(ORG_BIG_NAME)"' ORG_SMALL_NAME=$(ORG_SMALL_NAME) \
255 'WIKI_URL_ROOT="$(WIKI_URL_ROOT)"' \
256 'USAGETRACKER_URL="$(USAGETRACKER_URL)"' \
257 'GCS_LIBRARY_BASENAME=$(libbasename)' \
258 $(GCS_QMAKE_OPTS)
259
260 .PHONY: gcs
261 gcs: $(UAVOBJGENERATOR) $(GCS_MAKEFILE)
262 $(V1) $(MAKE) -w -C $(GCS_DIR)/$(MAKE_DIR);
263
264 .PHONY: gcs_clean
265 gcs_clean:
266 @$(ECHO) " CLEAN $(call toprel, $(GCS_DIR))"
267 $(V1) [ ! -d "$(GCS_DIR)" ] || $(RM) -r "$(GCS_DIR)"
268
269
270
271 ################################
272 #
273 # Serial Uploader tool
274 #
275 ################################
276
277 UPLOADER_DIR := $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)
278 DIRS += $(UPLOADER_DIR)
279
280 UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
281
282 .PHONY: uploader_qmake
283 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
284 $(V1) cd $(UPLOADER_DIR) && \
285 $(QMAKE) $(ROOT_DIR)/ground/gcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
286 -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
287
288 .PHONY: uploader
289 uploader: $(UPLOADER_MAKEFILE)
290 $(V1) $(MAKE) -w -C $(UPLOADER_DIR)
291
292 .PHONY: uploader_clean
293 uploader_clean:
294 @$(ECHO) " CLEAN $(call toprel, $(UPLOADER_DIR))"
295 $(V1) [ ! -d "$(UPLOADER_DIR)" ] || $(RM) -r "$(UPLOADER_DIR)"
296
297
298 # We want to take snapshots of the UAVOs at each point that they change
299 # to allow the GCS to be compatible with as many versions as possible.
300 # We always include a pseudo collection called "srctree" which represents
301 # the UAVOs in the source tree. So not necessary to add current tree UAVO
302 # hash here, it is always included.
303
304 # Find the git hashes of each commit that changes uavobjects with:
305 # git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
306 # List only UAVO hashes of past releases, do not list current hash.
307 # Past compatible versions are so far: RELEASE-12.10.2
308 UAVO_GIT_VERSIONS := 5e14f53
309
310 # All versions includes also the current source tree UAVO hash
311 UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
312
313 # This is where the UAVO collections are stored
314 UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
315
316 # $(1) git hash of a UAVO snapshot
317 define UAVO_COLLECTION_GIT_TEMPLATE
318
319 # Make the output directory that will contain all of the synthetics for the
320 # uavo collection referenced by the git hash $(1)
321 $$(UAVO_COLLECTION_DIR)/$(1):
322 $$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
323
324 # Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
325 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
326 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
327 $$(V0) @$(ECHO) " UAVOTAR $(1)"
328 $$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
329
330 # Extract the uavo xml files from our snapshot
331 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
332 $$(V0) @$(ECHO) " UAVOUNTAR $(1)"
333 $$(V1) $(RM) -rf $$@
334 $$(V1) $(MKDIR) -p $$@
335 $$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
336 endef
337
338 # Map the current working directory into the set of UAVO collections
339 $(UAVO_COLLECTION_DIR)/srctree:
340 $(V1) $(MKDIR) -p $@
341
342 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
343 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
344 $(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
345
346 # $(1) git hash (or symbolic name) of a UAVO snapshot
347 define UAVO_COLLECTION_BUILD_TEMPLATE
348
349 # This leaves us with a (broken) symlink that points to the full sha1sum of the collection
350 $$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
351 # Compute the sha1 hash for this UAVO collection
352 # The sed bit truncates the UAVO hash to 16 hex digits
353 $$(V1) $$(VERSION_INFO) \
354 --uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
355 --format='$$$${UAVO_HASH}' | \
356 $(SED) -e 's|\(................\).*|\1|' > $$@
357
358 $$(V0) @$(ECHO) " UAVOHASH $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
359
360 # Generate the java uavobjects for this UAVO collection
361 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
362 $$(V0) @$(ECHO) " UAVOJAVA $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
363 $$(V1) $(MKDIR) -p $$@
364 $$(V1) ( \
365 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
366 $$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
367 )
368
369 # Build a jar file for this UAVO collection
370 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
371 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
372 $$(V0) @$(ECHO) " UAVOJAR $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
373 $$(V1) ( \
374 HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
375 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
376 $(JAVAC) java/*.java \
377 $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
378 $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
379 $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
380 -d . && \
381 find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
382 $(JAR) cf tmp_uavobjects.jar @classlist.txt && \
383 $$(ANDROID_DX) \
384 --dex \
385 --output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
386 tmp_uavobjects.jar && \
387 $(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
388 )
389
390 endef
391
392 # One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
393 $(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
394
395 # One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
396 $(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
397
398 .PHONY: uavo-collections_java
399 uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
400
401 .PHONY: uavo-collections
402 uavo-collections: uavo-collections_java
403
404 .PHONY: uavo-collections_clean
405 uavo-collections_clean:
406 @$(ECHO) " CLEAN $(call toprel, $(UAVO_COLLECTION_DIR))"
407 $(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
408
409 ##############################
410 #
411 # Unit Tests
412 #
413 ##############################
414
415 ALL_UNITTESTS := logfs math lednotification
416
417 # Build the directory for the unit tests
418 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
419 DIRS += $(UT_OUT_DIR)
420
421 .PHONY: all_ut
422 all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
423
424 .PHONY: all_ut_xml
425 all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
426
427 .PHONY: all_ut_run
428 all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
429
430 .PHONY: all_ut_clean
431 all_ut_clean:
432 @$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR))"
433 $(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
434
435 # $(1) = Unit test name
436 define UT_TEMPLATE
437 .PHONY: ut_$(1)
438 ut_$(1): ut_$(1)_run
439
440 ut_$(1)_%: $$(UT_OUT_DIR)
441 $(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
442 $(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
443 $$(MAKE) -r --no-print-directory \
444 BUILD_TYPE=ut \
445 BOARD_SHORT_NAME=$(1) \
446 TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
447 OUTDIR="$(UT_OUT_DIR)/$(1)" \
448 TARGET=$(1) \
449 $$*
450
451 .PHONY: ut_$(1)_clean
452 ut_$(1)_clean:
453 @$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR)/$(1))"
454 $(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
455 endef
456
457 # Expand the unittest rules
458 $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
459
460 # Disable parallel make when the all_ut_run target is requested otherwise the TAP
461 # output is interleaved with the rest of the make output.
462 ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
463 .NOTPARALLEL:
464 $(info $(EMPTY) NOTE Parallel make disabled by all_ut_run target so we have sane console output)
465 endif
466
467 ##############################
468 #
469 # Packaging components
470 #
471 ##############################
472 # Firmware files to package
473 PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano
474
475 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
476 # They are used later by the vehicle setup wizard to update board firmware.
477 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
478 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
479
480 ifeq ($(WITH_PREBUILT_FW),)
481 FIRMWARE_DIR := $(FLIGHT_OUT_DIR)
482 # We need to build the FW targets
483 $(OPFW_RESOURCE): $(PACKAGE_FW_TARGETS)
484 else
485 FIRMWARE_DIR := $(WITH_PREBUILT_FW)
486 endif
487
488 OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(FIRMWARE_DIR)/$(fw_targ)/$(fw_targ).opfw)
489 OPFW_CONTENTS := \
490 <!DOCTYPE RCC><RCC version="1.0"> \
491 <qresource prefix="/firmware"> \
492 $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(fw_file)</file>) \
493 </qresource> \
494 </RCC>
495
496 .PHONY: opfw_resource
497 opfw_resource: $(OPFW_RESOURCE)
498
499 $(OPFW_RESOURCE): | $(OPGCSSYNTHDIR)
500 @$(ECHO) Generating OPFW resource file $(call toprel, $@)
501 $(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
502
503 # If opfw_resource or all firmware are requested, GCS should depend on the resource
504 ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
505 $(GCS_MAKEFILE): $(OPFW_RESOURCE)
506 endif
507
508 # Packaging targets: package
509 # - builds all firmware, opfw_resource, gcs
510 # - copies firmware into a package directory
511 # - calls paltform-specific packaging script
512
513 # Define some variables
514 PACKAGE_LBL := $(shell $(VERSION_INFO) --format=\$${LABEL})
515 PACKAGE_NAME := $(subst $(SPACE),,$(ORG_BIG_NAME))
516 PACKAGE_SEP := -
517 PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
518
519 # Source distribution is never dirty because it uses git archive
520 DIST_LBL := $(subst -dirty,,$(PACKAGE_LBL))
521 DIST_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(DIST_LBL)
522 DIST_TAR := $(DIST_DIR)/$(DIST_NAME).tar
523 DIST_TAR_GZ := $(DIST_TAR).gz
524 FW_DIST_NAME := $(DIST_NAME)_firmware
525 FW_DIST_TAR := $(DIST_DIR)/$(FW_DIST_NAME).tar
526 FW_DIST_TAR_GZ := $(FW_DIST_TAR).gz
527 DIST_VER_INFO := $(DIST_DIR)/version-info.json
528
529 include $(ROOT_DIR)/package/$(UNAME).mk
530
531 ##############################
532 #
533 # Source for distribution
534 #
535 ##############################
536 $(DIST_VER_INFO): .git/index | $(DIST_DIR)
537 $(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
538
539 $(DIST_TAR): $(DIST_VER_INFO) .git/index | $(DIST_DIR)
540 @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR))"
541 $(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_TAR)" HEAD
542 $(V1) tar --append --file="$(DIST_TAR)" \
543 --transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
544 $(call toprel, "$(DIST_VER_INFO)")
545
546 $(DIST_TAR_GZ): $(DIST_TAR)
547 @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR_GZ))"
548 $(V1) gzip -kf "$(DIST_TAR)"
549
550 .PHONY: dist_tar_gz
551 dist_tar_gz: $(DIST_TAR_GZ)
552
553 .PHONY: dist
554 dist: dist_tar_gz
555
556
557 $(FW_DIST_TAR): $(PACKAGE_FW_TARGETS) | $(DIST_DIR)
558 @$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR))"
559 $(V1) tar -c --file="$(FW_DIST_TAR)" --directory=$(FLIGHT_OUT_DIR) \
560 --transform='s,^,firmware/,' \
561 $(foreach fw_targ,$(PACKAGE_FW_TARGETS),$(fw_targ)/$(fw_targ).opfw)
562
563 $(FW_DIST_TAR_GZ): $(FW_DIST_TAR)
564 @$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR_GZ))"
565 $(V1) gzip -kf "$(FW_DIST_TAR)"
566
567 .PHONY: fw_dist_tar_gz
568 fw_dist_tar_gz: $(FW_DIST_TAR_GZ)
569
570 .PHONY: fw_dist
571 fw_dist: fw_dist_tar_gz
572
573
574 ##############################
575 #
576 # Source code formatting
577 #
578 ##############################
579
580 UNCRUSTIFY_TARGETS := flight ground
581
582 # $(1) = Uncrustify target (e.g flight or ground)
583 # $(2) = Target root directory
584 define UNCRUSTIFY_TEMPLATE
585
586 .PHONY: uncrustify_$(1)
587 uncrustify_$(1):
588 @$(ECHO) "Auto-formatting $(1) source code"
589 $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
590 endef
591
592 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
593
594 .PHONY: uncrustify_all
595 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
596
597 ##############################
598 #
599 # Doxygen documentation
600 #
601 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
602 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
603 #
604 ##############################
605
606 DOCS_TARGETS := flight ground uavobjects
607
608 # $(1) = Doxygen target (e.g flight or ground)
609 define DOXYGEN_TEMPLATE
610
611 .PHONY: docs_$(1)
612 docs_$(1): docs_$(1)_clean
613 @$(ECHO) "Generating $(1) documentation"
614 $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
615 $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
616
617 .PHONY: docs_$(1)_clean
618 docs_$(1)_clean:
619 @$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/docs/$(1))"
620 $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
621
622 endef
623
624 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
625
626 .PHONY: docs_all
627 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
628
629 .PHONY: docs_all_clean
630 docs_all_clean:
631 @$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/docs)"
632 $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
633
634 ##############################
635 #
636 # Build info
637 #
638 ##############################
639
640 .PHONY: build-info
641 build-info: | $(BUILD_DIR)
642 @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
643 $(V1) $(VERSION_INFO) \
644 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
645 --template="make/templates/$@.txt" \
646 --outfile="$(BUILD_DIR)/$@.txt"
647
648 ##############################
649 #
650 # Config
651 #
652 ##############################
653
654 CONFIG_OPTS := $(addsuffix \n,$(MAKEOVERRIDES))
655 CONFIG_OPTS := $(addprefix override$(SPACE),$(CONFIG_OPTS))
656
657 .PHONY: config_new
658 config_new:
659 @printf '$(CONFIG_OPTS)' > $(CONFIG_FILE)
660
661 .PHONY: config_append
662 config_append:
663 @printf '$(CONFIG_OPTS)' >> $(CONFIG_FILE)
664
665 .PHONY: config_show
666 config_show:
667 @cat $(CONFIG_FILE)
668
669 .PHONY: config_clean
670 config_clean:
671 rm -f $(CONFIG_FILE)
672
673
674 ##############################
675 #
676 # Directories
677 #
678 ##############################
679
680 $(DIRS):
681 $(V1) $(MKDIR) -p $@
682
683
684 ##############################
685 #
686 # Help message, the default Makefile goal
687 #
688 ##############################
689
690 .DEFAULT_GOAL := help
691
692 .PHONY: help
693 help:
694 @$(ECHO)
695 @$(ECHO) " This Makefile is known to work on Linux and Mac in a standard shell environment."
696 @$(ECHO) " It also works on Windows by following the instructions given on this wiki page:"
697 @$(ECHO) " http://wiki.openpilot.org/display/Doc/Windows%3A+Building+and+Packaging"
698 @$(ECHO)
699 @$(ECHO) " Here is a summary of the available targets:"
700 @$(ECHO)
701 @$(ECHO) " [Source tree preparation]"
702 @$(ECHO) " prepare - Install GIT commit message template"
703 @$(ECHO) " [Tool Installers]"
704 @$(ECHO) " arm_sdk_install - Install the GNU ARM gcc toolchain"
705 @$(ECHO) " qt_sdk_install - Install the QT development tools"
706 @$(ECHO) " nsis_install - Install the NSIS Unicode (Windows only)"
707 @$(ECHO) " sdl_install - Install the SDL library (Windows only)"
708 @$(ECHO) " mesawin_install - Install the OpenGL32 DLL (Windows only)"
709 @$(ECHO) " openssl_install - Install the OpenSSL libraries (Windows only)"
710 @$(ECHO) " uncrustify_install - Install the Uncrustify source code beautifier"
711 @$(ECHO) " doxygen_install - Install the Doxygen documentation generator"
712 @$(ECHO) " gtest_install - Install the GoogleTest framework"
713 @$(ECHO) " ccache_install - Install ccache"
714 @$(ECHO) " These targets are not updated yet and are probably broken:"
715 @$(ECHO) " openocd_install - Install the OpenOCD JTAG daemon"
716 @$(ECHO) " stm32flash_install - Install the stm32flash tool for unbricking F1-based boards"
717 @$(ECHO) " dfuutil_install - Install the dfu-util tool for unbricking F4-based boards"
718 @$(ECHO) " Install all available tools:"
719 @$(ECHO) " all_sdk_install - Install all of above (platform-dependent)"
720 @$(ECHO) " build_sdk_install - Install only essential for build tools (platform-dependent)"
721 @$(ECHO)
722 @$(ECHO) " Other tool options are:"
723 @$(ECHO) " <tool>_version - Display <tool> version"
724 @$(ECHO) " <tool>_clean - Remove installed <tool>"
725 @$(ECHO) " <tool>_distclean - Remove downloaded <tool> distribution file(s)"
726 @$(ECHO)
727 @$(ECHO) " [Big Hammer]"
728 @$(ECHO) " all - Generate UAVObjects, build openpilot firmware and gcs"
729 @$(ECHO) " all_flight - Build all firmware, bootloaders and bootloader updaters"
730 @$(ECHO) " all_fw - Build only firmware for all boards"
731 @$(ECHO) " all_bl - Build only bootloaders for all boards"
732 @$(ECHO) " all_bu - Build only bootloader updaters for all boards"
733 @$(ECHO)
734 @$(ECHO) " all_clean - Remove your build directory ($(BUILD_DIR))"
735 @$(ECHO) " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
736 @$(ECHO) " all_fw_clean - Remove firmware for all boards"
737 @$(ECHO) " all_bl_clean - Remove bootloaders for all boards"
738 @$(ECHO) " all_bu_clean - Remove bootloader updaters for all boards"
739 @$(ECHO)
740 @$(ECHO) " all_<board> - Build all available images for <board>"
741 @$(ECHO) " all_<board>_clean - Remove all available images for <board>"
742 @$(ECHO)
743 @$(ECHO) " all_ut - Build all unit tests"
744 @$(ECHO) " all_ut_tap - Run all unit tests and capture all TAP output to files"
745 @$(ECHO) " all_ut_run - Run all unit tests and dump TAP output to console"
746 @$(ECHO)
747 @$(ECHO) " [Firmware]"
748 @$(ECHO) " <board> - Build firmware for <board>"
749 @$(ECHO) " Supported boards are ($(ALL_BOARDS))"
750 @$(ECHO) " fw_<board> - Build firmware for <board>"
751 @$(ECHO) " Supported boards are ($(FW_BOARDS))"
752 @$(ECHO) " fw_<board>_clean - Remove firmware for <board>"
753 @$(ECHO) " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
754 @$(ECHO)
755 @$(ECHO) " [Bootloader]"
756 @$(ECHO) " bl_<board> - Build bootloader for <board>"
757 @$(ECHO) " Supported boards are ($(BL_BOARDS))"
758 @$(ECHO) " bl_<board>_clean - Remove bootloader for <board>"
759 @$(ECHO) " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
760 @$(ECHO)
761 @$(ECHO) " [Entire Flash]"
762 @$(ECHO) " ef_<board> - Build entire flash image for <board>"
763 @$(ECHO) " Supported boards are ($(EF_BOARDS))"
764 @$(ECHO) " ef_<board>_clean - Remove entire flash image for <board>"
765 @$(ECHO) " ef_<board>_program - Use OpenOCD + JTAG to write entire flash image to <board>"
766 @$(ECHO)
767 @$(ECHO) " [Bootloader Updater]"
768 @$(ECHO) " bu_<board> - Build bootloader updater for <board>"
769 @$(ECHO) " Supported boards are ($(BU_BOARDS))"
770 @$(ECHO) " bu_<board>_clean - Remove bootloader updater for <board>"
771 @$(ECHO)
772 @$(ECHO) " [Unbrick a board]"
773 @$(ECHO) " unbrick_<board> - Use the STM32's built in boot ROM to write a bootloader to <board>"
774 @$(ECHO) " Supported boards are ($(BL_BOARDS))"
775 @$(ECHO) " [Unittests]"
776 @$(ECHO) " ut_<test> - Build unit test <test>"
777 @$(ECHO) " ut_<test>_xml - Run test and capture XML output into a file"
778 @$(ECHO) " ut_<test>_run - Run test and dump output to console"
779 @$(ECHO)
780 @$(ECHO) " [Simulation]"
781 @$(ECHO) " sim_osx - Build OpenPilot simulation firmware for OSX"
782 @$(ECHO) " sim_osx_clean - Delete all build output for the osx simulation"
783 @$(ECHO) " sim_win32 - Build OpenPilot simulation firmware for Windows"
784 @$(ECHO) " using mingw and msys"
785 @$(ECHO) " sim_win32_clean - Delete all build output for the win32 simulation"
786 @$(ECHO)
787 @$(ECHO) " [GCS]"
788 @$(ECHO) " gcs - Build the Ground Control System (GCS) application (debug|release)"
789 @$(ECHO) " Compile specific directory: MAKE_DIR=<dir>"
790 @$(ECHO) " Example: make gcs MAKE_DIR=src/plugins/coreplugin"
791 @$(ECHO) " gcs_qmake - Run qmake for the Ground Control System (GCS) application (debug|release)"
792 @$(ECHO) " gcs_clean - Remove the Ground Control System (GCS) application (debug|release)"
793 @$(ECHO) " Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
794 @$(ECHO)
795 @$(ECHO) " [Uploader Tool]"
796 @$(ECHO) " uploader - Build the serial uploader tool (debug|release)"
797 @$(ECHO) " uploader_qmake - Run qmake for the serial uploader tool (debug|release)"
798 @$(ECHO) " uploader_clean - Remove the serial uploader tool (debug|release)"
799 @$(ECHO) " Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
800 @$(ECHO)
801 @$(ECHO)
802 @$(ECHO) " [UAVObjects]"
803 @$(ECHO) " uavobjects - Generate source files from the UAVObject definition XML files"
804 @$(ECHO) " uavobjects_test - Parse xml-files - check for valid, duplicate ObjId's, ..."
805 @$(ECHO) " uavobjects_<group> - Generate source files from a subset of the UAVObject definition XML files"
806 @$(ECHO) " Supported groups are ($(UAVOBJ_TARGETS))"
807 @$(ECHO)
808 @$(ECHO) " [Packaging]"
809 @$(ECHO) " package - Build and package the OpenPilot platform-dependent package (no clean)"
810 @$(ECHO) " opfw_resource - Generate resources to embed firmware binaries into the GCS"
811 @$(ECHO) " dist - Generate source archive for distribution"
812 @$(ECHO) " fw_dist - Generate archive of firmware"
813 @$(ECHO) " install - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
814 @$(ECHO)
815 @$(ECHO) " [Code Formatting]"
816 @$(ECHO) " uncrustify_<source> - Reformat <source> code according to the project's standards"
817 @$(ECHO) " Supported sources are ($(UNCRUSTIFY_TARGETS))"
818 @$(ECHO) " uncrustify_all - Reformat all source code"
819 @$(ECHO)
820 @$(ECHO) " [Code Documentation]"
821 @$(ECHO) " docs_<source> - Generate HTML documentation for <source>"
822 @$(ECHO) " Supported sources are ($(DOCS_TARGETS))"
823 @$(ECHO) " docs_all - Generate HTML documentation for all"
824 @$(ECHO) " docs_<source>_clean - Delete generated documentation for <source>"
825 @$(ECHO) " docs_all_clean - Delete all generated documentation"
826 @$(ECHO)
827 @$(ECHO) " [Configuration]"
828 @$(ECHO) " config_new - Place your make arguments in the config file"
829 @$(ECHO) " config_append - Place your make arguments in the config file but append"
830 @$(ECHO) " config_clean - Removes the config file"
831 @$(ECHO)
832 @$(ECHO) " Hint: Add V=1 to your command line to see verbose build output."
833 @$(ECHO)
834 @$(ECHO) " Notes: All tool distribution files will be downloaded into $(DL_DIR)"
835 @$(ECHO) " All tools will be installed into $(TOOLS_DIR)"
836 @$(ECHO) " All build output will be placed in $(BUILD_DIR)"
837 @$(ECHO)
838 @$(ECHO) " Tool download and install directories can be changed using environment variables:"
839 @$(ECHO) " DL_DIR full path to downloads directory [downloads if not set]"
840 @$(ECHO) " TOOLS_DIR full path to installed tools directory [tools if not set]"
841 @$(ECHO) " More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
842 @$(ECHO)