flight/Makefile

   1 export FLIGHT_MAKEFILE := TRUE
   2 export FLIGHT_ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
   3 export PIOS            := $(FLIGHT_ROOT_DIR)/pios
   4 export FLIGHTLIB       := $(FLIGHT_ROOT_DIR)/libraries
   5 export OPMODULEDIR     := $(FLIGHT_ROOT_DIR)/modules
   6 export OPUAVOBJ        := $(FLIGHT_ROOT_DIR)/uavobjects
   7 export OPUAVTALK       := $(FLIGHT_ROOT_DIR)/uavtalk
   8 export FLIGHT_OUT_DIR  ?= $(CURDIR)
   9
  10 # Define supported board lists
  11 ALL_BOARDS := coptercontrol revolution revonano sparky2
  12 ALL_BOARDS += revoproto
  13 ALL_BOARDS += oplinkmini
  14 ALL_BOARDS += gpsplatinum
  15 ALL_BOARDS += osd
  16 ALL_BOARDS += discoveryf4bare
  17 ALL_BOARDS += ccf3d spracingf3 spracingf3evo nucleof303re pikoblx tinyfish
  18 # SimPosix only builds on Linux
  19 ifeq ($(UNAME), Linux)
  20     ALL_BOARDS += simposix
  21 endif
  22
  23 # Short names of each board (used to display board name in parallel builds)
  24 spracingf3_short       := 'srf3'
  25 spracingf3evo_short    := 'spev'
  26 ccf3d_short            := 'cf3d'
  27 coptercontrol_short    := 'cc  '
  28 oplinkmini_short       := 'oplm'
  29 revolution_short       := 'revo'
  30 osd_short              := 'osd '
  31 revoproto_short        := 'revp'
  32 revonano_short         := 'revn'
  33 sparky2_short          := 'spk2'
  34 simposix_short         := 'posx'
  35 discoveryf4bare_short  := 'df4b'
  36 gpsplatinum_short      := 'gps9'
  37 nucleof303re_short     := 'nf3r'
  38 pikoblx_short          := 'piko'
  39 tinyfish_short         := 'tfsh'
  40
  41 # Start out assuming that we'll build fw, bl and bu for all boards
  42 FW_BOARDS  := $(ALL_BOARDS)
  43 BL_BOARDS  := $(ALL_BOARDS)
  44 BU_BOARDS  := $(ALL_BOARDS)
  45 EF_BOARDS  := $(ALL_BOARDS)
  46
  47 # SimPosix doesn't have a BL, BU or EF target so we need to
  48 # filter them out to prevent errors on the all_flight target.
  49 BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
  50 BU_BOARDS  := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
  51 EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
  52
  53 # Generate the targets for whatever boards are left in each list
  54 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
  55 BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
  56 BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
  57 EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
  58
  59 ALL_FLIGHT       := all_fw all_bl all_bu all_ef
  60 ALL_FLIGHT_CLEAN := $(addsuffix _clean,$(ALL_FLIGHT))
  61
  62 .PHONY: all_flight all_flight_clean
  63 all_flight:       $(ALL_FLIGHT)
  64 all_flight_clean: $(ALL_FLIGHT_CLEAN)
  65
  66
  67 # TEMPLATES (used to generate build rules)
  68
  69 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
  70 # $(2) = Short name for board (e.g cc)
  71 define FW_TEMPLATE
  72 .PHONY: $(1) fw_$(1)
  73 $(1): fw_$(1)_opfw
  74 fw_$(1): fw_$(1)_opfw
  75
  76 fw_$(1)_%: flight_uavobjects
  77         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
  78         $(V1) mkdir -p $(FLIGHT_OUT_DIR)/fw_$(1)/dep
  79         $(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware && \
  80                 $$(MAKE) -r --no-print-directory \
  81                 BUILD_TYPE=fw \
  82                 BOARD_NAME=$(1) \
  83                 BOARD_SHORT_NAME=$(2) \
  84                 TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware \
  85                 OUTDIR=$(FLIGHT_OUT_DIR)/fw_$(1) \
  86                 TARGET=fw_$(1) \
  87                 $$*
  88
  89 .PHONY: $(1)_clean
  90 $(1)_clean: fw_$(1)_clean
  91 fw_$(1)_clean:
  92         @echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/fw_$(1))"
  93         $(V1) rm -fr $(FLIGHT_OUT_DIR)/fw_$(1)
  94 endef
  95
  96 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
  97 # $(2) = Short name for board (e.g cc)
  98 define BL_TEMPLATE
  99 .PHONY: bl_$(1)
 100 bl_$(1): bl_$(1)_bin
 101 bl_$(1)_bino: bl_$(1)_bin
 102
 103 bl_$(1)_%:
 104         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 105         $(V1) mkdir -p $(FLIGHT_OUT_DIR)/bl_$(1)/dep
 106         $(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader && \
 107                 $$(MAKE) -r --no-print-directory \
 108                 BUILD_TYPE=bl \
 109                 BOARD_NAME=$(1) \
 110                 BOARD_SHORT_NAME=$(2) \
 111                 TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader \
 112                 OUTDIR=$(FLIGHT_OUT_DIR)/bl_$(1) \
 113                 TARGET=bl_$(1) \
 114                 $$*
 115
 116 .PHONY: unbrick_$(1)
 117 unbrick_$(1): bl_$(1)_hex
 118 $(if $(filter-out undefined,$(origin UNBRICK_TTY)),
 119         $(V0) @echo " UNBRICK    $(1) via $$(UNBRICK_TTY)"
 120         $(V1) $(STM32FLASH_DIR)/stm32flash \
 121                 -w $(FLIGHT_OUT_DIR)/bl_$(1)/bl_$(1).hex \
 122                 -g 0x0 \
 123                 $$(UNBRICK_TTY)
 124 ,
 125         $(V0) @echo
 126         $(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
 127         $(V0) @echo "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
 128 )
 129
 130 .PHONY: bl_$(1)_clean
 131 bl_$(1)_clean:
 132         @echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/bl_$(1))"
 133         $(V1) rm -fr $(FLIGHT_OUT_DIR)/bl_$(1)
 134 endef
 135
 136 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 137 # $(2) = Short name for board (e.g cc)
 138 define BU_TEMPLATE
 139 .PHONY: bu_$(1)
 140 bu_$(1): bu_$(1)_opfw
 141
 142 bu_$(1)_%: bl_$(1)_bino
 143         $(V1) mkdir -p $(FLIGHT_OUT_DIR)/bu_$(1)/dep
 144         $(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater && \
 145                 $$(MAKE) -r --no-print-directory \
 146                 BUILD_TYPE=bu \
 147                 BOARD_NAME=$(1) \
 148                 BOARD_SHORT_NAME=$(2) \
 149                 TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater \
 150                 OUTDIR=$(FLIGHT_OUT_DIR)/bu_$(1) \
 151                 TARGET=bu_$(1) \
 152                 $$*
 153
 154 .PHONY: bu_$(1)_clean
 155 bu_$(1)_clean:
 156         @echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/bu_$(1))"
 157         $(V1) rm -fr $(FLIGHT_OUT_DIR)/bu_$(1)
 158 endef
 159
 160 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 161 # $(2) = Short name for board (e.g cc)
 162 define EF_TEMPLATE
 163 .PHONY: ef_$(1)
 164 ef_$(1): ef_$(1)_bin
 165
 166 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 167         $(V1) mkdir -p $(FLIGHT_OUT_DIR)/ef_$(1)
 168         $(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/entire_flash && \
 169                 $$(MAKE) -r --no-print-directory \
 170                 BUILD_TYPE=ef \
 171                 BOARD_NAME=$(1) \
 172                 BOARD_SHORT_NAME=$(2) \
 173                 DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
 174                 TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/entire_flash \
 175                 OUTDIR=$(FLIGHT_OUT_DIR)/ef_$(1) \
 176                 TARGET=ef_$(1) \
 177                 $$*
 178
 179 .PHONY: ef_$(1)_clean
 180 ef_$(1)_clean:
 181         @echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/ef_$(1))"
 182         $(V1) rm -fr $(FLIGHT_OUT_DIR)/ef_$(1)
 183 endef
 184
 185 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 186 define BOARD_PHONY_TEMPLATE
 187 .PHONY: all_$(1)
 188 all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
 189 all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
 190 all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
 191 all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
 192
 193 .PHONY: all_$(1)_clean
 194 all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
 195 all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
 196 all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
 197 all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
 198 endef
 199
 200
 201 # Generate flight build rules
 202  .PHONY: first
 203 first: all_fw
 204
 205 .PHONY: all_fw all_fw_clean
 206 all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
 207 all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
 208
 209 .PHONY: all_bl all_bl_clean
 210 all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
 211 all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
 212
 213 .PHONY: all_bu all_bu_clean
 214 all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
 215 all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 216
 217 .PHONY: all_ef all_ef_clean
 218 all_ef:        $(EF_TARGETS)
 219 all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
 220
 221 # Expand the groups of targets for each board
 222 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 223
 224 # Expand the firmware rules
 225 $(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
 226
 227 # Expand the bootloader rules
 228 $(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
 229
 230 # Expand the bootloader updater rules
 231 $(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
 232
 233 # Expand the entire-flash rules
 234 $(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
 235
 236 .PHONY: sim_win32
 237 sim_win32: sim_win32_exe
 238
 239 sim_win32_%: flight_uavobjects
 240         $(V1) mkdir -p $(FLIGHT_OUT_DIR)/sitl_win32
 241         $(V1) $(MAKE) --no-print-directory \
 242                 -C $(FLIGHT_ROOT_DIR)/targets/OpenPilot --file=$(FLIGHT_ROOT_DIR)/targets/OpenPilot/Makefile.win32 $*
 243
 244 .PHONY: sim_osx
 245 sim_osx: sim_osx_elf
 246
 247 sim_osx_%: flight_uavobjects
 248         $(V1) mkdir -p $(FLIGHT_OUT_DIR)/sim_osx
 249         $(V1) $(MAKE) --no-print-directory \
 250                 -C $(FLIGHT_ROOT_DIR)/targets/SensorTest --file=$(FLIGHT_ROOT_DIR)/targets/SensorTest/Makefile.osx $*
 251
 252 ##############################
 253 #
 254 # UAV Objects
 255 #
 256 ##############################
 257 UAVOBJGENERATOR ?= $(shell which uavobjgenerator)
 258
 259 UAVOBJ_XML_DIR := $(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition
 260 export FLIGHT_UAVOBJ_DIR := $(FLIGHT_OUT_DIR)/uavobjects
 261
 262 .PHONY: flight_uavobjects
 263 flight_uavobjects: $(UAVOBJGENERATOR)
 264         @mkdir -p $(FLIGHT_UAVOBJ_DIR)
 265         $(V1) cd $(FLIGHT_UAVOBJ_DIR) && \
 266             $(UAVOBJGENERATOR) -flight $(UAVOBJ_XML_DIR) $(FLIGHT_ROOT_DIR)/..
 267
 268
 269 ##############################
 270 #
 271 # Unit Tests
 272 #
 273 ##############################
 274
 275 ALL_UNITTESTS := logfs math lednotification
 276
 277 # Build the directory for the unit tests
 278 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
 279 DIRS += $(UT_OUT_DIR)
 280
 281 .PHONY: all_ut
 282 all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
 283
 284 .PHONY: all_ut_xml
 285 all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
 286
 287 .PHONY: all_ut_run
 288 all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
 289
 290 .PHONY: all_ut_clean
 291 all_ut_clean:
 292         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR))"
 293         $(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
 294
 295 # $(1) = Unit test name
 296 define UT_TEMPLATE
 297 .PHONY: ut_$(1)
 298 ut_$(1): ut_$(1)_run
 299
 300 ut_$(1)_%: $$(UT_OUT_DIR)
 301         $(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
 302         $(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
 303                 $$(MAKE) -r --no-print-directory \
 304                 BUILD_TYPE=ut \
 305                 BOARD_SHORT_NAME=$(1) \
 306                 TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
 307                 OUTDIR="$(UT_OUT_DIR)/$(1)" \
 308                 TARGET=$(1) \
 309                 $$*
 310
 311 .PHONY: ut_$(1)_clean
 312 ut_$(1)_clean:
 313         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR)/$(1))"
 314         $(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
 315 endef
 316
 317 # Expand the unittest rules
 318 $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
 319
 320 # Disable parallel make when the all_ut_run target is requested otherwise the TAP
 321 # output is interleaved with the rest of the make output.
 322 ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
 323 .NOTPARALLEL:
 324     $(info $(EMPTY) NOTE        Parallel make disabled by all_ut_run target so we have sane console output)
 325 endif
 326