Makefile

   1 #
   2 # Top level Makefile for the LibrePilot Project build system.
   3 # Copyright (c) 2015-2017, 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 GCS_SYNTH_DIR := $(BUILD_DIR)/gcs-synthetics
  54
  55 DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR) $(GCS_SYNTH_DIR)
  56
  57 # Naming for binaries and packaging etc,.
  58 export ORG_BIG_NAME := LibrePilot
  59 GCS_LABEL := GCS
  60 GCS_BIG_NAME := $(ORG_BIG_NAME) $(GCS_LABEL)
  61 # These should be lowercase with no spaces
  62 export ORG_SMALL_NAME := $(call smallify,$(ORG_BIG_NAME))
  63 GCS_SMALL_NAME := $(call smallify,$(GCS_BIG_NAME))
  64
  65 WEBSITE_URL      := http://librepilot.org
  66 GIT_URL          := https://bitbucket.org/librepilot/librepilot.git
  67 GITWEB_URL       := https://bitbucket.org/librepilot/librepilot
  68 # Change this once the DNS is set to http://wiki.librepilot.org/
  69 WIKI_URL_ROOT    := https://librepilot.atlassian.net/wiki/display/LPDOC/
  70 USAGETRACKER_URL := https://usagetracker.librepilot.org/
  71
  72 PACKAGING_EMAIL_ADDRESS := packaging@librepilot.org
  73
  74 define DESCRIPTION_SHORT :=
  75 A ground control station and firmware for UAV flight controllers
  76 endef
  77
  78 define DESCRIPTION_LONG :=
  79 The LibrePilot open source project was founded in July 2015.
  80 It focuses on research and development of software and hardware to be used in a variety of applications including vehicle control and stabilization, unmanned autonomous vehicles and robotics.
  81 One of the project's primary goals is to provide an open and collaborative environment making it the ideal home for development of innovative ideas.
  82 endef
  83
  84
  85 # Clean out undesirable variables from the environment and command-line
  86 # to remove the chance that they will cause problems with our build
  87 define SANITIZE_VAR
  88 $(if $(filter-out undefined,$(origin $(1))),
  89     $(info $(EMPTY) NOTE        Sanitized $(2) variable '$(1)' from $(origin $(1)))
  90     MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
  91     override $(1) :=
  92     unexport $(1)
  93 )
  94 endef
  95
  96 # These specific variables can influence compilation in unexpected (and undesirable) ways
  97 # gcc flags
  98 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
  99 # preprocessor flags
 100 SANITIZE_GCC_VARS += CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
 101 # make flags
 102 SANITIZE_GCC_VARS += CFLAGS CXXFLAGS CPPFLAGS LDFLAGS LDLIBS
 103 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
 104
 105 # These specific variables used to be valid but now they make no sense
 106 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
 107 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
 108
 109 # Decide on a verbosity level based on the V= parameter
 110 export AT := @
 111 ifndef V
 112     export V0    :=
 113     export V1    := $(AT)
 114 else ifeq ($(V), 0)
 115     export V0    := $(AT)
 116     export V1    := $(AT)
 117 else ifeq ($(V), 1)
 118 endif
 119
 120 ARCH := $(call get_arch)
 121
 122 # Include tools installers
 123 include $(ROOT_DIR)/make/tools.mk
 124
 125 # Include third party builders if available
 126 -include $(ROOT_DIR)/make/3rdparty/3rdparty.mk
 127
 128 # We almost need to consider autoconf/automake instead of this
 129 ifeq ($(UNAME), Linux)
 130     UAVOBJGENERATOR   := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 131     GCS_WITH_OSG      := 1
 132     GCS_WITH_OSGEARTH := 1
 133     GCS_COPY_OSG      := 0
 134 else ifeq ($(UNAME), Darwin)
 135     UAVOBJGENERATOR   := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 136     GCS_WITH_OSG      := 1
 137     GCS_WITH_OSGEARTH := 0
 138     GCS_COPY_OSG      := 1
 139 else ifeq ($(UNAME), Windows)
 140     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
 141     GCS_WITH_OSG      := 1
 142     GCS_WITH_OSGEARTH := 1
 143     GCS_COPY_OSG      := 1
 144 endif
 145
 146 export UAVOBJGENERATOR
 147
 148 # Set up default build configurations (debug | release)
 149 GCS_BUILD_CONF := release
 150
 151 # Set extra configuration
 152 ifeq ($(GCS_WITH_OSG), 1)
 153     GCS_EXTRA_CONF += osg
 154     ifeq ($(GCS_COPY_OSG), 1)
 155         GCS_EXTRA_CONF += copy_osg
 156     endif
 157     ifeq ($(GCS_WITH_OSGEARTH), 1)
 158         GCS_EXTRA_CONF += osgearth
 159     endif
 160 endif
 161
 162 ##############################
 163 #
 164 # All targets
 165 #
 166 ##############################
 167
 168 .PHONY: all
 169 all: uavobjects all_ground all_flight
 170
 171 .PHONY: all_clean
 172 all_clean:
 173         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 174         $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 175
 176 .PHONY: clean
 177 clean: all_clean
 178
 179
 180 ##############################
 181 #
 182 # UAVObjects
 183 #
 184 ##############################
 185
 186 UAVOBJGENERATOR_DIR := $(BUILD_DIR)/uavobjgenerator
 187 DIRS += $(UAVOBJGENERATOR_DIR)
 188
 189 .PHONY: uavobjgenerator
 190 uavobjgenerator: $(UAVOBJGENERATOR)
 191
 192 $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
 193         $(V1) cd $(UAVOBJGENERATOR_DIR) && \
 194             ( [ -f Makefile ] || $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
 195             CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' ) && \
 196             $(MAKE) --no-print-directory -w
 197
 198 UAVOBJ_TARGETS := gcs flight arduino python matlab java wireshark
 199
 200 .PHONY: uavobjects
 201 uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 202
 203 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 204 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
 205
 206 uavobjects_%: $(UAVOBJGENERATOR)
 207         @$(MKDIR) -p $(UAVOBJ_OUT_DIR)/$*
 208         $(V1) ( cd $(UAVOBJ_OUT_DIR)/$* && \
 209             $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
 210         )
 211
 212 OBJECTCOUNT := $(shell find $(ROOT_DIR)/python/librepilot/uavobjects/ -name '*.py' | wc -l)
 213 uavobjects_python_install:
 214         $(V1) if [ $(OBJECTCOUNT) -gt 2 ]; then echo "UAVObjects already exist"; else make uavobjects_python; fi
 215         $(V1) mkdir -p $(ROOT_DIR)/python/librepilot/uavobjects/
 216         $(V1) ( touch $(ROOT_DIR)/python/librepilot/uavobjects/__init__.py )
 217         $(V1) ( cp $(UAVOBJ_OUT_DIR)/python/* $(ROOT_DIR)/python/librepilot/uavobjects/ )
 218         $(V1) ( cd $(ROOT_DIR)/python/ && sudo python setup.py build && sudo python setup.py install)
 219
 220 uavobjects_python_clean:
 221         @$(ECHO) " CLEAN      $(call toprel, $(ROOT_DIR)/python/librepilot/uavobjects/)"
 222         $(V1) [ ! -d "$(ROOT_DIR)/python/librepilot/uavobjects/" ] || $(RM) -r "$(ROOT_DIR)/python/librepilot/uavobjects/"
 223         @$(ECHO) " CLEAN      $(call toprel, $(ROOT_DIR)/python/librepilot/build/)"
 224         $(V1) [ ! -d "$(ROOT_DIR)/python/librepilot/build/" ] || sudo $(RM) -r "$(ROOT_DIR)/python/librepilot/build/"
 225         @$(ECHO) " CLEAN      $(call toprel, $(UAVOBJ_OUT_DIR)/python/)"
 226         $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)/python/" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)/python/"
 227
 228
 229 uavobjects_test: $(UAVOBJGENERATOR)
 230         $(V1) $(UAVOBJGENERATOR) -v $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 231
 232 uavobjects_clean:
 233         @$(ECHO) " CLEAN      $(call toprel, $(UAVOBJ_OUT_DIR))"
 234         $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 235
 236 ##############################
 237 #
 238 # Flight related components
 239 #
 240 ##############################
 241
 242
 243 # When building any of the "all_*" targets, tell all sub makefiles to display
 244 # additional details on each line of output to describe which build and target
 245 # that each line applies to. The same applies also to all, fw_resource,
 246 # package targets
 247 ifneq ($(strip $(filter all_% all fw_resource package,$(MAKECMDGOALS))),)
 248     export ENABLE_MSG_EXTRA := yes
 249 endif
 250
 251 # When building more than one goal in a single make invocation, also
 252 # enable the extra context for each output line
 253 ifneq ($(word 2,$(MAKECMDGOALS)),)
 254     export ENABLE_MSG_EXTRA := yes
 255 endif
 256
 257 FLIGHT_OUT_DIR := $(BUILD_DIR)/firmware
 258 DIRS += $(FLIGHT_OUT_DIR)
 259
 260 # Might not be here in source package
 261 -include $(ROOT_DIR)/flight/Makefile
 262
 263 ##############################
 264 #
 265 # GCS related components
 266 #
 267 ##############################
 268
 269 .PHONY: all_ground
 270 all_ground: gcs uploader
 271
 272 ifneq ($(V), 1)
 273     GCS_EXTRA_CONF += silent
 274 endif
 275
 276 GCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
 277 DIRS += $(GCS_DIR)
 278
 279 GCS_MAKEFILE := $(GCS_DIR)/Makefile
 280
 281 .PHONY: gcs_qmake
 282 gcs_qmake $(GCS_MAKEFILE): | $(GCS_DIR)
 283         $(V1) cd $(GCS_DIR) && \
 284             $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro \
 285             -r CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' \
 286             'GCS_BIG_NAME="$(GCS_BIG_NAME)"' GCS_SMALL_NAME=$(GCS_SMALL_NAME) \
 287             'ORG_BIG_NAME="$(ORG_BIG_NAME)"' ORG_SMALL_NAME=$(ORG_SMALL_NAME) \
 288             'WIKI_URL_ROOT="$(WIKI_URL_ROOT)"' \
 289             'USAGETRACKER_URL="$(USAGETRACKER_URL)"' \
 290             'GCS_LIBRARY_BASENAME=$(libbasename)' \
 291             $(GCS_QMAKE_OPTS)
 292
 293 .PHONY: gcs
 294 gcs: $(UAVOBJGENERATOR) $(GCS_MAKEFILE)
 295         $(V1) $(MAKE) -w -C $(GCS_DIR)/$(MAKE_DIR);
 296
 297 .PHONY: gcs_clean
 298 gcs_clean:
 299         @$(ECHO) " CLEAN      $(call toprel, $(GCS_DIR))"
 300         $(V1) [ ! -d "$(GCS_DIR)" ] || $(RM) -r "$(GCS_DIR)"
 301
 302
 303
 304 ################################
 305 #
 306 # Serial Uploader tool
 307 #
 308 ################################
 309
 310 UPLOADER_DIR := $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)
 311 DIRS += $(UPLOADER_DIR)
 312
 313 UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
 314
 315 .PHONY: uploader_qmake
 316 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
 317         $(V1) cd $(UPLOADER_DIR) && \
 318             $(QMAKE) $(ROOT_DIR)/ground/gcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
 319             -r CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' $(GCS_QMAKE_OPTS)
 320
 321 .PHONY: uploader
 322 uploader: $(UPLOADER_MAKEFILE)
 323         $(V1) $(MAKE) -w -C $(UPLOADER_DIR)
 324
 325 .PHONY: uploader_clean
 326 uploader_clean:
 327         @$(ECHO) " CLEAN      $(call toprel, $(UPLOADER_DIR))"
 328         $(V1) [ ! -d "$(UPLOADER_DIR)" ] || $(RM) -r "$(UPLOADER_DIR)"
 329
 330
 331
 332 ##############################
 333 #
 334 # Packaging components
 335 #
 336 ##############################
 337 # Firmware files to package
 338 PACKAGE_FW_TARGETS := fw_coptercontrol fw_revolution fw_revonano fw_sparky2
 339 PACKAGE_FW_TARGETS += fw_oplinkmini
 340 PACKAGE_FW_TARGETS += fw_gpsplatinum
 341 PACKAGE_FW_TARGETS += fw_osd
 342 PACKAGE_FW_TARGETS += fw_revoproto
 343 PACKAGE_FW_TARGETS += fw_spracingf3evo fw_spracingf3 fw_nucleof303re fw_pikoblx fw_tinyfish
 344
 345 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 346 # They are used later by the vehicle setup wizard to update board firmware.
 347 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 348 FW_RESOURCE := $(GCS_SYNTH_DIR)/fw_resource.qrc
 349
 350 ifeq ($(WITH_PREBUILT_FW),)
 351 FIRMWARE_DIR := $(FLIGHT_OUT_DIR)
 352 # We need to build the FW targets
 353 $(FW_RESOURCE): $(PACKAGE_FW_TARGETS)
 354 else
 355 FIRMWARE_DIR := $(WITH_PREBUILT_FW)
 356 endif
 357
 358 FW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(FIRMWARE_DIR)/$(fw_targ)/$(fw_targ).opfw)
 359 FW_CONTENTS := \
 360 <!DOCTYPE RCC><RCC version="1.0"> \
 361     <qresource prefix="/firmware"> \
 362         $(foreach fw_file, $(FW_FILES), <file alias="$(notdir $(fw_file))">$(call system_path,$(fw_file))</file>) \
 363     </qresource> \
 364 </RCC>
 365
 366 .PHONY: fw_resource
 367 fw_resource: $(FW_RESOURCE)
 368 fw_resource: $(FW_RESOURCE)
 369
 370 $(FW_RESOURCE): | $(GCS_SYNTH_DIR)
 371         @$(ECHO) Generating FW resource file $(call toprel, $@)
 372         $(V1) $(ECHO) $(QUOTE)$(FW_CONTENTS)$(QUOTE) > $@
 373
 374 # If fw_resource or all firmware are requested, GCS should depend on the resource
 375 ifneq ($(strip $(filter fw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
 376 $(GCS_MAKEFILE): $(FW_RESOURCE)
 377 endif
 378
 379 # Packaging targets: package
 380 #  - builds all firmware, fw_resource, gcs
 381 #  - copies firmware into a package directory
 382 #  - calls paltform-specific packaging script
 383
 384 # Define some variables
 385 PACKAGE_LBL       := $(shell $(VERSION_INFO) --format=\$${LABEL})
 386 PACKAGE_NAME      := $(subst $(SPACE),,$(ORG_BIG_NAME))
 387 PACKAGE_SEP       := -
 388 PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
 389
 390 # Source distribution is never dirty because it uses git archive
 391 DIST_LBL       := $(subst -dirty,,$(PACKAGE_LBL))
 392 DIST_NAME      := $(PACKAGE_NAME)$(PACKAGE_SEP)$(DIST_LBL)
 393 DIST_TAR       := $(DIST_DIR)/$(DIST_NAME).tar
 394 DIST_TAR_GZ    := $(DIST_TAR).gz
 395 FW_DIST_NAME   := $(DIST_NAME)_firmware
 396 FW_DIST_TAR    := $(DIST_DIR)/$(FW_DIST_NAME).tar
 397 FW_DIST_TAR_GZ := $(FW_DIST_TAR).gz
 398 DIST_VER_INFO  := $(DIST_DIR)/version-info.json
 399
 400 include $(ROOT_DIR)/package/$(UNAME).mk
 401
 402 ##############################
 403 #
 404 # Source for distribution
 405 #
 406 ##############################
 407 FORCE:
 408
 409 $(DIST_VER_INFO): FORCE | $(DIST_DIR)
 410         $(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
 411
 412 $(DIST_TAR): $(DIST_VER_INFO) | $(DIST_DIR)
 413         @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR))"
 414         $(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_TAR)" HEAD
 415         $(V1) tar --append --file="$(DIST_TAR)" \
 416                 --owner=root --group=root --mtime="`git show -s --format=%ci`" \
 417                 --transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
 418                 $(call toprel, "$(DIST_VER_INFO)")
 419
 420 $(DIST_TAR_GZ): $(DIST_TAR)
 421         @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR_GZ))"
 422         $(V1) gzip -knf "$(DIST_TAR)"
 423
 424 .PHONY: dist_tar_gz
 425 dist_tar_gz: $(DIST_TAR_GZ)
 426
 427 .PHONY: dist
 428 dist: dist_tar_gz
 429
 430
 431 $(FW_DIST_TAR): $(PACKAGE_FW_TARGETS) | $(DIST_DIR)
 432         @$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR))"
 433         $(V1) tar -c --file="$(FW_DIST_TAR)" --directory=$(FLIGHT_OUT_DIR) \
 434                 --owner=root --group=root --mtime="`git show -s --format=%ci`" \
 435                 --transform='s,^,firmware/,' \
 436                 --force-local \
 437                 $(foreach fw_targ,$(PACKAGE_FW_TARGETS),$(fw_targ)/$(fw_targ).opfw)
 438
 439 $(FW_DIST_TAR_GZ): $(FW_DIST_TAR)
 440         @$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR_GZ))"
 441         $(V1) gzip -knf "$(FW_DIST_TAR)"
 442
 443 .PHONY: fw_dist_tar_gz
 444 fw_dist_tar_gz: $(FW_DIST_TAR_GZ)
 445
 446 .PHONY: fw_dist
 447 fw_dist: fw_dist_tar_gz
 448
 449
 450 ##############################
 451 #
 452 # Source code formatting
 453 #
 454 ##############################
 455
 456 UNCRUSTIFY_TARGETS := flight ground
 457
 458 # $(1) = Uncrustify target (e.g flight or ground)
 459 # $(2) = Target root directory
 460 define UNCRUSTIFY_TEMPLATE
 461
 462 .PHONY: uncrustify_$(1)
 463 uncrustify_$(1):
 464         @$(ECHO) "Auto-formatting $(1) source code"
 465         $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
 466
 467 .PHONY: pretty_$(1)
 468 pretty_$(1): uncrustify_$(1)
 469 endef
 470
 471 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
 472
 473 .PHONY: uncrustify_all
 474 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
 475
 476 .PHONY: pretty
 477 pretty: $(addprefix pretty_,$(UNCRUSTIFY_TARGETS))
 478
 479 ##############################
 480 #
 481 # Doxygen documentation
 482 #
 483 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
 484 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
 485 #
 486 ##############################
 487
 488 DOCS_TARGETS := flight ground uavobjects
 489
 490 # $(1) = Doxygen target (e.g flight or ground)
 491 define DOXYGEN_TEMPLATE
 492
 493 .PHONY: docs_$(1)
 494 docs_$(1): docs_$(1)_clean
 495         @$(ECHO) "Generating $(1) documentation"
 496         $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
 497         $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
 498
 499 .PHONY: docs_$(1)_clean
 500 docs_$(1)_clean:
 501         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs/$(1))"
 502         $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
 503
 504 endef
 505
 506 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
 507
 508 .PHONY: docs_all
 509 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
 510
 511 .PHONY: docs_all_clean
 512 docs_all_clean:
 513         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs)"
 514         $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
 515
 516 ##############################
 517 #
 518 # Build info
 519 #
 520 ##############################
 521
 522 .PHONY: build-info
 523 build-info: | $(BUILD_DIR)
 524         @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
 525         $(V1) $(VERSION_INFO) \
 526                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
 527                 --template="make/templates/$@.txt" \
 528                 --outfile="$(BUILD_DIR)/$@.txt"
 529
 530 ##############################
 531 #
 532 # Config
 533 #
 534 ##############################
 535
 536 CONFIG_OPTS := $(subst \$(SPACE),%SPACE_PLACEHOLDER%,$(MAKEOVERRIDES))
 537 CONFIG_OPTS := $(addprefix override%SPACE_PLACEHOLDER%,$(CONFIG_OPTS))
 538 CONFIG_OPTS := $(subst $(SPACE),\n,$(CONFIG_OPTS))\n
 539 CONFIG_OPTS := $(subst %SPACE_PLACEHOLDER%,$(SPACE),$(CONFIG_OPTS))
 540
 541 .PHONY: config_new
 542 config_new:
 543         @printf '$(CONFIG_OPTS)' > $(CONFIG_FILE)
 544
 545 .PHONY: config_append
 546 config_append:
 547         @printf '$(CONFIG_OPTS)' >> $(CONFIG_FILE)
 548
 549 .PHONY: config_show
 550 config_show:
 551         @cat $(CONFIG_FILE) | sed 's/override *//'
 552
 553 .PHONY: config_clean
 554 config_clean:
 555         rm -f $(CONFIG_FILE)
 556
 557 .PHONY: config_help
 558 config_help:
 559         @$(ECHO) "   The build system has a simple system for persistent configuration"
 560         @$(ECHO)
 561         @$(ECHO) "   To set persistent configuration variables you, for example, do:"
 562         @$(ECHO) "       $(MAKE) config_new CCACHE=ccache GCS_WITH_OSG=0"
 563         @$(ECHO)
 564         @$(ECHO) "   To add to the existing configuration do:"
 565         @$(ECHO) "       $(MAKE) config_append GCS_BUILD_CONF=debug"
 566         @$(ECHO)
 567         @$(ECHO) "   To reset the configuration to defaults do:"
 568         @$(ECHO) "       $(MAKE) config_clean"
 569         @$(ECHO)
 570         @$(ECHO) "   To show the current configuration:"
 571         @$(ECHO) "       $(MAKE) config_show"
 572         @$(ECHO)
 573         @$(ECHO) "   You can override any make variable this way, but these are the useful ones"
 574         @$(ECHO) "   shown with their current (or default values):"
 575         @$(ECHO)
 576         @$(ECHO) "   GCS_BUILD_CONF=$(GCS_BUILD_CONF)"
 577         @$(ECHO) "       GCS build type"
 578         @$(ECHO) "       Options: debug or release"
 579         @$(ECHO)
 580         @$(ECHO) "   GCS_WITH_OSG=$(GCS_WITH_OSG)"
 581         @$(ECHO) "       Build the GCS with OpenSceneGraph support, this enables the PFD Model View"
 582         @$(ECHO) "       Options: 0 or 1"
 583         @$(ECHO)
 584         @$(ECHO) "   GCS_WITH_OSGEARTH=$(GCS_WITH_OSGEARTH)"
 585         @$(ECHO) "       Build the GCS with osgEarth support, this enables extra PFD terrain views"
 586         @$(ECHO) "       Options: 0 or 1"
 587         @$(ECHO)
 588         @$(ECHO) "   GCS_COPY_OSG=$(GCS_COPY_OSG)"
 589         @$(ECHO) "       Copy OpenSceneGraph/osgEarth libraries into the build"
 590         @$(ECHO) "       (Needed unless using system versions)"
 591         @$(ECHO) "       Options: 0 or 1"
 592         @$(ECHO)
 593         @$(ECHO) "   CCACHE=$(CCACHE)"
 594         @$(ECHO) "       A prefix to compiler invocations, usually 'ccache' or 'path/to/ccache'"
 595         @$(ECHO)
 596         @$(ECHO) "   QMAKE=$(QMAKE)"
 597         @$(ECHO) "       How to invoke qmake, usually 'qmake', 'qmake-qt5' or 'path/to/qmake'"
 598         @$(ECHO)
 599         @$(ECHO) "   WITH_PREBUILT_FIRMWARE=$(WITH_PREBUILT_FIRMWARE)"
 600         @$(ECHO) "       Set to path of prebuilt firmware or empty to build firmware when needed"
 601 # TODO: add other things like downloads and tools directories, linux make install parameters
 602
 603
 604
 605 ##############################
 606 #
 607 # Directories
 608 #
 609 ##############################
 610
 611 $(DIRS):
 612         $(V1) $(MKDIR) -p $@
 613
 614
 615 ##############################
 616 #
 617 # Help message, the default Makefile goal
 618 #
 619 ##############################
 620
 621 .DEFAULT_GOAL := help
 622
 623 .PHONY: help
 624 help:
 625         @$(ECHO)
 626         @$(ECHO) "   This Makefile is known to work on Linux and Mac in a standard shell environment."
 627         @$(ECHO) "   It also works on Windows by following the instructions given on this wiki page:"
 628         @$(ECHO) "       $(WIKI_URL_ROOT)Windows+Building+and+Packaging"
 629         @$(ECHO)
 630         @$(ECHO) "   Here is a summary of the available targets:"
 631         @$(ECHO)
 632         @$(ECHO) "   [Source tree preparation]"
 633         @$(ECHO) "     prepare              - Install GIT commit message template"
 634         @$(ECHO) "   [Tool Installers]"
 635         @$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 636         @$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 637         @$(ECHO) "     nsis_install         - Install the NSIS Unicode (Windows only)"
 638         @$(ECHO) "     mesawin_install      - Install the OpenGL32 DLL (Windows only)"
 639         @$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 640         @$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 641         @$(ECHO) "     gtest_install        - Install the GoogleTest framework"
 642         @$(ECHO) "     ccache_install       - Install ccache"
 643         @$(ECHO) "   These targets are not updated yet and are probably broken:"
 644         @$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 645         @$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 646         @$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
 647         @$(ECHO) "   Install all available tools:"
 648         @$(ECHO) "     all_sdk_install      - Install all of above (platform-dependent)"
 649         @$(ECHO) "     build_sdk_install    - Install only essential for build tools (platform-dependent)"
 650         @$(ECHO)
 651         @$(ECHO) "   Other tool options are:"
 652         @$(ECHO) "     <tool>_version       - Display <tool> version"
 653         @$(ECHO) "     <tool>_clean         - Remove installed <tool>"
 654         @$(ECHO) "     <tool>_distclean     - Remove downloaded <tool> distribution file(s)"
 655         @$(ECHO)
 656         @$(ECHO) "   [Big Hammer]"
 657         @$(ECHO) "     all                  - Generate UAVObjects, build $(ORG_BIG_NAME) firmware and gcs"
 658         @$(ECHO) "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 659         @$(ECHO) "     all_fw               - Build only firmware for all boards"
 660         @$(ECHO) "     all_bl               - Build only bootloaders for all boards"
 661         @$(ECHO) "     all_bu               - Build only bootloader updaters for all boards"
 662         @$(ECHO)
 663         @$(ECHO) "     all_clean            - Remove your build directory ($(BUILD_DIR))"
 664         @$(ECHO) "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
 665         @$(ECHO) "     all_fw_clean         - Remove firmware for all boards"
 666         @$(ECHO) "     all_bl_clean         - Remove bootloaders for all boards"
 667         @$(ECHO) "     all_bu_clean         - Remove bootloader updaters for all boards"
 668         @$(ECHO)
 669         @$(ECHO) "     all_<board>          - Build all available images for <board>"
 670         @$(ECHO) "     all_<board>_clean    - Remove all available images for <board>"
 671         @$(ECHO)
 672         @$(ECHO) "     all_ut               - Build all unit tests"
 673         @$(ECHO) "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
 674         @$(ECHO) "     all_ut_run           - Run all unit tests and dump TAP output to console"
 675         @$(ECHO)
 676         @$(ECHO) "   [Firmware]"
 677         @$(ECHO) "     <board>              - Build firmware for <board>"
 678         @$(ECHO) "                            Supported boards are ($(ALL_BOARDS))"
 679         @$(ECHO) "     fw_<board>           - Build firmware for <board>"
 680         @$(ECHO) "                            Supported boards are ($(FW_BOARDS))"
 681         @$(ECHO) "     fw_<board>_clean     - Remove firmware for <board>"
 682         @$(ECHO) "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 683         @$(ECHO)
 684         @$(ECHO) "   [Bootloader]"
 685         @$(ECHO) "     bl_<board>           - Build bootloader for <board>"
 686         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 687         @$(ECHO) "     bl_<board>_clean     - Remove bootloader for <board>"
 688         @$(ECHO) "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 689         @$(ECHO)
 690         @$(ECHO) "   [Entire Flash]"
 691         @$(ECHO) "     ef_<board>           - Build entire flash image for <board>"
 692         @$(ECHO) "                            Supported boards are ($(EF_BOARDS))"
 693         @$(ECHO) "     ef_<board>_clean     - Remove entire flash image for <board>"
 694         @$(ECHO) "     ef_<board>_program   - Use OpenOCD + JTAG to write entire flash image to <board>"
 695         @$(ECHO)
 696         @$(ECHO) "   [Bootloader Updater]"
 697         @$(ECHO) "     bu_<board>           - Build bootloader updater for <board>"
 698         @$(ECHO) "                            Supported boards are ($(BU_BOARDS))"
 699         @$(ECHO) "     bu_<board>_clean     - Remove bootloader updater for <board>"
 700         @$(ECHO)
 701         @$(ECHO) "   [Unbrick a board]"
 702         @$(ECHO) "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 703         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 704         @$(ECHO) "   [Unittests]"
 705         @$(ECHO) "     ut_<test>            - Build unit test <test>"
 706         @$(ECHO) "     ut_<test>_xml        - Run test and capture XML output into a file"
 707         @$(ECHO) "     ut_<test>_run        - Run test and dump output to console"
 708         @$(ECHO)
 709         @$(ECHO) "   [Simulation]"
 710         @$(ECHO) "     sim_osx              - Build $(ORG_BIG_NAME) simulation firmware for OSX"
 711         @$(ECHO) "     sim_osx_clean        - Delete all build output for the osx simulation"
 712         @$(ECHO) "     sim_win32            - Build $(ORG_BIG_NAME) simulation firmware for Windows"
 713         @$(ECHO) "                            using mingw and msys"
 714         @$(ECHO) "     sim_win32_clean      - Delete all build output for the win32 simulation"
 715         @$(ECHO)
 716         @$(ECHO) "   [GCS]"
 717         @$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
 718         @$(ECHO) "                            Compile specific directory: MAKE_DIR=<dir>"
 719         @$(ECHO) "                            Example: make gcs MAKE_DIR=src/plugins/coreplugin"
 720         @$(ECHO) "     gcs_qmake            - Run qmake for the Ground Control System (GCS) application (debug|release)"
 721         @$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
 722         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 723         @$(ECHO)
 724         @$(ECHO) "   [Uploader Tool]"
 725         @$(ECHO) "     uploader             - Build the serial uploader tool (debug|release)"
 726         @$(ECHO) "     uploader_qmake       - Run qmake for the serial uploader tool (debug|release)"
 727         @$(ECHO) "     uploader_clean       - Remove the serial uploader tool (debug|release)"
 728         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 729         @$(ECHO)
 730         @$(ECHO)
 731         @$(ECHO) "   [UAVObjects]"
 732         @$(ECHO) "     uavobjects           - Generate source files from the UAVObject definition XML files"
 733         @$(ECHO) "     uavobjects_test      - Parse xml-files - check for valid, duplicate ObjId's, ..."
 734         @$(ECHO) "     uavobjects_<group>   - Generate source files from a subset of the UAVObject definition XML files"
 735         @$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
 736         @$(ECHO) "     uavobjects_python_install"
 737         @$(ECHO) "                          - Install generated python files as eggs for use with example Python scripts"
 738         @$(ECHO) "     uavobjects_python_clean"
 739         @$(ECHO) "                          - Remove generated python UAVOs from build directory & pyuavtalk folder"
 740         @$(ECHO)
 741         @$(ECHO) "   [Packaging]"
 742         @$(ECHO) "     package              - Build and package the platform-dependent package (no clean)"
 743         @$(ECHO) "     fw_resource          - Generate resources to embed firmware binaries into the GCS"
 744         @$(ECHO) "     dist                 - Generate source archive for distribution"
 745         @$(ECHO) "     fw_dist              - Generate archive of firmware"
 746         @$(ECHO) "     install              - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
 747         @$(ECHO)
 748         @$(ECHO) "   [Code Formatting]"
 749         @$(ECHO) "     pretty_<source>      - Reformat <source> code according to the project's standards"
 750         @$(ECHO) "                            Supported sources are ($(UNCRUSTIFY_TARGETS))"
 751         @$(ECHO) "     pretty               - Reformat all source code"
 752         @$(ECHO)
 753         @$(ECHO) "   [Code Documentation]"
 754         @$(ECHO) "     docs_<source>        - Generate HTML documentation for <source>"
 755         @$(ECHO) "                            Supported sources are ($(DOCS_TARGETS))"
 756         @$(ECHO) "     docs_all             - Generate HTML documentation for all"
 757         @$(ECHO) "     docs_<source>_clean  - Delete generated documentation for <source>"
 758         @$(ECHO) "     docs_all_clean       - Delete all generated documentation"
 759         @$(ECHO)
 760         @$(ECHO) "   [Configuration]"
 761         @$(ECHO) "     config_help          - Show information on how to configure the build"
 762         @$(ECHO) "     config_new           - Place your make arguments in the config file"
 763         @$(ECHO) "     config_append        - Place your make arguments in the config file but append"
 764         @$(ECHO) "     config_clean         - Removes the config file"
 765         @$(ECHO)
 766         @$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
 767         @$(ECHO)
 768         @$(ECHO) "  Notes: All tool distribution files will be downloaded into $(DL_DIR)"
 769         @$(ECHO) "         All tools will be installed into $(TOOLS_DIR)"
 770         @$(ECHO) "         All build output will be placed in $(BUILD_DIR)"
 771         @$(ECHO)
 772         @$(ECHO) "  Tool download and install directories can be changed using environment variables:"
 773         @$(ECHO) "         DL_DIR        full path to downloads directory [downloads if not set]"
 774         @$(ECHO) "         TOOLS_DIR     full path to installed tools directory [tools if not set]"
 775         @$(ECHO) "  More info: $(WIKI_URL_ROOT)LibrePilot+Build+System+Overview"
 776         @$(ECHO)