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