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