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