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LP-99 Fix firmware path not found
[librepilot.git] / Makefile
blob40b2fffe9355c69286e9f25fb42b4d2eaa79fad8
1 #
2 # Top level Makefile for the LibrePilot Project build system.
3 # Copyright (c) 2015, 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 OPGCSSYNTHDIR := $(BUILD_DIR)/gcs-synthetics
54
55 DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR) $(OPGCSSYNTHDIR)
56
57 # Naming for binaries and packaging etc,.
58 export ORG_BIG_NAME := LibrePilot
59 GCS_BIG_NAME := ${ORG_BIG_NAME} GCS
60 # These should be lowercase with no spaces
61 export ORG_SMALL_NAME := $(call smallify,$(ORG_BIG_NAME))
62 GCS_SMALL_NAME := $(call smallify,$(GCS_BIG_NAME))
63 # Change this once the DNS is set to http://wiki.librepilot.org/
64 WIKI_URL_ROOT := https://librepilot.atlassian.net/wiki/display/LPDOC/
65
66 # Set up default build configurations (debug | release)
67 GCS_BUILD_CONF := release
68 GOOGLE_API_VERSION := 14
69
70 # Clean out undesirable variables from the environment and command-line
71 # to remove the chance that they will cause problems with our build
72 define SANITIZE_VAR
73 $(if $(filter-out undefined,$(origin $(1))),
74 $(info $(EMPTY) NOTE Sanitized $(2) variable '$(1)' from $(origin $(1)))
75 MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
76 override $(1) :=
77 unexport $(1)
78 )
79 endef
80
81 # These specific variables can influence compilation in unexpected (and undesirable) ways
82 # gcc flags
83 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
84 # preprocessor flags
85 SANITIZE_GCC_VARS += CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
86 # make flags
87 SANITIZE_GCC_VARS += CFLAGS CXXFLAGS CPPFLAGS LDFLAGS LDLIBS
88 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
89
90 # These specific variables used to be valid but now they make no sense
91 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
92 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
93
94 # Make sure this isn't being run as root unless installing (no whoami on Windows, but that is ok here)
95 ifeq ($(shell whoami 2>/dev/null),root)
96 ifeq ($(filter install,$(MAKECMDGOALS)),)
97 ifndef FAKEROOTKEY
98 $(error You should not be running this as root)
99 endif
100 endif
101 endif
102
103 # Decide on a verbosity level based on the V= parameter
104 export AT := @
105 ifndef V
106 export V0 :=
107 export V1 := $(AT)
108 else ifeq ($(V), 0)
109 export V0 := $(AT)
110 export V1 := $(AT)
111 else ifeq ($(V), 1)
112 endif
113
114 # Make sure we know few things about the architecture before including
115 # the tools.mk to ensure that we download/install the right tools.
116 UNAME := $(shell uname)
117 ARCH := $(shell uname -m)
118 # Here and everywhere if not Linux or Mac then assume Windows
119 ifeq ($(filter Linux Darwin, $(UNAME)), )
120 UNAME := Windows
121 endif
122
123 # Include tools installers
124 include $(ROOT_DIR)/make/tools.mk
125
126 # Include third party builders if available
127 -include $(ROOT_DIR)/make/3rdparty/3rdparty.mk
128
129 # We almost need to consider autoconf/automake instead of this
130 ifeq ($(UNAME), Linux)
131 QT_SPEC := linux-g++
132 UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
133 else ifeq ($(UNAME), Darwin)
134 QT_SPEC := macx-g++
135 UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
136 else ifeq ($(UNAME), Windows)
137 QT_SPEC := win32-g++
138 UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
139 endif
140
141 export UAVOBJGENERATOR
142
143 ##############################
144 #
145 # All targets
146 #
147 ##############################
148
149 .PHONY: all
150 all: uavobjects all_ground all_flight
151
152 .PHONY: all_clean
153 all_clean:
154 @$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR))"
155 $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
156
157 .PHONY: clean
158 clean: all_clean
159
160
161 ##############################
162 #
163 # UAVObjects
164 #
165 ##############################
166
167 UAVOBJGENERATOR_DIR := $(BUILD_DIR)/uavobjgenerator
168 DIRS += $(UAVOBJGENERATOR_DIR)
169
170 .PHONY: uavobjgenerator
171 uavobjgenerator $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
172 $(V1) cd $(UAVOBJGENERATOR_DIR) && \
173 ( [ -f Makefile ] || $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
174 -spec $(QT_SPEC) CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) ) && \
175 $(MAKE) --no-print-directory -w
176
177 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
178
179 .PHONY: uavobjects
180 uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
181
182 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
183 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
184
185 uavobjects_%: uavobjgenerator
186 @$(MKDIR) -p $(UAVOBJ_OUT_DIR)/$*
187 $(V1) ( cd $(UAVOBJ_OUT_DIR)/$* && \
188 $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
189 )
190
191 uavobjects_test: uavobjgenerator
192 $(V1) $(UAVOBJGENERATOR) -v $(UAVOBJ_XML_DIR) $(ROOT_DIR)
193
194 uavobjects_clean:
195 @$(ECHO) " CLEAN $(call toprel, $(UAVOBJ_OUT_DIR))"
196 $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
197
198 ##############################
199 #
200 # Flight related components
201 #
202 ##############################
203
204
205 # When building any of the "all_*" targets, tell all sub makefiles to display
206 # additional details on each line of output to describe which build and target
207 # that each line applies to. The same applies also to all, opfw_resource,
208 # package targets
209 ifneq ($(strip $(filter all_% all opfw_resource package,$(MAKECMDGOALS))),)
210 export ENABLE_MSG_EXTRA := yes
211 endif
212
213 # When building more than one goal in a single make invocation, also
214 # enable the extra context for each output line
215 ifneq ($(word 2,$(MAKECMDGOALS)),)
216 export ENABLE_MSG_EXTRA := yes
217 endif
218
219 FLIGHT_OUT_DIR := $(BUILD_DIR)/firmware
220 DIRS += $(FLIGHT_OUT_DIR)
221
222 include $(ROOT_DIR)/flight/Makefile
223
224 ##############################
225 #
226 # GCS related components
227 #
228 ##############################
229
230 .PHONY: all_ground
231 all_ground: gcs uploader
232
233 ifeq ($(V), 1)
234 GCS_SILENT :=
235 else
236 GCS_SILENT := silent
237 endif
238
239 GCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
240 DIRS += $(GCS_DIR)
241
242 GCS_MAKEFILE := $(GCS_DIR)/Makefile
243
244 .PHONY: gcs_qmake
245 gcs_qmake $(GCS_MAKEFILE): | $(GCS_DIR)
246 $(V1) cd $(GCS_DIR) && \
247 $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro \
248 -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) \
249 'GCS_BIG_NAME="$(GCS_BIG_NAME)"' GCS_SMALL_NAME=$(GCS_SMALL_NAME) \
250 'ORG_BIG_NAME="$(ORG_BIG_NAME)"' ORG_SMALL_NAME=$(ORG_SMALL_NAME) \
251 'WIKI_URL_ROOT="$(WIKI_URL_ROOT)"' \
252 'GCS_LIBRARY_BASENAME=$(libbasename)' \
253 $(GCS_QMAKE_OPTS)
254
255 .PHONY: gcs
256 gcs: uavobjgenerator $(GCS_MAKEFILE)
257 $(V1) $(MAKE) -w -C $(GCS_DIR)/$(MAKE_DIR);
258
259 .PHONY: gcs_clean
260 gcs_clean:
261 @$(ECHO) " CLEAN $(call toprel, $(GCS_DIR))"
262 $(V1) [ ! -d "$(GCS_DIR)" ] || $(RM) -r "$(GCS_DIR)"
263
264
265
266 ################################
267 #
268 # Serial Uploader tool
269 #
270 ################################
271
272 UPLOADER_DIR := $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)
273 DIRS += $(UPLOADER_DIR)
274
275 UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
276
277 .PHONY: uploader_qmake
278 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
279 $(V1) cd $(UPLOADER_DIR) && \
280 $(QMAKE) $(ROOT_DIR)/ground/gcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
281 -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
282
283 .PHONY: uploader
284 uploader: $(UPLOADER_MAKEFILE)
285 $(V1) $(MAKE) -w -C $(UPLOADER_DIR)
286
287 .PHONY: uploader_clean
288 uploader_clean:
289 @$(ECHO) " CLEAN $(call toprel, $(UPLOADER_DIR))"
290 $(V1) [ ! -d "$(UPLOADER_DIR)" ] || $(RM) -r "$(UPLOADER_DIR)"
291
292
293 # We want to take snapshots of the UAVOs at each point that they change
294 # to allow the GCS to be compatible with as many versions as possible.
295 # We always include a pseudo collection called "srctree" which represents
296 # the UAVOs in the source tree. So not necessary to add current tree UAVO
297 # hash here, it is always included.
298
299 # Find the git hashes of each commit that changes uavobjects with:
300 # git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
301 # List only UAVO hashes of past releases, do not list current hash.
302 # Past compatible versions are so far: RELEASE-12.10.2
303 UAVO_GIT_VERSIONS := 5e14f53
304
305 # All versions includes also the current source tree UAVO hash
306 UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
307
308 # This is where the UAVO collections are stored
309 UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
310
311 # $(1) git hash of a UAVO snapshot
312 define UAVO_COLLECTION_GIT_TEMPLATE
313
314 # Make the output directory that will contain all of the synthetics for the
315 # uavo collection referenced by the git hash $(1)
316 $$(UAVO_COLLECTION_DIR)/$(1):
317 $$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
318
319 # Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
320 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
321 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
322 $$(V0) @$(ECHO) " UAVOTAR $(1)"
323 $$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
324
325 # Extract the uavo xml files from our snapshot
326 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
327 $$(V0) @$(ECHO) " UAVOUNTAR $(1)"
328 $$(V1) $(RM) -rf $$@
329 $$(V1) $(MKDIR) -p $$@
330 $$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
331 endef
332
333 # Map the current working directory into the set of UAVO collections
334 $(UAVO_COLLECTION_DIR)/srctree:
335 $(V1) $(MKDIR) -p $@
336
337 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
338 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
339 $(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
340
341 # $(1) git hash (or symbolic name) of a UAVO snapshot
342 define UAVO_COLLECTION_BUILD_TEMPLATE
343
344 # This leaves us with a (broken) symlink that points to the full sha1sum of the collection
345 $$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
346 # Compute the sha1 hash for this UAVO collection
347 # The sed bit truncates the UAVO hash to 16 hex digits
348 $$(V1) $$(VERSION_INFO) \
349 --uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
350 --format='$$$${UAVO_HASH}' | \
351 $(SED) -e 's|\(................\).*|\1|' > $$@
352
353 $$(V0) @$(ECHO) " UAVOHASH $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
354
355 # Generate the java uavobjects for this UAVO collection
356 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
357 $$(V0) @$(ECHO) " UAVOJAVA $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
358 $$(V1) $(MKDIR) -p $$@
359 $$(V1) ( \
360 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
361 $$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
362 )
363
364 # Build a jar file for this UAVO collection
365 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
366 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
367 $$(V0) @$(ECHO) " UAVOJAR $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
368 $$(V1) ( \
369 HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
370 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
371 $(JAVAC) java/*.java \
372 $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
373 $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
374 $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
375 -d . && \
376 find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
377 $(JAR) cf tmp_uavobjects.jar @classlist.txt && \
378 $$(ANDROID_DX) \
379 --dex \
380 --output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
381 tmp_uavobjects.jar && \
382 $(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
383 )
384
385 endef
386
387 # One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
388 $(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
389
390 # One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
391 $(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
392
393 .PHONY: uavo-collections_java
394 uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
395
396 .PHONY: uavo-collections
397 uavo-collections: uavo-collections_java
398
399 .PHONY: uavo-collections_clean
400 uavo-collections_clean:
401 @$(ECHO) " CLEAN $(call toprel, $(UAVO_COLLECTION_DIR))"
402 $(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
403
404 ##############################
405 #
406 # Unit Tests
407 #
408 ##############################
409
410 ALL_UNITTESTS := logfs math lednotification
411
412 # Build the directory for the unit tests
413 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
414 DIRS += $(UT_OUT_DIR)
415
416 .PHONY: all_ut
417 all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
418
419 .PHONY: all_ut_xml
420 all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
421
422 .PHONY: all_ut_run
423 all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
424
425 .PHONY: all_ut_clean
426 all_ut_clean:
427 @$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR))"
428 $(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
429
430 # $(1) = Unit test name
431 define UT_TEMPLATE
432 .PHONY: ut_$(1)
433 ut_$(1): ut_$(1)_run
434
435 ut_$(1)_%: $$(UT_OUT_DIR)
436 $(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
437 $(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
438 $$(MAKE) -r --no-print-directory \
439 BUILD_TYPE=ut \
440 BOARD_SHORT_NAME=$(1) \
441 TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
442 OUTDIR="$(UT_OUT_DIR)/$(1)" \
443 TARGET=$(1) \
444 $$*
445
446 .PHONY: ut_$(1)_clean
447 ut_$(1)_clean:
448 @$(ECHO) " CLEAN $(call toprel, $(UT_OUT_DIR)/$(1))"
449 $(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
450 endef
451
452 # Expand the unittest rules
453 $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
454
455 # Disable parallel make when the all_ut_run target is requested otherwise the TAP
456 # output is interleaved with the rest of the make output.
457 ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
458 .NOTPARALLEL:
459 $(info $(EMPTY) NOTE Parallel make disabled by all_ut_run target so we have sane console output)
460 endif
461
462 ##############################
463 #
464 # Packaging components
465 #
466 ##############################
467 # Firmware files to package
468 PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano
469
470 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
471 # They are used later by the vehicle setup wizard to update board firmware.
472 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
473 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
474
475 ifeq ($(WITH_PREBUILT_FW),)
476 FIRMWARE_DIR := $(FLIGHT_OUT_DIR)
477 # We need to build the FW targets
478 $(OPFW_RESOURCE): $(PACKAGE_FW_TARGETS)
479 else
480 FIRMWARE_DIR := $(WITH_PREBUILT_FW)
481 endif
482
483 OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(FIRMWARE_DIR)/$(fw_targ)/$(fw_targ).opfw)
484 OPFW_CONTENTS := \
485 <!DOCTYPE RCC><RCC version="1.0"> \
486 <qresource prefix="/firmware"> \
487 $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(fw_file)</file>) \
488 </qresource> \
489 </RCC>
490
491 .PHONY: opfw_resource
492 opfw_resource: $(OPFW_RESOURCE)
493
494 $(OPFW_RESOURCE): | $(OPGCSSYNTHDIR)
495 @$(ECHO) Generating OPFW resource file $(call toprel, $@)
496 $(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
497
498 # If opfw_resource or all firmware are requested, GCS should depend on the resource
499 ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
500 $(GCS_MAKEFILE): $(OPFW_RESOURCE)
501 endif
502
503 # Packaging targets: package
504 # - builds all firmware, opfw_resource, gcs
505 # - copies firmware into a package directory
506 # - calls paltform-specific packaging script
507
508 # Define some variables
509 PACKAGE_LBL := $(shell $(VERSION_INFO) --format=\$${LABEL})
510 PACKAGE_NAME := $(subst $(SPACE),,$(ORG_BIG_NAME))
511 PACKAGE_SEP := -
512 PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
513
514 # Source distribution is never dirty because it uses git archive
515 DIST_LBL := $(subst -dirty,,$(PACKAGE_LBL))
516 DIST_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(DIST_LBL)
517 DIST_TAR := $(DIST_DIR)/$(DIST_NAME).tar
518 DIST_TAR_GZ := $(DIST_TAR).gz
519 FW_DIST_NAME := $(DIST_NAME)_firmware
520 FW_DIST_TAR := $(DIST_DIR)/$(FW_DIST_NAME).tar
521 FW_DIST_TAR_GZ := $(FW_DIST_TAR).gz
522 DIST_VER_INFO := $(DIST_DIR)/version-info.json
523
524 include $(ROOT_DIR)/package/$(UNAME).mk
525
526 ##############################
527 #
528 # Source for distribution
529 #
530 ##############################
531 $(DIST_VER_INFO): .git/index | $(DIST_DIR)
532 $(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
533
534 $(DIST_TAR): $(DIST_VER_INFO) .git/index | $(DIST_DIR)
535 @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR))"
536 $(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_TAR)" HEAD
537 $(V1) tar --append --file="$(DIST_TAR)" \
538 --transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
539 $(call toprel, "$(DIST_VER_INFO)")
540
541 $(DIST_TAR_GZ): $(DIST_TAR)
542 @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR_GZ))"
543 $(V1) gzip -kf "$(DIST_TAR)"
544
545 .PHONY: dist_tar_gz
546 dist_tar_gz: $(DIST_TAR_GZ)
547
548 .PHONY: dist
549 dist: dist_tar_gz
550
551
552 $(FW_DIST_TAR): $(PACKAGE_FW_TARGETS) | $(DIST_DIR)
553 @$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR))"
554 $(V1) tar -c --file="$(FW_DIST_TAR)" --directory=$(FLIGHT_OUT_DIR) \
555 --transform='s,^,firmware/,' \
556 $(foreach fw_targ,$(PACKAGE_FW_TARGETS),$(fw_targ)/$(fw_targ).opfw)
557
558 $(FW_DIST_TAR_GZ): $(FW_DIST_TAR)
559 @$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR_GZ))"
560 $(V1) gzip -kf "$(FW_DIST_TAR)"
561
562 .PHONY: fw_dist_tar_gz
563 fw_dist_tar_gz: $(FW_DIST_TAR_GZ)
564
565 .PHONY: fw_dist
566 fw_dist: fw_dist_tar_gz
567
568
569 ##############################
570 #
571 # Source code formatting
572 #
573 ##############################
574
575 UNCRUSTIFY_TARGETS := flight ground
576
577 # $(1) = Uncrustify target (e.g flight or ground)
578 # $(2) = Target root directory
579 define UNCRUSTIFY_TEMPLATE
580
581 .PHONY: uncrustify_$(1)
582 uncrustify_$(1):
583 @$(ECHO) "Auto-formatting $(1) source code"
584 $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
585 endef
586
587 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
588
589 .PHONY: uncrustify_all
590 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
591
592 ##############################
593 #
594 # Doxygen documentation
595 #
596 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
597 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
598 #
599 ##############################
600
601 DOCS_TARGETS := flight ground uavobjects
602
603 # $(1) = Doxygen target (e.g flight or ground)
604 define DOXYGEN_TEMPLATE
605
606 .PHONY: docs_$(1)
607 docs_$(1): docs_$(1)_clean
608 @$(ECHO) "Generating $(1) documentation"
609 $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
610 $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
611
612 .PHONY: docs_$(1)_clean
613 docs_$(1)_clean:
614 @$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/docs/$(1))"
615 $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
616
617 endef
618
619 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
620
621 .PHONY: docs_all
622 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
623
624 .PHONY: docs_all_clean
625 docs_all_clean:
626 @$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR)/docs)"
627 $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
628
629 ##############################
630 #
631 # Build info
632 #
633 ##############################
634
635 .PHONY: build-info
636 build-info: | $(BUILD_DIR)
637 @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
638 $(V1) $(VERSION_INFO) \
639 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
640 --template="make/templates/$@.txt" \
641 --outfile="$(BUILD_DIR)/$@.txt"
642
643 ##############################
644 #
645 # Config
646 #
647 ##############################
648
649 CONFIG_OPTS := $(addsuffix \n,$(MAKEOVERRIDES))
650 CONFIG_OPTS := $(addprefix override$(SPACE),$(CONFIG_OPTS))
651
652 .PHONY: config_new
653 config_new:
654 @printf '$(CONFIG_OPTS)' > $(CONFIG_FILE)
655
656 .PHONY: config_append
657 config_append:
658 @printf '$(CONFIG_OPTS)' >> $(CONFIG_FILE)
659
660 .PHONY: config_show
661 config_show:
662 @cat $(CONFIG_FILE)
663
664 .PHONY: config_clean
665 config_clean:
666 rm -f $(CONFIG_FILE)
667
668
669 ##############################
670 #
671 # Directories
672 #
673 ##############################
674
675 $(DIRS):
676 $(V1) $(MKDIR) -p $@
677
678
679 ##############################
680 #
681 # Help message, the default Makefile goal
682 #
683 ##############################
684
685 .DEFAULT_GOAL := help
686
687 .PHONY: help
688 help:
689 @$(ECHO)
690 @$(ECHO) " This Makefile is known to work on Linux and Mac in a standard shell environment."
691 @$(ECHO) " It also works on Windows by following the instructions given on this wiki page:"
692 @$(ECHO) " http://wiki.openpilot.org/display/Doc/Windows%3A+Building+and+Packaging"
693 @$(ECHO)
694 @$(ECHO) " Here is a summary of the available targets:"
695 @$(ECHO)
696 @$(ECHO) " [Source tree preparation]"
697 @$(ECHO) " prepare - Install GIT commit message template"
698 @$(ECHO) " [Tool Installers]"
699 @$(ECHO) " arm_sdk_install - Install the GNU ARM gcc toolchain"
700 @$(ECHO) " qt_sdk_install - Install the QT development tools"
701 @$(ECHO) " nsis_install - Install the NSIS Unicode (Windows only)"
702 @$(ECHO) " sdl_install - Install the SDL library (Windows only)"
703 @$(ECHO) " mesawin_install - Install the OpenGL32 DLL (Windows only)"
704 @$(ECHO) " openssl_install - Install the OpenSSL libraries (Windows only)"
705 @$(ECHO) " uncrustify_install - Install the Uncrustify source code beautifier"
706 @$(ECHO) " doxygen_install - Install the Doxygen documentation generator"
707 @$(ECHO) " gtest_install - Install the GoogleTest framework"
708 @$(ECHO) " ccache_install - Install ccache"
709 @$(ECHO) " These targets are not updated yet and are probably broken:"
710 @$(ECHO) " openocd_install - Install the OpenOCD JTAG daemon"
711 @$(ECHO) " stm32flash_install - Install the stm32flash tool for unbricking F1-based boards"
712 @$(ECHO) " dfuutil_install - Install the dfu-util tool for unbricking F4-based boards"
713 @$(ECHO) " Install all available tools:"
714 @$(ECHO) " all_sdk_install - Install all of above (platform-dependent)"
715 @$(ECHO) " build_sdk_install - Install only essential for build tools (platform-dependent)"
716 @$(ECHO)
717 @$(ECHO) " Other tool options are:"
718 @$(ECHO) " <tool>_version - Display <tool> version"
719 @$(ECHO) " <tool>_clean - Remove installed <tool>"
720 @$(ECHO) " <tool>_distclean - Remove downloaded <tool> distribution file(s)"
721 @$(ECHO)
722 @$(ECHO) " [Big Hammer]"
723 @$(ECHO) " all - Generate UAVObjects, build openpilot firmware and gcs"
724 @$(ECHO) " all_flight - Build all firmware, bootloaders and bootloader updaters"
725 @$(ECHO) " all_fw - Build only firmware for all boards"
726 @$(ECHO) " all_bl - Build only bootloaders for all boards"
727 @$(ECHO) " all_bu - Build only bootloader updaters for all boards"
728 @$(ECHO)
729 @$(ECHO) " all_clean - Remove your build directory ($(BUILD_DIR))"
730 @$(ECHO) " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
731 @$(ECHO) " all_fw_clean - Remove firmware for all boards"
732 @$(ECHO) " all_bl_clean - Remove bootloaders for all boards"
733 @$(ECHO) " all_bu_clean - Remove bootloader updaters for all boards"
734 @$(ECHO)
735 @$(ECHO) " all_<board> - Build all available images for <board>"
736 @$(ECHO) " all_<board>_clean - Remove all available images for <board>"
737 @$(ECHO)
738 @$(ECHO) " all_ut - Build all unit tests"
739 @$(ECHO) " all_ut_tap - Run all unit tests and capture all TAP output to files"
740 @$(ECHO) " all_ut_run - Run all unit tests and dump TAP output to console"
741 @$(ECHO)
742 @$(ECHO) " [Firmware]"
743 @$(ECHO) " <board> - Build firmware for <board>"
744 @$(ECHO) " Supported boards are ($(ALL_BOARDS))"
745 @$(ECHO) " fw_<board> - Build firmware for <board>"
746 @$(ECHO) " Supported boards are ($(FW_BOARDS))"
747 @$(ECHO) " fw_<board>_clean - Remove firmware for <board>"
748 @$(ECHO) " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
749 @$(ECHO)
750 @$(ECHO) " [Bootloader]"
751 @$(ECHO) " bl_<board> - Build bootloader for <board>"
752 @$(ECHO) " Supported boards are ($(BL_BOARDS))"
753 @$(ECHO) " bl_<board>_clean - Remove bootloader for <board>"
754 @$(ECHO) " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
755 @$(ECHO)
756 @$(ECHO) " [Entire Flash]"
757 @$(ECHO) " ef_<board> - Build entire flash image for <board>"
758 @$(ECHO) " Supported boards are ($(EF_BOARDS))"
759 @$(ECHO) " ef_<board>_clean - Remove entire flash image for <board>"
760 @$(ECHO) " ef_<board>_program - Use OpenOCD + JTAG to write entire flash image to <board>"
761 @$(ECHO)
762 @$(ECHO) " [Bootloader Updater]"
763 @$(ECHO) " bu_<board> - Build bootloader updater for <board>"
764 @$(ECHO) " Supported boards are ($(BU_BOARDS))"
765 @$(ECHO) " bu_<board>_clean - Remove bootloader updater for <board>"
766 @$(ECHO)
767 @$(ECHO) " [Unbrick a board]"
768 @$(ECHO) " unbrick_<board> - Use the STM32's built in boot ROM to write a bootloader to <board>"
769 @$(ECHO) " Supported boards are ($(BL_BOARDS))"
770 @$(ECHO) " [Unittests]"
771 @$(ECHO) " ut_<test> - Build unit test <test>"
772 @$(ECHO) " ut_<test>_xml - Run test and capture XML output into a file"
773 @$(ECHO) " ut_<test>_run - Run test and dump output to console"
774 @$(ECHO)
775 @$(ECHO) " [Simulation]"
776 @$(ECHO) " sim_osx - Build OpenPilot simulation firmware for OSX"
777 @$(ECHO) " sim_osx_clean - Delete all build output for the osx simulation"
778 @$(ECHO) " sim_win32 - Build OpenPilot simulation firmware for Windows"
779 @$(ECHO) " using mingw and msys"
780 @$(ECHO) " sim_win32_clean - Delete all build output for the win32 simulation"
781 @$(ECHO)
782 @$(ECHO) " [GCS]"
783 @$(ECHO) " gcs - Build the Ground Control System (GCS) application (debug|release)"
784 @$(ECHO) " Compile specific directory: MAKE_DIR=<dir>"
785 @$(ECHO) " Example: make gcs MAKE_DIR=src/plugins/coreplugin"
786 @$(ECHO) " gcs_qmake - Run qmake for the Ground Control System (GCS) application (debug|release)"
787 @$(ECHO) " gcs_clean - Remove the Ground Control System (GCS) application (debug|release)"
788 @$(ECHO) " Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
789 @$(ECHO)
790 @$(ECHO) " [Uploader Tool]"
791 @$(ECHO) " uploader - Build the serial uploader tool (debug|release)"
792 @$(ECHO) " uploader_qmake - Run qmake for the serial uploader tool (debug|release)"
793 @$(ECHO) " uploader_clean - Remove the serial uploader tool (debug|release)"
794 @$(ECHO) " Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
795 @$(ECHO)
796 @$(ECHO)
797 @$(ECHO) " [UAVObjects]"
798 @$(ECHO) " uavobjects - Generate source files from the UAVObject definition XML files"
799 @$(ECHO) " uavobjects_test - Parse xml-files - check for valid, duplicate ObjId's, ..."
800 @$(ECHO) " uavobjects_<group> - Generate source files from a subset of the UAVObject definition XML files"
801 @$(ECHO) " Supported groups are ($(UAVOBJ_TARGETS))"
802 @$(ECHO)
803 @$(ECHO) " [Packaging]"
804 @$(ECHO) " package - Build and package the OpenPilot platform-dependent package (no clean)"
805 @$(ECHO) " opfw_resource - Generate resources to embed firmware binaries into the GCS"
806 @$(ECHO) " dist - Generate source archive for distribution"
807 @$(ECHO) " fw_dist - Generate archive of firmware"
808 @$(ECHO) " install - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
809 @$(ECHO)
810 @$(ECHO) " [Code Formatting]"
811 @$(ECHO) " uncrustify_<source> - Reformat <source> code according to the project's standards"
812 @$(ECHO) " Supported sources are ($(UNCRUSTIFY_TARGETS))"
813 @$(ECHO) " uncrustify_all - Reformat all source code"
814 @$(ECHO)
815 @$(ECHO) " [Code Documentation]"
816 @$(ECHO) " docs_<source> - Generate HTML documentation for <source>"
817 @$(ECHO) " Supported sources are ($(DOCS_TARGETS))"
818 @$(ECHO) " docs_all - Generate HTML documentation for all"
819 @$(ECHO) " docs_<source>_clean - Delete generated documentation for <source>"
820 @$(ECHO) " docs_all_clean - Delete all generated documentation"
821 @$(ECHO)
822 @$(ECHO) " [Configuration]"
823 @$(ECHO) " config_new - Place your make arguments in the config file"
824 @$(ECHO) " config_append - Place your make arguments in the config file but append"
825 @$(ECHO) " config_clean - Removes the config file"
826 @$(ECHO)
827 @$(ECHO) " Hint: Add V=1 to your command line to see verbose build output."
828 @$(ECHO)
829 @$(ECHO) " Notes: All tool distribution files will be downloaded into $(DL_DIR)"
830 @$(ECHO) " All tools will be installed into $(TOOLS_DIR)"
831 @$(ECHO) " All build output will be placed in $(BUILD_DIR)"
832 @$(ECHO)
833 @$(ECHO) " Tool download and install directories can be changed using environment variables:"
834 @$(ECHO) " DL_DIR full path to downloads directory [downloads if not set]"
835 @$(ECHO) " TOOLS_DIR full path to installed tools directory [tools if not set]"
836 @$(ECHO) " More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
837 @$(ECHO)