You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
358 lines
13 KiB
358 lines
13 KiB
############################################################################ |
|
# |
|
# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved. |
|
# |
|
# Redistribution and use in source and binary forms, with or without |
|
# modification, are permitted provided that the following conditions |
|
# are met: |
|
# |
|
# 1. Redistributions of source code must retain the above copyright |
|
# notice, this list of conditions and the following disclaimer. |
|
# 2. Redistributions in binary form must reproduce the above copyright |
|
# notice, this list of conditions and the following disclaimer in |
|
# the documentation and/or other materials provided with the |
|
# distribution. |
|
# 3. Neither the name PX4 nor the names of its contributors may be |
|
# used to endorse or promote products derived from this software |
|
# without specific prior written permission. |
|
# |
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
# POSSIBILITY OF SUCH DAMAGE. |
|
# |
|
############################################################################ |
|
|
|
# Enforce the presence of the GIT repository |
|
# |
|
# We depend on our submodules, so we have to prevent attempts to |
|
# compile without it being present. |
|
ifeq ($(wildcard .git),) |
|
$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.) |
|
endif |
|
|
|
# Help |
|
# -------------------------------------------------------------------- |
|
# Don't be afraid of this makefile, it is just passing |
|
# arguments to cmake to allow us to keep the wiki pages etc. |
|
# that describe how to build the px4 firmware |
|
# the same even when using cmake instead of make. |
|
# |
|
# Example usage: |
|
# |
|
# make px4fmu-v2_default (builds) |
|
# make px4fmu-v2_default upload (builds and uploads) |
|
# make px4fmu-v2_default test (builds and tests) |
|
# |
|
# This tells cmake to build the nuttx px4fmu-v2 default config in the |
|
# directory build_nuttx_px4fmu-v2_default and then call make |
|
# in that directory with the target upload. |
|
|
|
# explicity set default build target |
|
all: posix_sitl_default |
|
|
|
# Parsing |
|
# -------------------------------------------------------------------- |
|
# assume 1st argument passed is the main target, the |
|
# rest are arguments to pass to the makefile generated |
|
# by cmake in the subdirectory |
|
FIRST_ARG := $(firstword $(MAKECMDGOALS)) |
|
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS)) |
|
j ?= 4 |
|
|
|
NINJA_BIN := ninja |
|
ifndef NO_NINJA_BUILD |
|
NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null) |
|
|
|
ifndef NINJA_BUILD |
|
NINJA_BIN := ninja-build |
|
NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null) |
|
endif |
|
endif |
|
|
|
ifdef NINJA_BUILD |
|
PX4_CMAKE_GENERATOR := Ninja |
|
PX4_MAKE := $(NINJA_BIN) |
|
PX4_MAKE_ARGS := |
|
else |
|
ifdef SYSTEMROOT |
|
# Windows |
|
PX4_CMAKE_GENERATOR := "MSYS\ Makefiles" |
|
else |
|
PX4_CMAKE_GENERATOR := "Unix\ Makefiles" |
|
endif |
|
PX4_MAKE = $(MAKE) |
|
PX4_MAKE_ARGS = -j$(j) --no-print-directory |
|
endif |
|
|
|
SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST)))) |
|
|
|
# optionally run commmands in PX4 docker |
|
ifdef PX4_DOCKER |
|
PX4_RUN = docker run -it --rm -v $(SRC_DIR):$(SRC_DIR):rw -w $(SRC_DIR) -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $(HOME)/.ccache:$(HOME)/.ccache:rw -e CCACHE_DIR=$(HOME)/.ccache -e LOCAL_USER_ID=`id -u $(USER)` px4io/px4-dev-nuttx:2017-01-01 /bin/bash -c "$1" |
|
else |
|
PX4_RUN = $1 |
|
endif |
|
|
|
# check if replay env variable is set & set build dir accordingly |
|
ifdef replay |
|
BUILD_DIR_SUFFIX := _replay |
|
else |
|
BUILD_DIR_SUFFIX := |
|
endif |
|
|
|
# additional config parameters passed to cmake |
|
CMAKE_ARGS := |
|
ifdef EXTERNAL_MODULES_LOCATION |
|
CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION) |
|
endif |
|
|
|
|
|
# Functions |
|
# -------------------------------------------------------------------- |
|
# describe how to build a cmake config |
|
define cmake-build |
|
+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX)) |
|
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi |
|
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && $(call PX4_RUN, cd $(BUILD_DIR); cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS)) || (rm -rf $(BUILD_DIR)); fi |
|
+@echo "PX4 CONFIG: $(BUILD_DIR)" |
|
+@$(call PX4_RUN,$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)) |
|
endef |
|
|
|
define colorecho |
|
+@tput setaf 6 |
|
+@echo $1 |
|
+@tput sgr0 |
|
endef |
|
|
|
# Get a list of all config targets. |
|
ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed -e 's:^.*/::' | sort)) |
|
# Strip off leading nuttx_ |
|
NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS))) |
|
|
|
# ADD CONFIGS HERE |
|
# -------------------------------------------------------------------- |
|
# Do not put any spaces between function arguments. |
|
|
|
# All targets. |
|
$(ALL_CONFIG_TARGETS): |
|
$(call cmake-build,$@,$(SRC_DIR)) |
|
|
|
# Abbreviated config targets. |
|
|
|
# nuttx_ is left off by default; provide a rule to allow that. |
|
$(NUTTX_CONFIG_TARGETS): |
|
$(call cmake-build,nuttx_$@,$(SRC_DIR)) |
|
|
|
all_nuttx_targets: $(NUTTX_CONFIG_TARGETS) |
|
|
|
posix: posix_sitl_default |
|
broadcast: posix_sitl_broadcast |
|
|
|
# Multi- config targets. |
|
|
|
eagle_default: posix_eagle_default qurt_eagle_default |
|
eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default |
|
excelsior_default: posix_excelsior_default qurt_excelsior_default |
|
|
|
# Deprecated config targets. |
|
|
|
ros_sitl_default: |
|
@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead." |
|
|
|
_sitl_deprecation: |
|
@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or" |
|
@echo "'make posix_sitl_default gazebo' if Gazebo is preferred." |
|
|
|
run_sitl_quad: _sitl_deprecation |
|
run_sitl_plane: _sitl_deprecation |
|
run_sitl_ros: _sitl_deprecation |
|
|
|
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe). |
|
.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_default run_sitl_quad run_sitl_plane run_sitl_ros all_nuttx_targets |
|
|
|
# Other targets |
|
# -------------------------------------------------------------------- |
|
|
|
.PHONY: uavcan_firmware compiler_version check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean |
|
.NOTPARALLEL: |
|
|
|
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe). |
|
.PHONY: checks_defaults checks_bootloaders checks_tests checks_uavcan checks_sitls checks_last quick_check tests extra_firmware |
|
|
|
uavcan_firmware: |
|
ifeq ($(VECTORCONTROL),1) |
|
$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6") |
|
@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh) |
|
endif |
|
|
|
check_px4fmu-v4_default: uavcan_firmware |
|
|
|
check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default |
|
@echo VECTORCONTROL=$VECTORCONTROL |
|
ifeq ($(VECTORCONTROL),1) |
|
@echo "Cleaning up vectorcontrol firmware" |
|
@rm -rf vectorcontrol |
|
@rm -rf ROMFS/px4fmu_common/uavcan |
|
endif |
|
|
|
sizes: |
|
@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || : |
|
|
|
# QGroundControl flashable firmware (currently built by travis-ci) |
|
qgc_firmware: \ |
|
check_aerofc-v1_default \ |
|
check_crazyflie_default \ |
|
check_mindpx-v2_default \ |
|
check_px4fmu-v1_default \ |
|
check_px4fmu-v2_default \ |
|
check_px4fmu-v3_default \ |
|
check_px4fmu-v4_default \ |
|
check_tap-v1_default \ |
|
|
|
checks_alt: \ |
|
check_auav-x21_default \ |
|
check_px4-stm32f4discovery_default \ |
|
check_px4cannode-v1_default \ |
|
check_px4esc-v1_default \ |
|
check_px4fmu-v4pro_default \ |
|
check_px4fmu-v5_default \ |
|
check_px4nucleoF767ZI-v1_default \ |
|
check_s2740vc-v1_default \ |
|
|
|
checks_defaults: qgc_firmware checks_alt |
|
|
|
checks_bootloaders: \ |
|
check_esc35-v1_bootloader \ |
|
check_px4cannode-v1_bootloader \ |
|
check_px4esc-v1_bootloader \ |
|
check_px4flow-v2_bootloader \ |
|
check_s2740vc-v1_bootloader \ |
|
check_zubaxgnss-v1_bootloader \ |
|
|
|
checks_uavcan: \ |
|
check_px4fmu-v4_default_and_uavcan |
|
|
|
checks_last: \ |
|
tests \ |
|
check_format \ |
|
|
|
compiler_version: |
|
-arm-none-eabi-gcc --version |
|
|
|
# All default targets that don't require a special build environment (currently built on semaphore-ci) |
|
check: compiler_version checks_defaults checks_bootloaders checks_tests checks_uavcan checks_last sizes |
|
|
|
# quick_check builds a single nuttx and posix target, runs testing, and checks the style |
|
quick_check: compiler_version check_posix_sitl_default check_px4fmu-v3_default tests check_format sizes |
|
|
|
check_format: |
|
$(call colorecho,"Checking formatting with astyle") |
|
@./Tools/check_code_style_all.sh |
|
@git diff --check |
|
|
|
format: |
|
$(call colorecho,"Formatting with astyle") |
|
@./Tools/check_code_style_all.sh --fix |
|
|
|
check_%: |
|
@echo |
|
$(call colorecho,"Building" $(subst check_,,$@)) |
|
@$(MAKE) --no-print-directory $(subst check_,,$@) |
|
@mkdir -p Binaries |
|
@mkdir -p Meta/$(subst check_,,$@) |
|
@cp build_$(subst check_,,$@)/*.xml Meta/$(subst check_,,$@) 2> /dev/null || : |
|
@find build_$(subst check_,,$@)/src/firmware -type f -name 'nuttx-*-default.px4' -exec cp "{}" Binaries \; 2> /dev/null || : |
|
@rm -rf build_$(subst check_,,$@) |
|
@echo |
|
|
|
unittest: posix_sitl_default |
|
$(call cmake-build,unittest,$(SRC_DIR)/unittests) |
|
@(cd build_unittest && ctest -j2 --output-on-failure) |
|
|
|
run_tests_posix: |
|
@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_default test_results_junit) |
|
|
|
tests: run_tests_posix |
|
@$(call PX4_RUN,$(MAKE) --no-print-directory unittest) |
|
|
|
tests_coverage: |
|
@$(call PX4_RUN,lcov --zerocounters --directory $(SRC_DIR) --quiet) |
|
@$(call PX4_RUN,lcov --capture --initial --directory $(SRC_DIR) --quiet --output-file coverage.info) |
|
@$(call PX4_RUN,$(MAKE) --no-print-directory tests PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 HEADLESS=1) |
|
@$(call PX4_RUN,lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info) |
|
@$(call PX4_RUN,lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' --quiet --output-file coverage.info) |
|
@$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info ) |
|
|
|
test_startup_shutdown: |
|
@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_test gazebo_standard_vtol HEADLESS=1 MEMORY_DEBUG=1) |
|
|
|
scan-build: |
|
@export CCACHE_DISABLE=1 |
|
@mkdir -p $(SRC_DIR)/build_posix_sitl_default_scan-build |
|
@cd $(SRC_DIR)/build_posix_sitl_default_scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default |
|
@scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default_scan-build |
|
|
|
clang-check: |
|
@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default |
|
@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-check |
|
|
|
clang-tidy: |
|
@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default |
|
@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-tidy |
|
|
|
package_firmware: |
|
@zip --junk-paths Firmware.zip `find Binaries/. -name \*.px4` |
|
|
|
clean: |
|
@rm -rf build_*/ |
|
-@$(MAKE) -C NuttX/nuttx clean |
|
|
|
submodulesclean: |
|
@git submodule sync --recursive |
|
@git submodule deinit -f . |
|
@git submodule update --init --recursive --force |
|
|
|
distclean: submodulesclean |
|
@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" |
|
|
|
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error. |
|
%: |
|
$(if $(filter $(FIRST_ARG),$@), \ |
|
$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#) |
|
|
|
.PHONY: clean |
|
|
|
CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~") |
|
|
|
#help: |
|
# @echo |
|
# @echo "Type 'make ' and hit the tab key twice to see a list of the available" |
|
# @echo "build configurations." |
|
# @echo |
|
|
|
empty := |
|
space := $(empty) $(empty) |
|
|
|
# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069) |
|
help: |
|
@echo "Usage: $(MAKE) <target>" |
|
@echo "Where <target> is one of:" |
|
@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \ |
|
awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \ |
|
egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)' |
|
@echo |
|
@echo "Or, $(MAKE) <config_target> [<make_target(s)>]" |
|
@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets." |
|
|
|
# Print a list of all config targets. |
|
list_config_targets: |
|
@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
|
|
|