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219 lines
7.7 KiB
219 lines
7.7 KiB
# |
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# Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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# |
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# Makefile for PX4 Nuttx based firmware images. |
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# |
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################################################################################ |
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# ROMFS generation |
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################################################################################ |
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ifneq ($(ROMFS_ROOT),) |
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ifeq ($(wildcard $(ROMFS_ROOT)),) |
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$(error ROMFS_ROOT specifies a directory that does not exist) |
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endif |
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# |
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# Note that there is no support for more than one root directory or constructing |
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# a root from several templates. That would be a nice feature. |
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# |
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# Add dependencies on anything in the ROMFS root directory |
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ROMFS_FILES += $(wildcard \ |
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$(ROMFS_ROOT)/* \ |
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$(ROMFS_ROOT)/*/* \ |
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$(ROMFS_ROOT)/*/*/* \ |
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$(ROMFS_ROOT)/*/*/*/* \ |
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$(ROMFS_ROOT)/*/*/*/*/* \ |
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$(ROMFS_ROOT)/*/*/*/*/*/*) |
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ifeq ($(ROMFS_FILES),) |
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$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files) |
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endif |
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ROMFS_DEPS += $(ROMFS_FILES) |
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# Extra files that may be copied into the ROMFS /extras directory |
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# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional |
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ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES)) |
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ROMFS_DEPS += $(ROMFS_EXTRA_FILES) |
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ROMFS_IMG = romfs.img |
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ROMFS_SCRATCH = romfs_scratch |
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ROMFS_CSRC = $(ROMFS_IMG:.img=.c) |
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ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) |
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LIBS += $(ROMFS_OBJ) |
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LINK_DEPS += $(ROMFS_OBJ) |
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# Remove all comments from startup and mixer files |
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ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py |
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# Turn the ROMFS image into an object file |
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$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) |
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$(call BIN_TO_OBJ,$<,$@,romfs_img) |
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# Generate the ROMFS image from the root |
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$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) |
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@$(ECHO) "ROMFS: $@" |
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$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol" |
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# Construct the ROMFS scratch root from the canonical root |
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$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) |
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$(Q) $(MKDIR) -p $(ROMFS_SCRATCH) |
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$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) |
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# delete all files in ROMFS_SCRATCH which start with a . or end with a ~ |
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$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~ |
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ifneq ($(ROMFS_EXTRA_FILES),) |
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$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras |
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$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras |
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endif |
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$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH) |
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EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG) |
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endif |
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################################################################################ |
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# Builtin command list generation |
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################################################################################ |
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# |
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# Builtin commands can be generated by the configuration, in which case they |
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# must refer to commands that already exist, or indirectly generated by modules |
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# when they are built. |
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# |
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# The configuration supplies builtin command information in the BUILTIN_COMMANDS |
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# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose |
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# filename contains the same information. |
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# |
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# In each case, the command information consists of four fields separated with a |
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# period. These fields are the command's name, its thread priority, its stack size |
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# and the name of the function to call when starting the thread. |
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# |
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BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c |
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# command definitions from modules (may be empty at Makefile parsing time...) |
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MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*))) |
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# We must have at least one pre-defined builtin command in order to generate |
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# any of this. |
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# |
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ifneq ($(BUILTIN_COMMANDS),) |
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# (BUILTIN_PROTO,<cmdspec>,<outputfile>) |
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define BUILTIN_PROTO |
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$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2; |
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endef |
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# (BUILTIN_DEF,<cmdspec>,<outputfile>) |
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define BUILTIN_DEF |
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$(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2; |
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endef |
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# Don't generate until modules have updated their command files |
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$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES) |
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@$(ECHO) "CMDS: $@" |
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$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@ |
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$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@ |
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$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@ |
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$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) |
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$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) |
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$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@ |
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$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) |
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$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) |
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$(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@ |
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$(Q) $(ECHO) '};' >> $@ |
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$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@ |
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SRCS += $(BUILTIN_CSRC) |
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EXTRA_CLEANS += $(BUILTIN_CSRC) |
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endif |
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################################################################################ |
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# Build rules |
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################################################################################ |
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# |
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# What we're going to build. |
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# |
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PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 |
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PRODUCT_BIN = $(WORK_DIR)firmware.bin |
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PRODUCT_ELF = $(WORK_DIR)firmware.elf |
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PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml |
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.PHONY: firmware |
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firmware: $(PRODUCT_BUNDLE) |
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# |
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# Built product rules |
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# |
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$(PRODUCT_BUNDLE): $(PRODUCT_BIN) |
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@$(ECHO) %% Generating $@ |
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ifdef GEN_PARAM_XML |
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python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml |
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ |
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--git_identity $(PX4_BASE) \ |
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--parameter_xml $(PRODUCT_PARAMXML) \ |
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--image $< > $@ |
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else |
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ |
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--git_identity $(PX4_BASE) \ |
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--image $< > $@ |
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endif |
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$(PRODUCT_BIN): $(PRODUCT_ELF) |
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$(call SYM_TO_BIN,$<,$@) |
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$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES) |
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$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS)) |
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# |
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# Utility rules |
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# |
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.PHONY: upload |
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upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) |
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$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \ |
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METHOD=serial \ |
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CONFIG=$(CONFIG) \ |
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BOARD=$(BOARD) \ |
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BUNDLE=$(PRODUCT_BUNDLE) \ |
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BIN=$(PRODUCT_BIN) |
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.PHONY: clean |
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clean: $(MODULE_CLEANS) |
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@$(ECHO) %% cleaning |
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$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF) |
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$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS) |
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$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR) |
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