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px4_targets.mk
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px4_targets.mk
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# PX4 build is via external build system
ifneq ($(PX4_ROOT),)
# cope with relative paths
ifeq ($(wildcard $(PX4_ROOT)/nuttx-configs),)
PX4_ROOT := $(shell cd $(SKETCHBOOK)/$(PX4_ROOT) && pwd)
endif
# check it is a valid PX4Firmware tree
ifeq ($(wildcard $(PX4_ROOT)/nuttx-configs),)
$(error ERROR: PX4_ROOT not set correctly - no nuttx-configs directory found)
endif
ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
UAVCAN_DIR=$(shell cd $(SKETCHBOOK)/../uavcan && pwd)/
endif
# default to PX4NuttX above the PX4Firmware tree
ifeq ($(NUTTX_SRC),)
NUTTX_SRC := $(shell cd $(PX4_ROOT)/../PX4NuttX/nuttx && pwd)/
endif
# cope with relative paths for NUTTX_SRC
ifeq ($(wildcard $(NUTTX_SRC)/configs),)
NUTTX_SRC := $(shell cd $(SKETCHBOOK)/$(NUTTX_SRC) && pwd)/
endif
ifeq ($(wildcard $(NUTTX_SRC)configs),)
$(error ERROR: NUTTX_SRC not set correctly - no configs directory found)
endif
NUTTX_GIT_VERSION := $(shell cd $(NUTTX_SRC) && git rev-parse HEAD | cut -c1-8)
PX4_GIT_VERSION := $(shell cd $(PX4_ROOT) && git rev-parse HEAD | cut -c1-8)
EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
ifneq ($(wildcard $(SKETCHBOOK)/../uavcan),)
EXTRAFLAGS += -DUAVCAN=1
endif
# we have different config files for V1 and V2
PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk
SKETCHFLAGS=$(SKETCHLIBINCLUDES) -I$(PWD) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
WARNFLAGS = -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=reorder
# avoid PX4 submodules
export GIT_SUBMODULES_ARE_EVIL = 1
PX4_MAKE = $(v) GIT_SUBMODULES_ARE_EVIL=1 make -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
PX4_MAKE_ARCHIVES = make -C $(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
.PHONY: module_mk
module_mk:
$(RULEHDR)
$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
$(v) echo "SRCS = Build.$(SKETCH)/$(SKETCH).cpp $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new
$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
$(v) rm -f $(SKETCHBOOK)/module.mk.new
px4-v1: $(BUILDROOT)/make.flags $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
$(RULEHDR)
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V1_CONFIG_FILE)
$(v) cp $(PWD)/$(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/
$(v) $(PX4_MAKE) px4fmu-v1_APM
$(v) /bin/rm -f $(SKETCH)-v1.px4
$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
px4-v2: $(BUILDROOT)/make.flags $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
$(RULEHDR)
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V2_CONFIG_FILE)
$(v) cp $(PWD)/$(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/
$(PX4_MAKE) px4fmu-v2_APM
$(v) /bin/rm -f $(SKETCH)-v2.px4
$(v) cp $(PX4_ROOT)/Images/px4fmu-v2_APM.px4 $(SKETCH)-v2.px4
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4"
px4: px4-v1 px4-v2
px4-clean: clean px4-archives-clean
$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build
px4-cleandep: clean
$(v) find $(PX4_ROOT)/Build -type f -name '*.d' | xargs rm -f
px4-v1-upload: px4-v1
$(RULEHDR)
$(v) $(PX4_MAKE) px4fmu-v1_APM upload
px4-v2-upload: px4-v2
$(RULEHDR)
$(v) $(PX4_MAKE) px4fmu-v2_APM upload
px4-upload: px4-v1-upload
px4-archives-clean:
$(v) /bin/rm -rf $(PX4_ROOT)/Archives
px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
$(v) make -C $(PX4_ROOT) px4io-v1_default
$(v) /bin/rm -f px4io-v1.bin
$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin
$(v) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
$(v) rm -f $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
$(v) cp px4io-v1.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
$(v) rm -f $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
$(v) cp $(SKETCHBOOK)/mk/PX4/bootloader/px4fmu_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
$(v) echo "PX4IOv1 Firmware is in px4io-v1.bin"
px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
$(v) make -C $(PX4_ROOT) px4io-v2_default
$(v) /bin/rm -f px4io-v2.bin
$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.bin px4io-v2.bin
$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin
$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.elf px4io-v2.elf
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
$(v) rm -f $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
$(v) cp px4io-v2.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/bootloader/
$(v) rm -f $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
$(v) cp $(SKETCHBOOK)/mk/PX4/bootloader/px4fmuv2_bl.bin $(MK_DIR)/PX4/ROMFS/bootloader/fmu_bl.bin
$(v) echo "PX4IOv2 Firmware is in px4io-v2.bin"
px4-io: px4-io-v1 px4-io-v2
$(PX4_ROOT)/Archives/px4fmu-v1.export:
$(v) $(PX4_MAKE_ARCHIVES)
$(PX4_ROOT)/Archives/px4fmu-v2.export:
$(v) $(PX4_MAKE_ARCHIVES)
$(PX4_ROOT)/Archives/px4io-v1.export:
$(v) $(PX4_MAKE_ARCHIVES)
$(PX4_ROOT)/Archives/px4io-v2.export:
$(v) $(PX4_MAKE_ARCHIVES)
px4-archives:
$(v) $(PX4_MAKE_ARCHIVES)
else
px4:
$(error ERROR: You need to add PX4_ROOT to your config.mk)
px4-clean: px4
px4-upload: px4
endif