Fresh import of the PX4 firmware sources.

2026-10-03 15:38:52 +08:00 · 2012-08-04 15:12:36 -07:00
commit 8a365179ea
2425 changed files with 609220 additions and 0 deletions
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+#
+# Top-level Makefile for building PX4 firmware images.
+#
+#
+# Note that this is a transitional process; the eventual goal is for this
+# project to slim down and simply generate PX4 link kits via the NuttX
+# 'make export' mechanism.
+#
+#
+
+#
+# Some useful paths.
+#
+export PX4BASE		 = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
+export NUTTX_SRC	 = $(PX4BASE)/nuttx
+export NUTTX_APPS	 = $(PX4BASE)/apps
+export MAVLINK_SRC	 = $(PX4BASE)/mavlink
+export ROMFS_SRC	 = $(PX4BASE)/ROMFS
+export IMAGE_DIR	 = $(PX4BASE)/Images
+
+#
+# Tools
+#
+MKFW			 = $(PX4BASE)/Tools/px_mkfw.py
+UPLOADER		 = $(PX4BASE)/Tools/px_uploader.py
+
+#
+# What are we currently configured for?
+#
+CONFIGURED		 = $(PX4BASE)/.configured
+ifeq ($(wildcard $(CONFIGURED)),)
+# the $(CONFIGURED) target will make this a reality before building
+export TARGET		 = px4fmu
+$(shell echo $(TARGET) > $(CONFIGURED))
+else
+export TARGET		 = $(shell cat $(CONFIGURED))
+endif
+
+#
+# What we will build
+#
+FIRMWARE_BUNDLE		 = $(IMAGE_DIR)/$(TARGET).px4
+FIRMWARE_BINARY		 = $(IMAGE_DIR)/$(TARGET).bin
+FIRMWARE_PROTOTYPE	 = $(IMAGE_DIR)/$(TARGET).prototype
+
+#
+# Debugging
+#
+MQUIET			 = --no-print-directory
+#MQUIET			 = --print-directory
+
+all:			$(FIRMWARE_BUNDLE)
+
+#
+# Generate a wrapped .px4 file from the built binary
+#
+$(FIRMWARE_BUNDLE):	$(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
+	@echo Generating $@
+	@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
+		--git_identity $(PX4BASE) \
+		--image $(FIRMWARE_BINARY) > $@
+#
+# Build the firmware binary.
+#
+.PHONY:			$(FIRMWARE_BINARY)
+$(FIRMWARE_BINARY):	configure_$(TARGET) setup_$(TARGET)
+	@echo Building $@
+	@make -C $(NUTTX_SRC) -r $(MQUIET) all
+	@cp $(NUTTX_SRC)/nuttx.bin $@
+
+#
+# The 'configure' targets select one particular firmware configuration
+# and makes it current.
+#
+configure_px4fmu:
+ifneq ($(TARGET),px4fmu)
+	@make -C $(PX4BASE) distclean
+endif
+	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
+	@echo px4fmu > $(CONFIGURED)
+
+configure_px4io:
+ifneq ($(TARGET),px4io)
+	@make -C $(PX4BASE) distclean
+endif
+	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
+	@echo px4io > $(CONFIGURED)
+
+#
+# Per-configuration additional targets
+#
+.PHONY:			px4fmu_setup
+setup_px4fmu:
+	@echo Generating ROMFS
+	@make -C $(ROMFS_SRC) all
+
+setup_px4io:
+
+#
+# Firmware uploading.
+#
+
+# serial port defaults by operating system.
+SYSTYPE			 = $(shell uname)
+ifeq ($(SYSTYPE),Darwin)
+SERIAL_PORTS		?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4"
+endif
+ifeq ($(SYSTYPE),Linux)
+SERIAL_PORTS		?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
+endif
+ifeq ($(SERIAL_PORTS),)
+SERIAL_PORTS		 = "\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
+endif
+
+upload:		$(FIRMWARE_BUNDLE) $(UPLOADER)
+	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
+
+#
+# Hacks and fixups
+#
+
+ifeq ($(SYSTYPE),Darwin)
+# PATH inherited by Eclipse may not include toolchain install location 
+export PATH			 := $(PATH):/usr/local/bin
+endif
+
+#
+# Cleanup targets.  'clean' should remove all built products and force
+# a complete re-compilation, 'distclean' should remove everything 
+# that's generated leaving only files that are in source control.
+#
+.PHONY:	clean
+clean:
+	@make -C $(NUTTX_SRC) -r $(MQUIET) clean
+	@make -C $(ROMFS_SRC) -r $(MQUIET) clean
+
+.PHONY:	distclean
+distclean:
+	@rm -f $(CONFIGURED)
+	@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	@make -C $(ROMFS_SRC) -r $(MQUIET) distclean
+