mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
b65ff53b00
Working crazyflie firmware build * Console on USART3 * Could not disable building PX4IO firmware, currently commented out Don't build PX4IO firmware if the board doesn't ask for it Added crazyflie motor driver Fixed wrong register CLK_SEL is in PWR_MGMT_1 Initial I2C/SPI MPU9250 device * Tested with I2C * Need to add error checking * Intermittent crash on stop call Working ak8963 mag driver Functional lps25h driver. Work in progress. Works well enough to probe and allow sensors task to start. Added serial port test module HACK! Get sensors module working Set crazyflie PWM range Extend baudrate for Crazyflie's NRF radio Added dummy tone alarm to allow for init Added autostart script for Crazyflie
362 lines
11 KiB
Makefile
362 lines
11 KiB
Makefile
############################################################################
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#
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# Copyright (c) 2015 - 2016 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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# Enforce the presence of the GIT repository
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#
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# We depend on our submodules, so we have to prevent attempts to
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# compile without it being present.
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ifeq ($(wildcard .git),)
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$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
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endif
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CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
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ifneq ($(CMAKE_VER),0)
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$(warning Not a valid CMake version or CMake not installed.)
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$(warning On Ubuntu 16.04, install or upgrade via:)
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$(warning )
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$(warning 3rd party PPA:)
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$(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
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$(warning sudo apt-get update)
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$(warning sudo apt-get install cmake)
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$(warning )
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$(warning Official website:)
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$(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
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$(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
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$(warning sudo mkdir /opt/cmake-3.4.3)
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$(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
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$(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
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$(warning )
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$(error Fatal)
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endif
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# Help
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# --------------------------------------------------------------------
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# Don't be afraid of this makefile, it is just passing
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# arguments to cmake to allow us to keep the wiki pages etc.
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# that describe how to build the px4 firmware
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# the same even when using cmake instead of make.
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#
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# Example usage:
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#
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# make px4fmu-v2_default (builds)
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# make px4fmu-v2_default upload (builds and uploads)
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# make px4fmu-v2_default test (builds and tests)
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#
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# This tells cmake to build the nuttx px4fmu-v2 default config in the
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# directory build_nuttx_px4fmu-v2_default and then call make
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# in that directory with the target upload.
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# explicity set default build target
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all: posix_sitl_default
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# Parsing
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# --------------------------------------------------------------------
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# assume 1st argument passed is the main target, the
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# rest are arguments to pass to the makefile generated
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# by cmake in the subdirectory
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ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
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j ?= 4
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NINJA_BUILD := $(shell ninja --version 2>/dev/null)
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ifdef NINJA_BUILD
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PX4_CMAKE_GENERATOR ?= "Ninja"
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PX4_MAKE = ninja
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PX4_MAKE_ARGS =
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else
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ifdef SYSTEMROOT
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# Windows
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PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
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else
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PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
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endif
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PX4_MAKE = make
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PX4_MAKE_ARGS = -j$(j) --no-print-directory
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endif
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# check if replay env variable is set & set build dir accordingly
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ifdef replay
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BUILD_DIR_SUFFIX := _replay
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else
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BUILD_DIR_SUFFIX :=
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endif
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SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
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# Functions
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# --------------------------------------------------------------------
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# describe how to build a cmake config
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define cmake-build
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+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
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+@(echo "PX4 CONFIG: $(BUILD_DIR)" && cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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endef
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define cmake-build-other
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+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
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+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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endef
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# create empty targets to avoid msgs for targets passed to cmake
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define cmake-targ
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$(1):
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@#
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.PHONY: $(1)
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endef
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define colorecho
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@tput setaf 6
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@echo $1
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@tput sgr0
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endef
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# ADD CONFIGS HERE
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# --------------------------------------------------------------------
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# Do not put any spaces between function arguments.
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tap-v1_default:
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$(call cmake-build,nuttx_tap-v1_default)
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asc-v1_default:
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$(call cmake-build,nuttx_asc-v1_default)
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px4fmu-v1_default:
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$(call cmake-build,nuttx_px4fmu-v1_default)
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px4fmu-v2_default:
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$(call cmake-build,nuttx_px4fmu-v2_default)
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px4fmu-v2_test:
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$(call cmake-build,nuttx_px4fmu-v2_test)
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px4fmu-v4_default:
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$(call cmake-build,nuttx_px4fmu-v4_default)
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px4-stm32f4discovery_default:
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$(call cmake-build,nuttx_px4-stm32f4discovery_default)
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mindpx-v2_default:
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$(call cmake-build,nuttx_mindpx-v2_default)
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crazyflie_default:
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$(call cmake-build,nuttx_crazyflie_default)
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posix_sitl_default:
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$(call cmake-build,$@)
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posix_sitl_lpe:
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$(call cmake-build,$@)
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posix_sitl_ekf2:
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$(call cmake-build,$@)
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posix_sitl_replay:
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$(call cmake-build,$@)
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posix_sitl_broadcast:
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$(call cmake-build,$@)
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ros_sitl_default:
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@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
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qurt_eagle_travis:
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$(call cmake-build,$@)
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qurt_eagle_default:
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$(call cmake-build,$@)
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posix_eagle_default:
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$(call cmake-build,$@)
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eagle_default: posix_eagle_default qurt_eagle_default
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eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
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qurt_eagle_legacy_driver_default:
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$(call cmake-build,$@)
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posix_eagle_legacy_driver_default:
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$(call cmake-build,$@)
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qurt_excelsior_default:
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$(call cmake-build,$@)
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posix_excelsior_default:
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$(call cmake-build,$@)
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excelsior_default: posix_excelsior_default qurt_excelsior_default
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posix_rpi_native:
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$(call cmake-build,$@)
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posix_rpi_cross:
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$(call cmake-build,$@)
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posix_bebop_default:
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$(call cmake-build,$@)
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posix: posix_sitl_default
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broadcast: posix_sitl_broadcast
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sitl_deprecation:
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@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
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@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
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run_sitl_quad: sitl_deprecation
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run_sitl_plane: sitl_deprecation
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run_sitl_ros: sitl_deprecation
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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uavcan_firmware:
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ifeq ($(VECTORCONTROL),1)
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$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
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@(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)
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endif
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checks_defaults: \
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check_px4fmu-v1_default \
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check_px4fmu-v2_default \
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check_px4fmu-v4_default \
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check_mindpx-v2_default \
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check_tap-v1_default
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checks_bootloaders: \
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checks_tests: \
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check_px4fmu-v2_test
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checks_alts: \
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check_asc-v1_default \
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check_px4-stm32f4discovery_default
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checks_uavcan: \
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check_px4fmu-v4_default_and_uavcan
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checks_sitls: \
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check_posix_sitl_default
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checks_last: \
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check_tests \
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check_format \
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check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_last
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quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_posix_sitl_default check_tests check_format
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check_format:
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$(call colorecho,"Checking formatting with astyle")
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@./Tools/fix_code_style.sh
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@./Tools/check_code_style_all.sh
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format:
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$(call colorecho,"Formatting with astyle")
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@./Tools/fix_code_style.sh
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@./Tools/check_code_style_all.sh --fix
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check_%:
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@echo
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$(call colorecho,"Building" $(subst check_,,$@))
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@$(MAKE) --no-print-directory $(subst check_,,$@)
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@echo
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check_px4fmu-v4_default: uavcan_firmware
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check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
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@echo
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ifeq ($(VECTORCONTROL),1)
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@echo "Cleaning up vectorcontrol firmware"
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@rm -rf vectorcontrol
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@rm -rf ROMFS/px4fmu_common/uavcan
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endif
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unittest: posix_sitl_default
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$(call cmake-build-other,unittest, ../unittests)
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@(cd build_unittest && ctest -j2 --output-on-failure)
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run_tests_posix: posix_sitl_default
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@(cd build_posix_sitl_default/ && ctest -V)
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tests: check_unittest run_tests_posix
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# QGroundControl flashable firmware
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qgc_firmware: \
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check_px4fmu-v1_default \
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check_px4fmu-v2_default \
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check_mindpx-v2_default \
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check_tap-v1_default \
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check_px4fmu-v4_default_and_uavcan \
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check_format
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extra_firmware: \
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check_px4-stm32f4discovery_default \
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check_px4fmu-v2_test
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package_firmware:
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@zip --junk-paths Firmware.zip `find . -name \*.px4`
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clean:
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@rm -rf build_*/
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@(cd NuttX/nuttx && make clean)
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submodulesclean:
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@git submodule sync --recursive
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@git submodule deinit -f .
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@git submodule update --init --recursive --force
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distclean: submodulesclean
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@git clean -ff -x -d -e ".project" -e ".cproject"
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# targets handled by cmake
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cmake_targets = install test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
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run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
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jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
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gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo gazebo_typhoon_h480
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$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
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.PHONY: clean
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CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
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#help:
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# @echo
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# @echo "Type 'make ' and hit the tab key twice to see a list of the available"
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# @echo "build configurations."
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# @echo
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