mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 17:36:40 +08:00
Refactoring for multiplatform support
Moved the NuttX specific board files to makefiles/nuttx and added a makfiles/linux directory with sample config and board files. Created a makefiles/toolchain_native.mk file for building for Linux with the native system compiler. GCC or clang can be used by setting a flag in the file. The Linux build creates an archive file and will build the tasks as threads. Other code changes are required to support both task based and thread based builds. The NuttX source should not be required for the Linux build. The target OS (NuttX or Linux) is selected by commenting out the desired line in setup.mk Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
@@ -53,13 +53,13 @@ export GIT_DESC
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#
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# Canned firmware configurations that we (know how to) build.
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#
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KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
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KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
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CONFIGS ?= $(KNOWN_CONFIGS)
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#
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# Boards that we (know how to) build NuttX export kits for.
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#
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KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
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KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
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BOARDS ?= $(KNOWN_BOARDS)
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#
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@@ -97,146 +97,31 @@ upload:
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endif
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endif
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#
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# Built products
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#
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DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
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STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
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FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
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all: $(DESIRED_FIRMWARES)
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#
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# Copy FIRMWARES into the image directory.
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#
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# XXX copying the .bin files is a hack to work around the PX4IO uploader
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# not supporting .px4 files, and it should be deprecated onced that
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# is taken care of.
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#
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$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
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@$(ECHO) %% Copying $@
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$(Q) $(COPY) $< $@
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$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
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#
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# Generate FIRMWARES.
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#
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.PHONY: $(FIRMWARES)
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$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
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$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
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$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: generateuorbtopicheaders checksubmodules
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@$(ECHO) %%%%
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@$(ECHO) %%%% Building $(config) in $(work_dir)
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@$(ECHO) %%%%
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$(Q) $(MKDIR) -p $(work_dir)
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$(Q) $(MAKE) -r -C $(work_dir) \
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-f $(PX4_MK_DIR)firmware.mk \
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CONFIG=$(config) \
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WORK_DIR=$(work_dir) \
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$(FIRMWARE_GOAL)
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#
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# Make FMU firmwares depend on the corresponding IO firmware.
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#
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# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
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# and forces the _default config in all cases. There has to be a better way to do this...
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#
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FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
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define FMU_DEP
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$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
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endef
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FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
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$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
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#
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# Build the NuttX export archives.
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#
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# Note that there are no explicit dependencies extended from these
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# archives. If NuttX is updated, the user is expected to rebuild the
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# archives/build area manually. Likewise, when the 'archives' target is
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# invoked, all archives are always rebuilt.
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#
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# XXX Should support fetching/unpacking from a separate directory to permit
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# downloads of the prebuilt archives as well...
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#
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NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
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.PHONY: archives
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archives: checksubmodules $(NUTTX_ARCHIVES)
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# We cannot build these parallel; note that we also force -j1 for the
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# sub-make invocations.
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ifneq ($(filter archives,$(MAKECMDGOALS)),)
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.NOTPARALLEL:
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ifeq ($(PX4_TARGET_OS),nuttx)
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include $(PX4_BASE)makefiles/firmware_nuttx.mk
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endif
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J?=1
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$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
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$(ARCHIVE_DIR)%.export: configuration = nsh
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$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(board)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
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@$(ECHO) %% Exporting NuttX for $(board)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
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$(Q) $(MKDIR) -p $(dir $@)
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$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
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$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
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#
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# The user can run the NuttX 'menuconfig' tool for a single board configuration with
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# make BOARDS=<boardname> menuconfig
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#
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ifeq ($(MAKECMDGOALS),menuconfig)
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ifneq ($(words $(BOARDS)),1)
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$(error BOARDS must specify exactly one board for the menuconfig goal)
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ifeq ($(PX4_TARGET_OS),linux)
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include $(PX4_BASE)makefiles/firmware_linux.mk
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endif
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BOARD = $(BOARDS)
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menuconfig: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(BOARD)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
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@$(ECHO) %% Running menuconfig for $(BOARD)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
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@$(ECHO) %% Saving configuration file
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$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
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else
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menuconfig:
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@$(ECHO) ""
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@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
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@$(ECHO) ""
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endif
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$(NUTTX_SRC): checksubmodules
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$(UAVCAN_DIR):
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$(Q) (./Tools/check_submodules.sh)
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.PHONY: checksubmodules
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checksubmodules:
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$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
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.PHONY: updatesubmodules
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updatesubmodules:
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$(Q) (git submodule init)
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$(Q) (git submodule update)
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MSG_DIR = $(PX4_BASE)msg
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UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
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MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
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TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
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MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
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MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
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MULTIPLATFORM_PREFIX = px4_
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TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
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GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
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GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
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ifeq ($(PX4_TARGET_OS),nuttx)
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OS_DEPS = checksubmodules
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else
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OS_DEPS =
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endif
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.PHONY: generateuorbtopicheaders
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generateuorbtopicheaders: checksubmodules
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generateuorbtopicheaders: $(OS_DEPS)
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@$(ECHO) "Generating uORB topic headers"
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
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