Move more functionality into firmware.mk. Now we build the px4 bundles in a way that will let external builders generate them too.

Pass the platform define into the firmware builder.

Makefile

@@ -52,45 +52,33 @@ PLATFORM_FROM_CONFIG	 = $(word 1,$(subst _, ,$1))
 #
 # Built products
 #
-FIRMWARES		 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)/$(config).px4)
+STAGED_FIRMWARES	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)/$(config).px4)
-BINARIES		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build/firmware.bin)
+FIRMWARES		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build/firmware.px4)
 
 #
 # Debugging
 #
 MQUIET			 = --no-print-directory
 #MQUIET			 = --print-directory
-ifeq ($(V),)
+Q			:= $(if $(V),,@)
-Q			 = @
-else
-Q			 =
-endif
-
-all:			$(FIRMWARES)
-#all:			$(SYMBOLS)
 
+all:			$(STAGED_FIRMWARES)
 
 #
-# Generate FIRMWARES from BINARIES
+# Copy FIRMWARES into the image directory.
 #
-$(IMAGE_DIR)/%.px4:			basepath = $(basename $(@))
+$(STAGED_FIRMWARES): $(IMAGE_DIR)/%.px4: $(BUILD_DIR)/%.build/firmware.px4
-$(IMAGE_DIR)/%.px4:			config = $(notdir $(basepath))
+	@echo %% Copying $@
-$(IMAGE_DIR)/%.px4:			platform = $(call PLATFORM_FROM_CONFIG,$(config))
+	$(Q) $(COPY) $< $@
-$(FIRMWARES): $(IMAGE_DIR)/%.px4:	$(BUILD_DIR)/%.build/firmware.bin
-	@echo %% Generating $@ for $(config)
-	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(platform).prototype \
-		--git_identity $(PX4_BASE) \
-		--image $< > $@
 
 #
-# Generate the firmware executable
+# Generate FIRMWARES
 #
-# XXX pick the right build tool for the host OS - force it on the generation side too.
+$(BUILD_DIR)/%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)/%.build/firmware.px4,%,$@)
-#
+$(BUILD_DIR)/%.build/firmware.px4: work_dir = $(BUILD_DIR)/$(config).build
-$(BUILD_DIR)/%.build/firmware.bin: config = $(patsubst $(BUILD_DIR)/%.build/firmware.bin,%,$@)
+$(FIRMWARES): $(BUILD_DIR)/%.build/firmware.px4:
-$(BUILD_DIR)/%.build/firmware.bin: work_dir = $(BUILD_DIR)/$(config).build
+	@echo %%%% Building $(config) in $(work_dir)
-$(BINARIES): $(BUILD_DIR)/%.build/firmware.bin:	$(BUILD_DIR)/$(word 1,$(subst _, ,%)).build
+	$(Q) mkdir -p $(work_dir)
-	@echo %% Building $(config) in $(work_dir)
 	$(Q) make -C $(work_dir) \
 		-f $(PX4_BASE)/makefiles/$(config).mk \
 		CONFIG=$(config) \
@@ -100,23 +88,24 @@ $(BINARIES): $(BUILD_DIR)/%.build/firmware.bin:	$(BUILD_DIR)/$(word 1,$(subst _,
 #
 # Generate the config build directory.
 #
-BUILDAREAS		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build)
+#BUILDAREAS		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build)
-.PHONY:			buildareas
+#.PHONY:			buildareas
-buildareas:		$(BUILDAREAS)
+#buildareas:		$(BUILDAREAS)
-
+#
-$(BUILD_DIR)/%.build:	config = $(notdir $(basename $@))
+#$(BUILD_DIR)/%.build:	config = $(notdir $(basename $@))
-$(BUILD_DIR)/%.build:	platform = $(call PLATFORM_FROM_CONFIG,$(config))
+#$(BUILD_DIR)/%.build:	platform = $(call PLATFORM_FROM_CONFIG,$(config))
-$(BUILDAREAS): $(BUILD_DIR)/%.build:
+#$(BUILDAREAS): $(BUILD_DIR)/%.build:
-	@echo %% Setting up build environment for $(config)
+#	@echo %% Setting up build environment for $(config)
-	$(Q) mkdir -p $@
+#	$(Q) mkdir -p $@
-	$(Q) (cd $@ && $(RMDIR) nuttx-export && unzip -q $(ARCHIVE_DIR)/$(platform).export)
+#	$(Q) (cd $@ && $(RMDIR) nuttx-export && unzip -q $(ARCHIVE_DIR)/$(platform).export)
 
 #
 # Build the NuttX export archives.
 #
 # Note that there are no explicit dependencies extended from these
 # archives. If NuttX is updated, the user is expected to rebuild the 
-# archives/build area manually.
+# archives/build area manually. Likewise, when the 'archives' target is
+# invoked, all archives are always rebuilt.
 #
 # XXX Should support fetching/unpacking from a separate directory to permit
 #     downloads of the prebuilt archives as well...
@@ -196,8 +185,6 @@ endif
 .PHONY:	clean
 clean:
 	$(Q) $(RMDIR) $(BUILD_DIR)/*.build
-	$(Q) $(REMOVE) -f $(IMAGE_DIR)/*.bin
-	$(Q) $(REMOVE) -f $(IMAGE_DIR)/*.sym
 	$(Q) $(REMOVE) -f $(IMAGE_DIR)/*.px4
 	$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) clean
 

makefiles/firmware.mk

@@ -4,70 +4,198 @@
 # Currently this assumes that we're just compiling SRCS
 # and then linking the whole thing together.
 #
+# Requires:
+#
+# PLATFORM
+#	Must be set to a platform name known to the PX4 distribution.
+#
+# Optional:
+#
+# PX4_BASE:
+#	Points to a PX4 distribution. Normally determined based on the
+#	path to this file.
+#
+# CONFIG:
+#	Used to set the output filename; defaults to 'firmware'.
+#
+# WORK_DIR:
+#	Sets the directory in which the firmware will be built. Defaults
+#	to the directory 'build' under the directory containing the
+#	parent Makefile.
+#
+
+################################################################################
+# Paths and configuration
+################################################################################
 
 #
 # Work out where this file is, so we can find other makefiles in the
 # same directory.
 #
-# If PX4_BASE wasn't set previously, set it here now.
+# If PX4_BASE wasn't set previously, work out what it should be
+# and set it here now.
 #
 export PX4_MK_INCLUDE	?= $(dir $(lastword $(MAKEFILE_LIST)))
 ifeq ($(PX4_BASE),)
 export PX4_BASE		:= $(abspath $(PX4_MK_INCLUDE)/..)
 endif
+$(info %% PX4_BASE $(PX4_BASE))
+
+#
+# If WORK_DIR is not set, create a 'build' directory next to the
+# parent Makefile.
+#
+PARENT_MAKEFILE		:= $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
+ifeq ($(WORK_DIR),)
+export WORK_DIR		:= $(dir $(PARENT_MAKEFILE))/build
+endif
+$(info %% WORK_DIR $(WORK_DIR))
+
+#
+# Paths
+#
+export NUTTX_SRC	 = $(PX4_BASE)/nuttx
+export NUTTX_APPS	 = $(PX4_BASE)/apps
+export MAVLINK_SRC	 = $(PX4_BASE)/mavlink
+export ROMFS_SRC	 = $(PX4_BASE)/ROMFS
+export IMAGE_DIR	 = $(PX4_BASE)/Images
+export BUILD_DIR	 = $(PX4_BASE)/Build
+export ARCHIVE_DIR	 = $(PX4_BASE)/Archives
+
+#
+# Extra tools.
+#
+# XXX should be in a common toolchain config somewhere.
+#
+MKFW			 = $(PX4_BASE)/Tools/px_mkfw.py
+UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
+COPY			 = cp
+REMOVE			 = rm -f
+RMDIR			 = rm -rf
+
+#
+# Sanity-check the PLATFORM variable and then get the platform config.
+#
+# The platform config in turn will fetch the toolchain configuration.
+#
+ifeq ($(PLATFORM),)
+$(error The PLATFORM variable must be set before including firmware.mk)
+endif
+include $(PX4_MK_INCLUDE)/$(PLATFORM).mk
+
+#
+# Makefile debugging.
+#
+Q			:= $(if $(V),,@)
+
+#
+# Host-specific paths, hacks and fixups
+#
+SYSTYPE			:= $(shell uname -s)
+
+ifeq ($(SYSTYPE),Darwin)
+# Eclipse may not have the toolchain on its path.
+export PATH		:= $(PATH):/usr/local/bin
+endif
+
+#
+# Serial port defaults.
+#
+# XXX The uploader should be smarter than this.
+#
+ifeq ($(SYSTYPE),Darwin)
+SERIAL_PORTS		?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
+endif
+ifeq ($(SYSTYPE),Linux)
+SERIAL_PORTS		?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
+endif
+ifeq ($(SERIAL_PORTS),)
+SERIAL_PORTS		 = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
+endif
+
+################################################################################
+# NuttX libraries and paths
+################################################################################
+
+#
+# Check that the NuttX archive for the selected platform is available.
+#
+NUTTX_ARCHIVE		:= $(wildcard $(ARCHIVE_DIR)/$(PLATFORM).export)
+ifeq ($(NUTTX_ARCHIVE),)
+$(error The NuttX export archive for $(PLATFORM) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
+endif
+
+#
+# The NuttX config header should always be present in the NuttX archive, and
+# if it changes, everything should be rebuilt. So, use it as the trigger to
+# unpack the NuttX archive.
+#
+NUTTX_EXPORT_DIR	 = $(WORK_DIR)/nuttx-export
+NUTTX_CONFIG_HEADER	 = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h
 
 #
 # Use the linker script from the NuttX export
 #
-LDSCRIPT		 = $(WORK_DIR)/nuttx-export/build/ld.script
+LDSCRIPT		 = $(NUTTX_EXPORT_DIR)/build/ld.script
 
 #
 # Add directories from the NuttX export to the relevant search paths
 #
-INCLUDE_DIRS		+= $(WORK_DIR)/nuttx-export/include
+INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)/include
-LIB_DIRS		+= $(WORK_DIR)/nuttx-export/libs
+LIB_DIRS		+= $(NUTTX_EXPORT_DIR)/libs
 LIBS			+= -lapps -lnuttx
+LINK_DEPS		+= $(wildcard $(addsuffix /*.a,$(LIB_DIRS)))
+
+################################################################################
+# Build rules
+################################################################################
 
 #
 # Things that, if they change, might affect everything
 #
-GLOBAL_DEPS		+= $(MAKEFILE_LIST)
+GLOBAL_DEPS		+= $(MAKEFILE_LIST) $(NUTTX_CONFIG_HEADER)
 
 #
-# Include the platform configuration
+# What we're going to build.
-#
-include $(PX4_MK_INCLUDE)/$(PLATFORM).mk
-
-#
-# What we're going to build
 #
 PRODUCT_BUNDLE		 = $(WORK_DIR)/firmware.px4
 PRODUCT_BIN		 = $(WORK_DIR)/firmware.bin
 PRODUCT_SYM		 = $(WORK_DIR)/firmware.sym
-PRODUCTS		 = $(PRODUCT_BIN) $(PRODUCT_SYM)
 
 .PHONY:			all
-all:			$(PRODUCTS)
+all:			$(PRODUCT_BUNDLE)
 
 #
-# Rules for building objects
+# Object files we will generate from sources
 #
 OBJS			 = $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
 
-$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c
+#
-	@echo compile $<
+# Rules
+#
+
+$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c $(GLOBAL_DEPS)
 	@mkdir -p $(dir $@)
 	$(call COMPILE,$<,$@)
 
-$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp
+$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS)
 	@mkdir -p $(dir $@)
 	$(call COMPILEXX,$<,$@)
 
-$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S
+$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS)
 	@mkdir -p $(dir $@)
 	$(call ASSEMBLE,$<,$@)
 
--include $(DEP_INCLUDES)
+$(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
+	@echo %% Unpacking $(NUTTX_ARCHIVE)
+	$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
+	$(Q) touch $@
+
+$(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
+	@echo %% Generating $@
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(PLATFORM).prototype \
+		--git_identity $(PX4_BASE) \
+		--image $< > $@
 
 $(PRODUCT_BIN):		$(PRODUCT_SYM)
 	$(call SYM_TO_BIN,$<,$@)
@@ -75,3 +203,16 @@ $(PRODUCT_BIN):		$(PRODUCT_SYM)
 $(PRODUCT_SYM):		$(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS)
 	$(call LINK,$@,$(OBJS))
 
+upload:		$(PRODUCT_BUNDLE) $(UPLOADER)
+	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(PRODUCT_BUNDLE)
+
+clean:
+	@echo %% cleaning
+	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
+	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES)
+	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
+
+#
+# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
+#
+-include $(DEP_INCLUDES)

makefiles/px4fmu_default.mk

@@ -2,6 +2,7 @@
 # Makefile for the px4fmu_default configuration
 #
 
+PLATFORM	 = px4fmu
 SRCS		 = $(PX4_BASE)/platforms/empty.c
 
-include $(PX_4BASE)/makefiles/firmware.mk
+include $(PX4_BASE)/makefiles/firmware.mk

makefiles/px4io_default.mk

@@ -2,6 +2,7 @@
 # Makefile for the px4io_default configuration
 #
 
+PLATFORM	 = px4io
 SRCS		 = $(PX4_BASE)/platforms/empty.c
 
 include $(PX4_BASE)/makefiles/firmware.mk