ArduCopter 3.4.5编译过程

以ArduCopter为例

进入ArduCopter目录查找Makefile文件，只有一句话“include …/mk/apm.mk”，说明只需要看“mk/apm.mk”.

1. mk/apm.mk

//判断系统类型linux或windows，此处为linux
SYSTYPE			:=	$(shell uname)

//判断windows还是linux
ifneq ($(findstring CYGWIN, $(SYSTYPE)),) 
  MK_DIR := $(shell cygpath -m ../mk) //win系统下，定义编译路径MK_DIR="../ardupilot/mk"
else
  MK_DIR := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST)))) //linux系统
endif

include $(MK_DIR)/environ.mk  //包含../mk/environ.mk文件

//若输入make configure，则执行“../mk/configure.mk”文件，configure.mk是用于waf编译器的，由于configure.mk是空的，所有waf命令暂时不起作用
ifeq ($(MAKECMDGOALS),configure)
include $(MK_DIR)/configure.mk
else
 //因此make编译器使用“../mk/help.mk”、“../mk/targets.mk”、“../mk/sketch_sources.mk”文件，解析MAKECMDGOALS
include $(MK_DIR)/help.mk
include $(MK_DIR)/targets.mk
include $(MK_DIR)/sketch_sources.mk
 
  //如果不输入make clean
   ifneq ($(MAKECMDGOALS),clean)

      //HAL_BOARD=SITL,则执行“board_native.mk”
      ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
      include $(MK_DIR)/board_native.mk
     endif

     //若HAL_BOARD=LINUX,则执行“board_linux.mk”
     ifeq ($(HAL_BOARD),HAL_BOARD_LINUX)
    include $(MK_DIR)/board_linux.mk
    endif
    
    //若HAL_BOARD=PX4，则执行“board_px4.mk”
    ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
   include $(MK_DIR)/board_px4.mk
   endif

   //若HAL_BOARD=VRBRAIN，则执行“board_vrbrain.mk”
  ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN)
  include $(MK_DIR)/board_vrbrain.mk
  endif

  //若HAL_BOARD=QURT，则执行“board_qurt.mk”
  ifeq ($(HAL_BOARD),HAL_BOARD_QURT)
  include $(MK_DIR)/board_qurt.mk
  endif
endif
endif

总结：
编译管理目录：MK_DIR="…/ardupilot/mk"
make编译文件： environ.mk、help.mk、targets.mk、sketch_sources.mk

2. mk/environ.mk

SRCROOT			:=	$(realpath $(dir $(firstword $(MAKEFILE_LIST))))
//MAKEFILE_LIST是makefile语法的变量，指make用到的makefile文件，由于我们是在ArduCopter中编译，根据ArduCopter/Makefile进行的，dir指返回路径，那么SRCROOT=../ardupilot/ArduCopter

ifeq ($(SKETCHBOOK),)
  SKETCHBOOK		:=	$(shell cd $(SRCROOT)/.. && pwd)
   //SKETCHBOOK是SRCROOT的上一级目录，即/arudpilot”
     ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
     $(error ERROR: cannot determine sketchbook location - please specify on the commandline with SKETCHBOOK=<path>)
    endif
    else
        ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
       $(warning WARNING: sketchbook directory $(SKETCHBOOK) contains no libraries)
      endif
endif

//ardupilot/ArduCopter存在config.mk文件，读取该文件
ifneq ($(wildcard $(SKETCHBOOK)/config.mk),)
$(info Reading $(SKETCHBOOK)/config.mk)
include $(SKETCHBOOK)/config.mk
endif

//ardupilot/ArduCopter存在developer.mk文件，读取该文件
ifneq ($(wildcard $(SKETCHBOOK)/developer.mk),)
$(info Reading $(SKETCHBOOK)/developer.mk)
include $(SKETCHBOOK)/developer.mk
endif

//SRCROOT=../ardupilot/ArduCopter，SKETCT=ArduCopter
SKETCH			:=	$(lastword $(subst /, ,$(SRCROOT)))
# Workaround a $(lastword ) bug on cygwin
ifeq ($(SKETCH),)
  WORDLIST		:=	$(subst /, ,$(SRCROOT))
  SKETCH		:=	$(word $(words $(WORDLIST)),$(WORDLIST))
endif

//编译文件存放路径BUILDROOT=ArduCopter/Build.ArduCopter
BUILDROOT		:=	$(SKETCHBOOK)/Build.$(SKETCH)
endif

//若编译目标为mavlink1
ifneq ($(findstring mavlink1, $(MAKECMDGOALS)),)
EXTRAFLAGS += -DMAVLINK_PROTOCOL_VERSION=1
MAVLINK_SUBDIR=v1.0
MAVLINK_WIRE_PROTOCOL=1.0
else
EXTRAFLAGS += -DMAVLINK_PROTOCOL_VERSION=2
MAVLINK_SUBDIR=v2.0
MAVLINK_WIRE_PROTOCOL=2.0
endif

//编译目标含有px4，则HAL_BOARD=PX4
ifneq ($(findstring px4, $(MAKECMDGOALS)),)
HAL_BOARD = HAL_BOARD_PX4
endif

//若编译目标为空，默认编译SITL
ifeq ($(HAL_BOARD),)
HAL_BOARD = HAL_BOARD_SITL
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
endif

总结：
主要定义以下环境变量：
编译源文件根目录SRCROOT="/ardupilot/AruCopter"
SKETCHBOOK=“/ardupilot”
SKETCT=ArduCopter
BUILDROOT=/ArduCopter/Build.ArduCopter
HAL_BOARD=PX4

3. mk/help.mk”

讲解了make编译命令。

5. mk/targets.mk”

包含modules.mk和mavgen.mk

6. mk/modules.mk

包含 check_modules.sh，可忽略

7. mk/mavgen.mk

关于mavlink

MAVLINK_DIR := $(SKETCHBOOK)/modules/mavlink/
MESSAGE_DEFINITIONS := $(SKETCHBOOK)/modules/mavlink/message_definitions/v1.0
MAVLINK_HEADERS := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/ardupilotmega/mavlink.h $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/,*.h) $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)/ardupilotmega,*.h)
MAVLINK_OUTPUT_DIR := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)

主要定义mavlink协议编译环境变量：
MAVLINK_DIR=/ardupilot/modules/mavlink/
MESSAGE_DEFINITIONS=/ardupilot/modules/mavlink/message_definitions/v1.0
MAVLINK_OUTPUT_DIR = /ArduCopter/Build.ArduCopter/libraries/GCS_MAVLink/include/mavlink/$(MAVLINK_SUBDIR)

8. /mk/sketch_sources.mk

SRCSUFFIXES = *.cpp //指定后缀为.cpp的所有文件
MAKE_INC=$(wildcard $(SRCROOT)/make.inc) //打开ArduCopter/make.inc文件
GLOBAL_MAKE_INC=$(wildcard $(SKETCHBOOK)/mk/make.inc)  //ardupilot/mk/make.inc
SKETCHSRCS     := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))  //ArduCopter下所有cpp文件
SKETCHCPP      := $(SRCROOT)/$(SKETCH).cpp
//ArduCopter/ArduCopter.cpp

include $(MAKE_INC) //包含MAKE_INC
include $(GLOBAL_MAKE_INC) //包含GLOBAL_MAKE_INC
LIBTOKENS := $(LIBRARIES)

//若为SITL板，添加libraries/AP_HAL_SITL、libraries/SITL
ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
LIBTOKENS += \
	AP_HAL_SITL \
	SITL
endif

//若为PX4板，添加libraries/AP_HAL_PX4
ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
LIBTOKENS += \
	AP_HAL_PX4
endif
//ardupilot/libraries/为LIBTIKENS的前缀
SKETCHLIBS		:=	$(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))

主要：
指定ArduCopter下所有.cpp文件为编译源文件，makefile文件为ArduCopter/make.inc，顶层makefile文件为ardupilot/mk/make.inc，添加共享库文件为ardupilot/libraries。

9. 编译总结

（1） ArduCopter编译只涉及到ardupilot/ArduCopter中所有.cpp文件；
（2）ArduCopter中有一个make.inc文件，指定需链接的库文件目录为ardupilot/libraries，根据实际情况添加；
（3）ardupilot/mk/make.inc为公共的库文件
因此如果ardupilot/libraries目录下新增了某些文件夹，需要被ArduCopter使用，只需要在ArduCopter/make