PX4 Makefile分析解读

最新推荐文章于 2025-06-19 20:45:12 发布

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最新推荐文章于 2025-06-19 20:45:12 发布 · 1.7k 阅读

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本文深入分析了PX4飞行控制器的Makefile，特别是针对`make px4fmu-v2_default`的编译过程。首先从Firmware/Makefile开始，提取源码路径和配置参数，然后与cmake/configs中的文件进行匹配。当找到匹配项时，会生成`build_px4fmu-v2_default`目录，并执行cmake命令进行编译。

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参考文章：PX4源码的Makefile详细理解 http://blog.youkuaiyun.com/linkcian/article/details/79152724 感谢原文作者

主要分析 make px4fmu-v2_default编译流程，其余make命令不做解读

# Enforce the presence of the GIT repository
#
# We depend on our submodules, so we have to prevent attempts to
# compile without it being present.
# 获取目录下.git文件列表
ifeq ($(wildcard .git),)
    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
endif

#  explicity set default build target
all: posix_sitl_default

# Parsing
# --------------------------------------------------------------------
# assume 1st argument passed is the main target, the
# rest are arguments to pass to the makefile generated
# by cmake in the subdirectory
# 若$(MAKECMDGOALS)=px4fmu-v2_default upload,取第一个单词是px4fmu-v2_default
FIRST_ARG := $(firstword $(MAKECMDGOALS))
# 取px4fmu-v2_default upload中第2个至最后一个单词，即upload
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
# 如果j未赋值，则赋为4，这是并行命令数量
j ?= 4

NINJA_BIN := ninj