# Build the TerraHawk charge node firmware in ArduPilot's Docker image.
# ARDUPILOT must be a checkout with submodules that nothing else is using.

ARDUPILOT ?= $(abspath ../../../ardupilot-chargenode)
# Pinned by digest (Ryan, 2026-10-03: tracked builds). This is the image :latest named on 2026-06-25; a tag
# can move to a new compiler without notice. SITL uses the same digest through mcardupilot.
IMAGE     ?= ardupilot/ardupilot-dev-chibios@sha256:8bb0f850fb3fe1c170cb12dd577ab64f3708be8a828f9eafd28d73559766e81f
BOARD     := TerraHawkChargeNode
HERE      := $(abspath .)

.PHONY: firmware clean

firmware: ## Build bootloader and AP_Periph firmware, outputs in build/
	@test -d "$(ARDUPILOT)/libraries/AP_HAL_ChibiOS/hwdef" || { echo "no ArduPilot tree at $(ARDUPILOT); set ARDUPILOT="; exit 1; }
	rm -rf "$(ARDUPILOT)/libraries/AP_HAL_ChibiOS/hwdef/$(BOARD)"
	cp -r hwdef/$(BOARD) "$(ARDUPILOT)/libraries/AP_HAL_ChibiOS/hwdef/"
	docker run --rm -v "$(ARDUPILOT)":"$(ARDUPILOT)" -w "$(ARDUPILOT)" -u "$$(id -u):$$(id -g)" -e HOME=/tmp $(IMAGE) \
	  bash -c 'git config --global --add safe.directory "*" && Tools/scripts/build_bootloaders.py $(BOARD) && ./waf configure --board $(BOARD) && ./waf AP_Periph'
	mkdir -p build
	cp "$(ARDUPILOT)/build/$(BOARD)/bin/AP_Periph.bin" "$(ARDUPILOT)/build/$(BOARD)/bin/AP_Periph_with_bl.hex" build/
	cp "$(ARDUPILOT)/Tools/bootloaders/$(BOARD)_bl.bin" build/
	@ls -la build/

clean:
	rm -rf build