build: added support for the new PX4 build system

mk/PX4/config_px4fmu_APM.mk

@@ -0,0 +1,70 @@
+#
+# Makefile for the px4fmu_Hello configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(SKETCHBOOK)/mk/PX4/ROMFS
+
+MODULES		+= $(APM_MODULE_DIR)
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/px4io
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/boards/px4fmu
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/bma180
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= drivers/hott_telemetry
+MODULES		+= drivers/blinkm
+MODULES		+= modules/sensors
+
+#
+# System commands
+#
+MODULES		+= systemcmds/eeprom
+MODULES		+= systemcmds/bl_update
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/i2c
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/tests
+
+#
+# Libraries
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )

mk/board_avr.mk

@@ -166,12 +166,6 @@ jtag-program:
 # fetch dependency info from a previous build if any of it exists
 -include $(ALLDEPS)
 
-# common header for rules, prints what is being built
-define RULEHDR
-	@echo %% $(subst $(BUILDROOT)/,,$@)
-	@mkdir -p $(dir $@)
-endef
-
 # Link the final object
 $(SKETCHELF):	$(SKETCHOBJS) $(LIBOBJS)
 	$(RULEHDR)

mk/board_avr_sitl.mk

@@ -83,12 +83,6 @@ print-%:
 # fetch dependency info from a previous build if any of it exists
 -include $(ALLDEPS)
 
-# common header for rules, prints what is being built
-define RULEHDR
-	@echo %% $(subst $(BUILDROOT)/,,$@)
-	@mkdir -p $(dir $@)
-endef
-
 # Link the final object
 $(SKETCHELF):	$(SKETCHOBJS) $(LIBOBJS)
 	@echo "Building $(SKETCHELF)"

mk/board_px4.mk

@@ -1,6 +1,3 @@
-# PX4 specific build support
+TOOLCHAIN = NATIVE
-ifeq ($(APPDIR),)
+include $(MK_DIR)/find_tools.mk
 include $(MK_DIR)/px4_targets.mk
-else
-include $(MK_DIR)/px4_core.mk
-endif

mk/find_tools.mk

@@ -54,7 +54,7 @@ GDB = $($(TOOLCHAIN)_GDB)
 OBJCOPY = $($(TOOLCHAIN)_OBJCOPY)
 
 ifeq ($(CXX),)
-$(error ERROR: cannot find the compiler tools anywhere on the path $(TOOLPATH))
+$(error ERROR: cannot find the compiler tools for $(TOOLCHAIN) anywhere on the path $(TOOLPATH))
 endif
 
 # Find awk

mk/px4_core.mk

@@ -1,309 +0,0 @@
-# this makefile is partly based on the PX4 core makefile
-# which is Copyright (C) 2012 PX4 Development Team.
-
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Common Makefile for nsh command modules and utility libraries; should be 
-# included by the module-specific Makefile.
-#
-# To build an app that appears as an nsh external command, the caller 
-# must define:
-#
-# LIBNAME	- the name of the library, defaults to the name of the
-#		  directory
-#
-# The calling makefile may also set:
-#
-# ASRCS		- list of assembly source files, defaults to all .S 
-#		  files in the directory
-#
-# CSRCS		- list of C source files, defaults to all .c files
-#		  in the directory
-#
-# CXXSRCS	- list of C++ source files, defaults to all .cpp
-#		  files in the directory
-#
-# INCLUDES	- list of directories to be added to the include
-#		  search path
-#
-# PRIORITY	- thread priority for the command (defaults to 
-#		  SCHED_PRIORITY_DEFAULT)
-#
-# STACKSIZE	- stack size for the command (defaults to 4096)
-#
-# Symbols in the module are private to the module unless deliberately exported
-# using the __EXPORT tag.
-#
-
-############################################################################
-# No user-serviceable parts below
-############################################################################
-
-
-
-# build the variables to emulate Arduino.mk build system
-SRCROOT	:= $(realpath $(dir $(firstword $(MAKEFILE_LIST))))
-SKETCH  := $(lastword $(subst /, ,$(SRCROOT)))
-
-# this is where we put the generated cpp file, created from the *.pde/*.ino
-TMPDIR			?=	/tmp
-BUILDROOT		:=	$(abspath $(TMPDIR)/$(SKETCH).build)
-
-HARDWARE		?=	px4
-AWK			?=	gawk
-
-SRCSUFFIXES		=	*.cpp *.c *.S
-
-SKETCHPDESRCS		:=	$(wildcard $(SRCROOT)/*.pde $(SRCROOT)/*.ino)
-SKETCHSRCS		:=	$(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
-SKETCHPDE		:=	$(wildcard $(SRCROOT)/$(SKETCH).pde $(SRCROOT)/$(SKETCH).ino)
-SKETCHCPP		:=	$(BUILDROOT)/$(SKETCH).cpp
-ifneq ($(words $(SKETCHPDE)),1)
-$(error ERROR: sketch $(SKETCH) must contain exactly one of $(SKETCH).pde or $(SKETCH).ino)
-endif
-
-# Sketch object files
-SKETCHOBJS		:=	$(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS)) $(SKETCHCPP)
-SKETCHOBJS		:=	$(addsuffix .o,$(basename $(SKETCHOBJS)))
-
-# List of input files to the sketch.cpp file in the order they should
-# be appended to create it
-SKETCHCPP_SRC		:=	$(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)))
-
-
-################################################################################
-# Libraries
-#
-# Pick libraries to add to the include path and to link with based on
-# #include directives in the sketchfiles.
-#
-# For example:
-#
-#   #include <Foo.h>
-#
-# implies that there might be a Foo library.
-#
-# Note that the # and $ require special treatment to avoid upsetting
-# make.
-#
-SYSTYPE			:=	$(shell uname)
-SEXPR			=	's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
-ifeq ($(SYSTYPE),Darwin)
-  LIBTOKENS        :=    $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
-else
-  LIBTOKENS        :=    $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
-endif
-
-ifeq ($(SYSTYPE),Darwin)
-  # use BWK awk
-  AWK =  awk
-endif
-
-#
-# Find sketchbook libraries referenced by the sketch.
-#
-# Include paths for sketch libraries 
-#
-SKETCHBOOK=$(MK_DIR)/..
-SKETCHLIBS		:=	$(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
-SKETCHLIBNAMES		:=	$(notdir $(SKETCHLIBS))
-SKETCHLIBSRCDIRS	:=	$(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
-SKETCHLIBSRCS		:=	$(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
-SKETCHLIBOBJS		:=	$(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
-SKETCHLIBINCLUDES	:=	$(addprefix -I,$(SKETCHLIBS))
-
-# add sketch libs to includes
-INCLUDES	+= $(SKETCHLIBS)
-
-# Library object files
-LIBOBJS			:=	$(SKETCHLIBOBJS)
-
-# common header for rules, prints what is being built
-define RULEHDR
-	@echo %% $(subst $(BUILDROOT)/,,$@)
-	@mkdir -p $(dir $@)
-endef
-
-############################################################################
-# Work out who included us so we can report decent errors
-#
-THIS_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
-PARENT_MAKEFILE	:= $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
-
-############################################################################
-# Get configuration
-#
--include $(TOPDIR)/.config
--include $(TOPDIR)/Make.defs
-include $(APPDIR)/Make.defs
-
-# this allows us to generate the main function
-SKETCHFLAGS     = -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME=\"$(SKETCH)\" -DSKETCH_MAIN=$(SKETCH)_main $(EXTRAFLAGS)
-CFLAGS		+= $(SKETCHFLAGS) -DCONFIG_C99_BOOL8
-CXXFLAGS	+= $(SKETCHFLAGS) -DCONFIG_C99_BOOL8
-
-############################################################################
-# Sanity-check the information we've been given and set any defaults
-#
-SRCDIR		?= $(dir $(PARENT_MAKEFILE))
-PRIORITY	?= SCHED_PRIORITY_DEFAULT
-STACKSIZE	?= 4096
-
-INCLUDES	+= $(APPDIR)
-
-ASRCS		?= $(wildcard $(SRCDIR)/*.S)
-CSRCS		?= $(wildcard $(SRCDIR)/*.c)
-CXXSRCS		?= $(wildcard $(SRCDIR)/*.cpp) $(SKETCHCPP)
-PDESRCS		?= $(wildcard $(SRCDIR)/*.pde)
-
-APPNAME          = $(SKETCH)
-
-# there has to be a source file
-ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS)$(PDESRCS),)
-$(error $(realpath $(PARENT_MAKEFILE)): at least one of ASRCS, CSRCS, CXXSRCS or PDESRCS must be set)
-endif
-
-# check that C++ is configured if we have C++ source files and we are building
-ifneq ($(CXXSRCS),)
-ifneq ($(CONFIG_HAVE_CXX),y)
-ifeq ($(MAKECMDGOALS),build)
-$(error $(realpath $(PARENT_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
-endif
-endif
-endif
-
-############################################################################
-# Adjust compilation flags to implement EXPORT
-#
-CFLAGS		+= -fsigned-char -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
-CXXFLAGS	+= -fsigned-char -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
-
-############################################################################
-# Add extra include directories
-#
-CFLAGS		+= $(addprefix -I,$(INCLUDES))
-CXXFLAGS	+= $(addprefix -I,$(INCLUDES))
-
-############################################################################
-# Things we are going to build
-#
-
-SRCS		 = $(ASRCS) $(CSRCS) $(CXXSRCS)
-AOBJS		 = $(patsubst %.S,%.o,$(ASRCS))
-COBJS		 = $(patsubst %.c,%.o,$(CSRCS))
-CXXOBJS		 = $(patsubst %.cpp,%.o,$(CXXSRCS))
-OBJS		 = $(AOBJS) $(COBJS) $(CXXOBJS) $(SKETCHLIBOBJS)
-
-# The prelinked object that we are ultimately going to build
-ifneq ($(APPNAME),)
-PRELINKOBJ	 = $(APPNAME).pre.o
-else
-PRELINKOBJ	 = $(LIBNAME).pre.o
-endif
-
-# The archive that the object file will be placed in
-# XXX does WINTOOL ever get set?
-ifeq ($(WINTOOL),y)
-  INCDIROPT	= -w
-  BIN		 = "$(shell cygpath -w  $(APPDIR)/libapps$(LIBEXT))"
-else
-  BIN		 = "$(APPDIR)/libapps$(LIBEXT)"
-endif
-
-############################################################################
-# Rules for building things
-#
-
-all:		.built
-.PHONY:		clean depend distclean
-
-#
-# Top-level build; add prelinked object to the apps archive
-#
-.built:		$(PRELINKOBJ)
-	$(RULEHDR)
-	@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
-	@touch $@
-
-#
-# Source dependencies
-#
-depend:		.depend
-.depend:	$(MAKEFILE_LIST) $(SRCS)
-	@$(CXX) -M -MT $(BUILDROOT)/$(SKETCH).o $(CXXFLAGS) $(CXXSRCS) > Make.dep
-	@for f in $(SKETCHLIBSRCS); do \
-		src=$${f##$(SKETCHBOOK)/}; \
-		obj=$(BUILDROOT)/$${src%.*}.o; \
-		$(CXX) -M -MT $$obj $(CXXFLAGS) $$f; done >> Make.dep
-	@touch $@
-
-ifneq ($(APPNAME),)
-#
-# App registration
-#
-context:	.context
-.context:	$(MAKEFILE_LIST)
-	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
-else
-context:
-endif
-
-#
-# Object files
-#
-$(PRELINKOBJ):	$(OBJS)
-	$(call PRELINK, $@, $(OBJS))
-
-$(AOBJS): %.o : %.S
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS): %.o : %.c
-	$(call COMPILE, $<, $@)
-
-$(CXXOBJS): %.o : %.cpp
-	$(call COMPILEXX, $<, $@)
-
-
-$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
-	$(RULEHDR)
-	$(call COMPILEXX, $<, $@)
-
-$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
-	$(RULEHDR)
-	$(call COMPILE, $<, $@)
-
-$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
-	$(RULEHDR)
-	$(call ASSEMBLE, $<, $@)
-
--include Make.dep

mk/px4_targets.mk

@@ -2,24 +2,31 @@
 
 ifneq ($(PX4_ROOT),)
 
-# install rc.APM from the AP_HAL_PX4/scripts directory as /etc/init.d/rc.APM
+PX4_MAKE = make -C $(BUILDROOT) -f $(PX4_ROOT)/makefiles/firmware.mk CONFIG_FILE=$(PWD)/$(PX4_CONFIG_FILE) EXTRAFLAGS="$(EXTRAFLAGS)" APM_MODULE_DIR=$(BUILDROOT) SKETCHBOOK=$(SKETCHBOOK) PX4_ROOT=$(PX4_ROOT)
-HAL_PX4_DIR = $(realpath $(MK_DIR)/../libraries/AP_HAL_PX4)
-PX4_EXTERNAL_SCRIPTS = $(HAL_PX4_DIR)/scripts/rc.APM~init.d/rc.APM
-
-# we use CURDIR instead of PWD to avoid a problem with MINGW32 on Windows
-PX4_EXTERNAL = EXTERNAL_APPS=$(CURDIR) EXTERNAL_SCRIPTS=$(PX4_EXTERNAL_SCRIPTS)
-PX4_MAKE = make -C $(PX4_ROOT) $(PX4_EXTERNAL) CONFIG_APM=y EXTRAFLAGS=$(EXTRAFLAGS)
 
 
-px4:
+PX4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu_APM.mk
-	$(PX4_MAKE)
+PX4SRCS = $(SKETCHCPP) $(SKETCHLIBSRCS)
+EXTRAFLAGS=$(SKETCHLIBINCLUDES) -I$(PWD) -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main
+
+$(BUILDROOT)/module.mk:
+	echo "# Auto-generated file - do not edit" > $@
+	echo "MODULE_COMMAND = ArduPilot" >> $@
+	echo "SRCS = $(SKETCH).cpp $(SKETCHLIBSRCS)" >> $@
+	echo "MODULE_STACKSIZE = 4096" >> $@
+	echo "MAXOPTIMIZATION  = -Os" >> $@
+
+px4: $(SKETCHCPP) $(BUILDROOT)/module.mk
+	$(PX4_MAKE) firmware
 
 px4-clean: clean
-	$(PX4_MAKE) clean
+	/bin/rm -rf $(PX4_ROOT)/makefiles/build
-	$(PX4_MAKE) configure_px4fmu
 
-px4-upload:
+px4-upload: $(SKETCHCPP) $(BUILDROOT)/module.mk
-	$(PX4_MAKE) upload
+	$(PX4_MAKE) firmware upload
+
+px4-archives:
+	$(PX4_MAKE) archives
 
 else
 

mk/sketch_sources.mk

@@ -55,10 +55,16 @@ SKETCHLIBSRCS		:=	$(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suff
 SKETCHLIBOBJS		:=	$(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
 SKETCHLIBINCLUDES	:=	$(addprefix -I,$(SKETCHLIBS))
 
+ifeq ($(VERBOSE),)
+v = @
+else
+v =
+endif
 
 #
 # Build the sketch.cpp file
 $(SKETCHCPP):	$(SKETCHCPP_SRC)
+	@echo "building $(SKETCHCPP)"
 	$(RULEHDR)
 	$(v)$(AWK) -v mode=header '$(SKETCH_SPLITTER)'   $(SKETCHCPP_SRC) >  $@
 	$(v)echo "#line 1 \"autogenerated\""                              >> $@
@@ -137,3 +143,9 @@ define SKETCH_PROTOTYPER
     printf "%s;\n", proto;						\
   }
 endef
+
+# common header for rules, prints what is being built
+define RULEHDR
+	@echo %% $(subst $(BUILDROOT)/,,$@)
+	@mkdir -p $(dir $@)
+endef