ardupilot/mk/px4_core.mk

310 lines
9.4 KiB
Makefile

# 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