From d24599931a3d68586cc62eddd8ffc4e309ba1606 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 23 Feb 2013 12:23:34 -0800 Subject: [PATCH] APP -> MODULE remove as many duplicate slashes, etc. as seems practical --- Makefile | 36 +++--- makefiles/application.mk | 162 --------------------------- makefiles/config_px4fmu_default.mk | 4 +- makefiles/firmware.mk | 168 ++++++++++++++-------------- makefiles/module.mk | 165 +++++++++++++++++++++++++++ makefiles/nuttx.mk | 20 ++-- makefiles/setup.mk | 24 ++-- makefiles/toolchain_gnu-arm-eabi.mk | 7 +- src/apps/test/app.mk | 4 - src/{apps => modules}/test/foo.c | 0 src/modules/test/module.mk | 4 + 11 files changed, 303 insertions(+), 291 deletions(-) delete mode 100644 makefiles/application.mk create mode 100644 makefiles/module.mk delete mode 100644 src/apps/test/app.mk rename src/{apps => modules}/test/foo.c (100%) create mode 100644 src/modules/test/module.mk diff --git a/Makefile b/Makefile index a86065b977..b113040d06 100644 --- a/Makefile +++ b/Makefile @@ -5,8 +5,8 @@ # # Get path and tool configuration # -export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST)))) -include $(PX4_BASE)/makefiles/setup.mk +export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/ +include $(PX4_BASE)makefiles/setup.mk # # Canned firmware configurations that we build. @@ -41,15 +41,15 @@ endif # # Built products # -STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)/$(config).px4) -FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build/firmware.px4) +STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4) +FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4) all: $(STAGED_FIRMWARES) # # Copy FIRMWARES into the image directory. # -$(STAGED_FIRMWARES): $(IMAGE_DIR)/%.px4: $(BUILD_DIR)/%.build/firmware.px4 +$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 @echo %% Copying $@ $(Q) $(COPY) $< $@ @@ -57,15 +57,15 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)/%.px4: $(BUILD_DIR)/%.build/firmware.px4 # Generate FIRMWARES. # .PHONY: $(FIRMWARES) -$(BUILD_DIR)/%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)/%.build/firmware.px4,%,$@) -$(BUILD_DIR)/%.build/firmware.px4: work_dir = $(BUILD_DIR)/$(config).build -$(FIRMWARES): $(BUILD_DIR)/%.build/firmware.px4: +$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@) +$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/ +$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: @echo %%%% @echo %%%% Building $(config) in $(work_dir) @echo %%%% $(Q) mkdir -p $(work_dir) $(Q) make -C $(work_dir) \ - -f $(PX4_MK_DIR)/firmware.mk \ + -f $(PX4_MK_DIR)firmware.mk \ CONFIG=$(config) \ WORK_DIR=$(work_dir) \ firmware @@ -83,21 +83,21 @@ $(FIRMWARES): $(BUILD_DIR)/%.build/firmware.px4: # # XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4" # -NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)/$(board).export) +NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export) .PHONY: archives archives: $(NUTTX_ARCHIVES) -$(ARCHIVE_DIR)/%.export: board = $(notdir $(basename $@)) -$(ARCHIVE_DIR)/%.export: configuration = $(if $(filter $(board),px4io),io,nsh) -$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS) +$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@)) +$(ARCHIVE_DIR)%.export: configuration = $(if $(filter $(board),px4io),io,nsh) +$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS) @echo %% Configuring NuttX for $(board) $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean - $(Q) (cd $(NUTTX_SRC)/tools && ./configure.sh $(board)/$(configuration)) + $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration)) @echo %% Exporting NuttX for $(board) $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export $(Q) mkdir -p $(dir $@) - $(Q) $(COPY) $(NUTTX_SRC)/nuttx-export.zip $@ + $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ # # Cleanup targets. 'clean' should remove all built products and force @@ -106,11 +106,11 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS) # .PHONY: clean clean: - $(Q) $(RMDIR) $(BUILD_DIR)/*.build - $(Q) $(REMOVE) -f $(IMAGE_DIR)/*.px4 + $(Q) $(RMDIR) $(BUILD_DIR)*.build + $(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4 .PHONY: distclean distclean: clean - $(Q) $(REMOVE) -f $(ARCHIVE_DIR)/*.export + $(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean diff --git a/makefiles/application.mk b/makefiles/application.mk deleted file mode 100644 index 24be729ccd..0000000000 --- a/makefiles/application.mk +++ /dev/null @@ -1,162 +0,0 @@ -# -# Framework makefile for PX4 applications -# -# This makefile is invoked by firmware.mk to build each of the applications -# that will subsequently be linked into the firmware image. -# -# Applications are built as prelinked objects with a limited set of exported -# symbols, as the global namespace is shared between all apps. Normally an -# application will just export one or more _main functions. -# - -# -# Variables that can be set by the application's app.mk: -# -# -# SRCS (required) -# Lists the .c, cpp and .S files that should be compiled/assembled to -# produce the application. -# -# APP_NAME (optional) -# APP_ENTRYPOINT (optional if APP_NAME is set) -# APP_STACKSIZE (optional if APP_NAME is set) -# APP_PRIORITY (optional if APP_NAME is set) -# Defines a single builtin command exported by the application. -# APP_NAME must be unique for any configuration, but need not be the -# same as the app directory name. -# -# If APP_ENTRYPOINT is set, it names the function (which must be exported) -# that will be the entrypoint for the builtin command. It defaults to -# $(APP_NAME)_main. -# -# If APP_STACKSIZE is set, it is the size in bytes of the stack to be -# allocated for the builtin command. If it is not set, it defaults -# to CONFIG_PTHREAD_STACK_DEFAULT. -# -# If APP_PRIORITY is set, it is the thread priority for the builtin -# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT. -# -# APP_COMMANDS (optional) -# Defines builtin commands exported by the application. Each word in -# the list should be formatted as: -# ... -# - -# -# Variables visible to the application's app.mk: -# -# CONFIG -# BOARD -# APP_WORK_DIR -# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file. -# Anything exported from config_$(CONFIG).mk -# - -################################################################################ -# No user-serviceable parts below. -################################################################################ - -ifeq ($(APP_MK),) -$(error No application makefile specified) -endif - -# -# Get path and tool config -# -include $(PX4_BASE)/makefiles/setup.mk - -# -# Get the board/toolchain config -# -include $(PX4_MK_DIR)/board_$(BOARD).mk - -# -# Get the application's config -# -include $(APP_MK) -APP_SRC_DIR := $(dir $(APP_MK)) - -# -# Things that, if they change, might affect everything -# -GLOBAL_DEPS += $(MAKEFILE_LIST) - -################################################################################ -# Builtin command definitions -################################################################################ - -ifneq ($(APP_NAME),) -APP_ENTRYPOINT ?= $(APP_NAME)_main -APP_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT -APP_PRIORITY ?= SCHED_PRIORITY_DEFAULT -APP_COMMANDS += $(APP_NAME).$(APP_PRIORITY).$(APP_STACKSIZE).$(APP_ENTRYPOINT) -endif - -ifneq ($(APP_COMMANDS),) -APP_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(APP_COMMANDS)) - -.PHONY: $(APP_COMMAND_FILES) -$(APP_COMMAND_FILES): $(GLOBAL_DEPS) - @echo %% registering: $(word 2,$(subst ., ,$(notdir $(@)))) - @mkdir -p $@ - $(Q) touch $@ -endif - -################################################################################ -# Build rules -################################################################################ - -# -# What we're going to build -# -app: $(APP_OBJ) $(APP_COMMAND_FILES) - -# -# Locate sources (allows relative source paths in app.mk) -# -define SRC_SEARCH - $(firstword $(wildcard $(APP_SRC_DIR)/$1) MISSING_$1) -endef - -ABS_SRCS := $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) -MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS))) -ifneq ($(MISSING_SRCS),) -$(error $(APP_MK): missing in SRCS: $(MISSING_SRCS)) -endif -ifeq ($(ABS_SRCS),) -$(error $(APP_MK): nothing to compile in SRCS) -endif - -# -# Object files we will generate from sources -# -OBJS := $(foreach src,$(ABS_SRCS),$(APP_WORK_DIR)/$(src).o) - -# -# SRCS -> OBJS rules -# - -$(OBJS): $(GLOBAL_DEPS) - -$(filter %.c.o,$(OBJS)): $(APP_WORK_DIR)/%.c.o: %.c - $(call COMPILE,$<,$@) - -$(filter %.cpp.o,$(OBJS)): $(APP_WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) - $(call COMPILEXX,$<,$@) - -$(filter %.S.o,$(OBJS)): $(APP_WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) - $(call ASSEMBLE,$<,$@) - -# -# Built product rules -# - -$(APP_OBJ): $(OBJS) $(GLOBAL_DEPS) - $(call PRELINK,$@,$(OBJS)) - -# -# Utility rules -# - -clean: - $(Q) $(REMOVE) $(APP_PRELINK) $(OBJS) diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 16b105277f..6ab0d855df 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -15,6 +15,6 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG) BUILTIN_COMMANDS = perf.SCHED_PRIORITY_DEFAULT.CONFIG_PTHREAD_STACK_DEFAULT.perf_main # -# Build the test app +# Build the test module # -APPS = test +MODULES = test diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 9a98d2bc64..1b6a1cdef5 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -9,37 +9,23 @@ # # Optional: # -# APPS -# Contains a list of application paths or path fragments used -# to find applications. The names listed here are searched in +# MODULES +# Contains a list of module paths or path fragments used +# to find modules. The names listed here are searched in # the following directories: # -# $(APP_SEARCH_DIRS) +# $(MODULE_SEARCH_DIRS) # WORK_DIR -# APP_SRC -# PX4_APP_SRC +# MODULE_SRC +# PX4_MODULE_SRC # -# Application directories are expected to contain an 'app.mk' -# file which provides build configuration for the app. See -# application.mk for more details. -# -# LIBS -# Contains a list of library paths or path fragments used -# to find libraries. The names listed here are searched in the -# following directories: -# -# $(LIB_SEARCH_DIRS) -# WORK_DIR -# LIB_SRC -# PX4_LIB_SRC -# -# Library directories are expected to contain a 'lib.mk' -# file which provides build configuration for the library. See -# library.mk for more details. +# Application directories are expected to contain a module.mk +# file which provides build configuration for the module. See +# makefiles/module.mk for more details. # # BUILTIN_COMMANDS # Contains a list of built-in commands not explicitly provided -# by applications / libraries. Each entry in this list is formatted +# by modules / libraries. Each entry in this list is formatted # as ... # # PX4_BASE: @@ -59,12 +45,8 @@ # containing the files under the directory and linked into the final # image. # -# APP_SEARCH_DIRS: -# Extra directories to search first for APPS before looking in the -# usual places. -# -# LIB_SEARCH_DIRS: -# Extra directories to search first for LIBS before looking in the +# MODULE_SEARCH_DIRS: +# Extra directories to search first for MODULES before looking in the # usual places. # @@ -82,8 +64,8 @@ MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) ifeq ($(PX4_BASE),) export PX4_BASE := $(abspath $(MK_DIR)/..) -$(info %% set PX4_BASE to $(PX4_BASE)) endif +$(info PX4_BASE $(PX4_BASE)) # # Set a default target so that included makefiles or errors here don't @@ -111,7 +93,7 @@ $(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONF endif export CONFIG include $(CONFIG_FILE) -$(info %% CONFIG $(CONFIG)) +$(info CONFIG $(CONFIG)) # # Sanity-check the BOARD variable and then get the board config. @@ -128,7 +110,7 @@ $(error Config $(CONFIG) references board $(BOARD), but no board definition file endif export BOARD include $(BOARD_FILE) -$(info %% BOARD $(BOARD)) +$(info BOARD $(BOARD)) # # If WORK_DIR is not set, create a 'build' directory next to the @@ -136,9 +118,9 @@ $(info %% BOARD $(BOARD)) # PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST))) ifeq ($(WORK_DIR),) -export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build +export WORK_DIR := $(dir $(PARENT_MAKEFILE))build/ endif -$(info %% WORK_DIR $(WORK_DIR)) +$(info WORK_DIR $(WORK_DIR)) # # Things that, if they change, might affect everything @@ -146,53 +128,71 @@ $(info %% WORK_DIR $(WORK_DIR)) GLOBAL_DEPS += $(MAKEFILE_LIST) ################################################################################ -# Applications +# Modules ################################################################################ -# where to look for applications -APP_SEARCH_DIRS += $(WORK_DIR) $(APP_SRC) $(PX4_APP_SRC) +# +# We don't actually know what a moldule is called; all we have is a path fragment +# that we can search for, and where we expect to find a module.mk file. +# +# As such, we replicate the successfully-found path inside WORK_DIR for the +# module's build products in order to keep modules separated from each other. +# +# XXX If this becomes unwieldy or breaks for other reasons, we will need to +# move to allocating directory names and keeping tabs on makefiles via +# the directory name. That will involve arithmetic (it'd probably be time +# for GMSL). -# sort and unique the apps list -APPS := $(sort $(APPS)) +# where to look for modules +MODULE_SEARCH_DIRS += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC) -# locate the first instance of an app by full path or by looking on the -# application search path -define APP_SEARCH - $(firstword $(wildcard $(1)/app.mk) \ - $(foreach search_dir,$(APP_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/app.mk)) \ - MISSING_$1) +# sort and unique the modules list +MODULES := $(sort $(MODULES)) + +# locate the first instance of a module by full path or by looking on the +# module search path +define MODULE_SEARCH + $(abspath $(firstword $(wildcard $(1)/module.mk) \ + $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk)) \ + MISSING_$1)) endef -APP_MKFILES := $(foreach app,$(APPS),$(call APP_SEARCH,$(app))) -MISSING_APPS := $(subst MISSING_,,$(filter MISSING_%,$(APP_MKFILES))) -ifneq ($(MISSING_APPS),) -$(error Can't find application(s): $(MISSING_APPS)) +# make a list of module makefiles and check that we found them all +MODULE_MKFILES := $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module))) +MISSING_MODULES := $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES))) +ifneq ($(MISSING_MODULES),) +$(error Can't find module(s): $(MISSING_MODULES)) endif -APP_OBJS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/app.pre.o) +# make a list of the object files we expect to build from modules +MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o) -$(APP_OBJS): relpath = $(patsubst $(WORK_DIR)/%,%,$@) -$(APP_OBJS): mkfile = $(patsubst %/app.pre.o,%/app.mk,$(relpath)) -$(APP_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) +# rules to build module objects +.PHONY: $(MODULE_OBJS) +$(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@) +$(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath)) +$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) @echo %% - @echo %% Building app in $(relpath) using $(mkfile) + @echo %% Building module using $(mkfile) @echo %% - $(Q) make -f $(PX4_MK_DIR)/application.mk \ - APP_WORK_DIR=$(dir $@) \ - APP_OBJ=$@ \ - APP_MK=$(mkfile) \ - app + $(Q) make -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_OBJ=$@ \ + MODULE_MK=$(mkfile) \ + module -APP_CLEANS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/clean) +# make a list of phony clean targets for modules +MODULE_CLEANS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean) -.PHONY: $(APP_CLEANS) -$(APP_CLEANS): relpath = $(patsubst $(WORK_DIR)/%,%,$@) -$(APP_CLEANS): mkfile = $(patsubst %/clean,%/app.mk,$(relpath)) -$(APP_CLEANS): +# rules to clean modules +.PHONY: $(MODULE_CLEANS) +$(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@) +$(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath)) +$(MODULE_CLEANS): @echo %% cleaning using $(mkfile) - $(Q) make -f $(PX4_MK_DIR)/application.mk \ - APP_WORK_DIR=$(dir $@) \ - APP_MK=$(mkfile) \ + $(Q) make -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_MK=$(mkfile) \ clean ################################################################################ @@ -217,7 +217,7 @@ ROMFS_DEPS += $(wildcard \ (ROMFS_ROOT)/*/*/*/* \ (ROMFS_ROOT)/*/*/*/*/* \ (ROMFS_ROOT)/*/*/*/*/*/*) -ROMFS_IMG = $(WORK_DIR)/romfs.img +ROMFS_IMG = $(WORK_DIR)romfs.img ROMFS_CSRC = $(ROMFS_IMG:.img=.c) ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) @@ -245,7 +245,7 @@ endif # NuttX export library. Instead, we have to treat it like a library. # # Builtin commands can be generated by the configuration, in which case they -# must refer to commands that already exist, or indirectly generated by applications +# must refer to commands that already exist, or indirectly generated by modules # when they are built. # # The configuration supplies builtin command information in the BUILTIN_COMMANDS @@ -257,10 +257,10 @@ endif # and the name of the function to call when starting the thread. # # -BUILTIN_CSRC = $(WORK_DIR)/builtin_commands.c +BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c -# add command definitions from apps -BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)/builtin_commands/COMMAND.*))) +# add command definitions from modules +BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*))) # (BUILTIN_PROTO,,) define BUILTIN_PROTO @@ -300,7 +300,7 @@ $(BUILTIN_OBJ): $(BUILTIN_CSRC) # source file. # ifeq ($(SRCS),) -EMPTY_SRC = $(WORK_DIR)/empty.c +EMPTY_SRC = $(WORK_DIR)empty.c $(EMPTY_SRC): $(Q) echo '/* this is an empty file */' > $@ @@ -314,9 +314,9 @@ endif # # What we're going to build. # -PRODUCT_BUNDLE = $(WORK_DIR)/firmware.px4 -PRODUCT_BIN = $(WORK_DIR)/firmware.bin -PRODUCT_SYM = $(WORK_DIR)/firmware.sym +PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 +PRODUCT_BIN = $(WORK_DIR)firmware.bin +PRODUCT_SYM = $(WORK_DIR)firmware.sym .PHONY: firmware firmware: $(PRODUCT_BUNDLE) @@ -324,7 +324,7 @@ firmware: $(PRODUCT_BUNDLE) # # Object files we will generate from sources # -OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o) +OBJS := $(foreach src,$(SRCS),$(WORK_DIR)$(src).o) # # SRCS -> OBJS rules @@ -332,13 +332,13 @@ OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o) $(OBJS): $(GLOBAL_DEPS) -$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c +$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) $(call COMPILE,$<,$@) -$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) +$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) $(call COMPILEXX,$<,$@) -$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) +$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) $(call ASSEMBLE,$<,$@) # @@ -354,8 +354,8 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN) $(PRODUCT_BIN): $(PRODUCT_SYM) $(call SYM_TO_BIN,$<,$@) -$(PRODUCT_SYM): $(OBJS) $(APP_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(APP_MKFILES) - $(call LINK,$@,$(OBJS) $(APP_OBJS)) +$(PRODUCT_SYM): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES) + $(call LINK,$@,$(OBJS) $(MODULE_OBJS)) # # Utility rules @@ -370,7 +370,7 @@ upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) BIN=$(PRODUCT_BIN) .PHONY: clean -clean: $(APP_CLEANS) +clean: $(MODULE_CLEANS) @echo %% cleaning $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM) $(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) diff --git a/makefiles/module.mk b/makefiles/module.mk new file mode 100644 index 0000000000..306a9594f4 --- /dev/null +++ b/makefiles/module.mk @@ -0,0 +1,165 @@ +# +# Framework makefile for PX4 modules +# +# This makefile is invoked by firmware.mk to build each of the modules +# that will subsequently be linked into the firmware image. +# +# Applications are built as prelinked objects with a limited set of exported +# symbols, as the global namespace is shared between all modules. Normally an +# module will just export one or more _main functions. +# + +# +# Variables that can be set by the module's module.mk: +# +# +# SRCS (required) +# Lists the .c, cpp and .S files that should be compiled/assembled to +# produce the module. +# +# MODULE_NAME (optional) +# MODULE_ENTRYPOINT (optional if MODULE_NAME is set) +# MODULE_STACKSIZE (optional if MODULE_NAME is set) +# MODULE_PRIORITY (optional if MODULE_NAME is set) +# Defines a single builtin command exported by the module. +# MODULE_NAME must be unique for any configuration, but need not be the +# same as the module directory name. +# +# If MODULE_ENTRYPOINT is set, it names the function (which must be exported) +# that will be the entrypoint for the builtin command. It defaults to +# $(MODULE_NAME)_main. +# +# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be +# allocated for the builtin command. If it is not set, it defaults +# to CONFIG_PTHREAD_STACK_DEFAULT. +# +# If MODULE_PRIORITY is set, it is the thread priority for the builtin +# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT. +# +# MODULE_COMMANDS (optional) +# Defines builtin commands exported by the module. Each word in +# the list should be formatted as: +# ... +# + +# +# Variables visible to the module's module.mk: +# +# CONFIG +# BOARD +# MODULE_WORK_DIR +# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file. +# Anything exported from config_$(CONFIG).mk +# + +################################################################################ +# No user-serviceable parts below. +################################################################################ + +ifeq ($(MODULE_MK),) +$(error No module makefile specified) +endif +$(info MODULE_MK $(MODULE_MK)) + +# +# Get path and tool config +# +include $(PX4_BASE)/makefiles/setup.mk + +# +# Get the board/toolchain config +# +include $(PX4_MK_DIR)/board_$(BOARD).mk + +# +# Get the module's config +# +include $(MODULE_MK) +MODULE_SRC := $(dir $(MODULE_MK)) +$(info MODULE_SRC $(MODULE_SRC)) +$(info MODULE_WORK_DIR $(MODULE_WORK_DIR)) + +# +# Things that, if they change, might affect everything +# +GLOBAL_DEPS += $(MAKEFILE_LIST) + +################################################################################ +# Builtin command definitions +################################################################################ + +ifneq ($(MODULE_NAME),) +MODULE_ENTRYPOINT ?= $(MODULE_NAME)_main +MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT +MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT +MODULE_COMMANDS += $(MODULE_NAME).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT) +endif + +ifneq ($(MODULE_COMMANDS),) +MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS)) + +.PHONY: $(MODULE_COMMAND_FILES) +$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS) + @echo COMMAND $(word 2,$(subst ., ,$(notdir $(@)))) + @mkdir -p $@ + $(Q) touch $@ +endif + +################################################################################ +# Build rules +################################################################################ + +# +# What we're going to build +# +module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES) + +# +# Locate sources (allows relative source paths in module.mk) +# +define SRC_SEARCH + $(abspath $(firstword $(wildcard $(MODULE_SRC)/$1) MISSING_$1)) +endef + +ABS_SRCS := $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) +MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS))) +ifneq ($(MISSING_SRCS),) +$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS)) +endif +ifeq ($(ABS_SRCS),) +$(error $(MODULE_MK): nothing to compile in SRCS) +endif + +# +# Object files we will generate from sources +# +OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o) + +# +# SRCS -> OBJS rules +# + +$(OBJS): $(GLOBAL_DEPS) + +$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) + $(call COMPILE,$<,$@) + +$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) + $(call COMPILEXX,$<,$@) + +$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) + $(call ASSEMBLE,$<,$@) + +# +# Built product rules +# + +$(MODULE_OBJ): $(OBJS) $(GLOBAL_DEPS) + $(call PRELINK,$@,$(OBJS)) + +# +# Utility rules +# + +clean: + $(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS) diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk index cdbd6e0afc..bd2b980845 100644 --- a/makefiles/nuttx.mk +++ b/makefiles/nuttx.mk @@ -6,7 +6,7 @@ # # Check that the NuttX archive for the selected board is available. # -NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)/$(BOARD).export) +NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).export) ifeq ($(NUTTX_ARCHIVE),) $(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) endif @@ -16,23 +16,27 @@ endif # if it changes, everything should be rebuilt. So, use it as the trigger to # unpack the NuttX archive. # -NUTTX_EXPORT_DIR = $(WORK_DIR)/nuttx-export -NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h +NUTTX_EXPORT_DIR = $(WORK_DIR)nuttx-export/ +NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)include/nuttx/config.h +$(info NUTTX_EXPORT_DIR $(NUTTX_EXPORT_DIR)) +$(info NUTTX_CONFIG_HEADER $(NUTTX_CONFIG_HEADER)) + + GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER) # # Use the linker script from the NuttX export # -LDSCRIPT = $(NUTTX_EXPORT_DIR)/build/ld.script +LDSCRIPT = $(NUTTX_EXPORT_DIR)build/ld.script # # Add directories from the NuttX export to the relevant search paths # -INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)/include -LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs +INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include +LIB_DIRS += $(NUTTX_EXPORT_DIR)libs LIBS += -lapps -lnuttx -LINK_DEPS += $(NUTTX_EXPORT_DIR)/libs/libapps.a \ - $(NUTTX_EXPORT_DIR)/libs/libnuttx.a +LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \ + $(NUTTX_EXPORT_DIR)libs/libnuttx.a $(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) @echo %% Unpacking $(NUTTX_ARCHIVE) diff --git a/makefiles/setup.mk b/makefiles/setup.mk index 0c142cb1d6..d4b279e7c4 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -5,16 +5,20 @@ # # Some useful paths. # -export PX4_APP_SRC = $(PX4_BASE)/src/apps -export PX4_LIB_SRC = $(PX4_BASE)/src/libs -export PX4_MK_DIR = $(PX4_BASE)/makefiles -export NUTTX_SRC = $(PX4_BASE)/nuttx -export NUTTX_APP_SRC = $(PX4_BASE)/apps -export MAVLINK_SRC = $(PX4_BASE)/mavlink -export ROMFS_SRC = $(PX4_BASE)/ROMFS -export IMAGE_DIR = $(PX4_BASE)/Images -export BUILD_DIR = $(PX4_BASE)/Build -export ARCHIVE_DIR = $(PX4_BASE)/Archives +# Note that in general we always keep directory paths with the separator +# at the end, and join paths without explicit separators. This reduces +# the number of duplicate slashes we have lying around in paths, +# and is consistent with joining the results of $(dir) and $(notdir). +# +export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src/modules)/ +export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/ +export NUTTX_SRC = $(abspath $(PX4_BASE)/nuttx)/ +export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/apps)/ +export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink)/ +export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/ +export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/ +export BUILD_DIR = $(abspath $(PX4_BASE)/Build)/ +export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/ # # Tools diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index ba3b06c7f3..0a1ee18e94 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -2,7 +2,7 @@ # Definitions for a generic GNU ARM-EABI toolchain # -$(info %% TOOLCHAIN gnu-arm-eabi) +#$(info TOOLCHAIN gnu-arm-eabi) CROSSDEV = arm-none-eabi- @@ -134,7 +134,8 @@ DEP_INCLUDES = $(subst .o,.d,$(OBJS)) # compile C source $1 to object $2 # as a side-effect, generate a dependency file define COMPILE - @echo "CC: $1" + @echo "CC <- $1" + @echo "CC -> $2" @mkdir -p $(dir $2) $(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 endef @@ -172,7 +173,7 @@ endef define LINK @echo "LINK: $1" @mkdir -p $(dir $1) - $(Q) $(LD) $(LDFLAGS) -o $1 $2 --start-group $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group + $(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group endef # convert $1 from a linked object to a raw binary diff --git a/src/apps/test/app.mk b/src/apps/test/app.mk deleted file mode 100644 index 283425c504..0000000000 --- a/src/apps/test/app.mk +++ /dev/null @@ -1,4 +0,0 @@ - -APP_NAME = test -SRCS = foo.c - diff --git a/src/apps/test/foo.c b/src/modules/test/foo.c similarity index 100% rename from src/apps/test/foo.c rename to src/modules/test/foo.c diff --git a/src/modules/test/module.mk b/src/modules/test/module.mk new file mode 100644 index 0000000000..abf80eedf7 --- /dev/null +++ b/src/modules/test/module.mk @@ -0,0 +1,4 @@ + +MODULE_NAME = test +SRCS = foo.c +