#
# 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 <command>_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
# $(MODULE_NAME)_main.
#
# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be
# allocated for the builtin command. If it is not set, it defaults
# to CONFIG_PTHREAD_STACK_DEFAULT.
#
# If MODULE_PRIORITY is set, it is the thread priority for the builtin
# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
#
# MODULE_COMMANDS (optional)
# Defines builtin commands exported by the module. Each word in
# the list should be formatted as:
# <command>.<priority>.<stacksize>.<entrypoint>
#
#
# Variables visible to the module's module.mk:
#
# CONFIG
# BOARD
# MODULE_WORK_DIR
# Anything set in setup.mk, board_$(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_OBJ = $(MODULE_OBJ))
$(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))
# Create the command files
# Ensure that there is only one entry for each command
#
.PHONY: $(MODULE_COMMAND_FILES)
$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
@$(ECHO) COMMAND: $(command)
@$(REMOVE) -f $(exclude)
@$(MKDIR) -p $(dir $@)
$(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)
