Use indirect calls for all commands (echo, make, etc.)

Replace our dependency on xxd with a toolchain call, and implement the backend using objcopy evil for the default toolchain.

6 files changed, 85 insertions, 52 deletions

diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 1b6a1cdef..23fd3136f 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -172,10 +172,10 @@ MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
 $(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 module using $(mkfile)
-	@echo %%
-	$(Q) make -f $(PX4_MK_DIR)module.mk \
+	@$(ECHO) %%
+	@$(ECHO) %% Building module using $(mkfile)
+	@$(ECHO) %%
+	$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
 		MODULE_WORK_DIR=$(dir $@) \
 		MODULE_OBJ=$@ \
 		MODULE_MK=$(mkfile) \
@@ -189,8 +189,8 @@ MODULE_CLEANS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/cle
 $(MODULE_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_CLEANS):	mkfile = $(patsubst %clean,%module.mk,$(relpath))
 $(MODULE_CLEANS):
-	@echo %% cleaning using $(mkfile)
-	$(Q) make -f $(PX4_MK_DIR)module.mk \
+	@$(ECHO) %% cleaning using $(mkfile)
+	$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
 	MODULE_WORK_DIR=$(dir $@) \
 	MODULE_MK=$(mkfile) \
 	clean
@@ -210,6 +210,8 @@ include $(PX4_MK_DIR)/nuttx.mk
 # NuttX export library. Instead, we have to treat it like a library.
 #
 ifneq ($(ROMFS_ROOT),)
+
+# Add dependencies on anything in the ROMFS root
 ROMFS_DEPS		+= $(wildcard \
 			     (ROMFS_ROOT)/* \
 			     (ROMFS_ROOT)/*/* \
@@ -223,15 +225,13 @@ ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
 LIBS			+= $(ROMFS_OBJ)
 LINK_DEPS		+= $(ROMFS_OBJ)
 
-$(ROMFS_OBJ): $(ROMFS_CSRC)
-	$(Q) $(call COMPILE,$<,$@)
-
-$(ROMFS_CSRC): $(ROMFS_IMG)
-	@echo %% generating $@
-	$(Q) (cd $(dir $<) && xxd -i $(notdir $<)) > $@
+# Turn the ROMFS image into an object file
+$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
+	$(call BIN_TO_OBJ,$<,$@,romfs_img)
 
+# Generate the ROMFS image from the root
 $(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
-	@echo %% generating $@
+	@$(ECHO) %% generating $@
 	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
 
 endif
@@ -264,25 +264,25 @@ BUILTIN_COMMANDS	+= $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_com
 
 # (BUILTIN_PROTO,<cmdspec>,<outputfile>)
 define BUILTIN_PROTO
-	echo 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
+	$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
 endef
 
 # (BUILTIN_DEF,<cmdspec>,<outputfile>)
 define BUILTIN_DEF
-	echo '    {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
+	$(ECHO) '    {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
 endef
 
 $(BUILTIN_CSRC):	$(GLOBAL_DEPS)
-	@echo %% generating $@
-	$(Q) echo '/* builtin command list - automatically generated, do not edit */' > $@
-	$(Q) echo '#include <nuttx/config.h>' >> $@
-	$(Q) echo '#include <nuttx/binfmt/builtin.h>' >> $@
+	@$(ECHO) %% generating $@
+	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
+	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
+	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
 	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
-	$(Q) echo 'const struct builtin_s g_builtins[] = {' >> $@
+	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
 	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
-	$(Q) echo '    {NULL, 0, 0, NULL}' >> $@
-	$(Q) echo '};' >> $@
-	$(Q) echo 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@
+	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
+	$(Q) $(ECHO) '};' >> $@
+	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@
 
 BUILTIN_OBJ		 = $(BUILTIN_CSRC:.c=.o)
 LIBS			+= $(BUILTIN_OBJ)
@@ -302,7 +302,7 @@ $(BUILTIN_OBJ): $(BUILTIN_CSRC)
 ifeq ($(SRCS),)
 EMPTY_SRC		 = $(WORK_DIR)empty.c
 $(EMPTY_SRC):
-	$(Q) echo '/* this is an empty file */' > $@
+	$(Q) $(ECHO) '/* this is an empty file */' > $@
 
 SRCS			+= $(EMPTY_SRC)
 endif
@@ -346,7 +346,7 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
 #
 
 $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
-	@echo %% Generating $@
+	@$(ECHO) %% Generating $@
 	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
 		--git_identity $(PX4_BASE) \
 		--image $< > $@
@@ -363,7 +363,7 @@ $(PRODUCT_SYM):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKF
 
 .PHONY: upload
 upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
-	$(Q) make -f $(PX4_MK_DIR)/upload.mk \
+	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
 		METHOD=serial \
 		PRODUCT=$(PRODUCT) \
 		BUNDLE=$(PRODUCT_BUNDLE) \
@@ -371,7 +371,7 @@ upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
 
 .PHONY: clean
 clean:			$(MODULE_CLEANS)
-	@echo %% cleaning
+	@$(ECHO) %% cleaning
 	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
 	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES)
 	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 306a9594f..bf54362e6 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -100,9 +100,9 @@ MODULE_COMMAND_FILES	:= $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODU
 
 .PHONY: $(MODULE_COMMAND_FILES)
 $(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
-	@echo COMMAND    $(word 2,$(subst ., ,$(notdir $(@))))
-	@mkdir -p $@
-	$(Q) touch $@
+	@$(ECHO) COMMAND    $(word 2,$(subst ., ,$(notdir $(@))))
+	@$(MKDIR) -p $(dir $@)
+	$(Q) $(TOUCH) $@
 endif
 
 ################################################################################
diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk
index bd2b98084..e71993916 100644
--- a/makefiles/nuttx.mk
+++ b/makefiles/nuttx.mk
@@ -27,7 +27,7 @@ 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
@@ -39,6 +39,6 @@ LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
 			   $(NUTTX_EXPORT_DIR)libs/libnuttx.a
 
 $(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
-	@echo %% Unpacking $(NUTTX_ARCHIVE)
-	$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
-	$(Q) touch $@
+	@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
+	$(Q) $(UNZIP) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
+	$(Q) $(TOUCH) $@
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index d4b279e7c..f67ab7bb0 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -29,6 +29,10 @@ COPY			 = cp
 REMOVE			 = rm -f
 RMDIR			 = rm -rf
 GENROMFS		 = genromfs
+TOUCH			 = touch
+MKDIR			 = mkdir
+ECHO			 = echo
+UNZIP			 = unzip
 
 #
 # Host-specific paths, hacks and fixups
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 0a1ee18e9..108476782 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -119,7 +119,7 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
 
 LDFLAGS			+= --warn-common \
 			   --gc-sections \
-			   -T $(LDSCRIPT) \
+			   $(addprefix -T,$(LDSCRIPT)) \
 			   $(addprefix -L,$(LIB_DIRS))
 
 LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
@@ -134,51 +134,76 @@ 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   -> $2"
-	@mkdir -p $(dir $2)
+	@$(ECHO) "CC <- $1"
+	@$(ECHO) "CC   -> $2"
+	@$(MKDIR) -p $(dir $2)
 	$(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
 endef
 
 # compile C++ source $1 to $2
 # as a side-effect, generate a dependency file
 define COMPILEXX
-	@echo "CXX: $1"
-	@mkdir -p $(dir $2)
+	@$(ECHO) "CXX: $1"
+	@$(MKDIR) -p $(dir $2)
 	$(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
 endef
 
 # assemble $1 into $2
 define ASSEMBLE
-	@echo "AS: $1"
-	@mkdir -p $(dir $2)
+	@$(ECHO) "AS: $1"
+	@$(MKDIR) -p $(dir $2)
 	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
 endef
 
 # produce partially-linked $1 from files in $2
 define PRELINK
-	@echo "PRELINK: $1"
-	@mkdir -p $(dir $1)
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
 	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 endef
 
 # update the archive $1 with the files in $2
 define ARCHIVE
-	@echo "AR: $2"
-	@mkdir -p $(dir $1)
+	@$(ECHO) "AR: $2"
+	@$(MKDIR) -p $(dir $1)
 	$(Q) $(AR) $1 $2
 endef
 
-# Link the objects in $2 into the binary $1
+# link the objects in $2 into the binary $1
 define LINK
-	@echo "LINK: $1"
-	@mkdir -p $(dir $1)
+	@$(ECHO) "LINK: $1"
+	@$(MKDIR) -p $(dir $1)
 	$(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
+# convert $1 from a linked object to a raw binary in $2
 define SYM_TO_BIN
-	@echo "BIN: $2"
-	@mkdir -p $(dir $2)
+	@$(ECHO) "BIN: $2"
+	@$(MKDIR) -p $(dir $2)
 	$(Q) $(OBJCOPY) -O binary $1 $2
 endef
+
+# Take the raw binary $1 and make it into an object file $2. 
+# The symbol $3 points to the beginning of the file, and $3_len
+# gives its length.
+#
+# - compile an empty file to generate a suitable object file
+# - relink the object and insert the binary file
+# - edit symbol names to suit
+#
+define BIN_SYM_PREFIX
+	_binary_$(subst /,_,$(subst .,_,$1))
+endef
+define BIN_TO_OBJ
+	@$(ECHO) "WRAP: $2"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(ECHO) > $2.c
+	$(call COMPILE,$2.c,$2.c.o)
+	$(LD) -r -o $2 $2.c.o -b binary $1
+	$(OBJCOPY) $2 \
+		--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
+		--redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \
+		--strip-symbol $(call BIN_SYM_PREFIX,$1)_end
+endef
+
+#	$(Q) $(OBJCOPY) --add-section .rodata.$3=$1 $2
diff --git a/src/modules/test/foo.c b/src/modules/test/foo.c
index e69de29bb..ff6af031f 100644
--- a/src/modules/test/foo.c
+++ b/src/modules/test/foo.c
@@ -0,0 +1,4 @@
+int test_main(void)
+{
+	return 0;
+}
\ No newline at end of file