Fresh import of the PX4 firmware sources.

1 files changed, 223 insertions, 0 deletions

diff --git a/apps/mk/app.mk b/apps/mk/app.mk
new file mode 100644
index 000000000..3948ef354
--- /dev/null
+++ b/apps/mk/app.mk
@@ -0,0 +1,223 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# 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:
+#
+# APPNAME	- the name of the application, defaults to the name
+#		  of the parent directory.
+#
+# If APPNAME is not defined, a utility library is built instead. The library
+# name is normally automatically determined, but it can be overridden by
+# setting:
+#
+# 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 
+#		  CONFIG_PTHREAD_STACK_DEFAULT)
+#
+# Symbols in the module are private to the module unless deliberately exported
+# using the __EXPORT tag.
+#
+
+############################################################################
+# No user-serviceable parts below
+############################################################################
+
+
+############################################################################
+# 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
+
+############################################################################
+# Sanity-check the information we've been given and set any defaults
+#
+SRCDIR		?= $(dir $(PARENT_MAKEFILE))
+PRIORITY	?= SCHED_PRIORITY_DEFAULT
+STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
+
+INCLUDES	+= $(APPDIR)
+
+ASRCS		?= $(wildcard $(SRCDIR)/*.S)
+CSRCS		?= $(wildcard $(SRCDIR)/*.c)
+CXXSRCS		?= $(wildcard $(SRCDIR)/*.cpp)
+
+# if APPNAME is not set, this is a library
+ifeq ($(APPNAME),)
+LIBNAME		?= $(lastword $(subst /, ,$(realpath $(SRCDIR))))
+endif
+
+# there has to be a source file
+ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
+$(error $(realpath $(PARENT_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
+endif
+
+# check that C++ is configured if we have C++ source files and we are building
+ifneq ($(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		+= -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
+CXXFLAGS	+= -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) $(CXXOBJS)
+
+# The prelinked object that we are ultimately going to build
+ifneq ($(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:		$(PRELINKOBJ)
+	@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
+	@touch $@
+
+#
+# Source dependencies
+#
+depend:		.depend
+.depend:	$(MAKEFILE_LIST) $(SRCS)
+	@$(MKDEP) --dep-path . $(CC) -- $(CFLAGS) -- $(CSRCS) >Make.dep
+	@$(MKDEP) --dep-path . $(CXX) -- $(CXXFLAGS) -- $(CXXSRCS) >>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, $<, $@)
+
+#
+# Tidying up
+#
+clean:
+	@rm -f $(OBJS) $(PRELINKOBJ) Make.dep .built
+	$(call CLEAN)
+
+distclean:	clean
+	@rm -f Make.dep .depend
+
+-include Make.dep