Checkpoint: application framework makefile done

1 files changed, 162 insertions, 0 deletions

diff --git a/makefiles/application.mk b/makefiles/application.mk
new file mode 100644
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--- /dev/null
+++ b/makefiles/application.mk
@@ -0,0 +1,162 @@
+#
+# 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 <command>_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
+#	$(APP_NAME)_main.
+#
+#	If APP_STACKSIZE is set, it is the size in bytes of the stack to be
+#	allocated for the builtin command. If it is not set, it defaults
+#	to CONFIG_PTHREAD_STACK_DEFAULT.
+#
+#	If APP_PRIORITY is set, it is the thread priority for the builtin
+#	command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
+#
+# APP_COMMANDS		(optional)
+#	Defines builtin commands exported by the application. Each word in
+#	the list should be formatted as: 
+#		<command>.<priority>.<stacksize>.<entrypoint>
+#
+
+#
+# Variables visible to the application's app.mk:
+#
+# CONFIG
+# BOARD
+# APP_WORK_DIR
+# Anything set in setup.mk, board_$(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)