Merge branch 'master' into seatbelt_multirotor

5 files changed, 249 insertions, 40 deletions

diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 23700b0ac..b1737ee6b 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -81,16 +81,20 @@ MODULES		+= modules/multirotor_pos_control
 MODULES		+= modules/sdlog
 
 #
-# Libraries
+# Library modules
 #
 MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/mathlib
-MODULES		+= modules/mathlib/CMSIS
 MODULES		+= modules/controllib
 MODULES		+= modules/uORB
 
 #
+# Libraries
+#
+LIBRARIES	+= modules/mathlib/CMSIS
+
+#
 # Demo apps
 #
 #MODULES		+= examples/math_demo
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 497e79237..6b09e6ec3 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -180,18 +180,6 @@ EXTRA_CLEANS		 =
 # Modules
 ################################################################################
 
-#
-# We don't actually know what a module 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).
-
 # where to look for modules
 MODULE_SEARCH_DIRS	+= $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
 
@@ -249,6 +237,66 @@ $(MODULE_CLEANS):
 	clean
 
 ################################################################################
+# Libraries
+################################################################################
+
+# where to look for libraries
+LIBRARY_SEARCH_DIRS	+= $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
+
+# sort and unique the library list
+LIBRARIES		:= $(sort $(LIBRARIES))
+
+# locate the first instance of a library by full path or by looking on the
+# library search path
+define LIBRARY_SEARCH
+	$(firstword $(abspath $(wildcard $(1)/library.mk)) \
+		$(abspath $(foreach search_dir,$(LIBRARY_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/library.mk))) \
+		MISSING_$1)
+endef
+
+# make a list of library makefiles and check that we found them all
+LIBRARY_MKFILES		:= $(foreach library,$(LIBRARIES),$(call LIBRARY_SEARCH,$(library)))
+MISSING_LIBRARIES	:= $(subst MISSING_,,$(filter MISSING_%,$(LIBRARY_MKFILES)))
+ifneq ($(MISSING_LIBRARIES),)
+$(error Can't find library(s): $(MISSING_LIBRARIES))
+endif
+
+# Make a list of the archive files we expect to build from libraries
+# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
+# preserved as it is used below to get the absolute path for the library.mk file correct.
+#
+LIBRARY_LIBS		:= $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)library.a)
+
+# rules to build module objects
+.PHONY: $(LIBRARY_LIBS)
+$(LIBRARY_LIBS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
+$(LIBRARY_LIBS):	mkfile = $(patsubst %library.a,%library.mk,$(relpath))
+$(LIBRARY_LIBS):	workdir = $(@D)
+$(LIBRARY_LIBS):	$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
+	$(Q) $(MKDIR) -p $(workdir)
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
+		-C $(workdir) \
+		LIBRARY_WORK_DIR=$(workdir) \
+		LIBRARY_LIB=$@ \
+		LIBRARY_MK=$(mkfile) \
+		LIBRARY_NAME=$(lastword $(subst /, ,$(workdir))) \
+		library
+
+# make a list of phony clean targets for modules
+LIBRARY_CLEANS		:= $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)/clean)
+
+# rules to clean modules
+.PHONY: $(LIBRARY_CLEANS)
+$(LIBRARY_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
+$(LIBRARY_CLEANS):	mkfile = $(patsubst %clean,%library.mk,$(relpath))
+$(LIBRARY_CLEANS):
+	@$(ECHO) %% cleaning using $(mkfile)
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
+	LIBRARY_WORK_DIR=$(dir $@) \
+	LIBRARY_MK=$(mkfile) \
+	clean
+
+################################################################################
 # NuttX libraries and paths
 ################################################################################
 
@@ -420,8 +468,8 @@ $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 $(PRODUCT_BIN):		$(PRODUCT_ELF)
 	$(call SYM_TO_BIN,$<,$@)
 
-$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
-	$(call LINK,$@,$(OBJS) $(MODULE_OBJS))
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
 
 #
 # Utility rules
diff --git a/makefiles/library.mk b/makefiles/library.mk
new file mode 100644
index 000000000..28a421fe0
--- /dev/null
+++ b/makefiles/library.mk
@@ -0,0 +1,169 @@
+#
+#   Copyright (c) 2013 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.
+#
+
+#
+# Framework makefile for PX4 libraries
+#
+# This makefile is invoked by firmware.mk to build each of the linraries
+# that will subsequently be linked into the firmware image.
+#
+# Applications are built as standard ar archives. Unlike modules,
+# all public symbols in library objects are visible across the entire
+# firmware stack.
+#
+# In general, modules should be preferred to libraries when possible.
+# Libraries may also be pre-built.
+#
+# IMPORTANT NOTE:
+#
+# This makefile assumes it is being invoked in the library's output directory.
+#
+
+#
+# Variables that can be set by the library's library.mk:
+#
+#
+# SRCS			(optional)
+#
+#	Lists the .c, cpp and .S files that should be compiled/assembled to
+#	produce the library.
+#
+# PREBUILT_LIB		(optional)
+#
+#	Names the prebuilt library in the source directory that should be
+#	linked into the firmware.
+#
+# INCLUDE_DIRS		(optional, must be appended, ignored if SRCS not set)
+#
+#	The list of directories searched for include files. If non-standard
+#	includes (e.g. those from another module) are required, paths to search
+#	can be added here.
+#
+#
+
+#
+# Variables visible to the library's library.mk:
+#
+# CONFIG
+# BOARD
+# LIBRARY_WORK_DIR
+# LIBRARY_LIB
+# LIBRARY_MK
+# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
+# Anything exported from config_$(CONFIG).mk
+#
+
+################################################################################
+# No user-serviceable parts below.
+################################################################################
+
+ifeq ($(LIBRARY_MK),)
+$(error No library makefile specified)
+endif
+$(info %% LIBRARY_MK          = $(LIBRARY_MK))
+
+#
+# Get the board/toolchain config
+#
+include $(PX4_MK_DIR)/board_$(BOARD).mk
+
+#
+# Get the library's config
+#
+include $(LIBRARY_MK)
+LIBRARY_SRC		:= $(dir $(LIBRARY_MK))
+$(info %  LIBRARY_NAME        = $(LIBRARY_NAME))
+$(info %  LIBRARY_SRC         = $(LIBRARY_SRC))
+$(info %  LIBRARY_LIB         = $(LIBRARY_LIB))
+$(info %  LIBRARY_WORK_DIR    = $(LIBRARY_WORK_DIR))
+
+#
+# Things that, if they change, might affect everything
+#
+GLOBAL_DEPS		+= $(MAKEFILE_LIST)
+
+################################################################################
+# Build rules
+################################################################################
+
+#
+# What we're going to build
+#
+library:			$(LIBRARY_LIB)
+
+ifneq ($(PREBUILT_LIB),)
+
+VPATH			 = $(LIBRARY_SRC)
+$(LIBRARY_LIB):		$(PREBUILT_LIB) $(GLOBAL_DEPS)
+	@$(ECHO) "PREBUILT: $(PREBUILT_LIB)"
+	$(Q) $(COPY) $< $@
+
+else
+
+##
+## Object files we will generate from sources
+##
+
+OBJS			 = $(addsuffix .o,$(SRCS))
+
+#
+# SRCS -> OBJS rules
+#
+
+$(OBJS):		$(GLOBAL_DEPS)
+
+vpath %.c $(LIBRARY_SRC)
+$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
+	$(call COMPILE,$<,$@)
+
+vpath %.cpp $(LIBRARY_SRC)
+$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
+	$(call COMPILEXX,$<,$@)
+
+vpath %.S $(LIBRARY_SRC)
+$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
+	$(call ASSEMBLE,$<,$@)
+
+#
+# Built product rules
+#
+
+$(LIBRARY_LIB):		$(OBJS) $(GLOBAL_DEPS)
+	$(call ARCHIVE,$@,$(OBJS))
+
+endif
+
+#
+# Utility rules
+#
+
+clean:
+	$(Q) $(REMOVE) $(LIBRARY_LIB) $(OBJS)
diff --git a/makefiles/module.mk b/makefiles/module.mk
index db6f4e15e..9e4cbafc9 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -35,7 +35,7 @@
 # This makefile is invoked by firmware.mk to build each of the modules
 # that will subsequently be linked into the firmware image.
 #
-# Applications are built as prelinked objects with a limited set of exported
+# Modules are built as prelinked objects with a limited set of exported
 # symbols, as the global namespace is shared between all modules. Normally an 
 # module will just export one or more <command>_main functions.
 #
@@ -183,30 +183,15 @@ CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibi
 #
 module:			$(MODULE_OBJ) $(MODULE_COMMAND_FILES)
 
-##
-## Locate sources (allows relative source paths in module.mk)
-##
-#define SRC_SEARCH
-#	$(abspath $(firstword $(wildcard $1) $(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
 #
-##
-## Object files we will generate from sources
-##
-#OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
+OBJS			 = $(addsuffix .o,$(SRCS))
 
-OBJS		 = $(addsuffix .o,$(SRCS))
-$(info SRCS $(SRCS))
-$(info OBJS $(OBJS))
+#
+# Dependency files that will be auto-generated
+#
+DEPS			 = $(addsuffix .d,$(SRCS))
 
 #
 # SRCS -> OBJS rules
@@ -239,3 +224,5 @@ $(MODULE_OBJ):		$(OBJS) $(GLOBAL_DEPS)
 
 clean:
 	$(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS)
+
+-include $(DEPS)
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 874e7154c..eeba0ff2c 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -235,7 +235,7 @@ endef
 define LINK
 	@$(ECHO) "LINK:    $1"
 	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
+	$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
 endef
 
 # Convert $1 from a linked object to a raw binary in $2
@@ -280,6 +280,7 @@ define BIN_TO_OBJ
 	$(Q) $(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
+		--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
+		--rename-section .data=.rodata
 	$(Q) $(REMOVE) $2.c $2.c.o
 endef