Merge branch 'master' into gpio_led

5 files changed, 141 insertions, 33 deletions

diff --git a/makefiles/README.txt b/makefiles/README.txt
new file mode 100644
index 000000000..8b84e4c40
--- /dev/null
+++ b/makefiles/README.txt
@@ -0,0 +1,71 @@
+PX4 Build System
+================
+
+The files in this directory implement the PX4 runtime firmware build system
+and configuration for the standard PX4 boards and software, in conjunction
+with Makefile in the parent directory.
+
+../Makefile
+
+	Top-level makefile for the PX4 build system. This makefile supports
+	building NuttX archives, as well as supervising the building of all
+	of the defined PX4 firmware configurations.
+
+	Try 'make help' in the parent directory for documentation.
+
+firmware.mk
+
+	Manages the build for one specific firmware configuration. 
+	See the comments at the top of this file for detailed documentation.
+
+	Builds modules, builtin command lists and the ROMFS (if configured).
+
+	This is the makefile directly used by external build systems; it can
+	be configured to compile modules both inside and outside the PX4
+	source tree. When used in this mode, at least BOARD, MODULES and 
+	CONFIG_FILE must be set.
+
+module.mk
+
+	Called by firmware.mk to build individual modules.
+	See the comments at the top of this file for detailed documentation.
+
+	Not normally used other than by firmware.mk.
+
+nuttx.mk
+
+	Called by ../Makefile to build or download the NuttX archives.
+
+upload.mk
+
+	Called by ../Makefile to upload files to a target board. Can be used
+	by external build systems as well.
+
+setup.mk
+
+	Provides common path and tool definitions. Implements host system-specific
+	compatibility hacks.
+
+board_<boardname>.mk
+
+	Board-specific configuration for <boardname>. Typically sets CONFIG_ARCH
+	and then includes the toolchain definition for the board.
+
+config_<boardname>_<configname>.mk
+
+	Parameters for a specific configuration on a specific board.
+	The board name is derived from the filename.  Sets MODULES to select
+	source modules to be included in the configuration, may also set
+	ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module
+	commands (e.g. from NuttX)
+
+toolchain_<toolchainname>.mk
+
+	Provides macros used to compile and link source files.
+	Accepts EXTRADEFINES to add additional pre-processor symbol definitions,
+	EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass
+	additional flags to the C compiler, C++ compiler, assembler and linker
+	respectively.
+
+	Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK
+	macros that are used elsewhere in the build system.
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 441ac3aac..9364fd861 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -106,6 +106,10 @@ MODULES		+= modules/uORB
 # https://pixhawk.ethz.ch/px4/dev/debug_values
 #MODULES		+= examples/px4_mavlink_debug
 
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+MODULES			+= examples/fixedwing_control
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index b63aa28d7..497e79237 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -201,9 +201,9 @@ MODULES			:= $(sort $(MODULES))
 # locate the first instance of a module by full path or by looking on the
 # module search path
 define MODULE_SEARCH
-	$(abspath $(firstword $(wildcard $(1)/module.mk) \
-		$(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk)) \
-		MISSING_$1))
+	$(firstword $(abspath $(wildcard $(1)/module.mk)) \
+		$(abspath $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk))) \
+		MISSING_$1)
 endef
 
 # make a list of module makefiles and check that we found them all
@@ -223,12 +223,15 @@ MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
 .PHONY: $(MODULE_OBJS)
 $(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
+$(MODULE_OBJS):		workdir = $(@D)
 $(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
+	$(Q) $(MKDIR) -p $(workdir)
 	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-		MODULE_WORK_DIR=$(dir $@) \
+		-C $(workdir) \
+		MODULE_WORK_DIR=$(workdir) \
 		MODULE_OBJ=$@ \
 		MODULE_MK=$(mkfile) \
-		MODULE_NAME=$(lastword $(subst /, ,$(@D))) \
+		MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \
 		module
 
 # make a list of phony clean targets for modules
@@ -266,14 +269,18 @@ endif
 #
 
 # Add dependencies on anything in the ROMFS root
-ROMFS_DEPS		+= $(wildcard \
-			     (ROMFS_ROOT)/* \
-			     (ROMFS_ROOT)/*/* \
-			     (ROMFS_ROOT)/*/*/* \
-			     (ROMFS_ROOT)/*/*/*/* \
-			     (ROMFS_ROOT)/*/*/*/*/* \
-			     (ROMFS_ROOT)/*/*/*/*/*/*)
-ROMFS_IMG		 = $(WORK_DIR)romfs.img
+ROMFS_FILES		+= $(wildcard \
+			     $(ROMFS_ROOT)/* \
+			     $(ROMFS_ROOT)/*/* \
+			     $(ROMFS_ROOT)/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/*/*)
+ifeq ($(ROMFS_FILES),)
+$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
+endif
+ROMFS_DEPS		+= $(ROMFS_FILES)
+ROMFS_IMG		 = romfs.img
 ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
 ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
 LIBS			+= $(ROMFS_OBJ)
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 0fe6f0ffe..db6f4e15e 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -39,6 +39,10 @@
 # symbols, as the global namespace is shared between all modules. Normally an 
 # module will just export one or more <command>_main functions.
 #
+# IMPORTANT NOTE:
+#
+# This makefile assumes it is being invoked in the module's output directory.
+#
 
 #
 # Variables that can be set by the module's module.mk:
@@ -179,26 +183,30 @@ 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
 #
-# Locate sources (allows relative source paths in module.mk)
+#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
 #
-define SRC_SEARCH
-	$(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
-endef
+##
+## Object files we will generate from sources
+##
+#OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
 
-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)
+OBJS		 = $(addsuffix .o,$(SRCS))
+$(info SRCS $(SRCS))
+$(info OBJS $(OBJS))
 
 #
 # SRCS -> OBJS rules
@@ -206,13 +214,16 @@ OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
 
 $(OBJS):		$(GLOBAL_DEPS)
 
-$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
+vpath %.c $(MODULE_SRC)
+$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
 	$(call COMPILE,$<,$@)
 
-$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
+vpath %.cpp $(MODULE_SRC)
+$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
 	$(call COMPILEXX,$<,$@)
 
-$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
+vpath %.S $(MODULE_SRC)
+$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
 	$(call ASSEMBLE,$<,$@)
 
 #
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 0e651e53c..874e7154c 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -254,6 +254,20 @@ endef
 # - relink the object and insert the binary file
 # - edit symbol names to suit
 #
+# NOTE: exercise caution using this with absolute pathnames; it looks
+#       like the MinGW tools insert an extra _ in the binary symbol name; e.g.
+#	the path:
+#
+#	/d/px4/firmware/Build/px4fmu_default.build/romfs.img
+#
+#	is assigned symbols like:
+#
+#	_binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
+#
+#	when we would expect
+#
+#	_binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
+#
 define BIN_SYM_PREFIX
 	_binary_$(subst /,_,$(subst .,_,$1))
 endef
@@ -267,4 +281,5 @@ define BIN_TO_OBJ
 		--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
+	$(Q) $(REMOVE) $2.c $2.c.o
 endef