diff options
Diffstat (limited to 'makefiles/firmware.mk')
| -rw-r--r-- | makefiles/firmware.mk | 200 |
1 files changed, 139 insertions, 61 deletions
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index a6c7e0f48..9a98d2bc6 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -1,8 +1,5 @@ # -# Generic Makefile for PX4 firmware. -# -# Currently this assumes that we're just compiling SRCS -# and then linking the whole thing together. +# Generic Makefile for PX4 firmware images. # # Requires: # @@ -12,6 +9,39 @@ # # Optional: # +# APPS +# Contains a list of application paths or path fragments used +# to find applications. The names listed here are searched in +# the following directories: +# <absolute path> +# $(APP_SEARCH_DIRS) +# WORK_DIR +# APP_SRC +# PX4_APP_SRC +# +# Application directories are expected to contain an 'app.mk' +# file which provides build configuration for the app. See +# application.mk for more details. +# +# LIBS +# Contains a list of library paths or path fragments used +# to find libraries. The names listed here are searched in the +# following directories: +# <absolute path> +# $(LIB_SEARCH_DIRS) +# WORK_DIR +# LIB_SRC +# PX4_LIB_SRC +# +# Library directories are expected to contain a 'lib.mk' +# file which provides build configuration for the library. See +# library.mk for more details. +# +# BUILTIN_COMMANDS +# Contains a list of built-in commands not explicitly provided +# by applications / libraries. Each entry in this list is formatted +# as <command>.<priority>.<stacksize>.<entrypoint> +# # PX4_BASE: # Points to a PX4 distribution. Normally determined based on the # path to this file. @@ -29,6 +59,14 @@ # containing the files under the directory and linked into the final # image. # +# APP_SEARCH_DIRS: +# Extra directories to search first for APPS before looking in the +# usual places. +# +# LIB_SEARCH_DIRS: +# Extra directories to search first for LIBS before looking in the +# usual places. +# ################################################################################ # Paths and configuration @@ -41,40 +79,66 @@ # If PX4_BASE wasn't set previously, work out what it should be # and set it here now. # -export MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) +MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) ifeq ($(PX4_BASE),) export PX4_BASE := $(abspath $(MK_DIR)/..) $(info %% set PX4_BASE to $(PX4_BASE)) endif # +# Set a default target so that included makefiles or errors here don't +# cause confusion. +# +# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one +# of the maintenance targets and set CONFIG based on it. +# +all: firmware + +# # Get path and tool config # include $(MK_DIR)/setup.mk # -# If WORK_DIR is not set, create a 'build' directory next to the -# parent Makefile. +# Locate the configuration file # -PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST))) -ifeq ($(WORK_DIR),) -export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build +ifeq ($(CONFIG),) +$(error Missing configuration name or file (specify with CONFIG=<config>)) endif -$(info %% WORK_DIR $(WORK_DIR)) +CONFIG_FILE := $(firstword $(wildcard $(CONFIG)) $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)) +ifeq ($(CONFIG_FILE),) +$(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONFIG).mk) +endif +export CONFIG +include $(CONFIG_FILE) +$(info %% CONFIG $(CONFIG)) # # Sanity-check the BOARD variable and then get the board config. -# If BOARD is not set, but CONFIG is, use that. +# If BOARD was not set by the configuration, extract it automatically. # # The board config in turn will fetch the toolchain configuration. # ifeq ($(BOARD),) -ifeq ($(CONFIG),) -$(error At least one of the BOARD or CONFIG variables must be set before including firmware.mk) +BOARD := $(firstword $(subst _, ,$(CONFIG))) endif -BOARD := $(firstword $(subst _, ,$(CONFIG))) +BOARD_FILE := $(wildcard $(PX4_MK_DIR)/board_$(BOARD).mk) +ifeq ($(BOARD_FILE),) +$(error Config $(CONFIG) references board $(BOARD), but no board definition file found) endif -include $(PX4_MK_DIR)/board_$(BOARD).mk +export BOARD +include $(BOARD_FILE) +$(info %% BOARD $(BOARD)) + +# +# If WORK_DIR is not set, create a 'build' directory next to the +# parent Makefile. +# +PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST))) +ifeq ($(WORK_DIR),) +export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build +endif +$(info %% WORK_DIR $(WORK_DIR)) # # Things that, if they change, might affect everything @@ -82,43 +146,60 @@ include $(PX4_MK_DIR)/board_$(BOARD).mk GLOBAL_DEPS += $(MAKEFILE_LIST) ################################################################################ -# NuttX libraries and paths +# Applications ################################################################################ -# -# Check that the NuttX archive for the selected board is available. -# -NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)/$(BOARD).export) -ifeq ($(NUTTX_ARCHIVE),) -$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) -endif +# where to look for applications +APP_SEARCH_DIRS += $(WORK_DIR) $(APP_SRC) $(PX4_APP_SRC) -# -# The NuttX config header should always be present in the NuttX archive, and -# if it changes, everything should be rebuilt. So, use it as the trigger to -# unpack the NuttX archive. -# -NUTTX_EXPORT_DIR = $(WORK_DIR)/nuttx-export -NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h -GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER) +# sort and unique the apps list +APPS := $(sort $(APPS)) -# -# Use the linker script from the NuttX export -# -LDSCRIPT = $(NUTTX_EXPORT_DIR)/build/ld.script +# locate the first instance of an app by full path or by looking on the +# application search path +define APP_SEARCH + $(firstword $(wildcard $(1)/app.mk) \ + $(foreach search_dir,$(APP_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/app.mk)) \ + MISSING_$1) +endef -# -# Add directories from the NuttX export to the relevant search paths -# -INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)/include -LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs -LIBS += -lapps -lnuttx -LINK_DEPS += $(wildcard $(addsuffix /*.a,$(LIB_DIRS))) +APP_MKFILES := $(foreach app,$(APPS),$(call APP_SEARCH,$(app))) +MISSING_APPS := $(subst MISSING_,,$(filter MISSING_%,$(APP_MKFILES))) +ifneq ($(MISSING_APPS),) +$(error Can't find application(s): $(MISSING_APPS)) +endif + +APP_OBJS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/app.pre.o) + +$(APP_OBJS): relpath = $(patsubst $(WORK_DIR)/%,%,$@) +$(APP_OBJS): mkfile = $(patsubst %/app.pre.o,%/app.mk,$(relpath)) +$(APP_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) + @echo %% + @echo %% Building app in $(relpath) using $(mkfile) + @echo %% + $(Q) make -f $(PX4_MK_DIR)/application.mk \ + APP_WORK_DIR=$(dir $@) \ + APP_OBJ=$@ \ + APP_MK=$(mkfile) \ + app + +APP_CLEANS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/clean) + +.PHONY: $(APP_CLEANS) +$(APP_CLEANS): relpath = $(patsubst $(WORK_DIR)/%,%,$@) +$(APP_CLEANS): mkfile = $(patsubst %/clean,%/app.mk,$(relpath)) +$(APP_CLEANS): + @echo %% cleaning using $(mkfile) + $(Q) make -f $(PX4_MK_DIR)/application.mk \ + APP_WORK_DIR=$(dir $@) \ + APP_MK=$(mkfile) \ + clean -$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) - @echo %% Unpacking $(NUTTX_ARCHIVE) - $(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE) - $(Q) touch $@ +################################################################################ +# NuttX libraries and paths +################################################################################ + +include $(PX4_MK_DIR)/nuttx.mk ################################################################################ # ROMFS generation @@ -149,7 +230,7 @@ $(ROMFS_CSRC): $(ROMFS_IMG) @echo %% generating $@ $(Q) (cd $(dir $<) && xxd -i $(notdir $<)) > $@ -$(ROMFS_IMG): $(ROMFS_DEPS) +$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS) @echo %% generating $@ $(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" @@ -163,8 +244,6 @@ endif # Note that we can't just put builtin_commands.c in SRCS, as it's depended on by the # NuttX export library. Instead, we have to treat it like a library. # -# XXX need to fix stack size numbers here so that apps can set them. -# # Builtin commands can be generated by the configuration, in which case they # must refer to commands that already exist, or indirectly generated by applications # when they are built. @@ -181,7 +260,7 @@ endif BUILTIN_CSRC = $(WORK_DIR)/builtin_commands.c # add command definitions from apps -BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)/builtin_commands/APP.*))) +BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)/builtin_commands/COMMAND.*))) # (BUILTIN_PROTO,<cmdspec>,<outputfile>) define BUILTIN_PROTO @@ -193,7 +272,7 @@ define BUILTIN_DEF echo ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2; endef -$(BUILTIN_CSRC): $(MAKEFILE_LIST) +$(BUILTIN_CSRC): $(GLOBAL_DEPS) @echo %% generating $@ $(Q) echo '/* builtin command list - automatically generated, do not edit */' > $@ $(Q) echo '#include <nuttx/config.h>' >> $@ @@ -209,7 +288,7 @@ BUILTIN_OBJ = $(BUILTIN_CSRC:.c=.o) LIBS += $(BUILTIN_OBJ) LINK_DEPS += $(BUILTIN_OBJ) -$(BUILTIN_OBJ): $(BUILTIN_CSRC) $(GLOBAL_DEPS) +$(BUILTIN_OBJ): $(BUILTIN_CSRC) $(Q) $(call COMPILE,$<,$@) ################################################################################ @@ -239,7 +318,7 @@ PRODUCT_BUNDLE = $(WORK_DIR)/firmware.px4 PRODUCT_BIN = $(WORK_DIR)/firmware.bin PRODUCT_SYM = $(WORK_DIR)/firmware.sym -.PHONY: all +.PHONY: firmware firmware: $(PRODUCT_BUNDLE) # @@ -254,15 +333,12 @@ OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o) $(OBJS): $(GLOBAL_DEPS) $(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c - @mkdir -p $(dir $@) $(call COMPILE,$<,$@) $(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) - @mkdir -p $(dir $@) $(call COMPILEXX,$<,$@) $(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) - @mkdir -p $(dir $@) $(call ASSEMBLE,$<,$@) # @@ -278,21 +354,23 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN) $(PRODUCT_BIN): $(PRODUCT_SYM) $(call SYM_TO_BIN,$<,$@) -$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) - $(call LINK,$@,$(OBJS)) +$(PRODUCT_SYM): $(OBJS) $(APP_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(APP_MKFILES) + $(call LINK,$@,$(OBJS) $(APP_OBJS)) # # Utility rules # +.PHONY: upload upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) - $(Q) make -f $(PX4_MK_INCLUDE)/upload.mk \ + $(Q) make -f $(PX4_MK_DIR)/upload.mk \ METHOD=serial \ PRODUCT=$(PRODUCT) \ BUNDLE=$(PRODUCT_BUNDLE) \ BIN=$(PRODUCT_BIN) -clean: +.PHONY: clean +clean: $(APP_CLEANS) @echo %% cleaning $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM) $(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) |