diff options
Diffstat (limited to 'makefiles/firmware.mk')
| -rw-r--r-- | makefiles/firmware.mk | 172 |
1 files changed, 86 insertions, 86 deletions
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 9a98d2bc6..1b6a1cdef 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -9,37 +9,23 @@ # # Optional: # -# APPS -# Contains a list of application paths or path fragments used -# to find applications. The names listed here are searched in +# MODULES +# Contains a list of module paths or path fragments used +# to find modules. The names listed here are searched in # the following directories: # <absolute path> -# $(APP_SEARCH_DIRS) +# $(MODULE_SEARCH_DIRS) # WORK_DIR -# APP_SRC -# PX4_APP_SRC +# MODULE_SRC +# PX4_MODULE_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. +# Application directories are expected to contain a module.mk +# file which provides build configuration for the module. See +# makefiles/module.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 +# by modules / libraries. Each entry in this list is formatted # as <command>.<priority>.<stacksize>.<entrypoint> # # PX4_BASE: @@ -59,12 +45,8 @@ # 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 +# MODULE_SEARCH_DIRS: +# Extra directories to search first for MODULES before looking in the # usual places. # @@ -82,8 +64,8 @@ MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) ifeq ($(PX4_BASE),) export PX4_BASE := $(abspath $(MK_DIR)/..) -$(info %% set PX4_BASE to $(PX4_BASE)) endif +$(info PX4_BASE $(PX4_BASE)) # # Set a default target so that included makefiles or errors here don't @@ -111,7 +93,7 @@ $(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONF endif export CONFIG include $(CONFIG_FILE) -$(info %% CONFIG $(CONFIG)) +$(info CONFIG $(CONFIG)) # # Sanity-check the BOARD variable and then get the board config. @@ -128,7 +110,7 @@ $(error Config $(CONFIG) references board $(BOARD), but no board definition file endif export BOARD include $(BOARD_FILE) -$(info %% BOARD $(BOARD)) +$(info BOARD $(BOARD)) # # If WORK_DIR is not set, create a 'build' directory next to the @@ -136,9 +118,9 @@ $(info %% BOARD $(BOARD)) # PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST))) ifeq ($(WORK_DIR),) -export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build +export WORK_DIR := $(dir $(PARENT_MAKEFILE))build/ endif -$(info %% WORK_DIR $(WORK_DIR)) +$(info WORK_DIR $(WORK_DIR)) # # Things that, if they change, might affect everything @@ -146,53 +128,71 @@ $(info %% WORK_DIR $(WORK_DIR)) GLOBAL_DEPS += $(MAKEFILE_LIST) ################################################################################ -# Applications +# Modules ################################################################################ -# where to look for applications -APP_SEARCH_DIRS += $(WORK_DIR) $(APP_SRC) $(PX4_APP_SRC) +# +# We don't actually know what a moldule 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) -# sort and unique the apps list -APPS := $(sort $(APPS)) +# sort and unique the modules list +MODULES := $(sort $(MODULES)) -# 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) +# 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)) endef -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)) +# make a list of module makefiles and check that we found them all +MODULE_MKFILES := $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module))) +MISSING_MODULES := $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES))) +ifneq ($(MISSING_MODULES),) +$(error Can't find module(s): $(MISSING_MODULES)) endif -APP_OBJS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/app.pre.o) +# make a list of the object files we expect to build from modules +MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o) -$(APP_OBJS): relpath = $(patsubst $(WORK_DIR)/%,%,$@) -$(APP_OBJS): mkfile = $(patsubst %/app.pre.o,%/app.mk,$(relpath)) -$(APP_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) +# rules to build module objects +.PHONY: $(MODULE_OBJS) +$(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@) +$(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath)) +$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) @echo %% - @echo %% Building app in $(relpath) using $(mkfile) + @echo %% Building module 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): + $(Q) make -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_OBJ=$@ \ + MODULE_MK=$(mkfile) \ + module + +# make a list of phony clean targets for modules +MODULE_CLEANS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean) + +# rules to clean modules +.PHONY: $(MODULE_CLEANS) +$(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@) +$(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath)) +$(MODULE_CLEANS): @echo %% cleaning using $(mkfile) - $(Q) make -f $(PX4_MK_DIR)/application.mk \ - APP_WORK_DIR=$(dir $@) \ - APP_MK=$(mkfile) \ + $(Q) make -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_MK=$(mkfile) \ clean ################################################################################ @@ -217,7 +217,7 @@ ROMFS_DEPS += $(wildcard \ (ROMFS_ROOT)/*/*/*/* \ (ROMFS_ROOT)/*/*/*/*/* \ (ROMFS_ROOT)/*/*/*/*/*/*) -ROMFS_IMG = $(WORK_DIR)/romfs.img +ROMFS_IMG = $(WORK_DIR)romfs.img ROMFS_CSRC = $(ROMFS_IMG:.img=.c) ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) @@ -245,7 +245,7 @@ endif # NuttX export library. Instead, we have to treat it like a library. # # Builtin commands can be generated by the configuration, in which case they -# must refer to commands that already exist, or indirectly generated by applications +# must refer to commands that already exist, or indirectly generated by modules # when they are built. # # The configuration supplies builtin command information in the BUILTIN_COMMANDS @@ -257,10 +257,10 @@ endif # and the name of the function to call when starting the thread. # # -BUILTIN_CSRC = $(WORK_DIR)/builtin_commands.c +BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c -# add command definitions from apps -BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)/builtin_commands/COMMAND.*))) +# add command definitions from modules +BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*))) # (BUILTIN_PROTO,<cmdspec>,<outputfile>) define BUILTIN_PROTO @@ -300,7 +300,7 @@ $(BUILTIN_OBJ): $(BUILTIN_CSRC) # source file. # ifeq ($(SRCS),) -EMPTY_SRC = $(WORK_DIR)/empty.c +EMPTY_SRC = $(WORK_DIR)empty.c $(EMPTY_SRC): $(Q) echo '/* this is an empty file */' > $@ @@ -314,9 +314,9 @@ endif # # What we're going to build. # -PRODUCT_BUNDLE = $(WORK_DIR)/firmware.px4 -PRODUCT_BIN = $(WORK_DIR)/firmware.bin -PRODUCT_SYM = $(WORK_DIR)/firmware.sym +PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 +PRODUCT_BIN = $(WORK_DIR)firmware.bin +PRODUCT_SYM = $(WORK_DIR)firmware.sym .PHONY: firmware firmware: $(PRODUCT_BUNDLE) @@ -324,7 +324,7 @@ firmware: $(PRODUCT_BUNDLE) # # Object files we will generate from sources # -OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o) +OBJS := $(foreach src,$(SRCS),$(WORK_DIR)$(src).o) # # SRCS -> OBJS rules @@ -332,13 +332,13 @@ OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o) $(OBJS): $(GLOBAL_DEPS) -$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c +$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) $(call COMPILE,$<,$@) -$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) +$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) $(call COMPILEXX,$<,$@) -$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) +$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) $(call ASSEMBLE,$<,$@) # @@ -354,8 +354,8 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN) $(PRODUCT_BIN): $(PRODUCT_SYM) $(call SYM_TO_BIN,$<,$@) -$(PRODUCT_SYM): $(OBJS) $(APP_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(APP_MKFILES) - $(call LINK,$@,$(OBJS) $(APP_OBJS)) +$(PRODUCT_SYM): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES) + $(call LINK,$@,$(OBJS) $(MODULE_OBJS)) # # Utility rules @@ -370,7 +370,7 @@ upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) BIN=$(PRODUCT_BIN) .PHONY: clean -clean: $(APP_CLEANS) +clean: $(MODULE_CLEANS) @echo %% cleaning $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM) $(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) |