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Diffstat (limited to 'makefiles/firmware.mk')
| -rw-r--r-- | makefiles/firmware.mk | 450 |
1 files changed, 450 insertions, 0 deletions
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk new file mode 100644 index 000000000..497e79237 --- /dev/null +++ b/makefiles/firmware.mk @@ -0,0 +1,450 @@ +# +# Copyright (C) 2012 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. +# + +# +# Generic Makefile for PX4 firmware images. +# +# Requires: +# +# BOARD +# Must be set to a board name known to the PX4 distribution (as +# we need a corresponding NuttX export archive to link with). +# +# Optional: +# +# 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> +# $(MODULE_SEARCH_DIRS) +# WORK_DIR +# MODULE_SRC +# PX4_MODULE_SRC +# +# 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 modules / 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. +# +# CONFIG: +# Used when searching for the configuration file, and available +# to module Makefiles to select optional features. +# If not set, CONFIG_FILE must be set and CONFIG will be derived +# automatically from it. +# +# CONFIG_FILE: +# If set, overrides the configuration file search logic. Sets +# CONFIG to the name of the configuration file, strips any +# leading config_ prefix and any suffix. e.g. config_board_foo.mk +# results in CONFIG being set to 'board_foo'. +# +# WORK_DIR: +# Sets the directory in which the firmware will be built. Defaults +# to the directory 'build' under the directory containing the +# parent Makefile. +# +# ROMFS_ROOT: +# If set to the path to a directory, a ROMFS image will be generated +# containing the files under the directory and linked into the final +# image. +# +# MODULE_SEARCH_DIRS: +# Extra directories to search first for MODULES before looking in the +# usual places. +# + +################################################################################ +# Paths and configuration +################################################################################ + +# +# Work out where this file is, so we can find other makefiles in the +# same directory. +# +# If PX4_BASE wasn't set previously, work out what it should be +# and set it here now. +# +MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) +ifeq ($(PX4_BASE),) +export PX4_BASE := $(abspath $(MK_DIR)/..) +endif +$(info % PX4_BASE = $(PX4_BASE)) +ifneq ($(words $(PX4_BASE)),1) +$(error Cannot build when the PX4_BASE path contains one or more space characters.) +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 $(MK_DIR)/setup.mk + +# +# Locate the configuration file +# +ifneq ($(CONFIG_FILE),) +CONFIG := $(subst config_,,$(basename $(notdir $(CONFIG_FILE)))) +else +CONFIG_FILE := $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk) +endif +ifeq ($(CONFIG),) +$(error Missing configuration name or file (specify with CONFIG=<config>)) +endif +export CONFIG +include $(CONFIG_FILE) +$(info % CONFIG = $(CONFIG)) + +# +# Sanity-check the BOARD variable and then get the board config. +# If BOARD was not set by the configuration, extract it automatically. +# +# The board config in turn will fetch the toolchain configuration. +# +ifeq ($(BOARD),) +BOARD := $(firstword $(subst _, ,$(CONFIG))) +endif +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 +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 +# +GLOBAL_DEPS += $(MAKEFILE_LIST) + +# +# Extra things we should clean +# +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) + +# sort and unique the modules list +MODULES := $(sort $(MODULES)) + +# locate the first instance of a module by full path or by looking on the +# module search path +define MODULE_SEARCH + $(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 +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 + +# Make a list of the object files we expect to build from modules +# 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 module.mk file correct. +# +MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o) + +# 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): workdir = $(@D) +$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) + $(Q) $(MKDIR) -p $(workdir) + $(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \ + -C $(workdir) \ + MODULE_WORK_DIR=$(workdir) \ + MODULE_OBJ=$@ \ + MODULE_MK=$(mkfile) \ + MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \ + 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) -r -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_MK=$(mkfile) \ + clean + +################################################################################ +# NuttX libraries and paths +################################################################################ + +include $(PX4_MK_DIR)/nuttx.mk + +################################################################################ +# ROMFS generation +################################################################################ + +ifneq ($(ROMFS_ROOT),) +ifeq ($(wildcard $(ROMFS_ROOT)),) +$(error ROMFS_ROOT specifies a directory that does not exist) +endif + +# +# Note that there is no support for more than one root directory or constructing +# a root from several templates. That would be a nice feature. +# + +# Add dependencies on anything in the ROMFS root +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) +LINK_DEPS += $(ROMFS_OBJ) + +# Turn the ROMFS image into an object file +$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) + $(call BIN_TO_OBJ,$<,$@,romfs_img) + +# Generate the ROMFS image from the root +$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS) + @$(ECHO) "ROMFS: $@" + $(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" + +EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG) + +endif + +################################################################################ +# Builtin command list generation +################################################################################ + +# +# Builtin commands can be generated by the configuration, in which case they +# 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 +# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose +# filename contains the same information. +# +# In each case, the command information consists of four fields separated with a +# period. These fields are the command's name, its thread priority, its stack size +# and the name of the function to call when starting the thread. +# +BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c + +# command definitions from modules (may be empty at Makefile parsing time...) +MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*))) + +# We must have at least one pre-defined builtin command in order to generate +# any of this. +# +ifneq ($(BUILTIN_COMMANDS),) + +# (BUILTIN_PROTO,<cmdspec>,<outputfile>) +define BUILTIN_PROTO + $(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2; +endef + +# (BUILTIN_DEF,<cmdspec>,<outputfile>) +define BUILTIN_DEF + $(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2; +endef + +# Don't generate until modules have updated their command files +$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES) + @$(ECHO) "CMDS: $@" + $(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@ + $(Q) $(ECHO) '#include <nuttx/config.h>' >> $@ + $(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@ + $(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) + $(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) + $(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@ + $(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) + $(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) + $(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@ + $(Q) $(ECHO) '};' >> $@ + $(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@ + +SRCS += $(BUILTIN_CSRC) + +EXTRA_CLEANS += $(BUILTIN_CSRC) + +endif + +################################################################################ +# Default SRCS generation +################################################################################ + +# +# If there are no SRCS, the build will fail; in that case, generate an empty +# source file. +# +ifeq ($(SRCS),) +EMPTY_SRC = $(WORK_DIR)empty.c +$(EMPTY_SRC): + $(Q) $(ECHO) '/* this is an empty file */' > $@ + +SRCS += $(EMPTY_SRC) +endif + +################################################################################ +# Build rules +################################################################################ + +# +# What we're going to build. +# +PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 +PRODUCT_BIN = $(WORK_DIR)firmware.bin +PRODUCT_ELF = $(WORK_DIR)firmware.elf + +.PHONY: firmware +firmware: $(PRODUCT_BUNDLE) + +# +# Object files we will generate from sources +# +OBJS := $(foreach src,$(SRCS),$(WORK_DIR)$(src).o) + +# +# SRCS -> OBJS rules +# + +$(OBJS): $(GLOBAL_DEPS) + +$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) + $(call COMPILE,$<,$@) + +$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) + $(call COMPILEXX,$<,$@) + +$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) + $(call ASSEMBLE,$<,$@) + +# +# Built product rules +# + +$(PRODUCT_BUNDLE): $(PRODUCT_BIN) + @$(ECHO) %% Generating $@ + $(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ + --git_identity $(PX4_BASE) \ + --image $< > $@ + +$(PRODUCT_BIN): $(PRODUCT_ELF) + $(call SYM_TO_BIN,$<,$@) + +$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES) + $(call LINK,$@,$(OBJS) $(MODULE_OBJS)) + +# +# Utility rules +# + +.PHONY: upload +upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) + $(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \ + METHOD=serial \ + CONFIG=$(CONFIG) \ + BOARD=$(BOARD) \ + BUNDLE=$(PRODUCT_BUNDLE) \ + BIN=$(PRODUCT_BIN) + +.PHONY: clean +clean: $(MODULE_CLEANS) + @$(ECHO) %% cleaning + $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF) + $(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS) + $(Q) $(RMDIR) $(NUTTX_EXPORT_DIR) + + +# +# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS) +# +-include $(DEP_INCLUDES) |