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Diffstat (limited to 'makefiles/module.mk')
| -rw-r--r-- | makefiles/module.mk | 165 |
1 files changed, 165 insertions, 0 deletions
diff --git a/makefiles/module.mk b/makefiles/module.mk new file mode 100644 index 000000000..306a9594f --- /dev/null +++ b/makefiles/module.mk @@ -0,0 +1,165 @@ +# +# Framework makefile for PX4 modules +# +# 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 +# symbols, as the global namespace is shared between all modules. Normally an +# module will just export one or more <command>_main functions. +# + +# +# Variables that can be set by the module's module.mk: +# +# +# SRCS (required) +# Lists the .c, cpp and .S files that should be compiled/assembled to +# produce the module. +# +# MODULE_NAME (optional) +# MODULE_ENTRYPOINT (optional if MODULE_NAME is set) +# MODULE_STACKSIZE (optional if MODULE_NAME is set) +# MODULE_PRIORITY (optional if MODULE_NAME is set) +# Defines a single builtin command exported by the module. +# MODULE_NAME must be unique for any configuration, but need not be the +# same as the module directory name. +# +# If MODULE_ENTRYPOINT is set, it names the function (which must be exported) +# that will be the entrypoint for the builtin command. It defaults to +# $(MODULE_NAME)_main. +# +# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be +# allocated for the builtin command. If it is not set, it defaults +# to CONFIG_PTHREAD_STACK_DEFAULT. +# +# If MODULE_PRIORITY is set, it is the thread priority for the builtin +# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT. +# +# MODULE_COMMANDS (optional) +# Defines builtin commands exported by the module. Each word in +# the list should be formatted as: +# <command>.<priority>.<stacksize>.<entrypoint> +# + +# +# Variables visible to the module's module.mk: +# +# CONFIG +# BOARD +# MODULE_WORK_DIR +# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file. +# Anything exported from config_$(CONFIG).mk +# + +################################################################################ +# No user-serviceable parts below. +################################################################################ + +ifeq ($(MODULE_MK),) +$(error No module makefile specified) +endif +$(info MODULE_MK $(MODULE_MK)) + +# +# Get path and tool config +# +include $(PX4_BASE)/makefiles/setup.mk + +# +# Get the board/toolchain config +# +include $(PX4_MK_DIR)/board_$(BOARD).mk + +# +# Get the module's config +# +include $(MODULE_MK) +MODULE_SRC := $(dir $(MODULE_MK)) +$(info MODULE_SRC $(MODULE_SRC)) +$(info MODULE_WORK_DIR $(MODULE_WORK_DIR)) + +# +# Things that, if they change, might affect everything +# +GLOBAL_DEPS += $(MAKEFILE_LIST) + +################################################################################ +# Builtin command definitions +################################################################################ + +ifneq ($(MODULE_NAME),) +MODULE_ENTRYPOINT ?= $(MODULE_NAME)_main +MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT +MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT +MODULE_COMMANDS += $(MODULE_NAME).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT) +endif + +ifneq ($(MODULE_COMMANDS),) +MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS)) + +.PHONY: $(MODULE_COMMAND_FILES) +$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS) + @echo COMMAND $(word 2,$(subst ., ,$(notdir $(@)))) + @mkdir -p $@ + $(Q) touch $@ +endif + +################################################################################ +# Build rules +################################################################################ + +# +# What we're going to build +# +module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES) + +# +# Locate sources (allows relative source paths in module.mk) +# +define SRC_SEARCH + $(abspath $(firstword $(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 +# +OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o) + +# +# SRCS -> OBJS rules +# + +$(OBJS): $(GLOBAL_DEPS) + +$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) + $(call COMPILE,$<,$@) + +$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) + $(call COMPILEXX,$<,$@) + +$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) + $(call ASSEMBLE,$<,$@) + +# +# Built product rules +# + +$(MODULE_OBJ): $(OBJS) $(GLOBAL_DEPS) + $(call PRELINK,$@,$(OBJS)) + +# +# Utility rules +# + +clean: + $(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS) |