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Diffstat (limited to 'makefiles/module.mk')
| -rw-r--r-- | makefiles/module.mk | 230 |
1 files changed, 230 insertions, 0 deletions
diff --git a/makefiles/module.mk b/makefiles/module.mk new file mode 100644 index 000000000..0fe6f0ffe --- /dev/null +++ b/makefiles/module.mk @@ -0,0 +1,230 @@ +# +# Copyright (c) 2012, 2013 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. +# + +# +# 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_COMMAND (optional) +# MODULE_ENTRYPOINT (optional if MODULE_COMMAND is set) +# MODULE_STACKSIZE (optional if MODULE_COMMAND is set) +# MODULE_PRIORITY (optional if MODULE_COMMAND is set) +# +# Defines a single builtin command exported by the module. +# MODULE_COMMAND 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 +# $(MODULE_COMMAND)_main. +# +# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be +# allocated for the builtin command. If it is not set, it defaults +# to CONFIG_PTHREAD_STACK_DEFAULT. +# +# If MODULE_PRIORITY is set, it is the thread priority for the builtin +# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT. +# +# MODULE_COMMANDS (optional if MODULE_COMMAND is not set) +# +# Defines builtin commands exported by the module. Each word in +# the list should be formatted as: +# <command>.<priority>.<stacksize>.<entrypoint> +# +# INCLUDE_DIRS (optional, must be appended) +# +# The list of directories searched for include files. If non-standard +# includes (e.g. those from another module) are required, paths to search +# can be added here. +# +# DEFAULT_VISIBILITY (optional) +# +# If not set, global symbols defined in a module will not be visible +# outside the module. Symbols that should be globally visible must be +# marked __EXPORT. +# If set, global symbols defined in a module will be globally visible. +# + +# +# Variables visible to the module's module.mk: +# +# CONFIG +# BOARD +# MODULE_WORK_DIR +# MODULE_OBJ +# MODULE_MK +# Anything set in setup.mk, board_$(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 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_NAME = $(MODULE_NAME)) +$(info % MODULE_SRC = $(MODULE_SRC)) +$(info % MODULE_OBJ = $(MODULE_OBJ)) +$(info % MODULE_WORK_DIR = $(MODULE_WORK_DIR)) + +# +# Things that, if they change, might affect everything +# +GLOBAL_DEPS += $(MAKEFILE_LIST) + +################################################################################ +# Builtin command definitions +################################################################################ + +ifneq ($(MODULE_COMMAND),) +MODULE_ENTRYPOINT ?= $(MODULE_COMMAND)_main +MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT +MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT +MODULE_COMMANDS += $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT) +endif + +ifneq ($(MODULE_COMMANDS),) +MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS)) + +# Create the command files +# Ensure that there is only one entry for each command +# +.PHONY: $(MODULE_COMMAND_FILES) +$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@)))) +$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).* +$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS) + @$(REMOVE) -f $(exclude) + @$(MKDIR) -p $(dir $@) + @$(ECHO) "CMD: $(command)" + $(Q) $(TOUCH) $@ +endif + +################################################################################ +# Adjust compilation flags to implement EXPORT +################################################################################ + +ifeq ($(DEFAULT_VISIBILITY),) +DEFAULT_VISIBILITY = hidden +else +DEFAULT_VISIBILITY = default +endif + +CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h +CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h + +################################################################################ +# 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 $1) $(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) |