Get a bit fancier with the builtin app specifications, so that we can generate them from apps as well as the config.

makefiles/config_px4fmu_default.mk

@@ -6,4 +6,9 @@ CONFIG		 = px4fmu_default
 SRCS		 = $(PX4_BASE)/platforms/empty.c
 ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/$(CONFIG)
 
+# Commands from the NuttX export archive
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint>
+BUILTIN_COMMANDS = perf.SCHED_PRIORITY_DEFAULT.CONFIG_PTHREAD_STACK_DEFAULT.perf_main
+
 include $(PX4_MK_DIR)/firmware.mk

makefiles/firmware.mk

@@ -165,18 +165,45 @@ endif
 #
 # 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.
+#
+# 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
 
+# add command definitions from apps
+BUILTIN_COMMANDS	+= $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)/builtin_commands/APP.*)))
+
+# (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
+
 $(BUILTIN_CSRC):	$(MAKEFILE_LIST)
 	@echo %% generating $@
 	$(Q) echo '/* builtin command list - automatically generated, do not edit */' > $@
 	$(Q) echo '#include <nuttx/config.h>' >> $@
 	$(Q) echo '#include <nuttx/binfmt/builtin.h>' >> $@
-	$(Q) $(foreach app,$(APPS),echo 'extern int $(app)_main(int argc, char *argv[]);' >> $@;)
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
 	$(Q) echo 'const struct builtin_s g_builtins[] = {' >> $@
-	$(Q) $(foreach app,$(APPS),echo '    {"$(app)", SCHED_PRIORITY_DEFAULT, CONFIG_PTHREAD_STACK_DEFAULT, $(app)_main},' >> $@;)
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) echo '    {NULL, 0, 0, NULL}' >> $@
 	$(Q) echo '};' >> $@
-	$(Q) echo 'const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);' >> $@
+	$(Q) echo 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@
 
 BUILTIN_OBJ		 = $(BUILTIN_CSRC:.c=.o)
 LIBS			+= $(BUILTIN_OBJ)