px4dev
12 years ago
10 changed files with 370 additions and 79 deletions
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#
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# Framework makefile for PX4 applications
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#
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# This makefile is invoked by firmware.mk to build each of the applications
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# that will subsequently be linked into the firmware image.
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#
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# Applications are built as prelinked objects with a limited set of exported
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# symbols, as the global namespace is shared between all apps. Normally an
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# application will just export one or more <command>_main functions.
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#
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#
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# Variables that can be set by the application's app.mk:
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#
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#
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# SRCS (required)
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# Lists the .c, cpp and .S files that should be compiled/assembled to
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# produce the application.
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#
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# APP_NAME (optional)
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# APP_ENTRYPOINT (optional if APP_NAME is set)
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# APP_STACKSIZE (optional if APP_NAME is set)
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# APP_PRIORITY (optional if APP_NAME is set)
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# Defines a single builtin command exported by the application.
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# APP_NAME must be unique for any configuration, but need not be the
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# same as the app directory name.
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#
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# If APP_ENTRYPOINT is set, it names the function (which must be exported)
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# that will be the entrypoint for the builtin command. It defaults to
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# $(APP_NAME)_main.
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#
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# If APP_STACKSIZE is set, it is the size in bytes of the stack to be
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# allocated for the builtin command. If it is not set, it defaults
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# to CONFIG_PTHREAD_STACK_DEFAULT.
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#
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# If APP_PRIORITY is set, it is the thread priority for the builtin
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# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
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#
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# APP_COMMANDS (optional)
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# Defines builtin commands exported by the application. Each word in
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# the list should be formatted as:
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# <command>.<priority>.<stacksize>.<entrypoint>
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#
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#
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# Variables visible to the application's app.mk:
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#
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# CONFIG
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# BOARD
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# APP_WORK_DIR
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# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
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# Anything exported from config_$(CONFIG).mk
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#
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################################################################################
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# No user-serviceable parts below.
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################################################################################
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ifeq ($(APP_MK),) |
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$(error No application makefile specified) |
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endif |
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#
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# Get path and tool config
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#
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include $(PX4_BASE)/makefiles/setup.mk |
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#
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# Get the board/toolchain config
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#
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include $(PX4_MK_DIR)/board_$(BOARD).mk |
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#
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# Get the application's config
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#
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include $(APP_MK) |
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APP_SRC_DIR := $(dir $(APP_MK))
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#
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# Things that, if they change, might affect everything
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#
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GLOBAL_DEPS += $(MAKEFILE_LIST)
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################################################################################
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# Builtin command definitions
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################################################################################
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ifneq ($(APP_NAME),) |
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APP_ENTRYPOINT ?= $(APP_NAME)_main
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APP_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
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APP_PRIORITY ?= SCHED_PRIORITY_DEFAULT
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APP_COMMANDS += $(APP_NAME).$(APP_PRIORITY).$(APP_STACKSIZE).$(APP_ENTRYPOINT)
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endif |
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ifneq ($(APP_COMMANDS),) |
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APP_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(APP_COMMANDS))
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.PHONY: $(APP_COMMAND_FILES) |
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$(APP_COMMAND_FILES): $(GLOBAL_DEPS) |
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@echo %% registering: $(word 2,$(subst ., ,$(notdir $(@))))
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@mkdir -p $@
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$(Q) touch $@
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endif |
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################################################################################
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# Build rules
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################################################################################
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#
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# What we're going to build
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#
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app: $(APP_OBJ) $(APP_COMMAND_FILES) |
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#
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# Locate sources (allows relative source paths in app.mk)
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#
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define SRC_SEARCH |
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$(firstword $(wildcard $(APP_SRC_DIR)/$1) MISSING_$1)
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endef |
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ABS_SRCS := $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
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MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
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ifneq ($(MISSING_SRCS),) |
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$(error $(APP_MK): missing in SRCS: $(MISSING_SRCS)) |
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endif |
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ifeq ($(ABS_SRCS),) |
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$(error $(APP_MK): nothing to compile in SRCS) |
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endif |
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#
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# Object files we will generate from sources
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#
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OBJS := $(foreach src,$(ABS_SRCS),$(APP_WORK_DIR)/$(src).o)
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#
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# SRCS -> OBJS rules
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#
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$(OBJS): $(GLOBAL_DEPS) |
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$(filter %.c.o,$(OBJS)): $(APP_WORK_DIR)/%.c.o: %.c |
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$(call COMPILE,$<,$@)
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$(filter %.cpp.o,$(OBJS)): $(APP_WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) |
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$(call COMPILEXX,$<,$@)
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$(filter %.S.o,$(OBJS)): $(APP_WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) |
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$(call ASSEMBLE,$<,$@)
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#
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# Built product rules
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#
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$(APP_OBJ): $(OBJS) $(GLOBAL_DEPS) |
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$(call PRELINK,$@,$(OBJS))
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#
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# Utility rules
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#
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clean: |
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$(Q) $(REMOVE) $(APP_PRELINK) $(OBJS)
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@ -0,0 +1,40 @@
@@ -0,0 +1,40 @@
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#
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# Rules and definitions related to handling the NuttX export archives when
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# building firmware.
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#
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#
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# Check that the NuttX archive for the selected board is available.
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#
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NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)/$(BOARD).export)
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ifeq ($(NUTTX_ARCHIVE),) |
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$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) |
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endif |
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#
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# The NuttX config header should always be present in the NuttX archive, and
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# if it changes, everything should be rebuilt. So, use it as the trigger to
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# unpack the NuttX archive.
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#
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NUTTX_EXPORT_DIR = $(WORK_DIR)/nuttx-export
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NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h
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GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER)
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#
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# Use the linker script from the NuttX export
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#
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LDSCRIPT = $(NUTTX_EXPORT_DIR)/build/ld.script
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#
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# Add directories from the NuttX export to the relevant search paths
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#
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INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)/include
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LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs
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LIBS += -lapps -lnuttx
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LINK_DEPS += $(NUTTX_EXPORT_DIR)/libs/libapps.a \
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$(NUTTX_EXPORT_DIR)/libs/libnuttx.a
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$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) |
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@echo %% Unpacking $(NUTTX_ARCHIVE)
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$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
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$(Q) touch $@
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@ -0,0 +1,4 @@
@@ -0,0 +1,4 @@
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APP_NAME = test
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SRCS = foo.c
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