You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
304 lines
8.6 KiB
304 lines
8.6 KiB
# |
|
# Generic Makefile for PX4 firmware. |
|
# |
|
# Currently this assumes that we're just compiling SRCS |
|
# and then linking the whole thing together. |
|
# |
|
# 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: |
|
# |
|
# PX4_BASE: |
|
# Points to a PX4 distribution. Normally determined based on the |
|
# path to this file. |
|
# |
|
# CONFIG: |
|
# Used to set the output filename; defaults to 'firmware'. |
|
# |
|
# 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. |
|
# |
|
|
|
################################################################################ |
|
# 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. |
|
# |
|
export MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) |
|
ifeq ($(PX4_BASE),) |
|
export PX4_BASE := $(abspath $(MK_DIR)/..) |
|
$(info %% set PX4_BASE to $(PX4_BASE)) |
|
endif |
|
|
|
# |
|
# Get path and tool config |
|
# |
|
include $(MK_DIR)/setup.mk |
|
|
|
# |
|
# 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 $(WORK_DIR)) |
|
|
|
# |
|
# Sanity-check the BOARD variable and then get the board config. |
|
# If BOARD is not set, but CONFIG is, use that. |
|
# |
|
# The board config in turn will fetch the toolchain configuration. |
|
# |
|
ifeq ($(BOARD),) |
|
ifeq ($(CONFIG),) |
|
$(error At least one of the BOARD or CONFIG variables must be set before including firmware.mk) |
|
endif |
|
BOARD := $(firstword $(subst _, ,$(CONFIG))) |
|
endif |
|
include $(PX4_MK_DIR)/board_$(BOARD).mk |
|
|
|
# |
|
# Things that, if they change, might affect everything |
|
# |
|
GLOBAL_DEPS += $(MAKEFILE_LIST) |
|
|
|
################################################################################ |
|
# NuttX libraries and paths |
|
################################################################################ |
|
|
|
# |
|
# Check that the NuttX archive for the selected board is available. |
|
# |
|
NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)/$(BOARD).export) |
|
ifeq ($(NUTTX_ARCHIVE),) |
|
$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) |
|
endif |
|
|
|
# |
|
# The NuttX config header should always be present in the NuttX archive, and |
|
# if it changes, everything should be rebuilt. So, use it as the trigger to |
|
# unpack the NuttX archive. |
|
# |
|
NUTTX_EXPORT_DIR = $(WORK_DIR)/nuttx-export |
|
NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h |
|
GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER) |
|
|
|
# |
|
# Use the linker script from the NuttX export |
|
# |
|
LDSCRIPT = $(NUTTX_EXPORT_DIR)/build/ld.script |
|
|
|
# |
|
# Add directories from the NuttX export to the relevant search paths |
|
# |
|
INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)/include |
|
LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs |
|
LIBS += -lapps -lnuttx |
|
LINK_DEPS += $(wildcard $(addsuffix /*.a,$(LIB_DIRS))) |
|
|
|
$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) |
|
@echo %% Unpacking $(NUTTX_ARCHIVE) |
|
$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE) |
|
$(Q) touch $@ |
|
|
|
################################################################################ |
|
# ROMFS generation |
|
################################################################################ |
|
|
|
# |
|
# Note that we can't just put romfs.c in SRCS, as it's depended on by the |
|
# NuttX export library. Instead, we have to treat it like a library. |
|
# |
|
ifneq ($(ROMFS_ROOT),) |
|
ROMFS_DEPS += $(wildcard \ |
|
(ROMFS_ROOT)/* \ |
|
(ROMFS_ROOT)/*/* \ |
|
(ROMFS_ROOT)/*/*/* \ |
|
(ROMFS_ROOT)/*/*/*/* \ |
|
(ROMFS_ROOT)/*/*/*/*/* \ |
|
(ROMFS_ROOT)/*/*/*/*/*/*) |
|
ROMFS_IMG = $(WORK_DIR)/romfs.img |
|
ROMFS_CSRC = $(ROMFS_IMG:.img=.c) |
|
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) |
|
LIBS += $(ROMFS_OBJ) |
|
LINK_DEPS += $(ROMFS_OBJ) |
|
|
|
$(ROMFS_OBJ): $(ROMFS_CSRC) |
|
$(Q) $(call COMPILE,$<,$@) |
|
|
|
$(ROMFS_CSRC): $(ROMFS_IMG) |
|
@echo %% generating $@ |
|
$(Q) (cd $(dir $<) && xxd -i $(notdir $<)) > $@ |
|
|
|
$(ROMFS_IMG): $(ROMFS_DEPS) |
|
@echo %% generating $@ |
|
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" |
|
|
|
endif |
|
|
|
################################################################################ |
|
# Builtin command list generation |
|
################################################################################ |
|
|
|
# |
|
# Note that we can't just put builtin_commands.c in SRCS, as it's depended on by the |
|
# NuttX export library. Instead, we have to treat it like a library. |
|
# |
|
# 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) $(foreach spec,$(BUILTIN_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) echo ' {NULL, 0, 0, NULL}' >> $@ |
|
$(Q) echo '};' >> $@ |
|
$(Q) echo 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@ |
|
|
|
BUILTIN_OBJ = $(BUILTIN_CSRC:.c=.o) |
|
LIBS += $(BUILTIN_OBJ) |
|
LINK_DEPS += $(BUILTIN_OBJ) |
|
|
|
$(BUILTIN_OBJ): $(BUILTIN_CSRC) $(GLOBAL_DEPS) |
|
$(Q) $(call COMPILE,$<,$@) |
|
|
|
################################################################################ |
|
# Default SRCS generation |
|
################################################################################ |
|
|
|
# |
|
# If there are no SRCS, the build will fail; in that case, generate an empty |
|
# source file. |
|
# |
|
ifeq ($(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_SYM = $(WORK_DIR)/firmware.sym |
|
|
|
.PHONY: all |
|
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 |
|
@mkdir -p $(dir $@) |
|
$(call COMPILE,$<,$@) |
|
|
|
$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) |
|
@mkdir -p $(dir $@) |
|
$(call COMPILEXX,$<,$@) |
|
|
|
$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) |
|
@mkdir -p $(dir $@) |
|
$(call ASSEMBLE,$<,$@) |
|
|
|
# |
|
# Built product rules |
|
# |
|
|
|
$(PRODUCT_BUNDLE): $(PRODUCT_BIN) |
|
@echo %% Generating $@ |
|
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ |
|
--git_identity $(PX4_BASE) \ |
|
--image $< > $@ |
|
|
|
$(PRODUCT_BIN): $(PRODUCT_SYM) |
|
$(call SYM_TO_BIN,$<,$@) |
|
|
|
$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) |
|
$(call LINK,$@,$(OBJS)) |
|
|
|
# |
|
# Utility rules |
|
# |
|
|
|
upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) |
|
$(Q) make -f $(PX4_MK_INCLUDE)/upload.mk \ |
|
METHOD=serial \ |
|
PRODUCT=$(PRODUCT) \ |
|
BUNDLE=$(PRODUCT_BUNDLE) \ |
|
BIN=$(PRODUCT_BIN) |
|
|
|
clean: |
|
@echo %% cleaning |
|
$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM) |
|
$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) |
|
$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR) |
|
|
|
# |
|
# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS) |
|
# |
|
-include $(DEP_INCLUDES)
|
|
|