Andrew Tridgell
12 years ago
8 changed files with 104 additions and 339 deletions
@ -0,0 +1,70 @@
@@ -0,0 +1,70 @@
|
||||
#
|
||||
# Makefile for the px4fmu_Hello configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(SKETCHBOOK)/mk/PX4/ROMFS
|
||||
|
||||
MODULES += $(APM_MODULE_DIR)
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/boards/px4fmu
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/bma180
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/mb12xx
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/hil
|
||||
MODULES += drivers/hott_telemetry
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += modules/sensors
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/eeprom
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/boardinfo
|
||||
MODULES += systemcmds/i2c
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B |
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef |
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
@ -1,309 +0,0 @@
@@ -1,309 +0,0 @@
|
||||
# this makefile is partly based on the PX4 core makefile
|
||||
# which is Copyright (C) 2012 PX4 Development Team.
|
||||
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Common Makefile for nsh command modules and utility libraries; should be
|
||||
# included by the module-specific Makefile.
|
||||
#
|
||||
# To build an app that appears as an nsh external command, the caller
|
||||
# must define:
|
||||
#
|
||||
# LIBNAME - the name of the library, defaults to the name of the
|
||||
# directory
|
||||
#
|
||||
# The calling makefile may also set:
|
||||
#
|
||||
# ASRCS - list of assembly source files, defaults to all .S
|
||||
# files in the directory
|
||||
#
|
||||
# CSRCS - list of C source files, defaults to all .c files
|
||||
# in the directory
|
||||
#
|
||||
# CXXSRCS - list of C++ source files, defaults to all .cpp
|
||||
# files in the directory
|
||||
#
|
||||
# INCLUDES - list of directories to be added to the include
|
||||
# search path
|
||||
#
|
||||
# PRIORITY - thread priority for the command (defaults to
|
||||
# SCHED_PRIORITY_DEFAULT)
|
||||
#
|
||||
# STACKSIZE - stack size for the command (defaults to 4096)
|
||||
#
|
||||
# Symbols in the module are private to the module unless deliberately exported
|
||||
# using the __EXPORT tag.
|
||||
#
|
||||
|
||||
############################################################################
|
||||
# No user-serviceable parts below
|
||||
############################################################################
|
||||
|
||||
|
||||
|
||||
# build the variables to emulate Arduino.mk build system
|
||||
SRCROOT := $(realpath $(dir $(firstword $(MAKEFILE_LIST))))
|
||||
SKETCH := $(lastword $(subst /, ,$(SRCROOT)))
|
||||
|
||||
# this is where we put the generated cpp file, created from the *.pde/*.ino
|
||||
TMPDIR ?= /tmp
|
||||
BUILDROOT := $(abspath $(TMPDIR)/$(SKETCH).build)
|
||||
|
||||
HARDWARE ?= px4
|
||||
AWK ?= gawk
|
||||
|
||||
SRCSUFFIXES = *.cpp *.c *.S
|
||||
|
||||
SKETCHPDESRCS := $(wildcard $(SRCROOT)/*.pde $(SRCROOT)/*.ino)
|
||||
SKETCHSRCS := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
|
||||
SKETCHPDE := $(wildcard $(SRCROOT)/$(SKETCH).pde $(SRCROOT)/$(SKETCH).ino)
|
||||
SKETCHCPP := $(BUILDROOT)/$(SKETCH).cpp
|
||||
ifneq ($(words $(SKETCHPDE)),1) |
||||
$(error ERROR: sketch $(SKETCH) must contain exactly one of $(SKETCH).pde or $(SKETCH).ino) |
||||
endif |
||||
|
||||
# Sketch object files
|
||||
SKETCHOBJS := $(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS)) $(SKETCHCPP)
|
||||
SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
|
||||
|
||||
# List of input files to the sketch.cpp file in the order they should
|
||||
# be appended to create it
|
||||
SKETCHCPP_SRC := $(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)))
|
||||
|
||||
|
||||
################################################################################
|
||||
# Libraries
|
||||
#
|
||||
# Pick libraries to add to the include path and to link with based on
|
||||
# #include directives in the sketchfiles.
|
||||
#
|
||||
# For example:
|
||||
#
|
||||
# #include <Foo.h>
|
||||
#
|
||||
# implies that there might be a Foo library.
|
||||
#
|
||||
# Note that the # and $ require special treatment to avoid upsetting
|
||||
# make.
|
||||
#
|
||||
SYSTYPE := $(shell uname)
|
||||
SEXPR = 's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
|
||||
ifeq ($(SYSTYPE),Darwin) |
||||
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
|
||||
else |
||||
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
|
||||
endif |
||||
|
||||
ifeq ($(SYSTYPE),Darwin) |
||||
# use BWK awk
|
||||
AWK = awk
|
||||
endif |
||||
|
||||
#
|
||||
# Find sketchbook libraries referenced by the sketch.
|
||||
#
|
||||
# Include paths for sketch libraries
|
||||
#
|
||||
SKETCHBOOK=$(MK_DIR)/..
|
||||
SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
|
||||
SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
|
||||
SKETCHLIBSRCDIRS := $(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
|
||||
SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
|
||||
SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
|
||||
SKETCHLIBINCLUDES := $(addprefix -I,$(SKETCHLIBS))
|
||||
|
||||
# add sketch libs to includes
|
||||
INCLUDES += $(SKETCHLIBS)
|
||||
|
||||
# Library object files
|
||||
LIBOBJS := $(SKETCHLIBOBJS)
|
||||
|
||||
# common header for rules, prints what is being built
|
||||
define RULEHDR |
||||
@echo %% $(subst $(BUILDROOT)/,,$@)
|
||||
@mkdir -p $(dir $@)
|
||||
endef |
||||
|
||||
############################################################################
|
||||
# Work out who included us so we can report decent errors
|
||||
#
|
||||
THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST))
|
||||
PARENT_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
|
||||
|
||||
############################################################################
|
||||
# Get configuration
|
||||
#
|
||||
-include $(TOPDIR)/.config |
||||
-include $(TOPDIR)/Make.defs |
||||
include $(APPDIR)/Make.defs |
||||
|
||||
# this allows us to generate the main function
|
||||
SKETCHFLAGS = -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME=\"$(SKETCH)\" -DSKETCH_MAIN=$(SKETCH)_main $(EXTRAFLAGS)
|
||||
CFLAGS += $(SKETCHFLAGS) -DCONFIG_C99_BOOL8
|
||||
CXXFLAGS += $(SKETCHFLAGS) -DCONFIG_C99_BOOL8
|
||||
|
||||
############################################################################
|
||||
# Sanity-check the information we've been given and set any defaults
|
||||
#
|
||||
SRCDIR ?= $(dir $(PARENT_MAKEFILE))
|
||||
PRIORITY ?= SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE ?= 4096
|
||||
|
||||
INCLUDES += $(APPDIR)
|
||||
|
||||
ASRCS ?= $(wildcard $(SRCDIR)/*.S)
|
||||
CSRCS ?= $(wildcard $(SRCDIR)/*.c)
|
||||
CXXSRCS ?= $(wildcard $(SRCDIR)/*.cpp) $(SKETCHCPP)
|
||||
PDESRCS ?= $(wildcard $(SRCDIR)/*.pde)
|
||||
|
||||
APPNAME = $(SKETCH)
|
||||
|
||||
# there has to be a source file
|
||||
ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS)$(PDESRCS),) |
||||
$(error $(realpath $(PARENT_MAKEFILE)): at least one of ASRCS, CSRCS, CXXSRCS or PDESRCS must be set) |
||||
endif |
||||
|
||||
# check that C++ is configured if we have C++ source files and we are building
|
||||
ifneq ($(CXXSRCS),) |
||||
ifneq ($(CONFIG_HAVE_CXX),y) |
||||
ifeq ($(MAKECMDGOALS),build) |
||||
$(error $(realpath $(PARENT_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration) |
||||
endif |
||||
endif |
||||
endif |
||||
|
||||
############################################################################
|
||||
# Adjust compilation flags to implement EXPORT
|
||||
#
|
||||
CFLAGS += -fsigned-char -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
|
||||
CXXFLAGS += -fsigned-char -fvisibility=hidden -include $(APPDIR)/systemlib/visibility.h
|
||||
|
||||
############################################################################
|
||||
# Add extra include directories
|
||||
#
|
||||
CFLAGS += $(addprefix -I,$(INCLUDES))
|
||||
CXXFLAGS += $(addprefix -I,$(INCLUDES))
|
||||
|
||||
############################################################################
|
||||
# Things we are going to build
|
||||
#
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS)
|
||||
AOBJS = $(patsubst %.S,%.o,$(ASRCS))
|
||||
COBJS = $(patsubst %.c,%.o,$(CSRCS))
|
||||
CXXOBJS = $(patsubst %.cpp,%.o,$(CXXSRCS))
|
||||
OBJS = $(AOBJS) $(COBJS) $(CXXOBJS) $(SKETCHLIBOBJS)
|
||||
|
||||
# The prelinked object that we are ultimately going to build
|
||||
ifneq ($(APPNAME),) |
||||
PRELINKOBJ = $(APPNAME).pre.o
|
||||
else |
||||
PRELINKOBJ = $(LIBNAME).pre.o
|
||||
endif |
||||
|
||||
# The archive that the object file will be placed in
|
||||
# XXX does WINTOOL ever get set?
|
||||
ifeq ($(WINTOOL),y) |
||||
INCDIROPT = -w
|
||||
BIN = "$(shell cygpath -w $(APPDIR)/libapps$(LIBEXT))"
|
||||
else |
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
endif |
||||
|
||||
############################################################################
|
||||
# Rules for building things
|
||||
#
|
||||
|
||||
all: .built |
||||
.PHONY: clean depend distclean |
||||
|
||||
#
|
||||
# Top-level build; add prelinked object to the apps archive
|
||||
#
|
||||
.built: $(PRELINKOBJ) |
||||
$(RULEHDR)
|
||||
@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
|
||||
@touch $@
|
||||
|
||||
#
|
||||
# Source dependencies
|
||||
#
|
||||
depend: .depend |
||||
.depend: $(MAKEFILE_LIST) $(SRCS) |
||||
@$(CXX) -M -MT $(BUILDROOT)/$(SKETCH).o $(CXXFLAGS) $(CXXSRCS) > Make.dep
|
||||
@for f in $(SKETCHLIBSRCS); do \
|
||||
src=$${f##$(SKETCHBOOK)/}; \
|
||||
obj=$(BUILDROOT)/$${src%.*}.o; \
|
||||
$(CXX) -M -MT $$obj $(CXXFLAGS) $$f; done >> Make.dep
|
||||
@touch $@
|
||||
|
||||
ifneq ($(APPNAME),) |
||||
#
|
||||
# App registration
|
||||
#
|
||||
context: .context |
||||
.context: $(MAKEFILE_LIST) |
||||
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
|
||||
@touch $@
|
||||
else |
||||
context: |
||||
endif |
||||
|
||||
#
|
||||
# Object files
|
||||
#
|
||||
$(PRELINKOBJ): $(OBJS) |
||||
$(call PRELINK, $@, $(OBJS))
|
||||
|
||||
$(AOBJS): %.o : %.S |
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS): %.o : %.c |
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
$(CXXOBJS): %.o : %.cpp |
||||
$(call COMPILEXX, $<, $@)
|
||||
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp |
||||
$(RULEHDR)
|
||||
$(call COMPILEXX, $<, $@)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c |
||||
$(RULEHDR)
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S |
||||
$(RULEHDR)
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
-include Make.dep |
||||
Loading…
Reference in new issue