mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Auto-generate builtin command prototypes.
Tidy up path configuration, etc.
This commit is contained in:
px4dev
parent
d3a6f448c9
commit
abe48bd714
28
Makefile
28
Makefile
@ -2,27 +2,11 @@
|
||||
# Top-level Makefile for building PX4 firmware images.
|
||||
#
|
||||
|
||||
|
||||
#
|
||||
# Some useful paths.
|
||||
# Get path and tool configuration
|
||||
#
|
||||
export PX4_BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
|
||||
export NUTTX_SRC = $(PX4_BASE)/nuttx
|
||||
export NUTTX_APPS = $(PX4_BASE)/apps
|
||||
export MAVLINK_SRC = $(PX4_BASE)/mavlink
|
||||
export ROMFS_SRC = $(PX4_BASE)/ROMFS
|
||||
export IMAGE_DIR = $(PX4_BASE)/Images
|
||||
export BUILD_DIR = $(PX4_BASE)/Build
|
||||
export ARCHIVE_DIR = $(PX4_BASE)/Archives
|
||||
|
||||
#
|
||||
# Tools
|
||||
#
|
||||
MKFW = $(PX4_BASE)/Tools/px_mkfw.py
|
||||
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||
COPY = cp
|
||||
REMOVE = rm -f
|
||||
RMDIR = rm -rf
|
||||
export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
|
||||
include $(PX4_BASE)/makefiles/setup.mk
|
||||
|
||||
#
|
||||
# Canned firmware configurations that we build.
|
||||
@ -55,7 +39,6 @@ FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build/firmware.
|
||||
#
|
||||
MQUIET = --no-print-directory
|
||||
#MQUIET = --print-directory
|
||||
Q := $(if $(V),,@)
|
||||
|
||||
all: $(STAGED_FIRMWARES)
|
||||
|
||||
@ -77,7 +60,8 @@ $(FIRMWARES): $(BUILD_DIR)/%.build/firmware.px4:
|
||||
$(Q) mkdir -p $(work_dir)
|
||||
$(Q) make -C $(work_dir) \
|
||||
-f $(PX4_BASE)/makefiles/config_$(config).mk \
|
||||
WORK_DIR=$(work_dir)
|
||||
WORK_DIR=$(work_dir) \
|
||||
firmware
|
||||
|
||||
#
|
||||
# Build the NuttX export archives.
|
||||
@ -117,11 +101,9 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS)
|
||||
clean:
|
||||
$(Q) $(RMDIR) $(BUILD_DIR)/*.build
|
||||
$(Q) $(REMOVE) -f $(IMAGE_DIR)/*.px4
|
||||
$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) clean
|
||||
|
||||
.PHONY: distclean
|
||||
distclean: clean
|
||||
$(Q) $(REMOVE) -f $(ARCHIVE_DIR)/*.export
|
||||
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) make -C $(ROMFS_SRC) -r $(MQUIET) distclean
|
||||
|
||||
|
||||
@ -7,7 +7,8 @@
|
||||
# Requires:
|
||||
#
|
||||
# PLATFORM
|
||||
# Must be set to a platform name known to the PX4 distribution.
|
||||
# Must be set to a platform name known to the PX4 distribution (as
|
||||
# we need a corresponding NuttX export archive to link with).
|
||||
#
|
||||
# Optional:
|
||||
#
|
||||
@ -43,8 +44,13 @@
|
||||
export PX4_MK_INCLUDE ?= $(dir $(lastword $(MAKEFILE_LIST)))
|
||||
ifeq ($(PX4_BASE),)
|
||||
export PX4_BASE := $(abspath $(PX4_MK_INCLUDE)/..)
|
||||
$(info %% set PX4_BASE to $(PX4_BASE))
|
||||
endif
|
||||
$(info %% PX4_BASE $(PX4_BASE))
|
||||
|
||||
#
|
||||
# Get path and tool config
|
||||
#
|
||||
include $(PX4_MK_INCLUDE)/setup.mk
|
||||
|
||||
#
|
||||
# If WORK_DIR is not set, create a 'build' directory next to the
|
||||
@ -56,28 +62,6 @@ export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build
|
||||
endif
|
||||
$(info %% WORK_DIR $(WORK_DIR))
|
||||
|
||||
#
|
||||
# Paths
|
||||
#
|
||||
export NUTTX_SRC = $(PX4_BASE)/nuttx
|
||||
export NUTTX_APPS = $(PX4_BASE)/apps
|
||||
export MAVLINK_SRC = $(PX4_BASE)/mavlink
|
||||
export ROMFS_SRC = $(PX4_BASE)/ROMFS
|
||||
export IMAGE_DIR = $(PX4_BASE)/Images
|
||||
export BUILD_DIR = $(PX4_BASE)/Build
|
||||
export ARCHIVE_DIR = $(PX4_BASE)/Archives
|
||||
|
||||
#
|
||||
# Extra tools.
|
||||
#
|
||||
# XXX should be in a common toolchain config somewhere.
|
||||
#
|
||||
MKFW = $(PX4_BASE)/Tools/px_mkfw.py
|
||||
COPY = cp
|
||||
REMOVE = rm -f
|
||||
RMDIR = rm -rf
|
||||
GENROMFS = genromfs
|
||||
|
||||
#
|
||||
# Sanity-check the PLATFORM variable and then get the platform config.
|
||||
# If PLATFORM is not set, but CONFIG is, use that.
|
||||
@ -93,19 +77,9 @@ endif
|
||||
include $(PX4_MK_INCLUDE)/platform_$(PLATFORM).mk
|
||||
|
||||
#
|
||||
# Makefile debugging.
|
||||
# Things that, if they change, might affect everything
|
||||
#
|
||||
Q := $(if $(V),,@)
|
||||
|
||||
#
|
||||
# Host-specific paths, hacks and fixups
|
||||
#
|
||||
SYSTYPE := $(shell uname -s)
|
||||
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
# Eclipse may not have the toolchain on its path.
|
||||
export PATH := $(PATH):/usr/local/bin
|
||||
endif
|
||||
GLOBAL_DEPS += $(MAKEFILE_LIST)
|
||||
|
||||
################################################################################
|
||||
# NuttX libraries and paths
|
||||
@ -126,6 +100,7 @@ endif
|
||||
#
|
||||
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
|
||||
@ -140,6 +115,11 @@ 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
|
||||
################################################################################
|
||||
@ -161,17 +141,70 @@ 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_CSRC = $(WORK_DIR)/builtin_commands.c
|
||||
|
||||
$(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) echo 'const struct builtin_s g_builtins[] = {' >> $@
|
||||
$(Q) $(foreach app,$(APPS),echo ' {"$(app)", SCHED_PRIORITY_DEFAULT, CONFIG_PTHREAD_STACK_DEFAULT, $(app)_main},' >> $@;)
|
||||
$(Q) echo '};' >> $@
|
||||
$(Q) echo 'const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);' >> $@
|
||||
|
||||
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
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# Things that, if they change, might affect everything
|
||||
#
|
||||
GLOBAL_DEPS += $(MAKEFILE_LIST) $(NUTTX_CONFIG_HEADER)
|
||||
|
||||
#
|
||||
# What we're going to build.
|
||||
#
|
||||
@ -180,18 +213,20 @@ PRODUCT_BIN = $(WORK_DIR)/firmware.bin
|
||||
PRODUCT_SYM = $(WORK_DIR)/firmware.sym
|
||||
|
||||
.PHONY: all
|
||||
all: $(PRODUCT_BUNDLE)
|
||||
firmware: $(PRODUCT_BUNDLE)
|
||||
|
||||
#
|
||||
# Object files we will generate from sources
|
||||
#
|
||||
OBJS = $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
|
||||
OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
|
||||
|
||||
#
|
||||
# SRCS -> OBJS rules
|
||||
#
|
||||
|
||||
$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c $(GLOBAL_DEPS)
|
||||
$(OBJS): $(GLOBAL_DEPS)
|
||||
|
||||
$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c
|
||||
@mkdir -p $(dir $@)
|
||||
$(call COMPILE,$<,$@)
|
||||
|
||||
@ -203,15 +238,6 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS)
|
||||
@mkdir -p $(dir $@)
|
||||
$(call ASSEMBLE,$<,$@)
|
||||
|
||||
#
|
||||
# Build directory setup rules
|
||||
#
|
||||
|
||||
$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
|
||||
@echo %% Unpacking $(NUTTX_ARCHIVE)
|
||||
$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
|
||||
$(Q) touch $@
|
||||
|
||||
#
|
||||
# Built product rules
|
||||
#
|
||||
@ -228,21 +254,6 @@ $(PRODUCT_BIN): $(PRODUCT_SYM)
|
||||
$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS)
|
||||
$(call LINK,$@,$(OBJS))
|
||||
|
||||
#
|
||||
# ROMFS rules
|
||||
#
|
||||
|
||||
$(ROMFS_OBJ): $(ROMFS_CSRC)
|
||||
$(call COMPILE,$<,$@)
|
||||
|
||||
$(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"
|
||||
|
||||
#
|
||||
# Utility rules
|
||||
#
|
||||
|
||||
42
makefiles/setup.mk
Normal file
42
makefiles/setup.mk
Normal file
@ -0,0 +1,42 @@
|
||||
#
|
||||
# Path and tool setup
|
||||
#
|
||||
|
||||
#
|
||||
# Some useful paths.
|
||||
#
|
||||
export PX4_APP_SRC = $(PX4_BASE)/src/apps
|
||||
export PX4_LIB_SRC = $(PX4_BASE)/src/libs
|
||||
export NUTTX_SRC = $(PX4_BASE)/nuttx
|
||||
export NUTTX_APP_SRC = $(PX4_BASE)/apps
|
||||
export MAVLINK_SRC = $(PX4_BASE)/mavlink
|
||||
export ROMFS_SRC = $(PX4_BASE)/ROMFS
|
||||
export IMAGE_DIR = $(PX4_BASE)/Images
|
||||
export BUILD_DIR = $(PX4_BASE)/Build
|
||||
export ARCHIVE_DIR = $(PX4_BASE)/Archives
|
||||
|
||||
#
|
||||
# Tools
|
||||
#
|
||||
MKFW = $(PX4_BASE)/Tools/px_mkfw.py
|
||||
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||
COPY = cp
|
||||
REMOVE = rm -f
|
||||
RMDIR = rm -rf
|
||||
GENROMFS = genromfs
|
||||
|
||||
#
|
||||
# Host-specific paths, hacks and fixups
|
||||
#
|
||||
SYSTYPE := $(shell uname -s)
|
||||
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
# Eclipse may not have the toolchain on its path.
|
||||
export PATH := $(PATH):/usr/local/bin
|
||||
endif
|
||||
|
||||
#
|
||||
# Makefile debugging.
|
||||
#
|
||||
Q := $(if $(V),,@)
|
||||
|
||||
@ -96,7 +96,8 @@ CFLAGS = $(ARCHCFLAGS) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
$(EXTRADEFINES) \
|
||||
-fno-common
|
||||
-fno-common \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) \
|
||||
$(ARCHWARNINGSXX) \
|
||||
@ -105,12 +106,14 @@ CXXFLAGS = $(ARCHCXXFLAGS) \
|
||||
$(ARCHXXINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
$(EXTRADEFINES)
|
||||
$(EXTRADEFINES) \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
CPPFLAGS = $(ARCHINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
$(EXTRADEFINES)
|
||||
$(EXTRADEFINES) \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user