mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
6b215be739
Replace our dependency on xxd with a toolchain call, and implement the backend using objcopy evil for the default toolchain.
166 lines
4.5 KiB
Makefile
166 lines
4.5 KiB
Makefile
#
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# Framework makefile for PX4 modules
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#
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# This makefile is invoked by firmware.mk to build each of the modules
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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 modules. Normally an
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# module 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 module's module.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 module.
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#
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# MODULE_NAME (optional)
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# MODULE_ENTRYPOINT (optional if MODULE_NAME is set)
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# MODULE_STACKSIZE (optional if MODULE_NAME is set)
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# MODULE_PRIORITY (optional if MODULE_NAME is set)
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# Defines a single builtin command exported by the module.
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# MODULE_NAME must be unique for any configuration, but need not be the
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# same as the module directory name.
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#
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# If MODULE_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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# $(MODULE_NAME)_main.
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#
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# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be
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# allocated for the builtin command. If it is not set, it defaults
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# to CONFIG_PTHREAD_STACK_DEFAULT.
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#
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# If MODULE_PRIORITY is set, it is the thread priority for the builtin
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# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
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#
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# MODULE_COMMANDS (optional)
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# Defines builtin commands exported by the module. Each word in
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# the list should be formatted as:
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# <command>.<priority>.<stacksize>.<entrypoint>
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#
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#
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# Variables visible to the module's module.mk:
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#
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# CONFIG
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# BOARD
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# MODULE_WORK_DIR
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# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
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# Anything exported from config_$(CONFIG).mk
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#
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################################################################################
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# No user-serviceable parts below.
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################################################################################
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ifeq ($(MODULE_MK),)
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$(error No module makefile specified)
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endif
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$(info MODULE_MK $(MODULE_MK))
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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 module's config
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#
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include $(MODULE_MK)
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MODULE_SRC := $(dir $(MODULE_MK))
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$(info MODULE_SRC $(MODULE_SRC))
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$(info MODULE_WORK_DIR $(MODULE_WORK_DIR))
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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 += $(MAKEFILE_LIST)
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################################################################################
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# Builtin command definitions
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################################################################################
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ifneq ($(MODULE_NAME),)
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MODULE_ENTRYPOINT ?= $(MODULE_NAME)_main
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MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
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MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT
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MODULE_COMMANDS += $(MODULE_NAME).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT)
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endif
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ifneq ($(MODULE_COMMANDS),)
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MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS))
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.PHONY: $(MODULE_COMMAND_FILES)
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$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
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@$(ECHO) COMMAND $(word 2,$(subst ., ,$(notdir $(@))))
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@$(MKDIR) -p $(dir $@)
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$(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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module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES)
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#
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# Locate sources (allows relative source paths in module.mk)
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#
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define SRC_SEARCH
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$(abspath $(firstword $(wildcard $(MODULE_SRC)/$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 $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
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endif
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ifeq ($(ABS_SRCS),)
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$(error $(MODULE_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),$(MODULE_WORK_DIR)$(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)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
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$(call COMPILE,$<,$@)
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$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
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$(call COMPILEXX,$<,$@)
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$(filter %.S.o,$(OBJS)): $(MODULE_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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$(MODULE_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) $(MODULE_PRELINK) $(OBJS)
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