Merge branch 'master' of github.com:PX4/Firmware

Makefile

@@ -159,11 +159,11 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
 .PHONY:	clean
 clean:
 	$(Q) $(RMDIR) $(BUILD_DIR)*.build
-	$(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4
+	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
 
 .PHONY:	distclean
 distclean: clean
-	$(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export
+	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
 	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
 
 #
@@ -196,6 +196,11 @@ help:
 	@echo "  distclean"
 	@echo "    Remove all compilation products, including NuttX RTOS archives."
 	@echo ""
+	@echo "  upload"
+	@echo "    When exactly one config is being built, add this target to upload the"
+	@echo "    firmware to the board when the build is complete. Not supported for"
+	@echo "    all configurations."
+	@echo ""
 	@echo "  Common options:"
 	@echo "  ---------------"
 	@echo ""

makefiles/README.txt

@@ -0,0 +1,71 @@
+PX4 Build System
+================
+
+The files in this directory implement the PX4 runtime firmware build system
+and configuration for the standard PX4 boards and software, in conjunction
+with Makefile in the parent directory.
+
+../Makefile
+
+	Top-level makefile for the PX4 build system. This makefile supports
+	building NuttX archives, as well as supervising the building of all
+	of the defined PX4 firmware configurations.
+
+	Try 'make help' in the parent directory for documentation.
+
+firmware.mk
+
+	Manages the build for one specific firmware configuration. 
+	See the comments at the top of this file for detailed documentation.
+
+	Builds modules, builtin command lists and the ROMFS (if configured).
+
+	This is the makefile directly used by external build systems; it can
+	be configured to compile modules both inside and outside the PX4
+	source tree. When used in this mode, at least BOARD, MODULES and 
+	CONFIG_FILE must be set.
+
+module.mk
+
+	Called by firmware.mk to build individual modules.
+	See the comments at the top of this file for detailed documentation.
+
+	Not normally used other than by firmware.mk.
+
+nuttx.mk
+
+	Called by ../Makefile to build or download the NuttX archives.
+
+upload.mk
+
+	Called by ../Makefile to upload files to a target board. Can be used
+	by external build systems as well.
+
+setup.mk
+
+	Provides common path and tool definitions. Implements host system-specific
+	compatibility hacks.
+
+board_<boardname>.mk
+
+	Board-specific configuration for <boardname>. Typically sets CONFIG_ARCH
+	and then includes the toolchain definition for the board.
+
+config_<boardname>_<configname>.mk
+
+	Parameters for a specific configuration on a specific board.
+	The board name is derived from the filename.  Sets MODULES to select
+	source modules to be included in the configuration, may also set
+	ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module
+	commands (e.g. from NuttX)
+
+toolchain_<toolchainname>.mk
+
+	Provides macros used to compile and link source files.
+	Accepts EXTRADEFINES to add additional pre-processor symbol definitions,
+	EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass
+	additional flags to the C compiler, C++ compiler, assembler and linker
+	respectively.
+
+	Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK
+	macros that are used elsewhere in the build system.

makefiles/firmware.mk

@@ -223,12 +223,15 @@ MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
 .PHONY: $(MODULE_OBJS)
 $(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
+$(MODULE_OBJS):		workdir = $(@D)
 $(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
+	$(Q) $(MKDIR) -p $(workdir)
 	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-		MODULE_WORK_DIR=$(dir $@) \
+		-C $(workdir) \
+		MODULE_WORK_DIR=$(workdir) \
 		MODULE_OBJ=$@ \
 		MODULE_MK=$(mkfile) \
-		MODULE_NAME=$(lastword $(subst /, ,$(@D))) \
+		MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \
 		module
 
 # make a list of phony clean targets for modules
@@ -266,14 +269,18 @@ endif
 #
 
 # Add dependencies on anything in the ROMFS root
-ROMFS_DEPS		+= $(wildcard \
+ROMFS_FILES		+= $(wildcard \
-			     (ROMFS_ROOT)/* \
+			     $(ROMFS_ROOT)/* \
-			     (ROMFS_ROOT)/*/* \
+			     $(ROMFS_ROOT)/*/* \
-			     (ROMFS_ROOT)/*/*/* \
+			     $(ROMFS_ROOT)/*/*/* \
-			     (ROMFS_ROOT)/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/* \
-			     (ROMFS_ROOT)/*/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/* \
-			     (ROMFS_ROOT)/*/*/*/*/*/*)
+			     $(ROMFS_ROOT)/*/*/*/*/*/*)
-ROMFS_IMG		 = $(WORK_DIR)romfs.img
+ifeq ($(ROMFS_FILES),)
+$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
+endif
+ROMFS_DEPS		+= $(ROMFS_FILES)
+ROMFS_IMG		 = romfs.img
 ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
 ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
 LIBS			+= $(ROMFS_OBJ)

makefiles/module.mk

@@ -39,6 +39,10 @@
 # symbols, as the global namespace is shared between all modules. Normally an 
 # module will just export one or more <command>_main functions.
 #
+# IMPORTANT NOTE:
+#
+# This makefile assumes it is being invoked in the module's output directory.
+#
 
 #
 # Variables that can be set by the module's module.mk:
@@ -179,26 +183,30 @@ CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibi
 #
 module:			$(MODULE_OBJ) $(MODULE_COMMAND_FILES)
 
+##
+## Locate sources (allows relative source paths in module.mk)
+##
+#define SRC_SEARCH
+#	$(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
+#endef
 #
-# Locate sources (allows relative source paths in module.mk)
+#ABS_SRCS		?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
+#MISSING_SRCS		:= $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
+#ifneq ($(MISSING_SRCS),)
+#$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
+#endif
+#ifeq ($(ABS_SRCS),)
+#$(error $(MODULE_MK): nothing to compile in SRCS)
+#endif
 #
-define SRC_SEARCH
+##
-	$(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
+## Object files we will generate from sources
-endef
+##
+#OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
 
-ABS_SRCS		?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
+OBJS		 = $(addsuffix .o,$(SRCS))
-MISSING_SRCS		:= $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
+$(info SRCS $(SRCS))
-ifneq ($(MISSING_SRCS),)
+$(info OBJS $(OBJS))
-$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
-endif
-ifeq ($(ABS_SRCS),)
-$(error $(MODULE_MK): nothing to compile in SRCS)
-endif
-
-#
-# Object files we will generate from sources
-#
-OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
 
 #
 # SRCS -> OBJS rules
@@ -206,13 +214,16 @@ OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
 
 $(OBJS):		$(GLOBAL_DEPS)
 
-$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
+vpath %.c $(MODULE_SRC)
+$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
 	$(call COMPILE,$<,$@)
 
-$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
+vpath %.cpp $(MODULE_SRC)
+$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
 	$(call COMPILEXX,$<,$@)
 
-$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
+vpath %.S $(MODULE_SRC)
+$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
 	$(call ASSEMBLE,$<,$@)
 
 #

makefiles/toolchain_gnu-arm-eabi.mk

@@ -254,6 +254,20 @@ endef
 # - relink the object and insert the binary file
 # - edit symbol names to suit
 #
+# NOTE: exercise caution using this with absolute pathnames; it looks
+#       like the MinGW tools insert an extra _ in the binary symbol name; e.g.
+#	the path:
+#
+#	/d/px4/firmware/Build/px4fmu_default.build/romfs.img
+#
+#	is assigned symbols like:
+#
+#	_binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
+#
+#	when we would expect
+#
+#	_binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
+#
 define BIN_SYM_PREFIX
 	_binary_$(subst /,_,$(subst .,_,$1))
 endef
@@ -267,4 +281,5 @@ define BIN_TO_OBJ
 		--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
 		--redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \
 		--strip-symbol $(call BIN_SYM_PREFIX,$1)_end
+	$(Q) $(REMOVE) $2.c $2.c.o
 endef

src/modules/mathlib/CMSIS/module.mk

@@ -38,8 +38,9 @@
 #
 # Find sources
 #
-DSPLIB_SRCDIR		:= $(PX4_MODULE_SRC)/modules/mathlib/CMSIS
+DSPLIB_SRCDIR		:= $(dir $(lastword $(MAKEFILE_LIST)))
-ABS_SRCS		:= $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
+SRCLIST			:= $(wildcard $(DSPLIB_SRCDIR)DSP_Lib/Source/*/*.c)
+SRCS			:= $(patsubst $(DSPLIB_SRCDIR)%,%,$(SRCLIST))
 
 INCLUDE_DIRS		+= $(DSPLIB_SRCDIR)/Include \
 			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \