List of modules in Makefile - Automatic init of included modules

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@716 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -44,6 +44,11 @@ FLASH_TOOL = OPENOCD
 # in SRC and CPPSRC
 USE_THUMB_MODE = YES
 
+# List of modules to include
+MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude
+#MODULES = Telemetry MK/MKSerial
+
+
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
 # - MODEL used for linker-script name (-T) and passed as define
@@ -73,22 +78,6 @@ OPUAVOBJ = ./UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 OPTESTS  = ./Tests
 OPMODULEDIR = ./Modules
-MODEXAMPLE = $(OPMODULEDIR)/Example
-MODEXAMPLEINC = $(MODEXAMPLE)/inc
-MODSYSTEM = $(OPMODULEDIR)/System
-MODSYSTEMINC = $(MODSYSTEM)/inc
-MODTELEMETRY = $(OPMODULEDIR)/Telemetry
-MODTELEMETRYINC = $(MODTELEMETRY)/inc
-MODGPS = $(OPMODULEDIR)/GPS
-MODGPSINC = $(MODGPS)/inc
-MODMANUALCONTROL = $(OPMODULEDIR)/ManualControl
-MODMANUALCONTROLINC = $(MODMANUALCONTROL)/inc
-MODACTUATOR = $(OPMODULEDIR)/Actuator
-MODACTUATORINC = $(MODACTUATOR)/inc
-MODALTITUDE = $(OPMODULEDIR)/Altitude
-MODALTITUDEINC = $(MODALTITUDE)/inc
-MODATTITUDE = $(OPMODULEDIR)/Attitude
-MODATTITUDEINC = $(MODATTITUDE)/inc
 PIOS = ../PiOS
 PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
@@ -110,22 +99,17 @@ RTOSSRCDIR = $(RTOSDIR)/Source
 RTOSINCDIR = $(RTOSSRCDIR)/include
 DOXYGENDIR = ../Doc/Doxygen
 
-
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
 
-## MODULES
-ifndef TESTAPP
-SRC = $(MODEXAMPLE)/examplemodevent.c $(MODEXAMPLE)/examplemodperiodic.c $(MODEXAMPLE)/examplemodthread.c
-SRC += $(MODSYSTEM)/systemmod.c
-SRC += $(MODTELEMETRY)/telemetry.c
-SRC += $(MODGPS)/GPS.c $(MODGPS)/buffer.c
-SRC += $(MODMANUALCONTROL)/manualcontrol.c
-SRC += $(MODACTUATOR)/actuator.c
-SRC += $(MODALTITUDE)/altitude.c
-SRC += $(MODATTITUDE)/attitude.c
+MODNAMES = $(notdir ${MODULES})   
 
-## OPENPILOT:
+ifndef TESTAPP
+## MODULES
+SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += ${OUTDIR}/InitMods.c
+## OPENPILOT CORE:
+SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/openpilot.c
 SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
@@ -308,6 +292,8 @@ EXTRAINCDIRS  += $(RTOSINCDIR)
 EXTRAINCDIRS  += $(APPLIBDIR)
 EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
 
+EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
+
 
 # List any extra directories to look for library files here.
 # Also add directories where the linker should search for
@@ -480,6 +466,7 @@ REMOVE  = $(REMOVE_CMD) -f
 MSG_ERRORS_NONE = Errors: none
 MSG_BEGIN = "-------- begin (mode: $(RUN_MODE)) --------"
 MSG_END = --------  end  --------
+MSG_MODINIT = "**** Generating ModInit.c:"
 MSG_SIZE_BEFORE = Size before: 
 MSG_SIZE_AFTER = Size after build:
 MSG_LOAD_FILE = Creating load file:
@@ -510,8 +497,8 @@ LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 # Define all depedency-files (used for make clean).
 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
-elf: $(OUTDIR)/$(TARGET).elf
-lss: $(OUTDIR)/$(TARGET).lss 
+elf: $(OUTDIR)/$(TARGET).elf 
+lss: $(OUTDIR)/$(TARGET).lss
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
@@ -535,6 +522,14 @@ endif
 endif
 
 
+${OUTDIR}/InitMods.c: Makefile
+	@echo ${MSG_MODINIT}
+	@echo // Autogenerated file > ${OUTDIR}/InitMods.c
+	@echo ${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}  >> ${OUTDIR}/InitMods.c
+	@echo void InitModules() { >> ${OUTDIR}/InitMods.c
+	@echo ${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}  >> ${OUTDIR}/InitMods.c
+	@echo } >> ${OUTDIR}/InitMods.c
+	
 # Eye candy.
 begin:
 ##	@echo

flight/OpenPilot/Modules/GPS/GPS.c

@@ -85,7 +85,7 @@ char NmeaPacket[NMEA_BUFFERSIZE];
  * \return -1 if initialisation failed
  * \return 0 on success
  */
-int32_t GpsInitialize(void)
+int32_t GPSInitialize(void)
 {
 	signed portBASE_TYPE xReturn;
 	// TODO: Get gps settings object

flight/OpenPilot/Modules/GPS/inc/GPS.h

@@ -29,6 +29,6 @@
 #ifndef GPS_H
 #define GPS_H
 
-int32_t GpsInitialize(void);
+int32_t GPSInitialize(void);
 
 #endif // GPS_H

flight/OpenPilot/System/openpilot.c

@@ -30,13 +30,7 @@
 #include "telemetry.h"
 #include "GPS.h"
 #include "systemmod.h"
-#include "examplemodevent.h"
-#include "examplemodperiodic.h"
-#include "examplemodthread.h"
-#include "manualcontrol.h"
-#include "actuator.h"
-#include "altitude.h"
-#include "attitude.h"
+
 
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
@@ -63,6 +57,9 @@ static void TaskSDCard(void *pvParameters);
 int32_t CONSOLE_Parse(COMPortTypeDef port, char c);
 void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
 
+/* Prototype of generated InitModules() function */
+extern void InitModules(void);
+
 /**
 * OpenPilot Main function
 */
@@ -134,15 +131,7 @@ void OpenPilotInit()
 	PIOS_I2C_Init();
 
 	/* Initialize modules */
-	TelemetryInitialize();
-	ExampleModPeriodicInitialize();
-	//ExampleModThreadInitialize();
-	//ExampleModEventInitialize();
-	GpsInitialize();
-	ManualControlInitialize();
-	ActuatorInitialize();
-	AltitudeInitialize();
-	AttitudeInitialize();
+	InitModules();
 
 	/* Create test tasks */
 	//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);