Merge pull request #1039 from bitcraze/krichardsson/oot-improvements

Improvements for OOT builds

.github/workflows/CI.yml

@@ -111,6 +111,7 @@ jobs:
         example:
         - examples/app_hello_world
         - examples/app_hello_world-cpp
+        - examples/app_hello_file_tree
         - examples/app_peer_to_peer
         - examples/demos/app_push_demo
         - examples/demos/swarm_demo

docs/development/oot.md

@@ -3,10 +3,10 @@ title: Out of tree build
 page_id: oot
 ---
 
-It is possible to have an out-of-tree build of parts of the crazyflie firmware. This enables developers to work on elements without worrrying about merging it with the full code base. 
+It is possible to have an out-of-tree build of parts of the crazyflie firmware. This enables developers to work on elements without worrying about merging it with the full code base.
 
 # General out-of-tree build process
-In a seperate folder make a Makefile which contain the following content:
+In a separate folder create a Makefile which contain the following content:
 
 ```Makefile
 CRAZYFLIE_BASE := [LOCATION OF THE CRAZYFLIE FIRMWARE]
@@ -44,7 +44,14 @@ It can also add point out another folder where the code resides:
 obj-y += src/
 ```
 
+If you have header files in another folder, use `EXTRA_CFLAGS` in the Makefile to let the compiler know where to find them:
+
+```Makefile
+EXTRA_CFLAGS += -I$(PWD)/src/inc
+```
+
 And since you are providing a config file by way of `$(OOT_CONFIG)` you do not need to run any make command to create a config like `make menuconfig` or `make defconfig`. Just a simple `make` will suffice.
+
 # OOT estimators
 The `config` file needs to enable ESTIMATOR_OOT, and can also set other config options:
 

examples/app_hello_file_tree/.gitignore

@@ -0,0 +1,2 @@
+bin/*
+cf2.*

examples/app_hello_file_tree/Kbuild

@@ -0,0 +1 @@
+obj-y += src/

examples/app_hello_file_tree/Makefile

@@ -0,0 +1,29 @@
+# The firmware uses the Kbuild build system. There are 'Kbuild' files in this
+# example that outlays what needs to be built. (check src/Kbuild).
+#
+# The firmware is configured using options in Kconfig files, the
+# values of these end up in the .config file in the firmware directory.
+#
+# By setting the OOT_CONFIG (it is '$(PWD)/oot-config' by default) environment
+# variable you can provide a custom configuration. It is important that you
+# enable the app-layer. See app-config in this directory for example.
+
+#
+# We want to execute the main Makefile for the firmware project,
+# it will handle the build for us.
+#
+CRAZYFLIE_BASE := ../..
+
+#
+# To include header files from other directories
+#
+EXTRA_CFLAGS += -I$(PWD)/src/hello_sub
+EXTRA_CFLAGS += -I$(PWD)/src/world_sub
+
+#
+# We override the default OOT_CONFIG here, we could also name our config
+# to oot-config and that would be the default.
+#
+OOT_CONFIG := $(PWD)/app-config
+
+include $(CRAZYFLIE_BASE)/tools/make/oot.mk

examples/app_hello_file_tree/README.md

@@ -0,0 +1,18 @@
+# Hello file tree App for Crazyflie 2.X
+
+This folder contains an app layer application for the Crazyflie to show how to work with a file tree in Out Of Tree builds.
+It prints the classic hello world debug message, which can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python).
+
+See App layer API guide [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## Build
+
+Make sure that you are in the app_hello_file_tree folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+make cload
+```
+
+If you want to compile the application elsewhere in your machine, make sure to update ```CRAZYFLIE_BASE``` in the **Makefile**.

examples/app_hello_file_tree/app-config

@@ -0,0 +1,3 @@
+CONFIG_APP_ENABLE=y
+CONFIG_APP_PRIORITY=1
+CONFIG_APP_STACKSIZE=350

examples/app_hello_file_tree/src/Kbuild

@@ -0,0 +1,3 @@
+obj-y += hello_file_tree.o
+obj-y += hello_sub/
+obj-y += world_sub/

examples/app_hello_file_tree/src/hello_file_tree.c

@@ -0,0 +1,53 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2022 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * hello_file_tree.c - App layer application of a simple hello world app with the functionality implemented in
+ * files that are located in multiple directories.
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "hello_sub.h"
+#include "world_sub.h"
+
+#define DEBUG_MODULE "THEAPP"
+#include "debug.h"
+
+void appMain() {
+  DEBUG_PRINT("Waiting for activation ...\n");
+
+  while(1) {
+    vTaskDelay(M2T(2000));
+    print_hello();
+    print_world();
+  }
+}

examples/app_hello_file_tree/src/hello_sub/Kbuild

@@ -0,0 +1 @@
+obj-y += hello_sub.o

examples/app_hello_file_tree/src/hello_sub/hello_sub.c

@@ -0,0 +1,32 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2022 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "hello_sub.h"
+
+#define DEBUG_MODULE "HELLO_SUB"
+#include "debug.h"
+
+void print_hello() {
+    DEBUG_PRINT("Hello\n");
+}

examples/app_hello_file_tree/src/hello_sub/hello_sub.h

@@ -0,0 +1,27 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2022 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+void print_hello();

examples/app_hello_file_tree/src/world_sub/Kbuild

@@ -0,0 +1 @@
+obj-y += world_sub.o

examples/app_hello_file_tree/src/world_sub/world_sub.c

@@ -0,0 +1,32 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2022 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "world_sub.h"
+
+#define DEBUG_MODULE "WORLD_SUB"
+#include "debug.h"
+
+void print_world() {
+    DEBUG_PRINT("World!\n");
+}

examples/app_hello_file_tree/src/world_sub/world_sub.h

@@ -0,0 +1,27 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2022 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+void print_world();

examples/app_hello_world/Makefile

@@ -14,11 +14,6 @@
 #
 CRAZYFLIE_BASE := ../..
 
-#
-# To include header files from another dir
-#
-EXTRA_CFLAGS += -I$(PWD)/other
-
 #
 # We override the default OOT_CONFIG here, we could also name our config
 # to oot-config and that would be the default.

examples/app_hello_world/src/hello_world.c

@@ -36,14 +36,11 @@
 #include "FreeRTOS.h"
 #include "task.h"
 
-#include "headerInOtherDir.h"
-
+#define DEBUG_MODULE "HELLOWORLD"
 #include "debug.h"
 
-#define DEBUG_MODULE "HELLOWORLD"
 
-void appMain()
-{
+void appMain() {
   DEBUG_PRINT("Waiting for activation ...\n");
 
   while(1) {

tools/make/oot.mk

@@ -10,7 +10,7 @@ OOT ?= $(PWD)
 #
 OOT_CONFIG ?= $(OOT)/oot-config
 
-OOT_ARGS ?= -C $(CRAZYFLIE_BASE) OOT=$(OOT) EXTRA_CFLAGS=$(EXTRA_CFLAGS)
+OOT_ARGS ?= -C $(CRAZYFLIE_BASE) OOT=$(OOT) EXTRA_CFLAGS="$(EXTRA_CFLAGS)"
 
 ifneq ($(OOT_USES_CXX),)
 OOT_ARGS += OOT_USES_CXX=1