Nuttx下新建路径以及motors

前言

之前在nuttx下编写应用的时候，陷入了之前写单片机代码的误区，没有很好的讲逻辑层和驱动层的代码分割开来，
导致写出来的程序，可读性和可移植性太差，这次参考ardupilot的思路重新整理下实现的过程；

目标

实现一个电机接口库，具体目标如下：
1.这个库应该是建立在nuttx上；
2.利用os原有的PWM驱动以及IO驱动实现电机的控制接口；
3.抽象出电机模型（例如差速模型、姿态模型、自行车模型、单电机模型...）；
4.文件目录层级：
	|—../app/libraries
					|—motor
							|—差速模型（*.c、.h、.....）
							|—自行车模型（*.c、.h、.....）
							|—.......
							|—单电机模型（*.c、.h、.....）
					|—InertialSensor
					....
					|—编译文件（makefile、Kconfig、make.dep、make.defs）

文件的大概目录就是这样，下面结合实际的例子来详细说明。

libraries

 libraries这个文件夹是新建的，就从这里开始吧～

然后编译器在编译的时候才找得到新建的源文件，从而编译；
首先在app下面按照上面的文件目录层级建立好所需要的源文件，接下怎么呢？
刚开始我蒙圈了，经验告诉我去看看readme,里面有如下描述：（我就只挑重点的来了）

Building NuttX with Board-Specific Pieces Outside the Source Tree
-----------------------------------------------------------------
   3) If you like the random collection of stuff in the apps/ directory
      but just want to expand the existing components with your own,
      external sub-directory then there is an easy way to that too:
      You just create a sympolic link in the apps/ directory that
      redirects to your application sub-directory.

      In order to be incorporated into the build, the directory that
      you link under the apps/ directory should contain (1) a Makefile
      that supports the clean and distclean targets (see other Makefiles
      for examples), and (2) a tiny Make.defs file that simply adds the
      custon build directories to the variable CONFIGURED_APPS like:

        CONFIGURED_APPS += my_directory1 my_directory2

      The apps/Makefile will always automatically check for the
      existence of subdirectories containing a Makefile and a Make.defs
      file.  The Makefile will be used only to support cleaning operations.
      The Make.defs file provides the set of directories to be built; these
      directories must also contain a Makefile.  That Makefile must be able
      to build the sources and add the objects to the apps/libapps.a archive.
      (see other Makefiles for examples).  It should support the all,
      install, context, and depend targets.

总结一下，新增加的代码树需要做以下工作：
1.apps/ directory路径下需要包含makefile
（支持clean、distclean（本质是将目录结构还原为其原始的、未配置的状态），可参考其他的makefile）；
2.apps/ directory路径下需要包含make.defs（将新建的路径添加到编译构建的环境变量）；
3.apps/ directory路径下需要包含kconfig（这里不是必须的，方便我们图形化设置一些变量）；

makefile

当按照上述步骤进行后，我们在返回的顶层目录，apps/makfile会自动检查其子目录下的makefile和make.defs，
刚刚说了make.defs提供了新建文件夹的路径，这样编译器才能找到新建路径下的源文件并进行编译
（当然该路径下也是需要包含makefile的），我们来看看源文件是怎么写的（提前透露下 ，我是参考modbus的写的）

############################################################################
# apps/modbus/Makefile
#
#   Copyright (C) 2012, 2016 Gregory Nutt. All rights reserved.
#   Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################

#这里是对顶层配置文件的引用
-include $(TOPDIR)/.config
-include $(TOPDIR)/Make.defs
include $(APPDIR)/Make.defs

#这个宏是方便在kconfig对某些模块进行预编译设置
#ifeq ($(CONFIG_MOTORS),y)

#这里是引用具体文件下的定义（对象是具体的源文件*.c了，设置编译规则...）
include motor/Make.defs

#endif #CONFIG_MOTORS

#下面这些是固定框架（目标文件、源文件...）
AOBJS		= $(ASRCS:.S=$(OBJEXT))
COBJS		= $(CSRCS:.c=$(OBJEXT))

SRCS		= $(ASRCS) $(CSRCS)
OBJS		= $(AOBJS) $(COBJS)

ifeq ($(CONFIG_WINDOWS_NATIVE),y)
  BIN		= ..\libapps$(LIBEXT)
else
ifeq ($(WINTOOL),y)
  BIN		= ..\\libapps$(LIBEXT)
else
  BIN		= ../libapps$(LIBEXT)
endif
endif

# Build targets

all:	.built
.PHONY: context .depend depend clean distclean

ifeq ($(CONFIG_MOTORS),y)

$(AOBJS): %$(OBJEXT): %.S
	$(call ASSEMBLE, $<, $@)

$(COBJS): %$(OBJEXT): %.c
	$(call COMPILE, $<, $@)
endif

.built: $(OBJS)
ifeq ($(CONFIG_MOTORS),y)#这里需要改成我设置预编译变量
	$(call ARCHIVE, $(BIN), $(OBJS))
	$(Q) touch .built
endif

install:

context:

.depend: Makefile $(SRCS)
ifeq ($(CONFIG_MOTORS),y)#这里需要改成我设置预编译变量
	$(Q) $(MKDEP) $(DEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
	$(Q) touch $@
endif

depend: .depend

clean:
	$(call DELFILE, .built)
	$(call CLEAN)

distclean: clean
	$(call DELFILE, Make.dep)
	$(call DELFILE, .depend)


-include Make.dep

.PHONY: preconfig
preconfig:

make.defs

主要是添加了libraries的路径到环境变量中，Make.defs 文件是 Makefile 片断；

############################################################################
# apps/modbus/Make.defs
# Adds selected applications to apps/ build
#
#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
#   Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################

#ifeq ($(CONFIG_MOTORS),y)
CONFIGURED_APPS += libraries
#endif

完成上面必须的两步，基本上也就完成了新建路径到编译器中去了；接着往下走，在具体包含的原文件下面还需要增加一个make.defs：

############################################################################
# apps/modbus/tcp/Make.defs
#
#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
#   Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################

#ifeq ($(CONFIG_SINGLE_DC_MOTORS),y)

CSRCS += singel_dc_motor.c 	#添加源文件

DEPPATH += --dep-path motor #
VPATH += :motor #指定搜索路径，使用空格或者冒号（:）将多个目录分开。
CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(APPDIR)/libraries/motor}

#endif #CONFIG_SINGLE_DC_MOTORS

完成上面几个步骤，直接就可以将新建的路径添加到编译系统中了～