make/common-defs.mk

   1 #
   2 # Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
   3 #
   4 # This program is free software; you can redistribute it and/or modify
   5 # it under the terms of the GNU General Public License as published by
   6 # the Free Software Foundation; either version 3 of the License, or
   7 # (at your option) any later version.
   8 #
   9 # This program is distributed in the hope that it will be useful, but
  10 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  11 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  12 # for more details.
  13 #
  14 # You should have received a copy of the GNU General Public License along
  15 # with this program; if not, write to the Free Software Foundation, Inc.,
  16 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  17 #
  18
  19 ifndef OPENPILOT_IS_COOL
  20     $(error Top level Makefile must be used to build this target)
  21 endif
  22
  23 # Set to YES to compile for debugging
  24 DEBUG                ?= NO
  25
  26 # Set to YES to use the Servo output pins for debugging via scope or logic analyser
  27 ENABLE_DEBUG_PINS    ?= NO
  28
  29 # Set to YES to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
  30 ENABLE_AUX_UART      ?= NO
  31
  32 # Include objects that are just nice information to show
  33 DIAG_STACK           ?= NO
  34 DIAG_MIXERSTATUS     ?= NO
  35 DIAG_RATEDESIRED     ?= NO
  36 DIAG_I2C_WDG_STATS   ?= NO
  37 DIAG_TASKS           ?= NO
  38 DIAG_INSTRUMENTATION ?= NO
  39
  40 # Or just turn on all the above diagnostics. WARNING: this consumes massive amounts of memory.
  41 DIAG_ALL             ?= NO
  42
  43 # Optimization level, can be [0, 1, 2, 3, s].
  44 # 0 = turn off optimization. s = optimize for size.
  45 # Note: 3 is not always the best optimization level.
  46 ifeq ($(DEBUG), YES)
  47     OPT = 0
  48 else
  49     OPT = s
  50 endif
  51
  52 # Output format (can be ihex or binary or both).
  53 #  binary to create a load-image in raw-binary format i.e. for SAM-BA,
  54 #  ihex to create a load-image in Intel hex format
  55 #LOADFORMAT = ihex
  56 #LOADFORMAT = binary
  57 LOADFORMAT = both
  58
  59 # Debugging format.
  60 DEBUGF = dwarf-2
  61
  62 # Place project-specific -D (define) and/or -U options for C here.
  63 CDEFS += -DUSE_$(BOARD)
  64
  65 ifeq ($(ENABLE_DEBUG_PINS), YES)
  66     CDEFS += -DPIOS_ENABLE_DEBUG_PINS
  67 endif
  68
  69 ifeq ($(ENABLE_AUX_UART), YES)
  70     CDEFS += -DPIOS_ENABLE_AUX_UART
  71 endif
  72
  73 # The following Makefile command, ifneq (,$(filter) $(A), $(B) $(C))
  74 #    is equivalent to the pseudocode `if (A == B || A == C)`
  75 ifneq (,$(filter YES,$(DIAG_STACK) $(DIAG_ALL)))
  76     CFLAGS += -DDIAG_STACK
  77 endif
  78
  79 ifneq (,$(filter YES,$(DIAG_MIXERSTATUS) $(DIAG_ALL)))
  80     CFLAGS += -DDIAG_MIXERSTATUS
  81 endif
  82
  83 ifneq (,$(filter YES,$(DIAG_RATEDESIRED) $(DIAG_ALL)))
  84     CFLAGS += -DDIAG_RATEDESIRED
  85 endif
  86
  87 ifneq (,$(filter YES,$(DIAG_I2C_WDG_STATS) $(DIAG_ALL)))
  88     CFLAGS += -DDIAG_I2C_WDG_STATS
  89 endif
  90
  91 ifneq (,$(filter YES,$(DIAG_TASKS) $(DIAG_ALL)))
  92     CFLAGS += -DDIAG_TASKS
  93 endif
  94
  95 ifneq (,$(filter YES,$(DIAG_INSTRUMENTATION) $(DIAG_ALL)))
  96     CFLAGS += -DPIOS_INCLUDE_INSTRUMENTATION
  97 endif
  98 # Place project-specific -D and/or -U options for Assembler with preprocessor here.
  99 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
 100 ADEFS = -D__ASSEMBLY__
 101
 102 # Compiler flag to set the C Standard level.
 103 # c89   - "ANSI" C
 104 # gnu89 - c89 plus GCC extensions
 105 # c99   - ISO C99 standard (not yet fully implemented)
 106 # gnu99 - c99 plus GCC extensions
 107 CSTANDARD = -std=gnu99
 108
 109 # Compiler flags.
 110 #
 111 #  -g*:          generate debugging information
 112 #  -O*:          optimization level
 113 #  -f...:        tuning, see GCC manual and avr-libc documentation
 114 #  -Wall...:     warning level
 115 #  -Wa,...:      tell GCC to pass this to the assembler.
 116 #    -adhlns...: create assembler listing
 117
 118 # Common architecture-specific flags from the device-specific library makefile
 119 CFLAGS += $(ARCHFLAGS)
 120 CFLAGS += $(CDEFS)
 121 CFLAGS += -O$(OPT)
 122 CFLAGS += -g$(DEBUGF)
 123 CFLAGS += -mapcs-frame
 124 CFLAGS += -fomit-frame-pointer
 125 CFLAGS += -Wall -Wextra
 126 CFLAGS += -Wfloat-equal -Wunsuffixed-float-constants -Wdouble-promotion
 127 CFLAGS += -Wshadow
 128 CFLAGS += -Werror
 129 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 130 CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 131
 132 # Provides board-specific defines
 133 BOARD_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
 134 BOARD_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
 135 BOARD_CDEFS += -DHW_TYPE=$(HW_TYPE)
 136 BOARD_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
 137 BOARD_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
 138 BOARD_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
 139 BOARD_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
 140
 141 BOARD_CDEFS += -DBL_BANK_BASE=$(BL_BANK_BASE)
 142 BOARD_CDEFS += -DBL_BANK_SIZE=$(BL_BANK_SIZE)
 143 BOARD_CDEFS += -DBL_DESC_SIZE=$(BL_DESC_SIZE)
 144 ifdef EE_BANK_BASE
 145 BOARD_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE)
 146 BOARD_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE)
 147 endif
 148 ifdef USER_EE_BANK_BASE
 149 BOARD_CDEFS += -DUSER_EE_BANK_BASE=$(USER_EE_BANK_BASE)
 150 BOARD_CDEFS += -DUSER_EE_BANK_SIZE=$(USER_EE_BANK_SIZE)
 151 endif
 152 CDEFS += $(BOARD_CDEFS)
 153
 154 ifeq ($(DEBUG), YES)
 155     CFLAGS += -DDEBUG
 156 else
 157     CFLAGS += -fdata-sections -ffunction-sections
 158 endif
 159
 160 # Compiler flags to generate dependency files
 161 CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
 162
 163 # Flags only for C
 164 #CONLYFLAGS += -Wnested-externs
 165 CONLYFLAGS += $(CSTANDARD)
 166
 167 # Assembler flags.
 168 #  -Wa,...:    tell GCC to pass this to the assembler.
 169 #  -ahlns:     create listing
 170 ASFLAGS =  -mcpu=$(MCU) -I. -x assembler-with-cpp
 171 ASFLAGS += $(ADEFS)
 172 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
 173 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 174
 175 # Linker flags.
 176 #  -Wl,...:     tell GCC to pass this to linker.
 177 #    -Map:      create map file
 178 #    --cref:    add cross reference to  map file
 179 LDFLAGS += -nostartfiles
 180 LDFLAGS += -Wl,--warn-common,--fatal-warnings,--sort-common,--sort-section=alignment,--gc-sections
 181 LDFLAGS += -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref
 182 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
 183 LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
 184 LDFLAGS += -lc -lgcc
 185
 186 ifneq ($(DEBUG), YES)
 187     LDFLAGS += -Wl,-static
 188 endif
 189
 190 # List of all source files.
 191 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
 192 # List of all source files without directory and file-extension.
 193 ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
 194
 195 # Define all object files.
 196 ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE))) $(EXTRAOBJ)
 197
 198 # Define all listing files (used for make clean).
 199 LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 200 # Define all depedency-files (used for make clean).
 201 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 202
 203 # Default target.
 204 all: build
 205
 206 ifeq ($(LOADFORMAT),ihex)
 207 build: elf hex sym
 208 else ifeq ($(LOADFORMAT),binary)
 209 build: elf bin sym
 210 else ifeq ($(LOADFORMAT),both)
 211 build: elf hex bin sym
 212 else
 213     $(error "$(MSG_FORMATERROR) $(FORMAT)")
 214 endif
 215
 216 # Generate code for PyMite
 217 # $(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
 218 #       @$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
 219 #       @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
 220 #       @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
 221 #       @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 222
 223 # Link: create ELF output file from object files.
 224 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
 225
 226 # Assemble: create object files from assembler source files.
 227 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
 228
 229 # Assemble: create object files from assembler source files. ARM-only
 230 $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
 231
 232 # Compile: create object files from C source files.
 233 $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
 234
 235 # Compile: create object files from C source files. ARM-only
 236 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
 237
 238 # Compile: create object files from C++ source files.
 239 $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
 240
 241 # Compile: create object files from C++ source files. ARM-only
 242 $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
 243
 244 # Compile: create assembler files from C source files. ARM/Thumb
 245 $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 246
 247 # Compile: create assembler files from C source files. ARM only
 248 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 249
 250 # Add opfw target
 251 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 252
 253 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 254
 255 .PHONY: elf lss sym hex bin bino opfw
 256 elf: $(OUTDIR)/$(TARGET).elf
 257 lss: $(OUTDIR)/$(TARGET).lss
 258 sym: $(OUTDIR)/$(TARGET).sym
 259 hex: $(OUTDIR)/$(TARGET).hex
 260 bin: $(OUTDIR)/$(TARGET).bin
 261 bino: $(OUTDIR)/$(TARGET).bin.o
 262 opfw: $(OUTDIR)/$(TARGET).opfw
 263
 264 # Display sizes of sections.
 265 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
 266
 267 # Target: clean project
 268 clean:
 269         @echo $(MSG_CLEANING)
 270         $(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
 271         $(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
 272         $(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
 273         $(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
 274         $(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
 275         $(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
 276         $(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
 277         $(V1) $(RM) -f $(OUTDIR)/$(TARGET).opfw
 278         $(V1) $(RM) -f $(wildcard $(OUTDIR)/*.c)
 279         $(V1) $(RM) -f $(wildcard $(OUTDIR)/*.h)
 280         $(V1) $(RM) -f $(ALLOBJ)
 281         $(V1) $(RM) -f $(LSTFILES)
 282         $(V1) $(RM) -f $(DEPFILES)
 283         $(V1) $(RM) -f $(SRC:.c=.s)
 284         $(V1) $(RM) -f $(SRCARM:.c=.s)
 285         $(V1) $(RM) -f $(CPPSRC:.cpp=.s)
 286         $(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
 287
 288 # Create output files directory
 289 # all known MS Windows OS define the ComSpec environment variable
 290 $(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
 291
 292 # Include the dependency files.
 293 -include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 294
 295 # Listing of phony targets.
 296 .PHONY: all build clean install