make/firmware-defs.mk

   1 #
   2 # Copyright (c) 2010-2013, 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 # Define toolchain component names.
  24 CC      = $(ARM_SDK_PREFIX)gcc
  25 CXX     = $(ARM_SDK_PREFIX)g++
  26 AR      = $(ARM_SDK_PREFIX)ar
  27 OBJCOPY = $(ARM_SDK_PREFIX)objcopy
  28 OBJDUMP = $(ARM_SDK_PREFIX)objdump
  29 SIZE    = $(ARM_SDK_PREFIX)size
  30 NM      = $(ARM_SDK_PREFIX)nm
  31 STRIP   = $(ARM_SDK_PREFIX)strip
  32
  33 THUMB   = -mthumb
  34
  35 # Add a board designator to the terse message text
  36 ifeq ($(ENABLE_MSG_EXTRA),yes)
  37     MSG_EXTRA := [$(BUILD_TYPE)|$(BOARD_SHORT_NAME)]
  38 else
  39     MSG_EXTRA :=
  40 endif
  41
  42 # Define Messages
  43 MSG_FORMATERROR      = $(QUOTE) Can not handle output-format$(QUOTE)
  44 MSG_MODINIT          = $(QUOTE) MODINIT   $(MSG_EXTRA) $(QUOTE)
  45 MSG_SIZE             = $(QUOTE) SIZE      $(MSG_EXTRA) $(QUOTE)
  46 MSG_LOAD_FILE        = $(QUOTE) BIN/HEX   $(MSG_EXTRA) $(QUOTE)
  47 MSG_BIN_OBJ          = $(QUOTE) BINO      $(MSG_EXTRA) $(QUOTE)
  48 MSG_STRIP_FILE       = $(QUOTE) STRIP     $(MSG_EXTRA) $(QUOTE)
  49 MSG_EXTENDED_LISTING = $(QUOTE) LIS       $(MSG_EXTRA) $(QUOTE)
  50 MSG_SYMBOL_TABLE     = $(QUOTE) NM        $(MSG_EXTRA) $(QUOTE)
  51 MSG_ARCHIVING        = $(QUOTE) AR        $(MSG_EXTRA) $(QUOTE)
  52 MSG_LINKING          = $(QUOTE) LD        $(MSG_EXTRA) $(QUOTE)
  53 MSG_COMPILING        = $(QUOTE) CC        $(MSG_EXTRA) $(QUOTE)
  54 MSG_COMPILING_ARM    = $(QUOTE) CC-ARM    $(MSG_EXTRA) $(QUOTE)
  55 MSG_COMPILINGCXX     = $(QUOTE) CXX       $(MSG_EXTRA) $(QUOTE)
  56 MSG_COMPILINGCXX_ARM = $(QUOTE) CXX-ARM   $(MSG_EXTRA) $(QUOTE)
  57 MSG_ASSEMBLING       = $(QUOTE) AS        $(MSG_EXTRA) $(QUOTE)
  58 MSG_ASSEMBLING_ARM   = $(QUOTE) AS-ARM    $(MSG_EXTRA) $(QUOTE)
  59 MSG_CLEANING         = $(QUOTE) CLEAN     $(MSG_EXTRA) $(QUOTE)
  60 MSG_ASMFROMC         = $(QUOTE) AS(C)     $(MSG_EXTRA) $(QUOTE)
  61 MSG_ASMFROMC_ARM     = $(QUOTE) AS(C)-ARM $(MSG_EXTRA) $(QUOTE)
  62 MSG_PYMITEINIT       = $(QUOTE) PY        $(MSG_EXTRA) $(QUOTE)
  63 MSG_OPFIRMWARE       = $(QUOTE) OPFW      $(MSG_EXTRA) $(QUOTE)
  64 MSG_FWINFO           = $(QUOTE) FWINFO    $(MSG_EXTRA) $(QUOTE)
  65 MSG_JTAG_PROGRAM     = $(QUOTE) JTAG-PGM  $(MSG_EXTRA) $(QUOTE)
  66 MSG_JTAG_WIPE        = $(QUOTE) JTAG-WIPE $(MSG_EXTRA) $(QUOTE)
  67 MSG_PADDING          = $(QUOTE) PADDING   $(MSG_EXTRA) $(QUOTE)
  68 MSG_FLASH_IMG        = $(QUOTE) FLASH_IMG $(MSG_EXTRA) $(QUOTE)
  69
  70 # Function for converting an absolute path to one relative
  71 # to the top of the source tree.
  72 toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
  73
  74 # Display compiler version information.
  75 .PHONY: gccversion
  76 gccversion:
  77         @$(CC) --version
  78
  79 # Create final output file (.hex) from ELF output file.
  80 %.hex: %.elf
  81         @$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
  82         $(V1) $(OBJCOPY) -O ihex $< $@
  83
  84 # Create stripped output file (.elf.stripped) from ELF output file.
  85 %.elf.stripped: %.elf
  86         @$(ECHO) $(MSG_STRIP_FILE) $(call toprel, $@)
  87         $(V1) $(STRIP) --strip-unneeded $< -o $@
  88
  89 # Create final output file (.bin) from ELF output file.
  90 %.bin: %.elf
  91         @$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
  92         $(V1) $(OBJCOPY) -O binary $< $@
  93
  94 %.bin: %.o
  95         @$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
  96         $(V1) $(OBJCOPY) -O binary $< $@
  97
  98 %.bin.o: %.bin
  99         @$(ECHO) $(MSG_BIN_OBJ) $(call toprel, $@)
 100         $(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
 101                 --rename-section .data=.rodata,alloc,load,readonly,data,contents \
 102                 --wildcard \
 103                 --redefine-sym _binary_$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$<))))_start=_binary_start \
 104                 --redefine-sym _binary_$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$<))))_end=_binary_end \
 105                 --redefine-sym _binary_$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$<))))_size=_binary_size \
 106                 $< $@
 107
 108 # Create extended listing file/disassambly from ELF output file.
 109 # using objdump testing: option -C
 110 %.lss: %.elf
 111         @$(ECHO) $(MSG_EXTENDED_LISTING) $(call toprel, $@)
 112         $(V1) $(OBJDUMP) -h -S -C -r $< > $@
 113
 114 # Create a symbol table from ELF output file.
 115 %.sym: %.elf
 116         @$(ECHO) $(MSG_SYMBOL_TABLE) $(call toprel, $@)
 117         $(V1) $(NM) -n $< > $@
 118
 119 define SIZE_TEMPLATE
 120 .PHONY: size
 121 size: $(1)_size
 122
 123 .PHONY: $(1)_size
 124 $(1)_size: $(1)
 125         @$(ECHO) $(MSG_SIZE) $$(call toprel, $$<)
 126         $(V1) $(SIZE) -A $$<
 127 endef
 128
 129 # OpenPilot firmware image template
 130 #  $(1) = path to bin file
 131 #  $(2) = boardtype in hex
 132 #  $(3) = board revision in hex
 133 define OPFW_TEMPLATE
 134 FORCE:
 135
 136 $(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template FORCE
 137         @$(ECHO) $(MSG_FWINFO) $$(call toprel, $$@)
 138         $(V1) $(VERSION_INFO) \
 139                 --template=$(ROOT_DIR)/flight/templates/firmware_info.c.template \
 140                 --outfile=$$@ \
 141                 --image=$(1) \
 142                 --type=$(2) \
 143                 --revision=$(3) \
 144                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition
 145
 146 $(eval $(call COMPILE_C_TEMPLATE, $(1).firmware_info.c))
 147
 148 $(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmware_info.bin
 149         @$(ECHO) $(MSG_OPFIRMWARE) $$(call toprel, $$@)
 150         $(V1) $(CAT) $(1) $(1).firmware_info.bin > $$@
 151 endef
 152
 153 # Assemble: create object files from assembler source files.
 154 define ASSEMBLE_TEMPLATE
 155 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 156         @$(ECHO) $(MSG_ASSEMBLING) $$(call toprel, $$<)
 157         $(V1) $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
 158 endef
 159
 160 # Assemble: create object files from assembler source files. ARM-only
 161 define ASSEMBLE_ARM_TEMPLATE
 162 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 163         @$(ECHO) $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
 164         $(V1) $(CC) -c $$(ASFLAGS) $$< -o $$@
 165 endef
 166
 167 # Compile: create object files from C source files.
 168 define COMPILE_C_TEMPLATE
 169 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 170         @$(ECHO) $(MSG_COMPILING) $$(call toprel, $$<)
 171         $(V1) $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 172 endef
 173
 174 # Compile: create object files from C source files. ARM-only
 175 define COMPILE_C_ARM_TEMPLATE
 176 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 177         @$(ECHO) $(MSG_COMPILING_ARM) $$(call toprel, $$<)
 178         $(V1) $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 179 endef
 180
 181 # Compile: create object files from C++ source files.
 182 define COMPILE_CXX_TEMPLATE
 183 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 184         @$(ECHO) $(MSG_COMPILINGCXX) $$(call toprel, $$<)
 185         $(V1) $(CXX) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 186 endef
 187
 188 # Compile: create object files from C++ source files. ARM-only
 189 define COMPILE_CXX_ARM_TEMPLATE
 190 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 191         @$(ECHO) $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
 192         $(V1) $(CPP) -c $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 193 endef
 194
 195 # Archive: create ar library file from object files.
 196 #   $1 = library file to produce
 197 #   $2 = list of object files that make up the library file
 198 #   $3 = optional object files directory
 199 define ARCHIVE_TEMPLATE
 200 .SECONDARY : $(1)
 201 .PRECIOUS : $(2)
 202 $(1):  $(2)
 203         @$(ECHO) $(MSG_ARCHIVING) $$(call toprel, $$@)
 204 ifeq ($(3),)
 205         $(V1) $(AR) rcs $$@ $(2)
 206 else
 207 #       This is a workaround for Windows CreateProcess() line length
 208 #       limitation. It is assumed that if the object files directory
 209 #       is given, all object files are in that directory.
 210         $(V1) ( \
 211                 pwd=`pwd` && \
 212                 cd $(3) && \
 213                 $(AR) rcs $$@ $(notdir $(2)) && \
 214                 cd $$$${pwd} >/dev/null \
 215               )
 216 endif
 217 endef
 218
 219 # Link: create ELF output file from object files.
 220 #   $1 = elf file to produce
 221 #   $2 = list of object files that make up the elf file
 222 #   $3 = optional list of libraries to build and link
 223 define LINK_TEMPLATE
 224 .SECONDARY : $(1)
 225 .PRECIOUS : $(2) $(3)
 226 $(1):  $(2) $(3)
 227         @$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
 228         $(V1) $(CC) $(THUMB) $$(CFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 229 endef
 230
 231 # Link: create ELF output file from object files.
 232 #   $1 = elf file to produce
 233 #   $2 = list of object files that make up the elf file
 234 define LINK_CXX_TEMPLATE
 235 .SECONDARY : $(1)
 236 .PRECIOUS : $(2)
 237 $(1):  $(2)
 238         @$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
 239         $(V1) $(CXX) $(THUMB) $$(CFLAGS) $(2) --output $$@ $$(LDFLAGS)
 240 endef
 241
 242 # Compile: create assembler files from C source files. ARM/Thumb
 243 define PARTIAL_COMPILE_TEMPLATE
 244 $($(1):.c=.s) : %.s : %.c
 245         @$(ECHO) $(MSG_ASMFROMC) $$(call toprel, $$<)
 246         $(V1) $(CC) $(THUMB) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 247 endef
 248
 249 # Compile: create assembler files from C source files. ARM only
 250 define PARTIAL_COMPILE_ARM_TEMPLATE
 251 $($(1):.c=.s) : %.s : %.c
 252         @$(ECHO) $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
 253         $(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 254 endef
 255
 256 # $(1) = Name of binary image to write
 257 # $(2) = Base of flash region to write/wipe
 258 # $(3) = Size of flash region to write/wipe
 259 # $(4) = OpenOCD JTAG interface configuration file to use
 260 # $(5) = OpenOCD configuration file to use
 261 define JTAG_TEMPLATE
 262 # ---------------------------------------------------------------------------
 263 # Options for OpenOCD flash-programming
 264 # see openocd.pdf/openocd.texi for further information
 265
 266 # debug level
 267 OOCD_JTAG_SETUP  = -d0
 268 # interface and board/target settings (using the OOCD target-library here)
 269 OOCD_JTAG_SETUP += -s $(ROOT_DIR)/flight/Project/OpenOCD
 270 OOCD_JTAG_SETUP += -f $(4) -f $(5)
 271
 272 # initialize
 273 OOCD_BOARD_RESET = -c init
 274 # show the targets
 275 #OOCD_BOARD_RESET += -c targets
 276 # commands to prepare flash-write
 277 OOCD_BOARD_RESET += -c "reset halt"
 278
 279 .PHONY: program
 280 program: $(1)
 281         @$(ECHO) $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
 282         $(V1) $(OPENOCD) \
 283                 $$(OOCD_JTAG_SETUP) \
 284                 $$(OOCD_BOARD_RESET) \
 285                 -c "flash write_image erase $$< $(2) bin" \
 286                 -c "verify_image $$< $(2) bin" \
 287                 -c "reset run" \
 288                 -c "shutdown"
 289
 290 .PHONY: wipe
 291 wipe:
 292         @$(ECHO) $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
 293         $(V1) $(OPENOCD) \
 294                 $$(OOCD_JTAG_SETUP) \
 295                 $$(OOCD_BOARD_RESET) \
 296                 -c "flash erase_address pad $(2) $(3)" \
 297                 -c "reset run" \
 298                 -c "shutdown"
 299 endef