flight/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 FLIGHT_MAKEFILE
  20     $(error Top level Makefile must be used to build this target)
  21 endif
  22
  23 # Set to YES to compile for debugging
  24 DEBUG                ?= NO
  25
  26 # Set to YES to compile C++ implemented features
  27 USE_CXX              ?= NO
  28
  29 # Set to YES to use the Servo output pins for debugging via scope or logic analyser
  30 ENABLE_DEBUG_PINS    ?= NO
  31
  32 # Set to YES to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
  33 ENABLE_AUX_UART      ?= NO
  34
  35 # Include objects that are just nice information to show
  36 DIAG_STACK           ?= NO
  37 DIAG_MIXERSTATUS     ?= NO
  38 DIAG_RATEDESIRED     ?= NO
  39 DIAG_I2C_WDG_STATS   ?= NO
  40 DIAG_TASKS           ?= NO
  41 DIAG_INSTRUMENTATION ?= NO
  42
  43 # Or just turn on all the above diagnostics. WARNING: this consumes massive amounts of memory.
  44 DIAG_ALL             ?= NO
  45
  46 # Optimization level, can be [0, 1, 2, 3, s].
  47 # 0 = turn off optimization. s = optimize for size.
  48 # Note: 3 is not always the best optimization level.
  49 ifeq ($(DEBUG), YES)
  50     OPT = 0
  51 else
  52     OPT = s
  53 endif
  54
  55 # Output format (can be ihex or binary or both).
  56 #  binary to create a load-image in raw-binary format i.e. for SAM-BA,
  57 #  ihex to create a load-image in Intel hex format
  58 #LOADFORMAT = ihex
  59 #LOADFORMAT = binary
  60 LOADFORMAT = both
  61
  62 # Debugging format.
  63 DEBUGF = dwarf-2
  64
  65 # Place project-specific -D (define) and/or -U options for C here.
  66 CDEFS += -DUSE_$(BOARD)
  67
  68 ifeq ($(ENABLE_DEBUG_PINS), YES)
  69     CDEFS += -DPIOS_ENABLE_DEBUG_PINS
  70 endif
  71
  72 ifeq ($(ENABLE_AUX_UART), YES)
  73     CDEFS += -DPIOS_ENABLE_AUX_UART
  74 endif
  75
  76 # The following Makefile command, ifneq (,$(filter) $(A), $(B) $(C))
  77 #    is equivalent to the pseudocode `if (A == B || A == C)`
  78 ifneq (,$(filter YES,$(DIAG_STACK) $(DIAG_ALL)))
  79     CFLAGS += -DDIAG_STACK
  80 endif
  81
  82 ifneq (,$(filter YES,$(DIAG_MIXERSTATUS) $(DIAG_ALL)))
  83     CFLAGS += -DDIAG_MIXERSTATUS
  84 endif
  85
  86 ifneq (,$(filter YES,$(DIAG_RATEDESIRED) $(DIAG_ALL)))
  87     CFLAGS += -DDIAG_RATEDESIRED
  88 endif
  89
  90 ifneq (,$(filter YES,$(DIAG_I2C_WDG_STATS) $(DIAG_ALL)))
  91     CFLAGS += -DDIAG_I2C_WDG_STATS
  92 endif
  93
  94 ifneq (,$(filter YES,$(DIAG_TASKS) $(DIAG_ALL)))
  95     CFLAGS += -DDIAG_TASKS
  96 endif
  97
  98 ifneq (,$(filter YES,$(DIAG_INSTRUMENTATION) $(DIAG_ALL)))
  99     CFLAGS += -DPIOS_INCLUDE_INSTRUMENTATION
 100 endif
 101 # Place project-specific -D and/or -U options for Assembler with preprocessor here.
 102 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
 103 ADEFS = -D__ASSEMBLY__
 104
 105 # Compiler flag to set the C Standard level.
 106 # c89   - "ANSI" C
 107 # gnu89 - c89 plus GCC extensions
 108 # c99   - ISO C99 standard (not yet fully implemented)
 109 # gnu99 - c99 plus GCC extensions
 110 CSTANDARD = -std=gnu99
 111
 112 # Compiler flags.
 113 #
 114 #  -g*:          generate debugging information
 115 #  -O*:          optimization level
 116 #  -f...:        tuning, see GCC manual and avr-libc documentation
 117 #  -Wall...:     warning level
 118 #  -Wa,...:      tell GCC to pass this to the assembler.
 119 #    -adhlns...: create assembler listing
 120
 121 # Common architecture-specific flags from the device-specific library makefile
 122 CFLAGS += $(ARCHFLAGS)
 123 CFLAGS += $(CDEFS)
 124 CFLAGS += -O$(OPT)
 125 CFLAGS += -g$(DEBUGF)
 126 CFLAGS += -mapcs-frame
 127 CFLAGS += -fomit-frame-pointer
 128 CFLAGS += -Wall -Wextra
 129 CFLAGS += -Wfloat-equal -Wdouble-promotion
 130 CFLAGS += -Wshadow
 131 CFLAGS += -Werror
 132 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 133 CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 134
 135 # Provides board-specific defines
 136 BOARD_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
 137 BOARD_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
 138 BOARD_CDEFS += -DHW_TYPE=$(HW_TYPE)
 139 BOARD_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
 140 BOARD_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
 141 BOARD_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
 142 BOARD_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
 143
 144 BOARD_CDEFS += -DBL_BANK_BASE=$(BL_BANK_BASE)
 145 BOARD_CDEFS += -DBL_BANK_SIZE=$(BL_BANK_SIZE)
 146 BOARD_CDEFS += -DBL_DESC_SIZE=$(BL_DESC_SIZE)
 147 ifdef EE_BANK_BASE
 148 BOARD_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE)
 149 BOARD_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE)
 150 endif
 151 ifdef USER_EE_BANK_BASE
 152 BOARD_CDEFS += -DUSER_EE_BANK_BASE=$(USER_EE_BANK_BASE)
 153 BOARD_CDEFS += -DUSER_EE_BANK_SIZE=$(USER_EE_BANK_SIZE)
 154 endif
 155 CDEFS += $(BOARD_CDEFS)
 156
 157 ifeq ($(DEBUG), YES)
 158     CPPFLAGS += -DDEBUG
 159 else
 160     CFLAGS += -fdata-sections -ffunction-sections
 161 endif
 162
 163 ifeq ($(USE_CXX), YES)
 164     CPPFLAGS += -DPIOS_ENABLE_CXX
 165 endif
 166
 167 # Compiler flags to generate dependency files
 168 CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
 169
 170 # Flags only for C
 171 #CONLYFLAGS += -Wnested-externs
 172 CONLYFLAGS += $(CSTANDARD) -Wunsuffixed-float-constants
 173
 174 # C++ Flags
 175 # Note C++ compilation also uses CFLAGS.  CONLYFLAGS has exclusions that
 176 # can not be used with C++ compiler. C++ specific compile options are
 177 # as set in CXXFLAGS. Note CPPFLAGS is for C pre-process and has not been
 178 # used correctly - longer term move CDEFS to CPPFLAGS.
 179 CXXFLAGS += -fno-rtti -fno-exceptions -std=c++11 -fno-use-cxa-atexit
 180
 181 # Assembler flags.
 182 #  -Wa,...:    tell GCC to pass this to the assembler.
 183 #  -ahlns:     create listing
 184 ASFLAGS =  -mcpu=$(MCU) -I. -x assembler-with-cpp
 185 ASFLAGS += $(ADEFS)
 186 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
 187 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 188
 189 # Linker flags.
 190 #  -Wl,...:     tell GCC to pass this to linker.
 191 #    -Map:      create map file
 192 #    --cref:    add cross reference to  map file
 193 LDFLAGS += -nostartfiles
 194 LDFLAGS += -Wl,--warn-common,--fatal-warnings,--sort-common,--sort-section=alignment,--gc-sections
 195 LDFLAGS += -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref
 196 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
 197 LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
 198 LDFLAGS += -lc -lgcc
 199
 200 ifneq ($(DEBUG), YES)
 201     LDFLAGS += -Wl,-static
 202 endif
 203
 204 # List of all source files.
 205 ifeq ($(USE_CXX), YES)
 206 ALLSRC     = $(CPPSRCARM) $(CPPSRC) $(ASRCARM) $(ASRC) $(SRCARM) $(SRC)
 207 else
 208 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC)
 209 endif
 210
 211 # List of all source files without directory and file-extension.
 212 ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
 213
 214 # Define all object files.
 215 ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE))) $(EXTRAOBJ)
 216
 217 # Define all listing files (used for make clean).
 218 LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 219 # Define all depedency-files (used for make clean).
 220 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 221
 222 # Default target.
 223 all: build
 224
 225 ifeq ($(LOADFORMAT),ihex)
 226 build: elf hex sym
 227 else ifeq ($(LOADFORMAT),binary)
 228 build: elf bin sym
 229 else ifeq ($(LOADFORMAT),both)
 230 build: elf hex bin sym
 231 else
 232     $(error "$(MSG_FORMATERROR) $(FORMAT)")
 233 endif
 234
 235 # Generate code for PyMite
 236 # $(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)
 237 #       @echo $(MSG_PYMITEINIT) $(call toprel, $@)
 238 #       @$(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 $(FLIGHTPLANLIB)/*.py)
 239 #       @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
 240 #       @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 241
 242 # Link: create ELF output file from object files.
 243 ifeq ($(USE_CXX), YES)
 244 $(eval $(call LINK_CXX_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
 245 else
 246 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
 247 endif
 248
 249 # Assemble: create object files from assembler source files.
 250 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
 251
 252 # Assemble: create object files from assembler source files. ARM-only
 253 $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
 254
 255 # Compile: create object files from C source files.
 256 $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
 257
 258 # Compile: create object files from C source files. ARM-only
 259 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
 260
 261 ifeq ($(USE_CXX), YES)
 262 # Compile: create object files from C++ source files.
 263 $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CXX_TEMPLATE, $(src))))
 264
 265 # Compile: create object files from C++ source files. ARM-only
 266 $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CXX_ARM_TEMPLATE, $(src))))
 267 endif
 268
 269 # Compile: create assembler files from C source files. ARM/Thumb
 270 $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 271
 272 # Compile: create assembler files from C source files. ARM only
 273 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 274
 275 # Add opfw target
 276 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 277
 278 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 279
 280 .PHONY: elf lss sym hex bin bino opfw
 281 elf: $(OUTDIR)/$(TARGET).elf
 282 lss: $(OUTDIR)/$(TARGET).lss
 283 sym: $(OUTDIR)/$(TARGET).sym
 284 hex: $(OUTDIR)/$(TARGET).hex
 285 bin: $(OUTDIR)/$(TARGET).bin
 286 bino: $(OUTDIR)/$(TARGET).bin.o
 287 opfw: $(OUTDIR)/$(TARGET).opfw
 288
 289 # Display sizes of sections.
 290 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
 291
 292 # Target: clean project
 293 clean:
 294         @echo $(MSG_CLEANING)
 295         $(V1) rm -f $(OUTDIR)/$(TARGET).map
 296         $(V1) rm -f $(OUTDIR)/$(TARGET).elf
 297         $(V1) rm -f $(OUTDIR)/$(TARGET).hex
 298         $(V1) rm -f $(OUTDIR)/$(TARGET).bin
 299         $(V1) rm -f $(OUTDIR)/$(TARGET).sym
 300         $(V1) rm -f $(OUTDIR)/$(TARGET).lss
 301         $(V1) rm -f $(OUTDIR)/$(TARGET).bin.o
 302         $(V1) rm -f $(OUTDIR)/$(TARGET).opfw
 303         $(V1) rm -f $(wildcard $(OUTDIR)/*.c)
 304         $(V1) rm -f $(wildcard $(OUTDIR)/*.h)
 305         $(V1) rm -f $(ALLOBJ)
 306         $(V1) rm -f $(LSTFILES)
 307         $(V1) rm -f $(DEPFILES)
 308         $(V1) rm -f $(SRC:.c=.s)
 309         $(V1) rm -f $(SRCARM:.c=.s)
 310         $(V1) rm -f $(CPPSRC:.cpp=.s)
 311         $(V1) rm -f $(CPPSRCARM:.cpp=.s)
 312
 313 # Create output files directory
 314 # all known MS Windows OS define the ComSpec environment variable
 315 $(shell mkdir -p $(OUTDIR) 2>/dev/null)
 316
 317 # Include the dependency files.
 318 -include $(shell mkdir -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 319
 320 # Listing of phony targets.
 321 .PHONY: all build clean install