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 # Function to replace special characters like is done for the symbols.
  75 replace_special_chars = $(subst +,_,$(subst ~,_,$(subst @,_,$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$1)))))))
  76
  77 # Display compiler version information.
  78 .PHONY: gccversion
  79 gccversion:
  80         @$(CC) --version
  81
  82 # Create final output file (.hex) from ELF output file.
  83 %.hex: %.elf
  84         @$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
  85         $(V1) $(OBJCOPY) -O ihex $< $@
  86
  87 # Create stripped output file (.elf.stripped) from ELF output file.
  88 %.elf.stripped: %.elf
  89         @$(ECHO) $(MSG_STRIP_FILE) $(call toprel, $@)
  90         $(V1) $(STRIP) --strip-unneeded $< -o $@
  91
  92 # Create final output file (.bin) from ELF output file.
  93 %.bin: %.elf
  94         @$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
  95         $(V1) $(OBJCOPY) -O binary $< $@
  96
  97 %.bin: %.o
  98         @$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
  99         $(V1) $(OBJCOPY) -O binary $< $@
 100
 101 %.bin.o: %.bin
 102         @$(ECHO) $(MSG_BIN_OBJ) $(call toprel, $@)
 103         $(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
 104                 --rename-section .data=.rodata,alloc,load,readonly,data,contents \
 105                 --wildcard \
 106                 --redefine-sym _binary_$(call replace_special_chars,$<)_start=_binary_start \
 107                 --redefine-sym _binary_$(call replace_special_chars,$<)_end=_binary_end \
 108                 --redefine-sym _binary_$(call replace_special_chars,$<)_size=_binary_size \
 109                 $< $@
 110
 111 # Create extended listing file/disassambly from ELF output file.
 112 # using objdump testing: option -C
 113 %.lss: %.elf
 114         @$(ECHO) $(MSG_EXTENDED_LISTING) $(call toprel, $@)
 115         $(V1) $(OBJDUMP) -h -S -C -r $< > $@
 116
 117 # Create a symbol table from ELF output file.
 118 %.sym: %.elf
 119         @$(ECHO) $(MSG_SYMBOL_TABLE) $(call toprel, $@)
 120         $(V1) $(NM) -n $< > $@
 121
 122 define SIZE_TEMPLATE
 123 .PHONY: size
 124 size: $(1)_size
 125
 126 .PHONY: $(1)_size
 127 $(1)_size: $(1)
 128         @$(ECHO) $(MSG_SIZE) $$(call toprel, $$<)
 129         $(V1) $(SIZE) -A $$<
 130 endef
 131
 132 # OpenPilot firmware image template
 133 #  $(1) = path to bin file
 134 #  $(2) = boardtype in hex
 135 #  $(3) = board revision in hex
 136 define OPFW_TEMPLATE
 137 FORCE:
 138
 139 $(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template FORCE
 140         @$(ECHO) $(MSG_FWINFO) $$(call toprel, $$@)
 141         $(V1) $(VERSION_INFO) \
 142                 --template=$(ROOT_DIR)/flight/templates/firmware_info.c.template \
 143                 --outfile=$$@ \
 144                 --image=$(1) \
 145                 --type=$(2) \
 146                 --revision=$(3) \
 147                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition
 148
 149 $(eval $(call COMPILE_C_TEMPLATE, $(1).firmware_info.c))
 150
 151 $(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmware_info.bin
 152         @$(ECHO) $(MSG_OPFIRMWARE) $$(call toprel, $$@)
 153         $(V1) $(CAT) $(1) $(1).firmware_info.bin > $$@
 154 endef
 155
 156 # Assemble: create object files from assembler source files.
 157 define ASSEMBLE_TEMPLATE
 158 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 159         @$(ECHO) $(MSG_ASSEMBLING) $$(call toprel, $$<)
 160         $(V1) $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
 161 endef
 162
 163 # Assemble: create object files from assembler source files. ARM-only
 164 define ASSEMBLE_ARM_TEMPLATE
 165 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 166         @$(ECHO) $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
 167         $(V1) $(CC) -c $$(ASFLAGS) $$< -o $$@
 168 endef
 169
 170 # Compile: create object files from C source files.
 171 define COMPILE_C_TEMPLATE
 172 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 173         @$(ECHO) $(MSG_COMPILING) $$(call toprel, $$<)
 174         $(V1) $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 175 endef
 176
 177 # Compile: create object files from C source files. ARM-only
 178 define COMPILE_C_ARM_TEMPLATE
 179 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 180         @$(ECHO) $(MSG_COMPILING_ARM) $$(call toprel, $$<)
 181         $(V1) $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 182 endef
 183
 184 # Compile: create object files from C++ source files.
 185 define COMPILE_CXX_TEMPLATE
 186 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 187         @$(ECHO) $(MSG_COMPILINGCXX) $$(call toprel, $$<)
 188         $(V1) $(CXX) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 189 endef
 190
 191 # Compile: create object files from C++ source files. ARM-only
 192 define COMPILE_CXX_ARM_TEMPLATE
 193 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 194         @$(ECHO) $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
 195         $(V1) $(CPP) -c $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 196 endef
 197
 198 # Archive: create ar library file from object files.
 199 #   $1 = library file to produce
 200 #   $2 = list of object files that make up the library file
 201 #   $3 = optional object files directory
 202 define ARCHIVE_TEMPLATE
 203 .SECONDARY : $(1)
 204 .PRECIOUS : $(2)
 205 $(1):  $(2)
 206         @$(ECHO) $(MSG_ARCHIVING) $$(call toprel, $$@)
 207 ifeq ($(3),)
 208         $(V1) $(AR) rcs $$@ $(2)
 209 else
 210 #       This is a workaround for Windows CreateProcess() line length
 211 #       limitation. It is assumed that if the object files directory
 212 #       is given, all object files are in that directory.
 213         $(V1) ( \
 214                 pwd=`pwd` && \
 215                 cd $(3) && \
 216                 $(AR) rcs $$@ $(notdir $(2)) && \
 217                 cd $$$${pwd} >/dev/null \
 218               )
 219 endif
 220 endef
 221
 222 # Link: create ELF output file from object files.
 223 #   $1 = elf file to produce
 224 #   $2 = list of object files that make up the elf file
 225 #   $3 = optional list of libraries to build and link
 226 define LINK_TEMPLATE
 227 .SECONDARY : $(1)
 228 .PRECIOUS : $(2) $(3)
 229 $(1):  $(2) $(3)
 230         @$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
 231         $(V1) $(CC) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 232 endef
 233
 234 # Link: create ELF output file from object files.
 235 #   $1 = elf file to produce
 236 #   $2 = list of object files that make up the elf file
 237 define LINK_CXX_TEMPLATE
 238 .SECONDARY : $(1)
 239 .PRECIOUS : $(2) $(3)
 240 $(1):  $(2) $(3)
 241         @$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
 242         $(V1) $(CXX) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 243 endef
 244
 245 # Compile: create assembler files from C source files. ARM/Thumb
 246 define PARTIAL_COMPILE_TEMPLATE
 247 $($(1):.c=.s) : %.s : %.c
 248         @$(ECHO) $(MSG_ASMFROMC) $$(call toprel, $$<)
 249         $(V1) $(CC) $(THUMB) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 250 endef
 251
 252 # Compile: create assembler files from C source files. ARM only
 253 define PARTIAL_COMPILE_ARM_TEMPLATE
 254 $($(1):.c=.s) : %.s : %.c
 255         @$(ECHO) $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
 256         $(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 257 endef
 258
 259 # $(1) = Name of binary image to write
 260 # $(2) = Base of flash region to write/wipe
 261 # $(3) = Size of flash region to write/wipe
 262 # $(4) = OpenOCD JTAG interface configuration file to use
 263 # $(5) = OpenOCD configuration file to use
 264 define JTAG_TEMPLATE
 265 # ---------------------------------------------------------------------------
 266 # Options for OpenOCD flash-programming
 267 # see openocd.pdf/openocd.texi for further information
 268
 269 # debug level
 270 OOCD_JTAG_SETUP  = -d0
 271 # interface and board/target settings (using the OOCD target-library here)
 272 OOCD_JTAG_SETUP += -s $(ROOT_DIR)/flight/Project/OpenOCD
 273 OOCD_JTAG_SETUP += -f $(4) -f $(5)
 274
 275 # initialize
 276 OOCD_BOARD_RESET = -c init
 277 # show the targets
 278 #OOCD_BOARD_RESET += -c targets
 279 # commands to prepare flash-write
 280 OOCD_BOARD_RESET += -c "reset halt"
 281
 282 .PHONY: program
 283 program: $(1)
 284         @$(ECHO) $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
 285         $(V1) $(OPENOCD) \
 286                 $$(OOCD_JTAG_SETUP) \
 287                 $$(OOCD_BOARD_RESET) \
 288                 -c "flash write_image erase $$< $(2) bin" \
 289                 -c "verify_image $$< $(2) bin" \
 290                 -c "reset run" \
 291                 -c "shutdown"
 292
 293 .PHONY: wipe
 294 wipe:
 295         @$(ECHO) $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
 296         $(V1) $(OPENOCD) \
 297                 $$(OOCD_JTAG_SETUP) \
 298                 $$(OOCD_BOARD_RESET) \
 299                 -c "flash erase_address pad $(2) $(3)" \
 300                 -c "reset run" \
 301                 -c "shutdown"
 302 endef