flight/make/firmware-defs.mk

   1 #
   2 # Copyright (C) 2015, The LibrePilot Project, http://www.librepilot.org
   3 # Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
   4 #
   5 # This program is free software; you can redistribute it and/or modify
   6 # it under the terms of the GNU General Public License as published by
   7 # the Free Software Foundation; either version 3 of the License, or
   8 # (at your option) any later version.
   9 #
  10 # This program is distributed in the hope that it will be useful, but
  11 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  12 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  13 # for more details.
  14 #
  15 # You should have received a copy of the GNU General Public License along
  16 # with this program; if not, write to the Free Software Foundation, Inc.,
  17 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  18 #
  19
  20 ifndef FLIGHT_MAKEFILE
  21     $(error Top level Makefile must be used to build this target)
  22 endif
  23
  24 # Define toolchain component names.
  25 CC      = $(CCACHE) $(ARM_SDK_PREFIX)gcc
  26 CXX     = $(CCACHE) $(ARM_SDK_PREFIX)g++
  27 AR      = $(ARM_SDK_PREFIX)ar
  28 OBJCOPY = $(ARM_SDK_PREFIX)objcopy
  29 OBJDUMP = $(ARM_SDK_PREFIX)objdump
  30 SIZE    = $(ARM_SDK_PREFIX)size
  31 NM      = $(ARM_SDK_PREFIX)nm
  32 STRIP   = $(ARM_SDK_PREFIX)strip
  33
  34 THUMB   = -mthumb
  35
  36 # Add a board designator to the terse message text
  37 ifeq ($(ENABLE_MSG_EXTRA),yes)
  38     MSG_EXTRA := [$(BUILD_TYPE)|$(BOARD_SHORT_NAME)]
  39 else
  40     MSG_EXTRA :=
  41 endif
  42
  43 # Define Messages
  44 MSG_FORMATERROR       = $(QUOTE) Can not handle output-format$(QUOTE)
  45 MSG_MODINIT           = $(QUOTE) MODINIT   $(MSG_EXTRA) $(QUOTE)
  46 MSG_SIZE              = $(QUOTE) SIZE      $(MSG_EXTRA) $(QUOTE)
  47 MSG_LOAD_FILE         = $(QUOTE) BIN/HEX   $(MSG_EXTRA) $(QUOTE)
  48 MSG_BIN_OBJ           = $(QUOTE) BINO      $(MSG_EXTRA) $(QUOTE)
  49 MSG_STRIP_FILE        = $(QUOTE) STRIP     $(MSG_EXTRA) $(QUOTE)
  50 MSG_EXTENDED_LISTING  = $(QUOTE) LIS       $(MSG_EXTRA) $(QUOTE)
  51 MSG_SYMBOL_TABLE      = $(QUOTE) NM        $(MSG_EXTRA) $(QUOTE)
  52 MSG_ARCHIVING         = $(QUOTE) AR        $(MSG_EXTRA) $(QUOTE)
  53 MSG_LINKING           = $(QUOTE) LD        $(MSG_EXTRA) $(QUOTE)
  54 MSG_COMPILING         = $(QUOTE) CC        $(MSG_EXTRA) $(QUOTE)
  55 MSG_COMPILING_ARM     = $(QUOTE) CC-ARM    $(MSG_EXTRA) $(QUOTE)
  56 MSG_COMPILINGCXX      = $(QUOTE) CXX       $(MSG_EXTRA) $(QUOTE)
  57 MSG_COMPILINGCXX_ARM  = $(QUOTE) CXX-ARM   $(MSG_EXTRA) $(QUOTE)
  58 MSG_ASSEMBLING        = $(QUOTE) AS        $(MSG_EXTRA) $(QUOTE)
  59 MSG_ASSEMBLING_ARM    = $(QUOTE) AS-ARM    $(MSG_EXTRA) $(QUOTE)
  60 MSG_CLEANING          = $(QUOTE) CLEAN     $(MSG_EXTRA) $(QUOTE)
  61 MSG_ASMFROMC          = $(QUOTE) AS(C)     $(MSG_EXTRA) $(QUOTE)
  62 MSG_ASMFROMC_ARM      = $(QUOTE) AS(C)-ARM $(MSG_EXTRA) $(QUOTE)
  63 MSG_PYMITEINIT        = $(QUOTE) PY        $(MSG_EXTRA) $(QUOTE)
  64 MSG_OPFIRMWARE        = $(QUOTE) OPFW      $(MSG_EXTRA) $(QUOTE)
  65 MSG_FWINFO            = $(QUOTE) FWINFO    $(MSG_EXTRA) $(QUOTE)
  66 MSG_JTAG_PROGRAM      = $(QUOTE) JTAG-PGM  $(MSG_EXTRA) $(QUOTE)
  67 MSG_JTAG_WIPE         = $(QUOTE) JTAG-WIPE $(MSG_EXTRA) $(QUOTE)
  68 MSG_PADDING           = $(QUOTE) PADDING   $(MSG_EXTRA) $(QUOTE)
  69 MSG_FLASH_IMG         = $(QUOTE) FLASH_IMG $(MSG_EXTRA) $(QUOTE)
  70 MSG_PREPROCESSING_LDS = $(QUOTE) PP        $(MSG_EXTRA) $(QUOTE)
  71
  72 # Function for converting an absolute path to one relative
  73 # to the top of the source tree.
  74 toprel = $(subst $(realpath $(FLIGHT_ROOT_DIR))/,,$(abspath $(1)))
  75
  76 # Function to replace special characters like is done for the symbols.
  77 replace_special_chars = $(subst +,_,$(subst ~,_,$(subst @,_,$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$1)))))))
  78
  79 # Display compiler version information.
  80 .PHONY: gccversion
  81 gccversion:
  82         @$(CC) --version
  83
  84 # Create final output file (.hex) from ELF output file.
  85 %.hex: %.elf
  86         @echo $(MSG_LOAD_FILE) $(call toprel, $@)
  87         $(V1) $(OBJCOPY) -O ihex $< $@
  88
  89 # Create stripped output file (.elf.stripped) from ELF output file.
  90 %.elf.stripped: %.elf
  91         @echo $(MSG_STRIP_FILE) $(call toprel, $@)
  92         $(V1) $(STRIP) --strip-unneeded $< -o $@
  93
  94 # Create final output file (.bin) from ELF output file.
  95 %.bin: %.elf
  96         @echo $(MSG_LOAD_FILE) $(call toprel, $@)
  97         $(V1) $(OBJCOPY) -O binary $< $@
  98
  99 %.bin: %.o
 100         @echo $(MSG_LOAD_FILE) $(call toprel, $@)
 101         $(V1) $(OBJCOPY) -O binary $< $@
 102
 103 %.bin.o: %.bin
 104         @echo $(MSG_BIN_OBJ) $(call toprel, $@)
 105         $(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
 106                 --rename-section .data=.rodata,alloc,load,readonly,data,contents \
 107                 --wildcard \
 108                 --redefine-sym _binary_$(call replace_special_chars,$<)_start=_binary_start \
 109                 --redefine-sym _binary_$(call replace_special_chars,$<)_end=_binary_end \
 110                 --redefine-sym _binary_$(call replace_special_chars,$<)_size=_binary_size \
 111                 $< $@
 112
 113 # Create extended listing file/disassambly from ELF output file.
 114 # using objdump testing: option -C
 115 %.lss: %.elf
 116         @echo $(MSG_EXTENDED_LISTING) $(call toprel, $@)
 117         $(V1) $(OBJDUMP) -h -S -C -r $< > $@
 118
 119 # Create a symbol table from ELF output file.
 120 %.sym: %.elf
 121         @echo $(MSG_SYMBOL_TABLE) $(call toprel, $@)
 122         $(V1) $(NM) -n $< > $@
 123
 124 define SIZE_TEMPLATE
 125 .PHONY: size
 126 size: $(1)_size
 127
 128 .PHONY: $(1)_size
 129 $(1)_size: $(1)
 130         @echo $(MSG_SIZE) $$(call toprel, $$<)
 131         $(V1) $(SIZE) -A $$<
 132 endef
 133
 134 # OpenPilot firmware image template
 135 #  $(1) = path to bin file
 136 #  $(2) = boardtype in hex
 137 #  $(3) = board revision in hex
 138 define OPFW_TEMPLATE
 139 FORCE:
 140
 141 $(1).firmware_info.c: $(1) $(FLIGHT_ROOT_DIR)/templates/firmware_info.c.template FORCE
 142         @echo $(MSG_FWINFO) $$(call toprel, $$@)
 143         $(V1) $(VERSION_INFO) \
 144                 --template=$(FLIGHT_ROOT_DIR)/templates/firmware_info.c.template \
 145                 --outfile=$$@ \
 146                 --image=$(1) \
 147                 --type=$(2) \
 148                 --revision=$(3) \
 149                 --uavodir=$(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition
 150
 151 $(eval $(call COMPILE_C_TEMPLATE, $(1).firmware_info.c))
 152
 153 $(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmware_info.bin
 154         @echo $(MSG_OPFIRMWARE) $$(call toprel, $$@)
 155         $(V1) cat $(1) $(1).firmware_info.bin > $$@
 156 endef
 157
 158 # Assemble: create object files from assembler source files.
 159 define ASSEMBLE_TEMPLATE
 160 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 161         @echo $(MSG_ASSEMBLING) $$(call toprel, $$<)
 162         $(V1) $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
 163 endef
 164
 165 # Assemble: create object files from assembler source files. ARM-only
 166 define ASSEMBLE_ARM_TEMPLATE
 167 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 168         @echo $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
 169         $(V1) $(CC) -c $$(ASFLAGS) $$< -o $$@
 170 endef
 171
 172 # Compile: create object files from C source files.
 173 define COMPILE_C_TEMPLATE
 174 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 175         @echo $(MSG_COMPILING) $$(call toprel, $$<)
 176         $(V1) $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 177 endef
 178
 179 # Preprocess: create linker scripts from .lds files.
 180 define PREPROCESS_LDS_TEMPLATE
 181 $(OUTDIR)/$(notdir $(basename $(1))).ld : $(1)
 182         @echo $(MSG_PREPROCESSING_LDS) $$(call toprel, $$<)
 183         $(V1) $(CXX) -E -P -x c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
 184 endef
 185
 186 # Compile: create object files from C source files. ARM-only
 187 define COMPILE_C_ARM_TEMPLATE
 188 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 189         @echo $(MSG_COMPILING_ARM) $$(call toprel, $$<)
 190         $(V1) $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 191 endef
 192
 193 # Compile: create object files from C++ source files.
 194 define COMPILE_CXX_TEMPLATE
 195 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 196         @echo $(MSG_COMPILINGCXX) $$(call toprel, $$<)
 197         $(V1) $(CXX) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 198 endef
 199
 200 # Compile: create object files from C++ source files. ARM-only
 201 define COMPILE_CXX_ARM_TEMPLATE
 202 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 203         @echo $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
 204         $(V1) $(CPP) -c $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 205 endef
 206
 207 # Archive: create ar library file from object files.
 208 #   $1 = library file to produce
 209 #   $2 = list of object files that make up the library file
 210 #   $3 = optional object files directory
 211 define ARCHIVE_TEMPLATE
 212 .SECONDARY : $(1)
 213 .PRECIOUS : $(2)
 214 $(1):  $(2)
 215         @echo $(MSG_ARCHIVING) $$(call toprel, $$@)
 216 ifeq ($(3),)
 217         $(V1) $(AR) rcs $$@ $(2)
 218 else
 219 #       This is a workaround for Windows CreateProcess() line length
 220 #       limitation. It is assumed that if the object files directory
 221 #       is given, all object files are in that directory.
 222         $(V1) ( \
 223                 pwd=`pwd` && \
 224                 cd $(3) && \
 225                 $(AR) rcs $$@ $(notdir $(2)) && \
 226                 cd $$$${pwd} >/dev/null \
 227               )
 228 endif
 229 endef
 230
 231 # Link: create ELF output file from object files.
 232 #   $1 = elf file to produce
 233 #   $2 = list of object files that make up the elf file
 234 #   $3 = optional list of libraries to build and link
 235 #   $4 = optional list of linker scripts to build and link
 236 define LINK_TEMPLATE
 237 .SECONDARY : $(1)
 238 .PRECIOUS : $(2) $(3) $(4)
 239 $(1).input_files:  $(2) $(3) $(4)
 240         $(V1) rm -rf $(1).input_files
 241         $(foreach file,$(2) $(3),
 242         $(V1) echo $(file) >> $$@)
 243         $(foreach file,$(4),
 244         $(V1) echo -T$(file) >> $$@)
 245
 246 $(1):  $(1).input_files
 247         @echo $(MSG_LINKING) $$(call toprel, $$@)
 248         $(V1) $(CC) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) @$(1).input_files --output $$@ $$(LDFLAGS)
 249 endef
 250
 251 # Link: create ELF output file from object files.
 252 #   $1 = elf file to produce
 253 #   $2 = list of object files that make up the elf file
 254 #   $3 = optional list of libraries to build and link
 255 #   $4 = optional list of linker scripts to build and link
 256 define LINK_CXX_TEMPLATE
 257 .SECONDARY : $(1)
 258 .PRECIOUS : $(2) $(3) $(4)
 259 $(1).input_files:  $(2) $(3) $(4)
 260         $(V1) rm -rf $(1).input_files
 261         $(foreach file,$(2) $(3),
 262         $(V1) echo $(file) >> $$@)
 263         $(foreach file,$(4),
 264         $(V1) echo -T$(file) >> $$@)
 265
 266 $(1): $(1).input_files
 267         @echo $(MSG_LINKING) $$(call toprel, $$@)
 268         $(V1) $(CXX) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) @$(1).input_files --output $$@ $$(LDFLAGS)
 269 endef
 270
 271 # Compile: create assembler files from C source files. ARM/Thumb
 272 define PARTIAL_COMPILE_TEMPLATE
 273 $($(1):.c=.s) : %.s : %.c
 274         @echo $(MSG_ASMFROMC) $$(call toprel, $$<)
 275         $(V1) $(CC) $(THUMB) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 276 endef
 277
 278 # Compile: create assembler files from C source files. ARM only
 279 define PARTIAL_COMPILE_ARM_TEMPLATE
 280 $($(1):.c=.s) : %.s : %.c
 281         @echo $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
 282         $(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 283 endef
 284
 285 # $(1) = Name of binary image to write
 286 # $(2) = Base of flash region to write/wipe
 287 # $(3) = Size of flash region to write/wipe
 288 # $(4) = OpenOCD JTAG interface configuration file to use
 289 # $(5) = OpenOCD configuration file to use
 290 define JTAG_TEMPLATE
 291 # ---------------------------------------------------------------------------
 292 # Options for OpenOCD flash-programming
 293 # see openocd.pdf/openocd.texi for further information
 294
 295 # debug level
 296 OOCD_JTAG_SETUP  = -d0
 297 # interface and board/target settings (using the OOCD target-library here)
 298 OOCD_JTAG_SETUP += -s $(FLIGHT_ROOT_DIR)/Project/OpenOCD
 299 OOCD_JTAG_SETUP += -f $(4) -f $(5)
 300
 301 # initialize
 302 OOCD_BOARD_RESET = -c init
 303 # show the targets
 304 #OOCD_BOARD_RESET += -c targets
 305 # commands to prepare flash-write
 306 OOCD_BOARD_RESET += -c "reset halt"
 307
 308 .PHONY: program
 309 program: $(1)
 310         @echo $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
 311         $(V1) $(OPENOCD) \
 312                 $$(OOCD_JTAG_SETUP) \
 313                 $$(OOCD_BOARD_RESET) \
 314                 -c "flash write_image erase $$< $(2) bin" \
 315                 -c "verify_image $$< $(2) bin" \
 316                 -c "reset run" \
 317                 -c "shutdown"
 318
 319 .PHONY: wipe
 320 wipe:
 321         @echo $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
 322         $(V1) $(OPENOCD) \
 323                 $$(OOCD_JTAG_SETUP) \
 324                 $$(OOCD_BOARD_RESET) \
 325                 -c "flash erase_address pad $(2) $(3)" \
 326                 -c "reset run" \
 327                 -c "shutdown"
 328 endef