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
  71 # Function for converting an absolute path to one relative
  72 # to the top of the source tree.
  73 toprel = $(subst $(realpath $(FLIGHT_ROOT_DIR))/,,$(abspath $(1)))
  74
  75 # Function to replace special characters like is done for the symbols.
  76 replace_special_chars = $(subst +,_,$(subst ~,_,$(subst @,_,$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$1)))))))
  77
  78 # Display compiler version information.
  79 .PHONY: gccversion
  80 gccversion:
  81         @$(CC) --version
  82
  83 # Create final output file (.hex) from ELF output file.
  84 %.hex: %.elf
  85         @echo $(MSG_LOAD_FILE) $(call toprel, $@)
  86         $(V1) $(OBJCOPY) -O ihex $< $@
  87
  88 # Create stripped output file (.elf.stripped) from ELF output file.
  89 %.elf.stripped: %.elf
  90         @echo $(MSG_STRIP_FILE) $(call toprel, $@)
  91         $(V1) $(STRIP) --strip-unneeded $< -o $@
  92
  93 # Create final output file (.bin) from ELF output file.
  94 %.bin: %.elf
  95         @echo $(MSG_LOAD_FILE) $(call toprel, $@)
  96         $(V1) $(OBJCOPY) -O binary $< $@
  97
  98 %.bin: %.o
  99         @echo $(MSG_LOAD_FILE) $(call toprel, $@)
 100         $(V1) $(OBJCOPY) -O binary $< $@
 101
 102 %.bin.o: %.bin
 103         @echo $(MSG_BIN_OBJ) $(call toprel, $@)
 104         $(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
 105                 --rename-section .data=.rodata,alloc,load,readonly,data,contents \
 106                 --wildcard \
 107                 --redefine-sym _binary_$(call replace_special_chars,$<)_start=_binary_start \
 108                 --redefine-sym _binary_$(call replace_special_chars,$<)_end=_binary_end \
 109                 --redefine-sym _binary_$(call replace_special_chars,$<)_size=_binary_size \
 110                 $< $@
 111
 112 # Create extended listing file/disassambly from ELF output file.
 113 # using objdump testing: option -C
 114 %.lss: %.elf
 115         @echo $(MSG_EXTENDED_LISTING) $(call toprel, $@)
 116         $(V1) $(OBJDUMP) -h -S -C -r $< > $@
 117
 118 # Create a symbol table from ELF output file.
 119 %.sym: %.elf
 120         @echo $(MSG_SYMBOL_TABLE) $(call toprel, $@)
 121         $(V1) $(NM) -n $< > $@
 122
 123 define SIZE_TEMPLATE
 124 .PHONY: size
 125 size: $(1)_size
 126
 127 .PHONY: $(1)_size
 128 $(1)_size: $(1)
 129         @echo $(MSG_SIZE) $$(call toprel, $$<)
 130         $(V1) $(SIZE) -A $$<
 131 endef
 132
 133 # OpenPilot firmware image template
 134 #  $(1) = path to bin file
 135 #  $(2) = boardtype in hex
 136 #  $(3) = board revision in hex
 137 define OPFW_TEMPLATE
 138 FORCE:
 139
 140 $(1).firmware_info.c: $(1) $(FLIGHT_ROOT_DIR)/templates/firmware_info.c.template FORCE
 141         @echo $(MSG_FWINFO) $$(call toprel, $$@)
 142         $(V1) $(VERSION_INFO) \
 143                 --template=$(FLIGHT_ROOT_DIR)/templates/firmware_info.c.template \
 144                 --outfile=$$@ \
 145                 --image=$(1) \
 146                 --type=$(2) \
 147                 --revision=$(3) \
 148                 --uavodir=$(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition
 149
 150 $(eval $(call COMPILE_C_TEMPLATE, $(1).firmware_info.c))
 151
 152 $(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmware_info.bin
 153         @echo $(MSG_OPFIRMWARE) $$(call toprel, $$@)
 154         $(V1) cat $(1) $(1).firmware_info.bin > $$@
 155 endef
 156
 157 # Assemble: create object files from assembler source files.
 158 define ASSEMBLE_TEMPLATE
 159 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 160         @echo $(MSG_ASSEMBLING) $$(call toprel, $$<)
 161         $(V1) $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
 162 endef
 163
 164 # Assemble: create object files from assembler source files. ARM-only
 165 define ASSEMBLE_ARM_TEMPLATE
 166 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 167         @echo $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
 168         $(V1) $(CC) -c $$(ASFLAGS) $$< -o $$@
 169 endef
 170
 171 # Compile: create object files from C source files.
 172 define COMPILE_C_TEMPLATE
 173 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 174         @echo $(MSG_COMPILING) $$(call toprel, $$<)
 175         $(V1) $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 176 endef
 177
 178 # Compile: create object files from C source files. ARM-only
 179 define COMPILE_C_ARM_TEMPLATE
 180 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 181         @echo $(MSG_COMPILING_ARM) $$(call toprel, $$<)
 182         $(V1) $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 183 endef
 184
 185 # Compile: create object files from C++ source files.
 186 define COMPILE_CXX_TEMPLATE
 187 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 188         @echo $(MSG_COMPILINGCXX) $$(call toprel, $$<)
 189         $(V1) $(CXX) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 190 endef
 191
 192 # Compile: create object files from C++ source files. ARM-only
 193 define COMPILE_CXX_ARM_TEMPLATE
 194 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
 195         @echo $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
 196         $(V1) $(CPP) -c $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 197 endef
 198
 199 # Archive: create ar library file from object files.
 200 #   $1 = library file to produce
 201 #   $2 = list of object files that make up the library file
 202 #   $3 = optional object files directory
 203 define ARCHIVE_TEMPLATE
 204 .SECONDARY : $(1)
 205 .PRECIOUS : $(2)
 206 $(1):  $(2)
 207         @echo $(MSG_ARCHIVING) $$(call toprel, $$@)
 208 ifeq ($(3),)
 209         $(V1) $(AR) rcs $$@ $(2)
 210 else
 211 #       This is a workaround for Windows CreateProcess() line length
 212 #       limitation. It is assumed that if the object files directory
 213 #       is given, all object files are in that directory.
 214         $(V1) ( \
 215                 pwd=`pwd` && \
 216                 cd $(3) && \
 217                 $(AR) rcs $$@ $(notdir $(2)) && \
 218                 cd $$$${pwd} >/dev/null \
 219               )
 220 endif
 221 endef
 222
 223 # Link: create ELF output file from object files.
 224 #   $1 = elf file to produce
 225 #   $2 = list of object files that make up the elf file
 226 #   $3 = optional list of libraries to build and link
 227 define LINK_TEMPLATE
 228 .SECONDARY : $(1)
 229 .PRECIOUS : $(2) $(3)
 230 $(1):  $(2) $(3)
 231         @echo $(MSG_LINKING) $$(call toprel, $$@)
 232         $(V1) $(CC) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 233 endef
 234
 235 # Link: create ELF output file from object files.
 236 #   $1 = elf file to produce
 237 #   $2 = list of object files that make up the elf file
 238 define LINK_CXX_TEMPLATE
 239 .SECONDARY : $(1)
 240 .PRECIOUS : $(2) $(3)
 241 $(1):  $(2) $(3)
 242         @echo $(MSG_LINKING) $$(call toprel, $$@)
 243         $(V1) $(CXX) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 244 endef
 245
 246 # Compile: create assembler files from C source files. ARM/Thumb
 247 define PARTIAL_COMPILE_TEMPLATE
 248 $($(1):.c=.s) : %.s : %.c
 249         @echo $(MSG_ASMFROMC) $$(call toprel, $$<)
 250         $(V1) $(CC) $(THUMB) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 251 endef
 252
 253 # Compile: create assembler files from C source files. ARM only
 254 define PARTIAL_COMPILE_ARM_TEMPLATE
 255 $($(1):.c=.s) : %.s : %.c
 256         @echo $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
 257         $(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 258 endef
 259
 260 # $(1) = Name of binary image to write
 261 # $(2) = Base of flash region to write/wipe
 262 # $(3) = Size of flash region to write/wipe
 263 # $(4) = OpenOCD JTAG interface configuration file to use
 264 # $(5) = OpenOCD configuration file to use
 265 define JTAG_TEMPLATE
 266 # ---------------------------------------------------------------------------
 267 # Options for OpenOCD flash-programming
 268 # see openocd.pdf/openocd.texi for further information
 269
 270 # debug level
 271 OOCD_JTAG_SETUP  = -d0
 272 # interface and board/target settings (using the OOCD target-library here)
 273 OOCD_JTAG_SETUP += -s $(FLIGHT_ROOT_DIR)/Project/OpenOCD
 274 OOCD_JTAG_SETUP += -f $(4) -f $(5)
 275
 276 # initialize
 277 OOCD_BOARD_RESET = -c init
 278 # show the targets
 279 #OOCD_BOARD_RESET += -c targets
 280 # commands to prepare flash-write
 281 OOCD_BOARD_RESET += -c "reset halt"
 282
 283 .PHONY: program
 284 program: $(1)
 285         @echo $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
 286         $(V1) $(OPENOCD) \
 287                 $$(OOCD_JTAG_SETUP) \
 288                 $$(OOCD_BOARD_RESET) \
 289                 -c "flash write_image erase $$< $(2) bin" \
 290                 -c "verify_image $$< $(2) bin" \
 291                 -c "reset run" \
 292                 -c "shutdown"
 293
 294 .PHONY: wipe
 295 wipe:
 296         @echo $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
 297         $(V1) $(OPENOCD) \
 298                 $$(OOCD_JTAG_SETUP) \
 299                 $$(OOCD_BOARD_RESET) \
 300                 -c "flash erase_address pad $(2) $(3)" \
 301                 -c "reset run" \
 302                 -c "shutdown"
 303 endef