Enable revo C++ support:
1. Set USE_CXX to enable compliation and linkage of C++ source code
2. Disables rtti and exceptions
3. operator new and delete call pios malloc/free
4. Static constructor invocation supported
5. Additional methods, compile options, and need to have main as a cpp to solve various link issues when using static constructors but to avoid adding unnecessary libs.
6. Upgrade arm tools
This is the first cleanup pass through makefiles and pios.
Probably it is difficult to track changes due to the nature of them.
I would recommend to look at resulting files and compiled code instead.
NOTE: original branch was rebased and lot of conflicts were fixed on
the way. So do not expect that every commit in this series will be
buildable (unlike original branch). Only final result was tested.
The main goal was to remove as much duplication of code (and copy/paste
errors) as possible, moving common parts out of Makefiles. It still is
not perfect, and mostly no code changes made - Makefiles and #ifdefs only.
But please while testing make sure that all code works as before, and no
modules/options are missed by accident.
Brief list of changes:
- Moved common parts of Makefiles into the set of *.mk files.
- Changed method of passing common vars from top Makefile to lower ones.
- Some pios cleanup, mostly #ifdefs, and all pios_config.h files.
- Many obsolete files removed (for instance, AHRS files, op_config.h).
- Many obsolete or unused macros removed or fixed/renamed (ALL_DIGNOSTICS).
- Unified pios_config.h template. Please don't remove lines for board
configs, only comment/uncomment them. Adding new PIOS options, please
propagate them to all board files keeping the same order.
- Some formatting, spacing, indentation (no line endings change yet).
- Some cosmetic fixes (no more C:\X\Y\filename.c printings on Windows).
- Added some library.mk files to move libs into AR achives later.
- EntireFlash target now uses cross-platform python script to generate bin
files. So it works on all supported platforms: Linux, OSX, Windows.
- Top level packaging is completely rewritten. Now it is a part of top
Makefile. As such, all dependencies are checked and accounted, no
more 'make -j' problems should occur.
- Default GCS_BUILD_CONF is release now, may be changed if necessary
using 'make GCS_BUILD_CONF=debug gcs'.
- GCS build paths are separated into debug and release, so no more obj
file clashes. Packaging system supports only release builds.
- New target is introduced: 'clean_package'. Now 'make package' does not
clean build directory. Use clean_package instead for distributable builds.
- Targets like 'all', 'opfw_resource', etc now will print extra contex
in parallel builds too.
- If any of 'package', 'clean_package', 'opfw_resource' targets are given
on command line, GCS build will depend on the resource, so all fw_*.opfw
targets will be built and embedded into GCS. By default GCS does not
depend on resource, and will be built w/o firmware (unless the resource
files already exist and the Qt resource file is generated).
- fw_simposix (ELF executable) is now packaged for linux. Run'n'play!
- Make help is refined and is now up to date.
Still broken:
- UnitTests, should be fixed
- SimPosix: buildable, but should be reworked.
Next planned passes to do:
- toolchain bootstrapping and packaging (including windows - WIP)
- CMSIS/StdPeriph lib cleanup
- more PIOS cleanup
- move libs into AR archives to save build time
- sim targets refactir and cleanup
- move android-related directories under <top>/android
- unit test targets fix
- source code line ending changes (there are many different, were not changed)
- coding style
Merging this, please use --no-ff git option to make it the real commit point
Conflicts:
A lot of... :-)
Note that $(QUOTE) variable is uppercased. Windows make does not
export lowercased variables with export keyword (even if must do).
Conflicts:
make/firmware-defs.mk
When building the various all_* targets, it was hard to tell which
board/build-type that each line of output applied to. Now, the
all_* target types will include something like:
CC [fw|cc ] flight/PiOS/STM32F10x/pios_gpio.c
which includes the necessary additional context.
This will help with identifying the context for warnings and errors
when building a group of targets.
Conflicts:
Makefile
Removes hard-coding of JTAG interface config in the
<board>_program make macros.
This allows the use of STLINKv2 for F4 boards while
continuing to use the FOSS JTAG revB on F1 boards.
It is now easier to trigger warm restarts of a board
via jtag.
Examples:
* make fw_coptercontrol_reset
* make fw_coptercontrol_safeboot
NOTE: These targets are making chip-specific assumptions
so they have to be rewritten to support the F2/F4
boards.
Macros for JTAG program and wipe for each target are now
provided in firmware-defs.mk.
The _wipe target for each firmware and bootloader image will
erase either the bootloader (bl_*_wipe) or firmware (fw_*_wipe)
bank.
- New macros for fw, bl and bu rules in top-level make
- Per-board info factored into make/board/*/board-info.mk
- Per-board info now shared btw. fw, bl and blupd for each board
- BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION, HW_TYPE
- MCU, CHIP, BOARD, MODEL, MODEL_SUFFIX
- START_OF_BL_CODE, START_OF_FW_CODE
- blupd_* goals renamed to bu_*
- all_blupd goal renamed to all_bu
- firmware goals renamed to fw_*, board name goals are preserved
- bu_*_program now writes updater to correct address for all boards
- BL updater firmware builds now produce .opf format including
version info blob.
- BL updater firmware name now includes board name.
- INS makefile brought up to date w.r.t. linker scripts
This change is made up of a number of tightly coupled
changes:
- Deprecate the use of the USE_BOOTLOADER command-line
option. It is now hard-coded in each Makefile.
Overriding it on the command line is not allowed.
- Split apart the memory declaration and the section
declaration in all linker files (*_memory.ld and
*_sections.ld).
- Describe the split between bootloader and app sections
of flash in each board's _memory.ld file.
- Change program target to selectively erase flash so
that the installed bootloader is preserved across even
JTAG programming operations.
- All elf files are built with debug symbols and are not
stripped. This should help debugging with gdb. The
images programmed on the boards are all .bin files now
which do not include symbols.
The .bin.o rule places the contents of a raw .bin file
into an .o file wrapped within fixed symbols for start
and end. This can be used to embed a binary file inside
of an executable.
The symbols for the embedded binary blob are:
_binary_start
_binary_end
_binary_size
NOTE: The way the .bin.o rule is currently written, you
can only embed one binary blob in an executable since the
symbol names will collide if you add multiple blobs. This
limitation is easily removed later if necessary.
firmware include and delete all the extra foss-jtag config files. There is now
a legacy file for the revA board a second for AHRS that changes the port
This significantly reduces the amount of duplication
across the various firmware makefiles.
The new firmware-defs.mk file should contain only
macros/declarations that will apply to all firmware
makefiles.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2854 ebee16cc-31ac-478f-84a7-5cbb03baadba
