# # Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 3 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License # for more details. # # You should have received a copy of the GNU General Public License along # with this program; if not, write to the Free Software Foundation, Inc., # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA # ifndef FLIGHT_MAKEFILE $(error Top level Makefile must be used to build this target) endif # Set to YES to compile for debugging DEBUG ?= NO # Set to YES to compile C++ implemented features USE_CXX ?= NO # Set to YES to use the Servo output pins for debugging via scope or logic analyser ENABLE_DEBUG_PINS ?= NO # Set to YES to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs ENABLE_AUX_UART ?= NO # Include objects that are just nice information to show DIAG_STACK ?= NO DIAG_MIXERSTATUS ?= NO DIAG_RATEDESIRED ?= NO DIAG_I2C_WDG_STATS ?= NO DIAG_TASKS ?= NO DIAG_INSTRUMENTATION ?= NO # Or just turn on all the above diagnostics. WARNING: this consumes massive amounts of memory. DIAG_ALL ?= NO # Optimization level, can be [0, 1, 2, 3, s]. # 0 = turn off optimization. s = optimize for size. # Note: 3 is not always the best optimization level. ifeq ($(DEBUG), YES) OPT = 0 else OPT = s endif # Output format (can be ihex or binary or both). # binary to create a load-image in raw-binary format i.e. for SAM-BA, # ihex to create a load-image in Intel hex format #LOADFORMAT = ihex #LOADFORMAT = binary LOADFORMAT = both # Debugging format. DEBUGF = dwarf-2 # Place project-specific -D (define) and/or -U options for C here. CDEFS += -DUSE_$(BOARD) ifeq ($(ENABLE_DEBUG_PINS), YES) CDEFS += -DPIOS_ENABLE_DEBUG_PINS endif ifeq ($(ENABLE_AUX_UART), YES) CDEFS += -DPIOS_ENABLE_AUX_UART endif # The following Makefile command, ifneq (,$(filter) $(A), $(B) $(C)) # is equivalent to the pseudocode `if (A == B || A == C)` ifneq (,$(filter YES,$(DIAG_STACK) $(DIAG_ALL))) CFLAGS += -DDIAG_STACK endif ifneq (,$(filter YES,$(DIAG_MIXERSTATUS) $(DIAG_ALL))) CFLAGS += -DDIAG_MIXERSTATUS endif ifneq (,$(filter YES,$(DIAG_RATEDESIRED) $(DIAG_ALL))) CFLAGS += -DDIAG_RATEDESIRED endif ifneq (,$(filter YES,$(DIAG_I2C_WDG_STATS) $(DIAG_ALL))) CFLAGS += -DDIAG_I2C_WDG_STATS endif ifneq (,$(filter YES,$(DIAG_TASKS) $(DIAG_ALL))) CFLAGS += -DDIAG_TASKS endif ifneq (,$(filter YES,$(DIAG_INSTRUMENTATION) $(DIAG_ALL))) CFLAGS += -DPIOS_INCLUDE_INSTRUMENTATION endif # Place project-specific -D and/or -U options for Assembler with preprocessor here. #ADEFS = -DUSE_IRQ_ASM_WRAPPER ADEFS = -D__ASSEMBLY__ # Compiler flag to set the C Standard level. # c89 - "ANSI" C # gnu89 - c89 plus GCC extensions # c99 - ISO C99 standard (not yet fully implemented) # gnu99 - c99 plus GCC extensions CSTANDARD = -std=gnu99 # Compiler flags. # # -g*: generate debugging information # -O*: optimization level # -f...: tuning, see GCC manual and avr-libc documentation # -Wall...: warning level # -Wa,...: tell GCC to pass this to the assembler. # -adhlns...: create assembler listing # Common architecture-specific flags from the device-specific library makefile CFLAGS += $(ARCHFLAGS) CFLAGS += $(CDEFS) CFLAGS += -O$(OPT) CFLAGS += -g$(DEBUGF) CFLAGS += -mapcs-frame CFLAGS += -fomit-frame-pointer CFLAGS += -Wall -Wextra CFLAGS += -Wfloat-equal -Wdouble-promotion CFLAGS += -Wshadow CFLAGS += -Werror CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) # Provides board-specific defines BOARD_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE) BOARD_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION) BOARD_CDEFS += -DHW_TYPE=$(HW_TYPE) BOARD_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION) BOARD_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE) BOARD_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE) BOARD_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE) BOARD_CDEFS += -DBL_BANK_BASE=$(BL_BANK_BASE) BOARD_CDEFS += -DBL_BANK_SIZE=$(BL_BANK_SIZE) BOARD_CDEFS += -DBL_DESC_SIZE=$(BL_DESC_SIZE) ifdef EE_BANK_BASE BOARD_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE) BOARD_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE) endif ifdef USER_EE_BANK_BASE BOARD_CDEFS += -DUSER_EE_BANK_BASE=$(USER_EE_BANK_BASE) BOARD_CDEFS += -DUSER_EE_BANK_SIZE=$(USER_EE_BANK_SIZE) endif CDEFS += $(BOARD_CDEFS) ifeq ($(DEBUG), YES) CPPFLAGS += -DDEBUG else CFLAGS += -fdata-sections -ffunction-sections endif ifeq ($(USE_CXX), YES) CPPFLAGS += -DPIOS_ENABLE_CXX endif # Compiler flags to generate dependency files CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d # Flags only for C #CONLYFLAGS += -Wnested-externs CONLYFLAGS += $(CSTANDARD) -Wunsuffixed-float-constants # C++ Flags # Note C++ compilation also uses CFLAGS. CONLYFLAGS has exclusions that # can not be used with C++ compiler. C++ specific compile options are # as set in CXXFLAGS. Note CPPFLAGS is for C pre-process and has not been # used correctly - longer term move CDEFS to CPPFLAGS. CXXFLAGS += -fno-rtti -fno-exceptions -std=c++11 -fno-use-cxa-atexit # Assembler flags. # -Wa,...: tell GCC to pass this to the assembler. # -ahlns: create listing ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp ASFLAGS += $(ADEFS) ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) # Linker flags. # -Wl,...: tell GCC to pass this to linker. # -Map: create map file # --cref: add cross reference to map file LDFLAGS += -nostartfiles LDFLAGS += -Wl,--warn-common,--fatal-warnings,--sort-common,--sort-section=alignment,--gc-sections LDFLAGS += -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS)) LDFLAGS += -lc -lgcc ifneq ($(DEBUG), YES) LDFLAGS += -Wl,-static endif # List of all source files. ifeq ($(USE_CXX), YES) ALLSRC = $(CPPSRCARM) $(CPPSRC) $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) else ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) endif # List of all source files without directory and file-extension. ALLSRCBASE = $(notdir $(basename $(ALLSRC))) # Define all object files. ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE))) $(EXTRAOBJ) # Define all listing files (used for make clean). LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE))) # Define all depedency-files (used for make clean). DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE))) # Default target. all: build ifeq ($(LOADFORMAT),ihex) build: elf hex sym else ifeq ($(LOADFORMAT),binary) build: elf bin sym else ifeq ($(LOADFORMAT),both) build: elf hex bin sym else $(error "$(MSG_FORMATERROR) $(FORMAT)") endif # Generate code for PyMite # $(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) # @echo $(MSG_PYMITEINIT) $(call toprel,$@) # @$(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 $(FLIGHTPLANLIB)/*.py) # @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h # @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py # Link: create ELF output file from object files. ifeq ($(USE_CXX), YES) $(eval $(call LINK_CXX_TEMPLATE,$(OUTDIR)/$(TARGET).elf,$(ALLOBJ),$(ALLLIB))) else $(eval $(call LINK_TEMPLATE,$(OUTDIR)/$(TARGET).elf,$(ALLOBJ),$(ALLLIB))) endif # Assemble: create object files from assembler source files. $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE,$(src)))) # Assemble: create object files from assembler source files. ARM-only $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE,$(src)))) # Compile: create object files from C source files. $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE,$(src)))) # Compile: create object files from C source files. ARM-only $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE,$(src)))) ifeq ($(USE_CXX), YES) # Compile: create object files from C++ source files. $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CXX_TEMPLATE,$(src)))) # Compile: create object files from C++ source files. ARM-only $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CXX_ARM_TEMPLATE,$(src)))) endif # Compile: create assembler files from C source files. ARM/Thumb $(eval $(call PARTIAL_COMPILE_TEMPLATE,SRC)) # Compile: create assembler files from C source files. ARM only $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE,SRCARM)) # Add opfw target $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION))) $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin .PHONY: elf lss sym hex bin bino opfw elf: $(OUTDIR)/$(TARGET).elf lss: $(OUTDIR)/$(TARGET).lss sym: $(OUTDIR)/$(TARGET).sym hex: $(OUTDIR)/$(TARGET).hex bin: $(OUTDIR)/$(TARGET).bin bino: $(OUTDIR)/$(TARGET).bin.o opfw: $(OUTDIR)/$(TARGET).opfw # Display sizes of sections. $(eval $(call SIZE_TEMPLATE,$(OUTDIR)/$(TARGET).elf)) # Target: clean project clean: @echo $(MSG_CLEANING) $(V1) rm -f $(OUTDIR)/$(TARGET).map $(V1) rm -f $(OUTDIR)/$(TARGET).elf $(V1) rm -f $(OUTDIR)/$(TARGET).hex $(V1) rm -f $(OUTDIR)/$(TARGET).bin $(V1) rm -f $(OUTDIR)/$(TARGET).sym $(V1) rm -f $(OUTDIR)/$(TARGET).lss $(V1) rm -f $(OUTDIR)/$(TARGET).bin.o $(V1) rm -f $(OUTDIR)/$(TARGET).opfw $(V1) rm -f $(wildcard $(OUTDIR)/*.c) $(V1) rm -f $(wildcard $(OUTDIR)/*.h) $(V1) rm -f $(ALLOBJ) $(V1) rm -f $(LSTFILES) $(V1) rm -f $(DEPFILES) $(V1) rm -f $(SRC:.c=.s) $(V1) rm -f $(SRCARM:.c=.s) $(V1) rm -f $(CPPSRC:.cpp=.s) $(V1) rm -f $(CPPSRCARM:.cpp=.s) # Create output files directory # all known MS Windows OS define the ComSpec environment variable $(shell mkdir -p $(OUTDIR) 2>/dev/null) # Include the dependency files. -include $(shell mkdir -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*) # Listing of phony targets. .PHONY: all build clean install