# # Copyright (C) 2015 Mark Charlebois. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions # are met: # # 1. Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # 2. Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in # the documentation and/or other materials provided with the # distribution. # 3. Neither the name PX4 nor the names of its contributors may be # used to endorse or promote products derived from this software # without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # # Definitions for a generic GNU ARM-EABI toolchain # #$(info TOOLCHAIN gnu-arm-eabi) # # Stop making if ADSP_LIB_ROOT is not set. This defines the path to # DspAL headers and driver headers # ifndef DSPAL_ROOT $(error DSPAL_ROOT is not set) endif # Toolchain commands. Normally only used inside this file. # HEXAGON_TOOLS_ROOT ?= /opt/6.4.03 #HEXAGON_TOOLS_ROOT = /opt/6.4.05 HEXAGON_SDK_ROOT = /opt/Hexagon_SDK/2.0 V_ARCH = v5 CROSSDEV = hexagon- HEXAGON_BIN = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT)) HEXAGON_CLANG_BIN = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT)) HEXAGON_LIB_DIR = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib HEXAGON_ISS_DIR = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss TOOLSLIB = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0 QCTOOLSLIB = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0 QURTLIB = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib #DSPAL = $(PX4_BASE)/../dspal_libs/libdspal.a CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++ CPP = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang -E LD = $(HEXAGON_BIN)/$(CROSSDEV)ld AR = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs NM = $(HEXAGON_BIN)/$(CROSSDEV)nm OBJCOPY = $(HEXAGON_BIN)/$(CROSSDEV)objcopy OBJDUMP = $(HEXAGON_BIN)/$(CROSSDEV)objdump HEXAGON_GCC = $(HEXAGON_BIN)/$(CROSSDEV)gcc QURTLIBS = \ $(QCTOOLSLIB)/libdl.a \ $(TOOLSLIB)/init.o \ $(TOOLSLIB)/libc.a \ $(TOOLSLIB)/libqcc.a \ $(TOOLSLIB)/libstdc++.a \ $(QURTLIB)/crt0.o \ $(QURTLIB)/libqurt.a \ $(QURTLIB)/libqurtkernel.a \ $(QURTLIB)/libqurtcfs.a \ $(QURTLIB)/libqube_compat.a \ $(QURTLIB)/libtimer.a \ $(QURTLIB)/libposix.a \ $(QURTLIB)/../examples/cust_config.o \ $(QCTOOLSLIB)/libhexagon.a \ $(TOOLSLIB)/fini.o DYNAMIC_LIBS = \ -Wl,$(TOOLSLIB)/pic/libstdc++.a # Check if the right version of the toolchain is available # CROSSDEV_VER_SUPPORTED = 6.4.03 #CROSSDEV_VER_SUPPORTED = 6.4.05 CROSSDEV_VER_FOUND = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p') ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED))) $(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED)) endif # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup MAXOPTIMIZATION := -O0 # Base CPU flags for each of the supported architectures. # ARCHCPUFLAGS = -m$(V_ARCH) -G0 # Set the board flags # ifeq ($(CONFIG_BOARD),) $(error Board config does not define CONFIG_BOARD) endif ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \ -D__PX4_QURT -D__PX4_POSIX \ -D_PID_T -D_UID_T -D_TIMER_T\ -Dnoreturn_function= \ -D__EXPORT= \ -Drestrict= \ -D_DEBUG \ -I$(DSPAL_ROOT)/ \ -I$(DSPAL_ROOT)/dspal/include \ -I$(DSPAL_ROOT)/dspal/sys \ -I$(DSPAL_ROOT)/dspal/sys/sys \ -I$(DSPAL_ROOT)/mpu_spi/inc/ \ -I$(DSPAL_ROOT)/uart_esc/inc/ \ -I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \ -I$(PX4_BASE)/src/lib/eigen \ -I$(PX4_BASE)/src/platforms/qurt/include \ -I$(PX4_BASE)/src/platforms/posix/include \ -I$(PX4_BASE)/mavlink/include/mavlink \ -I$(QURTLIB)/..//include \ -I$(HEXAGON_SDK_ROOT)/inc \ -I$(HEXAGON_SDK_ROOT)/inc/stddef \ -Wno-error=shadow # optimisation flags # ARCHOPTIMIZATION = \ -O0 \ -g \ -fno-strict-aliasing \ -fdata-sections \ -fpic \ -fno-zero-initialized-in-bss #-fomit-frame-pointer \ #-funsafe-math-optimizations \ #-ffunction-sections #$(MAXOPTIMIZATION) # enable precise stack overflow tracking # note - requires corresponding support in NuttX INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH)) # Language-specific flags # ARCHCFLAGS = -std=gnu99 -D__CUSTOM_FILE_IO__ ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ # Generic warnings # ARCHWARNINGS = -Wall \ -Wextra \ -Werror \ -Wno-unused-parameter \ -Wno-unused-function \ -Wno-unused-variable \ -Wno-gnu-array-member-paren-init \ -Wno-cast-align \ -Wno-missing-braces \ -Wno-strict-aliasing # -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+ # -Wcast-qual - generates spurious noreturn attribute warnings, try again later # -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code # -Wcast-align - would help catch bad casts in some cases, but generates too many false positives # C-specific warnings # ARCHCWARNINGS = $(ARCHWARNINGS) \ -Wstrict-prototypes \ -Wnested-externs # C++-specific warnings # ARCHWARNINGSXX = $(ARCHWARNINGS) \ -Wno-missing-field-initializers # pull in *just* libm from the toolchain ... this is grody LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a) EXTRA_LIBS += $(LIBM) # Flags we pass to the C compiler # CFLAGS = $(ARCHCFLAGS) \ $(ARCHCWARNINGS) \ $(ARCHOPTIMIZATION) \ $(ARCHCPUFLAGS) \ $(ARCHINCLUDES) \ $(INSTRUMENTATIONDEFINES) \ $(ARCHDEFINES) \ $(EXTRADEFINES) \ $(EXTRACFLAGS) \ $(addprefix -I,$(INCLUDE_DIRS)) #-fno-common # Flags we pass to the C++ compiler # CXXFLAGS = $(ARCHCXXFLAGS) \ $(ARCHWARNINGSXX) \ $(ARCHOPTIMIZATION) \ $(ARCHCPUFLAGS) \ $(ARCHXXINCLUDES) \ $(INSTRUMENTATIONDEFINES) \ $(ARCHDEFINES) \ -DCONFIG_WCHAR_BUILTIN \ $(EXTRADEFINES) \ $(EXTRACXXFLAGS) \ $(addprefix -I,$(INCLUDE_DIRS)) # Flags we pass to the assembler # AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \ $(EXTRADEFINES) \ $(EXTRAAFLAGS) LDSCRIPT = $(PX4_BASE)/makefiles/posix/ld.script # Flags we pass to the linker # LDFLAGS += -g -mv5 -mG0lib -G0 -fpic -shared \ -Wl,-Bsymbolic \ -Wl,--wrap=malloc \ -Wl,--wrap=calloc \ -Wl,--wrap=free \ -Wl,--wrap=realloc \ -Wl,--wrap=memalign \ -Wl,--wrap=__stack_chk_fail \ -lc \ $(EXTRALDFLAGS) \ $(addprefix -L,$(LIB_DIRS)) # driver dynamic libraries LDFLAGS += -L${DSPAL_ROOT}/mpu_spi/hexagon_Debug_dynamic_toolv64/ship -lmpu9x50 LDFLAGS += -L${DSPAL_ROOT}/uart_esc/hexagon_Debug_dynamic_toolv64/ship -luart_esc # Compiler support library # LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name) # Files that the final link depends on # LINK_DEPS += $(LDSCRIPT) # Files to include to get automated dependencies # DEP_INCLUDES = $(subst .o,.d,$(OBJS)) # Compile C source $1 to object $2 # as a side-effect, generate a dependency file # define COMPILENOSHARED @$(ECHO) "CC: $1" @$(MKDIR) -p $(dir $2) @echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 endef # Compile C source $1 to object $2 for use in shared library # as a side-effect, generate a dependency file # define COMPILE @$(ECHO) "CC: $1" @$(MKDIR) -p $(dir $2) @echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 #$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2 #$(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2 $(CCACHE) $(CC) -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2 endef # Compile C++ source $1 to $2 for use in shared library # as a side-effect, generate a dependency file # define COMPILEXX @$(ECHO) "CXX: $1" @$(MKDIR) -p $(dir $2) @echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 #$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2 #$(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2 $(CCACHE) $(CXX) -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2 endef # Assemble $1 into $2 # define ASSEMBLE @$(ECHO) "AS: $1" @$(MKDIR) -p $(dir $2) $(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2 endef # Produce partially-linked $1 from files in $2 # #$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold define PRELINK @$(ECHO) "PRELINK: $1" @$(MKDIR) -p $(dir $1) @echo $(Q) $(LD) -Ur -o $1 $2 $(Q) $(LD) -Ur -o $1 $2 endef # Produce partially-linked $1 from files in $2 # #$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold define PRELINKF @$(ECHO) "PRELINKF: $1" @$(MKDIR) -p $(dir $1) @echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2 $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2 endef # $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 # Update the archive $1 with the files in $2 # define ARCHIVE @$(ECHO) "AR: $2" @$(MKDIR) -p $(dir $1) $(Q) $(AR) $1 $2 endef # Link the objects in $2 into the shared library $1 # define LINK_A @$(ECHO) "LINK_A: $1" @$(MKDIR) -p $(dir $1) echo "$(Q) $(AR) $1 $2" $(Q) $(AR) $1 $2 endef # Link the objects in $2 into the shared library $1 # define LINK_SO @$(ECHO) "LINK_SO: $1" @$(MKDIR) -p $(dir $1) $(HEXAGON_GCC) $(LDFLAGS) -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS) endef # Link the objects in $2 into the application $1 # define LINK @$(ECHO) "LINK: $1" @$(MKDIR) -p $(dir $1) $(LD) --section-start .start=0x1d000000 -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group --dynamic-linker= -E --force-dynamic endef