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319 lines
8.7 KiB
319 lines
8.7 KiB
# |
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# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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# |
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# Definitions for a generic GNU ARM-EABI toolchain |
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# |
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#$(info TOOLCHAIN gnu-arm-eabi) |
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# Toolchain commands. Normally only used inside this file. |
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# |
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CROSSDEV = arm-none-eabi- |
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CC = $(CROSSDEV)gcc |
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CXX = $(CROSSDEV)g++ |
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CPP = $(CROSSDEV)gcc -E |
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LD = $(CROSSDEV)ld |
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AR = $(CROSSDEV)ar rcs |
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NM = $(CROSSDEV)nm |
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OBJCOPY = $(CROSSDEV)objcopy |
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OBJDUMP = $(CROSSDEV)objdump |
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# Check if the right version of the toolchain is available |
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# |
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CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4 |
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CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion) |
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ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED))) |
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$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED)) |
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endif |
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# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup |
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MAXOPTIMIZATION ?= -O3 |
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# Base CPU flags for each of the supported architectures. |
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# |
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ARCHCPUFLAGS_CORTEXM4F = -mcpu=cortex-m4 \ |
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-mthumb \ |
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-march=armv7e-m \ |
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-mfpu=fpv4-sp-d16 \ |
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-mfloat-abi=hard |
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ARCHCPUFLAGS_CORTEXM4 = -mcpu=cortex-m4 \ |
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-mthumb \ |
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-march=armv7e-m \ |
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-mfloat-abi=soft |
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ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \ |
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-mthumb \ |
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-march=armv7-m \ |
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-mfloat-abi=soft |
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ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \ |
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-ffixed-r10 |
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ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \ |
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-ffixed-r10 |
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ARCHINSTRUMENTATIONDEFINES_CORTEXM3 = |
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# Pick the right set of flags for the architecture. |
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# |
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ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH)) |
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ifeq ($(ARCHCPUFLAGS),) |
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$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3) |
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endif |
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# Set the board flags |
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# |
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ifeq ($(CONFIG_BOARD),) |
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$(error Board config does not define CONFIG_BOARD) |
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endif |
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ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) |
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# optimisation flags |
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# |
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ |
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-g \ |
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-fno-strict-aliasing \ |
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-fno-strength-reduce \ |
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-fomit-frame-pointer \ |
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-funsafe-math-optimizations \ |
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-fno-builtin-printf \ |
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-ffunction-sections \ |
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-fdata-sections |
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# enable precise stack overflow tracking |
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# note - requires corresponding support in NuttX |
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INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH)) |
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# Language-specific flags |
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# |
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ARCHCFLAGS = -std=gnu99 |
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics |
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# Generic warnings |
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# |
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ARCHWARNINGS = -Wall \ |
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-Wextra \ |
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-Wdouble-promotion \ |
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-Wshadow \ |
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-Wfloat-equal \ |
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-Wframe-larger-than=1024 \ |
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-Wpointer-arith \ |
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-Wlogical-op \ |
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-Wmissing-declarations \ |
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-Wpacked \ |
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-Wno-unused-parameter \ |
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-Werror=format-security \ |
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-Werror=array-bounds \ |
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-Wfatal-errors \ |
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-Wformat=1 \ |
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-Werror=unused-but-set-variable \ |
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-Werror=unused-variable \ |
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-Werror=double-promotion \ |
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-Werror=reorder |
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# -Wcast-qual - generates spurious noreturn attribute warnings, try again later |
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# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code |
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# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives |
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# C-specific warnings |
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# |
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ARCHCWARNINGS = $(ARCHWARNINGS) \ |
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-Wbad-function-cast \ |
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-Wstrict-prototypes \ |
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-Wold-style-declaration \ |
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-Wmissing-parameter-type \ |
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-Wmissing-prototypes \ |
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-Wnested-externs |
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# C++-specific warnings |
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# |
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ARCHWARNINGSXX = $(ARCHWARNINGS) \ |
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-Wno-missing-field-initializers |
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# pull in *just* libm from the toolchain ... this is grody |
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LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a) |
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EXTRA_LIBS += $(LIBM) |
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# Flags we pass to the C compiler |
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# |
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CFLAGS = $(ARCHCFLAGS) \ |
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$(ARCHCWARNINGS) \ |
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$(ARCHOPTIMIZATION) \ |
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$(ARCHCPUFLAGS) \ |
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$(ARCHINCLUDES) \ |
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$(INSTRUMENTATIONDEFINES) \ |
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$(ARCHDEFINES) \ |
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$(EXTRADEFINES) \ |
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$(EXTRACFLAGS) \ |
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-fno-common \ |
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$(addprefix -I,$(INCLUDE_DIRS)) |
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# Flags we pass to the C++ compiler |
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# |
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CXXFLAGS = $(ARCHCXXFLAGS) \ |
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$(ARCHWARNINGSXX) \ |
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$(ARCHOPTIMIZATION) \ |
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$(ARCHCPUFLAGS) \ |
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$(ARCHXXINCLUDES) \ |
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$(INSTRUMENTATIONDEFINES) \ |
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$(ARCHDEFINES) \ |
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-DCONFIG_WCHAR_BUILTIN \ |
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$(EXTRADEFINES) \ |
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$(EXTRACXXFLAGS) \ |
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$(addprefix -I,$(INCLUDE_DIRS)) |
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# Flags we pass to the assembler |
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# |
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AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \ |
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$(EXTRADEFINES) \ |
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$(EXTRAAFLAGS) |
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# Flags we pass to the linker |
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# |
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LDFLAGS += --warn-common \ |
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--gc-sections \ |
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$(EXTRALDFLAGS) \ |
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$(addprefix -T,$(LDSCRIPT)) \ |
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$(addprefix -L,$(LIB_DIRS)) |
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# Compiler support library |
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# |
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LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name) |
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# Files that the final link depends on |
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# |
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LINK_DEPS += $(LDSCRIPT) |
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# Files to include to get automated dependencies |
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# |
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DEP_INCLUDES = $(subst .o,.d,$(OBJS)) |
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# Compile C source $1 to object $2 |
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# as a side-effect, generate a dependency file |
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# |
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define COMPILE |
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@$(ECHO) "CC: $1" |
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@$(MKDIR) -p $(dir $2) |
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$(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 |
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endef |
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# Compile C++ source $1 to $2 |
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# as a side-effect, generate a dependency file |
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# |
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define COMPILEXX |
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@$(ECHO) "CXX: $1" |
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@$(MKDIR) -p $(dir $2) |
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$(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 |
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endef |
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# Assemble $1 into $2 |
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# |
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define ASSEMBLE |
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@$(ECHO) "AS: $1" |
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@$(MKDIR) -p $(dir $2) |
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$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2 |
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endef |
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# Produce partially-linked $1 from files in $2 |
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# |
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define PRELINK |
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@$(ECHO) "PRELINK: $1" |
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@$(MKDIR) -p $(dir $1) |
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$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1 |
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endef |
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# Update the archive $1 with the files in $2 |
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# |
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define ARCHIVE |
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@$(ECHO) "AR: $2" |
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@$(MKDIR) -p $(dir $1) |
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$(Q) $(AR) $1 $2 |
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endef |
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# Link the objects in $2 into the binary $1 |
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# |
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define LINK |
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@$(ECHO) "LINK: $1" |
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@$(MKDIR) -p $(dir $1) |
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$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group |
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endef |
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# Convert $1 from a linked object to a raw binary in $2 |
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# |
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define SYM_TO_BIN |
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@$(ECHO) "BIN: $2" |
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@$(MKDIR) -p $(dir $2) |
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$(Q) $(OBJCOPY) -O binary $1 $2 |
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endef |
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# Take the raw binary $1 and make it into an object file $2. |
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# The symbol $3 points to the beginning of the file, and $3_len |
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# gives its length. |
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# |
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# - compile an empty file to generate a suitable object file |
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# - relink the object and insert the binary file |
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# - edit symbol names to suit |
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# |
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# NOTE: exercise caution using this with absolute pathnames; it looks |
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# like the MinGW tools insert an extra _ in the binary symbol name; e.g. |
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# the path: |
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# |
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# /d/px4/firmware/Build/px4fmu_default.build/romfs.img |
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# |
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# is assigned symbols like: |
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# |
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# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size |
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# |
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# when we would expect |
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# |
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# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size |
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# |
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define BIN_SYM_PREFIX |
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_binary_$(subst /,_,$(subst .,_,$1)) |
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endef |
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define BIN_TO_OBJ |
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@$(ECHO) "OBJ: $2" |
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@$(MKDIR) -p $(dir $2) |
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$(Q) $(ECHO) > $2.c |
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$(call COMPILE,$2.c,$2.c.o) |
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$(Q) $(LD) -r -o $2 $2.c.o -b binary $1 |
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$(Q) $(OBJCOPY) $2 \ |
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--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \ |
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--redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \ |
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--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \ |
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--rename-section .data=.rodata |
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$(Q) $(REMOVE) $2.c $2.c.o |
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endef
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