#
# Copyright (C) 2012 PX4 Development Team. 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)
# Toolchain commands. Normally only used inside this file.
#
CROSSDEV = arm-none-eabi-
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
CPP = $(CROSSDEV)gcc -E
LD = $(CROSSDEV)ld
AR = $(CROSSDEV)ar rcs
NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
MAXOPTIMIZATION ?= -O3
# Base CPU flags for each of the supported architectures.
#
ARCHCPUFLAGS_CORTEXM4F = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
ARCHCPUFLAGS_CORTEXM4 = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfloat-abi=soft
ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m \
-mfloat-abi=soft
ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
-ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
-ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
# Pick the right set of flags for the architecture.
#
ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
ifeq ($(ARCHCPUFLAGS),)
$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
endif
# Set the board flags
#
ifeq ($(CONFIG_BOARD),)
$(error Board config does not define CONFIG_BOARD)
endif
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
# optimisation flags
#
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-g \
-fno-strict-aliasing \
-fno-strength-reduce \
-fomit-frame-pointer \
-funsafe-math-optimizations \
-fno-builtin-printf \
-ffunction-sections \
-fdata-sections
# enable precise stack overflow tracking
# note - requires corresponding support in NuttX
INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
# Language-specific flags
#
ARCHCFLAGS = -std=gnu99
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
# Generic warnings
#
ARCHWARNINGS = -Wall \
-Wextra \
-Wdouble-promotion \
-Wshadow \
-Wfloat-equal \
-Wframe-larger-than=1024 \
-Wpointer-arith \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter
# -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) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wold-style-declaration \
-Wmissing-parameter-type \
-Wmissing-prototypes \
-Wnested-externs
# C++-specific warnings
#
ARCHWARNINGSXX = $(ARCHWARNINGS)
# 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) \
-fno-common \
$(addprefix -I,$(INCLUDE_DIRS))
# 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)
# Flags we pass to the linker
#
LDFLAGS += --warn-common \
--gc-sections \
$(EXTRALDFLAGS) \
$(addprefix -T,$(LDSCRIPT)) \
$(addprefix -L,$(LIB_DIRS))
# 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 $2
# as a side-effect, generate a dependency file
#
define COMPILE
@$(ECHO) "CC: $1"
@$(MKDIR) -p $(dir $2)
$(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
endef
# Compile C++ source $1 to $2
# as a side-effect, generate a dependency file
#
define COMPILEXX
@$(ECHO) "CXX: $1"
@$(MKDIR) -p $(dir $2)
$(Q) $(CXX) -MD -c $(CXXFLAGS) $(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 $2
#
define PRELINK
@$(ECHO) "PRELINK: $1"
@$(MKDIR) -p $(dir $1)
$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef
# 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 binary $1
#
define LINK
@$(ECHO) "LINK: $1"
@$(MKDIR) -p $(dir $1)
$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
endef
# Convert $1 from a linked object to a raw binary in $2
#
define SYM_TO_BIN
@$(ECHO) "BIN: $2"
@$(MKDIR) -p $(dir $2)
$(Q) $(OBJCOPY) -O binary $1 $2
endef
# Take the raw binary $1 and make it into an object file $2.
# The symbol $3 points to the beginning of the file, and $3_len
# gives its length.
#
# - compile an empty file to generate a suitable object file
# - relink the object and insert the binary file
# - edit symbol names to suit
#
# NOTE: exercise caution using this with absolute pathnames; it looks
# like the MinGW tools insert an extra _ in the binary symbol name; e.g.
# the path:
#
# /d/px4/firmware/Build/px4fmu_default.build/romfs.img
#
# is assigned symbols like:
#
# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
#
# when we would expect
#
# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
#
define BIN_SYM_PREFIX
_binary_$(subst /,_,$(subst .,_,$1))
endef
define BIN_TO_OBJ
@$(ECHO) "OBJ: $2"
@$(MKDIR) -p $(dir $2)
$(Q) $(ECHO) > $2.c
$(call COMPILE,$2.c,$2.c.o)
$(Q) $(LD) -r -o $2 $2.c.o -b binary $1
$(Q) $(OBJCOPY) $2 \
--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
--redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \
--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
--rename-section .data=.rodata
$(Q) $(REMOVE) $2.c $2.c.o
endef
