diff options
| -rw-r--r-- | makefiles/firmware.mk | 71 | ||||
| -rw-r--r-- | makefiles/gnu-arm-eabi.mk | 177 | ||||
| -rw-r--r-- | makefiles/px4fmu.mk | 10 | ||||
| -rw-r--r-- | makefiles/px4fmu_default.mk | 7 | ||||
| -rw-r--r-- | makefiles/px4io.mk | 10 | ||||
| -rw-r--r-- | makefiles/px4io_default.mk | 7 | ||||
| -rw-r--r-- | platforms/empty.c | 3 |
7 files changed, 285 insertions, 0 deletions
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk new file mode 100644 index 000000000..34741e79e --- /dev/null +++ b/makefiles/firmware.mk @@ -0,0 +1,71 @@ +# +# Generic Makefile for PX4 firmware. +# +# Currently this assumes that we're just compiling SRCS +# and then linking the whole thing together. +# + +# +# Work out where this file is, so we can find other makefiles in the +# same directory. +# +export PX4_MK_INCLUDE ?= $(dir $(lastword $(MAKEFILE_LIST))) + +# +# Use the linker script from the NuttX export +# +LDSCRIPT = $(WORK_DIR)/nuttx-export/build/ld.script + +# +# Add directories from the NuttX export to the relevant search paths +# +INCLUDE_DIRS += $(WORK_DIR)/nuttx-export/include +LIB_DIRS += $(WORK_DIR)/nuttx-export/libs +LIBS += -lapps -lnuttx + +# +# Things that, if they change, might affect everything +# +GLOBAL_DEPS += $(MAKEFILE_LIST) + +# +# Include the platform configuration +# +include $(PX4_MK_INCLUDE)/$(PLATFORM).mk + +# +# What we're going to build +# +PRODUCT_BIN = $(WORK_DIR)/firmware.bin +PRODUCT_SYM = $(WORK_DIR)/firmware.sym +PRODUCTS = $(PRODUCT_BIN) $(PRODUCT_SYM) + +.PHONY: all +all: $(PRODUCTS) + +# +# Rules for building objects +# +OBJS = $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o) + +$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c + @echo compile $< + @mkdir -p $(dir $@) + $(call COMPILE,$<,$@) + +$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp + @mkdir -p $(dir $@) + $(call COMPILEXX,$<,$@) + +$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S + @mkdir -p $(dir $@) + $(call ASSEMBLE,$<,$@) + +-include $(DEP_INCLUDES) + +$(PRODUCT_BIN): $(PRODUCT_SYM) + $(call SYM_TO_BIN,$<,$@) + +$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) + $(call LINK,$@,$(OBJS)) + diff --git a/makefiles/gnu-arm-eabi.mk b/makefiles/gnu-arm-eabi.mk new file mode 100644 index 000000000..4dc337c9f --- /dev/null +++ b/makefiles/gnu-arm-eabi.mk @@ -0,0 +1,177 @@ +# +# Definitions for a generic GNU ARM-EABI toolchain +# + +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 +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=armv6-m \ + -mfloat-abi=soft + +ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH)) + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +# enable precise stack overflow tracking +# note - requires corresponding support in NuttX +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +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 + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) + +# pull in *just* libm from the toolchain ... this is grody +LIBM = $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a) +EXTRA_LIBS += $(LIBM) + +CFLAGS = $(ARCHCFLAGS) \ + $(ARCHCWARNINGS) \ + $(ARCHOPTIMIZATION) \ + $(ARCHCPUFLAGS) \ + $(ARCHINCLUDES) \ + $(INSTRUMENTATIONDEFINES) \ + $(ARCHDEFINES) \ + $(EXTRADEFINES) \ + -fno-common + +CXXFLAGS = $(ARCHCXXFLAGS) \ + $(ARCHWARNINGSXX) \ + $(ARCHOPTIMIZATION) \ + $(ARCHCPUFLAGS) \ + $(ARCHXXINCLUDES) \ + $(INSTRUMENTATIONDEFINES) \ + $(ARCHDEFINES) \ + $(EXTRADEFINES) + +CPPFLAGS = $(ARCHINCLUDES) \ + $(INSTRUMENTATIONDEFINES) \ + $(ARCHDEFINES) \ + $(EXTRADEFINES) + +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +LDFLAGS += --warn-common \ + --gc-sections \ + -T $(LDSCRIPT) \ + $(addprefix -L,$(LIB_DIRS)) + +LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name) + + +# files that the final link depends on +# XXX add libraries that we know about here... +LINK_DEPS += $(LDSCRIPT) + +# files to include to get automated dependencies +DEP_INCLUDES = $(subst .o,.d,$(OBJS)) + +ifeq ($(V),) +Q = @ +else +Q = +endif + +# compile C source $1 to object $2 +# as a side-effect, generate a dependency file +define COMPILE + @echo "CC: $1" + $(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" + $(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 +endef + +# assemble $1 into $2 +define ASSEMBLE + @echo "AS: $1" + $(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2 +endef + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +# update the archive $1 with the files in $2 +define ARCHIVE + @echo "AR: $2" + $(Q) $(AR) $1 $2 +endef + +# Link the objects in $2 into the binary $1 +define LINK + @echo "LINK: $1" + $(Q) $(LD) $(LDFLAGS) -o $1 --start-group $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group +endef + +# convert $1 from a linked object to a raw binary +define SYM_TO_BIN + @echo "BIN: $2" + $(Q) $(OBJCOPY) -O binary $1 $2 +endef diff --git a/makefiles/px4fmu.mk b/makefiles/px4fmu.mk new file mode 100644 index 000000000..75833de9f --- /dev/null +++ b/makefiles/px4fmu.mk @@ -0,0 +1,10 @@ +# +# Platform-specific definitions for the PX4FMU +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM4F + +include $(PX4_MK_INCLUDE)/gnu-arm-eabi.mk diff --git a/makefiles/px4fmu_default.mk b/makefiles/px4fmu_default.mk new file mode 100644 index 000000000..6e78126ff --- /dev/null +++ b/makefiles/px4fmu_default.mk @@ -0,0 +1,7 @@ +# +# Makefile for the px4fmu_default configuration +# + +SRCS = $(PX4BASE)/platforms/empty.c + +include $(PX4BASE)/makefiles/firmware.mk diff --git a/makefiles/px4io.mk b/makefiles/px4io.mk new file mode 100644 index 000000000..8ea9582cb --- /dev/null +++ b/makefiles/px4io.mk @@ -0,0 +1,10 @@ +# +# Platform-specific definitions for the PX4IO +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM3 + +include $(PX4_MK_INCLUDE)/gnu-arm-eabi.mk diff --git a/makefiles/px4io_default.mk b/makefiles/px4io_default.mk new file mode 100644 index 000000000..da480af09 --- /dev/null +++ b/makefiles/px4io_default.mk @@ -0,0 +1,7 @@ +# +# Makefile for the px4io_default configuration +# + +SRCS = $(PX4BASE)/platforms/empty.c + +include $(PX4BASE)/makefiles/firmware.mk diff --git a/platforms/empty.c b/platforms/empty.c new file mode 100644 index 000000000..139531354 --- /dev/null +++ b/platforms/empty.c @@ -0,0 +1,3 @@ +/* + * This is an empty C source file, used when building default firmware configurations. + */ |