2015-12-13 23:18:37 -04:00
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# extra rules for qualcomm flight linux build
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FLIGHT_BOARD ?= flight4
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HEXAGON_TOOLS_ROOT ?= $(HOME)/Qualcomm/HEXAGON_Tools/7.2.11
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HEXAGON_SDK_ROOT ?= $(HOME)/Qualcomm/Hexagon_SDK/2.0
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HEXAGON_FC_ADDON ?= $(HOME)/Qualcomm/HexagonFCAddon/flight_controller
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V_ARCH = v5
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CROSSDEV = hexagon-
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HEXAGON_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
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HEXAGON_CLANG_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
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QURT_CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
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QURT_CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
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HEXAGON_GCC_BIN = $(HEXAGON_TOOLS_ROOT)/gnu/bin
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LINUX_QAIC = $(HEXAGON_SDK_ROOT)/tools/qaic/Linux/qaic
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QURT_ARM_GCC_ROOT = $(HEXAGON_SDK_ROOT)/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux
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QURT_ARM_CC = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-gcc
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QURT_ARM_CXX = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-g++
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HEXAGON_LINK = $(QURT_CC)
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LIBSTDCXX = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libstdc++.a
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QFLIGHT_CC = $(QURT_ARM_CC)
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QFLIGHT_CXX = $(QURT_ARM_CXX)
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QFLIGHT_LD = $(QURT_ARM_CXX)
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QFLIGHT_SRC = $(SKETCHBOOK)/libraries/AP_HAL_Linux/qflight
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QFLIGHT_BUILD = $(BUILDROOT)/libraries/AP_HAL_Linux/qflight
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GENERATE_DSP_C = $(QFLIGHT_BUILD)/qflight_skel.c
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GENERATE_ARM_C = $(QFLIGHT_BUILD)/qflight_stub.c
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GENERATE_TARGETS = $(GENERATE_DSP_C) $(GENERATE_ARM_C) $(QFLIGHT_BUILD)/qflight_dsp.h
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LIBOBJS += $(QFLIGHT_BUILD)/qflight_stub.o
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2016-02-13 14:19:46 -04:00
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# Add missing parts from libc and libstdc++
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2016-02-16 10:39:03 -04:00
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MISSING_TOOLCHAIN_FLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_STD_MOVE=0 -DHAVE_STD_REMOVE_REFERENCE=0 -DHAVE_TYPE_TRAITS_H=0
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2016-02-13 14:19:46 -04:00
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MISSING_TOOLCHAIN_FLAGS += -I$(SKETCHBOOK)/libraries/AP_Common/missing
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2015-12-13 23:18:37 -04:00
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# DSP build flags
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2016-02-13 14:19:46 -04:00
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DSP_INC=$(MISSING_TOOLCHAIN_FLAGS) $(SHARED_INC) -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/include -I$(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSPv5MP/include -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/hexagon_ReleaseG -I$(QFLIGHT_BUILD) -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(SKETCHBOOK)/libraries
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2015-12-13 23:18:37 -04:00
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DSP_FLAGS=-mv5 -G0 -g -O3 -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__ $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
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$(GENERATE_TARGETS): $(QFLIGHT_SRC)/qflight_dsp.idl
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@echo Generating DSP IDL sources for $^
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$(v)mkdir -p $(QFLIGHT_BUILD)
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$(v)$(LINUX_QAIC) -mdll -o $(QFLIGHT_BUILD) -I$(QFLIGHT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $<
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DSP_LINK_FLAGS = -mv5 -O3 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=libqflight_skel.so
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ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(BUILDROOT)/libraries -I$(HEXAGON_SDK_ROOT)/inc/stddef
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ARM_CFLAGS=-fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O3 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC)
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ARM_LINK_LIBS1 = -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a
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ARM_LINK_LIBS2 = -lm -lc -lsupc++ -lgcc_eh -lgcc
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ARM_LINK_FLAGS = -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl
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LIBS += $(ARM_LINK_FLAGS) $(ARM_LINK_LIBS1) $(ARM_LINK_LIBS2)
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CXXOPTS += $(ARM_CFLAGS)
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COPTS += $(ARM_CFLAGS)
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LIBSKETCH_SKEL_SO = $(BUILDROOT)/libqflight_skel.so
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.SUFFIXES: .o .c .cpp .so .do
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# build DSP object from C file
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2016-01-14 16:44:15 -04:00
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$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.c $(MAVLINK_HEADERS)
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2015-12-13 23:18:37 -04:00
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$(RULEHDR)
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$(v)$(QURT_CC) $(DSP_FLAGS) -c -o $@ $<
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$(BUILDROOT)/libraries/AP_HAL_Linux/qflight/%.o: $(BUILDROOT)/libraries/AP_HAL_Linux/qflight/%.c
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$(RULEHDR)
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$(v)$(CC) -c -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O3 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -std=gnu99 -o $@ $<
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$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.cpp
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$(RULEHDR)
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$(v)$(QURT_CXX) -std=gnu++11 $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
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.c.do:
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$(RULEHDR)
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$(v)$(QURT_CC) $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
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.cpp.do:
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$(RULEHDR)
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$(v)$(QURT_CXX) -std=gnu++11 $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
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DSPSKELOBJS=$(QFLIGHT_BUILD)/qflight_skel.do $(QFLIGHT_BUILD)/dsp_functions.do $(BUILDROOT)/libraries/AP_HAL/utility/RingBuffer.do
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$(SKETCHELF): $(LIBSKETCH_SKEL_SO)
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$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS)
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@echo Linking $@
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$(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -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 -lm -Wl,-soname=libqflight_skel.so -o $@ -Wl,--whole-archive $^ -Wl,--no-whole-archive -Wl,$(LIBSTDCXX)
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$(v)cp $(LIBSKETCH_SKEL_SO) .
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@echo "DSP skel firmware is in libqflight_skel.so"
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# Link the final object
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$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
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@echo "Building $(SKETCHELF)"
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$(RULEHDR)
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$(v)$(QFLIGHT_CC) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(SKETCHOBJS) $(LIBOBJS) -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG/ -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a -Wl,"-)" -lm -lc -lsupc++ -lgcc_eh -lgcc -lpthread -lstdc++
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#$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
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$(v)cp $(SKETCHELF) .
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@echo "Firmware is in $(BUILDELF)"
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qflight_send: qflight
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rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp
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rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD):
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