ardupilot/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk

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# ARM Cortex-Mx common makefile scripts and rules.
##############################################################################
# Processing options coming from the upper Makefile.
#
# Compiler options
OPT := $(USE_OPT)
COPT := $(USE_COPT)
CPPOPT := $(USE_CPPOPT)
ASOPT := $(USE_ASOPT)
ASXOPT := $(USE_ASXOPT)
# Garbage collection
ifeq ($(USE_LINK_GC),yes)
OPT += -ffunction-sections -fdata-sections -fno-common
LDOPT := ,--gc-sections
else
LDOPT :=
endif
# Linker extra options
ifneq ($(USE_LDOPT),)
LDOPT := $(LDOPT),$(USE_LDOPT)
endif
# Link time optimizations
ifeq ($(USE_LTO),yes)
OPT += -flto
endif
# FPU options default (Cortex-M4 and Cortex-M7 single precision).
ifeq ($(USE_FPU_OPT),)
USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16 -fsingle-precision-constant
endif
# FPU-related options
ifeq ($(USE_FPU),)
USE_FPU = hard
endif
ifneq ($(USE_FPU),no)
OPT += $(USE_FPU_OPT)
DDEFS += -DCORTEX_USE_FPU=TRUE
DADEFS += -DCORTEX_USE_FPU=TRUE
else
DDEFS += -DCORTEX_USE_FPU=FALSE
DADEFS += -DCORTEX_USE_FPU=FALSE
endif
# Process stack size
ifeq ($(USE_PROCESS_STACKSIZE),)
LDOPT := $(LDOPT),--defsym=__process_stack_size__=0x400
else
LDOPT := $(LDOPT),--defsym=__process_stack_size__=$(USE_PROCESS_STACKSIZE)
endif
# Exceptions stack size
ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
LDOPT := $(LDOPT),--defsym=__main_stack_size__=0x400
else
LDOPT := $(LDOPT),--defsym=__main_stack_size__=$(USE_EXCEPTIONS_STACKSIZE)
endif
# Output directory and files
ifeq ($(BUILDDIR),)
BUILDDIR = build
endif
ifeq ($(BUILDDIR),.)
BUILDDIR = build
endif
OUTFILES := $(BUILDDIR)/$(PROJECT).elf \
$(BUILDDIR)/$(PROJECT).hex \
$(BUILDDIR)/$(PROJECT).bin \
$(BUILDDIR)/$(PROJECT).dmp \
$(BUILDDIR)/$(PROJECT).list
ifdef SREC
OUTFILES += $(BUILDDIR)/$(PROJECT).srec
endif
# Source files groups and paths
ifeq ($(USE_THUMB),yes)
TCSRC += $(CSRC)
TCPPSRC += $(CPPSRC)
else
ACSRC += $(CSRC)
ACPPSRC += $(CPPSRC)
endif
ASRC := $(ACSRC) $(ACPPSRC)
TSRC := $(TCSRC) $(TCPPSRC)
SRCPATHS := $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)) $(dir $(LIBCC_CSRC)) $(dir $(LIBCC_ASMXSRC)))
# Various directories
OBJDIR := $(BUILDDIR)/obj
LSTDIR := $(BUILDDIR)/lst
# Object files groups
ACOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ACSRC:.c=.o)))
ACPPOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ACPPSRC:.cpp=.o)))
TCOBJS := $(addprefix $(OBJDIR)/, $(notdir $(TCSRC:.c=.o)))
TCPPOBJS := $(addprefix $(OBJDIR)/, $(notdir $(TCPPSRC:.cpp=.o)))
ASMOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o)))
ASMXOBJS := $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o)))
OBJS := $(ASMXOBJS) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
LIBCC_ASMXOBJS := $(addprefix $(OBJDIR)/, $(notdir $(LIBCC_ASMXSRC:.S=.o)))
LIBCC_TCOBJS := $(addprefix $(OBJDIR)/, $(notdir $(LIBCC_CSRC:.c=.o)))
LIBCC_OBJS := $(LIBCC_ASMXOBJS) $(LIBCC_TCOBJS)
# Paths
IINCDIR := $(patsubst %,-I%,$(INCDIR) $(DINCDIR) $(UINCDIR))
LLIBDIR := $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
LLIBDIR += -L$(dir $(LDSCRIPT))
# Macros
DEFS := $(DDEFS) $(UDEFS)
ADEFS := $(DADEFS) $(UADEFS)
# Libs
LIBS := $(DLIBS) $(ULIBS)
# Various settings
MCFLAGS := -mcpu=$(MCU)
ODFLAGS = -x --syms
ASFLAGS = $(MCFLAGS) $(ADEFS) $(ASOPT)
ASXFLAGS = $(MCFLAGS) $(ADEFS) $(ASXOPT)
ifneq ($(USE_FPU),no)
LIBCC_ASXFLAGS = $(ASXFLAGS) $(USE_FPU_OPT)
else
LIBCC_ASXFLAGS = $(ASXFLAGS)
endif
CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) $(DEFS)
LIBCC_CFLAGS = $(CFLAGS)
CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) $(DEFS)
LDFLAGS = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
# provide a marker for ArduPilot build options in ChibiOS
CFLAGS += -D_ARDUPILOT_
ifeq ($(ENABLE_ASSERTS),yes)
ASXFLAGS += -DHAL_CHIBIOS_ENABLE_ASSERTS
endif
# Thumb interwork enabled only if needed because it kills performance.
ifneq ($(strip $(TSRC)),)
CFLAGS += -DTHUMB_PRESENT
CPPFLAGS += -DTHUMB_PRESENT
ASFLAGS += -DTHUMB_PRESENT
ASXFLAGS += -DTHUMB_PRESENT
ifneq ($(strip $(ASRC)),)
# Mixed ARM and THUMB mode.
CFLAGS += -mthumb-interwork
CPPFLAGS += -mthumb-interwork
ASFLAGS += -mthumb-interwork
ASXFLAGS += -mthumb-interwork
LDFLAGS += -mthumb-interwork
else
# Pure THUMB mode, THUMB C code cannot be called by ARM asm code directly.
CFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
CPPFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
ASFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING -mthumb
ASXFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING -mthumb
LDFLAGS += -mno-thumb-interwork -mthumb
endif
else
# Pure ARM mode
CFLAGS += -mno-thumb-interwork
CPPFLAGS += -mno-thumb-interwork
ASFLAGS += -mno-thumb-interwork
ASXFLAGS += -mno-thumb-interwork
LDFLAGS += -mno-thumb-interwork
endif
# Generate dependency information
ASFLAGS += -MD -MP -MF .dep/$(@F).d
ASXFLAGS += -MD -MP -MF .dep/$(@F).d
CFLAGS += -MD -MP -MF .dep/$(@F).d
CPPFLAGS += -MD -MP -MF .dep/$(@F).d
# Paths where to search for sources
VPATH = $(SRCPATHS)
ifndef ECHO
T := $(shell $(MAKE) $(MAKECMDGOALS) --no-print-directory \
-nrRf $(firstword $(MAKEFILE_LIST)) \
ECHO="COUNTTHIS" | grep -c "COUNTTHIS")
N := x
C = $(words $N)$(eval N := x $N)
ECHO = echo "[$C/$T] ChibiOS:"
endif
all: PRE_MAKE_ALL_RULE_HOOK $(OBJS) $(LIBCC_OBJS) $(OUTFILES) POST_MAKE_ALL_RULE_HOOK
PRE_MAKE_ALL_RULE_HOOK:
POST_MAKE_ALL_RULE_HOOK:
$(LIBCC_OBJS) $(OBJS): | $(BUILDDIR) $(OBJDIR) $(LSTDIR)
$(BUILDDIR):
ifneq ($(USE_VERBOSE_COMPILE),yes)
@echo Compiler Options
@echo $(CC) -c $(CFLAGS) -I. $(IINCDIR) main.c -o main.o
@echo
endif
@mkdir -p $(BUILDDIR)
$(OBJDIR):
@mkdir -p $(OBJDIR)
$(LSTDIR):
@mkdir -p $(LSTDIR)
$(ACPPOBJS) : $(OBJDIR)/%.o : %.cpp
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(CPPC) -c $(CPPFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
else
@$(ECHO) Compiling $(<F)
@$(CPPC) -c $(CPPFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
endif
$(TCPPOBJS) : $(OBJDIR)/%.o : %.cpp
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(CPPC) -c $(CPPFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
else
@$(ECHO) Compiling $(<F)
@$(CPPC) -c $(CPPFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
endif
$(ACOBJS) : $(OBJDIR)/%.o : %.c
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(CC) -c $(CFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
else
@$(ECHO) Compiling $(<F)
@$(CC) -c $(CFLAGS) $(AOPT) -I. $(IINCDIR) $< -o $@
endif
$(TCOBJS) : $(OBJDIR)/%.o : %.c
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
else
@$(ECHO) Compiling $(<F)
@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
endif
$(LIBCC_TCOBJS) : $(OBJDIR)/%.o : %.c
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
else
@$(ECHO) Compiling $(<F)
@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
endif
$(ASMOBJS) : $(OBJDIR)/%.o : %.s
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
else
@$(ECHO) Compiling $(<F)
@$(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
endif
$(ASMXOBJS) : $(OBJDIR)/%.o : %.S
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
else
@$(ECHO) Compiling $(<F)
@$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
endif
$(LIBCC_ASMXOBJS) : $(OBJDIR)/%.o : %.S
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(CC) -c $(LIBCC_ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
else
@$(ECHO) Compiling $(<F)
@$(CC) -c $(LIBCC_ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
endif
$(BUILDDIR)/$(PROJECT).elf: $(OBJS) $(LDSCRIPT)
ifeq ($(USE_VERBOSE_COMPILE),yes)
@echo
$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
else
@echo Linking $@
@$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
endif
%.hex: %.elf
ifeq ($(USE_VERBOSE_COMPILE),yes)
$(HEX) $< $@
else
@echo Creating $@
@$(HEX) $< $@
endif
%.bin: %.elf
ifeq ($(USE_VERBOSE_COMPILE),yes)
$(BIN) $< $@
else
@echo Creating $@
@$(BIN) $< $@
endif
%.srec: %.elf
ifdef SREC
ifeq ($(USE_VERBOSE_COMPILE),yes)
$(SREC) $< $@
else
@echo Creating $@
@$(SREC) $< $@
endif
endif
%.dmp: %.elf
ifeq ($(USE_VERBOSE_COMPILE),yes)
$(OD) $(ODFLAGS) $< > $@
$(SZ) $<
else
@echo Creating $@
@$(OD) $(ODFLAGS) $< > $@
@echo
@$(SZ) $<
endif
%.list: %.elf
ifeq ($(USE_VERBOSE_COMPILE),yes)
$(OD) -S $< > $@
else
@echo Creating $@
@$(OD) -S $< > $@
@echo
@echo Done
endif
ifneq ($(CRASHCATCHER),)
lib: $(OBJS) $(LIBCC_OBJS) $(BUILDDIR)/lib$(PROJECT).a $(BUILDDIR)/libcc.a pass
else
lib: $(OBJS) $(BUILDDIR)/lib$(PROJECT).a pass
endif
$(BUILDDIR)/lib$(PROJECT).a: $(OBJS)
@$(AR) -r $@ $^
@echo
@echo ChibiOS: Done!
$(BUILDDIR)/libcc.a: $(LIBCC_OBJS)
@$(AR) -r $@ $^
@echo
@echo CrashCatcher: Done!
pass: $(BUILDDIR)
@echo $(foreach f,$(IINCDIR),"$(f);") > $(BUILDDIR)/include_dirs
clean: CLEAN_RULE_HOOK
@echo Cleaning
-rm -fR .dep $(BUILDDIR)
@echo
@echo Done
CLEAN_RULE_HOOK:
#
# Include the dependency files, should be the last of the makefile
#
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
# *** EOF ***