mirror of https://github.com/ArduPilot/ardupilot
447 lines
14 KiB
Makefile
447 lines
14 KiB
Makefile
#
|
|
# Copyright (c) 2010 Andrew Tridgell. All rights reserved.
|
|
# based on Arduino.mk, Copyright (c) 2010 Michael Smith
|
|
#
|
|
# 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.
|
|
#
|
|
# THIS SOFTWARE IS PROVIDED BY THE AUTHOR 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 AUTHOR 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.
|
|
#
|
|
|
|
#
|
|
# Save the system type for later use.
|
|
#
|
|
SYSTYPE := $(shell uname)
|
|
|
|
# force LANG to C so awk works sanely on MacOS
|
|
export LANG=C
|
|
|
|
#
|
|
# Locate the sketch sources based on the initial Makefile's path
|
|
#
|
|
SRCROOT := $(PWD)
|
|
|
|
#
|
|
# We need to know the location of the sketchbook. If it hasn't been overridden,
|
|
# try the parent of the current directory. If there is no libraries directory
|
|
# there, assume that we are in a library's examples directory and try backing up
|
|
# further.
|
|
#
|
|
ifeq ($(SKETCHBOOK),)
|
|
SKETCHBOOK := $(shell cd $(SRCROOT)/.. && pwd)
|
|
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
|
SKETCHBOOK := $(shell cd $(SRCROOT)/../.. && pwd)
|
|
endif
|
|
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
|
SKETCHBOOK := $(shell cd $(SRCROOT)/../../.. && pwd)
|
|
endif
|
|
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
|
SKETCHBOOK := $(shell cd $(SRCROOT)/../../../.. && pwd)
|
|
endif
|
|
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
|
$(error ERROR: cannot determine sketchbook location - please specify on the commandline with SKETCHBOOK=<path>)
|
|
endif
|
|
else
|
|
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
|
$(warning WARNING: sketchbook directory $(SKETCHBOOK) contains no libraries)
|
|
endif
|
|
endif
|
|
|
|
#
|
|
# Work out the sketch name from the name of the source directory.
|
|
#
|
|
SKETCH := $(lastword $(subst /, ,$(SRCROOT)))
|
|
# Workaround a $(lastword ) bug on cygwin
|
|
ifeq ($(SKETCH),)
|
|
WORDLIST := $(subst /, ,$(SRCROOT))
|
|
SKETCH := $(word $(words $(WORDLIST)),$(WORDLIST))
|
|
endif
|
|
|
|
#
|
|
# Work out where we are going to be building things
|
|
#
|
|
TMPDIR ?= /tmp
|
|
BUILDROOT := $(abspath $(TMPDIR)/$(SKETCH).build)
|
|
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
|
# Workaround a $(abspath ) bug on cygwin
|
|
ifeq ($(BUILDROOT),)
|
|
BUILDROOT := C:$(TMPDIR)/$(SKETCH).build
|
|
$(warning your abspath function is not working)
|
|
$(warning > setting BUILDROOT to $(BUILDROOT))
|
|
endif
|
|
endif
|
|
|
|
# Jump over the next makefile sections when runing a "make configure"
|
|
ifneq ($(MAKECMDGOALS),configure)
|
|
|
|
HARDWARE=desktop
|
|
BOARD=desktop
|
|
|
|
ifeq ($(SYSTYPE),Darwin)
|
|
AWK := awk
|
|
CXX := c++
|
|
CC := cc
|
|
AS := cc
|
|
AR := ar
|
|
endif
|
|
|
|
CXX ?= g++
|
|
CC ?= gcc
|
|
AS ?= gcc
|
|
AR ?= ar
|
|
LD := $(CXX)
|
|
|
|
# Find awk
|
|
AWK ?= gawk
|
|
ifeq ($(shell which $(AWK)),)
|
|
$(error ERROR: cannot find $(AWK) - you may need to install GNU awk)
|
|
endif
|
|
|
|
#
|
|
# Tool options
|
|
#
|
|
DEFINES = $(EXTRAFLAGS) -DSKETCH=\"$(SKETCH)\"
|
|
OPTFLAGS = -g -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2 -Wno-reorder
|
|
DEPFLAGS = -MD -MT $@
|
|
|
|
# XXX warning options TBD
|
|
CXXOPTS = -fno-exceptions -D__AVR_ATmega2560__ -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1
|
|
COPTS = -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1
|
|
ASOPTS = -assembler-with-cpp
|
|
|
|
CXXFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(CXXOPTS)
|
|
CFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(COPTS)
|
|
ASFLAGS = -g $(DEFINES) $(DEPFLAGS) $(ASOPTS)
|
|
LDFLAGS = -g $(OPTFLAGS)
|
|
|
|
LIBS = -lm
|
|
|
|
SRCSUFFIXES = *.cpp *.c
|
|
|
|
ifeq ($(VERBOSE),)
|
|
v = @
|
|
else
|
|
v =
|
|
endif
|
|
|
|
|
|
################################################################################
|
|
# Sketch
|
|
#
|
|
|
|
# Sketch source files
|
|
SKETCHPDESRCS := $(wildcard $(SRCROOT)/*.pde)
|
|
SKETCHSRCS := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
|
|
SKETCHPDE := $(wildcard $(SRCROOT)/$(SKETCH).pde)
|
|
SKETCHCPP := $(BUILDROOT)/$(SKETCH).cpp
|
|
ifeq ($(SKETCHPDE),)
|
|
$(error ERROR: sketch $(SKETCH) is missing $(SKETCH).pde)
|
|
endif
|
|
|
|
# Sketch object files
|
|
SKETCHOBJS := $(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS)) $(SKETCHCPP)
|
|
SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
|
|
|
|
# List of input files to the sketch.cpp file in the order they should
|
|
# be appended to create it
|
|
SKETCHCPP_SRC := $(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)))
|
|
|
|
################################################################################
|
|
# Libraries
|
|
#
|
|
# Pick libraries to add to the include path and to link with based on
|
|
# #include directives in the sketchfiles.
|
|
#
|
|
# For example:
|
|
#
|
|
# #include <Foo.h>
|
|
#
|
|
# implies that there might be a Foo library.
|
|
#
|
|
# Note that the # and $ require special treatment to avoid upsetting
|
|
# make.
|
|
#
|
|
SEXPR = 's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
|
|
ifeq ($(SYSTYPE),Darwin)
|
|
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
|
|
else
|
|
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
|
|
endif
|
|
|
|
# these are library objects we don't want in the desktop build (maybe we'll add them later)
|
|
NODESKTOP := I2C/I2C.cpp DataFlash/DataFlash_APM1.cpp FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp AP_Baro/AP_Baro_BMP085.cpp
|
|
|
|
#
|
|
# Find sketchbook libraries referenced by the sketch.
|
|
#
|
|
# Include paths for sketch libraries
|
|
#
|
|
SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
|
|
SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
|
|
SKETCHLIBSRCDIRS := $(SKETCHLIBS) $(SKETCHBOOK)/libraries/Desktop/support $(addsuffix /utility,$(SKETCHLIBS))
|
|
SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
|
|
FILTEREDSRCS := $(filter-out $(addprefix $(SKETCHBOOK)/libraries/,$(NODESKTOP)),$(SKETCHLIBSRCS))
|
|
SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(FILTEREDSRCS))))
|
|
SKETCHLIBINCLUDES := $(addprefix -I,$(SKETCHLIBS))
|
|
|
|
#
|
|
# Find Arduino libraries referenced by the sketch. Exclude any that
|
|
# are overloaded by versions in the sketchbook.
|
|
#
|
|
ARDUINOLIBS := $(wildcard $(addprefix $(ARDUINO)/libraries/,$(filter-out $(SKETCHLIBNAMES),$(LIBTOKENS))))
|
|
ARDUINOLIBNAMES := $(notdir $(ARDUINOLIBS))
|
|
ARDUINOLIBSRCDIRS := $(ARDUINOLIBS) $(addsuffix /utility,$(ARDUINOLIBS))
|
|
ARDUINOLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(ARDUINOLIBSRCDIRS))))
|
|
ARDUINOLIBOBJS := $(addsuffix .o,$(basename $(subst $(ARDUINO),$(BUILDROOT),$(ARDUINOLIBSRCS))))
|
|
ARDUINOLIBINCLUDES := $(addprefix -I,$(ARDUINOLIBS))
|
|
ARDUINOLIBINCLUDES := $(ARDUINOLIBINCLUDES)
|
|
|
|
# Library object files
|
|
LIBOBJS := $(SKETCHLIBOBJS)
|
|
|
|
################################################################################
|
|
# Built products
|
|
#
|
|
|
|
# The ELF file
|
|
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
|
|
|
# Map file
|
|
SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
|
|
|
|
# The core library
|
|
CORELIB =
|
|
|
|
# All of the objects that may be built
|
|
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS) $(CORELIBOBJS)
|
|
|
|
# All of the dependency files that may be generated
|
|
ALLDEPS = $(ALLOBJS:%.o=%.d)
|
|
endif
|
|
|
|
################################################################################
|
|
# Targets
|
|
#
|
|
|
|
all: $(SKETCHELF)
|
|
|
|
clean:
|
|
@rm -fr $(BUILDROOT)
|
|
|
|
################################################################################
|
|
# Rules
|
|
#
|
|
|
|
# fetch dependency info from a previous build if any of it exists
|
|
-include $(ALLDEPS)
|
|
|
|
# common header for rules, prints what is being built
|
|
define RULEHDR
|
|
@echo %% $(subst $(BUILDROOT)/,,$@)
|
|
@mkdir -p $(dir $@)
|
|
endef
|
|
|
|
showsources:
|
|
@echo "SKETCHLIBSRCDIRS=$(SKETCHLIBSRCDIRS)"
|
|
@echo "SKETCHLIBSRCS=$(SKETCHLIBSRCS)"
|
|
@echo "SKETCHOBJS=$(SKETCHOBJS)"
|
|
@echo "LIBOBJS=$(LIBOBJS)"
|
|
@echo "CORELIB=$(CORELIB)"
|
|
|
|
# Link the final object
|
|
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS) $(CORELIB)
|
|
$(RULEHDR)
|
|
$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
|
|
@echo Built $@
|
|
|
|
#
|
|
# Build sketch objects
|
|
#
|
|
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
|
|
|
|
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
|
|
$(RULEHDR)
|
|
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(SRCROOT) $(SKETCH_INCLUDES)
|
|
|
|
$(BUILDROOT)/%.o: $(SRCROOT)/%.cpp
|
|
$(RULEHDR)
|
|
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
|
|
|
$(BUILDROOT)/%.o: $(SRCROOT)/%.c
|
|
$(RULEHDR)
|
|
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
|
|
|
$(BUILDROOT)/%.o: $(SRCROOT)/%.S
|
|
$(RULEHDR)
|
|
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
|
|
|
#
|
|
# Build library objects from sources in the sketchbook
|
|
#
|
|
SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
|
|
$(RULEHDR)
|
|
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
|
|
$(RULEHDR)
|
|
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
|
|
$(RULEHDR)
|
|
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
|
|
|
#
|
|
# Build library objects from Ardiuno library sources
|
|
#
|
|
ALIB_INCLUDES = -I$(dir $<)/utility $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.cpp
|
|
$(RULEHDR)
|
|
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.c
|
|
$(RULEHDR)
|
|
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.S
|
|
$(RULEHDR)
|
|
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
|
|
|
|
#
|
|
# Build objects from the hardware core
|
|
#
|
|
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.cpp
|
|
$(RULEHDR)
|
|
$(v)$(CXX) $(filter-out -W%,$(CXXFLAGS)) -c -o $@ $< -I$(CORESRC_DIR)
|
|
|
|
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.c
|
|
@mkdir -p $(dir $@)
|
|
$(v)$(CC) $(filter-out -W%,$(CFLAGS)) -c -o $@ $< -I$(CORESRC_DIR)
|
|
|
|
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.S
|
|
$(RULEHDR)
|
|
$(v)$(AS) $(ASFLAGS) -c -o $@ $< -I$(CORESRC_DIR)
|
|
|
|
#
|
|
# Build the core library
|
|
#
|
|
$(CORELIB): $(CORELIBOBJS)
|
|
$(RULEHDR)
|
|
$(v)$(AR) -rcs $@ $^
|
|
|
|
#
|
|
# Build the sketch.cpp file
|
|
#
|
|
# This process strives to be as faithful to the Arduino implementation as
|
|
# possible. Conceptually, the process is as follows:
|
|
#
|
|
# * All of the .pde files are concatenated, starting with the file named
|
|
# for the sketch and followed by the others in alphabetical order.
|
|
# * An insertion point is created in the concatenated file at
|
|
# the first statement that isn't a preprocessor directive or comment.
|
|
# * An include of "WProgram.h" is inserted at the insertion point.
|
|
# * The file following the insertion point is scanned for function definitions
|
|
# and prototypes for these functions are inserted at the insertion point.
|
|
#
|
|
# In addition, we add #line directives wherever the originating file changes
|
|
# to help backtrack from compiler messages and in the debugger.
|
|
#
|
|
$(SKETCHCPP): $(SKETCHCPP_SRC)
|
|
$(RULEHDR)
|
|
$(v)$(AWK) -v mode=header '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) > $@
|
|
$(v)echo "#line 1 \"autogenerated\"" >> $@
|
|
$(v)echo "#include \"WProgram.h\"" >> $@
|
|
$(v)$(AWK) '$(SKETCH_PROTOTYPER)' $(SKETCHCPP_SRC) >> $@
|
|
$(v)$(AWK) -v mode=body '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) >> $@
|
|
|
|
# delete the sketch.cpp file if a processing error occurs
|
|
.DELETE_ON_ERROR: $(SKETCHCPP)
|
|
|
|
#
|
|
# The sketch splitter is an awk script used to split off the
|
|
# header and body of the concatenated .pde files. It also
|
|
# inserts #line directives to help in backtracking from compiler
|
|
# and debugger messages to the original source file.
|
|
#
|
|
# Note that # and $ require special treatment here to avoid upsetting
|
|
# make.
|
|
#
|
|
# This script requires BWK or GNU awk.
|
|
#
|
|
define SKETCH_SPLITTER
|
|
BEGIN { \
|
|
scanning = 1; \
|
|
printing = (mode ~ "header") ? 1 : 0; \
|
|
} \
|
|
{ toggles = 1 } \
|
|
(FNR == 1) && printing { \
|
|
printf "#line %d \"%s\"\n", FNR, FILENAME; \
|
|
} \
|
|
/^[[:space:]]*\/\*/,/\*\// { \
|
|
toggles = 0; \
|
|
} \
|
|
/^[[:space:]]*$$/ || /^[[:space:]]*\/\/.*/ || /^\#.*$$/ { \
|
|
toggles = 0; \
|
|
} \
|
|
scanning && toggles { \
|
|
scanning = 0; \
|
|
printing = !printing; \
|
|
if (printing) { \
|
|
printf "#line %d \"%s\"\n", FNR, FILENAME; \
|
|
} \
|
|
} \
|
|
printing
|
|
endef
|
|
|
|
#
|
|
# The prototype scanner is an awk script used to generate function
|
|
# prototypes from the concantenated .pde files.
|
|
#
|
|
# Function definitions are expected to follow the form
|
|
#
|
|
# <newline><type>[<qualifier>...]<name>([<arguments>]){
|
|
#
|
|
# with whitespace permitted between the various elements. The pattern
|
|
# is assembled from separate subpatterns to make adjustments easier.
|
|
#
|
|
# Note that $ requires special treatment here to avoid upsetting make,
|
|
# and backslashes are doubled in the partial patterns to satisfy
|
|
# escaping rules.
|
|
#
|
|
# This script requires BWK or GNU awk.
|
|
#
|
|
define SKETCH_PROTOTYPER
|
|
BEGIN { \
|
|
RS="{"; \
|
|
type = "((\\n)|(^))[[:space:]]*[[:alnum:]_]+[[:space:]]+"; \
|
|
qualifiers = "([[:alnum:]_\\*&]+[[:space:]]*)*"; \
|
|
name = "[[:alnum:]_]+[[:space:]]*"; \
|
|
args = "\\([[:space:][:alnum:]_,&\\*\\[\\]]*\\)"; \
|
|
bodycuddle = "[[:space:]]*$$"; \
|
|
pattern = type qualifiers name args bodycuddle; \
|
|
} \
|
|
match($$0, pattern) { \
|
|
proto = substr($$0, RSTART, RLENGTH); \
|
|
gsub("\n", " ", proto); \
|
|
printf "%s;\n", proto; \
|
|
}
|
|
endef
|