mirror of https://github.com/ArduPilot/ardupilot
173 lines
8.0 KiB
Makefile
173 lines
8.0 KiB
Makefile
# extra rules for qualcomm flight build targetting the DSPs
|
|
|
|
# host name of flight board for "qurt_send" target
|
|
FLIGHT_BOARD ?= flight4
|
|
|
|
HEXAGON_TOOLS_ROOT ?= $(HOME)/Qualcomm/HEXAGON_Tools/7.2.11
|
|
HEXAGON_SDK_ROOT ?= $(HOME)/Qualcomm/Hexagon_SDK/2.0
|
|
HEXAGON_FC_ADDON ?= $(HOME)/Qualcomm/HexagonFCAddon/flight_controller
|
|
V_ARCH = v5
|
|
CROSSDEV = hexagon-
|
|
HEXAGON_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
|
|
HEXAGON_CLANG_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
|
|
|
|
QURT_CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
|
|
QURT_CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
|
|
|
|
LINUX_QAIC = $(HEXAGON_SDK_ROOT)/tools/qaic/Linux/qaic
|
|
|
|
QURT_ARM_GCC_ROOT = $(HEXAGON_SDK_ROOT)/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux
|
|
QURT_ARM_CC = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-gcc
|
|
QURT_ARM_CXX = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-g++
|
|
|
|
HEXAGON_LINK = $(QURT_CC)
|
|
LIBSTDCXX = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libstdc++.a
|
|
|
|
LIBQCC = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libqcc.a
|
|
|
|
QFLIGHT_CC = $(QURT_ARM_CC)
|
|
QFLIGHT_CXX = $(QURT_ARM_CXX)
|
|
|
|
OPT = -O3
|
|
|
|
include $(MK_DIR)/find_tools.mk
|
|
|
|
DEFINES += -DSKETCH=\"$(SKETCH)\" -DSKETCHNAME="\"$(SKETCH)\"" -DSKETCHBOOK="\"$(SKETCHBOOK)\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
|
|
DEFINES += $(EXTRAFLAGS)
|
|
DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE) -DAP_MAIN=ArduPilot_main
|
|
|
|
DEPFLAGS = -MD -MP -MT $@
|
|
|
|
CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char $(DSP_CFLAGS) $(WARNFLAGSCXX)
|
|
COPTS = -ffunction-sections -fdata-sections -fsigned-char $(DSP_CFLAGS)
|
|
|
|
# DSP build flags
|
|
DSP_INC=-I$(HEXAGON_SDK_ROOT)/gnu/hexagon/include -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_Debug_dynamic -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HAL_QURT_BUILD)
|
|
DSP_WARN=-Wno-unused-parameter -Wno-gnu-variable-sized-type-not-at-end -Wno-gnu-designator -Wno-absolute-value
|
|
DSP_FLAGS=-mv5 -G0 -g $(OPT) $(DSP_WARN) -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__ -D_DEBUG $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
|
|
|
|
DSP_LINK_FLAGS = -mv5 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=lib$(SKETCHNAME)_skel.so
|
|
|
|
# Add missing parts from libc and libstdc++
|
|
MISSING_TOOLCHAIN_FLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_STD_MOVE=0 -DHAVE_STD_REMOVE_REFERENCE=0 -DHAVE_TYPE_TRAITS_H=0
|
|
MISSING_TOOLCHAIN_FLAGS += -I$(SKETCHBOOK)/libraries/AP_Common/missing
|
|
|
|
CXXFLAGS += -std=gnu++11 $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(MISSING_TOOLCHAIN_FLAGS) $(CXXOPTS) $(DEFINES) $(DSP_FLAGS)
|
|
CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS) $(DEFINES) $(DSP_FLAGS)
|
|
|
|
ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_Debug -I$(SKETCHBOOK)/libraries/
|
|
ARM_WARN=-Wno-unused-parameter
|
|
ARM_CFLAGS=$(ARM_WARN) -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O0 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DCONFIG_HAL_BOARD=HAL_BOARD_LINUX -DCONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
|
|
|
ifeq ($(VERBOSE),)
|
|
v = @
|
|
else
|
|
v =
|
|
endif
|
|
|
|
# Library object files
|
|
LIBOBJS := $(SKETCHLIBOBJS)
|
|
|
|
# The ELF file
|
|
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
|
LIBSKETCH_SKEL_SO = $(BUILDROOT)/libardupilot_skel.so
|
|
BUILDELF = $(notdir $(SKETCHELF))
|
|
|
|
# All of the objects that may be built
|
|
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
|
|
|
|
# All of the dependency files that may be generated
|
|
ALLDEPS = $(ALLOBJS:%.o=%.d)
|
|
|
|
HAL_QURT_SRC = $(SKETCHBOOK)/libraries/AP_HAL_QURT
|
|
HAL_QURT_BUILD = $(BUILDROOT)/libraries/AP_HAL_QURT
|
|
|
|
# main app sources
|
|
MAINAPP_SRC = $(wildcard $(HAL_QURT_SRC)/mainapp/*.cpp) $(wildcard $(SKETCHBOOK)/libraries/AP_HAL/utility/*.cpp)
|
|
MAINAPPOBJS = $(subst $(SKETCHBOOK)/,$(BUILDROOT)/,$(MAINAPP_SRC:%.cpp=%.ao)) $(HAL_QURT_BUILD)/ardupilot_stub.ao
|
|
|
|
|
|
.SUFFIXES: .ao .o .c .so .do
|
|
|
|
# build arm object
|
|
$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.c
|
|
$(RULEHDR)
|
|
$(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
|
|
|
|
# build arm C++ object
|
|
$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.cpp $(HAL_QURT_BUILD)/qurt_dsp.h
|
|
$(RULEHDR)
|
|
$(v)$(QURT_ARM_CXX) -std=gnu++11 -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
|
|
|
|
$(BUILDROOT)/libraries/%.ao: $(BUILDROOT)/libraries/%.c
|
|
$(RULEHDR)
|
|
$(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
|
|
|
|
# build DSP object from C file
|
|
$(BUILDROOT)/libraries/%.do: $(BUILDROOT)/libraries/%.c
|
|
$(RULEHDR)
|
|
$(v)$(QURT_CC) $(CFLAGS) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
|
|
|
|
################################################################################
|
|
# Targets
|
|
#
|
|
all: $(SKETCHELF)
|
|
|
|
print-%:
|
|
echo "$*=$($*)"
|
|
|
|
################################################################################
|
|
# Rules
|
|
#
|
|
|
|
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES)
|
|
SLIB_INCLUDES = $(SKETCHLIBINCLUDES)
|
|
|
|
# fetch dependency info from a previous build if any of it exists
|
|
-include $(ALLDEPS)
|
|
|
|
GENERATE_DSP_C = $(HAL_QURT_BUILD)/ardupilot_skel.c
|
|
GENERATE_ARM_C = $(HAL_QURT_BUILD)/ardupilot_stub.c
|
|
GENERATE_TARGETS = $(HAL_QURT_BUILD)/qurt_dsp.h $(GENERATE_DSP_C) $(GENERATE_ARM_C)
|
|
|
|
$(GENERATE_TARGETS): $(HAL_QURT_SRC)/qurt_dsp.idl
|
|
@echo Generating DSP IDL sources for $^
|
|
$(v)mkdir -p $(HAL_QURT_BUILD)
|
|
$(v)$(LINUX_QAIC) -mdll -o $(HAL_QURT_BUILD) -I$(HAL_QURT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $<
|
|
|
|
# Link the final object
|
|
$(SKETCHELF): $(MAINAPPOBJS) $(LIBSKETCH_SKEL_SO) $(GENERATE_TARGETS)
|
|
@echo "Building $(SKETCHELF)"
|
|
$(RULEHDR)
|
|
$(v)$(QFLIGHT_CXX) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(MAINAPPOBJS) -L$(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++
|
|
$(v)cp $(SKETCHELF) .
|
|
@echo "Firmware is in $(BUILDELF)"
|
|
|
|
DSPSKELOBJS=$(HAL_QURT_BUILD)/ardupilot_skel.do
|
|
|
|
# this is quite bizarre. The provided libc mixes PIC and non-PIC code,
|
|
# which seems to confuse the linker. In order to link to some critical
|
|
# system objects we need to extract them from libc into a new library
|
|
LIBC_SRC=$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libc.a
|
|
LIBC_EXTRACTDIR=$(BUILDROOT)/libc_extracted
|
|
LIBC_OBJECTS=xfdtest.o xdtest.o feclearexcept.o fegetenv.o fesetenv.o
|
|
LIBC_EXTRACTED=$(LIBC_EXTRACTDIR)/libc_extracted.a
|
|
|
|
$(LIBC_EXTRACTED): $(LIBC_SRC)
|
|
$(v)echo Extracting libc objects into $@
|
|
$(v)mkdir -p $(LIBC_EXTRACTDIR)
|
|
$(v)(cd $(LIBC_EXTRACTDIR) && ar x $(LIBC_SRC) $(LIBC_OBJECTS) && ar crs libc_extracted.a $(LIBC_OBJECTS))
|
|
|
|
$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS) $(ALLOBJS) $(GENERATE_TARGETS) $(LIBC_EXTRACTED)
|
|
@echo Linking $@
|
|
$(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -lcsr_gps -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 $(DSPSKELOBJS) $(ALLOBJS) $(LIBC_EXTRACTED) -Wl,--no-whole-archive -Wl,$(LIBSTDCXX) -Wl,$(LIBQCC) -Wl,$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/libdl.a
|
|
$(v)cp $(LIBSKETCH_SKEL_SO) .
|
|
@echo "DSP skel firmware is in $(BUILDELF)"
|
|
|
|
include $(MK_DIR)/build_rules.mk
|
|
|
|
qurt_send: qurt
|
|
rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp
|
|
rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD):
|
|
|