ardupilot/libraries/Desktop/Desktop.mk

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 $@
# XXX warning options TBD
CXXOPTS = -fno-exceptions -I$(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 AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.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