#
#   Copyright (C) 2015 Mark Charlebois. All rights reserved.
#
# 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.
# 3. Neither the name PX4 nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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
# COPYRIGHT OWNER 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.
#

#
# Definitions for a generic GNU ARM-EABI toolchain
#

#$(info TOOLCHAIN  gnu-arm-eabi)

# Toolchain commands. Normally only used inside this file.
#
HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
#V_ARCH			 = v4 # Set for APQ8064
V_ARCH			 = v5 # Set for APQ8074
CROSSDEV		 = hexagon-
HEXAGON_BIN		 = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
HEXAGON_CLANG_BIN	 = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
HEXAGON_LIB_DIR		 = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib
HEXAGON_ISS_DIR		 = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss


CC			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
CXX			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
CPP			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang -E
LD			 = $(HEXAGON_BIN)/$(CROSSDEV)ld
AR			 = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs
NM			 = $(HEXAGON_BIN)/$(CROSSDEV)nm
OBJCOPY			 = $(HEXAGON_BIN)/$(CROSSDEV)objcopy
OBJDUMP			 = $(HEXAGON_BIN)/$(CROSSDEV)objdump

# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED	 = 6.4.05
CROSSDEV_VER_FOUND	 = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')

ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
endif


# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup

MAXOPTIMIZATION		 ?= -O2

# Base CPU flags for each of the supported architectures.
#
_CODE			 = $(addprefix -G,$(V_G_THRESHOLD))
ARCHCPUFLAGS	 	 = -m$(V_ARCH) \
			   -c \
			   -G0 \
			   $(_CODE)


# Set the board flags
#
ifeq ($(CONFIG_BOARD),)
$(error Board config does not define CONFIG_BOARD)
endif
ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
			    -D__PX4_QURT \
			    -I$(PX4_BASE)/src/lib/eigen \
			    -I$(PX4_BASE)/src/platforms/qurt/include \
			    -Wno-error=shadow

# optimisation flags
#
ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
			   -g3 \
			   -fno-strict-aliasing \
			   -fomit-frame-pointer \
			   -funsafe-math-optimizations \
			   -ffunction-sections \
			   -fdata-sections

# enable precise stack overflow tracking
# note - requires corresponding support in NuttX
INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))

# Language-specific flags
#
ARCHCFLAGS		 = -std=gnu99
ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__

# Generic warnings
#
ARCHWARNINGS		 = -Wall \
			   -Wextra \
			   -Werror \
			   -Wno-cast-align \
			   -Wno-missing-braces \
			   -Wno-strict-aliasing
#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives

# C-specific warnings
#
ARCHCWARNINGS		 = $(ARCHWARNINGS) \
			   -Wstrict-prototypes \
			   -Wnested-externs

# C++-specific warnings
#
ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
			   -Wno-missing-field-initializers

# pull in *just* libm from the toolchain ... this is grody
LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
EXTRA_LIBS		+= $(LIBM)

# Flags we pass to the C compiler
#
CFLAGS			 = $(ARCHCFLAGS) \
			   $(ARCHCWARNINGS) \
			   $(ARCHOPTIMIZATION) \
			   $(ARCHCPUFLAGS) \
			   $(ARCHINCLUDES) \
			   $(INSTRUMENTATIONDEFINES) \
			   $(ARCHDEFINES) \
			   $(EXTRADEFINES) \
			   $(EXTRACFLAGS) \
			   -fno-common \
			   $(addprefix -I,$(INCLUDE_DIRS))

# Flags we pass to the C++ compiler
#
CXXFLAGS		 = $(ARCHCXXFLAGS) \
			   $(ARCHWARNINGSXX) \
			   $(ARCHOPTIMIZATION) \
			   $(ARCHCPUFLAGS) \
			   $(ARCHXXINCLUDES) \
			   $(INSTRUMENTATIONDEFINES) \
			   $(ARCHDEFINES) \
			   -DCONFIG_WCHAR_BUILTIN \
			   $(EXTRADEFINES) \
			   $(EXTRACXXFLAGS) \
			   $(addprefix -I,$(INCLUDE_DIRS))

ifeq (1,$(V_dynamic))
CXX_FLAGS += -fpic -D__V_DYNAMIC__
endif

HEXAGON_LIB_PATH=$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib/$(V_ARCH)/G0
LIB_HEXAGON =$(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0/libhexagon.a

# Flags we pass to the assembler
#
AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
			   $(EXTRADEFINES) \
			   $(EXTRAAFLAGS)

# Flags we pass to the linker
#
LDFLAGS			+=  \
			   -Wl,--start-group -Wl,--whole-archive -lc -lgcc -lstdc++ \
			   $(LIB_HEXAGON) -Wl,--no-whole-archive -Wl,--end-group -Wl,--dynamic-linker= \
			   -Wl,-E -Wl,--force-dynamic \
			   $(EXTRALDFLAGS) \
			   $(addprefix -T,$(LDSCRIPT)) \
			   $(addprefix -L,$(LIB_DIRS))

# Compiler support library
#
LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)

# Files that the final link depends on
#
LINK_DEPS		+= $(LDSCRIPT)

# Files to include to get automated dependencies
#
DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))

# Compile C source $1 to object $2
# as a side-effect, generate a dependency file
#
define COMPILE
	@$(ECHO) "CC:      $1"
	@$(MKDIR) -p $(dir $2)
	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
endef

# Compile C++ source $1 to $2
# as a side-effect, generate a dependency file
#
define COMPILEXX
	@$(ECHO) "CXX:     $1"
	@$(MKDIR) -p $(dir $2)
	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
endef

# Assemble $1 into $2
#
define ASSEMBLE
	@$(ECHO) "AS:      $1"
	@$(MKDIR) -p $(dir $2)
	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
endef

# Produce partially-linked $1 from files in $2
#
define PRELINK
	@$(ECHO) "PRELINK: $1"
	@$(MKDIR) -p $(dir $1)
	$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef

# Update the archive $1 with the files in $2
#
define ARCHIVE
	@$(ECHO) "AR:      $2"
	@$(MKDIR) -p $(dir $1)
	$(Q) $(AR) $1 $2
endef

# Link the objects in $2 into the binary $1
#
define LINK
	@$(ECHO) "LINK:    $1"
	@$(MKDIR) -p $(dir $1)
	$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
endef

# Convert $1 from a linked object to a raw binary in $2
#
define SYM_TO_BIN
	@$(ECHO) "BIN:     $2"
	@$(MKDIR) -p $(dir $2)
	$(Q) $(OBJCOPY) -O binary $1 $2
endef

# Take the raw binary $1 and make it into an object file $2.
# The symbol $3 points to the beginning of the file, and $3_len
# gives its length.
#
# - compile an empty file to generate a suitable object file
# - relink the object and insert the binary file
# - extract the length
# - create const unsigned $3_len with the extracted length as its value and compile it to an object file
# - link the two generated object files together
# - edit symbol names to suit
#
# NOTE: exercise caution using this with absolute pathnames; it looks
#       like the MinGW tools insert an extra _ in the binary symbol name; e.g.
#	the path:
#
#	/d/px4/firmware/Build/px4fmu_default.build/romfs.img
#
#	is assigned symbols like:
#
#	_binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
#
#	when we would expect
#
#	_binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
#
define BIN_SYM_PREFIX
	_binary_$(subst /,_,$(subst .,_,$1))
endef
define BIN_TO_OBJ
	@$(ECHO) "OBJ:     $2"
	@$(MKDIR) -p $(dir $2)
	$(Q) $(ECHO) > $2.c
	$(call COMPILE,$2.c,$2.c.o)
	$(Q) $(LD) -r -o $2.bin.o $2.c.o -b binary $1
	$(Q) $(ECHO) "const unsigned int $3_len = 0x`$(NM) -p --radix=x $2.bin.o | $(GREP) $(call BIN_SYM_PREFIX,$1)_size$$ | $(GREP) -o ^[0-9a-fA-F]*`;" > $2.c
	$(call COMPILE,$2.c,$2.c.o)
	$(Q) $(LD) -r -o $2 $2.c.o $2.bin.o
	$(Q) $(OBJCOPY) $2 \
		--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
		--strip-symbol $(call BIN_SYM_PREFIX,$1)_size \
		--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
		--rename-section .data=.rodata
	$(Q) $(REMOVE) $2.c $2.c.o $2.bin.o
endef