mirror of
https://github.com/kelvinlawson/atomthreads.git
synced 2026-01-11 10:16:37 +01:00
5e0d384dd8
- removed instructions on adding submodule from README.md and Makefile - submodule libopencm3 at commit 27b826bc4a09345f63d3b8b5fcd3cb9f145cd1a5
370 lines
12 KiB
Makefile
370 lines
12 KiB
Makefile
################################################
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# Toplevel makefile for all Cortex-M targets #
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################################################
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ifeq ($(V),)
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Q := @
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# Do not print "Entering directory ...".
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MAKEFLAGS += --no-print-directory
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endif
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# Build directory
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ifdef O
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build_dir=$(shell readlink -f $(O))
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else
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build_dir=$(CURDIR)/build
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endif
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# Source directory
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src_dir=$(CURDIR)
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# Clean object list before including board makefile
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objs :=
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aobjs :=
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# set default board if none is given
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ifeq ($(BOARD),)
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BOARD = nucleo-f103rb
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endif
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include $(src_dir)/boards/$(BOARD)/Makefile.include
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# Make sure target MCU is set
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ifndef TARGET
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$(error TARGET undefined)
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endif
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# Configure toolchain
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CROSS_COMPILE ?= arm-none-eabi-
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CC := $(CROSS_COMPILE)gcc
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CXX := $(CROSS_COMPILE)g++
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LD := $(CROSS_COMPILE)gcc
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AR := $(CROSS_COMPILE)ar
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AS := $(CROSS_COMPILE)as
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OBJCOPY := $(CROSS_COMPILE)objcopy
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OBJDUMP := $(CROSS_COMPILE)objdump
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GDB := $(CROSS_COMPILE)gdb
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STFLASH = $(shell which st-flash)
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LDSCRIPT ?= linker/$(TARGET).ld
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# Enable stack-checking. WARNING: the full automated test suite currently
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# requires a little over 1KB RAM with stack-checking enabled. If you are
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# using a device with 1KB internal SRAM and no external SRAM then you
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# must disable stack-checking to run all of the automated tests.
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#STACK_CHECK=true
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# Location of atomthreads sources
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board_dir=$(src_dir)/boards/$(BOARD)
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common_dir=$(src_dir)/common
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kernel_dir=$(src_dir)/../../kernel
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tests_dir=$(src_dir)/../../tests
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# Check if user wants to use external opencm3 lib or if we have to build
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# it ourselves
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ifeq ($(OPENCM3_DIR),)
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OPENCM3_DIR = $(src_dir)/libopencm3
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build_lib = true
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endif
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ifneq ($(V),)
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$(info Using $(OPENCM3_DIR) as path to opencm3 library)
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endif
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# Object files needed by all applications
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objs += atomport.o
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objs += atomport-asm.o
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# Kernel object files
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objs += atomkernel.o
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objs += atomsem.o
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objs += atommutex.o
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objs += atomtimer.o
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objs += atomqueue.o
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# Collection of built objects (excluding test applications)
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build_objs = $(foreach obj,$(objs),$(build_dir)/$(obj))
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# Object needed by all test applications, but not user apps
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tmobjs = tests-main.o
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build_tmobjs = $(foreach obj,$(tmobjs),$(build_dir)/$(obj))
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build_tmobjs += $(build_objs)
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# Set up search paths for libopencm3
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INCLUDE_DIR = $(OPENCM3_DIR)/include
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LIB_DIR = $(OPENCM3_DIR)/lib
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SCRIPT_DIR = $(OPENCM3_DIR)/scripts
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# GCC flags
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CFLAGS = -Os -g
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CFLAGS += -Wall -Werror
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CFLAGS += -Wredundant-decls -Wstrict-prototypes
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CFLAGS += -fno-common -ffunction-sections -fdata-sections
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# Enable stack-checking (disable if not required)
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ifeq ($(STACK_CHECK),true)
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CFLAGS += -DATOM_STACK_CHECKING -DTESTS_LOG_STACK_USAGE
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endif
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# C & C++ preprocessor common flags
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CPPFLAGS += -MD
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CPPFLAGS += -Wall -Wundef -Werror
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CPPFLAGS += -I$(INCLUDE_DIR) $(DEFS)
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CPPFLAGS += -I$(board_dir) -I$(common_dir) -I$(src_dir) -I$(kernel_dir) -I$(tests_dir)
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# Assembler flags
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ASFLAGS += -D__ASSEMBLY__
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ASFLAGS += -D__NEWLIB__
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# Linker flags
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LDFLAGS += --static -nostartfiles
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LDFLAGS += -L$(LIB_DIR)
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LDFLAGS += -T$(LDSCRIPT)
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LDFLAGS += -Wl,-Map=$(build_dir)/$(*).map
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LDFLAGS += -Wl,--gc-sections
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ifeq ($(V),99)
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LDFLAGS += -Wl,--print-gc-sections
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endif
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## Used libraries
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# Target specific version libopencm3
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LDLIBS += -l$(LIBNAME)
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ifneq ($(BOARD),qemu)
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## Flags for newlibc.
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# This uses the version of newlib optimised for size and without libnosys.
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# This usually is the version of newlib you want to use, although it has some
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# limitations, like printf not having support for floating point vars.
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LDLIBS += -Wl,--start-group -lc_nano -lgcc -Wl,--end-group
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# This is the fully bloated version of newlib. Adds about 20k compared to
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# libc_nano.
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#LDLIBS += -Wl,--start-group -lc -lgcc -Wl,--end-group
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# Use small newlib with libnosys if you do not want to use the provided stubs.
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# Be advised that heap management will probaly break in interesting ways.
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# This is because libnosys' standard _sbrk() expects the stack to start at
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# the top end of memory while the threads' stacks are positioned inside
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# the BSS.
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#LDLIBS += -Wl,--start-group -lc_nano -lgcc -lnosys -Wl,--end-group
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else
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# Special LDLIBS for qemu target to enable semi-hosting.
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# TODO: Check if this is also useful for real hardware
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LDLIBS += -Wl,--start-group --specs=rdimon.specs -lc -lrdimon -lgcc -Wl,--end-group
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endif
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.PHONY: all
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all: build_all
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# Generate a direct make target for a test application
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define build_test
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.PHONY: $(1)
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$(1): $(build_dir)/$(1).elf
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endef
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# Target application filenames .elf for each test object
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tobjs = $(notdir $(patsubst %.c,%.o,$(wildcard $(tests_dir)/*.c)))
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telfs = $(patsubst %.o,%.elf,$(tobjs))
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tbins = $(patsubst %.o,%.bin,$(tobjs))
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thexs = $(patsubst %.o,%.hex,$(tobjs))
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build_tobjs = $(foreach tobj,$(tobjs),$(build_dir)/$(tobj))
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build_telfs = $(foreach telf,$(telfs),$(build_dir)/$(telf))
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build_tbins = $(foreach tbin,$(tbins),$(build_dir)/$(tbin))
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build_thexs = $(foreach thex,$(thexs),$(build_dir)/$(thex))
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# Add a direct make target for every test app
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$(foreach test,$(patsubst %.o,%,$(tobjs)),$(eval $(call build_test,$(test))))
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# Define an explicit target and linker rule for an application not in the
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# test suite. This will be a stand-alone applications located in the board
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# or common directory
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define build_app
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.PHONY: $(1)
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$(1): $(build_dir)/$(1).elf
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$(build_dir)/$(1).elf $(build_dir)/$(1).map: $(LIB_DIR)/lib$(LIBNAME).a $(build_dir)/$(1).o $(build_objs) $(LDSCRIPT)
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$$(Q)mkdir -p `dirname $$@`
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$$(if $$(Q), @echo " (ELF) $$(subst $$(build_dir)/,,$$@)")
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$$(Q)$$(LD) $$(LDFLAGS) $$(ARCH_FLAGS) $$(build_objs) $$(build_dir)/$(1).o $(LDLIBS) -o $$@
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endef
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# Target application filenames .elf for each user app object
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aelfs = $(patsubst %.o,%.elf,$(aobjs))
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abins = $(patsubst %.o,%.bin,$(aobjs))
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ahexs = $(patsubst %.o,%.hex,$(aobjs))
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build_aobjs = $(foreach aobj,$(aobjs),$(build_dir)/$(aobj))
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build_aelfs = $(foreach aelf,$(aelfs),$(build_dir)/$(aelf))
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build_abins = $(foreach abin,$(abins),$(build_dir)/$(abin))
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build_ahexs = $(foreach ahex,$(ahexs),$(build_dir)/$(ahex))
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# add a direct make target for every standalone app
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$(foreach app,$(patsubst %.o,%,$(aobjs)),$(eval $(call build_app,$(app))))
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# Build all test and user applications
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all_bins = $(build_tbins) $(build_abins)
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all_hexs = $(build_thexs) $(build_ahexs)
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all_elfs = $(build_telfs) $(build_aelfs)
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all_objs = $(build_tobjs) $(build_aobjs) $(build_tmobjs)
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.PHONY: build_all
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build_all: $(LIB_DIR)/lib$(LIBNAME).a $(all_bins) $(all_hexs) $(all_elfs) $(all_objs) Makefile $(board_dir)/Makefile.include
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# Add build dependency for local libopencm3 if no external libopencm3 is used
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ifeq ($(build_lib),true)
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$(LIB_DIR)/lib$(LIBNAME).a:
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$(Q)if [ ! -d libopencm3 ] ; then \
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printf "######## ERROR ########\n"; \
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printf "\tlibopencm3 is not initialized.\n"; \
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printf "\tPlease run:\n"; \
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printf "\t$$ git submodule init\n"; \
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printf "\t$$ git submodule update\n"; \
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printf "\tbefore running make.\n"; \
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printf "######## ERROR ########\n"; \
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exit 1; \
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fi
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$(Q)$(MAKE) -C libopencm3 V=$(V)
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endif
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$(build_dir)/%.bin: $(build_dir)/%.elf
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (OBJCOPY) $(subst $(build_dir)/,,$@)")
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$(Q)$(OBJCOPY) -O binary $< $@
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$(build_dir)/%.hex: $(build_dir)/%.elf
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (OBJCOPY) $(subst $(build_dir)/,,$@)")
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$(Q)$(OBJCOPY) -O ihex $< $@
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$(build_dir)/%.srec: $(build_dir)/%.elf
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (OBJCOPY) $(subst $(build_dir)/,,$@)")
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$(Q)$(OBJCOPY) -O srec $< $@
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$(build_dir)/%.list: $(build_dir)/%.elf
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (OBJDUMP) $(subst $(build_dir)/,,$@)")
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$(Q)$(OBJDUMP) -S $< > $@
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# This is the default rule for linking the test suite applications.
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# User applications defined in a board Makefile fragment are linked
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# by an explicitly generated rule.
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$(build_dir)/%.elf $(build_dir)/%.map: $(LIB_DIR)/lib$(LIBNAME).a $(build_dir)/%.o $(build_tmobjs) $(LDSCRIPT)
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (ELF) $(subst $(build_dir)/,,$@)")
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$(Q)$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(build_tmobjs) $(build_dir)/$(*).o $(LDLIBS) -o $@
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$(build_dir)/%.o: $(src_dir)/%.S Makefile $(board_dir)/Makefile.include
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (AS) $(subst $(build_dir)/,,$@)")
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$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) $(ASFLAGS) -I`dirname $<` -c $< -o $@
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$(build_dir)/%.o: $(src_dir)/%.c Makefile $(board_dir)/Makefile.include
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (CC) $(subst $(build_dir)/,,$@)")
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$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -I`dirname $<` -c $< -o $@
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$(build_dir)/%.o: $(board_dir)/%.S Makefile $(board_dir)/Makefile.include
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (AS) $(subst $(build_dir)/,,$@)")
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$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) $(ASFLAGS) -I`dirname $<` -c $< -o $@
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$(build_dir)/%.o: $(board_dir)/%.c Makefile $(board_dir)/Makefile.include
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (CC) $(subst $(build_dir)/,,$@)")
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$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -I`dirname $<` -c $< -o $@
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$(build_dir)/%.o: $(common_dir)/%.S Makefile $(board_dir)/Makefile.include
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (AS) $(subst $(build_dir)/,,$@)")
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$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) $(ASFLAGS) -I`dirname $<` -c $< -o $@
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$(build_dir)/%.o: $(common_dir)/%.c Makefile $(board_dir)/Makefile.include
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (CC) $(subst $(build_dir)/,,$@)")
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$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -I`dirname $<` -c $< -o $@
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$(build_dir)/%.o: $(kernel_dir)/%.c Makefile $(board_dir)/Makefile.include
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (CC) $(subst $(build_dir)/,,$@)")
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$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -I`dirname $<` -c $< -o $@
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$(build_dir)/%.o: $(tests_dir)/%.c Makefile $(board_dir)/Makefile.include
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$(Q)mkdir -p `dirname $@`
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$(if $(Q), @echo " (CC) $(subst $(build_dir)/,,$@)")
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$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -I`dirname $<` -c $< -o $@
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# Clean. Remove only atomthread's object files and images
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.PHONY: clean
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clean:
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rm -rf doxygen-kernel
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rm -rf doxygen-opencm3
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rm -rf $(build_dir)
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# Real clean. Also clean libopencm3 if it was built in tree
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.PHONY: realclean
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realclean: clean
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ifeq ($(build_lib),true)
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$(Q)$(MAKE) -C libopencm3 V=$(V) clean
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endif
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# Docs
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.PHONY: doxygen
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doxygen:
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doxygen $(kernel_dir)/Doxyfile
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ifeq ($(build_lib),true)
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$(Q)$(MAKE) -C libopencm3 V=$(V) doc
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endif
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#################################################################################
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# Target flashing recipes "borrowed" from libopencm3-examples. Mostly untested. #
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#################################################################################
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%.stlink-flash: $(build_dir)/%.bin
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$(if $(Q), @echo " (FLASH) $(subst $(build_dir)/,,$<)")
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$(Q)$(STFLASH) write $< 0x8000000
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ifeq ($(STLINK_PORT),)
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ifeq ($(BMP_PORT),)
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ifeq ($(OOCD_SERIAL),)
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%.flash: $(build_dir)/%.hex
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$(if $(Q), @echo " (FLASH) $(subst $(build_dir)/,,$<)")
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@# IMPORTANT: Don't use "resume", only "reset" will work correctly!
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-$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
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-f board/$(OOCD_BOARD).cfg \
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-c "init" -c "reset init" \
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-c "flash write_image erase $<" \
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-c "reset" \
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-c "shutdown" $(NULL)
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else
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%.flash: $(build_dir)/%.hex
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$(if $(Q), @echo " (FLASH) $(subst $(build_dir)/,,$<)")
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@# IMPORTANT: Don't use "resume", only "reset" will work correctly!
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-$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
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-f board/$(OOCD_BOARD).cfg \
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-c "ft2232_serial $(OOCD_SERIAL)" \
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-c "init" -c "reset init" \
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-c "flash write_image erase $<" \
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-c "reset" \
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-c "shutdown" $(NULL)
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endif
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else
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%.flash: $(build_dir)/%.elf
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$(if $(Q), @echo " (GDB) $(subst $(build_dir)/,,$<)")
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$(Q)$(GDB) --batch \
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-ex 'target extended-remote $(BMP_PORT)' \
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-x $(SCRIPT_DIR)/black_magic_probe_flash.scr \
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$<
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endif
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else
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%.flash: $(build_dir)/%.elf
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$(if $(Q), @echo " (GDB) $(subst $(build_dir)/,,$<)")
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$(Q)$(GDB) --batch \
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-ex 'target extended-remote $(STLINK_PORT)' \
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-x $(SCRIPT_DIR)/stlink_flash.scr \
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$<
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endif
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# Include auto-generated dependencies
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-include $(all_objs:.o=.d)
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