mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 04:43:34 +08:00
Break up the firmware build into a 'make export' phase for NuttX on a per-board basis, and then a separate per-config phase that allows us to avoid re-building NuttX all the time, and ship more than one firmware config for a given board.
This is a first cut; it builds one firmware for each of FMU and IO.
This commit is contained in:
px4dev
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#
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# Generic Makefile for PX4 firmware.
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#
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# Currently this assumes that we're just compiling SRCS
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# and then linking the whole thing together.
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#
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#
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# Work out where this file is, so we can find other makefiles in the
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# same directory.
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#
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export PX4_MK_INCLUDE ?= $(dir $(lastword $(MAKEFILE_LIST)))
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#
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# Use the linker script from the NuttX export
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#
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LDSCRIPT = $(WORK_DIR)/nuttx-export/build/ld.script
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#
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# Add directories from the NuttX export to the relevant search paths
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#
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INCLUDE_DIRS += $(WORK_DIR)/nuttx-export/include
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LIB_DIRS += $(WORK_DIR)/nuttx-export/libs
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LIBS += -lapps -lnuttx
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#
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# Things that, if they change, might affect everything
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#
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GLOBAL_DEPS += $(MAKEFILE_LIST)
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#
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# Include the platform configuration
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#
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include $(PX4_MK_INCLUDE)/$(PLATFORM).mk
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#
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# What we're going to build
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#
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PRODUCT_BIN = $(WORK_DIR)/firmware.bin
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PRODUCT_SYM = $(WORK_DIR)/firmware.sym
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PRODUCTS = $(PRODUCT_BIN) $(PRODUCT_SYM)
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.PHONY: all
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all: $(PRODUCTS)
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#
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# Rules for building objects
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#
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OBJS = $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
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$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c
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@echo compile $<
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@mkdir -p $(dir $@)
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$(call COMPILE,$<,$@)
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$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp
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@mkdir -p $(dir $@)
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$(call COMPILEXX,$<,$@)
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$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S
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@mkdir -p $(dir $@)
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$(call ASSEMBLE,$<,$@)
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-include $(DEP_INCLUDES)
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$(PRODUCT_BIN): $(PRODUCT_SYM)
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$(call SYM_TO_BIN,$<,$@)
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$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS)
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$(call LINK,$@,$(OBJS))
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@@ -0,0 +1,177 @@
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#
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# Definitions for a generic GNU ARM-EABI toolchain
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#
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CROSSDEV = arm-none-eabi-
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CC = $(CROSSDEV)gcc
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CXX = $(CROSSDEV)g++
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CPP = $(CROSSDEV)gcc -E
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LD = $(CROSSDEV)ld
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AR = $(CROSSDEV)ar rcs
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NM = $(CROSSDEV)nm
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OBJCOPY = $(CROSSDEV)objcopy
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OBJDUMP = $(CROSSDEV)objdump
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# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
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MAXOPTIMIZATION = -O3
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# base CPU flags
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ARCHCPUFLAGS_CORTEXM4F = -mcpu=cortex-m4 \
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-mthumb \
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-march=armv7e-m \
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-mfpu=fpv4-sp-d16 \
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-mfloat-abi=hard
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ARCHCPUFLAGS_CORTEXM4 = -mcpu=cortex-m4 \
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-mthumb \
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-march=armv7e-m \
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-mfloat-abi=soft
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ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \
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-mthumb \
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-march=armv6-m \
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-mfloat-abi=soft
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ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
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# optimisation flags
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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-fomit-frame-pointer \
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-funsafe-math-optimizations \
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-fno-builtin-printf \
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-ffunction-sections \
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-fdata-sections
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ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
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ARCHOPTIMIZATION += -g
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endif
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# enable precise stack overflow tracking
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# note - requires corresponding support in NuttX
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INSTRUMENTATIONDEFINES = -finstrument-functions \
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-ffixed-r10
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ARCHCFLAGS = -std=gnu99
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
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ARCHWARNINGS = -Wall \
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-Wextra \
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-Wdouble-promotion \
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-Wshadow \
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-Wfloat-equal \
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-Wframe-larger-than=1024 \
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-Wpointer-arith \
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-Wlogical-op \
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-Wmissing-declarations \
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-Wpacked \
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-Wno-unused-parameter
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# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
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# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
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# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
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ARCHCWARNINGS = $(ARCHWARNINGS) \
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-Wbad-function-cast \
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-Wstrict-prototypes \
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-Wold-style-declaration \
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-Wmissing-parameter-type \
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-Wmissing-prototypes \
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-Wnested-externs \
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-Wunsuffixed-float-constants
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ARCHWARNINGSXX = $(ARCHWARNINGS)
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# pull in *just* libm from the toolchain ... this is grody
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LIBM = $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
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EXTRA_LIBS += $(LIBM)
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CFLAGS = $(ARCHCFLAGS) \
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$(ARCHCWARNINGS) \
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$(ARCHOPTIMIZATION) \
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$(ARCHCPUFLAGS) \
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$(ARCHINCLUDES) \
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$(INSTRUMENTATIONDEFINES) \
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$(ARCHDEFINES) \
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$(EXTRADEFINES) \
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-fno-common
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CXXFLAGS = $(ARCHCXXFLAGS) \
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$(ARCHWARNINGSXX) \
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$(ARCHOPTIMIZATION) \
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$(ARCHCPUFLAGS) \
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$(ARCHXXINCLUDES) \
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$(INSTRUMENTATIONDEFINES) \
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$(ARCHDEFINES) \
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$(EXTRADEFINES)
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CPPFLAGS = $(ARCHINCLUDES) \
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$(INSTRUMENTATIONDEFINES) \
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$(ARCHDEFINES) \
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$(EXTRADEFINES)
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AFLAGS = $(CFLAGS) -D__ASSEMBLY__
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LDFLAGS += --warn-common \
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--gc-sections \
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-T $(LDSCRIPT) \
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$(addprefix -L,$(LIB_DIRS))
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LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
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# files that the final link depends on
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# XXX add libraries that we know about here...
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LINK_DEPS += $(LDSCRIPT)
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# files to include to get automated dependencies
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DEP_INCLUDES = $(subst .o,.d,$(OBJS))
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ifeq ($(V),)
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Q = @
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else
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Q =
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endif
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# compile C source $1 to object $2
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# as a side-effect, generate a dependency file
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define COMPILE
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@echo "CC: $1"
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$(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
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endef
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# compile C++ source $1 to $2
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# as a side-effect, generate a dependency file
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define COMPILEXX
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@echo "CXX: $1"
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$(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
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endef
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# assemble $1 into $2
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define ASSEMBLE
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@echo "AS: $1"
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$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
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endef
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# produce partially-linked $1 from files in $2
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define PRELINK
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@echo "PRELINK: $1"
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$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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endef
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# update the archive $1 with the files in $2
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define ARCHIVE
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@echo "AR: $2"
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$(Q) $(AR) $1 $2
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endef
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# Link the objects in $2 into the binary $1
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define LINK
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@echo "LINK: $1"
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$(Q) $(LD) $(LDFLAGS) -o $1 --start-group $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
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endef
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# convert $1 from a linked object to a raw binary
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define SYM_TO_BIN
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@echo "BIN: $2"
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$(Q) $(OBJCOPY) -O binary $1 $2
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endef
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@@ -0,0 +1,10 @@
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#
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# Platform-specific definitions for the PX4FMU
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#
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#
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM4F
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include $(PX4_MK_INCLUDE)/gnu-arm-eabi.mk
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@@ -0,0 +1,7 @@
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#
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# Makefile for the px4fmu_default configuration
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#
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SRCS = $(PX4BASE)/platforms/empty.c
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include $(PX4BASE)/makefiles/firmware.mk
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@@ -0,0 +1,10 @@
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#
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# Platform-specific definitions for the PX4IO
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#
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#
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM3
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include $(PX4_MK_INCLUDE)/gnu-arm-eabi.mk
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@@ -0,0 +1,7 @@
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#
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# Makefile for the px4io_default configuration
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#
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SRCS = $(PX4BASE)/platforms/empty.c
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include $(PX4BASE)/makefiles/firmware.mk
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@@ -0,0 +1,3 @@
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/*
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* This is an empty C source file, used when building default firmware configurations.
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*/
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