mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
6cb26de74c
This adds support for a dynamic build for QuRT and initial Multi-uORB changes to enable communication between the DSP and the application processor. This part of the changes do not affect the POSIX build. This is enablement for the QuRT build using Multi-uORB. The second part of the changes will be added in a new module under src/modules. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
335 lines
9.9 KiB
Makefile
335 lines
9.9 KiB
Makefile
#
|
|
# 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
|
|
#HEXAGON_SDK_ROOT = /opt/Hexagon_SDK/2.0
|
|
HEXAGON_SDK_ROOT = /prj/atlanticus/users/rkintada/Hexagon_SDK/2.0
|
|
#V_ARCH = v4
|
|
V_ARCH = v5
|
|
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
|
|
TOOLSLIB = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0
|
|
QCTOOLSLIB = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0
|
|
QURTLIB = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib
|
|
#DSPAL = $(PX4_BASE)/../dspal_libs/libdspal.a
|
|
|
|
|
|
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
|
|
HEXAGON_GCC = $(HEXAGON_BIN)/$(CROSSDEV)gcc
|
|
|
|
QURTLIBS = \
|
|
$(QCTOOLSLIB)/libdl.a \
|
|
$(TOOLSLIB)/init.o \
|
|
$(TOOLSLIB)/libc.a \
|
|
$(TOOLSLIB)/libqcc.a \
|
|
$(TOOLSLIB)/libstdc++.a \
|
|
$(QURTLIB)/crt0.o \
|
|
$(QURTLIB)/libqurt.a \
|
|
$(QURTLIB)/libqurtkernel.a \
|
|
$(QURTLIB)/libqurtcfs.a \
|
|
$(QURTLIB)/libqube_compat.a \
|
|
$(QURTLIB)/libtimer.a \
|
|
$(QURTLIB)/libposix.a \
|
|
$(QURTLIB)/../examples/cust_config.o \
|
|
$(QCTOOLSLIB)/libhexagon.a \
|
|
$(TOOLSLIB)/fini.o
|
|
|
|
DYNAMIC_LIBS = \
|
|
-Wl,$(TOOLSLIB)/pic/libstdc++.a
|
|
|
|
|
|
# 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: $(CROSSDEV_VER_SUPPORTED))
|
|
endif
|
|
|
|
|
|
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
|
|
|
|
MAXOPTIMIZATION ?= -O0
|
|
|
|
# Base CPU flags for each of the supported architectures.
|
|
#
|
|
ARCHCPUFLAGS = -m$(V_ARCH) -G0
|
|
|
|
|
|
# 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 -D__PX4_POSIX \
|
|
-D__EXPORT= \
|
|
-D__QDSP6_DINKUM_PTHREAD_TYPES__ \
|
|
-Dnoreturn_function= \
|
|
-Drestrict= \
|
|
-I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
|
|
-I$(PX4_BASE)/src/lib/eigen \
|
|
-I$(PX4_BASE)/src/platforms/qurt/include \
|
|
-I$(PX4_BASE)/../dspal/include \
|
|
-I$(PX4_BASE)/../dspal/sys \
|
|
-I$(PX4_BASE)/mavlink/include/mavlink \
|
|
-I$(QURTLIB)/..//include \
|
|
-I$(HEXAGON_SDK_ROOT)/inc \
|
|
-I$(HEXAGON_SDK_ROOT)/inc/stddef \
|
|
-Wno-error=shadow
|
|
|
|
# optimisation flags
|
|
#
|
|
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
|
-g3 \
|
|
-fno-strict-aliasing \
|
|
-fomit-frame-pointer \
|
|
-funsafe-math-optimizations \
|
|
-ffunction-sections \
|
|
-fdata-sections \
|
|
-fpic
|
|
|
|
# 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-unused-parameter \
|
|
-Wno-unused-function \
|
|
-Wno-unused-variable \
|
|
-Wno-gnu-array-member-paren-init \
|
|
-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))
|
|
|
|
# Flags we pass to the assembler
|
|
#
|
|
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
|
|
$(EXTRADEFINES) \
|
|
$(EXTRAAFLAGS)
|
|
|
|
LDSCRIPT = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
|
|
# Flags we pass to the linker
|
|
#
|
|
LDFLAGS += -g -mv5 -nostdlib -mG0lib -G0 -fpic -shared \
|
|
-nostartfiles \
|
|
-Wl,-Bsymbolic \
|
|
-Wl,--wrap=malloc \
|
|
-Wl,--wrap=calloc \
|
|
-Wl,--wrap=free \
|
|
-Wl,--wrap=realloc \
|
|
-Wl,--wrap=memalign \
|
|
-Wl,--wrap=__stack_chk_fail \
|
|
-lc \
|
|
$(EXTRALDFLAGS) \
|
|
$(addprefix -L,$(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 $2
|
|
# as a side-effect, generate a dependency file
|
|
#
|
|
define COMPILENOSHARED
|
|
@$(ECHO) "CC: $1"
|
|
@$(MKDIR) -p $(dir $2)
|
|
@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
|
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
|
endef
|
|
|
|
# Compile C source $1 to object $2 for use in shared library
|
|
# as a side-effect, generate a dependency file
|
|
#
|
|
define COMPILE
|
|
@$(ECHO) "CC: $1"
|
|
@$(MKDIR) -p $(dir $2)
|
|
@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
|
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
|
|
endef
|
|
|
|
# Compile C++ source $1 to $2 for use in shared library
|
|
# as a side-effect, generate a dependency file
|
|
#
|
|
define COMPILEXX
|
|
@$(ECHO) "CXX: $1"
|
|
@$(MKDIR) -p $(dir $2)
|
|
@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
|
$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(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 $2
|
|
#
|
|
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
|
|
define PRELINK
|
|
@$(ECHO) "PRELINK: $1"
|
|
@$(MKDIR) -p $(dir $1)
|
|
@echo $(Q) $(LD) -Ur -o $1 $2
|
|
$(Q) $(LD) -Ur -o $1 $2
|
|
|
|
endef
|
|
# Produce partially-linked $1 from files in $2
|
|
#
|
|
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
|
|
define PRELINKF
|
|
@$(ECHO) "PRELINKF: $1"
|
|
@$(MKDIR) -p $(dir $1)
|
|
@echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
|
|
$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
|
|
|
|
endef
|
|
# $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
|
|
|
# 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 shared library $1
|
|
#
|
|
define LINK_A
|
|
@$(ECHO) "LINK_A: $1"
|
|
@$(MKDIR) -p $(dir $1)
|
|
echo "$(Q) $(AR) $1 $2"
|
|
$(Q) $(AR) $1 $2
|
|
endef
|
|
|
|
# Link the objects in $2 into the shared library $1
|
|
#
|
|
define LINK_SO
|
|
@$(ECHO) "LINK_SO: $1"
|
|
@$(MKDIR) -p $(dir $1)
|
|
$(HEXAGON_GCC) $(LDFLAGS) -fPIC -shared -nostartfiles -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS)
|
|
endef
|
|
|
|
# Link the objects in $2 into the application $1
|
|
#
|
|
define LINK
|
|
@$(ECHO) "LINK: $1"
|
|
@$(MKDIR) -p $(dir $1)
|
|
$(LD) --section-start .start=0x1d000000 -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group --dynamic-linker= -E --force-dynamic
|
|
endef
|
|
|