bldc/Makefile

# Makefile for Rootloader project
.DEFAULT_GOAL := help

# Define build target, if it is not already defined on the command line
export PROJECT ?= BLDC_4_ChibiOS

WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
ROOT_DIR := $(realpath $(WHEREAMI)/ )

TARGET_PATHS := $(wildcard $(ROOT_DIR)/hwconf/hw_*.h)

# Strip the paths down to just the names. Do this by first removing the prefix (PATH/hw_), and then the suffic (.h)
TARGET_NAMES := $(subst .h,,$(subst $(ROOT_DIR)/hwconf/hw_,,$(TARGET_PATHS)))

# import macros common to all supported build systems
include $(ROOT_DIR)/make/system-id.mk

# configure some directories that are relative to wherever ROOT_DIR is located
TOOLS_DIR := $(ROOT_DIR)/tools
BUILD_DIR := $(ROOT_DIR)/build
DL_DIR    := $(ROOT_DIR)/downloads

# include the tools makefile
include $(ROOT_DIR)/make/tools.mk

# Clean out undesirable variables from the environment and command-line
# to remove the chance that they will cause problems with our build
define SANITIZE_VAR
$(if $(filter-out undefined,$(origin $(1))),
  $(info *NOTE*      Sanitized $(2) variable '$(1)' from $(origin $(1)))
  MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
  override $(1) :=
  unexport $(1)
)
endef

# These specific variables can influence gcc in unexpected (and undesirable) ways
SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
SANITIZE_GCC_VARS += ARCHFLAGS
$(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))

# These specific variables used to be valid but now they make no sense
SANITIZE_DEPRECATED_VARS := FOO_BAR
$(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))

# Decide on a verbosity level based on the V= parameter
export AT := @

ifndef V
export V0    :=
export V1    := $(AT)
else ifeq ($(V), 0)
export V0    := $(AT)
export V1    := $(AT)
else ifeq ($(V), 1)
endif


##############################
#
# Help instructions
#
##############################
.PHONY: help
help:
	@echo
	@echo "   This Makefile is known to work on Linux and Mac in a standard shell environment."
	@echo
	@echo "   Here is a summary of the available targets:"
	@echo
	@echo "   [Tool Installers]"
	@echo "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
	@echo
	@echo "   [Unit Tests]"
	@echo "     all_ut               - Build all unit tests"
	@echo "     all_ut_xml           - Run all unit tests and capture all XML output to files"
	@echo "     all_ut_run           - Run all unit tests and dump XML output to console"
	@echo
	@echo "   [Firmware]"
	@echo "     fw   - Build firmware for default target"
	@echo "                            supported boards are: $(TARGET_NAMES)"
	@echo "     fw_<board>   - Build firmware for target <board>"
	@echo "     PROJECT=<target> fw   - Build firmware for <target>"
	@echo "     fw_<board>_clean     - Remove firmware for <board>"
	@echo
	@echo "   Hint: Add V=1 to your command line to see verbose build output."
	@echo
	@echo "   Note: All tools will be installed into $(TOOLS_DIR)"
	@echo "         All build output will be placed in $(BUILD_DIR)"
	@echo


$(DL_DIR):
	mkdir -p $@

$(TOOLS_DIR):
	mkdir -p $@

##############################
#
# Build and Upload
#
##############################

# $(1) = Canonical board name all in lower case (e.g. 100_250)
define FW_TEMPLATE
.PHONY: $(1) fw_$(1)
$(1): fw_$(1)_vescfw
fw_$(1): fw_$(1)_vescfw

fw_$(1)_vescfw:
	@echo "*********BUILD**********"
	$(V1) make -f make/fw.mk \
		TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
		PROJECT="$(PROJECT)" \
		build_args='-DHW_SOURCE=\"hw_$(1).c\" -DHW_HEADER=\"hw_$(1).h\"' USE_VERBOSE_COMPILE=no


.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean: TARGET=fw_$(1)
fw_$(1)_clean: OUTDIR=$(BUILD_DIR)/$$(TARGET)
fw_$(1)_clean:
	$(V0) @echo " CLEAN      $$@"
	$(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -r "$(BUILD_DIR)"
endef

upload: fw upload_only

upload_only:
	$(V1) openocd -f board/stm32f4discovery.cfg -c "reset_config trst_only combined" -c "program build/$(PROJECT).elf verify reset exit"

clear_option_bytes:
	$(V1) openocd -f board/stm32f4discovery.cfg -c "init" -c "stm32f2x unlock 0" -c "mww 0x40023C08 0x08192A3B; mww 0x40023C08 0x4C5D6E7F; mww 0x40023C14 0x0fffaaed" -c "exit"

#program with olimex arm-usb-tiny-h and jtag-swd adapter board. needs openocd>=0.9
upload-olimex: fw
	$(V1) openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f interface/ftdi/olimex-arm-jtag-swd.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f4x.cfg -c "program build/$(PROJECT).elf verify reset"

upload-pi: fw
	$(V1) openocd -f pi_stm32.cfg -c "reset_config trst_only combined" -c "program build/$(PROJECT).elf verify reset exit"

upload-pi-remote: fw
	$(V1) ./upload_remote_pi build/$(PROJECT).elf ted 10.42.0.199 22

debug-start:
	$(V1) openocd -f stm32-bv_openocd.cfg

size: build/$(PROJECT).elf
	@$(SZ) $<

# Expand the firmware rules
$(foreach board, $(TARGET_NAMES), $(eval $(call FW_TEMPLATE,$(board))))


##############################
#
# Unit Tests
#
##############################

ALL_UNITTESTS := utils

UT_OUT_DIR := $(BUILD_DIR)/unit_tests

$(UT_OUT_DIR):
	$(V1) mkdir -p $@

.PHONY: all_ut
all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS))) $(ALL_PYTHON_UNITTESTS)

.PHONY: all_ut_xml
all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))

.PHONY: all_ut_run
all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS))) $(ALL_PYTHON_UNITTESTS)

.PHONY: all_ut_gcov
all_ut_gcov: | $(addsuffix _gcov, $(addprefix ut_, $(ALL_UNITTESTS)))

.PHONY: all_ut_clean
all_ut_clean:
	$(V0) @echo " CLEAN      $@"
	$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"

# $(1) = Unit test name
define UT_TEMPLATE
.PHONY: ut_$(1)
ut_$(1): ut_$(1)_run
ut_$(1)_gcov: | ut_$(1)_xml

ut_$(1)_%: TARGET=$(1)
ut_$(1)_%: OUTDIR=$(UT_OUT_DIR)/$$(TARGET)
ut_$(1)_%: UT_ROOT_DIR=$(ROOT_DIR)/tests/$(1)
ut_$(1)_%: $$(UT_OUT_DIR)
	$(V1) mkdir -p $(UT_OUT_DIR)/$(1)
	$(V1) cd $$(UT_ROOT_DIR) && \
		$$(MAKE) -r --no-print-directory \
		BUILD_TYPE=ut \
		TCHAIN_PREFIX="" \
		REMOVE_CMD="$(RM)" \
		\
		MAKE_INC_DIR=$(MAKE_INC_DIR) \
		ROOT_DIR=$(ROOT_DIR) \
		TARGET=$$(TARGET) \
		OUTDIR=$$(OUTDIR) \
		\
		GTEST_DIR=$(GTEST_DIR) \
		\
		$$*

.PHONY: ut_$(1)_clean
ut_$(1)_clean: TARGET=$(1)
ut_$(1)_clean: OUTDIR=$(UT_OUT_DIR)/$$(TARGET)
ut_$(1)_clean:
	$(V0) @echo " CLEAN      $(1)"
	$(V1) [ ! -d "$$(OUTDIR)" ] || $(RM) -r "$$(OUTDIR)"
endef

# Expand the unittest rules
$(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))

# Disable parallel make when the all_ut_run target is requested otherwise the TAP/XML
# output is interleaved with the rest of the make output.
ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
.NOTPARALLEL:
$(info *NOTE*     Parallel make disabled by all_ut_run target so we have sane console output)
endif