esp-open-rtos/common.mk

# esp-open-rtos common Makefile
#
# ******************************************************************
# Run 'make help' in any example subdirectory to see a usage summary
# (or skip to the bottom of this file!)
#
# For example, from the top level run:
# make help -C examples/http_get
# ******************************************************************
#
# In-depth documentation is at https://github.com/SuperHouse/esp-open-rtos/wiki/Build-Process
#
# Most sections Copyright 2015 Superhouse Automation Pty Ltd
# BSD Licensed as described in the file LICENSE at top level.
#
# This makefile is adapted from the esp-mqtt makefile by @tuanpmt
# https://github.com/tuanpmt/esp_mqtt, but it has changed very significantly
# since then.

# assume the 'root' directory (ie top of the tree) is the directory common.mk is in
ROOT := $(dir $(lastword $(MAKEFILE_LIST)))

# include optional local overrides at the root level, then in program directory
#
# Create either of these files for local system overrides if possible,
# instead of editing this makefile directly.
-include $(ROOT)local.mk
-include local.mk

# Flash size in megabits
# Valid values are same as for esptool.py - 2,4,8,16,32
FLASH_SIZE ?= 16

# Flash mode, valid values are same as for esptool.py - qio,qout,dio.dout
FLASH_MODE ?= qio

# Flash speed in MHz, valid values are same as for esptool.py - 80, 40, 26, 20
FLASH_SPEED ?= 40

# Output directories to store intermediate compiled files
# relative to the program directory
BUILD_DIR ?= $(PROGRAM_DIR)build/
FIRMWARE_DIR ?= $(PROGRAM_DIR)firmware/

# esptool.py from https://github.com/themadinventor/esptool
ESPTOOL ?= esptool.py
# serial port settings for esptool.py
ESPPORT ?= /dev/ttyUSB0
ESPBAUD ?= 115200

# set this to 0 if you don't need floating point support in printf/scanf
# this will save approx 14.5KB flash space and 448 bytes of statically allocated
# data RAM
#
# NB: Setting the value to 0 requires a recent esptool.py (Feb 2016 / commit ebf02c9)
PRINTF_SCANF_FLOAT_SUPPORT ?= 1

# Set OTA to 1 to build an image that supports rBoot OTA bootloader
#
# Currently only works with 16mbit or more flash sizes, with 8mbit
# images for each "slot"
OTA ?= 0

ifeq ($(OTA),1)
# for OTA, we build a "SDK v1.2 bootloader" compatible image where everything is in
# one file (should work with the v1.2 binary bootloader, and the FOSS rBoot bootloader).
IMGTOOL ?= esptool2

# Tell C preprocessor that we're building for OTA
CPPFLAGS = -DOTA
endif

FLAVOR ?= release # or debug

# Compiler names, etc. assume gdb
CROSS ?= xtensa-lx106-elf-

# Path to the filteroutput.py tool
FILTEROUTPUT ?= $(ROOT)/utils/filteroutput.py

AR = $(CROSS)ar
CC = $(CROSS)gcc
CPP = $(CROSS)cpp
LD = $(CROSS)gcc
NM = $(CROSS)nm
C++ = $(CROSS)g++
SIZE = $(CROSS)size
OBJCOPY = $(CROSS)objcopy
OBJDUMP = $(CROSS)objdump

# Source components to compile and link. Each of these are subdirectories
# of the root, with a 'component.mk' file.
COMPONENTS     ?= $(EXTRA_COMPONENTS) FreeRTOS lwip core

# binary esp-iot-rtos SDK libraries to link. These are pre-processed prior to linking.
SDK_LIBS		?= main net80211 phy pp wpa

# open source libraries linked in
LIBS ?= hal gcc c

# set to 0 if you want to use the toolchain libc instead of esp-open-rtos newlib
OWN_LIBC ?= 1

# Note: you will need a recent esp
ENTRY_SYMBOL ?= call_user_start

# Set this to zero if you don't want individual function & data sections
# (some code may be slightly slower, linking will be slighty slower,
# but compiled code size will come down a small amount.)
SPLIT_SECTIONS ?= 1

# Set this to 1 to have all compiler warnings treated as errors (and stop the
# build).  This is recommended whenever you are working on code which will be
# submitted back to the main project, as all submitted code will be expected to
# compile without warnings to be accepted.
WARNINGS_AS_ERRORS ?= 0

# Common flags for both C & C++_
C_CXX_FLAGS ?= -Wall -Wl,-EL -nostdlib $(EXTRA_C_CXX_FLAGS)
# Flags for C only
CFLAGS		?= $(C_CXX_FLAGS) -std=gnu99 $(EXTRA_CFLAGS)
# Flags for C++ only
CXXFLAGS	?= $(C_CXX_FLAGS) -fno-exceptions -fno-rtti $(EXTRA_CXXFLAGS)

# these aren't technically preprocesor args, but used by all 3 of C, C++, assembler
CPPFLAGS	+= -mlongcalls -mtext-section-literals

LDFLAGS		= -nostdlib -Wl,--no-check-sections -L$(BUILD_DIR)sdklib -L$(ROOT)lib -u $(ENTRY_SYMBOL) -Wl,-static -Wl,-Map=$(BUILD_DIR)$(PROGRAM).map $(EXTRA_LDFLAGS)

ifeq ($(WARNINGS_AS_ERRORS),1)
    C_CXX_FLAGS += -Werror
endif

ifeq ($(SPLIT_SECTIONS),1)
  C_CXX_FLAGS += -ffunction-sections -fdata-sections
  LDFLAGS += -Wl,-gc-sections
endif

ifeq ($(FLAVOR),debug)
    C_CXX_FLAGS += -g -O0
    LDFLAGS += -g -O0
else ifeq ($(FLAVOR),sdklike)
    # These are flags intended to produce object code as similar as possible to
    # the output of the compiler used to build the SDK libs (for comparison of
    # disassemblies when coding replacement routines).  It is not normally
    # intended to be used otherwise.
    CFLAGS += -O2 -Os -fno-inline -fno-ipa-cp -fno-toplevel-reorder
    LDFLAGS += -O2
else
    C_CXX_FLAGS += -g -O2
    LDFLAGS += -g -O2
endif

GITSHORTREV=\"$(shell cd $(ROOT); git rev-parse --short -q HEAD 2> /dev/null)\"
ifeq ($(GITSHORTREV),\"\")
  GITSHORTREV="\"(nogit)\"" # (same length as a short git hash)
endif
CPPFLAGS += -DGITSHORTREV=$(GITSHORTREV)

ifeq ($(OTA),0)
LINKER_SCRIPTS  = $(ROOT)ld/nonota.ld
else
LINKER_SCRIPTS = $(ROOT)ld/ota.ld
endif
LINKER_SCRIPTS += $(ROOT)ld/common.ld $(ROOT)ld/rom.ld

####
#### no user configurable options below here
####

ifndef PROGRAM
	$(error "Set the PROGRAM environment variable in your Makefile before including common.mk"
endif

# hacky way to get a single space value
empty :=
space := $(empty) $(empty)

# GNU Make lowercase function, bit of a horrorshow but works (courtesy http://stackoverflow.com/a/665045)
lc = $(subst A,a,$(subst B,b,$(subst C,c,$(subst D,d,$(subst E,e,$(subst F,f,$(subst G,g,$(subst H,h,$(subst I,i,$(subst J,j,$(subst K,k,$(subst L,l,$(subst M,m,$(subst N,n,$(subst O,o,$(subst P,p,$(subst Q,q,$(subst R,r,$(subst S,s,$(subst T,t,$(subst U,u,$(subst V,v,$(subst W,w,$(subst X,x,$(subst Y,y,$(subst Z,z,$1))))))))))))))))))))))))))

# assume the program dir is the directory the top-level makefile was run in
PROGRAM_DIR := $(dir $(firstword $(MAKEFILE_LIST)))

# derive various parts of compiler/linker arguments
SDK_LIB_ARGS  = $(addprefix -l,$(SDK_LIBS))
LIB_ARGS      = $(addprefix -l,$(LIBS))
PROGRAM_OUT   = $(BUILD_DIR)$(PROGRAM).out
LDFLAGS      += $(addprefix -T,$(LINKER_SCRIPTS))

ifeq ($(OTA),0)
# for non-OTA, we create two different files for uploading into the flash
# these are the names and options to generate them
FW_ADDR_1	= 0x00000
FW_ADDR_2	= 0x20000
FW_FILE_1    = $(addprefix $(FIRMWARE_DIR),$(FW_ADDR_1).bin)
FW_FILE_2    = $(addprefix $(FIRMWARE_DIR),$(FW_ADDR_2).bin)
else
# for OTA, it's a single monolithic image
FW_FILE = $(addprefix $(FIRMWARE_DIR),$(PROGRAM).bin)
endif

# firmware tool arguments
ESPTOOL_ARGS=-fs $(FLASH_SIZE)m -fm $(FLASH_MODE) -ff $(FLASH_SPEED)m

IMGTOOL_FLASH_SIZE_2=256
IMGTOOL_FLASH_SIZE_4=512
IMGTOOL_FLASH_SIZE_8=1024
IMGTOOL_FLASH_SIZE_16=2048
IMGTOOL_FLASH_SIZE_32=4096
IMGTOOL_FLASH_SIZE=$(value IMGTOOL_FLASH_SIZE_$(FLASH_SIZE))
IMGTOOL_ARGS=-$(IMGTOOL_FLASH_SIZE) -$(FLASH_MODE) -$(FLASH_SPEED)

# Common include directories, shared across all "components"
# components will add their include directories to this argument
#
# Placing $(PROGRAM_DIR) and $(PROGRAM_DIR)include first allows
# programs to have their own copies of header config files for components
# , which is useful for overriding things.
INC_DIRS      = $(PROGRAM_DIR) $(PROGRAM_DIR)include $(ROOT)include

ifeq ($(OWN_LIBC),1)
    INC_DIRS += $(ROOT)libc/xtensa-lx106-elf/include
    LDFLAGS += -L$(ROOT)libc/xtensa-lx106-elf/lib
   ifeq ($(PRINTF_SCANF_FLOAT_SUPPORT),1)
     LDFLAGS += -u _printf_float -u _scanf_float
   endif
endif

ifeq ("$(V)","1")
Q :=
vecho := @true
else
Q := @
vecho := @echo
endif

.PHONY: all clean debug_print

all: $(PROGRAM_OUT) $(FW_FILE_1) $(FW_FILE_2) $(FW_FILE)

# component_compile_rules: Produces compilation rules for a given
# component
#
# For user-facing documentation, see:
# https://github.com/SuperHouse/esp-open-rtos/wiki/Build-Process#adding-a-new-component
#
# Call arguments are:
# $(1) - component name
#
# Expects that the following component-specific variables are defined:
#
# $(1)_ROOT    = Top-level dir containing component. Can be in-tree or out-of-tree.
#                (if this variable isn't defined, directory containing component.mk is used)
# $(1)_SRC_DIR = List of source directories for the component. All must be under $(1)_ROOT
# $(1)_INC_DIR = List of include directories specific for the component
#
#
# Each call appends to COMPONENT_ARS which is a list of archive files for compiled components
COMPONENT_ARS =
define component_compile_rules
$(1)_DEFAULT_ROOT := $(dir $(lastword $(MAKEFILE_LIST)))
$(1)_ROOT ?= $$($(1)_DEFAULT_ROOT)
$(1)_OBJ_DIR   = $(call lc,$(BUILD_DIR)$(1)/)
### determine source files and object files ###
$(1)_SRC_FILES ?= $$(foreach sdir,$$($(1)_SRC_DIR), 				\
			$$(wildcard $$(sdir)/*.c) $$(wildcard $$(sdir)/*.S) 	\
			$$(wildcard $$(sdir)/*.cpp)) 				\
			$$($(1)_EXTRA_SRC_FILES)
$(1)_REAL_SRC_FILES = $$(foreach sfile,$$($(1)_SRC_FILES),$$(realpath $$(sfile)))
$(1)_REAL_ROOT = $$(realpath $$($(1)_ROOT))
# patsubst here substitutes real component root path for the relative OBJ_DIR path, making things short again
$(1)_OBJ_FILES_CXX = $$(patsubst $$($(1)_REAL_ROOT)%.cpp,$$($(1)_OBJ_DIR)%.o,$$($(1)_REAL_SRC_FILES))
$(1)_OBJ_FILES_C = $$(patsubst $$($(1)_REAL_ROOT)%.c,$$($(1)_OBJ_DIR)%.o,$$($(1)_OBJ_FILES_CXX))
$(1)_OBJ_FILES = $$(patsubst $$($(1)_REAL_ROOT)%.S,$$($(1)_OBJ_DIR)%.o,$$($(1)_OBJ_FILES_C))
# the last included makefile is our component's component.mk makefile (rebuild the component if it changes)
$(1)_MAKEFILE ?= $(lastword $(MAKEFILE_LIST))

### determine compiler arguments ###
$(1)_CPPFLAGS ?= $(CPPFLAGS)
$(1)_CFLAGS ?= $(CFLAGS)
$(1)_CXXFLAGS ?= $(CXXFLAGS)
$(1)_CC_BASE = $(Q) $(CC) $$(addprefix -I,$$(INC_DIRS)) $$(addprefix -I,$$($(1)_INC_DIR)) $$($(1)_CPPFLAGS)
$(1)_AR = $(call lc,$(BUILD_DIR)$(1).a)

$$($(1)_OBJ_DIR)%.o: $$($(1)_REAL_ROOT)%.c $$($(1)_MAKEFILE) $(wildcard $(ROOT)*.mk) | $$($(1)_SRC_DIR)
	$(vecho) "CC $$<"
	$(Q) mkdir -p $$(dir $$@)
	$$($(1)_CC_BASE) $$($(1)_CFLAGS) -c $$< -o $$@
	$$($(1)_CC_BASE) $$($(1)_CFLAGS) -MM -MT $$@ -MF $$(@:.o=.d) $$<

$$($(1)_OBJ_DIR)%.o: $$($(1)_REAL_ROOT)%.cpp $$($(1)_MAKEFILE) $(wildcard $(ROOT)*.mk) | $$($(1)_SRC_DIR)
	$(vecho) "C++ $$<"
	$(Q) mkdir -p $$(dir $$@)
	$$($(1)_CC_BASE) $$($(1)_CXXFLAGS) -c $$< -o $$@
	$$($(1)_CC_BASE) $$($(1)_CXXFLAGS) -MM -MT $$@ -MF $$(@:.o=.d) $$<

$$($(1)_OBJ_DIR)%.o: $$($(1)_REAL_ROOT)%.S $$($(1)_MAKEFILE) $(wildcard $(ROOT)*.mk) | $$($(1)_SRC_DIR)
	$(vecho) "AS $$<"
	$(Q) mkdir -p $$(dir $$@)
	$$($(1)_CC_BASE) -c $$< -o $$@
	$$($(1)_CC_BASE) -MM -MT $$@ -MF $$(@:.o=.d) $$<

# the component is shown to depend on both obj and source files so we get a meaningful error message
# for missing explicitly named source files
$$($(1)_AR): $$($(1)_OBJ_FILES) $$($(1)_SRC_FILES)
	$(vecho) "AR $$@"
	$(Q) mkdir -p $$(dir $$@)
	$(Q) $(AR) cru $$@ $$^

COMPONENT_ARS += $$($(1)_AR)

-include $$($(1)_OBJ_FILES:.o=.d)
endef

## Linking rules for SDK libraries
## SDK libraries are preprocessed to:
# - remove object files named in <libname>.remove
# - prefix all defined symbols with 'sdk_'
# - weaken all global symbols so they can be overriden from the open SDK side
#
# SDK binary libraries are preprocessed into $(BUILD_DIR)/sdklib
SDK_PROCESSED_LIBS = $(addsuffix .a,$(addprefix $(BUILD_DIR)sdklib/lib,$(SDK_LIBS)))

# Make rules for preprocessing each SDK library

# hacky, but prevents confusing error messages if one of these files disappears
$(ROOT)lib/%.remove:
	touch $@

# Remove comment lines from <libname>.remove files
$(BUILD_DIR)sdklib/%.remove: $(ROOT)lib/%.remove | $(BUILD_DIR)sdklib
	$(Q) grep -v "^#" $< | cat > $@

# Stage 1: remove unwanted object files listed in <libname>.remove alongside each library
$(BUILD_DIR)sdklib/%_stage1.a: $(ROOT)lib/%.a $(BUILD_DIR)sdklib/%.remove | $(BUILD_DIR)sdklib
	@echo "SDK processing stage 1: Removing unwanted objects from $<"
	$(Q) cat $< > $@
	$(Q) $(AR) d $@ @$(word 2,$^)

# Stage 2: Redefine all SDK symbols as sdk_, weaken all symbols.
$(BUILD_DIR)sdklib/%.a: $(BUILD_DIR)sdklib/%_stage1.a $(ROOT)lib/allsymbols.rename
	@echo "SDK processing stage 2: Renaming symbols in SDK library $< -> $@"
	$(Q) $(OBJCOPY) --redefine-syms $(word 2,$^) --weaken $< $@

# include "dummy component" for the 'program' object files, defined in the Makefile
PROGRAM_SRC_DIR ?= $(PROGRAM_DIR)
PROGRAM_ROOT ?= $(PROGRAM_DIR)
PROGRAM_MAKEFILE = $(firstword $(MAKEFILE_LIST))
$(eval $(call component_compile_rules,PROGRAM))

## Include other components (this is where the actual compiler sections are generated)
##
## if component directory exists relative to $(ROOT), use that.
## otherwise try to resolve it as an absolute path
$(foreach component,$(COMPONENTS), 					\
	$(if $(wildcard $(ROOT)$(component)),				\
		$(eval include $(ROOT)$(component)/component.mk), 	\
		$(eval include $(component)/component.mk)		\
	)								\
)

# final linking step to produce .elf
$(PROGRAM_OUT): $(COMPONENT_ARS) $(SDK_PROCESSED_LIBS) $(LINKER_SCRIPTS)
	$(vecho) "LD $@"
	$(Q) $(LD) $(LDFLAGS) -Wl,--start-group $(COMPONENT_ARS) $(LIB_ARGS) $(SDK_LIB_ARGS) -Wl,--end-group -o $@

$(BUILD_DIR) $(FIRMWARE_DIR) $(BUILD_DIR)sdklib:
	$(Q) mkdir -p $@

$(FW_FILE_1) $(FW_FILE_2): $(PROGRAM_OUT) $(FIRMWARE_DIR)
	$(vecho) "FW $@"
	$(Q) $(ESPTOOL) elf2image $(ESPTOOL_ARGS) $< -o $(FIRMWARE_DIR)

$(FW_FILE): $(PROGRAM_OUT) $(FIRMWARE_DIR)
	$(Q) $(IMGTOOL) $(IMGTOOL_ARGS) -bin -boot2 $(PROGRAM_OUT) $(FW_FILE) .text .data .rodata

ifeq ($(OTA),0)
flash: $(FW_FILE_1) $(FW_FILE_2)
	$(ESPTOOL) -p $(ESPPORT) --baud $(ESPBAUD) write_flash $(ESPTOOL_ARGS) $(FW_ADDR_2) $(FW_FILE_2) $(FW_ADDR_1) $(FW_FILE_1)
else
flash: $(FW_FILE)
	$(vecho) "Flashing OTA image slot 0 (bootloader not updated)"
	$(ESPTOOL) -p $(ESPPORT) --baud $(ESPBAUD) write_flash $(ESPTOOL_ARGS) 0x2000 $(FW_FILE)
endif

size: $(PROGRAM_OUT)
	$(Q) $(CROSS)size --format=sysv $(PROGRAM_OUT)

test: flash
	$(FILTEROUTPUT) --port $(ESPPORT) --baud 115200 --elf $(PROGRAM_OUT)

# the rebuild target is written like this so it can be run in a parallel build
# environment without causing weird side effects
rebuild:
	$(MAKE) clean
	$(MAKE) all

clean:
	$(Q) rm -rf $(BUILD_DIR)
	$(Q) rm -rf $(FIRMWARE_DIR)

# prevent "intermediate" files from being deleted
.SECONDARY:

# print some useful help stuff
help:
	@echo "esp-open-rtos make"
	@echo ""
	@echo "Other targets:"
	@echo ""
	@echo "all"
	@echo "Default target. Will build firmware including any changed source files."
	@echo
	@echo "clean"
	@echo "Delete all build output."
	@echo ""
	@echo "rebuild"
	@echo "Build everything fresh from scratch."
	@echo ""
	@echo "flash"
	@echo "Build then upload firmware to MCU. Set ESPPORT & ESPBAUD to override port/baud rate."
	@echo ""
	@echo "test"
	@echo "'flash', then start a GNU Screen session on the same serial port to see serial output."
	@echo ""
	@echo "size"
	@echo "Build, then print a summary of built firmware size."
	@echo ""
	@echo "TIPS:"
	@echo "* You can use -jN for parallel builds. Much faster! Use 'make rebuild' instead of 'make clean all' for parallel builds."
	@echo "* You can create a local.mk file to create local overrides of variables like ESPPORT & ESPBAUD."
	@echo ""
	@echo "SAMPLE COMMAND LINE:"
	@echo "make -j2 test ESPPORT=/dev/ttyUSB0"
	@echo ""