Commit | Line | Data |
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29089d0c JM |
1 | require 'rake' |
2 | require 'pathname' | |
3 | require 'fileutils' | |
4 | ||
4c8f5447 JM |
5 | verbose(ENV['verbose'] == '1') |
6 | DEBUG = ENV['debug'] == '1' | |
93ea6adb | 7 | TESTING = ENV['testing'] == '1' |
4c8f5447 | 8 | |
29089d0c JM |
9 | def pop_path(path) |
10 | Pathname(path).each_filename.to_a[1..-1] | |
11 | end | |
12 | ||
13 | def obj2src(fn, e) | |
14 | File.join('src', pop_path(File.dirname(fn)), File.basename(fn).ext(e)) | |
15 | end | |
16 | ||
17 | def is_windows? | |
18 | (/cygwin|mswin|mingw|bccwin|wince|emx/ =~ RUBY_PLATFORM) != nil | |
19 | end | |
20 | ||
21 | # Makefile .d file loader to be used with the import file loader. | |
22 | # this emulates the -include $(DEPFILES) in a Makefile for the generated .d files | |
23 | class DfileLoader | |
24 | include Rake::DSL | |
25 | ||
26 | SPACE_MARK = "\0" | |
27 | ||
28 | # Load the makefile dependencies in +fn+. | |
29 | def load(fn) | |
30 | return if ! File.exists?(fn) | |
31 | lines = File.read fn | |
32 | lines.gsub!(/\\ /, SPACE_MARK) | |
33 | lines.gsub!(/#[^\n]*\n/m, "") | |
34 | lines.gsub!(/\\\n/, ' ') | |
35 | lines.each_line do |line| | |
36 | process_line(line) | |
37 | end | |
38 | end | |
39 | ||
40 | private | |
41 | ||
42 | # Process one logical line of makefile data. | |
43 | def process_line(line) | |
44 | file_tasks, args = line.split(':', 2) | |
45 | return if args.nil? | |
46 | dependents = args.split.map { |d| respace(d) } | |
47 | file_tasks.scan(/\S+/) do |file_task| | |
48 | file_task = respace(file_task) | |
49 | file file_task => dependents | |
50 | end | |
51 | end | |
52 | ||
53 | def respace(str) | |
54 | str.tr SPACE_MARK, ' ' | |
55 | end | |
56 | end | |
57 | ||
58 | # Install the handler | |
59 | Rake.application.add_loader('d', DfileLoader.new) | |
60 | ||
61 | PROG = 'smoothie' | |
62 | ||
63 | DEVICE = 'LPC1768' | |
64 | ARCHITECTURE = 'armv7-m' | |
65 | ||
66 | MBED_DIR = './mbed/drop' | |
67 | ||
68 | TOOLSBIN = './gcc-arm-none-eabi/bin/arm-none-eabi-' | |
69 | CC = "#{TOOLSBIN}gcc" | |
70 | CCPP = "#{TOOLSBIN}g++" | |
71 | LD = "#{TOOLSBIN}g++" | |
72 | OBJCOPY = "#{TOOLSBIN}objcopy" | |
73 | SIZE = "#{TOOLSBIN}size" | |
74 | ||
75 | # include a defaults file if present | |
76 | load 'rakefile.defaults' if File.exists?('rakefile.defaults') | |
93ea6adb JM |
77 | if TESTING |
78 | BUILDTYPE= 'Testing' | |
29089d0c | 79 | |
93ea6adb | 80 | elsif DEBUG |
4c8f5447 JM |
81 | BUILDTYPE= 'Debug' |
82 | ENABLE_DEBUG_MONITOR= '0' | |
83 | end | |
84 | ||
88443c6b JM |
85 | # Set build type |
86 | BUILDTYPE= ENV['BUILDTYPE'] || 'Checked' unless defined? BUILDTYPE | |
87 | puts "#{BUILDTYPE} build" | |
88 | ||
89 | ENABLE_DEBUG_MONITOR = ENV['ENABLE_DEBUG_MONITOR'] || '0' unless defined? ENABLE_DEBUG_MONITOR | |
90 | ||
91 | # set default baud rate | |
92 | DEFAULT_SERIAL_BAUD_RATE= ENV['BAUDRATE'] || '115200' unless defined? DEFAULT_SERIAL_BAUD_RATE | |
93 | ||
29089d0c | 94 | # set to true to eliminate all the network code |
93ea6adb JM |
95 | unless defined? NONETWORK |
96 | NONETWORK= false || TESTING | |
97 | end | |
29089d0c JM |
98 | |
99 | # list of modules to exclude, include directory it is in | |
29089d0c JM |
100 | # e.g for a CNC machine |
101 | #EXCLUDE_MODULES = %w(tools/touchprobe tools/laser tools/temperaturecontrol tools/extruder) | |
102 | ||
103 | # generate regex of modules to exclude and defines | |
104 | exclude_defines, excludes = EXCLUDE_MODULES.collect { |e| [e.tr('/', '_').upcase, e.sub('/', '\/')] }.transpose | |
105 | ||
106 | # see if network is enabled | |
107 | if ENV['NONETWORK'] || NONETWORK | |
108 | nonetwork= true | |
109 | excludes << '\/libs\/Network\/' | |
110 | puts "Excluding Network code" | |
111 | else | |
112 | nonetwork= false | |
113 | end | |
114 | ||
c150a0d3 JM |
115 | # see if CNC build |
116 | if ENV['CNC'] || CNC | |
117 | cnc= true | |
118 | excludes << 'panel\/screens\/3dprinter' | |
119 | puts "CNC build" | |
120 | else | |
121 | excludes << 'panel\/screens\/cnc' | |
122 | cnc= false | |
123 | end | |
124 | ||
93ea6adb JM |
125 | if TESTING |
126 | # add modules to be tested here | |
80bbeba9 | 127 | TESTMODULES= %w(tools/temperatureswitch) unless defined? EXCLUDE_MODULES |
93ea6adb JM |
128 | puts "Modules under test: #{TESTMODULES}" |
129 | excludes << %w(Kernel.cpp main.cpp) # we replace these with mock versions in testframework | |
a3cb0c4c | 130 | |
2097978f JM |
131 | frameworkfiles= FileList['src/testframework/*.{c,cpp}', 'src/testframework/easyunit/*.{c,cpp}'] |
132 | extrafiles= FileList['src/modules/communication/SerialConsole.cpp', 'src/modules/communication/utils/Gcode.cpp', 'src/modules/robot/Conveyor.cpp', 'src/modules/robot/Block.cpp'] | |
133 | testmodules= FileList['src/libs/**/*.{c,cpp}'].include(TESTMODULES.collect { |e| "src/modules/#{e}/**/*.{c,cpp}"}).include(TESTMODULES.collect { |e| "src/testframework/unittests/#{e}/*.{c,cpp}"}).exclude(/#{excludes.join('|')}/) | |
134 | SRC = frameworkfiles + extrafiles + testmodules | |
93ea6adb JM |
135 | else |
136 | excludes << %w(testframework) | |
137 | SRC = FileList['src/**/*.{c,cpp}'].exclude(/#{excludes.join('|')}/) | |
138 | puts "WARNING Excluding modules: #{EXCLUDE_MODULES.join(' ')}" unless exclude_defines.empty? | |
139 | end | |
29089d0c JM |
140 | |
141 | OBJDIR = 'OBJ' | |
142 | OBJ = SRC.collect { |fn| File.join(OBJDIR, pop_path(File.dirname(fn)), File.basename(fn).ext('o')) } + | |
143 | %W(#{OBJDIR}/configdefault.o #{OBJDIR}/mbed_custom.o) | |
144 | ||
145 | # list of header dependency files generated by compiler | |
146 | DEPFILES = OBJ.collect { |fn| File.join(File.dirname(fn), File.basename(fn).ext('d')) } | |
147 | ||
148 | # create destination directories | |
149 | SRC.each do |s| | |
150 | d= File.join(OBJDIR, pop_path(File.dirname(s))) | |
151 | FileUtils.mkdir_p(d) unless Dir.exists?(d) | |
152 | end | |
153 | ||
154 | INCLUDE_DIRS = [Dir.glob(['./src/**/', './mri/**/'])].flatten | |
155 | MBED_INCLUDE_DIRS = %W(#{MBED_DIR}/ #{MBED_DIR}/LPC1768/) | |
156 | ||
157 | INCLUDE = (INCLUDE_DIRS+MBED_INCLUDE_DIRS).collect { |d| "-I#{d}" }.join(" ") | |
158 | ||
88443c6b JM |
159 | if ENABLE_DEBUG_MONITOR == '1' |
160 | # Can add MRI_UART_BAUD=115200 to next line if GDB fails to connect to MRI. | |
161 | # Tends to happen on some Linux distros but not Windows and OS X. | |
162 | MRI_UART = 'MRI_UART_0' | |
163 | MRI_BREAK_ON_INIT = 1 unless defined? MRI_BREAK_ON_INIT | |
164 | else | |
165 | MRI_UART = 'MRI_UART_0 MRI_UART_SHARE' | |
166 | MRI_BREAK_ON_INIT = 0 unless defined? MRI_BREAK_ON_INIT | |
167 | end | |
168 | ||
169 | # Configure MRI variables based on BUILD_TYPE build type variable. | |
170 | case BUILDTYPE.downcase | |
171 | when 'release' | |
172 | OPTIMIZATION = 2 | |
173 | MRI_ENABLE = 0 | |
174 | MRI_SEMIHOST_STDIO = 0 unless defined? MRI_SEMIHOST_STDIO | |
175 | when 'debug' | |
176 | OPTIMIZATION = 0 | |
177 | MRI_ENABLE = 1 | |
178 | MRI_SEMIHOST_STDIO = 1 unless defined? MRI_SEMIHOST_STDIO | |
179 | when 'checked' | |
180 | OPTIMIZATION = 2 | |
181 | MRI_ENABLE = 1 | |
182 | MRI_SEMIHOST_STDIO = 1 unless defined? MRI_SEMIHOST_STDIO | |
93ea6adb JM |
183 | when 'testing' |
184 | OPTIMIZATION = 0 | |
185 | MRI_ENABLE = 1 | |
186 | MRI_SEMIHOST_STDIO = 0 unless defined? MRI_SEMIHOST_STDIO | |
88443c6b JM |
187 | end |
188 | ||
189 | MRI_ENABLE = 1 unless defined? MRI_ENABLE # set to 0 to disable MRI | |
190 | MRI_LIB = MRI_ENABLE == 1 ? './mri/mri.ar' : '' | |
29089d0c | 191 | MBED_LIB = "#{MBED_DIR}/LPC1768/GCC_ARM/libmbed.a" |
88443c6b | 192 | |
29089d0c JM |
193 | SYS_LIBS = '-lstdc++_s -lsupc++_s -lm -lgcc -lc_s -lgcc -lc_s -lnosys' |
194 | LIBS = [MBED_LIB, SYS_LIBS, MRI_LIB].join(' ') | |
195 | ||
88443c6b | 196 | MRI_DEFINES = %W(-DMRI_ENABLE=#{MRI_ENABLE} -DMRI_INIT_PARAMETERS='"#{MRI_UART}"' -DMRI_BREAK_ON_INIT=#{MRI_BREAK_ON_INIT} -DMRI_SEMIHOST_STDIO=#{MRI_SEMIHOST_STDIO}) |
29089d0c JM |
197 | |
198 | defines = %w(-DCHECKSUM_USE_CPP -D__LPC17XX__ -DTARGET_LPC1768 -DWRITE_BUFFER_DISABLE=0 -DSTACK_SIZE=3072 -DCHECKSUM_USE_CPP) | |
199 | defines += exclude_defines.collect{|d| "-DNO_#{d}"} | |
200 | defines += MRI_DEFINES | |
88443c6b JM |
201 | defines << "-DDEFAULT_SERIAL_BAUD_RATE=#{DEFAULT_SERIAL_BAUD_RATE}" |
202 | defines << '-DDEBUG' if OPTIMIZATION == 0 | |
29089d0c | 203 | defines << '-DNONETWORK' if nonetwork |
c150a0d3 | 204 | defines << '-DCNC' if cnc |
29089d0c JM |
205 | |
206 | DEFINES= defines.join(' ') | |
207 | ||
208 | # Compiler flags used to enable creation of header dependencies. | |
209 | DEPFLAGS = '-MMD ' | |
93ea6adb JM |
210 | CFLAGS = DEPFLAGS + "-Wall -Wextra -Wno-unused-parameter -Wcast-align -Wpointer-arith -Wredundant-decls -Wcast-qual -Wcast-align -O#{OPTIMIZATION} -g3 -mcpu=cortex-m3 -mthumb -mthumb-interwork -ffunction-sections -fdata-sections -fno-delete-null-pointer-checks" |
211 | CPPFLAGS = CFLAGS + ' -fno-rtti -std=gnu++11 -fno-exceptions' | |
212 | CXXFLAGS = CFLAGS + ' -fno-rtti -std=gnu++11 -fexceptions' # used for a .cxx file that needs to be compiled with exceptions | |
29089d0c | 213 | |
88443c6b | 214 | MRI_WRAPS = MRI_ENABLE == 1 ? ',--wrap=_read,--wrap=_write,--wrap=semihost_connected' : '' |
29089d0c JM |
215 | |
216 | # Linker script to be used. Indicates what code should be placed where in memory. | |
217 | LSCRIPT = "#{MBED_DIR}/LPC1768/GCC_ARM/LPC1768.ld" | |
218 | LDFLAGS = "-mcpu=cortex-m3 -mthumb -specs=./build/startfile.spec" + | |
219 | " -Wl,-Map=#{OBJDIR}/smoothie.map,--cref,--gc-sections,--wrap=_isatty,--wrap=malloc,--wrap=realloc,--wrap=free" + | |
220 | MRI_WRAPS + | |
221 | " -T#{LSCRIPT}" + | |
222 | " -u _scanf_float -u _printf_float" | |
223 | ||
224 | HTTPD_FSDATA = './src/libs/Network/uip/webserver/httpd-fsdata2.h' | |
225 | ||
226 | # tasks | |
227 | ||
228 | # generate the header dependencies if they exist | |
229 | import(*DEPFILES) | |
230 | ||
231 | task :clean do | |
232 | FileUtils.rm_rf(OBJDIR) | |
233 | end | |
234 | ||
235 | task :realclean => [:clean] do | |
236 | sh "cd ./mbed;make clean" | |
237 | end | |
238 | ||
239 | desc "Build the built-in web pages" | |
240 | task :webui => [HTTPD_FSDATA] | |
241 | ||
242 | task :default => [:build] | |
243 | ||
244 | task :build => [MBED_LIB, :version, "#{PROG}.bin", :size] | |
245 | ||
246 | task :version do | |
247 | if is_windows? | |
248 | VERSION = ' -D__GITVERSIONSTRING__=\"place-holder\"' | |
249 | else | |
250 | v1= `git symbolic-ref HEAD 2> /dev/null` | |
251 | v2= `git log --pretty=format:%h -1` | |
252 | VERSION = ' -D__GITVERSIONSTRING__=\"' + "#{v1[11..-1].chomp}-#{v2}".chomp + '\"' | |
253 | FileUtils.touch './src/version.cpp' # we want it compiled everytime | |
254 | end | |
255 | end | |
256 | ||
257 | desc "Upload via DFU" | |
258 | task :upload do | |
259 | sh "dfu-util -R -d 1d50:6015 -D #{OBJDIR}/#{PROG}.bin" | |
260 | end | |
261 | ||
262 | task :size do | |
263 | sh "#{SIZE} #{OBJDIR}/#{PROG}.elf" | |
264 | end | |
265 | ||
266 | # build internal web page | |
267 | WEB_SOURCE_FILES= FileList['./src/libs/Network/uip/webserver/httpd-fs-src/**/*'] | |
268 | WEBDIR = './src/libs/Network/uip/webserver/httpd-fs' | |
269 | file HTTPD_FSDATA => WEB_SOURCE_FILES do | |
270 | FileUtils.rm_rf WEBDIR | |
271 | FileUtils.mkdir WEBDIR | |
272 | FileUtils.cp WEB_SOURCE_FILES, WEBDIR | |
273 | # TODO minify some files | |
274 | # sh 'java -jar yuicompressor-2.4.8.jar file -o file' | |
275 | sh 'cd ./src/libs/Network/uip/webserver; perl makefsdata.pl' | |
276 | sh 'cd ./src; make' | |
277 | end | |
278 | ||
279 | file MBED_LIB do | |
280 | puts "Building Mbed Using Make" | |
281 | sh "cd ./mbed;make all" | |
282 | end | |
283 | ||
284 | file "#{OBJDIR}/mbed_custom.o" => ['./build/mbed_custom.cpp'] do |t| | |
93ea6adb | 285 | puts "Compiling mbed_custom.cpp" |
29089d0c JM |
286 | sh "#{CCPP} #{CPPFLAGS} #{INCLUDE} #{DEFINES} -c -o #{t.name} #{t.prerequisites[0]}" |
287 | end | |
288 | ||
289 | file "#{OBJDIR}/configdefault.o" => 'src/config.default' do |t| | |
290 | sh "cd ./src; ../#{OBJCOPY} -I binary -O elf32-littlearm -B arm --readonly-text --rename-section .data=.rodata.configdefault config.default ../#{OBJDIR}/configdefault.o" | |
291 | end | |
292 | ||
293 | file "#{PROG}.bin" => ["#{PROG}.elf"] do | |
294 | sh "#{OBJCOPY} -O binary #{OBJDIR}/#{PROG}.elf #{OBJDIR}/#{PROG}.bin" | |
295 | end | |
296 | ||
297 | file "#{PROG}.elf" => OBJ do |t| | |
381fbb3b | 298 | puts "Linking" |
29089d0c JM |
299 | sh "#{LD} #{LDFLAGS} #{OBJ} #{LIBS} -o #{OBJDIR}/#{t.name}" |
300 | end | |
301 | ||
302 | #arm-none-eabi-objcopy -R .stack -O ihex ../LPC1768/main.elf ../LPC1768/main.hex | |
303 | #arm-none-eabi-objdump -d -f -M reg-names-std --demangle ../LPC1768/main.elf >../LPC1768/main.disasm | |
304 | ||
305 | rule '.o' => lambda{ |objfile| obj2src(objfile, 'cpp') } do |t| | |
306 | puts "Compiling #{t.source}" | |
307 | sh "#{CCPP} #{CPPFLAGS} #{INCLUDE} #{DEFINES} #{VERSION} -c -o #{t.name} #{t.source}" | |
308 | end | |
309 | ||
93ea6adb JM |
310 | rule '.o' => lambda{ |objfile| obj2src(objfile, 'cxx') } do |t| |
311 | puts "Compiling #{t.source}" | |
312 | sh "#{CCPP} #{CXXFLAGS} #{INCLUDE} #{DEFINES} #{VERSION} -c -o #{t.name} #{t.source}" | |
313 | end | |
314 | ||
29089d0c JM |
315 | rule '.o' => lambda{ |objfile| obj2src(objfile, 'c') } do |t| |
316 | puts "Compiling #{t.source}" | |
317 | sh "#{CC} #{CFLAGS} #{INCLUDE} #{DEFINES} #{VERSION} -c -o #{t.name} #{t.source}" | |
318 | end | |
319 |