onur
30179df8e6
Remove the fixed pseudorange start offset, preserve per-PRN navigation assistance across RF loss and power cycles, and seed coherent navigation measurement phase on reacquisition. Add full LNAV almanac visibility scheduling, power-safe QSPI journaling, RF-domain reset isolation, and PPS Gray CDC hardening with Linux, sanitizer, RTL, and end-to-end coverage.
99 lines
3.4 KiB
Makefile
99 lines
3.4 KiB
Makefile
REPO_DIR ?= $(abspath ../../..)
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include $(REPO_DIR)/tools/project.mk
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CC := $(CROSS)gcc
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OBJCOPY := $(CROSS)objcopy
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OBJDUMP := $(CROSS)objdump
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SIZE := $(CROSS)size
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BUILD_DIR ?= build
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COMMON_DIR ?= ../common
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BSP_DIR ?= ../bsp
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LINKER_SCRIPT ?= $(COMMON_DIR)/linker_ram.ld
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MARCH ?= rv64imafdc_zicsr_zifencei
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MABI ?= lp64d
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BSP_UART_CLOCK_HZ ?= 100000000
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BSP_UART_BAUDRATE ?= 460800
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BSP_CLINT_TIMEBASE_HZ ?= 1000000
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BSP_DTIM_BASE ?= 0x80000000
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BSP_DTIM_SIZE ?= 0x00100000
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CONFIG_STAMP := $(BUILD_DIR)/build_config.txt
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# C sees BSP_DTIM_* while ld sees __dtim_*; both come from the same Makefile knobs.
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CFLAGS ?= -march=$(MARCH) -mabi=$(MABI) -mcmodel=medany -Os -ffreestanding -fno-builtin -fno-common -Wall -Wextra -I$(BSP_DIR)/include -DBSP_UART_CLOCK_HZ=$(BSP_UART_CLOCK_HZ)UL -DBSP_UART_BAUDRATE=$(BSP_UART_BAUDRATE)UL -DBSP_CLINT_TIMEBASE_HZ=$(BSP_CLINT_TIMEBASE_HZ)UL -DBSP_DTIM_BASE=$(BSP_DTIM_BASE)UL -DBSP_DTIM_SIZE=$(BSP_DTIM_SIZE)UL
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LDFLAGS ?= -T $(LINKER_SCRIPT) -nostartfiles -static -Wl,--gc-sections -Wl,--defsym=__dtim_base=$(BSP_DTIM_BASE) -Wl,--defsym=__dtim_size=$(BSP_DTIM_SIZE) -Wl,-Map,$(BUILD_DIR)/$(TARGET).map
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LDLIBS ?= -Wl,--start-group -lc -lgcc -Wl,--end-group
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APP_SRCS ?= main.c
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BSP_SRCS ?= init.c uart.c plic.c irq.c spi_flash.c
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APP_OBJS := $(addprefix $(BUILD_DIR)/,$(APP_SRCS:=.o))
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COMMON_OBJS := $(BUILD_DIR)/common_start.S.o $(BUILD_DIR)/common_syscalls.c.o
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BSP_OBJS := $(addprefix $(BUILD_DIR)/bsp_,$(BSP_SRCS:=.o))
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OBJS := $(COMMON_OBJS) $(BSP_OBJS) $(APP_OBJS)
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DEPS := $(OBJS:.o=.d)
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DEPFLAGS := -MMD -MP
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.PHONY: all clean FORCE
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all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).img $(BUILD_DIR)/$(TARGET).dump
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$(SIZE) $(BUILD_DIR)/$(TARGET).elf
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$(BUILD_DIR):
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mkdir -p $@
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$(CONFIG_STAMP): FORCE | $(BUILD_DIR)
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@tmp="$@.tmp.$$$$"; \
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printf '%s\n' \
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'MARCH=$(MARCH)' \
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'MABI=$(MABI)' \
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'BSP_UART_CLOCK_HZ=$(BSP_UART_CLOCK_HZ)' \
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'BSP_UART_BAUDRATE=$(BSP_UART_BAUDRATE)' \
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'BSP_CLINT_TIMEBASE_HZ=$(BSP_CLINT_TIMEBASE_HZ)' \
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'BSP_DTIM_BASE=$(BSP_DTIM_BASE)' \
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'BSP_DTIM_SIZE=$(BSP_DTIM_SIZE)' \
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'GPS_DEBUG=$(GPS_DEBUG)' \
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'GPS_DEBUG_LEVEL=$(GPS_DEBUG_LEVEL)' \
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'CFLAGS=$(CFLAGS)' \
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'LDFLAGS=$(LDFLAGS)' \
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'LDLIBS=$(LDLIBS)' > "$$tmp"; \
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if ! cmp -s "$$tmp" "$@"; then mv "$$tmp" "$@"; else rm "$$tmp"; fi
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FORCE:
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$(BUILD_DIR)/common_start.S.o: $(COMMON_DIR)/start.S $(CONFIG_STAMP) | $(BUILD_DIR)
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mkdir -p $(dir $@)
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$(CC) $(CFLAGS) -c $< -o $@
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$(BUILD_DIR)/common_syscalls.c.o: $(COMMON_DIR)/syscalls.c $(CONFIG_STAMP) | $(BUILD_DIR)
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mkdir -p $(dir $@)
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$(CC) $(CFLAGS) $(DEPFLAGS) -c $< -o $@
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$(BUILD_DIR)/bsp_%.c.o: $(BSP_DIR)/drivers/%.c $(CONFIG_STAMP) | $(BUILD_DIR)
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mkdir -p $(dir $@)
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$(CC) $(CFLAGS) $(DEPFLAGS) -c $< -o $@
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$(BUILD_DIR)/%.c.o: %.c $(CONFIG_STAMP) | $(BUILD_DIR)
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mkdir -p $(dir $@)
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$(CC) $(CFLAGS) $(DEPFLAGS) -c $< -o $@
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$(BUILD_DIR)/%.S.o: %.S $(CONFIG_STAMP) | $(BUILD_DIR)
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mkdir -p $(dir $@)
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$(CC) $(CFLAGS) -c $< -o $@
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$(BUILD_DIR)/$(TARGET).elf: $(OBJS) $(LINKER_SCRIPT) $(CONFIG_STAMP)
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$(CC) $(CFLAGS) $(OBJS) $(LDFLAGS) $(LDLIBS) -o $@
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$(BUILD_DIR)/$(TARGET).img: $(BUILD_DIR)/$(TARGET).elf
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$(OBJCOPY) -O binary $< $@
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$(BUILD_DIR)/$(TARGET).dump: $(BUILD_DIR)/$(TARGET).elf
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$(OBJDUMP) -d -S $< > $@
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# Header-only firmware changes must invalidate their objects. Without these
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# generated dependencies, `debug-load` could silently reload an older ELF even
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# though a configuration header had changed.
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-include $(DEPS)
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clean:
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rm -rf $(BUILD_DIR)
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