# Hey Emacs, this is a -*- makefile -*-
#
#   Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
#
# This file is part of paparazzi.
#
# paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING.  If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#


#
# This is the common Makefile for the arm7-target.
#

#TODO: this is not needed in some cases (e.g. ap target as it is defined there already)
# but it is needed for other targets like tunnel
# only define here or elsewhere?
SRC_ARCH = arch/lpc21

# Launch with "make Q=''" to get full command display
Q=@


#
# find compiler toolchain
#
ALLOW_OLD_ARM_MULTILIB_TOOLCHAIN = 1
include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain

#
# if the new arm-none-eabi multilib compiler was not found try the old arm-elf one
#
ifeq ($(CC),)
CC   = $(shell which arm-elf-gcc)
LD   = $(shell which arm-elf-gcc)
CP   = $(shell which arm-elf-objcopy)
DMP  = $(shell which arm-elf-objdump)
NM   = $(shell which arm-elf-nm)
SIZE = $(shell which arm-elf-size)
endif


# MCU name and submodel
MCU = arm7tdmi
THUMB    = -mthumb
THUMB_IW = -mthumb-interwork

# Output format. (can be srec, ihex, binary)
FORMAT = ihex

#FLASH_MODE=ISP

SRCARM = $($(TARGET).srcs)

ASRCARM = crt0.S

# Optimization level, can be [0, 1, 2, 3, s].
# 0 = turn off optimization. s = optimize for size.
OPT ?= s
# Slightly bigger .elf files but gains the ability to decode macros
DEBUG_FLAGS ?= -ggdb3

CSTANDARD = -std=gnu99

CINCS = $(INCLUDES) -I$(SRC_ARCH)/include

# Compiler flags.
CFLAGS = $(CINCS)
CFLAGS += -O$(OPT)
CFLAGS += $(DEBUG_FLAGS)

# CFLAGS += -malignment-traps
CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
CFLAGS += -ffunction-sections -fdata-sections
CFLAGS += -finline-limit=1200 --param inline-unit-growth=100

# flags for warnings
CFLAGS += -Wall -Wextra -Wunused
CFLAGS += -Wcast-qual
CFLAGS += -Wcast-align
CFLAGS += -Wpointer-arith
CFLAGS += -Wswitch-default
CFLAGS += -Wredundant-decls -Wmissing-declarations
CFLAGS += -Wstrict-prototypes -Wmissing-prototypes
CFLAGS += -Wshadow
CFLAGS += -Wnested-externs

CFLAGS += $(CSTANDARD)
CFLAGS += $($(TARGET).CFLAGS) $(USER_CFLAGS) $(BOARD_CFLAGS)
# on old lpc, avoid using double precision in some geodetic functions
CFLAGS += -DUSE_SINGLE_PRECISION_LLA_ECEF

# LPC21 doesn't support unaligned data access
CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=0

# Assembler flags.
ASFLAGS = -Wa,-adhlns=$(OBJDIR)/$(notdir $(<:.S=.lst))

#Additional libraries.
MATH_LIB = -lm

# Linker flags.
LDFLAGS = -n -nostartfiles -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref
LDFLAGS += -lc
LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
LDFLAGS += $(CPLUSPLUS_LIB)
LDFLAGS += -Wl,--gc-sections
LDFLAGS += $(BOARD_LDFLAGS)

ifndef LDSCRIPT
ifeq ($(FLASH_MODE),ISP)
LDSCRIPT = $(SRC_ARCH)/LPC2148-ROM.ld
else
LDSCRIPT = $(SRC_ARCH)/LPC2148-ROM-bl.ld
endif
endif
LDFLAGS +=-T$(LDSCRIPT)



# ---------------------------------------------------------------------------
# Flash-Programming support using lpc21isp by Martin Maurer

# Settings and variables:
LPC21ISP = lpc21isp
LPC21ISP_PORT ?= /dev/ttyS0
LPC21ISP_FLASHFILE = $(OBJDIR)/$(TARGET).hex
# verbose output:
#LPC21ISP_DEBUG = -debug
# enter bootloader via RS232 DTR/RTS (only if hardware supports this
# feature - see Philips AppNote):
ifndef LPC21ISP_CONTROL
LPC21ISP_CONTROL =
# -control
endif

# ---------------------------------------------------------------------------
# Flash-Programming support using lpc21iap by Martin Muller  (usb bootloader)

LPC21IAP = $(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap

# ---------------------------------------------------------------------------
# Flash-Programming support using openocd
OOCD ?= openocd
OOCD_INTERFACE = ftdi/olimex-arm-usb-ocd
OOCD_TARGET    = csc


# Define all object files.
COBJ      = $(SRC:%.c=$(OBJDIR)/%.o)
AOBJ      = $(ASRC:%.S=$(OBJDIR)/%.o)
COBJARM   = $(SRCARM:%.c=$(OBJDIR)/%.o)
AOBJARM   = $(ASRCARM:%.S=$(OBJDIR)/%.o)

# Define all listing files.
LST = $(ASRC:.S=.lst) $(ASRCARM:.S=.lst) $(SRC:.c=.lst) $(SRCARM:.c=.lst)

# Compiler flags to generate dependency files.
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d

# Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. $(CFLAGS)
ALL_ASFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. -x assembler-with-cpp $(ASFLAGS)

# some common informative targets
include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-common

# Default target.
all: printcommands sizebefore build sizeafter

# depend order only for parallel make
sizebefore: | printcommands
build: | printcommands sizebefore
sizeafter: | build

build: $(OBJDIR) elf hex lss sym

$(OBJDIR):
	@echo CREATING object dir $(OBJDIR)
	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)

elf: $(OBJDIR)/$(TARGET).elf
hex: $(OBJDIR)/$(TARGET).hex
lss: $(OBJDIR)/$(TARGET).lss
sym: $(OBJDIR)/$(TARGET).sym


# Program the device.
upload program: $(OBJDIR)/$(TARGET).hex
ifeq ($(FLASH_MODE),IAP)
	$(SUDO) $(LPC21IAP)  $(OBJDIR)/$(TARGET).elf
else ifeq ($(FLASH_MODE),JTAG)
	@echo "Using OOCD = $(OOCD)"
	@echo -e "  OOCD\t$<"
	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
                -f board/$(OOCD_TARGET).cfg \
                -c init \
                -c "reset halt" \
                -c "flash write_image erase $(OBJDIR)/$(TARGET).bin 0x08000000" \
                -c reset \
                -c shutdown
else
	@echo
	$(LPC21ISP) $(LPC21ISP_CONTROL) $(LPC21ISP_DEBUG) $(LPC21ISP_FLASHFILE) $(LPC21ISP_PORT) $(LPC21ISP_BAUD) $(LPC21ISP_XTAL)
endif

# Create final output files (.hex, .eep) from ELF output file.
# TODO: handling the .eeprom-section should be redundant
%.hex: %.elf
	@echo OBJC $@
	$(Q)$(CP) -O $(FORMAT) $< $@


# Create extended listing file from ELF output file.
# testing: option -C
%.lss: %.elf
	@echo OBJD $@
	$(Q)$(DMP) -h -S -C $< > $@


# Create a symbol table from ELF output file.
%.sym: %.elf
	@echo NM $@
	$(Q)$(NM) -n $< > $@


# Link: create ELF output file from object files.
.SECONDARY : $(OBJDIR)/$(TARGET).elf
.PRECIOUS : $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ)
%.elf:  $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ)
	@echo LD $@
	$(Q)$(CC) $(THUMB) $(ALL_CFLAGS) $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ)  --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS)


# Compile: create object files from C source files. ARM-only
$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
	@echo CC $@
	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
	$(Q)$(CC) -MMD -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@

$(OBJDIR)/%.o : $(SRC_ARCH)/lpcusb/%.c $(OBJDIR)/../Makefile.ac
	@echo CC $@
	$(Q)$(CC) -MMD -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@


# grab files in var/aircrafts/$(AIRCRAFT)/$(TARGET) aka $(OBJDIR)
#$(OBJDIR)/%.o : $(OBJDIR)/%.c
#	@echo CC $@
#	$(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@

# Assemble: create object files from assembler source files. ARM/Thumb
$(AOBJ) : $(OBJDIR)/%.o : %.S
	@echo AS $@
	$(Q)$(CC) -c $(THUMB) $(ALL_ASFLAGS) $< -o $@


# Assemble: create object files from assembler source files. ARM-only
$(AOBJARM) : $(OBJDIR)/%.o : $(SRC_ARCH)/%.S
	@echo AS $@
	$(Q)$(CC) -c $(ALL_ASFLAGS) $< -o $@


# Listing of phony targets.
.PHONY : all build elf hex lss sym upload program


#
# Dependencies
#

DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))

ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif