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| require 'rake' | |
| require 'pathname' | |
| require 'fileutils' | |
| verbose(ENV['verbose'] == '1') | |
| DEBUG = ENV['debug'] == '1' | |
| TESTING = ENV['testing'] == '1' | |
| def pop_path(path) | |
| Pathname(path).each_filename.to_a[1..-1] | |
| end | |
| def obj2src(fn, e) | |
| File.join('src', pop_path(File.dirname(fn)), File.basename(fn).ext(e)) | |
| end | |
| def is_windows? | |
| (/cygwin|mswin|mingw|bccwin|wince|emx/ =~ RUBY_PLATFORM) != nil | |
| end | |
| # Makefile .d file loader to be used with the import file loader. | |
| # this emulates the -include $(DEPFILES) in a Makefile for the generated .d files | |
| class DfileLoader | |
| include Rake::DSL | |
| SPACE_MARK = "\0" | |
| # Load the makefile dependencies in +fn+. | |
| def load(fn) | |
| return if ! File.exists?(fn) | |
| lines = File.read fn | |
| lines.gsub!(/\\ /, SPACE_MARK) | |
| lines.gsub!(/#[^\n]*\n/m, "") | |
| lines.gsub!(/\\\n/, ' ') | |
| lines.each_line do |line| | |
| process_line(line) | |
| end | |
| end | |
| private | |
| # Process one logical line of makefile data. | |
| def process_line(line) | |
| file_tasks, args = line.split(':', 2) | |
| return if args.nil? | |
| dependents = args.split.map { |d| respace(d) } | |
| file_tasks.scan(/\S+/) do |file_task| | |
| file_task = respace(file_task) | |
| file file_task => dependents | |
| end | |
| end | |
| def respace(str) | |
| str.tr SPACE_MARK, ' ' | |
| end | |
| end | |
| # Install the handler | |
| Rake.application.add_loader('d', DfileLoader.new) | |
| PROG = 'smoothie' | |
| DEVICE = 'LPC1768' | |
| ARCHITECTURE = 'armv7-m' | |
| MBED_DIR = './mbed/drop' | |
| TOOLSBIN = './gcc-arm-none-eabi/bin/arm-none-eabi-' | |
| CC = "#{TOOLSBIN}gcc" | |
| CCPP = "#{TOOLSBIN}g++" | |
| LD = "#{TOOLSBIN}g++" | |
| OBJCOPY = "#{TOOLSBIN}objcopy" | |
| SIZE = "#{TOOLSBIN}size" | |
| # include a defaults file if present | |
| load 'rakefile.defaults' if File.exists?('rakefile.defaults') | |
| if TESTING | |
| BUILDTYPE= 'Testing' | |
| elsif DEBUG | |
| BUILDTYPE= 'Debug' | |
| ENABLE_DEBUG_MONITOR= '0' | |
| end | |
| # Set build type | |
| BUILDTYPE= ENV['BUILDTYPE'] || 'Checked' unless defined? BUILDTYPE | |
| puts "#{BUILDTYPE} build" | |
| ENABLE_DEBUG_MONITOR = ENV['ENABLE_DEBUG_MONITOR'] || '0' unless defined? ENABLE_DEBUG_MONITOR | |
| # set default baud rate | |
| DEFAULT_SERIAL_BAUD_RATE= ENV['BAUDRATE'] || '115200' unless defined? DEFAULT_SERIAL_BAUD_RATE | |
| # set to true to eliminate all the network code | |
| unless defined? NONETWORK | |
| NONETWORK= false || TESTING | |
| end | |
| # list of modules to exclude, include directory it is in | |
| EXCLUDE_MODULES= %w(tools/touchprobe) unless defined? EXCLUDE_MODULES | |
| # e.g for a CNC machine | |
| #EXCLUDE_MODULES = %w(tools/touchprobe tools/laser tools/temperaturecontrol tools/extruder) | |
| # generate regex of modules to exclude and defines | |
| exclude_defines, excludes = EXCLUDE_MODULES.collect { |e| [e.tr('/', '_').upcase, e.sub('/', '\/')] }.transpose | |
| # see if network is enabled | |
| if ENV['NONETWORK'] || NONETWORK | |
| nonetwork= true | |
| excludes << '\/libs\/Network\/' | |
| puts "Excluding Network code" | |
| else | |
| nonetwork= false | |
| end | |
| if TESTING | |
| # add modules to be tested here | |
| TESTMODULES= %w(tools/temperatureswitch) unless defined? EXCLUDE_MODULES | |
| puts "Modules under test: #{TESTMODULES}" | |
| excludes << %w(Kernel.cpp main.cpp) # we replace these with mock versions in testframework | |
| frameworkfiles= FileList['src/testframework/*.{c,cpp}', 'src/testframework/easyunit/*.{c,cpp}'] | |
| extrafiles= FileList['src/modules/communication/SerialConsole.cpp', 'src/modules/communication/utils/Gcode.cpp', 'src/modules/robot/Conveyor.cpp', 'src/modules/robot/Block.cpp'] | |
| 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('|')}/) | |
| SRC = frameworkfiles + extrafiles + testmodules | |
| else | |
| excludes << %w(testframework) | |
| SRC = FileList['src/**/*.{c,cpp}'].exclude(/#{excludes.join('|')}/) | |
| puts "WARNING Excluding modules: #{EXCLUDE_MODULES.join(' ')}" unless exclude_defines.empty? | |
| end | |
| OBJDIR = 'OBJ' | |
| OBJ = SRC.collect { |fn| File.join(OBJDIR, pop_path(File.dirname(fn)), File.basename(fn).ext('o')) } + | |
| %W(#{OBJDIR}/configdefault.o #{OBJDIR}/mbed_custom.o) | |
| # list of header dependency files generated by compiler | |
| DEPFILES = OBJ.collect { |fn| File.join(File.dirname(fn), File.basename(fn).ext('d')) } | |
| # create destination directories | |
| SRC.each do |s| | |
| d= File.join(OBJDIR, pop_path(File.dirname(s))) | |
| FileUtils.mkdir_p(d) unless Dir.exists?(d) | |
| end | |
| INCLUDE_DIRS = [Dir.glob(['./src/**/', './mri/**/'])].flatten | |
| MBED_INCLUDE_DIRS = %W(#{MBED_DIR}/ #{MBED_DIR}/LPC1768/) | |
| INCLUDE = (INCLUDE_DIRS+MBED_INCLUDE_DIRS).collect { |d| "-I#{d}" }.join(" ") | |
| if ENABLE_DEBUG_MONITOR == '1' | |
| # Can add MRI_UART_BAUD=115200 to next line if GDB fails to connect to MRI. | |
| # Tends to happen on some Linux distros but not Windows and OS X. | |
| MRI_UART = 'MRI_UART_0' | |
| MRI_BREAK_ON_INIT = 1 unless defined? MRI_BREAK_ON_INIT | |
| else | |
| MRI_UART = 'MRI_UART_0 MRI_UART_SHARE' | |
| MRI_BREAK_ON_INIT = 0 unless defined? MRI_BREAK_ON_INIT | |
| end | |
| # Configure MRI variables based on BUILD_TYPE build type variable. | |
| case BUILDTYPE.downcase | |
| when 'release' | |
| OPTIMIZATION = 2 | |
| MRI_ENABLE = 0 | |
| MRI_SEMIHOST_STDIO = 0 unless defined? MRI_SEMIHOST_STDIO | |
| when 'debug' | |
| OPTIMIZATION = 0 | |
| MRI_ENABLE = 1 | |
| MRI_SEMIHOST_STDIO = 1 unless defined? MRI_SEMIHOST_STDIO | |
| when 'checked' | |
| OPTIMIZATION = 2 | |
| MRI_ENABLE = 1 | |
| MRI_SEMIHOST_STDIO = 1 unless defined? MRI_SEMIHOST_STDIO | |
| when 'testing' | |
| OPTIMIZATION = 0 | |
| MRI_ENABLE = 1 | |
| MRI_SEMIHOST_STDIO = 0 unless defined? MRI_SEMIHOST_STDIO | |
| end | |
| MRI_ENABLE = 1 unless defined? MRI_ENABLE # set to 0 to disable MRI | |
| MRI_LIB = MRI_ENABLE == 1 ? './mri/mri.ar' : '' | |
| MBED_LIB = "#{MBED_DIR}/LPC1768/GCC_ARM/libmbed.a" | |
| SYS_LIBS = '-lstdc++_s -lsupc++_s -lm -lgcc -lc_s -lgcc -lc_s -lnosys' | |
| LIBS = [MBED_LIB, SYS_LIBS, MRI_LIB].join(' ') | |
| 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}) | |
| defines = %w(-DCHECKSUM_USE_CPP -D__LPC17XX__ -DTARGET_LPC1768 -DWRITE_BUFFER_DISABLE=0 -DSTACK_SIZE=3072 -DCHECKSUM_USE_CPP) | |
| defines += exclude_defines.collect{|d| "-DNO_#{d}"} | |
| defines += MRI_DEFINES | |
| defines << "-DDEFAULT_SERIAL_BAUD_RATE=#{DEFAULT_SERIAL_BAUD_RATE}" | |
| defines << '-DDEBUG' if OPTIMIZATION == 0 | |
| defines << '-DNONETWORK' if nonetwork | |
| DEFINES= defines.join(' ') | |
| # Compiler flags used to enable creation of header dependencies. | |
| DEPFLAGS = '-MMD ' | |
| 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" | |
| CPPFLAGS = CFLAGS + ' -fno-rtti -std=gnu++11 -fno-exceptions' | |
| CXXFLAGS = CFLAGS + ' -fno-rtti -std=gnu++11 -fexceptions' # used for a .cxx file that needs to be compiled with exceptions | |
| MRI_WRAPS = MRI_ENABLE == 1 ? ',--wrap=_read,--wrap=_write,--wrap=semihost_connected' : '' | |
| # Linker script to be used. Indicates what code should be placed where in memory. | |
| LSCRIPT = "#{MBED_DIR}/LPC1768/GCC_ARM/LPC1768.ld" | |
| LDFLAGS = "-mcpu=cortex-m3 -mthumb -specs=./build/startfile.spec" + | |
| " -Wl,-Map=#{OBJDIR}/smoothie.map,--cref,--gc-sections,--wrap=_isatty,--wrap=malloc,--wrap=realloc,--wrap=free" + | |
| MRI_WRAPS + | |
| " -T#{LSCRIPT}" + | |
| " -u _scanf_float -u _printf_float" | |
| HTTPD_FSDATA = './src/libs/Network/uip/webserver/httpd-fsdata2.h' | |
| # tasks | |
| # generate the header dependencies if they exist | |
| import(*DEPFILES) | |
| task :clean do | |
| FileUtils.rm_rf(OBJDIR) | |
| end | |
| task :realclean => [:clean] do | |
| sh "cd ./mbed;make clean" | |
| end | |
| desc "Build the built-in web pages" | |
| task :webui => [HTTPD_FSDATA] | |
| task :default => [:build] | |
| task :build => [MBED_LIB, :version, "#{PROG}.bin", :size] | |
| task :version do | |
| if is_windows? | |
| VERSION = ' -D__GITVERSIONSTRING__=\"place-holder\"' | |
| else | |
| v1= `git symbolic-ref HEAD 2> /dev/null` | |
| v2= `git log --pretty=format:%h -1` | |
| VERSION = ' -D__GITVERSIONSTRING__=\"' + "#{v1[11..-1].chomp}-#{v2}".chomp + '\"' | |
| FileUtils.touch './src/version.cpp' # we want it compiled everytime | |
| end | |
| end | |
| desc "Upload via DFU" | |
| task :upload do | |
| sh "dfu-util -R -d 1d50:6015 -D #{OBJDIR}/#{PROG}.bin" | |
| end | |
| task :size do | |
| sh "#{SIZE} #{OBJDIR}/#{PROG}.elf" | |
| end | |
| # build internal web page | |
| WEB_SOURCE_FILES= FileList['./src/libs/Network/uip/webserver/httpd-fs-src/**/*'] | |
| WEBDIR = './src/libs/Network/uip/webserver/httpd-fs' | |
| file HTTPD_FSDATA => WEB_SOURCE_FILES do | |
| FileUtils.rm_rf WEBDIR | |
| FileUtils.mkdir WEBDIR | |
| FileUtils.cp WEB_SOURCE_FILES, WEBDIR | |
| # TODO minify some files | |
| # sh 'java -jar yuicompressor-2.4.8.jar file -o file' | |
| sh 'cd ./src/libs/Network/uip/webserver; perl makefsdata.pl' | |
| sh 'cd ./src; make' | |
| end | |
| file MBED_LIB do | |
| puts "Building Mbed Using Make" | |
| sh "cd ./mbed;make all" | |
| end | |
| file "#{OBJDIR}/mbed_custom.o" => ['./build/mbed_custom.cpp'] do |t| | |
| puts "Compiling mbed_custom.cpp" | |
| sh "#{CCPP} #{CPPFLAGS} #{INCLUDE} #{DEFINES} -c -o #{t.name} #{t.prerequisites[0]}" | |
| end | |
| file "#{OBJDIR}/configdefault.o" => 'src/config.default' do |t| | |
| sh "cd ./src; ../#{OBJCOPY} -I binary -O elf32-littlearm -B arm --readonly-text --rename-section .data=.rodata.configdefault config.default ../#{OBJDIR}/configdefault.o" | |
| end | |
| file "#{PROG}.bin" => ["#{PROG}.elf"] do | |
| sh "#{OBJCOPY} -O binary #{OBJDIR}/#{PROG}.elf #{OBJDIR}/#{PROG}.bin" | |
| end | |
| file "#{PROG}.elf" => OBJ do |t| | |
| puts "Linking #{t.source}" | |
| sh "#{LD} #{LDFLAGS} #{OBJ} #{LIBS} -o #{OBJDIR}/#{t.name}" | |
| end | |
| #arm-none-eabi-objcopy -R .stack -O ihex ../LPC1768/main.elf ../LPC1768/main.hex | |
| #arm-none-eabi-objdump -d -f -M reg-names-std --demangle ../LPC1768/main.elf >../LPC1768/main.disasm | |
| rule '.o' => lambda{ |objfile| obj2src(objfile, 'cpp') } do |t| | |
| puts "Compiling #{t.source}" | |
| sh "#{CCPP} #{CPPFLAGS} #{INCLUDE} #{DEFINES} #{VERSION} -c -o #{t.name} #{t.source}" | |
| end | |
| rule '.o' => lambda{ |objfile| obj2src(objfile, 'cxx') } do |t| | |
| puts "Compiling #{t.source}" | |
| sh "#{CCPP} #{CXXFLAGS} #{INCLUDE} #{DEFINES} #{VERSION} -c -o #{t.name} #{t.source}" | |
| end | |
| rule '.o' => lambda{ |objfile| obj2src(objfile, 'c') } do |t| | |
| puts "Compiling #{t.source}" | |
| sh "#{CC} #{CFLAGS} #{INCLUDE} #{DEFINES} #{VERSION} -c -o #{t.name} #{t.source}" | |
| end | |