mirror of
https://github.com/rust-embedded/rust-raspberrypi-OS-tutorials.git
synced 2024-11-11 07:10:59 +00:00
354 lines
14 KiB
Makefile
354 lines
14 KiB
Makefile
## SPDX-License-Identifier: MIT OR Apache-2.0
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##
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## Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
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include ../common/format.mk
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include ../common/docker.mk
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##--------------------------------------------------------------------------------------------------
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## Optional, user-provided configuration values
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##--------------------------------------------------------------------------------------------------
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# Default to the RPi3.
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BSP ?= rpi3
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# Default to a serial device name that is common in Linux.
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DEV_SERIAL ?= /dev/ttyUSB0
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# Optional integration test name.
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ifdef TEST
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TEST_ARG = --test $(TEST)
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else
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TEST_ARG = --test '*'
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endif
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##--------------------------------------------------------------------------------------------------
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## BSP-specific configuration values
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##--------------------------------------------------------------------------------------------------
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QEMU_MISSING_STRING = "This board is not yet supported for QEMU."
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ifeq ($(BSP),rpi3)
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TARGET = aarch64-unknown-none-softfloat
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KERNEL_BIN = kernel8.img
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QEMU_BINARY = qemu-system-aarch64
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QEMU_MACHINE_TYPE = raspi3
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QEMU_RELEASE_ARGS = -serial stdio -display none
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QEMU_TEST_ARGS = $(QEMU_RELEASE_ARGS) -semihosting
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OBJDUMP_BINARY = aarch64-none-elf-objdump
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NM_BINARY = aarch64-none-elf-nm
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READELF_BINARY = aarch64-none-elf-readelf
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OPENOCD_ARG = -f /openocd/tcl/interface/ftdi/olimex-arm-usb-tiny-h.cfg -f /openocd/rpi3.cfg
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JTAG_BOOT_IMAGE = ../X1_JTAG_boot/jtag_boot_rpi3.img
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LD_SCRIPT_PATH = $(shell pwd)/kernel/src/bsp/raspberrypi
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RUSTC_MISC_ARGS = -C target-cpu=cortex-a53
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else ifeq ($(BSP),rpi4)
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TARGET = aarch64-unknown-none-softfloat
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KERNEL_BIN = kernel8.img
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QEMU_BINARY = qemu-system-aarch64
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QEMU_MACHINE_TYPE =
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QEMU_RELEASE_ARGS = -serial stdio -display none
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QEMU_TEST_ARGS = $(QEMU_RELEASE_ARGS) -semihosting
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OBJDUMP_BINARY = aarch64-none-elf-objdump
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NM_BINARY = aarch64-none-elf-nm
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READELF_BINARY = aarch64-none-elf-readelf
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OPENOCD_ARG = -f /openocd/tcl/interface/ftdi/olimex-arm-usb-tiny-h.cfg -f /openocd/rpi4.cfg
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JTAG_BOOT_IMAGE = ../X1_JTAG_boot/jtag_boot_rpi4.img
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LD_SCRIPT_PATH = $(shell pwd)/kernel/src/bsp/raspberrypi
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RUSTC_MISC_ARGS = -C target-cpu=cortex-a72
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endif
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# Export for build.rs.
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export LD_SCRIPT_PATH
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##--------------------------------------------------------------------------------------------------
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## Targets and Prerequisites
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##--------------------------------------------------------------------------------------------------
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KERNEL_MANIFEST = kernel/Cargo.toml
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KERNEL_LINKER_SCRIPT = kernel.ld
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LAST_BUILD_CONFIG = target/$(BSP).build_config
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KERNEL_ELF_RAW = target/$(TARGET)/release/kernel
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# This parses cargo's dep-info file.
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# https://doc.rust-lang.org/cargo/guide/build-cache.html#dep-info-files
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KERNEL_ELF_RAW_DEPS = $(filter-out %: ,$(file < $(KERNEL_ELF_RAW).d)) $(KERNEL_MANIFEST) $(LAST_BUILD_CONFIG)
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##------------------------------------------------------------------------------
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## Translation tables
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##------------------------------------------------------------------------------
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TT_TOOL_PATH = tools/translation_table_tool
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KERNEL_ELF_TTABLES = target/$(TARGET)/release/kernel+ttables
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KERNEL_ELF_TTABLES_DEPS = $(KERNEL_ELF_RAW) $(wildcard $(TT_TOOL_PATH)/*)
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KERNEL_ELF = $(KERNEL_ELF_TTABLES)
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##--------------------------------------------------------------------------------------------------
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## Command building blocks
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##--------------------------------------------------------------------------------------------------
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RUSTFLAGS = $(RUSTC_MISC_ARGS) \
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-C link-arg=--library-path=$(LD_SCRIPT_PATH) \
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-C link-arg=--script=$(KERNEL_LINKER_SCRIPT)
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RUSTFLAGS_PEDANTIC = $(RUSTFLAGS) \
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-D warnings \
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-D missing_docs
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FEATURES = --features bsp_$(BSP)
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COMPILER_ARGS = --target=$(TARGET) \
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$(FEATURES) \
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--release
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RUSTC_CMD = cargo rustc $(COMPILER_ARGS) --manifest-path $(KERNEL_MANIFEST)
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DOC_CMD = cargo doc $(COMPILER_ARGS)
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CLIPPY_CMD = cargo clippy $(COMPILER_ARGS)
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TEST_CMD = cargo test $(COMPILER_ARGS) --manifest-path $(KERNEL_MANIFEST)
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OBJCOPY_CMD = rust-objcopy \
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--strip-all \
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-O binary
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EXEC_QEMU = $(QEMU_BINARY) -M $(QEMU_MACHINE_TYPE)
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EXEC_TT_TOOL = ruby $(TT_TOOL_PATH)/main.rb
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EXEC_TEST_DISPATCH = ruby ../common/tests/dispatch.rb
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EXEC_MINIPUSH = ruby ../common/serial/minipush.rb
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##------------------------------------------------------------------------------
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## Dockerization
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##------------------------------------------------------------------------------
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DOCKER_CMD = docker run -t --rm -v $(shell pwd):/work/tutorial -w /work/tutorial
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DOCKER_CMD_INTERACT = $(DOCKER_CMD) -i
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DOCKER_ARG_DIR_COMMON = -v $(shell pwd)/../common:/work/common
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DOCKER_ARG_DIR_JTAG = -v $(shell pwd)/../X1_JTAG_boot:/work/X1_JTAG_boot
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DOCKER_ARG_DEV = --privileged -v /dev:/dev
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DOCKER_ARG_NET = --network host
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# DOCKER_IMAGE defined in include file (see top of this file).
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DOCKER_QEMU = $(DOCKER_CMD_INTERACT) $(DOCKER_IMAGE)
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DOCKER_TOOLS = $(DOCKER_CMD) $(DOCKER_IMAGE)
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DOCKER_TEST = $(DOCKER_CMD) $(DOCKER_ARG_DIR_COMMON) $(DOCKER_IMAGE)
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DOCKER_GDB = $(DOCKER_CMD_INTERACT) $(DOCKER_ARG_NET) $(DOCKER_IMAGE)
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# Dockerize commands, which require USB device passthrough, only on Linux.
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ifeq ($(shell uname -s),Linux)
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DOCKER_CMD_DEV = $(DOCKER_CMD_INTERACT) $(DOCKER_ARG_DEV)
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DOCKER_CHAINBOOT = $(DOCKER_CMD_DEV) $(DOCKER_ARG_DIR_COMMON) $(DOCKER_IMAGE)
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DOCKER_JTAGBOOT = $(DOCKER_CMD_DEV) $(DOCKER_ARG_DIR_COMMON) $(DOCKER_ARG_DIR_JTAG) $(DOCKER_IMAGE)
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DOCKER_OPENOCD = $(DOCKER_CMD_DEV) $(DOCKER_ARG_NET) $(DOCKER_IMAGE)
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else
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DOCKER_OPENOCD = echo "Not yet supported on non-Linux systems."; \#
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endif
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##--------------------------------------------------------------------------------------------------
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## Targets
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##--------------------------------------------------------------------------------------------------
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.PHONY: all doc qemu chainboot clippy clean readelf objdump nm check
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all: $(KERNEL_BIN)
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##------------------------------------------------------------------------------
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## Save the configuration as a file, so make understands if it changed.
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##------------------------------------------------------------------------------
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$(LAST_BUILD_CONFIG):
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@rm -f target/*.build_config
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@mkdir -p target
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@touch $(LAST_BUILD_CONFIG)
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##------------------------------------------------------------------------------
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## Compile the kernel ELF
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##------------------------------------------------------------------------------
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$(KERNEL_ELF_RAW): $(KERNEL_ELF_RAW_DEPS)
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$(call color_header, "Compiling kernel ELF - $(BSP)")
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@RUSTFLAGS="$(RUSTFLAGS_PEDANTIC)" $(RUSTC_CMD)
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##------------------------------------------------------------------------------
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## Precompute the kernel translation tables and patch them into the kernel ELF
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##------------------------------------------------------------------------------
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$(KERNEL_ELF_TTABLES): $(KERNEL_ELF_TTABLES_DEPS)
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$(call color_header, "Precomputing kernel translation tables and patching kernel ELF")
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@cp $(KERNEL_ELF_RAW) $(KERNEL_ELF_TTABLES)
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@$(DOCKER_TOOLS) $(EXEC_TT_TOOL) $(BSP) $(KERNEL_ELF_TTABLES)
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##------------------------------------------------------------------------------
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## Generate the stripped kernel binary
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##------------------------------------------------------------------------------
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$(KERNEL_BIN): $(KERNEL_ELF_TTABLES)
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$(call color_header, "Generating stripped binary")
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@$(OBJCOPY_CMD) $(KERNEL_ELF_TTABLES) $(KERNEL_BIN)
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$(call color_progress_prefix, "Name")
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@echo $(KERNEL_BIN)
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$(call color_progress_prefix, "Size")
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@printf '%s KiB\n' `du -k $(KERNEL_BIN) | cut -f1`
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##------------------------------------------------------------------------------
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## Generate the documentation
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##------------------------------------------------------------------------------
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doc:
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$(call color_header, "Generating docs")
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@$(DOC_CMD) --document-private-items --open
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##------------------------------------------------------------------------------
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## Run the kernel in QEMU
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##------------------------------------------------------------------------------
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ifeq ($(QEMU_MACHINE_TYPE),) # QEMU is not supported for the board.
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qemu:
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$(call color_header, "$(QEMU_MISSING_STRING)")
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else # QEMU is supported.
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qemu: $(KERNEL_BIN)
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$(call color_header, "Launching QEMU")
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@$(DOCKER_QEMU) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) -kernel $(KERNEL_BIN)
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endif
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##------------------------------------------------------------------------------
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## Push the kernel to the real HW target
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##------------------------------------------------------------------------------
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chainboot: $(KERNEL_BIN)
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@$(DOCKER_CHAINBOOT) $(EXEC_MINIPUSH) $(DEV_SERIAL) $(KERNEL_BIN)
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##------------------------------------------------------------------------------
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## Run clippy
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##------------------------------------------------------------------------------
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clippy:
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@RUSTFLAGS="$(RUSTFLAGS_PEDANTIC)" $(CLIPPY_CMD)
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@RUSTFLAGS="$(RUSTFLAGS_PEDANTIC)" $(CLIPPY_CMD) --features test_build --tests \
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--manifest-path $(KERNEL_MANIFEST)
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##------------------------------------------------------------------------------
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## Clean
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##------------------------------------------------------------------------------
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clean:
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rm -rf target $(KERNEL_BIN)
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##------------------------------------------------------------------------------
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## Run readelf
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##------------------------------------------------------------------------------
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readelf: $(KERNEL_ELF)
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$(call color_header, "Launching readelf")
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@$(DOCKER_TOOLS) $(READELF_BINARY) --headers $(KERNEL_ELF)
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##------------------------------------------------------------------------------
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## Run objdump
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##------------------------------------------------------------------------------
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objdump: $(KERNEL_ELF)
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$(call color_header, "Launching objdump")
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@$(DOCKER_TOOLS) $(OBJDUMP_BINARY) --disassemble --demangle \
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--section .text \
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--section .rodata \
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$(KERNEL_ELF) | rustfilt
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##------------------------------------------------------------------------------
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## Run nm
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##------------------------------------------------------------------------------
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nm: $(KERNEL_ELF)
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$(call color_header, "Launching nm")
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@$(DOCKER_TOOLS) $(NM_BINARY) --demangle --print-size $(KERNEL_ELF) | sort | rustfilt
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##--------------------------------------------------------------------------------------------------
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## Debugging targets
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##--------------------------------------------------------------------------------------------------
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.PHONY: jtagboot openocd gdb gdb-opt0
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##------------------------------------------------------------------------------
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## Push the JTAG boot image to the real HW target
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##------------------------------------------------------------------------------
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jtagboot:
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@$(DOCKER_JTAGBOOT) $(EXEC_MINIPUSH) $(DEV_SERIAL) $(JTAG_BOOT_IMAGE)
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##------------------------------------------------------------------------------
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## Start OpenOCD session
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##------------------------------------------------------------------------------
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openocd:
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$(call color_header, "Launching OpenOCD")
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@$(DOCKER_OPENOCD) openocd $(OPENOCD_ARG)
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##------------------------------------------------------------------------------
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## Start GDB session
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##------------------------------------------------------------------------------
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gdb: RUSTC_MISC_ARGS += -C debuginfo=2
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gdb-opt0: RUSTC_MISC_ARGS += -C debuginfo=2 -C opt-level=0
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gdb gdb-opt0: $(KERNEL_ELF)
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$(call color_header, "Launching GDB")
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@$(DOCKER_GDB) gdb-multiarch -q $(KERNEL_ELF)
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##--------------------------------------------------------------------------------------------------
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## Testing targets
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##--------------------------------------------------------------------------------------------------
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.PHONY: test test_boot test_unit test_integration
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test_unit test_integration: FEATURES += --features test_build
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ifeq ($(QEMU_MACHINE_TYPE),) # QEMU is not supported for the board.
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test_boot test_unit test_integration test:
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$(call color_header, "$(QEMU_MISSING_STRING)")
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else # QEMU is supported.
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##------------------------------------------------------------------------------
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## Run boot test
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##------------------------------------------------------------------------------
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test_boot: $(KERNEL_BIN)
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$(call color_header, "Boot test - $(BSP)")
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@$(DOCKER_TEST) $(EXEC_TEST_DISPATCH) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) -kernel $(KERNEL_BIN)
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##------------------------------------------------------------------------------
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## Helpers for unit and integration test targets
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##------------------------------------------------------------------------------
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define KERNEL_TEST_RUNNER
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#!/usr/bin/env bash
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# The cargo test runner seems to change into the crate under test's directory. Therefore, ensure
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# this script executes from the root.
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cd $(shell pwd)
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TEST_ELF=$$(echo $$1 | sed -e 's/.*target/target/g')
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TEST_BINARY=$$(echo $$1.img | sed -e 's/.*target/target/g')
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$(DOCKER_TOOLS) $(EXEC_TT_TOOL) $(BSP) $$TEST_ELF > /dev/null
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$(OBJCOPY_CMD) $$TEST_ELF $$TEST_BINARY
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$(DOCKER_TEST) $(EXEC_TEST_DISPATCH) $(EXEC_QEMU) $(QEMU_TEST_ARGS) -kernel $$TEST_BINARY
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endef
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export KERNEL_TEST_RUNNER
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define test_prepare
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@mkdir -p target
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@echo "$$KERNEL_TEST_RUNNER" > target/kernel_test_runner.sh
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@chmod +x target/kernel_test_runner.sh
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endef
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##------------------------------------------------------------------------------
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## Run unit test(s)
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##------------------------------------------------------------------------------
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test_unit:
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$(call color_header, "Compiling unit test(s) - $(BSP)")
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$(call test_prepare)
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@RUSTFLAGS="$(RUSTFLAGS_PEDANTIC)" $(TEST_CMD) --lib
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##------------------------------------------------------------------------------
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## Run integration test(s)
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##------------------------------------------------------------------------------
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test_integration:
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$(call color_header, "Compiling integration test(s) - $(BSP)")
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$(call test_prepare)
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@RUSTFLAGS="$(RUSTFLAGS_PEDANTIC)" $(TEST_CMD) $(TEST_ARG)
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test: test_boot test_unit test_integration
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endif
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