Makefile

# This file is part of the OpenMV project.
#
# Copyright (c) 2013-2024 Ibrahim Abdelkader <iabdalkader@openmv.io>
# Copyright (c) 2013-2024 Kwabena W. Agyeman <kwagyeman@openmv.io>
#
# This work is licensed under the MIT license, see the file LICENSE for details.
#
# Top level Makefile

# Set verbosity
ifeq ($(V), 1)
export Q =
else
export Q = @
MAKEFLAGS += --silent
endif

# Debug configuration
DEBUGGER ?= JLINK

# Dummy target to run sdk/clean
ifeq ($(TARGET),)
  ifeq ($(filter sdk clean,$(MAKECMDGOALS)),)
    $(error Invalid or no TARGET specified)
  else
    TARGET=OPENMV4
  endif
endif

# OpenMV SDK configuration
SDK_VERSION = 1.1.0
SDK_DIR ?= $(HOME)/openmv-sdk-$(SDK_VERSION)
SDK_STAMP = $(SDK_DIR)/sdk.version

# Check if the SDK is downloaded
ifeq ($(filter sdk clean,$(MAKECMDGOALS)),)
  ifeq ($(wildcard $(SDK_STAMP)),)
    $(error OpenMV SDK not found. Run 'make sdk' to install it.)
  else
    SDK_INSTALLED := $(shell cat $(SDK_STAMP))
    ifneq ($(SDK_INSTALLED),$(SDK_VERSION))
      $(error OpenMV SDK version mismatch. Run 'make sdk'.)
    endif
  endif
endif

# Targets
export OPENMV ?= openmv
export FIRMWARE ?= firmware
OMV_DEBUG_ELF ?= $(FIRMWARE)
export BOOTLOADER ?= bootloader

# Commands (use := to avoid repeated expansion overhead in parallel builds)
export CC      := $(Q)arm-none-eabi-gcc
export CLANG   := $(Q)clang
export CXX     := $(Q)arm-none-eabi-g++
export AS      := $(Q)arm-none-eabi-as
export LD      := $(Q)arm-none-eabi-ld
export AR      := $(Q)arm-none-eabi-ar
export RM      := $(Q)rm
export CPP     := $(Q)arm-none-eabi-cpp
export SIZE    := $(Q)arm-none-eabi-size
export STRIP   := $(Q)arm-none-eabi-strip -s
export OBJCOPY := $(Q)arm-none-eabi-objcopy
export OBJDUMP := $(Q)arm-none-eabi-objdump
export PYTHON  := $(Q)python3
export MKDIR   := $(Q)mkdir
export ECHO    := $(Q)@echo
export MAKE    := $(Q)make
export CAT     := $(Q)cat
export MKROMFS := mkromfs.py
export MACHINE := $(shell uname -m)

# Directories
export TOP_DIR:=$(shell pwd)
export BUILD:=$(TOP_DIR)/build
export TOOLS_DIR:=$(TOP_DIR)/tools
export FW_DIR:=$(BUILD)/bin
export BOOT_DIR=boot
export PORTS_DIR=ports
export CUBEAI_DIR=cubeai
export CMSIS_DIR=lib/cmsis
export MICROPY_DIR=lib/micropython
export NEMA_DIR=drivers/nema
export LIBPDM_DIR=lib/libpdm
export TENSORFLOW_DIR=lib/tflm
export COMMON_DIR=common
export CYW4343_FW_DIR=drivers/cyw4343/firmware/
export OMV_BOARD_CONFIG_DIR:=$(TOP_DIR)/boards/$(TARGET)/
export OMV_LIB_DIR:=$(TOP_DIR)/scripts/libraries
export FROZEN_MANIFEST:=$(OMV_BOARD_CONFIG_DIR)/manifest.py

# Prepend SDK bin directories to PATH.
STEDGEAI_CORE = $(wildcard $(SDK_DIR)/stedgeai/[0-9]*)
STEDGEAI_UTIL = Utilities/$(if $(filter Darwin,$(shell uname -s)),macarm,linux)
export PATH := $(SDK_DIR)/gcc/bin:$(SDK_DIR)/llvm/bin:$(SDK_DIR)/cmake/bin:$(SDK_DIR)/python/bin:$(SDK_DIR)/stcubeprog/bin:$(STEDGEAI_CORE)/$(STEDGEAI_UTIL):$(SDK_DIR)/fvp/bin:$(PATH)

# Debugging/Optimization
ifeq ($(DEBUG), 1)
ROM_TEXT_COMPRESSION = 0
CFLAGS += -Og -ggdb3
else
DEBUG=0
ROM_TEXT_COMPRESSION = 1
CFLAGS += -O2 -DNDEBUG
USERMOD_OPT = -O2
MPY_CFLAGS += -DMICROPY_ROM_TEXT_COMPRESSION=1
endif

# Enable debug printf
ifeq ($(DEBUG_PRINTF), 1)
CFLAGS += -DOMV_DEBUG_PRINTF
endif

# Enable stack protection
ifeq ($(STACK_PROTECTOR), 1)
CFLAGS += -fstack-protector-all -DSTACK_PROTECTOR
endif

# Enable debug printf
ifeq ($(FB_ALLOC_STATS), 1)
CFLAGS += -DFB_ALLOC_STATS
endif

# Enable timing for some functions.
ifeq ($(PROFILE_ENABLE), 1)
$(info ===================================)
$(info =======  Profiling Enabled  =======)
$(info ===================================)

# Enable profiling in IRQ context (default: enabled)
PROFILE_IRQ ?= 0

# Default profiler hash table size (must be power of 2)
ifeq ($(PROFILE_HASH),)
PROFILE_HASH=256
endif

CFLAGS += -DOMV_PROFILER_ENABLE=1
CFLAGS += -DOMV_PROFILER_HASH_SIZE=$(PROFILE_HASH)
CFLAGS += -DOMV_PROFILER_IRQ_ENABLE=$(PROFILE_IRQ)
CFLAGS += -finstrument-functions-exclude-file-list=lib/cmsis,lib/stm32,/lib/mimxrt,lib/alif,simd.h
endif

# Include OpenMV board config first to set the port.
include $(OMV_BOARD_CONFIG_DIR)/omv_boardconfig.mk

# Include MicroPython board config.
#include $(MP_BOARD_CONFIG_DIR)/mpconfigboard.mk

# Additional qstr definitions for OpenMV
#OMV_SRC_QSTR := $(wildcard $(TOP_DIR)/modules/*.c)

export OMV_PORT_DIR:=$(TOP_DIR)/ports/$(PORT)
export MP_BOARD_CONFIG_DIR:=$(TOP_DIR)/$(MICROPY_DIR)/ports/$(PORT)/boards/$(TARGET)/

# The following command line args are passed to MicroPython's top Makefile.
MPY_MKARGS = PORT=$(PORT) BOARD=$(TARGET) DEBUG=$(DEBUG) MICROPY_MANIFEST_OMV_LIB_DIR=$(OMV_LIB_DIR)\
             FROZEN_MANIFEST=$(FROZEN_MANIFEST) OMV_SRC_QSTR="$(OMV_SRC_QSTR)"\
             MICROPY_ROM_TEXT_COMPRESSION=$(ROM_TEXT_COMPRESSION) USER_C_MODULES=$(TOP_DIR)



# Check GCC toolchain version.
ifeq ($(CPU),cortex-m55)
include $(TOP_DIR)/common/check_toolchain.mk
endif

# Configure additional built-in modules. Note must define both the CFLAGS and the Make command line args.
ifeq ($(MICROPY_PY_CSI), 1)
MPY_CFLAGS += -DMICROPY_PY_CSI=1
MPY_MKARGS += MICROPY_PY_CSI=1
endif

ifeq ($(MICROPY_PY_CSI_NG), 1)
MPY_CFLAGS += -DMICROPY_PY_CSI_NG=1
MPY_MKARGS += MICROPY_PY_CSI_NG=1
endif

ifeq ($(MICROPY_PY_PROTOCOL), 1)
MPY_CFLAGS += -DMICROPY_PY_PROTOCOL=1
MPY_MKARGS += MICROPY_PY_PROTOCOL=1
endif

ifeq ($(MICROPY_PY_FIR), 1)
MPY_CFLAGS += -DMICROPY_PY_FIR=1
MPY_MKARGS += MICROPY_PY_FIR=1
endif

ifeq ($(MICROPY_PY_WINC1500), 1)
MPY_CFLAGS += -DMICROPY_PY_WINC1500=1
MPY_MKARGS += MICROPY_PY_WINC1500=1
MPY_PENDSV_ENTRIES += PENDSV_DISPATCH_WINC,
endif

ifeq ($(MICROPY_PY_IMU), 1)
MPY_CFLAGS += -DMICROPY_PY_IMU=1
MPY_MKARGS += MICROPY_PY_IMU=1
endif

ifeq ($(MICROPY_PY_CRC), 1)
MPY_CFLAGS += -DMICROPY_PY_CRC=1
MPY_MKARGS += MICROPY_PY_CRC=1
endif

ifeq ($(MICROPY_PY_BTREE), 1)
MPY_CFLAGS += -DMICROPY_PY_BTREE=1
MPY_MKARGS += MICROPY_PY_BTREE=1
endif

ifeq ($(MICROPY_PY_TOF), 1)
MPY_CFLAGS += -DMICROPY_PY_TOF=1
MPY_MKARGS += MICROPY_PY_TOF=1
endif

ifeq ($(MICROPY_PY_ULAB), 1)
MPY_CFLAGS += -DMICROPY_PY_ULAB=1
MPY_CFLAGS += -DULAB_CONFIG_FILE="\"$(OMV_BOARD_CONFIG_DIR)/ulab_config.h\""
MPY_MKARGS += MICROPY_PY_ULAB=1
endif

ifeq ($(MICROPY_PY_AUDIO), 1)
MPY_CFLAGS += -DMICROPY_PY_AUDIO=1
MPY_MKARGS += MICROPY_PY_AUDIO=1
endif

ifeq ($(MICROPY_PY_DISPLAY), 1)
MPY_CFLAGS += -DMICROPY_PY_DISPLAY=1
MPY_MKARGS += MICROPY_PY_DISPLAY=1
endif

ifeq ($(MICROPY_PY_TV), 1)
MPY_CFLAGS += -DMICROPY_PY_TV=1
MPY_MKARGS += MICROPY_PY_TV=1
endif

ifeq ($(CUBEAI), 1)
MPY_CFLAGS += -DMICROPY_PY_CUBEAI=1
MPY_MKARGS += MICROPY_PY_CUBEAI=1
endif

ifeq ($(MICROPY_PY_ML), 1)
MPY_CFLAGS += -DMICROPY_PY_ML=1
MPY_MKARGS += MICROPY_PY_ML=1
endif

ifeq ($(MICROPY_PY_ML_TFLM), 1)
MPY_CFLAGS += -DMICROPY_PY_ML_TFLM=1
MPY_MKARGS += MICROPY_PY_ML_TFLM=1
endif

ifeq ($(MICROPY_PY_ML_STAI), 1)
MPY_CFLAGS += -DMICROPY_PY_ML_STAI=1
MPY_MKARGS += MICROPY_PY_ML_STAI=1
endif

ifeq ($(MICROPY_PY_UNITTEST), 1)
MPY_CFLAGS += -DMICROPY_PY_UNITTEST=1
MPY_MKARGS += MICROPY_PY_UNITTEST=1
endif

MPY_PENDSV_ENTRIES := $(shell echo $(MPY_PENDSV_ENTRIES) | tr -d '[:space:]')

MPY_CFLAGS += -DMICROPY_HW_USB_VID=$(OMV_USB_VID)
MPY_CFLAGS += -DMICROPY_HW_USB_PID=$(OMV_USB_PID)

MPY_CFLAGS += -DMICROPY_BOARD_PENDSV_ENTRIES="$(MPY_PENDSV_ENTRIES)"
MPY_CFLAGS += -DMP_CONFIGFILE=\<$(OMV_PORT_DIR)/omv_mpconfigport.h\>

# Include the port Makefile.
include $(OMV_PORT_DIR)/omv_portconfig.mk

# Freeze recursively-expanded variables into simply-expanded ones.
# Without this, make re-evaluates all sub-variable references every
# time it constructs the environment for each recipe fork
CFLAGS := $(CFLAGS)
LDFLAGS := $(LDFLAGS)
MPY_CFLAGS := $(MPY_CFLAGS)
MPY_MKARGS := $(MPY_MKARGS)
AFLAGS := $(AFLAGS)
TOP_DIR := $(TOP_DIR)
BUILD := $(BUILD)
TOOLS_DIR := $(TOOLS_DIR)
FW_DIR := $(FW_DIR)
OMV_BOARD_CONFIG_DIR := $(OMV_BOARD_CONFIG_DIR)
OMV_PORT_DIR := $(OMV_PORT_DIR)
MP_BOARD_CONFIG_DIR := $(MP_BOARD_CONFIG_DIR)
OMV_LIB_DIR := $(OMV_LIB_DIR)
FROZEN_MANIFEST := $(FROZEN_MANIFEST)

# Export variables for sub-make.
export PORT
export MCU
export TARGET
export CFLAGS
export AFLAGS
export LDFLAGS
export MPY_CFLAGS
export MPY_MKARGS
export USERMOD_OPT

clean:
	$(RM) -fr $(BUILD)

size:
ifeq ($(OMV_ENABLE_BL), 1)
	$(SIZE) --format=SysV $(FW_DIR)/$(BOOTLOADER).elf
endif
	$(SIZE) --format=SysV $(FW_DIR)/$(FIRMWARE).elf

.PHONY: sdk
sdk:
	$(Q)bash -c "source tools/ci.sh && ci_install_sdk"

submodules:
	$(MAKE) -C $(MICROPY_DIR)/ports/$(PORT) BOARD=$(TARGET) submodules

debug: $(ROMFS_IMAGE)
ifeq ($(DEBUGGER),NONE)
	$(error This target does not support debugging)
endif
	gdbrunner $(DEBUGGER) $(OMV_$(DEBUGGER)_ARGS) $(FW_DIR)/$(OMV_DEBUG_ELF).elf