[scons] Simplify Scons tooling, misc. fixes and improvements

.gitmodules

@@ -4,9 +4,6 @@
 [submodule "ext/modm-devices"]
 	path = ext/modm-devices
 	url = https://github.com/modm-io/modm-devices.git
-[submodule "ext/dlr/scons-build-tools"]
-	path = ext/dlr/scons-build-tools
-	url = https://github.com/modm-io/scons-build-tools.git
 [submodule "ext/ros/ros-lib"]
 	path = ext/ros/ros-lib
 	url = https://github.com/modm-io/ros-lib

src/modm/platform/core/cortex/module.lb

@@ -166,6 +166,14 @@ def prepare(module, options):
             maximum=2 ** 16,
             default="3*1024"))
 
+    if "f" in options[":target"].get_driver("core")["type"]:
+        module.add_option(
+            EnumerationOption(
+                name="float-abi",
+                description="Floating point ABI",
+                enumeration=["soft", "softfp", "hard"],
+                default="hard"))
+
     memories = listify(options[":target"].get_driver("core")["memory"])
 
     # Cortex-M0 does not have remappable vector table, so it will remain in Flash
@@ -258,6 +266,7 @@ def build(env):
         "with_fault_storage": env.has_module(":platform:fault"),
         "with_memory_traits": env.has_module(":architecture:memory"),
         "with_assert": env.has_module(":architecture:assert"),
+        "with_fpu": env.get("float-abi", "soft") != "soft",
     })
     env.outbasepath = "modm/src/modm/platform/core"
 
@@ -345,7 +354,7 @@ def build(env):
             "7f": "-mfpu=fpv5-sp-d16",
             "7fd": "-mfpu=fpv5-d16",
         }[fpu]
-        env.collect(":build:archflags", "-mfloat-abi=hard", fpu_spec)
+        env.collect(":build:archflags", "-mfloat-abi={}".format(env["float-abi"]), fpu_spec)
         single_precision = ("-sp-" in fpu_spec)
     if single_precision:
         env.collect(":build:ccflags", "-fsingle-precision-constant",

src/modm/platform/core/cortex/module.md

@@ -309,7 +309,7 @@ This module adds these architecture specific [compiler options][options]:
 
 - `-mcpu=cortex-m{type}`: the target to compile for.
 - `-mthumb`: only Thumb2 instruction set is supported.
-- `-mfloat-abi=hard`: if FPU available use the fastest ABI available.
+- `-mfloat-abi={soft, softfp, hard}`: the FPU ABI: `hard` is fastest.
 - `-mfpu=fpv{4, 5}-{sp}-d16`: single or double precision FPU.
 - `-fsingle-precision-constant`: if SP-FPU, treat all FP constants as SP.
 - `-Wdouble-promotion`: if SP-FPU, warn if FPs are promoted to doubles.

src/modm/platform/core/cortex/startup.c.in

@@ -97,7 +97,7 @@ void __modm_startup(void)
 	SCB_EnableICache();
 %% endif
 
-%% if "f" in core
+%% if with_fpu
 	// Enable FPU in privileged and user mode
 	SCB->CPACR |= ((3UL << 10*2) | (3UL << 11*2));
 %% endif

tools/build_script_generator/module.lb

@@ -99,9 +99,14 @@ def prepare(module, options):
     module.add_collector(
         PathCollector(name="path.library",
                       description="Search path for static libraries"))
+    def validate_library(library):
+        if library.startswith("lib") or library.endswith(".a"):
+            raise ValueError("Libraries must only contain `name` not `libname.a`!")
+        return library
     module.add_collector(
         StringCollector(name="library",
-                        description="Libraries to link against"))
+                        description="Libraries to link against",
+                        validate=validate_library))
     module.add_collector(
         StringCollector(name="pkg-config",
                         description="Packages to configure against"))

tools/build_script_generator/scons/module.lb

@@ -80,15 +80,16 @@ def build(env):
     # SCons tools and toolpaths
     toolpaths = {
         "scons/site_tools",
-        "ext/dlr/scons/site_tools"
     }
     tools = {
         "build_target",
+        "comstr",
         "find_files",
+        "gcc_retarget",
         "qtcreator",
-        "settings_buildpath",
         "template",
-        "utils_buildformat",
+        "utils",
+        "utils_buildpath",
     }
     if env.has_module(":communication:xpcc:generator"):
         tools.add("xpcc_generator")
@@ -101,30 +102,16 @@ def build(env):
 
     device = env.query("::device")
     if device["core"].startswith("cortex-m"):
-        tools.update({"compiler_arm_none_eabi_gcc", "size", "log_itm", "artifact",
-                      "openocd", "openocd_remote", "bmp", "crashdebug", "dfu"})
+        tools.update({"size", "log_itm", "artifact", "openocd",
+                     "openocd_remote", "bmp", "crashdebug", "dfu"})
         if device["platform"] in ["sam"]:
             tools.update({"bossac"})
     elif device["core"].startswith("avr"):
-        tools.update({"compiler_avr_gcc", "size", "avrdude"})
-    else: # hosted
-        tools.update({"compiler_hosted_gcc"})
+        tools.update({"size", "avrdude"})
 
     env.collect("path.tools", *toolpaths)
     env.collect("tools", *tools)
 
-    # Add common DLR SCons build tools
-    tools.update({
-        "settings_gcc_default_internal",
-        "utils_common",
-        "utils_gcc_version",
-    })
-    env.outbasepath = "modm/ext/dlr/scons/site_tools"
-    for tool in tools:
-        path = repopath("ext/dlr/scons-build-tools/site_tools/{}.py".format(tool))
-        if exists(path):
-            env.copy(path, "{}.py".format(tool))
-
     # Copy only these modm SCons build tools
     env.outbasepath = "modm/scons/"
     for tool in tools:
@@ -137,10 +124,16 @@ def build(env):
         env.copy("site_tools/info.c.in")
 
     # Generate the env.BuildTarget tool
+    linkerscript = env.get(":platform:cortex-m:linkerscript.override")
+    linkerscript = env.relative_outpath(linkerscript) if linkerscript \
+                   else "$BASEPATH/modm/link/linkerscript.ld"
     env.substitutions = env.query("::device")
-    env.substitutions["upload_with_artifact"] = env.has_module(":crashcatcher")
-    env.substitutions["with_compilation_db"] = env.has_module(":build:compilation_db")
-    env.substitutions["program_extension"] = ".exe" if env[":target"].identifier.family == "windows" else ".elf"
+    env.substitutions.update({
+        "upload_with_artifact": env.has_module(":crashcatcher"),
+        "with_compilation_db": env.has_module(":build:compilation_db"),
+        "program_extension": ".exe" if env[":target"].identifier.family == "windows" else ".elf",
+        "linkerscript": linkerscript,
+    })
     env.outbasepath = "modm/scons/site_tools"
     env.template("resources/build_target.py.in", "build_target.py")
 

tools/build_script_generator/scons/module.md

@@ -65,14 +65,13 @@ Example for a STM32 target:
 
 ```
  $ scons build
-Compiling C++·· build/release/main.o
-Compiling C···· build/release/modm/ext/tlsf/tlsf.o
+Compiling C++·· {debug|release}/main.o
+Compiling C···· {debug|release}/modm/ext/gcc/cabi.o
     ...
-Compiling C++·· build/release/modm/src/modm/ui/display/virtual_graphic_display.o
-Compiling C++·· build/release/modm/src/modm/utils/dummy.o
-Create Library· build/release/modm/libmodm.a
-Indexing······· build/release/modm/libmodm.a
-Linking········ build/release/game_of_life.elf
+Compiling C++·· {debug|release}/modm/src/modm/utils/dummy.o
+Archiving······ {debug|release}/modm/libmodm.a
+Indexing······· {debug|release}/modm/libmodm.a
+Linking········ /build/{debug|release}/blink.elf
 ```
 
 
@@ -88,8 +87,7 @@ Example for a STM32 target with 16MB external heap:
 
 ```
  $ scons size
-Memory usage:.. build/release/game_of_life.elf
-
+Memory usage··· /build/{debug|release}/blink.elf
 Program:  12.8 KiB (0.6% used)
 (.data + .fastcode + .fastdata + .hardware_init + .reset + .rodata +
  .table.copy.extern + .table.copy.intern + .table.section_heap +
@@ -118,8 +116,8 @@ Example for a STM32 target:
 
 ```
  $ scons program
-.----OpenOCD--- build/release/game_of_life.elf
-'-------------> stm32f469nih
+╭────────────── /build/{debug|release}/blink.elf
+╰───OpenOCD───> stm32f469nih
 Open On-Chip Debugger 0.10.0
     ...
 Info : using stlink api v2
@@ -132,7 +130,7 @@ Info : device id = 0x10006434
 Info : flash size = 2048kbytes
 Info : Dual Bank 2048 kiB STM32F42x/43x/469/479 found
     ...
-wrote 16384 bytes from file build/release/game_of_life.elf in 0.589736s (27.131 KiB/s)
+wrote 16384 bytes from file {debug|release}/blink.elf in 0.589736s (27.131 KiB/s)
 ** Programming Finished **
 ** Verify Started **
 verified 13064 bytes in 0.296308s (43.056 KiB/s)
@@ -154,7 +152,10 @@ and can be accessed by pressing the BOOT0-Button during startup.
 
 ```
 $ scons program-dfu
-dfu_stm32_programmer: program [...]/blink/release/blink.bin
+Binary File···· /build/{debug|release}/blink.bin
+╭────────────── /build/{debug|release}/blink.bin
+╰─────DFU─────> stm32f469nih
+dfu_stm32_programmer: program /build/{debug|release}/blink.bin
 dfu-util 0.9
 
 Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
@@ -221,7 +222,8 @@ You can let the tool guess the port or explicitly specify it:
 
 ```
 $ scons program-bmp port=/dev/cu.usbmodemDEADBEEF
-[...]
+╭─Black─Magic── /build/{debug|release}/blink.elf
+╰────Probe────> stm32f103rbt6
 Remote debugging using /dev/cu.usbmodemDEADBEEF
 Target voltage: unknown
 Available Targets:
@@ -254,7 +256,7 @@ running on your own computer (host=`localhost`) or somewhere else.
 
 #### scons run
 
-Executes your project on your computer.
+Compiles and executes your program on your computer.
 (\* *only Hosted targets*)
 
 
@@ -297,16 +299,18 @@ Launches GDB to debug via Black Magic Probe.
 
 ```
 scons debug-coredump profile={debug|release} ui={tui|web} \
-                     firmware={GNU Build ID} coredump={path/to/coredump.txt}
+                     coredump={path/to/coredump.txt} \
+                     [firmware={GNU Build ID or path/to/firmware.elf}]
 ```
 
 Launches GDB for post-mortem debugging with the firmware identified by the
-`firmware={hash}` argument using the data from the `coredump={filepath}`
-argument.
+(optional) `firmware={hash or filepath}` argument using the data from the
+`coredump={filepath}` argument.
 (\* *only ARM Cortex-M targets*)
 
 See the `:platform:fault` module for details how to receive the coredump data.
 
+
 #### scons program-remote
 
 ```
@@ -361,8 +365,8 @@ displays the serial output stream.
 
 ```
  $ scons log-itm fcpu=64000000
-.----OpenOCD--> Single Wire Viewer
-'------SWO----- stm32f103rbt6
+╭───OpenOCD───> Single Wire Viewer
+╰─────SWO────── stm32f103rbt6
 Open On-Chip Debugger 0.10.0
 Licensed under GNU GPL v2
 Info : The selected transport took over low-level target control.
@@ -391,7 +395,7 @@ application.
 Compiling C++·· {debug|release}/modm/ext/gcc/assert.o
     ...
 Compiling C++·· {debug|release}/modm/src/modm/utils/dummy.o
-Create Library· {debug|release}/modm/libmodm.a
+Archiving······ {debug|release}/modm/libmodm.a
 Indexing······· {debug|release}/modm/libmodm.a
 ```
 
@@ -406,7 +410,7 @@ Dumps the symbol table for your executable.
 
 ```
  $ scons symbols
-Show symbols for 'build/release/game_of_life.elf':
+Show symbols for '{debug|release}/blink.elf':
 536871656 00000001 b (anonymous namespace)::nextOperation
 536871657 00000001 b (anonymous namespace)::checkNextOperation
 536871658 00000001 b (anonymous namespace)::error
@@ -431,8 +435,8 @@ into assembly instructions:
 
 ```
  $ scons listing
-Ext. Listing··· build/release/game_of_life.lss
- $ less build/release/game_of_life.lss
+Listing········ {debug|release}/blink.lss
+ $ less {debug|release}/blink.lss
     ...
 Disassembly of section .text:
     ...
@@ -450,8 +454,8 @@ main()
  8000d7a:   f000 fd91   bl  80018a0 <_ZN5Board17initializeDisplayEv>
     Board::initializeTouchscreen();
  8000d7e:   f7ff fc55   bl  800062c <_ZN5Board21initializeTouchscreenEv>
-    game_of_life();
- 8000d82:   f7ff feff   bl  8000b84 <_Z12game_of_lifev>
+    blink();
+ 8000d82:   f7ff feff   bl  8000b84 <_Z12blinkv>
     ...
 ```
 
@@ -466,7 +470,7 @@ Creates a binary file of your executable.
 
 ```
  $ scons bin
-Binary File···· build/release/game_of_life.bin
+Binary File···· {debug|release}/blink.bin
 ```
 
 
@@ -481,7 +485,8 @@ the hash of the binary file in `{build_path}/artifacts/{hash}.elf`.
 
 ```
  $ scons artifact
-Cache Artifact· build/release/game_of_life.elf
+╭───Artifact─── /build/release/blink.elf
+╰────Cache────> artifacts/0214523ab713bc7bdfb37d902e65dae8305f4754.elf
 ```
 
 
@@ -495,14 +500,14 @@ Cleans the build artifacts.
 
 ```
  $ scons -c
-Removed build/release/main.o
-Removed build/release/modm/ext/tlsf/tlsf.o
-
-Removed build/release/modm/src/modm/ui/display/virtual_graphic_display.o
-Removed build/release/modm/src/modm/utils/dummy.o
-Removed build/release/modm/libmodm.a
-Removed build/release/game_of_life.elf
-Removed build/release/game_of_life.lss
+Removed {debug|release}/main.o
+Removed {debug|release}/modm/ext/tlsf/tlsf.o
+    ...
+Removed {debug|release}/modm/src/modm/ui/display/virtual_graphic_display.o
+Removed {debug|release}/modm/src/modm/utils/dummy.o
+Removed {debug|release}/modm/libmodm.a
+Removed {debug|release}/blink.elf
+Removed {debug|release}/blink.lss
 ```
 
 

tools/build_script_generator/scons/resources/SConscript.in

@@ -11,10 +11,16 @@
 from os.path import join, abspath
 Import("env")
 
-profile = env["CONFIG_PROFILE"]
+profile = ARGUMENTS.get("profile", "release")
 %% if is_modm
+env["CONFIG_PROFILE"] = profile
 env["BUILDPATH"] = join(env["CONFIG_BUILD_BASE"], profile)
-env["BASEPATH"] = abspath(".")
+env["BASEPATH"] = abspath("..")
+%% if core.startswith("avr")
+env["COMPILERPREFIX"] = "avr-"
+%% elif core.startswith("cortex-m")
+env["COMPILERPREFIX"] = "arm-none-eabi-"
+%% endif
 %% if family == "darwin"
 # Using homebrew gcc on macOS instead of clang
 env["COMPILERSUFFIX"] = env.Detect(["gcc-11", "gcc-10"])[3:]
@@ -112,21 +118,21 @@ env["CONFIG_AVRDUDE_OPTIONS"] = "{{ avrdude_options }}"
 env["CONFIG_AVRDUDE_BAUDRATE"] = "{{ avrdude_baudrate }}"
 %% endif
 %% elif core.startswith("cortex-m")
-env.Append(MODM_OPENOCD_CONFIGFILES="$BASEPATH/openocd.cfg")
-env.Append(MODM_OPENOCD_GDBINIT="$BASEPATH/openocd_gdbinit")
-env.Append(MODM_GDBINIT="$BASEPATH/gdbinit")
+env.Append(MODM_OPENOCD_CONFIGFILES = "$BASEPATH/modm/openocd.cfg")
+env.Append(MODM_OPENOCD_GDBINIT = "$BASEPATH/modm/openocd_gdbinit")
+env.Append(MODM_GDBINIT = "$BASEPATH/modm/gdbinit")
 %% if platform == "sam"
 %% if bossac_offset
-env.Append(MODM_BOSSAC_OFFSET={{ bossac_offset }})
+env.Append(MODM_BOSSAC_OFFSET = {{ bossac_offset }})
 %% endif
 %% if bossac_options
-env.Append(MODM_BOSSAC_OPTIONS="{{ bossac_options }}")
+env.Append(MODM_BOSSAC_OPTIONS = "{{ bossac_options }}")
 %% endif
 %% endif
 %% endif
 
 # XPCC generator tool path
-env["XPCC_SYSTEM_DESIGN"] = join(abspath("."), "tools", "xpcc_generator")
+env["XPCC_SYSTEM_DESIGN"] = "$BASEPATH/modm/tools/xpcc_generator"
 %% endif