Add an embedded-files build config for Duet 3 MB6HC

.gitignore

@@ -26,9 +26,9 @@
 /FMDC_V02_Debug/
 /FMDC_V03/
 /Duet3_MB6HC_no_SD/
+/Duet3_MB6HC_embedded/
 /Duet3_MB6HC_no_S_curve/
-/INDX/
+/tests/build/
 /.clangd
 /.clang-format
 /src/Temp/
-/.settings/

Makefile

@@ -45,7 +45,7 @@ export DEBUG_FLAGS
 .DEFAULT_GOAL := help
 
 # Available build configurations
-CONFIGS := Duet3_MB6HC Duet3_MB6XD Duet3_CAN0 Duet3Mini5plus Duet3_MB6HC_no_SD
+CONFIGS := Duet3_MB6HC Duet3_MB6XD Duet3_CAN0 Duet3Mini5plus Duet3_MB6HC_no_SD Duet3_MB6HC_embedded
 
 # Print available targets
 .PHONY: help
@@ -83,7 +83,7 @@ help:
 # Build all configurations
 # Excluded from 'all' (still buildable as explicit targets): Duet3_MB6HC_no_SD (duplicate MB6HC binary name), Duet3_CAN0
 .PHONY: all
-all: $(filter-out Duet3_MB6HC_no_SD Duet3_CAN0,$(CONFIGS))
+all: $(filter-out Duet3_MB6HC_no_SD Duet3_CAN0 Duet3_MB6HC_embedded,$(CONFIGS))
 
 # Verify toolchain
 .PHONY: test-toolchain
@@ -201,6 +201,7 @@ $(WORKSPACE)/CANlib/SAM4S_RTOS/libCANlib.a:
 -include Makefiles/Duet3_CAN0.mk
 -include Makefiles/Duet3Mini5plus.mk
 -include Makefiles/Duet3_MB6HC_no_SD.mk
+-include Makefiles/Duet3_MB6HC_embedded.mk
 
 # Generic clean target
 .PHONY: clean

Makefiles/Duet3_MB6HC_embedded.mk

@@ -0,0 +1,303 @@
+# Duet 3 MB6HC built with USE_EMBEDDED_FILES.
+#
+# Derived from Duet3_MB6HC.mk. The only functional difference is -DUSE_EMBEDDED_FILES, which in
+# Pins_Duet3_MB6HC.h turns off mass storage, high-speed SD and the SBC interface and turns on the
+# embedded filesystem that lives after _firmware_end.
+#
+# This exists for the Renode emulator: modelling HSMCI is a large job, and without an SD card there
+# is no config.g, so no M575, so the aux UART never opens and there is no way to send G-code in.
+# Embedding the files removes the SD card from that chain entirely.
+#
+# RepRapFirmware Duet3_MB6HC Configuration Makefile
+# Build configuration for Duet 3 Main Board 6HC (SAME70 MCU)
+
+# Build directory and output
+DUET3EMB_BUILD_DIR := Duet3_MB6HC_embedded
+DUET3EMB_TARGET_NAME := Duet3Firmware_MB6HC_embedded
+DUET3EMB_TARGET_ELF := $(DUET3EMB_BUILD_DIR)/$(DUET3EMB_TARGET_NAME).elf
+DUET3EMB_TARGET_BIN := $(DUET3EMB_BUILD_DIR)/$(DUET3EMB_TARGET_NAME).bin
+DUET3EMB_TARGET_MAP := $(DUET3EMB_BUILD_DIR)/$(DUET3EMB_TARGET_NAME).map
+
+# Workspace root
+WORKSPACE := ..
+
+# Library dependencies
+DUET3EMB_FREERTOS_LIB := $(WORKSPACE)/FreeRTOS/SAME70/libFreeRTOS.a
+DUET3EMB_COREN2G_LIB := $(WORKSPACE)/CoreN2G/SAME70_CAN_SDHC_USB_RTOS/libCoreN2G.a
+DUET3EMB_RRFLIBS_LIB := $(WORKSPACE)/RRFLibraries/SAME70_RTOS/libRRFLibraries.a
+DUET3EMB_CANLIB_LIB := $(WORKSPACE)/CANlib/SAME70_RTOS/libCANlib.a
+DUET3EMB_LIBTINYUSB_LIB := $(WORKSPACE)/LibTinyusb/SAME70/libLibTinyusb.a
+DUET3EMB_MBEDTLS_LIB := $(WORKSPACE)/LibMbedTls/SAME70/libLibMbedTls.a
+
+# Source directories
+DUET3EMB_SRC_DIR := src
+
+# Find libcpp and libc files first (must be linked first for proper malloc resolution)
+DUET3EMB_LIBCPP_SRCS := $(shell find $(DUET3EMB_SRC_DIR)/libcpp -name '*.cpp' -o -name '*.cc' 2>/dev/null)
+DUET3EMB_LIBC_SRCS := $(shell find $(DUET3EMB_SRC_DIR)/libc -name '*.c' -o -name '*.cpp' 2>/dev/null)
+
+# Find all source files (excluding specified directories)
+DUET3EMB_CPP_SRCS := $(shell find $(DUET3EMB_SRC_DIR) -name '*.cpp' \
+	! -path '*/libcpp/*' \
+	! -path '*/libc/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/smtp/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/snmp/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/httpd/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/test/*' \
+	! -path '*/DuetNG/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/tftp/*' \
+	! -path '*/Networking/W5500Ethernet/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/netif/ppp/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/lwiperf/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/sntp/*' \
+	! -path '*/Display/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/http/*' \
+	! -path '*/Duet3Mini/*' \
+	! -path '*/Hardware/SAM4E/*' \
+	! -path '*/Hardware/SAME5x/*' \
+	! -path '*/Pccb/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/mqtt/*' \
+	! -path '*/Hardware/SAM4S/*' \
+	! -path '*/DuetM/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/doc/*')
+
+DUET3EMB_C_SRCS := $(shell find $(DUET3EMB_SRC_DIR) -name '*.c' \
+	! -path '*/libc/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/smtp/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/snmp/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/test/*' \
+	! -path '*/DuetNG/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/tftp/*' \
+	! -path '*/Networking/W5500Ethernet/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/netif/ppp/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/lwiperf/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/sntp/*' \
+	! -path '*/Display/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/http/*' \
+	! -path '*/Duet3Mini/*' \
+	! -path '*/Hardware/SAM4E/*' \
+	! -path '*/Hardware/SAME5x/*' \
+	! -path '*/Pccb/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/src/apps/mqtt/*' \
+	! -path '*/Hardware/SAM4S/*' \
+	! -path '*/DuetM/*' \
+	! -path '*/Networking/LwipEthernet/Lwip/doc/*' \
+	! -path '*/MQTT_C/tests.c' \
+	! -path '*/MQTT_C/examples/*' \
+	! -path '*/MQTT_C/src/mqtt_pal.c')
+
+# Include paths
+DUET3EMB_INCLUDES := \
+	-I$(WORKSPACE)/LibMbedTls/include \
+	-I$(WORKSPACE)/LibMbedTls/library \
+	-I$(WORKSPACE)/LibMbedTls/configs \
+	-I$(WORKSPACE)/LibTinyusb \
+	-I$(WORKSPACE)/CoreN2G \
+	-I$(WORKSPACE)/CoreN2G/src \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70 \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70/asf \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70/asf/sam/drivers \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70/asf/common/utils \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/preprocessor \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/header_files \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/cmsis/same70/include \
+	-I$(WORKSPACE)/CoreN2G/src/arm/CMSIS/5.4.0/CMSIS/Core/Include \
+	-I$(WORKSPACE)/CoreN2G/src/SAM4S_4E_E70/SAME70 \
+	-I$(WORKSPACE)/FreeRTOS \
+	-I$(WORKSPACE)/FreeRTOS/src/include \
+	-I$(WORKSPACE)/FreeRTOS/src/portable/GCC/ARM_CM7/r0p1 \
+	-I$(WORKSPACE)/RRFLibraries/src \
+	-I$(WORKSPACE)/CANlib/src \
+	-I$(WORKSPACE)/WiFiSocketServerRTOS/src/include \
+	-I$(DUET3EMB_SRC_DIR) \
+	-I$(DUET3EMB_SRC_DIR)/Hardware/SAME70 \
+	-I$(DUET3EMB_SRC_DIR)/Networking \
+	-I$(DUET3EMB_SRC_DIR)/Networking/LwipEthernet/Lwip \
+	-I$(DUET3EMB_SRC_DIR)/Networking/LwipEthernet/Lwip/src/include \
+	-I$(DUET3EMB_SRC_DIR)/Networking/MQTT/MQTT_C/include
+
+# Preprocessor defines
+MQTTC_PAL_DEFINE := Networking/MQTT/mqtt_pal.h
+DUET3EMB_DEFINES := \
+	-D__SAME70Q20B__ \
+	-DRTOS \
+	-DDUET3_MB6HC \
+	-DMBEDTLS_CONFIG_FILE='"config-same70.h"' \
+	-DUSE_EMBEDDED_FILES
+
+# Compiler flags - C
+DUET3EMB_CFLAGS := -c -std=gnu99 \
+	-Wall \
+	-mcpu=cortex-m7 \
+	-mthumb \
+	-fno-math-errno \
+	-mfpu=fpv5-d16 \
+	-mfloat-abi=hard \
+	-mfp16-format=ieee \
+	-mno-unaligned-access \
+	-ffunction-sections \
+	-fdata-sections \
+	-nostdlib \
+	-Wundef \
+	-Wdouble-promotion \
+	-Werror=return-type \
+	-Werror=implicit \
+	-fsingle-precision-constant \
+	-O2 \
+	-Werror \
+	-Wwrite-strings \
+	$(DUET3EMB_INCLUDES) \
+	$(DUET3EMB_DEFINES) \
+	-Dnoexcept= \
+	$(DEBUG_FLAGS)
+
+# Compiler flags - C++
+DUET3EMB_CXXFLAGS := -c -std=c++20 \
+	-Wall \
+	-mcpu=cortex-m7 \
+	-mthumb \
+	-fno-math-errno \
+	-mfpu=fpv5-d16 \
+	-mfloat-abi=hard \
+	-mfp16-format=ieee \
+	-mno-unaligned-access \
+	-ffunction-sections \
+	-fdata-sections \
+	-fno-threadsafe-statics \
+	-fno-rtti \
+	-fexceptions \
+	-nostdlib \
+	-Wundef \
+	-Wdouble-promotion \
+	-Wfloat-conversion \
+	-Werror=return-type \
+	-Wsuggest-override \
+	-fsingle-precision-constant \
+	-fstack-usage \
+	-O2 \
+	-Werror \
+	-Wnoexcept \
+	-Wshadow \
+	-Wsign-promo \
+	$(DUET3EMB_INCLUDES) \
+	$(DUET3EMB_DEFINES) \
+	-D_XOPEN_SOURCE \
+	$(DEBUG_FLAGS)
+
+# Linker flags - split into LDFLAGS1 (before -o) and LDFLAGS2 (after -o)
+DUET3EMB_LDFLAGS1 := --specs=nosys.specs \
+	-Os \
+	-Wl,--gc-sections \
+	-Wl,--fatal-warnings \
+	-Wl,--no-warn-rwx-segment \
+	-mcpu=cortex-m7 \
+	-mfpu=fpv5-d16 \
+	-mfloat-abi=hard \
+	-T$(DUET3EMB_SRC_DIR)/Hardware/SAME70/same70q20b_flash.ld \
+	-Wl,-Map,$(DUET3EMB_TARGET_MAP) \
+	-mthumb
+
+DUET3EMB_LDFLAGS2 := \
+	-Wl,--cref \
+	-Wl,--check-sections \
+	-Wl,--gc-sections \
+	-Wl,--entry=Reset_Handler \
+	-Wl,--unresolved-symbols=report-all \
+	-Wl,--warn-common \
+	-Wl,--warn-section-align \
+	-Wl,--warn-unresolved-symbols
+
+# Library search paths
+DUET3EMB_LDLIBS := \
+	-L$(WORKSPACE)/CoreN2G/SAME70_CAN_SDHC_USB_RTOS \
+	-L$(WORKSPACE)/RRFLibraries/SAME70_RTOS \
+	-L$(WORKSPACE)/FreeRTOS/SAME70 \
+	-L$(WORKSPACE)/CANlib/SAME70_RTOS \
+	-L$(WORKSPACE)/LibTinyusb/SAME70 \
+	-L$(WORKSPACE)/LibMbedTls/SAME70 \
+	-lLibTinyusb \
+	-lLibMbedTls \
+	-lCoreN2G \
+	-lRRFLibraries \
+	-lFreeRTOS \
+	-lCANlib \
+	-lsupc++
+
+DUET3EMB_LDLIBS_POST := -Wl,--end-group -lm
+
+# Object files - libcpp and libc first for proper symbol resolution
+DUET3EMB_LIBCPP_OBJS := $(DUET3EMB_LIBCPP_SRCS:%.cpp=$(DUET3EMB_BUILD_DIR)/%.o)
+DUET3EMB_LIBCPP_OBJS := $(DUET3EMB_LIBCPP_OBJS:%.cc=$(DUET3EMB_BUILD_DIR)/%.o)
+DUET3EMB_LIBC_OBJS := $(DUET3EMB_LIBC_SRCS:%.c=$(DUET3EMB_BUILD_DIR)/%.o)
+DUET3EMB_LIBC_OBJS := $(DUET3EMB_LIBC_OBJS:%.cpp=$(DUET3EMB_BUILD_DIR)/%.o)
+DUET3EMB_CPP_OBJS := $(DUET3EMB_CPP_SRCS:%.cpp=$(DUET3EMB_BUILD_DIR)/%.o)
+DUET3EMB_CPP_OBJS := $(DUET3EMB_CPP_OBJS:%.cc=$(DUET3EMB_BUILD_DIR)/%.o)
+DUET3EMB_C_OBJS := $(DUET3EMB_C_SRCS:%.c=$(DUET3EMB_BUILD_DIR)/%.o)
+DUET3EMB_OBJS := $(DUET3EMB_LIBCPP_OBJS) $(DUET3EMB_LIBC_OBJS) $(DUET3EMB_CPP_OBJS) $(DUET3EMB_C_OBJS)
+
+# Dependency files
+DUET3EMB_DEPS := $(DUET3EMB_OBJS:.o=.d)
+
+# Target rule
+.PHONY: Duet3_MB6HC_embedded
+Duet3_MB6HC_embedded: $(DUET3EMB_TARGET_BIN)
+	$(Q)echo "========================================"
+	$(Q)echo "Duet3_MB6HC firmware build complete!"
+	$(Q)echo "Output: $(DUET3EMB_TARGET_BIN)"
+	$(Q)echo "========================================"
+	$(Q)$(SIZE) $(DUET3EMB_TARGET_ELF)
+
+# Link ELF file
+$(DUET3EMB_TARGET_ELF): $(DUET3EMB_OBJS) $(DUET3EMB_CANLIB_LIB) $(DUET3EMB_COREN2G_LIB) $(DUET3EMB_RRFLIBS_LIB) $(DUET3EMB_FREERTOS_LIB) $(DUET3EMB_LIBTINYUSB_LIB) $(DUET3EMB_MBEDTLS_LIB)
+	$(Q)echo "  LD      $@"
+	$(Q)mkdir -p $(@D)
+	$(Q)$(LD) $(DUET3EMB_LDFLAGS1) -o $@ $(DUET3EMB_LDFLAGS2) -Wl,--start-group $(DUET3EMB_OBJS) $(DUET3EMB_LDLIBS) $(DUET3EMB_LDLIBS_POST)
+
+# Generate binary file
+$(DUET3EMB_TARGET_BIN): $(DUET3EMB_TARGET_ELF)
+	$(Q)echo "  OBJCOPY $@"
+	$(Q)$(OBJCOPY) -O binary $< $@
+	$(Q)if command -v CrcAppender >/dev/null 2>&1; then \
+		echo "  CRC     $@"; \
+		CrcAppender $@; \
+	fi
+
+# Compile C++ files
+$(DUET3EMB_BUILD_DIR)/%.o: %.cpp
+	$(Q)echo "  CXX     $<"
+	$(Q)mkdir -p $(@D)
+	$(Q)$(CXX) $(DUET3EMB_CXXFLAGS) -DMQTTC_PAL_FILE="$(MQTTC_PAL_DEFINE)" -MMD -MP -o $@ $<
+
+# Compile C files
+$(DUET3EMB_BUILD_DIR)/%.o: %.c
+	$(Q)echo "  CC      $<"
+	$(Q)mkdir -p $(@D)
+	$(Q)$(CC) $(DUET3EMB_CFLAGS) -DMQTTC_PAL_FILE="$(MQTTC_PAL_DEFINE)" -MMD -MP -o $@ $<
+
+# Compile .cc files (same as .cpp)
+$(DUET3EMB_BUILD_DIR)/%.o: %.cc
+	$(Q)echo "  CXX     $<"
+	$(Q)mkdir -p $(@D)
+	$(Q)$(CXX) $(DUET3EMB_CXXFLAGS) -DMQTTC_PAL_FILE="$(MQTTC_PAL_DEFINE)" -MMD -MP -o $@ $<
+
+# Touch Version.cpp before build (pre-build step)
+.PHONY: duet3mb6hc-embedded-prebuild
+duet3mb6hc-embedded-prebuild:
+	$(Q)touch -c $(DUET3EMB_SRC_DIR)/Version.cpp 2>/dev/null || true
+
+$(DUET3EMB_OBJS): | duet3mb6hc-embedded-prebuild
+
+# Include dependencies
+-include $(DUET3EMB_DEPS)
+
+# Clean target
+.PHONY: clean-Duet3_MB6HC_embedded
+clean-Duet3_MB6HC_embedded:
+	$(Q)echo "  RM      $(DUET3EMB_BUILD_DIR)"
+	$(Q)rm -rf $(DUET3EMB_BUILD_DIR)
+
+# Library dependencies (rules defined in main Makefile to avoid duplicates)
+.PHONY: duet3mb6hc-embedded-libs
+duet3mb6hc-embedded-libs: $(DUET3EMB_FREERTOS_LIB) $(DUET3EMB_COREN2G_LIB) $(DUET3EMB_RRFLIBS_LIB) $(DUET3EMB_CANLIB_LIB) $(DUET3EMB_LIBTINYUSB_LIB) $(DUET3EMB_MBEDTLS_LIB)
+	$(Q)echo "All required libraries built successfully"