LibrePilot/flight/INS/Makefile

#####
# Project: OpenPilot INS
#
#
# Makefile for OpenPilot INS project
#
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
#
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#####

WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP      := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk

# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)

# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)

# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= NO

# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES

ifeq ($(CODE_SOURCERY), YES)
REMOVE_CMD = cs-rm
else
REMOVE_CMD = rm
endif

FLASH_TOOL = OPENOCD

# Paths
INS = ./
INSINC = $(INS)/inc
PIOS = ../PiOS
PIOSINC = $(PIOS)/inc
FLIGHTLIB = ../Libraries
FLIGHTLIBINC = ../Libraries/inc
PIOSSTM32FXX = $(PIOS)/STM32F2xx
PIOSCOMMON = $(PIOS)/Common
PIOSBOARDS = $(PIOS)/Boards
APPLIBDIR = $(PIOSSTM32FXX)/Libraries
STMLIBDIR = $(APPLIBDIR)
STMSPDDIR = $(STMLIBDIR)/STM32F2xx_StdPeriph_Driver
STMSPDSRCDIR = $(STMSPDDIR)/src
STMSPDINCDIR = $(STMSPDDIR)/inc
CMSISDIR  = $(STMLIBDIR)/CMSIS/Core/CM3
OPDIR = ../OpenPilot
OPUAVOBJ = ../UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
OPSYSINC = $(OPDIR)/System/inc
BOOT = ../Bootloaders/INS
BOOTINC = $(BOOT)/inc

OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight

# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files

## INS:
SRC = ins.c
SRC += pios_board.c
SRC += insgps13state.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
SRC += $(BOOT)/ahrs_spi_program_slave.c
SRC += $(BOOT)/ahrs_slave_test.c
SRC += $(BOOT)/ahrs_spi_program.c

## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32FXX)/pios_sys.c
SRC += $(PIOSSTM32FXX)/pios_led.c
SRC += $(PIOSSTM32FXX)/pios_delay.c
SRC += $(PIOSSTM32FXX)/pios_usart.c
SRC += $(PIOSSTM32FXX)/pios_irq.c
SRC += $(PIOSSTM32FXX)/pios_i2c.c
SRC += $(PIOSSTM32FXX)/pios_debug.c
SRC += $(PIOSSTM32FXX)/pios_gpio.c
SRC += $(PIOSSTM32FXX)/pios_spi.c
SRC += $(PIOSSTM32FXX)/pios_exti.c

## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bma180.c
SRC += $(PIOSCOMMON)/pios_hmc5883.c
SRC += $(PIOSCOMMON)/pios_bmp085.c
SRC += $(PIOSCOMMON)/pios_imu3000.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c

## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c
SRC += $(CMSISDIR)/system_stm32f2xx.c

## Used parts of the STM-Library
SRC += $(STMSPDSRCDIR)/stm32f2xx_adc.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_crc.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_dac.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_dma.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_exti.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_flash.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_gpio.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_i2c.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_spi.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_tim.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_usart.c
SRC += $(STMSPDSRCDIR)/misc.c
# List C source files here which must be compiled in ARM-Mode (no -mthumb).
# use file-extension c for "c-only"-files
## just for testing, timer.c could be compiled in thumb-mode too
SRCARM =

# List C++ source files here.
# use file-extension .cpp for C++-files (not .C)
CPPSRC =

# List C++ source files here which must be compiled in ARM-Mode.
# use file-extension .cpp for C++-files (not .C)
#CPPSRCARM = $(TARGET).cpp
CPPSRCARM =

# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32FXX)/startup_stm32f2xx.S

# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =

# List any extra directories to look for include files here.
#    Each directory must be seperated by a space.
EXTRAINCDIRS  += $(PIOS)
EXTRAINCDIRS  += $(PIOSINC)
EXTRAINCDIRS  += $(FLIGHTLIBINC)
EXTRAINCDIRS  += $(PIOSSTM32FXX)
EXTRAINCDIRS  += $(PIOSCOMMON)
EXTRAINCDIRS  += $(PIOSBOARDS)
EXTRAINCDIRS  += $(STMSPDINCDIR)
EXTRAINCDIRS  += $(CMSISDIR)
EXTRAINCDIRS  += $(INSINC)
EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
EXTRAINCDIRS  += $(BOOTINC)

# List any extra directories to look for library files here.
# Also add directories where the linker should search for
# includes from linker-script to the list
#     Each directory must be seperated by a space.
EXTRA_LIBDIRS =

# Extra Libraries
#    Each library-name must be seperated by a space.
#    i.e. to link with libxyz.a, libabc.a and libefsl.a:
#    EXTRA_LIBS = xyz abc efsl
# for newlib-lpc (file: libnewlibc-lpc.a):
#    EXTRA_LIBS = newlib-lpc
EXTRA_LIBS =

# Path to Linker-Scripts
LINKERSCRIPTPATH = $(PIOSSTM32F10X)

# Optimization level, can be [0, 1, 2, 3, s].
# 0 = turn off optimization. s = optimize for size.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

ifeq ($(DEBUG),YES)
CFLAGS += -O0
CFLAGS += -DGENERAL_COV
else
CFLAGS += -Os
endif

CFLAGS += -DHSE_VALUE=$(OSCILLATOR_FREQ)

# Output format. (can be ihex or binary or both)
#  binary to create a load-image in raw-binary format i.e. for SAM-BA,
#  ihex to create a load-image in Intel hex format
#LOADFORMAT = ihex
#LOADFORMAT = binary
LOADFORMAT = both

# Debugging format.
DEBUGF = dwarf-2

# Place project-specific -D (define) and/or
# -U options for C here.
CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_AHRS

# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
ADEFS = -D__ASSEMBLY__

# Compiler flag to set the C Standard level.
# c89   - "ANSI" C
# gnu89 - c89 plus GCC extensions
# c99   - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
CSTANDARD = -std=gnu99

#-----

# Compiler flags.

#  -g*:          generate debugging information
#  -O*:          optimization level
#  -f...:        tuning, see GCC manual and avr-libc documentation
#  -Wall...:     warning level
#  -Wa,...:      tell GCC to pass this to the assembler.
#    -adhlns...: create assembler listing
#
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)

CFLAGS += -g$(DEBUGF)

CFLAGS += -ffast-math

CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.

CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif

CFLAGS += -Wall
CFLAGS += -Werror
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
# Compiler flags to generate dependency files:
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d

# flags only for C
#CONLYFLAGS += -Wnested-externs
CONLYFLAGS += $(CSTANDARD)

# Assembler flags.
#  -Wa,...:    tell GCC to pass this to the assembler.
#  -ahlns:     create listing
ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))

MATH_LIB = -lm

# Linker flags.
#  -Wl,...:     tell GCC to pass this to linker.
#    -Map:      create map file
#    --cref:    add cross reference to  map file
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc

# Set linker-script name depending on selected submodel name
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld

# Define programs and commands.
REMOVE  = $(REMOVE_CMD) -f

# List of all source files.
ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
# List of all source files without directory and file-extension.
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))

# Define all object files.
ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))

# Define all listing files (used for make clean).
LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
# Define all depedency-files (used for make clean).
DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))

# Default target.
all: gccversion build

ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
else
ifeq ($(LOADFORMAT),binary)
build: elf bin lss sym
else
ifeq ($(LOADFORMAT),both)
build: elf hex bin lss sym
else
$(error "$(MSG_FORMATERROR) $(FORMAT)")
endif
endif
endif

# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))

# Assemble: create object files from assembler source files.
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))

# Assemble: create object files from assembler source files. ARM-only
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))

# Compile: create object files from C source files.
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))

# Compile: create object files from C source files. ARM-only
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))

# Compile: create object files from C++ source files.
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))

# Compile: create object files from C++ source files. ARM-only
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))

# Compile: create assembler files from C source files. ARM/Thumb
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))

# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))

$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin

$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))

# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE_F2X,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))

.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw

# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))

# Generate Doxygen documents
docs:
	doxygen  $(DOXYGENDIR)/doxygen.cfg

# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),)
	@echo $(MSG_INSTALLING) $(call toprel, $<)
	$(V1) mkdir -p $(INSTALL_DIR)
	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
	$(error INSTALL_DIR must be specified for $@)
endif

# Target: clean project.
clean: clean_list

clean_list :
	@echo $(MSG_CLEANING)
	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
	$(V1) $(REMOVE) $(ALLOBJ)
	$(V1) $(REMOVE) $(LSTFILES)
	$(V1) $(REMOVE) $(DEPFILES)
	$(V1) $(REMOVE) $(SRC:.c=.s)
	$(V1) $(REMOVE) $(SRCARM:.c=.s)
	$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
	$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)

# Create output files directory
# all known MS Windows OS define the ComSpec environment variable
ifdef ComSpec
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
else
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
endif

# Include the dependency files.
ifdef ComSpec
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
else
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
endif

# Listing of phony targets.
.PHONY : all build clean clean_list install