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LibrePilot/flight/Bootloaders/CopterControl/Makefile

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#####
# Project: OpenPilot
#
#
# Makefile for OpenPilot project build PiOS and the AP.
#
# 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 := bl_$(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 to compile for debugging
DEBUG ?= NO
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO
# Remove command is different for Code Sourcery on Windows
ifeq ($(CODE_SOURCERY), YES)
REMOVE_CMD = cs-rm
else
REMOVE_CMD = rm
endif
FLASH_TOOL = OPENOCD
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
OPUAVTALK = ./UAVTalk
OPUAVTALKINC = $(OPUAVTALK)/inc
OPUAVOBJ = ./UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
OPTESTS = ./Tests
OPMODULEDIR = ./Modules
FLIGHTLIB = ../../Libraries
FLIGHTLIBINC = ../../Libraries/inc
PIOS = ../../PiOS
PIOSINC = $(PIOS)/inc
PIOSSTM32F10X = $(PIOS)/STM32F10x
PIOSCOMMON = $(PIOS)/Common
PIOSBOARDS = $(PIOS)/Boards
PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
APPLIBDIR = $(PIOSSTM32F10X)/Libraries
STMLIBDIR = $(APPLIBDIR)
STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
STMSPDSRCDIR = $(STMSPDDIR)/src
STMSPDINCDIR = $(STMSPDDIR)/inc
STMUSBSRCDIR = $(STMUSBDIR)/src
STMUSBINCDIR = $(STMUSBDIR)/inc
CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
DOSFSDIR = $(APPLIBDIR)/dosfs
MSDDIR = $(APPLIBDIR)/msd
RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
## COPTERCONTROL_BL CORE:
SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c
SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_delay.c
SRC += $(PIOSSTM32F10X)/pios_usart.c
SRC += $(PIOSSTM32F10X)/pios_irq.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_iap.c
SRC += $(PIOSSTM32F10X)/pios_bl_helper.c
# PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usbhook.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
SRC += $(PIOSCOMMON)/pios_usb_util.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c
## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c
SRC += $(CMSISDIR)/system_stm32f10x.c
## Used parts of the STM-Library
SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c
## STM32 USB Library
SRC += $(STMUSBSRCDIR)/usb_core.c
SRC += $(STMUSBSRCDIR)/usb_init.c
SRC += $(STMUSBSRCDIR)/usb_int.c
SRC += $(STMUSBSRCDIR)/usb_mem.c
SRC += $(STMUSBSRCDIR)/usb_regs.c
SRC += $(STMUSBSRCDIR)/usb_sil.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 = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).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 += $(OPSYSTEM)
EXTRAINCDIRS += $(OPSYSTEMINC)
EXTRAINCDIRS += $(OPUAVTALK)
EXTRAINCDIRS += $(OPUAVTALKINC)
EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(PIOSSTM32F10X)
EXTRAINCDIRS += $(PIOSCOMMON)
EXTRAINCDIRS += $(PIOSBOARDS)
EXTRAINCDIRS += $(STMSPDINCDIR)
EXTRAINCDIRS += $(STMUSBINCDIR)
EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(DOSFSDIR)
EXTRAINCDIRS += $(MSDDIR)
EXTRAINCDIRS += $(RTOSINCDIR)
EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(HWDEFSINC)
# 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)
OPT = 0
else
OPT = s
endif
# 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)
ifeq ($(ENABLE_DEBUG_PINS), YES)
CDEFS += -DPIOS_ENABLE_DEBUG_PINS
endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
ADEFS = -D__ASSEMBLY__
# Compiler flag to set the C Standard level.
# c89 - "ANSI" C
# gnu89 - c89 plus GCC extensions
# c99 - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
CSTANDARD = -std=gnu99
#-----
# Compiler flags.
# -g*: generate debugging information
# -O*: optimization level
# -f...: tuning, see GCC manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -adhlns...: create assembler listing
#
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS += -DDEBUG
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_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
ifeq ($(DEBUG),NO)
LDFLAGS += -Wl,-static
endif
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)_BL_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, $(ALLSRCBASE)))
# Default target.
all: build
ifeq ($(LOADFORMAT),ihex)
build: elf hex sym
else
ifeq ($(LOADFORMAT),binary)
build: elf bin sym
else
ifeq ($(LOADFORMAT),both)
build: elf hex bin sym
else
$(error "$(MSG_FORMATERROR) $(FORMAT)")
endif
endif
endif
${OUTDIR}/InitMods.c: Makefile
@echo $(MSG_MODINIT) $(call toprel, $@)
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# 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
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
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
# 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).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
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 -p $(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