2013-04-05 22:46:56 +02:00
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#####
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# Project: Revolution
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#
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#
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# Makefile for OpenPilot project build PiOS and the AP.
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012.
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#
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#####
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BOARD_NAME=revolution
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ARM_SDK_PREFIX ?=
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WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
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TOP := $(realpath $(WHEREAMI)/../../)
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include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
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# Set developer code and compile options
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# Set to YES to compile for debugging
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DEBUG ?= YES
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# Set to YES to use the Servo output pins for debugging via scope or logic analyser
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ENABLE_DEBUG_PINS ?= NO
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# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
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ENABLE_AUX_UART ?= NO
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#
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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= NO
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# Remove command is different for Code Sourcery on Windows
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REMOVE_CMD ?= rm
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FLASH_TOOL = OPENOCD
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# YES enables -mthumb option to flags for source-files listed
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# in SRC and CPPSRC
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USE_THUMB_MODE = YES
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# List of modules to include
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MODULES += Actuator ManualControl Stabilization
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MODULES += AltitudeHold FixedWingPathFollower PathPlanner
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#MODULES += VtolPathFollower ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
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MODULES += Attitude/revolution
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MODULES += FirmwareIAP
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#MODULES += OveroSync/simulated
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# To run simulation instead of connect to SITL
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MODULES += Sensors/simulated
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MODULES += Telemetry
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BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
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BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
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BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
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BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
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BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
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BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
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BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
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# Since we are simulating all this firmware the code needs to know what the BL would
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# normally contain
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CFLAGS += $(BLONLY_CDEFS)
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR = ../../build/sim_osx
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# Target file name (without extension).
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TARGET = Revolution
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# Paths
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OPSYSTEM = ./System
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALK = ../UAVTalk
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPTESTS = ./Tests
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2013-04-24 23:24:38 +02:00
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OPMODULEDIR = ../modules
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FLIGHTLIB = ../libraries
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2013-04-05 22:46:56 +02:00
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FLIGHTLIBINC = $(FLIGHTLIB)/inc
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2013-04-24 23:24:38 +02:00
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MATHLIB = ../libraries/math
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2013-04-05 22:46:56 +02:00
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MATHLIBINC = ../Libraries/math
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PIOS = ../PiOS.osx
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PIOSINC = $(PIOS)/inc
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PIOSPOSIX = $(PIOS)/osx
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2013-04-24 23:24:38 +02:00
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APPLIBDIR = $(PIOSPOSIX)/libraries
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2013-04-05 22:46:56 +02:00
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RTOSDIR = $(APPLIBDIR)/FreeRTOS
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RTOSSRCDIR = $(RTOSDIR)/Source
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RTOSINCDIR = $(RTOSSRCDIR)/include
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DOXYGENDIR = ../Doc/Doxygen
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PYMITE = $(FLIGHTLIB)/PyMite
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PYMITELIB = $(PYMITE)/lib
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PYMITEPLAT = $(PYMITE)/platform/openpilot_sitl
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PYMITETOOLS = $(PYMITE)/tools
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PYMITEVM = $(PYMITE)/vm
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PYMITEINC = $(PYMITEVM)
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PYMITEINC += $(PYMITEPLAT)
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PYMITEINC += $(OUTDIR)
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FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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MODNAMES = $(notdir ${MODULES})
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## PyMite files
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SRC += $(OUTDIR)/pmlib_img.c
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SRC += $(OUTDIR)/pmlib_nat.c
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SRC += $(OUTDIR)/pmlibusr_img.c
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SRC += $(OUTDIR)/pmlibusr_nat.c
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SRC += $(wildcard ${PYMITEVM}/*.c)
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SRC += $(wildcard ${PYMITEPLAT}/*.c)
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## MODULES
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SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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SRC += ${OUTDIR}/InitMods.c
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## OPENPILOT CORE:
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SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/revolution.c
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SRC += $(OPSYSTEM)/pios_board_sim.c
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SRC += $(OPSYSTEM)/alarms.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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2013-04-13 21:50:47 +02:00
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SRC += $(OPUAVOBJ)/callbackscheduler.c
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2013-04-05 22:46:56 +02:00
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SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
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include $(WHEREAMI)/UAVObjects.inc
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UAVOBJSRCFILENAMES += attitudesimulated
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UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
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UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
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SRC += $(UAVOBJSRC)
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CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE)
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## PIOS Hardware (posix)
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SRC += $(PIOSPOSIX)/pios_crc.c
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SRC += $(PIOSPOSIX)/pios_sys.c
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SRC += $(PIOSPOSIX)/pios_led.c
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SRC += $(PIOSPOSIX)/pios_irq.c
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SRC += $(PIOSPOSIX)/pios_delay.c
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SRC += $(PIOSPOSIX)/pios_sdcard.c
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SRC += $(PIOSPOSIX)/pios_udp.c
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SRC += $(PIOSPOSIX)/pios_tcp.c
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SRC += $(PIOSPOSIX)/pios_com.c
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SRC += $(PIOSPOSIX)/pios_servo.c
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SRC += $(PIOSPOSIX)/pios_wdg.c
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SRC += $(PIOSPOSIX)/pios_debug.c
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SRC += $(PIOSPOSIX)/pios_bl_helper.c
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SRC += $(PIOSPOSIX)/pios_iap.c
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SRC += $(PIOSPOSIX)/pios_board_info.c
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SRC += $(PIOSPOSIX)/pios_rcvr.c
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SRC += $(PIOSPOSIX)/pios_gcsrcvr.c
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/paths.c
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SRC += $(FLIGHTLIB)/insgps13state.c
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SRC += $(MATHLIB)/pid.c
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SRC += $(MATHLIB)/sin_lookup.c
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## RTOS and RTOS Portable
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SRC += $(RTOSSRCDIR)/list.c
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SRC += $(RTOSSRCDIR)/queue.c
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UNAME := $(shell uname)
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SRC += $(RTOSSRCDIR)/task.c
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SRC += $(RTOSSRCDIR)/timers.c
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SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c
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SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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SRCARM =
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# List C++ source files here.
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# use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# use file-extension .cpp for C++-files (not .C)
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#CPPSRCARM = $(TARGET).cpp
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CPPSRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS = $(OPSYSTEM)
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EXTRAINCDIRS += $(OPSYSTEMINC)
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EXTRAINCDIRS += $(OPUAVTALK)
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EXTRAINCDIRS += $(OPUAVTALKINC)
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EXTRAINCDIRS += $(OPUAVOBJ)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(MATHLIBINC)
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EXTRAINCDIRS += $(FLIGTH)
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EXTRAINCDIRS += $(PIOSPOSIX)
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EXTRAINCDIRS += $(RTOSINCDIR)
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EXTRAINCDIRS += $(APPLIBDIR)
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EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/Posix
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EXTRAINCDIRS += $(PYMITEINC)
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EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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# includes from linker-script to the list
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# Each directory must be seperated by a space.
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EXTRA_LIBDIRS =
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# Extra Libraries
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# Each library-name must be seperated by a space.
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# i.e. to link with libxyz.a, libabc.a and libefsl.a:
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# EXTRA_LIBS = xyz abc efsl
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# for newlib-lpc (file: libnewlibc-lpc.a):
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# EXTRA_LIBS = newlib-lpc
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EXTRA_LIBS =
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# Path to Linker-Scripts
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LINKERSCRIPTPATH = $(PIOSSTM32F10X)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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OPT = 0
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else
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OPT = s
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endif
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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#DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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ifeq ($(ENABLE_DEBUG_PINS), YES)
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CDEFS += -DPIOS_ENABLE_DEBUG_PINS
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endif
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ifeq ($(ENABLE_AUX_UART), YES)
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CDEFS += -DPIOS_ENABLE_AUX_UART
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endif
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ifeq ($(USE_BOOTLOADER), YES)
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CDEFS += -DUSE_BOOTLOADER
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endif
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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#-----
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# Compiler flags.
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# -g*: generate debugging information
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# -O*: optimization level
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# -f...: tuning, see GCC manual and avr-libc documentation
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# -Wall...: warning level
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# -Wa,...: tell GCC to pass this to the assembler.
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# -adhlns...: create assembler listing
|
|
|
|
|
#
|
|
|
|
|
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
|
|
|
|
|
|
|
|
|
|
ifeq ($(DEBUG),YES)
|
|
|
|
|
CFLAGS += -g$(DEBUGF) -DDEBUG
|
|
|
|
|
endif
|
|
|
|
|
|
|
|
|
|
CFLAGS += -DDIAG_TASKS
|
|
|
|
|
|
|
|
|
|
CFLAGS += $(CFLAGS_UAVOBJECTS)
|
|
|
|
|
CFLAGS += -DARCH_POSIX
|
|
|
|
|
CFLAGS += -O$(OPT)
|
|
|
|
|
CFLAGS += $(CDEFS)
|
|
|
|
|
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
|
|
|
|
|
|
|
|
|
#CFLAGS += ARCH=arm
|
|
|
|
|
#CROSS_COMPILE=/usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
|
|
|
|
|
|
|
|
|
|
CFLAGS += -fomit-frame-pointer
|
|
|
|
|
ifeq ($(CODE_SOURCERY), YES)
|
|
|
|
|
CFLAGS += -fpromote-loop-indices
|
|
|
|
|
endif
|
|
|
|
|
|
|
|
|
|
CFLAGS += -Wall
|
|
|
|
|
CFLAGS += -Werror
|
|
|
|
|
# Compiler flags to generate dependency files:
|
|
|
|
|
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
|
|
|
|
|
|
|
|
|
|
# flags only for C
|
|
|
|
|
#CONLYFLAGS += -Wnested-externs
|
|
|
|
|
CONLYFLAGS += $(CSTANDARD)
|
|
|
|
|
|
|
|
|
|
# Assembler flags.
|
|
|
|
|
# -Wa,...: tell GCC to pass this to the assembler.
|
|
|
|
|
# -ahlns: create listing
|
|
|
|
|
ASFLAGS = -mtune=$(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 += -lpthread
|
|
|
|
|
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
|
|
|
|
LDFLAGS += -lc
|
|
|
|
|
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
|
|
|
|
LDFLAGS += $(MATH_LIB)
|
|
|
|
|
LDFLAGS += -lc -lgcc
|
|
|
|
|
|
|
|
|
|
# To include simulation model
|
|
|
|
|
LDFLAGS += -L$(OUTDIR)
|
|
|
|
|
#LDFLAGS += -lsimmodel
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# Define programs and commands.
|
|
|
|
|
CC = $(ARM_SDK_PREFIX)gcc
|
|
|
|
|
CPP = $(ARM_SDK_PREFIX)g++
|
|
|
|
|
AR = $(ARM_SDK_PREFIX)ar
|
|
|
|
|
OBJCOPY = $(ARM_SDK_PREFIX)objcopy
|
|
|
|
|
OBJDUMP = $(ARM_SDK_PREFIX)objdump
|
|
|
|
|
SIZE = $(ARM_SDK_PREFIX)size
|
|
|
|
|
NM = $(ARM_SDK_PREFIX)nm
|
|
|
|
|
REMOVE = $(RM) -f
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# Define Messages
|
|
|
|
|
# English
|
|
|
|
|
MSG_ERRORS_NONE = Errors: none
|
|
|
|
|
MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
|
|
|
|
|
MSG_END = ${quote}-------- end --------${quote}
|
|
|
|
|
MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
|
|
|
|
|
MSG_SIZE_BEFORE = ${quote}Size before:${quote}
|
|
|
|
|
MSG_SIZE_AFTER = ${quote}Size after build:${quote}
|
|
|
|
|
MSG_LOAD_FILE = ${quote}Creating load file:${quote}
|
|
|
|
|
MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
|
|
|
|
|
MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
|
|
|
|
|
MSG_LINKING = ${quote}**** Linking :${quote}
|
|
|
|
|
MSG_COMPILING = ${quote}**** Compiling C :${quote}
|
|
|
|
|
MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
|
|
|
|
|
MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
|
|
|
|
|
MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
|
|
|
|
|
MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
|
|
|
|
|
MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
|
|
|
|
|
MSG_CLEANING = ${quote}Cleaning project:${quote}
|
|
|
|
|
MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
|
|
|
|
|
MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
|
|
|
|
|
MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
|
|
|
|
|
MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote}
|
|
|
|
|
|
|
|
|
|
$(OUTDIR)/sim_osx_firmwareinfo.c: $(TOP)/make/templates/firmwareinfotemplate_sim.c
|
|
|
|
|
$(V1) python $(TOP)/make/scripts/version-info.py \
|
|
|
|
|
--path=$(TOP) \
|
|
|
|
|
--template=$(TOP)/make/templates/firmwareinfotemplate_sim.c \
|
|
|
|
|
--outfile=$(TOP)/build/sim_osx/sim_osx_firmwareinfo.c \
|
|
|
|
|
--image=$(TOP)/build/fw_revolution/fw_revolution.elf \
|
|
|
|
|
--type=9 \
|
|
|
|
|
--revision=1 \
|
|
|
|
|
--uavodir=$(TOP)/shared/uavobjectdefinition
|
|
|
|
|
|
|
|
|
|
# List of all source files.
|
|
|
|
|
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) $(OUTDIR)/sim_osx_firmwareinfo.c
|
|
|
|
|
# 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)))
|
|
|
|
|
|
|
|
|
|
elf: $(OUTDIR)/$(TARGET).elf
|
|
|
|
|
lss: $(OUTDIR)/$(TARGET).lss
|
|
|
|
|
sym: $(OUTDIR)/$(TARGET).sym
|
|
|
|
|
hex: $(OUTDIR)/$(TARGET).hex
|
|
|
|
|
bin: $(OUTDIR)/$(TARGET).bin
|
|
|
|
|
|
|
|
|
|
# Default target.
|
|
|
|
|
#all: begin gccversion sizebefore build sizeafter finished end
|
|
|
|
|
#all: begin gencode gccversion build sizeafter finished end
|
|
|
|
|
all: elf
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
# Generate intermediate code
|
|
|
|
|
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
|
|
|
|
|
|
|
|
|
|
getmodname = $(firstword $(subst /, ,$1))
|
|
|
|
|
|
|
|
|
|
MOD_GEN := $(foreach MOD,$(MODULES),$(call getmodname,$(MOD)))
|
|
|
|
|
|
|
|
|
|
# Generate code for module initialization
|
|
|
|
|
${OUTDIR}/InitMods.c: Makefile.osx
|
|
|
|
|
echo ${MOD_GEN}
|
|
|
|
|
@echo ${MSG_MODINIT}
|
|
|
|
|
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
|
|
|
|
|
@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
|
@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
|
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
|
@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
|
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
|
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
|
@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
|
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
|
|
|
|
|
|
# Generate code for PyMite
|
|
|
|
|
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
|
|
|
|
|
@echo ${MSG_PYMITEINIT}
|
|
|
|
|
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
|
|
|
|
|
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
|
|
|
|
|
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
|
|
|
|
|
|
|
|
|
|
# Eye candy.
|
|
|
|
|
begin:
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_BEGIN)
|
|
|
|
|
|
|
|
|
|
finished:
|
|
|
|
|
## @echo $(MSG_ERRORS_NONE)
|
|
|
|
|
|
|
|
|
|
end:
|
|
|
|
|
@echo $(MSG_END)
|
|
|
|
|
## @echo
|
|
|
|
|
|
|
|
|
|
# Display sizes of sections.
|
|
|
|
|
ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf
|
|
|
|
|
##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
|
|
|
|
|
sizebefore:
|
|
|
|
|
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
|
|
|
|
|
|
|
|
|
|
sizeafter:
|
|
|
|
|
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
|
|
|
|
|
@echo $(MSG_SIZE_AFTER)
|
|
|
|
|
$(ELFSIZE)
|
|
|
|
|
|
|
|
|
|
# Display compiler version information.
|
|
|
|
|
gccversion :
|
|
|
|
|
@$(CC) --version
|
|
|
|
|
# @echo $(ALLOBJ)
|
|
|
|
|
|
|
|
|
|
# Create final output file (.hex) from ELF output file.
|
|
|
|
|
%.hex: %.elf
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_LOAD_FILE) $@
|
|
|
|
|
$(OBJCOPY) -O ihex $< $@
|
|
|
|
|
|
|
|
|
|
# Create final output file (.bin) from ELF output file.
|
|
|
|
|
%.bin: %.elf
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_LOAD_FILE) $@
|
|
|
|
|
$(OBJCOPY) -O binary $< $@
|
|
|
|
|
|
|
|
|
|
# Create extended listing file/disassambly from ELF output file.
|
|
|
|
|
# using objdump testing: option -C
|
|
|
|
|
%.lss: %.elf
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_EXTENDED_LISTING) $@
|
|
|
|
|
$(OBJDUMP) -h -S -C -r $< > $@
|
|
|
|
|
# $(OBJDUMP) -x -S $< > $@
|
|
|
|
|
|
|
|
|
|
# Create a symbol table from ELF output file.
|
|
|
|
|
%.sym: %.elf
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_SYMBOL_TABLE) $@
|
|
|
|
|
$(NM) -n $< > $@
|
|
|
|
|
|
|
|
|
|
# Link: create ELF output file from object files.
|
|
|
|
|
.SECONDARY : $(TARGET).elf
|
|
|
|
|
.PRECIOUS : $(ALLOBJ)
|
|
|
|
|
%.elf: $(ALLOBJ)
|
|
|
|
|
@echo $(MSG_LINKING) $@
|
|
|
|
|
# use $(CC) for C-only projects or $(CPP) for C++-projects:
|
|
|
|
|
$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
|
|
|
|
# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# Assemble: create object files from assembler source files.
|
|
|
|
|
define ASSEMBLE_TEMPLATE
|
|
|
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_ASSEMBLING) $$< to $$@
|
|
|
|
|
$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
|
|
|
|
|
endef
|
|
|
|
|
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
|
|
|
|
|
|
|
|
|
# Assemble: create object files from assembler source files. ARM-only
|
|
|
|
|
define ASSEMBLE_ARM_TEMPLATE
|
|
|
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_ASSEMBLING_ARM) $$< to $$@
|
|
|
|
|
$(CC) -c $$(ASFLAGS) $$< -o $$@
|
|
|
|
|
endef
|
|
|
|
|
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# Compile: create object files from C source files.
|
|
|
|
|
define COMPILE_C_TEMPLATE
|
|
|
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_COMPILING) $$< to $$@
|
|
|
|
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
|
|
|
|
endef
|
|
|
|
|
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
|
|
|
|
|
|
|
|
|
# Compile: create object files from C source files. ARM-only
|
|
|
|
|
define COMPILE_C_ARM_TEMPLATE
|
|
|
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_COMPILING_ARM) $$< to $$@
|
|
|
|
|
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
|
|
|
|
endef
|
|
|
|
|
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# Compile: create object files from C++ source files.
|
|
|
|
|
define COMPILE_CPP_TEMPLATE
|
|
|
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_COMPILINGCPP) $$< to $$@
|
|
|
|
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
|
|
|
|
endef
|
|
|
|
|
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
|
|
|
|
|
|
|
|
|
# Compile: create object files from C++ source files. ARM-only
|
|
|
|
|
define COMPILE_CPP_ARM_TEMPLATE
|
|
|
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
|
|
|
## @echo
|
|
|
|
|
@echo $(MSG_COMPILINGCPP_ARM) $$< to $$@
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$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
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endef
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$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
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# Compile: create assembler files from C source files. ARM/Thumb
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$(SRC:.c=.s) : %.s : %.c
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@echo $(MSG_ASMFROMC) $< to $@
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$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
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# Compile: create assembler files from C source files. ARM only
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|
$(SRCARM:.c=.s) : %.s : %.c
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|
|
@echo $(MSG_ASMFROMC_ARM) $< to $@
|
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|
$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
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|
|
# Generate Doxygen documents
|
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|
|
docs:
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|
|
doxygen $(DOXYGENDIR)/doxygen.cfg
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|
|
# Target: clean project.
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|
|
clean: begin clean_list finished end
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|
|
clean_list :
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|
|
## @echo
|
|
|
|
|
@echo $(MSG_CLEANING)
|
|
|
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).map
|
|
|
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).elf
|
|
|
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).hex
|
|
|
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).bin
|
|
|
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).sym
|
|
|
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).lss
|
|
|
|
|
$(REMOVE) $(wildcard $(OUTDIR)/*.c)
|
|
|
|
|
$(REMOVE) $(wildcard $(OUTDIR)/*.h)
|
|
|
|
|
$(REMOVE) $(ALLOBJ)
|
|
|
|
|
$(REMOVE) $(LSTFILES)
|
|
|
|
|
$(REMOVE) $(DEPFILES)
|
|
|
|
|
$(REMOVE) $(SRC:.c=.s)
|
|
|
|
|
$(REMOVE) $(SRCARM:.c=.s)
|
|
|
|
|
$(REMOVE) $(CPPSRC:.cpp=.s)
|
|
|
|
|
$(REMOVE) $(CPPSRCARM:.cpp=.s)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# Create output files directory
|
|
|
|
|
# all known MS Windows OS define the ComSpec environment variable
|
|
|
|
|
ifdef ComSpec
|
|
|
|
|
$(shell md $(OUTDIR) 2>NUL)
|
|
|
|
|
else
|
|
|
|
|
$(shell mkdir $(OUTDIR) 2>/dev/null)
|
|
|
|
|
endif
|
|
|
|
|
|
|
|
|
|
# Include the dependency files.
|
|
|
|
|
ifdef ComSpec
|
|
|
|
|
-include $(shell md $(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 begin finish end sizebefore sizeafter gccversion \
|
|
|
|
|
build elf hex bin lss sym clean clean_list program gencode
|
|
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|
