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OP-378: Update INS bootloader to new format

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This commit is contained in:
James Cotton 2011-05-18 12:59:27 -05:00
parent 81b7fb6185
commit 328b3b5fee
2 changed files with 109 additions and 37 deletions
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63
flight/Bootloaders/INS/Makefile
View File

@ -29,7 +29,6 @@ include $(TOP)/make/firmware-defs.mk
# Set developer code and compile options # Set developer code and compile options
# Set to YES for debugging # Set to YES for debugging
DEBUG ?= NO DEBUG ?= NO
OVERRIDE USE_BOOTLOADER = NO
# Set to YES when using Code Sourcery toolchain # Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES CODE_SOURCERY ?= YES
@ -203,9 +202,6 @@ DEBUGF = dwarf-2
CDEFS = -DSTM32F10X_$(MODEL) CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD) CDEFS += -DUSE_$(BOARD)
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -232,9 +228,10 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++) # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES) ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) CFLAGS =
endif endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT) CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO) ifeq ($(DEBUG),NO)
CFLAGS += -fdata-sections -ffunction-sections CFLAGS += -fdata-sections -ffunction-sections
@ -275,7 +272,7 @@ MATH_LIB = -lm
# --cref: add cross reference to map file # --cref: add cross reference to map file
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
ifeq ($(DEBUG),NO) ifeq ($(DEBUG),NO)
LDFLAGS += -Wl,-static -Wl,-s LDFLAGS += -Wl,-static
endif endif
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc LDFLAGS += -lc
@ -284,41 +281,19 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name # Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
# --------------------------------------------------------------------------- OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Options for OpenOCD flash-programming # Program
# see openocd.pdf/openocd.texi for further information OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify # Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)" OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target # reset target
OOCD_CL+=-c "reset run" OOCD_CL+=-c "reset run"
# terminate OOCD after programming # terminate OOCD after programming
OOCD_CL+=-c shutdown OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands. # Define programs and commands.
@ -359,7 +334,7 @@ endif
# Program the device. # Program the device.
ifeq ($(FLASH_TOOL),OPENOCD) ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script". # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).elf program: $(OUTDIR)/$(TARGET).bin
@echo "Programming with OPENOCD" @echo "Programming with OPENOCD"
$(OOCD_EXE) $(OOCD_CL) $(OOCD_EXE) $(OOCD_CL)
endif endif
@ -391,12 +366,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only # Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM)) $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin .PHONY: elf lss sym hex bin
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@ -407,6 +385,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs: docs:
doxygen $(DOXYGENDIR)/doxygen.cfg 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. # Target: clean project.
clean: clean_list clean: clean_list
@ -418,6 +406,7 @@ clean_list :
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
$(V1) $(REMOVE) $(ALLOBJ) $(V1) $(REMOVE) $(ALLOBJ)
$(V1) $(REMOVE) $(LSTFILES) $(V1) $(REMOVE) $(LSTFILES)
$(V1) $(REMOVE) $(DEPFILES) $(V1) $(REMOVE) $(DEPFILES)
@ -443,4 +432,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program .PHONY : all build clean clean_list program install

83
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -100,6 +100,31 @@
6589A983131DE24F006BD67C /* taskmonitor.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = taskmonitor.c; sourceTree = "<group>"; }; 6589A983131DE24F006BD67C /* taskmonitor.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = taskmonitor.c; sourceTree = "<group>"; };
6589A9DB131DEE76006BD67C /* pios_rtc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rtc.c; sourceTree = "<group>"; }; 6589A9DB131DEE76006BD67C /* pios_rtc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rtc.c; sourceTree = "<group>"; };
6589A9E2131DF1C7006BD67C /* pios_rtc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc.h; sourceTree = "<group>"; }; 6589A9E2131DF1C7006BD67C /* pios_rtc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc.h; sourceTree = "<group>"; };
6598854A13843E81006777AA /* ahrs_slave_test.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_slave_test.c; sourceTree = "<group>"; };
6598854B13843E81006777AA /* ahrs_spi_program.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_program.c; sourceTree = "<group>"; };
6598854C13843E81006777AA /* ahrs_spi_program_master.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_program_master.c; sourceTree = "<group>"; };
6598854D13843E81006777AA /* ahrs_spi_program_slave.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_program_slave.c; sourceTree = "<group>"; };
6598854E13843E81006777AA /* bl_fsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = bl_fsm.c; sourceTree = "<group>"; };
6598855013843E81006777AA /* ahrs_spi_program.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program.h; sourceTree = "<group>"; };
6598855113843E81006777AA /* ahrs_spi_program_master.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program_master.h; sourceTree = "<group>"; };
6598855213843E81006777AA /* ahrs_spi_program_slave.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program_slave.h; sourceTree = "<group>"; };
6598855313843E81006777AA /* bl_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = bl_fsm.h; sourceTree = "<group>"; };
6598855413843E81006777AA /* ins_bl.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins_bl.h; sourceTree = "<group>"; };
6598855513843E81006777AA /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
6598855613843E81006777AA /* main.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = main.c; sourceTree = "<group>"; };
6598855713843E81006777AA /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
6598855813843E81006777AA /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
6598855A13843E91006777AA /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_timer.c; sourceTree = "<group>"; };
6598855C13843E91006777AA /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
6598855D13843E91006777AA /* ins.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins.h; sourceTree = "<group>"; };
6598855E13843E91006777AA /* ins_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins_fsm.h; sourceTree = "<group>"; };
6598855F13843E91006777AA /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; };
6598856013843E91006777AA /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
6598856113843E91006777AA /* ins.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ins.c; sourceTree = "<group>"; };
6598856213843E91006777AA /* insgps13state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps13state.c; sourceTree = "<group>"; };
6598856313843E91006777AA /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
6598856413843E91006777AA /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
6598856513843E91006777AA /* test.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = test.c; sourceTree = "<group>"; };
659ED317122226B60011010E /* ahrssettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrssettings.xml; sourceTree = "<group>"; }; 659ED317122226B60011010E /* ahrssettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrssettings.xml; sourceTree = "<group>"; };
65B35D7F121C261E003EAD18 /* bin.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = bin.pro; sourceTree = "<group>"; }; 65B35D7F121C261E003EAD18 /* bin.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = bin.pro; sourceTree = "<group>"; };
65B35D80121C261E003EAD18 /* openpilotgcs */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.sh; path = openpilotgcs; sourceTree = "<group>"; }; 65B35D80121C261E003EAD18 /* openpilotgcs */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.sh; path = openpilotgcs; sourceTree = "<group>"; };
@ -3553,6 +3578,7 @@
657CEEB5121DBC49007A1FBE /* flight */ = { 657CEEB5121DBC49007A1FBE /* flight */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
6598855913843E91006777AA /* INS */,
65FF4BB313791C3300146BE4 /* Bootloaders */, 65FF4BB313791C3300146BE4 /* Bootloaders */,
65F93B9012EE09280047DB36 /* PipXtreme */, 65F93B9012EE09280047DB36 /* PipXtreme */,
65B7E6AC120DF1CD000C1123 /* AHRS */, 65B7E6AC120DF1CD000C1123 /* AHRS */,
@ -3597,6 +3623,62 @@
path = inc; path = inc;
sourceTree = "<group>"; sourceTree = "<group>";
}; };
6598854913843E81006777AA /* INS */ = {
isa = PBXGroup;
children = (
6598854A13843E81006777AA /* ahrs_slave_test.c */,
6598854B13843E81006777AA /* ahrs_spi_program.c */,
6598854C13843E81006777AA /* ahrs_spi_program_master.c */,
6598854D13843E81006777AA /* ahrs_spi_program_slave.c */,
6598854E13843E81006777AA /* bl_fsm.c */,
6598854F13843E81006777AA /* inc */,
6598855613843E81006777AA /* main.c */,
6598855713843E81006777AA /* Makefile */,
6598855813843E81006777AA /* pios_board.c */,
);
path = INS;
sourceTree = "<group>";
};
6598854F13843E81006777AA /* inc */ = {
isa = PBXGroup;
children = (
6598855013843E81006777AA /* ahrs_spi_program.h */,
6598855113843E81006777AA /* ahrs_spi_program_master.h */,
6598855213843E81006777AA /* ahrs_spi_program_slave.h */,
6598855313843E81006777AA /* bl_fsm.h */,
6598855413843E81006777AA /* ins_bl.h */,
6598855513843E81006777AA /* pios_config.h */,
);
path = inc;
sourceTree = "<group>";
};
6598855913843E91006777AA /* INS */ = {
isa = PBXGroup;
children = (
6598855A13843E91006777AA /* ahrs_timer.c */,
6598855B13843E91006777AA /* inc */,
6598856113843E91006777AA /* ins.c */,
6598856213843E91006777AA /* insgps13state.c */,
6598856313843E91006777AA /* Makefile */,
6598856413843E91006777AA /* pios_board.c */,
6598856513843E91006777AA /* test.c */,
);
name = INS;
path = ../../INS;
sourceTree = SOURCE_ROOT;
};
6598855B13843E91006777AA /* inc */ = {
isa = PBXGroup;
children = (
6598855C13843E91006777AA /* ahrs_timer.h */,
6598855D13843E91006777AA /* ins.h */,
6598855E13843E91006777AA /* ins_fsm.h */,
6598855F13843E91006777AA /* insgps.h */,
6598856013843E91006777AA /* pios_config.h */,
);
path = inc;
sourceTree = "<group>";
};
65B35D7D121C261E003EAD18 /* ground */ = { 65B35D7D121C261E003EAD18 /* ground */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
@ -8292,6 +8374,7 @@
65FF4BB313791C3300146BE4 /* Bootloaders */ = { 65FF4BB313791C3300146BE4 /* Bootloaders */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
6598854913843E81006777AA /* INS */,
65FF4BB413791C3300146BE4 /* AHRS */, 65FF4BB413791C3300146BE4 /* AHRS */,
65FF4BC413791C3300146BE4 /* BootloaderUpdater */, 65FF4BC413791C3300146BE4 /* BootloaderUpdater */,
65FF4BCB13791C3300146BE4 /* CopterControl */, 65FF4BCB13791C3300146BE4 /* CopterControl */,