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Merge branch 'OP-484_Stac_Standardize-on-all-application-loads-requiring-a-bootloader'

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This commit is contained in:
James Cotton 2011-05-08 22:44:14 -05:00
commit 32fa213744
33 changed files with 1171 additions and 1229 deletions
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5
.gitignore vendored
View File

@ -59,3 +59,8 @@ ground/uavobjgenerator/uavobjgenerator.pro.user
ground/uavobjects/uavobjects.pro.user
ground/ground.pro.user
# Ignore GNU global tags files
GPATH
GRTAGS
GSYMS
GTAGS

259
Makefile
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@ -4,6 +4,26 @@ TOOLS_DIR=$(ROOT_DIR)/tools
BUILD_DIR=$(ROOT_DIR)/build
DL_DIR=$(ROOT_DIR)/downloads
# Clean out undesirable variables from the environment and command-line
# to remove the chance that they will cause problems with our build
define SANITIZE_VAR
$(if $(filter-out undefined,$(origin $(1))),
$(info *NOTE* Sanitized $(2) variable '$(1)' from $(origin $(1)))
MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
override $(1) :=
unexport $(1)
)
endef
# These specific variables can influence gcc in unexpected (and undesirable) ways
SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
$(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
# These specific variables used to be valid but now they make no sense
SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER
$(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
# We almost need to consider autoconf/automake instead of this
# I don't know if windows supports uname :-(
QT_SPEC=win32-g++
@ -43,45 +63,57 @@ areyousureyoushouldberunningthis:
@echo " If you're sure you want to be using this, you may wish to try the following targets:"
@echo
@echo " [Tool Installers]"
@echo " qt_sdk_install - Install the QT v4.6.2 tools"
@echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain"
@echo " openocd_install - Install the OpenOCD JTAG daemon"
@echo " qt_sdk_install - Install the QT v4.6.2 tools"
@echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain"
@echo " openocd_install - Install the OpenOCD JTAG daemon"
@echo
@echo " [Big Hammer]"
@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
@echo " all_clean - Remove your build directory ($(BUILD_DIR))"
@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
@echo " all_flight - Build all firmware, bootloaders and bootloader updaters"
@echo " all_fw - Build only firmware for all boards"
@echo " all_bl - Build only bootloaders for all boards"
@echo " all_blupd - Build only bootloader updaters for all boards"
@echo
@echo " all_clean - Remove your build directory ($(BUILD_DIR))"
@echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
@echo " all_fw_clean - Remove firmware for all boards"
@echo " all_bl_clean - Remove bootlaoders for all boards"
@echo " all_blupd_clean - Remove bootloader updaters for all boards"
@echo
@echo " [Firmware]"
@echo " openpilot - Build firmware for the OpenPilot board"
@echo " openpilot_clean - Delete all build output for the OpenPilot firmware"
@echo " openpilot_program - Program the firmware onto the OpenPilot board"
@echo " ahrs - Build firmware for the AHRS board"
@echo " ahrs_clean - Delete all build output for the AHRS firmware"
@echo " ahrs_program - Program the firmware onto the AHRS board"
@echo " coptercontrol - Build firmware for the CopterControl board"
@echo " <board> - Build firmware for <board>"
@echo " supported boards are ($(FW_TARGETS))"
@echo " <board>_clean - Remove firmware for <board>"
@echo " <board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@echo
@echo " NOTE: To build firmware to be chain loaded from a bootloader, use"
@echo " make openpilot USE_BOOTLOADER=YES"
@echo " Don't forget to do a clean between builds with/without bootloader"
@echo " [Bootloader]"
@echo " bl_<board> - Build bootloader for <board>"
@echo " supported boards are ($(BL_TARGETS))"
@echo " bl_<board>_clean - Remove bootloader for <board>"
@echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
@echo
@echo " [Bootloader Updater]"
@echo " blupd_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BLUPD_TARGETS))"
@echo " blupd_<board>_clean - Remove bootloader updater for <board>"
@echo
@echo " [Simulation]"
@echo " sim_posix - Build OpenPilot simulation firmware for"
@echo " a POSIX compatible system (Linux, Mac OS X, ...)"
@echo " sim_posix_clean - Delete all build output for the POSIX simulation"
@echo " sim_win32 - Build OpenPilot simulation firmware for"
@echo " Windows using mingw and msys"
@echo " sim_win32_clean - Delete all build output for the win32 simulation"
@echo " sim_posix - Build OpenPilot simulation firmware for"
@echo " a POSIX compatible system (Linux, Mac OS X, ...)"
@echo " sim_posix_clean - Delete all build output for the POSIX simulation"
@echo " sim_win32 - Build OpenPilot simulation firmware for"
@echo " Windows using mingw and msys"
@echo " sim_win32_clean - Delete all build output for the win32 simulation"
@echo
@echo " [GCS]"
@echo " gcs - Build the Ground Control System application"
@echo " gcs - Build the Ground Control System (GCS) application"
@echo " gcs_clean - Remove the Ground Control System (GCS) application"
@echo
@echo " [UAVObjects]"
@echo " uavobjects - Generate source files from the UAVObject definition XML files"
@echo " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... "
@echo " uavobjects_flight - Generate flight source files from the UAVObject definition XML files"
@echo " uavobjects_gcs - Generate groundstation source files from the UAVObject definition XML files"
@echo " uavobjects_python - Generate python source files from the UAVObject definition XML files"
@echo " uavobjects_matlab - Generate matlab source files from the UAVObject definition XML files"
@echo " uavobjects - Generate source files from the UAVObject definition XML files"
@echo " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... "
@echo " uavobjects_<group> - Generate source files from a subset of the UAVObject definition XML files"
@echo " supported groups are ($(UAVOBJ_TARGETS))"
@echo
@echo " Note: All tools will be installed into $(TOOLS_DIR)"
@echo " All build output will be placed in $(BUILD_DIR)"
@ -221,8 +253,9 @@ endif
all_ground: openpilotgcs
# Convenience target for the GCS
.PHONY: gcs
.PHONY: gcs gcs_clean
gcs: openpilotgcs
gcs_clean: openpilotgcs_clean
.PHONY: openpilotgcs
openpilotgcs: uavobjects_gcs
@ -244,6 +277,11 @@ else
$(error $@ is currently only available on Windows)
endif
.PHONY: openpilotgcs_clean
openpilotgcs_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
.PHONY: uavobjgenerator
uavobjgenerator:
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
@ -252,8 +290,9 @@ uavobjgenerator:
$(MAKE) --no-print-directory -w ; \
)
UAVOBJ_TARGETS := gcs flight python matlab java
.PHONY:uavobjects
uavobjects: uavobjects_gcs uavobjects_flight uavobjects_python uavobjects_matlab uavobjects_java
uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
@ -270,6 +309,7 @@ uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
uavobjects_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
##############################
@ -278,27 +318,40 @@ uavobjects_clean:
#
##############################
FW_TARGETS := openpilot ahrs coptercontrol pipxtreme ins
BL_TARGETS := $(addprefix bl_, $(FW_TARGETS))
FW_TARGETS := openpilot ahrs coptercontrol pipxtreme ins
BL_TARGETS := $(addprefix bl_, $(FW_TARGETS))
BLUPD_TARGETS := $(addprefix blupd_, $(FW_TARGETS))
# FIXME: The INS build doesn't have a bootloader or bootloader
# updater yet so we need to filter them out to prevent errors.
BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
BLUPD_TARGETS := $(filter-out blupd_ins, $(BLUPD_TARGETS))
.PHONY: all_fw all_fw_clean
all_fw: $(addsuffix _bin, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
.PHONY: all_bw all_bw_clean
all_bl: $(addsuffix _elf, $(BL_TARGETS))
.PHONY: all_bl all_bl_clean
all_bl: $(addsuffix _bin, $(BL_TARGETS))
all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
.PHONY: all_blupd all_blupd_clean
all_blupd: $(addsuffix _bin, $(BLUPD_TARGETS))
all_blupd_clean: $(addsuffix _clean, $(BLUPD_TARGETS))
.PHONY: all_flight all_flight_clean
all_flight: all_fw all_bl
all_flight_clean: all_fw_clean all_bl_clean
all_flight: all_fw all_bl all_blupd
all_flight_clean: all_fw_clean all_bl_clean all_blupd_clean
.PHONY: openpilot
openpilot: openpilot_bin
openpilot_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/OpenPilot && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/OpenPilot && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: openpilot_clean
openpilot_clean:
@ -306,23 +359,47 @@ openpilot_clean:
$(V1) $(RM) -fr $(BUILD_DIR)/openpilot
.PHONY: bl_openpilot
bl_openpilot: bl_openpilot_elf
bl_openpilot: bl_openpilot_bin
bl_openpilot_bino: bl_openpilot_bin
bl_openpilot_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/OpenPilot && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/OpenPilot && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_openpilot_clean
bl_openpilot_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_openpilot
.PHONY: blupd_openpilot
blupd_openpilot: blupd_openpilot_bin
blupd_openpilot_%: bl_openpilot_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM3210E_OP MODEL=HD MODEL_SUFFIX=_OP \
BLOBJ=$(BUILD_DIR)/bl_openpilot/OpenPilot_BL.bin.o $*
.PHONY: blupd_openpilot_clean
blupd_openpilot_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_openpilot
.PHONY: ahrs
ahrs: ahrs_bin
ahrs_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/AHRS && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/AHRS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: ahrs_clean
ahrs_clean:
@ -330,23 +407,47 @@ ahrs_clean:
$(V1) $(RM) -fr $(BUILD_DIR)/ahrs
.PHONY: bl_ahrs
bl_ahrs: bl_ahrs_elf
bl_ahrs: bl_ahrs_bin
bl_ahrs_bino: bl_ahrs_bin
bl_ahrs_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/AHRS && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/AHRS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_ahrs_clean
bl_ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_ahrs
.PHONY: blupd_ahrs
blupd_ahrs: blupd_ahrs_bin
blupd_ahrs_%: bl_ahrs_bino bl_ahrs
$(V1) mkdir -p $(BUILD_DIR)/blupd_ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_AHRS MODEL=MD \
BLOBJ=$(BUILD_DIR)/bl_ahrs/AHRS_BL.bin.o $*
.PHONY: blupd_ahrs_clean
blupd_ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_ahrs
.PHONY: coptercontrol
coptercontrol: coptercontrol_bin
coptercontrol_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/CopterControl && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/CopterControl && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: coptercontrol_clean
coptercontrol_clean:
@ -354,23 +455,47 @@ coptercontrol_clean:
$(V1) $(RM) -fr $(BUILD_DIR)/coptercontrol
.PHONY: bl_coptercontrol
bl_coptercontrol: bl_coptercontrol_elf
bl_coptercontrol: bl_coptercontrol_bin
bl_coptercontrol_bino: bl_coptercontrol_bin
bl_coptercontrol_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/CopterControl && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/CopterControl && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_coptercontrol_clean
bl_coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_coptercontrol
.PHONY: blupd_coptercontrol
blupd_coptercontrol: blupd_coptercontrol_bin
blupd_coptercontrol_%: bl_coptercontrol_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_CC_Rev1 MODEL=MD MODEL_SUFFIX=_CC \
BLOBJ=$(BUILD_DIR)/bl_coptercontrol/CopterControl_BL.bin.o $*
.PHONY: blupd_coptercontrol_clean
blupd_coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_coptercontrol
.PHONY: pipxtreme
pipxtreme: pipxtreme_bin
pipxtreme_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/PipXtreme && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/PipXtreme && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: pipxtreme_clean
pipxtreme_clean:
@ -378,23 +503,48 @@ pipxtreme_clean:
$(V1) $(RM) -fr $(BUILD_DIR)/pipxtreme
.PHONY: bl_pipxtreme
bl_pipxtreme: bl_pipxtreme_elf
bl_pipxtreme: bl_pipxtreme_bin
bl_pipxtreme_bino: bl_pipxtreme_bin
bl_pipxtreme_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/PipXtreme && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/PipXtreme && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_pipxtreme_clean
bl_pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_pipxtreme
.PHONY: blupd_pipxtreme
blupd_pipxtreme: blupd_pipxtreme_bin
blupd_pipxtreme_%: bl_pipxtreme_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_PIPXTREME MODEL=MD MODEL_SUFFIX=_CC \
BLOBJ=$(BUILD_DIR)/bl_pipxtreme/PipXtreme_BL.bin.o $*
.PHONY: blupd_pipxtreme_clean
blupd_pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_pipxtreme
.PHONY: ins
ins: ins_bin
ins_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/ins/dep
$(V1) cd $(ROOT_DIR)/flight/INS && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/INS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: ins_clean
ins_clean:
@ -406,7 +556,10 @@ bl_ins: bl_ins_elf
bl_ins_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_ins/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/INS && $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/INS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_ins_clean
bl_ins_clean:
@ -419,11 +572,13 @@ sim_posix: sim_posix_elf
sim_posix_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/sitl_posix
$(V1) $(MAKE) --no-print-directory -C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.posix $*
$(V1) $(MAKE) --no-print-directory \
-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.posix $*
.PHONY: sim_win32
sim_win32: sim_win32_exe
sim_win32_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/sitl_win32
$(V1) $(MAKE) --no-print-directory -C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $*
$(V1) $(MAKE) --no-print-directory \
-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $*

35
flight/AHRS/Makefile
View File

@ -29,7 +29,6 @@ include $(TOP)/make/firmware-defs.mk
# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= NO
USE_BOOTLOADER ?= YES
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
@ -50,11 +49,6 @@ MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_AHRS
MODEL = MD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/ahrs
@ -229,9 +223,8 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_AHRS
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -303,16 +296,17 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08002000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08002000 bin"
# reset target
OOCD_CL+=-c "reset run"
# # terminate OOCD after programming
# terminate OOCD after programming
OOCD_CL+=-c shutdown
@ -352,19 +346,12 @@ endif
endif
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# 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 ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -393,12 +380,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.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))
@ -420,6 +410,7 @@ clean_list :
$(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)

27
flight/Bootloaders/AHRS/Makefile
View File

@ -29,7 +29,6 @@ include $(TOP)/make/firmware-defs.mk
# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= NO
override USE_BOOTLOADER = NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
@ -208,9 +207,7 @@ DEBUGF = dwarf-2
CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -237,9 +234,10 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF)
CFLAGS =
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -fdata-sections -ffunction-sections
@ -280,7 +278,7 @@ MATH_LIB = -lm
# --cref: add cross reference to map file
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
ifeq ($(DEBUG),NO)
LDFLAGS += -Wl,-static -Wl,-s
LDFLAGS += -Wl,-static
endif
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc
@ -289,13 +287,14 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -339,7 +338,7 @@ endif
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# 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"
$(OOCD_EXE) $(OOCD_CL)
endif
@ -371,12 +370,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.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))
@ -398,6 +400,7 @@ clean_list :
$(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)

1069
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -1,619 +1,450 @@
#####
# 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
#####
# 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
#
USE_BOOTLOADER ?= YES
# Set to the source bootloader binary
SOURCE_BL ?= NULL
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO
# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
TCHAIN_PREFIX ?= arm-none-eabi-
# Remove command is different for Code Sourcery on Windows
ifeq ($(CODE_SOURCERY), YES)
REMOVE_CMD = cs-rm
else
REMOVE_CMD = rm
endif
FLASH_TOOL = OPENOCD
# YES enables -mthumb option to flags for source-files listed
# in SRC and CPPSRC
USE_THUMB_MODE = YES
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD ?= NULL
MODEL ?= NULL
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = ../../../build/bootloaders/BootloaderUpdater
# Target file name (without extension).
TARGET = BL_Updater
# 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
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
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
## CORE:
SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c
SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_delay.c
SRC += $(PIOSSTM32F10X)/pios_irq.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c
SRC += $(CMSISDIR)/system_stm32f10x.c
## Used parts of the STM-Library
SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.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 = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).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
# 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
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
ADEFS = -D__ASSEMBLY__
# Compiler flag to set the C Standard level.
# c89 - "ANSI" C
# gnu89 - c89 plus GCC extensions
# c99 - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
CSTANDARD = -std=gnu99
#-----
# Compiler flags.
# -g*: generate debugging information
# -O*: optimization level
# -f...: tuning, see GCC manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -adhlns...: create assembler listing
#
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
endif
CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += $(CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
CFLAGS += -fpromote-loop-indices
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) -mthumb -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 -Wl,-s
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_$(BOARD)_$(BOOT_MODEL).ld
# Test if quotes are needed for the echo-command
result = ${shell echo "test"}
ifeq (${result}, test)
quote = '
else
quote =
endif
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
CC = $(TCHAIN_PREFIX)gcc
CPP = $(TCHAIN_PREFIX)g++
AR = $(TCHAIN_PREFIX)ar
OBJCOPY = $(TCHAIN_PREFIX)objcopy
OBJDUMP = $(TCHAIN_PREFIX)objdump
SIZE = $(TCHAIN_PREFIX)size
NM = $(TCHAIN_PREFIX)nm
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# 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}
# 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: begin gccversion sizebefore build sizeafter finished end
all: begin gccversion build sizeafter finished end
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
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
# Eye candy.
begin:
## @echo
@echo $(MSG_BEGIN)
ifeq ($(SOURCE_BL), NULL)
@echo ${quote}Please specify the source bootloader binary with SOURCE_BL=source_name${quote}
@exit 2
endif
ifeq ($(BOARD), NULL)
@echo ${quote}Please specify the board name with BOARD=board_name (STM3210E_OP,STM32103CB_AHRS,STM32103CB_PIPXTREME,STM32103CB_CC_Rev1)${quote}
@exit 2
endif
ifeq ($(MODEL), NULL)
@echo ${quote}Please specify the chip model with MODEL=MD/HD${quote}
@exit 2
endif
python file_to_array.py $(SOURCE_BL) bl_array.h
#UNAME := $(shell python file_to_array.py $(SOURCE_BL) bl_array.h)
###########################################################################################################
finished:
## @echo $(MSG_ERRORS_NONE)
end:
@echo $(MSG_END)
## @echo
# Display sizes of sections.
ELFSIZE = $(SIZE) -A $(OUTDIR)/$(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 $(ALLOBJ)
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).elf
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# 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) $$< to $$@
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
endef
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
# Compile: create assembler files from C source files. ARM/Thumb
$(SRC:.c=.s) : %.s : %.c
@echo $(MSG_ASMFROMC) $< to $@
$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
# Compile: create assembler files from C source files. ARM only
$(SRCARM:.c=.s) : %.s : %.c
@echo $(MSG_ASMFROMC_ARM) $< to $@
$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Target: clean project.
clean: begin clean_list finished end
clean_list :
## @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) $(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 $(subst /,\\,$(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 begin finish end sizebefore sizeafter gccversion \
build elf hex bin lss sym clean clean_list program
#####
# 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 $(TOP)/make/firmware-defs.mk
# Set developer code and compile options
# Set to YES to compile for debugging
DEBUG ?= NO
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO
# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
TCHAIN_PREFIX ?= arm-none-eabi-
# Remove command is different for Code Sourcery on Windows
ifeq ($(CODE_SOURCERY), YES)
REMOVE_CMD = cs-rm
else
REMOVE_CMD = rm
endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD ?= NULL
MODEL ?= NULL
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = ../../../build/bootloaders/BootloaderUpdater
# Target file name (without extension).
TARGET = BL_Updater
# 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
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
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
## CORE:
SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c
SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_delay.c
SRC += $(PIOSSTM32F10X)/pios_irq.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c
SRC += $(CMSISDIR)/system_stm32f10x.c
## Used parts of the STM-Library
SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.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 = $(PIOSSTM32F10X)/startup_stm32f10x_$(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
# 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
CDEFS += -DUSE_BOOTLOADER
# 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) -mthumb
CFLAGS += $(CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
CFLAGS += -fpromote-loop-indices
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) -mthumb -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_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# 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) $(FORMAT)")
endif
endif
endif
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ) $(BLOBJ)))
# 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
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
elf.stripped: $(OUTDIR)/$(TARGET).elf.stripped
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))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Target: clean project.
clean: begin clean_list finished end
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 program

105
flight/Bootloaders/BootloaderUpdater/file_to_array.py
View File

@ -1,105 +0,0 @@
# Convert binary file to a hex encoded array for inclusion in C projects
import os
import struct
import sys
import logging
class BinToArray:
def __init__(self):
pass
def ConvertFileToArray(self, strInFile, strOutFile, integerSize, ignoreBytes, endianNess):
""" Reads binary file at location strInFile and writes out a C array of hex values
Parameters -
strInFile - Path and filename of binary file to convert
strOutFile - Path and filename of output. Suggested extension is .c or .cpp
integerSize - Size in bytes of output array elements. Array generated is always
of type uint8, uint16, uint32. These types would need to be defined using
typedef if they don't exist, or the user can replace the type name with the
appropriate keyword valid for the compiler size conventions
ignoreBytes - Number of bytes to ignore at the beginning of binary file. Helps
strip out file headers and only encode the payload/data.
endianNess - Only used for integerSize of 2 or 4. 'l' for Little Endian, 'b' for
Big Endian
"""
# Check integerSize value
if integerSize not in (1, 2, 4):
logging.debug("Integer Size parameter must be 1, 2 or 4")
return
# endif
# Open input file
try:
fileIn = open(strInFile, 'rb')
except IOError, err:
logging.debug("Could not open input file %s" % (strInFile))
return
# end try
# Open input file
try:
fileOut = open(strOutFile, 'w')
except IOError, err:
logging.debug("Could not open output file %s" % (strOutFile))
return
# end try
# Start array definition preamble
inFileName = os.path.basename(strInFile)
strVarType = "uint%d_t" % (integerSize * 8)
fileOut.write("// Array representation of binary file %s\n\n\n" % (inFileName))
fileOut.write("static %s dataArray[] = {\n" % strVarType)
# Convert and write array into C file
fileIn.seek(ignoreBytes)
if integerSize == 1:
bufChunk = fileIn.read(20)
while bufChunk != '':
fileOut.write(" ")
for byteVal in bufChunk:
fileOut.write("0x%02x, " % ord(byteVal))
# end for
fileOut.write("\n")
bufChunk = fileIn.read(20)
# end while
else:
if endianNess == 'l' and integerSize == 2:
endianFormatter = '<H'
maxWordsPerLine = 10
elif endianNess == 'l' and integerSize == 4:
endianFormatter = '<L'
maxWordsPerLine = 6
elif endianNess == 'b' and integerSize == 2:
endianFormatter = '>H'
maxWordsPerLine = 10
elif endianNess == 'b' and integerSize == 4:
endianFormatter = '>L'
maxWordsPerLine = 6
# endif
bufChunk = fileIn.read(integerSize)
i = 0
fileOut.write(" ")
while bufChunk != '':
wordVal = struct.unpack(endianFormatter, bufChunk)
if integerSize == 2:
fileOut.write("0x%04x, " % wordVal)
else:
fileOut.write("0x%08x, " % wordVal)
# endif
i += 1
if i == maxWordsPerLine:
fileOut.write("\n ")
i = 0
# endif
bufChunk = fileIn.read(integerSize)
# end while
# end if
# Close array definition
fileOut.write("\n };\n")
fileIn.close()
fileOut.close()
if __name__ == "__main__":
print(sys.argv[0])
logging.basicConfig(level=logging.DEBUG)
converter = BinToArray()
converter.ConvertFileToArray(
sys.argv[1], sys.argv[2], 4, 0, 'l')

63
flight/Bootloaders/BootloaderUpdater/main.c
View File

@ -27,13 +27,25 @@
*/
/* Bootloader Includes */
#include <pios.h>
#include <bl_array.h>
#include <stdbool.h>
#define MAX_WRI_RETRYS 3
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
void error(int);
/* The ADDRESSES of the _binary_* symbols are the important
* data. This is non-intuitive for _binary_size where you
* might expect its value to hold the size but you'd be wrong.
*/
extern void _binary_start;
extern void _binary_end;
extern void _binary_size;
const uint32_t * embedded_image_start = (uint32_t *) &(_binary_start);
const uint32_t * embedded_image_end = (uint32_t *) &(_binary_end);
const uint32_t embedded_image_size = (uint32_t) &(_binary_size);
int main() {
PIOS_SYS_Init();
@ -43,63 +55,70 @@ int main() {
PIOS_LED_Off(LED1);
/// Self overwrite check
uint32_t base_adress = SCB->VTOR;
if (0x08000000 + (sizeof(dataArray)) > base_adress)
uint32_t base_address = SCB->VTOR;
if ((0x08000000 + embedded_image_size) > base_address)
error(LED1);
///
FLASH_Unlock();
/// Bootloader memory space erase
uint32_t pageAdress;
pageAdress = 0x08000000;
uint8_t fail = FALSE;
while ((pageAdress < base_adress) || (fail == TRUE)) {
uint32_t pageAddress;
pageAddress = 0x08000000;
bool fail = false;
while ((pageAddress < base_address) && (fail == false)) {
for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
fail = FALSE;
if (FLASH_ErasePage(pageAddress) == FLASH_COMPLETE) {
fail = false;
break;
} else {
fail = TRUE;
fail = true;
}
}
#ifdef STM32F10X_HD
pageAdress += 2048;
pageAddress += 2048;
#elif defined (STM32F10X_MD)
pageAdress += 1024;
pageAddress += 1024;
#endif
}
if (fail == TRUE)
if (fail == true)
error(LED1);
///
/// Bootloader programing
for (int x = 0; x < sizeof(dataArray)/sizeof(uint32_t); ++x) {
int result = 0;
for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
bool result = false;
PIOS_LED_Toggle(LED1);
for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == 0) {
result = (FLASH_ProgramWord(0x08000000 + (x * 4), dataArray[x])
== FLASH_COMPLETE) ? 1 : 0;
for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == false) {
result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
== FLASH_COMPLETE) ? true : false;
}
}
if (result == 0)
if (result == false)
error(LED1);
}
///
for (int x=0;x<3;++x) {
for (uint8_t x = 0; x < 3; ++x) {
PIOS_LED_On(LED1);
PIOS_DELAY_WaitmS(1000);
PIOS_LED_Off(LED1);
PIOS_DELAY_WaitmS(1000);
}
}
/// Invalidate the bootloader updater so we won't run
/// the update again on the next power cycle.
FLASH_ProgramWord(base_address, 0);
FLASH_Lock();
for (;;) {
PIOS_DELAY_WaitmS(1000);
}
}
void error(int led) {
for (;;) {
PIOS_LED_On(led);

38
flight/Bootloaders/CopterControl/Makefile
View File

@ -36,10 +36,6 @@ 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
#
override USE_BOOTLOADER = NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO
@ -60,12 +56,6 @@ MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_CC_Rev1
MODEL = MD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_coptercontrol
@ -268,10 +258,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -299,9 +285,10 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
CFLAGS += -DDEBUG
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
@ -341,7 +328,7 @@ MATH_LIB = -lm
# --cref: add cross reference to map file
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
ifeq ($(DEBUG),NO)
LDFLAGS += -Wl,-static -Wl,-s
LDFLAGS += -Wl,-static
endif
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc
@ -350,13 +337,14 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -408,7 +396,7 @@ ${OUTDIR}/InitMods.c: Makefile
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# 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 ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
@ -444,12 +432,15 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.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))
@ -467,6 +458,7 @@ clean_list :
$(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)

38
flight/Bootloaders/OpenPilot/Makefile
View File

@ -36,10 +36,6 @@ 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
#
override USE_BOOTLOADER = NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO
@ -60,12 +56,6 @@ MCU = cortex-m3
CHIP = STM32F103RET
BOARD = STM3210E_OP
MODEL = HD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_openpilot
@ -193,7 +183,7 @@ CPPSRCARM =
# 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).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -271,10 +261,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -302,9 +288,10 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
CFLAGS = -DDEBUG
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
@ -344,7 +331,7 @@ MATH_LIB = -lm
# --cref: add cross reference to map file
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
ifeq ($(DEBUG),NO)
LDFLAGS += -Wl,-static -Wl,-s
LDFLAGS += -Wl,-static
endif
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc
@ -353,13 +340,14 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -411,7 +399,7 @@ ${OUTDIR}/InitMods.c: Makefile
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# 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 ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
@ -443,12 +431,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.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))
@ -470,6 +461,7 @@ clean_list :
$(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)

36
flight/Bootloaders/PipXtreme/Makefile
View File

@ -36,10 +36,6 @@ 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
#
override USE_BOOTLOADER = NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO
@ -60,12 +56,6 @@ MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_PIPXTREME
MODEL = MD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_pipxtreme
@ -267,10 +257,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -298,9 +284,10 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
CFLAGS = -DDEBUG
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
@ -340,7 +327,7 @@ MATH_LIB = -lm
# --cref: add cross reference to map file
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
ifeq ($(DEBUG),NO)
LDFLAGS += -Wl,-static -Wl,-s
LDFLAGS += -Wl,-static
endif
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc
@ -349,13 +336,14 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -407,7 +395,7 @@ ${OUTDIR}/InitMods.c: Makefile
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# 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 ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
@ -439,12 +427,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.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))
@ -466,6 +457,7 @@ clean_list :
$(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)

39
flight/CopterControl/Makefile
View File

@ -38,9 +38,6 @@ 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
#
USE_BOOTLOADER ?= YES
USE_SPEKTRUM ?= NO
USE_I2C ?= NO
@ -68,12 +65,6 @@ MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_CC_Rev1
MODEL = MD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/coptercontrol
@ -208,7 +199,6 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c
# PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
#SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
@ -389,9 +379,7 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
ifeq ($(ERASE_FLASH), YES)
CDEFS += -DERASE_FLASH
endif
@ -481,13 +469,14 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -548,20 +537,12 @@ ${OUTDIR}/InitMods.c: Makefile
# @$(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 $(FLIGHTPLANS)/test.py
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# 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 ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -590,12 +571,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.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))
@ -617,6 +601,7 @@ clean_list :
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.c)
$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.h)
$(V1) $(REMOVE) $(ALLOBJ)

15
flight/Libraries/stopwatch.c
View File

@ -50,8 +50,21 @@ uint32_t STOPWATCH_Init(u32 resolution, TIM_TypeDef* TIM) {
case (uint32_t)TIM4:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM4;
break;
case (uint32_t)TIM5:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM5;
break;
case (uint32_t)TIM6:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM6;
break;
case (uint32_t)TIM7:
STOPWATCH_TIMER_RCC = RCC_APB1Periph_TIM7;
break;
case (uint32_t)TIM8:
STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM8;
break;
default:
STOPWATCH_TIMER_RCC = RCC_APB2Periph_TIM1;
/* Unsupported timer */
while(1);
}
// enable timer clock

37
flight/OpenPilot/Makefile
View File

@ -36,9 +36,6 @@ 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
#
USE_BOOTLOADER ?= YES
USE_SPEKTRUM ?= NO
@ -71,12 +68,6 @@ MCU = cortex-m3
CHIP = STM32F103RET
BOARD = STM3210E_OP
MODEL = HD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/openpilot
@ -377,9 +368,7 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
ifeq ($(USE_SPEKTRUM), YES)
CDEFS += -DUSE_SPEKTRUM
@ -458,13 +447,14 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08005000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08005000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -527,19 +517,12 @@ ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/p
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# 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 ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -568,12 +551,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.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))
@ -595,6 +581,7 @@ clean_list :
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.c)
$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.h)
$(V1) $(REMOVE) $(ALLOBJ)

2
flight/PiOS/Boards/pios_board.h
View File

@ -11,6 +11,8 @@
#include "STM32103CB_CC_Rev1.h"
#elif USE_STM3210E_INS
#include "STM3210E_INS.h"
#else
#error Board definition has not been provided.
#endif
#endif /* PIOS_BOARD_H_ */

14
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_MD_BL.ld → flight/PiOS/STM32F10x/link_STM32103CB_AHRS_BL_sections.ld
View File

@ -1,9 +1,3 @@
MEMORY
{
FLASH (rx) : ORIGIN = 0x08002000, LENGTH = 116K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
}
_estack = 0x20004FF0;
/* Section Definitions */
@ -15,17 +9,17 @@ SECTIONS
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
} > BL_FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
} > BL_FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
} > BL_FLASH
. = ALIGN(4);
_etext = .;
@ -51,4 +45,4 @@ SECTIONS
. = ALIGN(4);
_end = . ;
}
}

6
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_memory.ld Normal file
View File

@ -0,0 +1,6 @@
MEMORY
{
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 8K
FLASH (rx) : ORIGIN = 0x08000000 + 8K, LENGTH = 128K - 8K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
}

8
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_MD_BL.ld → flight/PiOS/STM32F10x/link_STM32103CB_AHRS_sections.ld
View File

@ -1,9 +1,3 @@
MEMORY
{
FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 116K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
}
_estack = 0x20004FF0;
/* Section Definitions */
@ -51,4 +45,4 @@ SECTIONS
. = ALIGN(4);
_end = . ;
}
}

97
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld Normal file
View File

@ -0,0 +1,97 @@
/* Stub out these functions since we don't use them anyway */
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > BL_FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} > BL_FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > BL_FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > BL_FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
/* DWARF debug sections.
Symbols in the DWARF debugging sections are relative to the beginning
of the section so we begin them at 0. */
/* DWARF 1 */
.debug 0 : { *(.debug) }
.line 0 : { *(.line) }
/* GNU DWARF 1 extensions */
.debug_srcinfo 0 : { *(.debug_srcinfo) }
.debug_sfnames 0 : { *(.debug_sfnames) }
/* DWARF 1.1 and DWARF 2 */
.debug_aranges 0 : { *(.debug_aranges) }
.debug_pubnames 0 : { *(.debug_pubnames) }
/* DWARF 2 */
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_line 0 : { *(.debug_line) }
.debug_frame 0 : { *(.debug_frame) }
.debug_str 0 : { *(.debug_str) }
.debug_loc 0 : { *(.debug_loc) }
.debug_macinfo 0 : { *(.debug_macinfo) }
/* SGI/MIPS DWARF 2 extensions */
.debug_weaknames 0 : { *(.debug_weaknames) }
.debug_funcnames 0 : { *(.debug_funcnames) }
.debug_typenames 0 : { *(.debug_typenames) }
.debug_varnames 0 : { *(.debug_varnames) }
}

64
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_MD_BL.ld
View File

@ -1,64 +0,0 @@
MEMORY
{
FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 116K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
}
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} >FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
}

64
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_MD_NB.ld
View File

@ -1,64 +0,0 @@
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x00020000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
}
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} >FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
}

6
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld Normal file
View File

@ -0,0 +1,6 @@
MEMORY
{
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 12K
FLASH (rx) : ORIGIN = 0x08000000 + 12K, LENGTH = 128K - 12K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
}

97
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld Normal file
View File

@ -0,0 +1,97 @@
/* Stub out these functions since we don't use them anyway */
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} >FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
/* DWARF debug sections.
Symbols in the DWARF debugging sections are relative to the beginning
of the section so we begin them at 0. */
/* DWARF 1 */
.debug 0 : { *(.debug) }
.line 0 : { *(.line) }
/* GNU DWARF 1 extensions */
.debug_srcinfo 0 : { *(.debug_srcinfo) }
.debug_sfnames 0 : { *(.debug_sfnames) }
/* DWARF 1.1 and DWARF 2 */
.debug_aranges 0 : { *(.debug_aranges) }
.debug_pubnames 0 : { *(.debug_pubnames) }
/* DWARF 2 */
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_line 0 : { *(.debug_line) }
.debug_frame 0 : { *(.debug_frame) }
.debug_str 0 : { *(.debug_str) }
.debug_loc 0 : { *(.debug_loc) }
.debug_macinfo 0 : { *(.debug_macinfo) }
/* SGI/MIPS DWARF 2 extensions */
.debug_weaknames 0 : { *(.debug_weaknames) }
.debug_funcnames 0 : { *(.debug_funcnames) }
.debug_typenames 0 : { *(.debug_typenames) }
.debug_varnames 0 : { *(.debug_varnames) }
}

17
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_MD_NB.ld → flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
View File

@ -1,8 +1,7 @@
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x00020000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
}
/* Stub out these functions since we don't use them anyway */
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
_estack = 0x20004FF0;
@ -15,17 +14,17 @@ SECTIONS
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
} > BL_FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
} > BL_FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
} > BL_FLASH
. = ALIGN(4);
_etext = .;
@ -51,4 +50,4 @@ SECTIONS
. = ALIGN(4);
_end = . ;
}
}

6
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_memory.ld Normal file
View File

@ -0,0 +1,6 @@
MEMORY
{
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 12K
FLASH (rx) : ORIGIN = 0x08000000 + 12K, LENGTH = 128K - 12K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
}

11
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_MD_NB.ld → flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_sections.ld
View File

@ -1,8 +1,7 @@
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x00020000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00005000
}
/* Stub out these functions since we don't use them anyway */
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
_estack = 0x20004FF0;
@ -51,4 +50,4 @@ SECTIONS
. = ALIGN(4);
_end = . ;
}
}

52
flight/PiOS/STM32F10x/link_STM3210E_OP_HD_NB.ld → flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
View File

@ -1,41 +1,3 @@
/**
******************************************************************************
*
* @file link_stm32f10x_HD_NB.ld
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
* @brief PiOS linker for the OpenPilot board
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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
*/
/* Memory Spaces Definitions */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 512K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
@ -59,10 +21,10 @@ PROVIDE ( HardFault_Handler = 0 ) ;
PROVIDE ( MemManage_Handler = 0 ) ;
PROVIDE ( BusFault_Handler = 0 ) ;
PROVIDE ( UsageFault_Handler = 0 ) ;
PROVIDE ( SVC_Handler = 0 ) ;
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( DebugMon_Handler = 0 ) ;
PROVIDE ( PendSV_Handler = 0 ) ;
PROVIDE ( SysTick_Handler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE ( WWDG_IRQHandler = 0 ) ;
PROVIDE ( PVD_IRQHandler = 0 ) ;
@ -207,7 +169,7 @@ SECTIONS
{
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
} > BL_FLASH
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
.flashtext :
@ -215,7 +177,7 @@ SECTIONS
. = ALIGN(4);
*(.flashtext) /* Startup code */
. = ALIGN(4);
} >FLASH
} > BL_FLASH
/* init sections */
@ -226,7 +188,7 @@ SECTIONS
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} >FLASH
} > BL_FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
@ -244,7 +206,7 @@ SECTIONS
_etext = .;
/* This is used by the startup in order to initialize the .data secion */
_sidata = _etext;
} >FLASH
} > BL_FLASH
/*

11
flight/PiOS/STM32F10x/link_STM3210E_OP_memory.ld Normal file
View File

@ -0,0 +1,11 @@
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 20K
FLASH (rx) : ORIGIN = 0x08000000 + 20K, LENGTH = 512K - 20K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}

44
flight/PiOS/STM32F10x/link_STM3210E_OP_HD_BL.ld → flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -1,41 +1,3 @@
/**
******************************************************************************
*
* @file link_stm32f10x_HD_BL.ld
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
* @brief PiOS linker for the OpenPilot board
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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
*/
/* Memory Spaces Definitions */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08005000, LENGTH = 492K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
@ -59,10 +21,10 @@ PROVIDE ( HardFault_Handler = 0 ) ;
PROVIDE ( MemManage_Handler = 0 ) ;
PROVIDE ( BusFault_Handler = 0 ) ;
PROVIDE ( UsageFault_Handler = 0 ) ;
PROVIDE ( SVC_Handler = 0 ) ;
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( DebugMon_Handler = 0 ) ;
PROVIDE ( PendSV_Handler = 0 ) ;
PROVIDE ( SysTick_Handler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE ( WWDG_IRQHandler = 0 ) ;
PROVIDE ( PVD_IRQHandler = 0 ) ;

34
flight/PiOS/STM32F10x/link_stm32f10x_MD.ld
View File

@ -51,4 +51,38 @@ SECTIONS
. = ALIGN(4);
_end = . ;
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
/* DWARF debug sections.
Symbols in the DWARF debugging sections are relative to the beginning
of the section so we begin them at 0. */
/* DWARF 1 */
.debug 0 : { *(.debug) }
.line 0 : { *(.line) }
/* GNU DWARF 1 extensions */
.debug_srcinfo 0 : { *(.debug_srcinfo) }
.debug_sfnames 0 : { *(.debug_sfnames) }
/* DWARF 1.1 and DWARF 2 */
.debug_aranges 0 : { *(.debug_aranges) }
.debug_pubnames 0 : { *(.debug_pubnames) }
/* DWARF 2 */
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_line 0 : { *(.debug_line) }
.debug_frame 0 : { *(.debug_frame) }
.debug_str 0 : { *(.debug_str) }
.debug_loc 0 : { *(.debug_loc) }
.debug_macinfo 0 : { *(.debug_macinfo) }
/* SGI/MIPS DWARF 2 extensions */
.debug_weaknames 0 : { *(.debug_weaknames) }
.debug_funcnames 0 : { *(.debug_funcnames) }
.debug_typenames 0 : { *(.debug_typenames) }
.debug_varnames 0 : { *(.debug_varnames) }
}

3
flight/PiOS/inc/pios_led.h
View File

@ -31,7 +31,6 @@
#define PIOS_LED_H
/* Type Definitions */
#if (PIOS_LED_NUM == 1)
typedef enum { LED1 = 0 } LedTypeDef;
#elif (PIOS_LED_NUM == 2)
@ -40,6 +39,8 @@ typedef enum { LED1 = 0, LED2 = 1 } LedTypeDef;
typedef enum { LED1 = 0, LED2 = 1, LED3 = 2 } LedTypeDef;
#elif (PIOS_LED_NUM == 4)
typedef enum { LED1 = 0, LED2 = 1, LED3 = 2, LED4 = 3 } LedTypeDef;
#else
#error PIOS_LED_NUM not defined
#endif
/* Public Functions */

34
flight/PipXtreme/Makefile
View File

@ -29,9 +29,6 @@ include $(TOP)/make/firmware-defs.mk
# Debugging (YES/NO) ?
DEBUG ?= NO
# Is this code a bootloader (YES/NO) ?
USE_BOOTLOADER ?= NO
# Use Code Sourcery toolchain (YES/NO) ?
CODE_SOURCERY ?= YES
@ -56,11 +53,6 @@ BOARD = STM32103CB_PIPXTREME
#CHIP = STM32F103C8T
#BOARD = STM32103C8_PIPXTREME
MODEL = MD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/pipxtreme
@ -265,9 +257,7 @@ DEBUGF = dwarf-2
CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -347,13 +337,14 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -395,19 +386,12 @@ endif
endif
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# 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 ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -436,12 +420,15 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.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))
@ -463,6 +450,7 @@ clean_list :
$(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)

38
flight/Project/gdb/bl_coptercontrol Normal file
View File

@ -0,0 +1,38 @@
define connect
target remote localhost:3333
monitor cortex_m3 vector_catch all
file ./build/bl_coptercontrol/CopterControl_BL.elf
end
#monitor reset halt
define hook-step
monitor cortex_m3 maskisr on
end
define hookpost-step
monitor cortex_m3 maskisr off
end
define hook-stepi
monitor cortex_m3 maskisr on
end
define hookpost-stepi
monitor cortex_m3 maskisr off
end
define hook-next
monitor cortex_m3 maskisr on
end
define hookpost-next
monitor cortex_m3 maskisr off
end
define hook-finish
monitor cortex_m3 maskisr on
end
define hookpost-finish
monitor cortex_m3 maskisr off
end

26
make/firmware-defs.mk
View File

@ -9,6 +9,7 @@ OBJCOPY = $(TCHAIN_PREFIX)objcopy
OBJDUMP = $(TCHAIN_PREFIX)objdump
SIZE = $(TCHAIN_PREFIX)size
NM = $(TCHAIN_PREFIX)nm
STRIP = $(TCHAIN_PREFIX)strip
THUMB = -mthumb
@ -27,6 +28,8 @@ MSG_FORMATERROR := ${quote} Can not handle output-format${quote}
MSG_MODINIT := ${quote} MODINIT ${quote}
MSG_SIZE := ${quote} SIZE ${quote}
MSG_LOAD_FILE := ${quote} BIN/HEX ${quote}
MSG_BIN_OBJ := ${quote} BINO ${quote}
MSG_STRIP_FILE := ${quote} STRIP ${quote}
MSG_EXTENDED_LISTING := ${quote} LIS ${quote}
MSG_SYMBOL_TABLE := ${quote} NM ${quote}
MSG_LINKING := ${quote} LD ${quote}
@ -53,11 +56,26 @@ gccversion :
@echo $(MSG_LOAD_FILE) $(call toprel, $@)
$(V1) $(OBJCOPY) -O ihex $< $@
# Create stripped output file (.elf.stripped) from ELF output file.
%.elf.stripped: %.elf
@echo $(MSG_STRIP_FILE) $(call toprel, $@)
$(V1) $(STRIP) --strip-unneeded $< -o $@
# Create final output file (.bin) from ELF output file.
%.bin: %.elf
@echo $(MSG_LOAD_FILE) $(call toprel, $@)
$(V1) $(OBJCOPY) -O binary $< $@
%.bin.o: %.bin
@echo $(MSG_BIN_OBJ) $(call toprel, $@)
$(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
--rename-section .data=.rodata,alloc,load,readonly,data,contents \
--wildcard \
--redefine-sym _binary_$(subst -,_,$(subst .,_,$(subst /,_,$<)))_start=_binary_start \
--redefine-sym _binary_$(subst -,_,$(subst .,_,$(subst /,_,$<)))_end=_binary_end \
--redefine-sym _binary_$(subst -,_,$(subst .,_,$(subst /,_,$<)))_size=_binary_size \
$< $@
# Create extended listing file/disassambly from ELF output file.
# using objdump testing: option -C
%.lss: %.elf
@ -144,10 +162,9 @@ $($(1):.c=.s) : %.s : %.c
endef
# ---------------------------------------------------------------------------
# # Options for OpenOCD flash-programming
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
# #
# OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd
# debug level
@ -162,6 +179,3 @@ OOCD_CL+=-c init
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