mirror of
https://bitbucket.org/librepilot/librepilot.git
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Makefile: rework Revolution Makefile to use new make system
Conflicts: flight/targets/Revolution/Makefile
This commit is contained in:
Oleg Semyonov
parent
f465a04b88
commit
404ba00f70
@ -1,11 +1,6 @@
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#####
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# Project: OpenPilot Revolution Target
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#
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#
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# Makefile for OpenPilot Revolution project
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2013.
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#
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# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
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# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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@ -22,470 +17,77 @@
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#####
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WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
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TOP := $(realpath $(WHEREAMI)/../../../)
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include $(TOP)/make/firmware-defs.mk
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include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
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# Set developer code and compile options
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# Set to YES for debugging
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DEBUG ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= NO
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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ifndef OPENPILOT_IS_COOL
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$(error Top level Makefile must be used to build this target)
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endif
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FLASH_TOOL = OPENOCD
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include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
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include $(ROOT_DIR)/make/firmware-defs.mk
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# Optional module and driver defaults
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USE_COMUSBBRIDGE ?= NO
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USE_TXPID ?= NO
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USE_ALTITUDE ?= NO
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TEST_FAULTS ?= NO
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USE_MAGBARO ?= NO
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# List of optional modules to include
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OPTMODULES =
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ifeq ($(USE_COMUSBBRIDGE), YES)
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OPTMODULES += ComUsbBridge
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endif
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ifeq ($(USE_TXPID), YES)
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OPTMODULES += TxPID
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endif
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ifeq ($(TEST_FAULTS), YES)
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OPTMODULES += Fault
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endif
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ifeq ($(USE_MAGBARO), YES)
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OPTMODULES += Extensions/MagBaro
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endif
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# List of modules to include
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MODULES = Sensors Attitude/revolution ManualControl Stabilization Actuator
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MODULES += Altitude/revolution FirmwareIAP
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# List of mandatory modules to include
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MODULES += Sensors
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MODULES += Attitude/revolution
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MODULES += Altitude/revolution
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MODULES += Airspeed/revolution
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MODULES += GPS AltitudeHold FixedWingPathFollower PathPlanner
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#MODULES += VtolPathFollower ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
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MODULES += AltitudeHold
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MODULES += Stabilization
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MODULES += ManualControl
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MODULES += Actuator
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MODULES += GPS
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#MODULES += TxPID
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MODULES += CameraStab
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#MODULES += Battery
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MODULES += FirmwareIAP
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#MODULES += Radio
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MODULES += PathPlanner
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MODULES += FixedWingPathFollower
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#MODULES += VtolPathFollower ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
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MODULES += OveroSync
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MODULES += Telemetry
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PYMODULES =
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#FlightPlan
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# Enable ARM DSP library
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USE_DSP_LIB = NO
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OPTMODULES =
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# Paths
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OPSYSTEM = ./System
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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PIOSINC = $(PIOS)/inc
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FLIGHTLIBINC = $(FLIGHTLIB)/inc
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MATHLIB = $(FLIGHTLIB)/math
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MATHLIBINC = $(FLIGHTLIB)/math
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PIOSSTM32F4XX = $(PIOS)/STM32F4xx
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
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APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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# Include all camera options
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CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
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SRC =
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# optional component libraries
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include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
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#include $(PIOSCOMMONLIB)/dosfs/library.mk
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include $(PIOSCOMMONLIB)/msheap/library.mk
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## PYMite support
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#include $(FLIGHTLIB)/PyMite/pymite.mk
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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## MODULES
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SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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## OPENPILOT CORE:
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SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/revolution.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(OPSYSTEM)/pios_usb_board_data.c
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SRC += $(OPSYSTEM)/alarms.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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#ifeq ($(DEBUG),YES)
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SRC += $(OPSYSTEM)/dcc_stdio.c
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SRC += $(OPSYSTEM)/cm3_fault_handlers.c
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#endif
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/paths.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/insgps13state.c
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SRC += $(FLIGHTLIB)/taskmonitor.c
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SRC += $(FLIGHTLIB)/sanitycheck.c
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SRC += $(MATHLIB)/sin_lookup.c
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SRC += $(MATHLIB)/pid.c
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## PIOS Hardware (STM32F4xx)
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include $(PIOS)/STM32F4xx/library.mk
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_mpu6000.c
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SRC += $(PIOSCOMMON)/pios_bma180.c
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SRC += $(PIOSCOMMON)/pios_etasv3.c
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SRC += $(PIOSCOMMON)/pios_mpxv.c
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SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
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SRC += $(PIOSCOMMON)/pios_l3gd20.c
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SRC += $(PIOSCOMMON)/pios_hmc5883.c
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SRC += $(PIOSCOMMON)/pios_ms5611.c
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SRC += $(PIOSCOMMON)/pios_crc.c
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_rcvr.c
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SRC += $(PIOSCOMMON)/pios_sbus.c
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SRC += $(PIOSCOMMON)/pios_flash_jedec.c
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SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
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SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
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SRC += $(PIOSCOMMON)/pios_usb_util.c
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include ./UAVObjects.inc
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SRC += $(UAVOBJSRC)
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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SRCARM =
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# List C++ source files here.
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# use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# use file-extension .cpp for C++-files (not .C)
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#CPPSRCARM = $(TARGET).cpp
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CPPSRCARM =
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# List Assembler source files here.
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# Make them always end in a capital .S. Files ending in a lowercase .s
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# will not be considered source files but generated files (assembler
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# output from the compiler), and will be deleted upon "make clean"!
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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# List Assembler source files here which must be assembled in ARM-Mode..
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ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(OPSYSTEMINC)
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EXTRAINCDIRS += $(OPUAVTALK)
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EXTRAINCDIRS += $(OPUAVTALKINC)
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EXTRAINCDIRS += $(OPUAVOBJ)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(OPUAVSYNTHDIR)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(MATHLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F4XX)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(BOOTINC)
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EXTRAINCDIRS += $(HWDEFSINC)
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EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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# includes from linker-script to the list
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# Each directory must be seperated by a space.
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#EXTRA_LIBDIRS +=
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# Extra Libraries
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# Each library-name must be seperated by a space.
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# i.e. to link with libxyz.a, libabc.a and libefsl.a:
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# EXTRA_LIBS = xyz abc efsl
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# for newlib-lpc (file: libnewlibc-lpc.a):
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# EXTRA_LIBS = newlib-lpc
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#EXTRA_LIBS +=
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# Path to Linker-Scripts
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LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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CFLAGS += -O0
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CFLAGS += -DGENERAL_COV
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CFLAGS += -finstrument-functions -ffixed-r10
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else
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CFLAGS += -Os
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endif
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# common architecture-specific flags from the device-specific library makefile
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CFLAGS += $(ARCHFLAGS)
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CFLAGS += -DSTACK_DIAGNOSTICS
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CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
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CFLAGS += -DRATEDESIRED_DIAGNOSTICS
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CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
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CFLAGS += -DDIAG_TASKS
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# This is not the best place for these. Really should abstract out
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# to the board file or something
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CFLAGS += -DSTM32F4XX
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CFLAGS += -DMEM_SIZE=1024000000
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
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CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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ifeq ($(ENABLE_DEBUG_CONSOLE), YES)
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CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE
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endif
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# Declare all non-optional modules as built-in to force inclusion
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CDEFS += $(foreach MOD, $(notdir $(MODULES)), -DMODULE_$(MOD)_BUILTIN)
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# Place project-specific -D and/or -U options for
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# Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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ADEFS = -D__ASSEMBLY__
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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#-----
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# Compiler flags.
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# -g*: generate debugging information
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# -O*: optimization level
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# -f...: tuning, see GCC manual and avr-libc documentation
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# -Wall...: warning level
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# -Wa,...: tell GCC to pass this to the assembler.
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# -adhlns...: create assembler listing
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#
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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CFLAGS += -g$(DEBUGF)
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# All diagnostics
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CDEFS += -DDIAGNOSTICS -DDIAG_TASKS
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# Misc options
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CFLAGS += -ffast-math
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CFLAGS += -mcpu=$(MCU)
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CFLAGS += $(CDEFS)
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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# List C source files here (C dependencies are automatically generated).
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# Use file-extension c for "c-only"-files
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ifndef TESTAPP
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## Application Core
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SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/revolution.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(OPSYSTEM)/pios_usb_board_data.c
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SRC += $(OPSYSTEM)/alarms.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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CFLAGS += -mapcs-frame
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CFLAGS += -fomit-frame-pointer
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ifeq ($(CODE_SOURCERY), YES)
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CFLAGS += -fpromote-loop-indices
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endif
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#ifeq ($(DEBUG), YES)
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SRC += $(OPSYSTEM)/dcc_stdio.c
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SRC += $(OPSYSTEM)/cm3_fault_handlers.c
|
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#endif
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||||
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CFLAGS += -Wall
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#CFLAGS += -Werror
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CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
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# Compiler flags to generate dependency files:
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CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
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|
||||
# flags only for C
|
||||
#CONLYFLAGS += -Wnested-externs
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CONLYFLAGS += $(CSTANDARD)
|
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|
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# Assembler flags.
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# -Wa,...: tell GCC to pass this to the assembler.
|
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# -ahlns: create listing
|
||||
ASFLAGS = $(ARCHFLAGS) -mthumb -I. -x assembler-with-cpp
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ASFLAGS += $(ADEFS)
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ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||
|
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MATH_LIB = -lm
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||||
|
||||
# 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
|
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LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
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LDFLAGS += -lc
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||||
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
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LDFLAGS += $(MATH_LIB)
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LDFLAGS += -lc -lgcc
|
||||
|
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#Linker scripts
|
||||
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
|
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|
||||
|
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# Define programs and commands.
|
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REMOVE = $(REMOVE_CMD) -f
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PYTHON = python
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|
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# List of all source files.
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ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
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# List of all source files without directory and file-extension.
|
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ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
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|
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# Define all object files.
|
||||
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
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|
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# Define all listing files (used for make clean).
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LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
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# Define all depedency-files (used for make clean).
|
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DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
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|
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# Default target.
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all: gccversion build
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ifeq ($(LOADFORMAT),ihex)
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build: elf hex lss sym
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SRC += $(FLIGHTLIB)/paths.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
|
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SRC += $(FLIGHTLIB)/insgps13state.c
|
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else
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ifeq ($(LOADFORMAT),binary)
|
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build: elf bin lss sym
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||||
else
|
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ifeq ($(LOADFORMAT),both)
|
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build: elf hex bin lss sym
|
||||
else
|
||||
$(error "$(MSG_FORMATERROR) $(FORMAT)")
|
||||
endif
|
||||
endif
|
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## Test Code
|
||||
SRC += $(OPTESTS)/test_common.c
|
||||
SRC += $(OPTESTS)/$(TESTAPP).c
|
||||
endif
|
||||
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
|
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|
||||
# Assemble: create object files from assembler source files.
|
||||
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
# Assemble: create object files from assembler source files. ARM-only
|
||||
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files. ARM-only
|
||||
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files. ARM-only
|
||||
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM/Thumb
|
||||
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM only
|
||||
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
|
||||
|
||||
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
|
||||
|
||||
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
|
||||
|
||||
# Add jtag targets (program and wipe)
|
||||
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
|
||||
|
||||
.PHONY: elf lss sym hex bin bino opfw
|
||||
elf: $(OUTDIR)/$(TARGET).elf
|
||||
lss: $(OUTDIR)/$(TARGET).lss
|
||||
sym: $(OUTDIR)/$(TARGET).sym
|
||||
hex: $(OUTDIR)/$(TARGET).hex
|
||||
bin: $(OUTDIR)/$(TARGET).bin
|
||||
bino: $(OUTDIR)/$(TARGET).bin.o
|
||||
opfw: $(OUTDIR)/$(TARGET).opfw
|
||||
|
||||
# Display sizes of sections.
|
||||
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
|
||||
|
||||
# Generate Doxygen documents
|
||||
docs:
|
||||
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||
|
||||
# Install: install binary file with prefix/suffix into install directory
|
||||
install: $(OUTDIR)/$(TARGET).opfw
|
||||
ifneq ($(INSTALL_DIR),)
|
||||
@echo $(MSG_INSTALLING) $(call toprel, $<)
|
||||
$(V1) mkdir -p $(INSTALL_DIR)
|
||||
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
|
||||
else
|
||||
$(error INSTALL_DIR must be specified for $@)
|
||||
## UAVObjects
|
||||
ifndef TESTAPP
|
||||
include ./UAVObjects.inc
|
||||
SRC += $(UAVOBJSRC)
|
||||
endif
|
||||
|
||||
# Target: clean project.
|
||||
clean: clean_list
|
||||
|
||||
clean_list :
|
||||
@echo $(MSG_CLEANING)
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
|
||||
$(V1) $(REMOVE) $(ALLOBJ)
|
||||
$(V1) $(REMOVE) $(LSTFILES)
|
||||
$(V1) $(REMOVE) $(DEPFILES)
|
||||
$(V1) $(REMOVE) $(SRC:.c=.s)
|
||||
$(V1) $(REMOVE) $(SRCARM:.c=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||
|
||||
# Create output files directory
|
||||
# all known MS Windows OS define the ComSpec environment variable
|
||||
ifdef ComSpec
|
||||
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
|
||||
else
|
||||
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
|
||||
endif
|
||||
|
||||
# Include the dependency files.
|
||||
ifdef ComSpec
|
||||
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
||||
else
|
||||
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||
endif
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : all build clean clean_list install
|
||||
include $(ROOT_DIR)/make/apps-defs.mk
|
||||
include $(ROOT_DIR)/make/common-defs.mk
|
||||
|
||||
@ -39,95 +39,109 @@
|
||||
/* #define PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
/* #define DEBUG_LEVEL 0 */
|
||||
|
||||
/* PIOS system functions */
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_INITCALL
|
||||
#define PIOS_INCLUDE_SYS
|
||||
|
||||
/* PIOS hardware peripherals */
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_RTC
|
||||
#define PIOS_INCLUDE_TIM
|
||||
#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_ADC
|
||||
/* #define PIOS_INCLUDE_I2C */
|
||||
#define PIOS_INCLUDE_I2C
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
/* #define PIOS_INCLUDE_GPIO */
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
#define PIOS_INCLUDE_WDG
|
||||
|
||||
/* PIOS USB functions */
|
||||
#define PIOS_INCLUDE_USB
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
#define PIOS_INCLUDE_USB_CDC
|
||||
#define PIOS_INCLUDE_USB_RCTX
|
||||
/* #define PIOS_INCLUDE_USB_CDC */
|
||||
/* #define PIOS_INCLUDE_USB_RCTX */
|
||||
|
||||
#define PIOS_INCLUDE_ADXL345
|
||||
/* #define PIOS_INCLUDE_BMA180 */
|
||||
/* #define PIOS_INCLUDE_L3GD20 */
|
||||
/* PIOS sensor interfaces */
|
||||
/* #define PIOS_INCLUDE_ADXL345 */
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
#define PIOS_INCLUDE_L3GD20
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
/* #define PIOS_INCLUDE_HMC5883 */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_HMC5883_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
/* #define PIOS_INCLUDE_MPXV */
|
||||
/* #define PIOS_INCLUDE_ETASV3 */
|
||||
#define PIOS_INCLUDE_MS5611
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
#define PIOS_INCLUDE_ETASV3
|
||||
/* #define PIOS_INCLUDE_HCSR04 */
|
||||
|
||||
/* PIOS receiver drivers */
|
||||
#define PIOS_INCLUDE_PWM
|
||||
#define PIOS_INCLUDE_PPM
|
||||
#define PIOS_INCLUDE_DSM
|
||||
#define PIOS_INCLUDE_SBUS
|
||||
#define PIOS_INCLUDE_GCSRCVR
|
||||
|
||||
/* PIOS common peripherals */
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_IAP
|
||||
#define PIOS_INCLUDE_SERVO
|
||||
/* #define PIOS_INCLUDE_I2C_ESC */
|
||||
/* #define PIOS_INCLUDE_OVERO */
|
||||
#define PIOS_INCLUDE_OVERO
|
||||
#define PIOS_OVERO_SPI
|
||||
/* #define PIOS_INCLUDE_SDCARD */
|
||||
#define PIOS_INCLUDE_FLASH
|
||||
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
|
||||
/* #define FLASH_FREERTOS */
|
||||
#define FLASH_FREERTOS
|
||||
/* #define PIOS_INCLUDE_FLASH_EEPROM */
|
||||
/* #define PIOS_INCLUDE_RFM22B */
|
||||
/* #define PIOS_INCLUDE_PACKET_HANDLER */
|
||||
/* #define PIOS_INCLUDE_VIDEO */
|
||||
/* #define PIOS_INCLUDE_WAVE */
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
|
||||
/* #define PIOS_INCLUDE_UDP */
|
||||
|
||||
/* PIOS abstract receiver interface */
|
||||
#define PIOS_INCLUDE_RCVR
|
||||
|
||||
/* PIOS abstract comms interface with options */
|
||||
#define PIOS_INCLUDE_COM
|
||||
/* #define PIOS_INCLUDE_COM_MSG */
|
||||
#define PIOS_INCLUDE_TELEMETRY_RF
|
||||
/* #define PIOS_INCLUDE_COM_TELEM */
|
||||
/* #define PIOS_INCLUDE_COM_FLEXI */
|
||||
/* #define PIOS_TELEM_PRIORITY_QUEUE */
|
||||
/* #define PIOS_INCLUDE_TELEMETRY_RF */
|
||||
#define PIOS_INCLUDE_COM_TELEM
|
||||
#define PIOS_INCLUDE_COM_FLEXI
|
||||
#define PIOS_INCLUDE_COM_AUX
|
||||
#define PIOS_TELEM_PRIORITY_QUEUE
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_GPS_MINIMAL
|
||||
/* #define PIOS_GPS_MINIMAL */
|
||||
#define PIOS_INCLUDE_GPS_NMEA_PARSER
|
||||
#define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
/* #define PIOS_GPS_SETS_HOMELOCATION */
|
||||
#define PIOS_GPS_SETS_HOMELOCATION
|
||||
|
||||
/* PIOS bootloader helper */
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
|
||||
|
||||
/* Performance counters */
|
||||
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
|
||||
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 8379692
|
||||
|
||||
/* Alarm Thresholds */
|
||||
#define HEAP_LIMIT_WARNING 220
|
||||
#define HEAP_LIMIT_CRITICAL 40
|
||||
#define IRQSTACK_LIMIT_WARNING 100
|
||||
#define IRQSTACK_LIMIT_CRITICAL 60
|
||||
#define CPULOAD_LIMIT_WARNING 85
|
||||
#define HEAP_LIMIT_WARNING 1000
|
||||
#define HEAP_LIMIT_CRITICAL 500
|
||||
#define IRQSTACK_LIMIT_WARNING 150
|
||||
#define IRQSTACK_LIMIT_CRITICAL 80
|
||||
#define CPULOAD_LIMIT_WARNING 80
|
||||
#define CPULOAD_LIMIT_CRITICAL 95
|
||||
|
||||
/* Task stack sizes */
|
||||
#define PIOS_ACTUATOR_STACK_SIZE 1020
|
||||
#define PIOS_MANUAL_STACK_SIZE 800
|
||||
#define PIOS_SYSTEM_STACK_SIZE 660
|
||||
#define PIOS_STABILIZATION_STACK_SIZE 524
|
||||
#define PIOS_TELEM_STACK_SIZE 500
|
||||
#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
|
||||
/* #define PIOS_ACTUATOR_STACK_SIZE 1020 */
|
||||
/* #define PIOS_MANUAL_STACK_SIZE 800 */
|
||||
/* #define PIOS_SYSTEM_STACK_SIZE 660 */
|
||||
/* #define PIOS_STABILIZATION_STACK_SIZE 524 */
|
||||
/* #define PIOS_TELEM_STACK_SIZE 500 */
|
||||
/* #define PIOS_EVENTDISPATCHER_STACK_SIZE 130 */
|
||||
|
||||
/* Stabilization options */
|
||||
/* #define PIOS_QUATERNION_STABILIZATION */
|
||||
@ -135,7 +149,15 @@
|
||||
/* This can't be too high to stop eventdispatcher thread overflowing */
|
||||
#define PIOS_EVENTDISAPTCHER_QUEUE 10
|
||||
|
||||
/* Revolution series */
|
||||
#define REVOLUTION
|
||||
|
||||
/* OBSOLETE */
|
||||
#define PIOS_INCLUDE_COM_AUXSBUS
|
||||
#define PIOS_FLASH_ON_ACCEL /* true for second revo */
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user