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Merge remote branch 'origin/stac_build-opf-image'

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This commit is contained in:
Stacey Sheldon 2011-05-26 21:29:53 -04:00
commit ac0eb3a5c7
50 changed files with 685 additions and 936 deletions
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361
Makefile
View File

@ -77,19 +77,24 @@ help:
@echo " all_flight - Build all firmware, bootloaders and bootloader updaters" @echo " all_flight - Build all firmware, bootloaders and bootloader updaters"
@echo " all_fw - Build only firmware for all boards" @echo " all_fw - Build only firmware for all boards"
@echo " all_bl - Build only bootloaders for all boards" @echo " all_bl - Build only bootloaders for all boards"
@echo " all_blupd - Build only bootloader updaters for all boards" @echo " all_bu - Build only bootloader updaters for all boards"
@echo @echo
@echo " all_clean - Remove your build directory ($(BUILD_DIR))" @echo " all_clean - Remove your build directory ($(BUILD_DIR))"
@echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters" @echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
@echo " all_fw_clean - Remove firmware for all boards" @echo " all_fw_clean - Remove firmware for all boards"
@echo " all_bl_clean - Remove bootlaoders for all boards" @echo " all_bl_clean - Remove bootlaoders for all boards"
@echo " all_blupd_clean - Remove bootloader updaters for all boards" @echo " all_bu_clean - Remove bootloader updaters for all boards"
@echo
@echo " all_<board> - Build all available images for <board>"
@echo " all_<board>_clean - Remove all available images for <board>"
@echo @echo
@echo " [Firmware]" @echo " [Firmware]"
@echo " <board> - Build firmware for <board>" @echo " <board> - Build firmware for <board>"
@echo " supported boards are ($(ALL_BOARDS))"
@echo " fw_<board> - Build firmware for <board>"
@echo " supported boards are ($(FW_TARGETS))" @echo " supported boards are ($(FW_TARGETS))"
@echo " <board>_clean - Remove firmware for <board>" @echo " fw_<board>_clean - Remove firmware for <board>"
@echo " <board>_program - Use OpenOCD + JTAG to write firmware to <board>" @echo " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@echo @echo
@echo " [Bootloader]" @echo " [Bootloader]"
@echo " bl_<board> - Build bootloader for <board>" @echo " bl_<board> - Build bootloader for <board>"
@ -98,9 +103,9 @@ help:
@echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>" @echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
@echo @echo
@echo " [Bootloader Updater]" @echo " [Bootloader Updater]"
@echo " blupd_<board> - Build bootloader updater for <board>" @echo " bu_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BLUPD_TARGETS))" @echo " supported boards are ($(BU_TARGETS))"
@echo " blupd_<board>_clean - Remove bootloader updater for <board>" @echo " bu_<board>_clean - Remove bootloader updater for <board>"
@echo @echo
@echo " [Simulation]" @echo " [Simulation]"
@echo " sim_posix - Build OpenPilot simulation firmware for" @echo " sim_posix - Build OpenPilot simulation firmware for"
@ -311,254 +316,128 @@ uavobjects_clean:
# #
############################## ##############################
FW_TARGETS := openpilot ahrs coptercontrol pipxtreme ins # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
BL_TARGETS := $(addprefix bl_, $(FW_TARGETS)) # $(2) = Name of board used in source tree (e.g. CopterControl)
BLUPD_TARGETS := $(addprefix blupd_, $(FW_TARGETS)) define FW_TEMPLATE
.PHONY: $(1) fw_$(1)
$(1): fw_$(1)_opfw
fw_$(1): fw_$(1)_opfw
fw_$(1)_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
define BL_TEMPLATE
.PHONY: bl_$(1)
bl_$(1): bl_$(1)_bin
bl_$(1)_bino: bl_$(1)_bin
bl_$(1)_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: bl_$(1)_clean
bl_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BU_TEMPLATE
.PHONY: bu_$(1)
bu_$(1): bu_$(1)_opfw
bu_$(1)_%: bl_$(1)_bino
$(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: bu_$(1)_clean
bu_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BOARD_PHONY_TEMPLATE
.PHONY: all_$(1)
all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
.PHONY: all_$(1)_clean
all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
endef
ALL_BOARDS := openpilot ahrs coptercontrol pipxtreme ins
# Friendly names of each board (used to find source tree)
openpilot_friendly := OpenPilot
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme
ins_friendly := INS
ahrs_friendly := AHRS
FW_TARGETS := $(addprefix fw_, $(ALL_BOARDS))
BL_TARGETS := $(addprefix bl_, $(ALL_BOARDS))
BU_TARGETS := $(addprefix bu_, $(ALL_BOARDS))
# FIXME: The INS build doesn't have a bootloader or bootloader # FIXME: The INS build doesn't have a bootloader or bootloader
# updater yet so we need to filter them out to prevent errors. # updater yet so we need to filter them out to prevent errors.
BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS)) BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
BLUPD_TARGETS := $(filter-out blupd_ins, $(BLUPD_TARGETS)) BU_TARGETS := $(filter-out bu_ins, $(BU_TARGETS))
.PHONY: all_fw all_fw_clean .PHONY: all_fw all_fw_clean
all_fw: $(addsuffix _bin, $(FW_TARGETS)) all_fw: $(addsuffix _opfw, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS)) all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
.PHONY: all_bl all_bl_clean .PHONY: all_bl all_bl_clean
all_bl: $(addsuffix _bin, $(BL_TARGETS)) all_bl: $(addsuffix _bin, $(BL_TARGETS))
all_bl_clean: $(addsuffix _clean, $(BL_TARGETS)) all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
.PHONY: all_blupd all_blupd_clean .PHONY: all_bu all_bu_clean
all_blupd: $(addsuffix _bin, $(BLUPD_TARGETS)) all_bu: $(addsuffix _opfw, $(BU_TARGETS))
all_blupd_clean: $(addsuffix _clean, $(BLUPD_TARGETS)) all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
.PHONY: all_flight all_flight_clean .PHONY: all_flight all_flight_clean
all_flight: all_fw all_bl all_blupd all_flight: all_fw all_bl all_bu
all_flight_clean: all_fw_clean all_bl_clean all_blupd_clean all_flight_clean: all_fw_clean all_bl_clean all_bu_clean
.PHONY: openpilot $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
openpilot: openpilot_bin
openpilot_%: uavobjects_flight # Expand the bootloader updater rules
$(V1) mkdir -p $(BUILD_DIR)/openpilot/dep $(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly))))
$(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 # Expand the firmware rules
openpilot_clean: $(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly))))
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/openpilot
.PHONY: bl_openpilot
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)" $*
.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)" $*
.PHONY: ahrs_clean
ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/ahrs
.PHONY: bl_ahrs
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)" $*
.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)" $*
.PHONY: coptercontrol_clean
coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/coptercontrol
.PHONY: bl_coptercontrol
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)" $*
.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)" $*
.PHONY: pipxtreme_clean
pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/pipxtreme
.PHONY: bl_pipxtreme
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)" $*
.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)" $*
.PHONY: ins_clean
ins_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/ins
.PHONY: bl_ins
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)" $*
.PHONY: bl_ins_clean
bl_ins_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_ins
# Expand the bootloader rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly))))
.PHONY: sim_posix .PHONY: sim_posix
sim_posix: sim_posix_elf sim_posix: sim_posix_elf

62
flight/AHRS/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../) TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES for debugging # Set to YES for debugging
@ -41,21 +48,6 @@ endif
FLASH_TOOL = OPENOCD 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 = STM32103CB_AHRS
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/ahrs
# Target file name (without extension).
TARGET = AHRS
# Paths # Paths
AHRS = ./ AHRS = ./
AHRSINC = $(AHRS)/inc AHRSINC = $(AHRS)/inc
@ -160,7 +152,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -223,7 +215,6 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD) CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_AHRS CDEFS += -DIN_AHRS
CDEFS += -DUSE_BOOTLOADER
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
@ -299,21 +290,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08002000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08002000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -345,14 +323,6 @@ endif
endif endif
endif endif
# Program the device.
ifeq ($(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. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -382,29 +352,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino $(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)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
doxygen $(DOXYGENDIR)/doxygen.cfg doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory # Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),) ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<) @echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR) $(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin $(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else else
$(error INSTALL_DIR must be specified for $@) $(error INSTALL_DIR must be specified for $@)
endif endif
@ -445,4 +419,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program install .PHONY : all build clean clean_list install

11
flight/AHRS/ahrs.c
View File

@ -33,6 +33,7 @@
/* OpenPilot Includes */ /* OpenPilot Includes */
#include "ahrs.h" #include "ahrs.h"
#include <pios_board_info.h>
#include "pios.h" #include "pios.h"
#include "ahrs_timer.h" #include "ahrs_timer.h"
#include "ahrs_spi_comm.h" #include "ahrs_spi_comm.h"
@ -1228,6 +1229,8 @@ void homelocation_callback(AhrsObjHandle obj)
void firmwareiapobj_callback(AhrsObjHandle obj) void firmwareiapobj_callback(AhrsObjHandle obj)
{ {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
FirmwareIAPObjData firmwareIAPObj; FirmwareIAPObjData firmwareIAPObj;
FirmwareIAPObjGet(&firmwareIAPObj); FirmwareIAPObjGet(&firmwareIAPObj);
if(firmwareIAPObj.ArmReset==0) if(firmwareIAPObj.ArmReset==0)
@ -1235,7 +1238,7 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
if(firmwareIAPObj.ArmReset==1) if(firmwareIAPObj.ArmReset==1)
{ {
if((firmwareIAPObj.BoardType==BOARD_TYPE) || (firmwareIAPObj.BoardType==0xFF)) if((firmwareIAPObj.BoardType==bdinfo->board_type) || (firmwareIAPObj.BoardType==0xFF))
{ {
++reset_count; ++reset_count;
@ -1247,11 +1250,11 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
} }
} }
} }
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc()) else if(firmwareIAPObj.BoardType==bdinfo->board_type && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
{ {
PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION); PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,bdinfo->desc_size);
firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc(); firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
firmwareIAPObj.BoardRevision=BOARD_REVISION; firmwareIAPObj.BoardRevision=bdinfo->board_rev;
FirmwareIAPObjSet(&firmwareIAPObj); FirmwareIAPObjSet(&firmwareIAPObj);
} }
} }

67
flight/Bootloaders/AHRS/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../) TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES for debugging # Set to YES for debugging
@ -41,23 +48,6 @@ endif
FLASH_TOOL = OPENOCD 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 = STM32103CB_AHRS
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_ahrs
# Target file name (without extension).
TARGET = AHRS_BL
# Paths # Paths
AHRS_BL = ./ AHRS_BL = ./
AHRS_BLINC = $(AHRS_BL)/inc AHRS_BLINC = $(AHRS_BL)/inc
@ -149,7 +139,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -209,6 +199,15 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD) CDEFS += -DUSE_$(BOARD)
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -243,8 +242,9 @@ CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO) ifeq ($(DEBUG),NO)
CFLAGS += -fdata-sections -ffunction-sections CFLAGS += -fdata-sections -ffunction-sections
endif endif
CFLAGS += -mcpu=$(MCU) -mthumb CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS) CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame CFLAGS += -mapcs-frame
@ -266,7 +266,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags. # Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler. # -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing # -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS) ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -291,20 +291,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
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) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -336,14 +324,6 @@ endif
endif endif
endif endif
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo "Programming with OPENOCD"
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -373,6 +353,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino .PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
@ -383,8 +366,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
@ -437,4 +418,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program install .PHONY : all build clean clean_list install

27
flight/Bootloaders/AHRS/main.c
View File

@ -33,6 +33,7 @@
/* OpenPilot Includes */ /* OpenPilot Includes */
#include "ahrs_bl.h" #include "ahrs_bl.h"
#include <pios_board_info.h>
#include "pios_opahrs_proto.h" #include "pios_opahrs_proto.h"
#include "bl_fsm.h" /* lfsm_state */ #include "bl_fsm.h" /* lfsm_state */
#include "stm32f10x_flash.h" #include "stm32f10x_flash.h"
@ -108,6 +109,7 @@ static struct opahrs_msg_v0 link_rx_v0;
static struct opahrs_msg_v0 user_tx_v0; static struct opahrs_msg_v0 user_tx_v0;
static struct opahrs_msg_v0 user_rx_v0; static struct opahrs_msg_v0 user_rx_v0;
void process_spi_request(void) { void process_spi_request(void) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool msg_to_process = FALSE; bool msg_to_process = FALSE;
PIOS_IRQ_Disable(); PIOS_IRQ_Disable();
@ -166,15 +168,15 @@ void process_spi_request(void) {
break; break;
case OPAHRS_MSG_V0_REQ_MEM_MAP: case OPAHRS_MSG_V0_REQ_MEM_MAP:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP); opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP);
user_tx_v0.payload.user.v.rsp.mem_map.density = HW_TYPE; user_tx_v0.payload.user.v.rsp.mem_map.density = bdinfo->hw_type;
user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE
| (BOARD_WRITABLA << 1)); | (BOARD_WRITABLE << 1));
user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory
= SIZE_OF_CODE; = bdinfo->fw_size;
user_tx_v0.payload.user.v.rsp.mem_map.size_of_description user_tx_v0.payload.user.v.rsp.mem_map.size_of_description
= SIZE_OF_DESCRIPTION; = bdinfo->desc_size;
user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code
= START_OF_USER_CODE; = bdinfo->fw_base;
lfsm_user_set_tx_v0(&user_tx_v0); lfsm_user_set_tx_v0(&user_tx_v0);
break; break;
case OPAHRS_MSG_V0_REQ_SERIAL: case OPAHRS_MSG_V0_REQ_SERIAL:
@ -192,7 +194,7 @@ void process_spi_request(void) {
PIOS_LED_On(LED1); PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS); opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
if (!(user_rx_v0.payload.user.v.req.fwup_data.adress if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
< START_OF_USER_CODE)) { < bdinfo->fw_base)) {
for (uint8_t x = 0; x for (uint8_t x = 0; x
< user_rx_v0.payload.user.v.req.fwup_data.size; ++x) { < user_rx_v0.payload.user.v.req.fwup_data.size; ++x) {
if (FLASH_ProgramWord( if (FLASH_ProgramWord(
@ -250,13 +252,10 @@ void process_spi_request(void) {
return; return;
} }
void jump_to_app() { void jump_to_app() {
//while(TRUE) const struct pios_board_info * bdinfo = &pios_board_info_blob;
//{
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
//}
PIOS_LED_On(LED1); PIOS_LED_On(LED1);
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */ if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock(); FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE); RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE); RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -265,10 +264,10 @@ void jump_to_app() {
//_SetCNTR(0); // clear interrupt mask //_SetCNTR(0); // clear interrupt mask
//_SetISTR(0); // clear all requests //_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4); JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress; Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */ /* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE); __set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application(); Jump_To_Application();
} else { } else {
boot_status = jump_failed; boot_status = jump_failed;

38
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../) TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET = bu_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES to compile for debugging # Set to YES to compile for debugging
@ -51,21 +58,6 @@ endif
FLASH_TOOL = OPENOCD 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 # Paths
OPSYSTEM = . OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc OPSYSTEMINC = $(OPSYSTEM)/inc
@ -224,7 +216,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES) ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART CDEFS += -DPIOS_ENABLE_AUX_UART
endif endif
CDEFS += -DUSE_BOOTLOADER
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
@ -309,9 +300,9 @@ LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program # Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin" OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(START_OF_FW_CODE) bin"
# Verify # Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin" OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(START_OF_FW_CODE) bin"
# reset target # reset target
OOCD_CL+=-c "reset run" OOCD_CL+=-c "reset run"
# terminate OOCD after programming # terminate OOCD after programming
@ -364,6 +355,7 @@ program: $(OUTDIR)/$(TARGET).bin
endif endif
# Link: create ELF output file from object files. # Link: create ELF output file from object files.
BLOBJ := $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin.o
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ) $(BLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ) $(BLOBJ)))
# Assemble: create object files from assembler source files. # Assemble: create object files from assembler source files.
@ -392,14 +384,16 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
elf.stripped: $(OUTDIR)/$(TARGET).elf.stripped
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@ -411,11 +405,11 @@ docs:
doxygen $(DOXYGENDIR)/doxygen.cfg doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory # Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),) ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<) @echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR) $(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin $(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else else
$(error INSTALL_DIR must be specified for $@) $(error INSTALL_DIR must be specified for $@)
endif endif

65
flight/Bootloaders/CopterControl/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../) TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES to compile for debugging # Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD 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 = STM32103CB_CC_Rev1
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_coptercontrol
# Target file name (without extension).
TARGET = CopterControl_BL
# Paths # Paths
OPSYSTEM = . OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc OPSYSTEMINC = $(OPSYSTEM)/inc
@ -181,7 +173,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -260,6 +252,15 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART CDEFS += -DPIOS_ENABLE_AUX_UART
endif endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -295,8 +296,9 @@ ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections CFLAGS += -ffunction-sections
endif endif
CFLAGS += -mcpu=$(MCU) -mthumb CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS) CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame CFLAGS += -mapcs-frame
@ -316,7 +318,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags. # Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler. # -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing # -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS) ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -341,20 +343,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
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) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -394,14 +384,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(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. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -431,6 +413,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino .PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
@ -441,8 +426,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
@ -495,4 +478,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program install .PHONY : all build clean clean_list install

9
flight/Bootloaders/CopterControl/main.c
View File

@ -27,6 +27,7 @@
*/ */
/* Bootloader Includes */ /* Bootloader Includes */
#include <pios.h> #include <pios.h>
#include <pios_board_info.h>
#include "stopwatch.h" #include "stopwatch.h"
#include "op_dfu.h" #include "op_dfu.h"
#include "usb_lib.h" #include "usb_lib.h"
@ -163,7 +164,9 @@ int main() {
} }
void jump_to_app() { void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */ const struct pios_board_info * bdinfo = &pios_board_info_blob;
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock(); FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE); RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE); RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -171,10 +174,10 @@ void jump_to_app() {
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE); RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
_SetCNTR(0); // clear interrupt mask _SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests _SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4); JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress; Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */ /* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE); __set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application(); Jump_To_Application();
} else { } else {
DeviceState = failed_jump; DeviceState = failed_jump;

17
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h" #include "pios.h"
#include "op_dfu.h" #include "op_dfu.h"
#include "pios_bl_helper.h" #include "pios_bl_helper.h"
#include <pios_board_info.h>
//programmable devices //programmable devices
Device devicesTable[10]; Device devicesTable[10];
uint8_t numberOfDevices = 0; uint8_t numberOfDevices = 0;
@ -382,16 +383,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return; return;
} }
void OPDfuIni(uint8_t discover) { void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev; Device dev;
dev.programmingType = Self_flash; dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1)); dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = START_OF_USER_CODE; dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = SIZE_OF_CODE; dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION; dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = BOOTLOADER_VERSION; dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC(); dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION; dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = HW_TYPE; dev.devType = bdinfo->hw_type;
numberOfDevices = 1; numberOfDevices = 1;
devicesTable[0] = dev; devicesTable[0] = dev;
if (discover) { if (discover) {

61
flight/Bootloaders/OpenPilot/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../) TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES to compile for debugging # Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD 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 = STM32F103RET
BOARD = STM3210E_OP
MODEL = HD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_openpilot
# Target file name (without extension).
TARGET = OpenPilot_BL
# Paths # Paths
OPSYSTEM = . OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc OPSYSTEMINC = $(OPSYSTEM)/inc
@ -184,7 +176,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -263,6 +255,15 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART CDEFS += -DPIOS_ENABLE_AUX_UART
endif endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -300,6 +301,7 @@ endif
CFLAGS += -mcpu=$(MCU) CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS) CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame CFLAGS += -mapcs-frame
@ -344,20 +346,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
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) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -397,14 +387,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(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. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -434,6 +416,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino .PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
@ -444,8 +429,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
@ -498,4 +481,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program install .PHONY : all build clean clean_list install

9
flight/Bootloaders/OpenPilot/main.c
View File

@ -27,6 +27,7 @@
*/ */
/* Bootloader Includes */ /* Bootloader Includes */
#include <pios.h> #include <pios.h>
#include <pios_board_info.h>
#include "pios_opahrs.h" #include "pios_opahrs.h"
#include "stopwatch.h" #include "stopwatch.h"
#include "op_dfu.h" #include "op_dfu.h"
@ -216,7 +217,9 @@ int main() {
} }
void jump_to_app() { void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */ const struct pios_board_info * bdinfo = &pios_board_info_blob;
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock(); FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE); RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE); RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -225,10 +228,10 @@ void jump_to_app() {
_SetCNTR(0); // clear interrupt mask _SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests _SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4); JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress; Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */ /* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE); __set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application(); Jump_To_Application();
} else { } else {
DeviceState = failed_jump; DeviceState = failed_jump;

17
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h" #include "pios.h"
#include "op_dfu.h" #include "op_dfu.h"
#include "pios_bl_helper.h" #include "pios_bl_helper.h"
#include <pios_board_info.h>
#include "pios_opahrs.h" #include "pios_opahrs.h"
#include "ssp.h" #include "ssp.h"
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
@ -447,16 +448,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return; return;
} }
void OPDfuIni(uint8_t discover) { void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev; Device dev;
dev.programmingType = Self_flash; dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1)); dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = START_OF_USER_CODE; dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = SIZE_OF_CODE; dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION; dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = BOOTLOADER_VERSION; dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC(); dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION; dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = HW_TYPE; dev.devType = bdinfo->hw_type;
numberOfDevices = 1; numberOfDevices = 1;
devicesTable[0] = dev; devicesTable[0] = dev;
if (discover) { if (discover) {

67
flight/Bootloaders/PipXtreme/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../) TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES to compile for debugging # Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD 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 = STM32103CB_PIPXTREME
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_pipxtreme
# Target file name (without extension).
TARGET = PipXtreme_BL
# Paths # Paths
OPSYSTEM = . OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc OPSYSTEMINC = $(OPSYSTEM)/inc
@ -180,7 +172,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -259,6 +251,17 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART CDEFS += -DPIOS_ENABLE_AUX_UART
endif endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
BLONLY_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE)
BLONLY_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE)
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -294,8 +297,9 @@ ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections CFLAGS += -ffunction-sections
endif endif
CFLAGS += -mcpu=$(MCU) -mthumb CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS) CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame CFLAGS += -mapcs-frame
@ -315,7 +319,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags. # Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler. # -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing # -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS) ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -340,20 +344,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
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) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -393,14 +385,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(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. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -430,6 +414,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino .PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
@ -440,8 +427,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
@ -494,4 +479,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program install .PHONY : all build clean clean_list install

9
flight/Bootloaders/PipXtreme/main.c
View File

@ -27,6 +27,7 @@
*/ */
/* Bootloader Includes */ /* Bootloader Includes */
#include <pios.h> #include <pios.h>
#include <pios_board_info.h>
#include "stopwatch.h" #include "stopwatch.h"
#include "op_dfu.h" #include "op_dfu.h"
#include "usb_lib.h" #include "usb_lib.h"
@ -170,7 +171,9 @@ int main() {
} }
void jump_to_app() { void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */ const struct pios_board_info * bdinfo = &pios_board_info_blob;
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock(); FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE); RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE); RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -179,10 +182,10 @@ void jump_to_app() {
_SetCNTR(0); // clear interrupt mask _SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests _SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4); JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress; Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */ /* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE); __set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application(); Jump_To_Application();
} else { } else {
DeviceState = failed_jump; DeviceState = failed_jump;

17
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h" #include "pios.h"
#include "op_dfu.h" #include "op_dfu.h"
#include "pios_bl_helper.h" #include "pios_bl_helper.h"
#include <pios_board_info.h>
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
@ -414,16 +415,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return; return;
} }
void OPDfuIni(uint8_t discover) { void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev; Device dev;
dev.programmingType = Self_flash; dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1)); dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = START_OF_USER_CODE; dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = SIZE_OF_CODE; dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION; dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = BOOTLOADER_VERSION; dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC(); dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION; dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = HW_TYPE; dev.devType = bdinfo->hw_type;
numberOfDevices = 1; numberOfDevices = 1;
devicesTable[0] = dev; devicesTable[0] = dev;
if (discover) { if (discover) {

60
flight/CopterControl/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../) TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES to compile for debugging # Set to YES to compile for debugging
@ -57,21 +64,6 @@ FLASH_TOOL = OPENOCD
# List of modules to include # List of modules to include
MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP
# 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 = STM32103CB_CC_Rev1
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/coptercontrol
# Target file name (without extension).
TARGET = CopterControl
# Paths # Paths
OPSYSTEM = ./System OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc OPSYSTEMINC = $(OPSYSTEM)/inc
@ -299,7 +291,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_CC.S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -381,7 +373,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES) ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART CDEFS += -DPIOS_ENABLE_AUX_UART
endif endif
CDEFS += -DUSE_BOOTLOADER
ifeq ($(ERASE_FLASH), YES) ifeq ($(ERASE_FLASH), YES)
CDEFS += -DERASE_FLASH CDEFS += -DERASE_FLASH
endif endif
@ -475,21 +466,9 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld LDFLAGS += -T$(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. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
PYTHON = python PYTHON = python
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -540,13 +519,6 @@ ${OUTDIR}/InitMods.c: Makefile
# @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h # @$(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 $(FLIGHTPLANS)/test.py # @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
ifeq ($(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. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -576,29 +548,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino $(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)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
doxygen $(DOXYGENDIR)/doxygen.cfg doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory # Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),) ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<) @echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR) $(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin $(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else else
$(error INSTALL_DIR must be specified for $@) $(error INSTALL_DIR must be specified for $@)
endif endif
@ -642,4 +618,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program gencode install .PHONY : all build clean clean_list gencode install

83
flight/INS/Makefile
View File

@ -25,11 +25,17 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../) TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES for debugging # Set to YES for debugging
DEBUG ?= YES DEBUG ?= YES
USE_BOOTLOADER ?= NO
# Set to YES when using Code Sourcery toolchain # Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES CODE_SOURCERY ?= YES
@ -42,26 +48,6 @@ endif
FLASH_TOOL = OPENOCD 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 = STM32F103RET
BOARD = STM3210E_INS
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/ins
# Target file name (without extension).
TARGET = INS
# Paths # Paths
INS = ./ INS = ./
INSINC = $(INS)/inc INSINC = $(INS)/inc
@ -168,7 +154,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -231,9 +217,7 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD) CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_INS CDEFS += -DIN_INS
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -311,22 +295,11 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name # Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(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)"
# 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. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -358,21 +331,6 @@ endif
endif endif
endif endif
# Program the device.
ifeq ($(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
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Link: create ELF output file from object files. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -400,28 +358,35 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only # Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM)) $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin $(OUTDIR)/$(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)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
doxygen $(DOXYGENDIR)/doxygen.cfg doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory # Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),) ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<) @echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR) $(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin $(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else else
$(error INSTALL_DIR must be specified for $@) $(error INSTALL_DIR must be specified for $@)
endif endif
@ -461,4 +426,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program install .PHONY : all build clean clean_list install

12
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -27,6 +27,7 @@
#include <stdint.h> #include <stdint.h>
#include "pios.h" #include "pios.h"
#include <pios_board_info.h>
#include "openpilot.h" #include "openpilot.h"
#include "firmwareiap.h" #include "firmwareiap.h"
#include "firmwareiapobj.h" #include "firmwareiapobj.h"
@ -90,10 +91,12 @@ static void resetTask(UAVObjEvent *);
int32_t FirmwareIAPInitialize() int32_t FirmwareIAPInitialize()
{ {
data.BoardType= BOARD_TYPE; const struct pios_board_info * bdinfo = &pios_board_info_blob;
data.BoardType= bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM); PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial); PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision= BOARD_REVISION; data.BoardRevision= bdinfo->board_rev;
data.ArmReset=0; data.ArmReset=0;
data.crc = 0; data.crc = 0;
FirmwareIAPObjSet( &data ); FirmwareIAPObjSet( &data );
@ -112,6 +115,7 @@ int32_t FirmwareIAPInitialize()
static uint8_t iap_state = IAP_STATE_READY; static uint8_t iap_state = IAP_STATE_READY;
static void FirmwareIAPCallback(UAVObjEvent* ev) static void FirmwareIAPCallback(UAVObjEvent* ev)
{ {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
static uint32_t last_time = 0; static uint32_t last_time = 0;
uint32_t this_time; uint32_t this_time;
uint32_t delta; uint32_t delta;
@ -125,11 +129,11 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
this_time = get_time(); this_time = get_time();
delta = this_time - last_time; delta = this_time - last_time;
last_time = this_time; last_time = this_time;
if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc())) if((data.BoardType==bdinfo->board_type)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
{ {
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM); PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial); PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision=BOARD_REVISION; data.BoardRevision=bdinfo->board_rev;
data.crc = PIOS_BL_HELPER_CRC_Memory_Calc(); data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
FirmwareIAPObjSet( &data ); FirmwareIAPObjSet( &data );
} }

62
flight/OpenPilot/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../) TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options # Set developer code and compile options
# Set to YES to compile for debugging # Set to YES to compile for debugging
@ -59,21 +66,6 @@ PYMODULES = FlightPlan
#MODULES = Telemetry #MODULES = Telemetry
#MODULES += Osd/OsdEtStd #MODULES += Osd/OsdEtStd
# 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 = STM32F103RET
BOARD = STM3210E_OP
MODEL = HD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/openpilot
# Target file name (without extension).
TARGET = OpenPilot
# Paths # Paths
OPSYSTEM = ./System OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc OPSYSTEMINC = $(OPSYSTEM)/inc
@ -287,7 +279,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -369,7 +361,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES) ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART CDEFS += -DPIOS_ENABLE_AUX_UART
endif endif
CDEFS += -DUSE_BOOTLOADER
ifeq ($(USE_SPEKTRUM), YES) ifeq ($(USE_SPEKTRUM), YES)
CDEFS += -DUSE_SPEKTRUM CDEFS += -DUSE_SPEKTRUM
@ -451,22 +442,9 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08005000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08005000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
PYTHON = python PYTHON = python
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -519,14 +497,6 @@ ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/p
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h @$(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 $(FLIGHTPLANS)/test.py @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
# Program the device.
ifeq ($(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. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -556,29 +526,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino $(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)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
doxygen $(DOXYGENDIR)/doxygen.cfg doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory # Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),) ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<) @echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR) $(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin $(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else else
$(error INSTALL_DIR must be specified for $@) $(error INSTALL_DIR must be specified for $@)
endif endif
@ -622,4 +596,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program gencode install .PHONY : all build clean clean_list gencode install

24
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -64,25 +64,8 @@ TIM8 | | | |
//------------------------ //------------------------
// BOOTLOADER_SETTINGS // BOOTLOADER_SETTINGS
//------------------------ //------------------------
//#define FUNC_ID 2
//#define HW_VERSION 69
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x02
#define BOARD_REVISION 0x01
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
#define MEM_SIZE 0x20000 //128K
#define SIZE_OF_DESCRIPTION 100
#define START_OF_USER_CODE (uint32_t)0x08002000
#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE #define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE #define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3 #define MAX_DEL_RETRYS 3
//------------------------ //------------------------
@ -107,11 +90,6 @@ TIM8 | | | |
//------------------------- //-------------------------
#define PIOS_MASTER_CLOCK 72000000 #define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//------------------------- //-------------------------
// Interrupt Priorities // Interrupt Priorities

22
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -60,23 +60,8 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------ //------------------------
// BOOTLOADER_SETTINGS // BOOTLOADER_SETTINGS
//------------------------ //------------------------
//#define FUNC_ID 2
//#define HW_VERSION 69
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x04
#define BOARD_REVISION 0x01
#define MEM_SIZE 0x20000 //128K
#define SIZE_OF_DESCRIPTION 100
#define START_OF_USER_CODE (uint32_t)0x08003000
#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE #define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE #define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3 #define MAX_DEL_RETRYS 3
@ -117,11 +102,6 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------- //-------------------------
#define PIOS_MASTER_CLOCK 72000000 #define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//------------------------- //-------------------------
// Interrupt Priorities // Interrupt Priorities

20
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -58,20 +58,8 @@ TIM4 | STOPWATCH |
//------------------------ //------------------------
// BOOTLOADER_SETTINGS // BOOTLOADER_SETTINGS
//------------------------ //------------------------
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x03
#define BOARD_REVISION 0x01
#define MEM_SIZE (0x20000 - 0x00400) // 128K - 1K (reserved for config data)
#define SIZE_OF_DESCRIPTION 100
#define START_OF_USER_CODE (uint32_t)0x08003000
#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE #define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE #define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3 #define MAX_DEL_RETRYS 3
@ -81,12 +69,6 @@ TIM4 | STOPWATCH |
#define PIOS_MASTER_CLOCK 72000000ul #define PIOS_MASTER_CLOCK 72000000ul
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
// ***************************************************************** // *****************************************************************
// Interrupt Priorities // Interrupt Priorities

26
flight/PiOS/Boards/STM3210E_INS.h
View File

@ -69,27 +69,8 @@ TIM8 | | | |
//------------------------ //------------------------
// BOOTLOADER_SETTINGS // BOOTLOADER_SETTINGS
//------------------------ //------------------------
//#define FUNC_ID 1
//#define HW_VERSION 01
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x05 // INS board
#define BOARD_REVISION 0x01 // Beta version
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
#define MEM_SIZE 524288 //512K
#define SIZE_OF_DESCRIPTION (uint8_t) 100
#define START_OF_USER_CODE (uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE #define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE #define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3 #define MAX_DEL_RETRYS 3
//------------------------ //------------------------
@ -176,11 +157,6 @@ extern uint32_t pios_com_aux_id;
//------------------------- //-------------------------
#define PIOS_MASTER_CLOCK 72000000 #define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//------------------------- //-------------------------
// Interrupt Priorities // Interrupt Priorities

26
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -68,27 +68,8 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
//------------------------ //------------------------
// BOOTLOADER_SETTINGS // BOOTLOADER_SETTINGS
//------------------------ //------------------------
//#define FUNC_ID 1
//#define HW_VERSION 01
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x01 // OpenPilot board
#define BOARD_REVISION 0x01 // Beta version
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
#define MEM_SIZE 524288 //512K
#define SIZE_OF_DESCRIPTION (uint8_t) 100
#define START_OF_USER_CODE (uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE #define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE #define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3 #define MAX_DEL_RETRYS 3
//------------------------ //------------------------
@ -203,11 +184,6 @@ extern uint32_t pios_com_spektrum_id;
//------------------------- //-------------------------
#define PIOS_MASTER_CLOCK 72000000 #define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//------------------------- //-------------------------
// Interrupt Priorities // Interrupt Priorities

16
flight/PiOS/Common/pios_bl_helper.c
View File

@ -31,6 +31,7 @@
/* Project Includes */ /* Project Includes */
#include "pios.h" #include "pios.h"
#if defined(PIOS_INCLUDE_BL_HELPER) #if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_board_info.h>
#include "stm32f10x_flash.h" #include "stm32f10x_flash.h"
uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress) uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
@ -47,10 +48,10 @@ uint8_t PIOS_BL_HELPER_FLASH_Ini()
uint8_t PIOS_BL_HELPER_FLASH_Start() uint8_t PIOS_BL_HELPER_FLASH_Start()
{ {
uint32_t pageAdress; const struct pios_board_info * bdinfo = &pios_board_info_blob;
pageAdress = START_OF_USER_CODE; uint32_t pageAdress = bdinfo->fw_base;
uint8_t fail = FALSE; uint8_t fail = FALSE;
while ((pageAdress < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION) while ((pageAdress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
|| (fail == TRUE)) { || (fail == TRUE)) {
for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) { for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) { if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
@ -75,17 +76,20 @@ uint8_t PIOS_BL_HELPER_FLASH_Start()
uint32_t PIOS_BL_HELPER_CRC_Memory_Calc() uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
{ {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
PIOS_BL_HELPER_CRC_Ini(); PIOS_BL_HELPER_CRC_Ini();
CRC_ResetDR(); CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2); CRC_CalcBlockCRC((uint32_t *) bdinfo->fw_base, (bdinfo->fw_size) >> 2);
return CRC_GetCRC(); return CRC_GetCRC();
} }
void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size) void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
{ {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
uint8_t x = 0; uint8_t x = 0;
if (size>SIZE_OF_DESCRIPTION) size = SIZE_OF_DESCRIPTION; if (size > bdinfo->desc_size) size = bdinfo->desc_size;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + size; ++i) { for (uint32_t i = bdinfo->fw_base + bdinfo->fw_size; i < bdinfo->fw_base + bdinfo->fw_size + size; ++i) {
array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i); array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i);
++x; ++x;
} }

12
flight/PiOS/Common/pios_board_info.c
View File

@ -9,8 +9,12 @@ const struct pios_board_info __attribute__((__used__)) __attribute__((__section_
.board_rev = BOARD_REVISION, .board_rev = BOARD_REVISION,
.bl_rev = BOOTLOADER_VERSION, .bl_rev = BOOTLOADER_VERSION,
.hw_type = HW_TYPE, .hw_type = HW_TYPE,
.fw_base = START_OF_USER_CODE, .fw_base = FW_BANK_BASE,
.fw_size = SIZE_OF_CODE, .fw_size = FW_BANK_SIZE - FW_DESC_SIZE,
.desc_base = START_OF_USER_CODE + SIZE_OF_CODE, .desc_base = FW_BANK_BASE + FW_BANK_SIZE - FW_DESC_SIZE,
.desc_size = SIZE_OF_DESCRIPTION, .desc_size = FW_DESC_SIZE,
#ifdef EE_BANK_BASE
.ee_base = EE_BANK_BASE,
.ee_size = EE_BANK_SIZE,
#endif
}; };

1
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_BL_sections.ld
View File

@ -5,6 +5,7 @@ SECTIONS
{ {
.text : .text :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*)) KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*) *(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7) *(.glue_7t) *(.glue_7)

9
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_sections.ld
View File

@ -1,16 +1,13 @@
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0; _estack = 0x20004FF0;
/* Section Definitions */ /* Section Definitions */
SECTIONS SECTIONS
{ {
.boardinfo :
{
. = ALIGN(4);
PROVIDE(pios_board_info_blob = .);
} > BD_INFO
.text : .text :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*)) KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*) *(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7) *(.glue_7t) *(.glue_7)

1
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
View File

@ -10,6 +10,7 @@ SECTIONS
{ {
.text : .text :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*)) KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*) *(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7) *(.glue_7t) *(.glue_7)

9
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -3,19 +3,16 @@ PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ; PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ; PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0; _estack = 0x20004FF0;
/* Section Definitions */ /* Section Definitions */
SECTIONS SECTIONS
{ {
.boardinfo :
{
. = ALIGN(4);
PROVIDE(pios_board_info_blob = .);
} > BD_INFO
.text : .text :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*)) KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*) *(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7) *(.glue_7t) *(.glue_7)

1
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
View File

@ -10,6 +10,7 @@ SECTIONS
{ {
.text : .text :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*)) KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*) *(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7) *(.glue_7t) *(.glue_7)

3
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_memory.ld
View File

@ -2,6 +2,7 @@ MEMORY
{ {
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x03000 - 0x00080 BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x03000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08003000 - 0x80, LENGTH = 0x00080 BD_INFO (r) : ORIGIN = 0x08003000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 0x20000 - 0x03000 FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 0x20000 - 0x03000 - 0x00400
EE_FLASH (rw) : ORIGIN = 0x0801FC00, LENGTH = 0x00400
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x05000 SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x05000
} }

9
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_sections.ld
View File

@ -3,19 +3,16 @@ PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ; PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ; PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0; _estack = 0x20004FF0;
/* Section Definitions */ /* Section Definitions */
SECTIONS SECTIONS
{ {
.boardinfo :
{
. = ALIGN(4);
PROVIDE(pios_board_info_blob = .);
} > BD_INFO
.text : .text :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*)) KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*) *(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7) *(.glue_7t) *(.glue_7)

35
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld → flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld
View File

@ -1,7 +1,7 @@
/** /**
****************************************************************************** ******************************************************************************
* *
* @file link_STM3210E_INS_HD_BL.ld * @file link_STM3210E_INS_HD_NB.ld
* @author David "Buzz" Carlson (buzz@chebuzz.com) * @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief PiOS linker for the OpenPilot INS board * @brief PiOS linker for the OpenPilot INS board
@ -24,26 +24,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 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
}
_estack = 0x20004FF0;
/* This is the size of the stack for early init and for all FreeRTOS IRQs */ /* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400; _irq_stack_size = 0x400;
/* Check valid alignment for VTOR */ /* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table"); ASSERT(ORIGIN(BL_FLASH) == ALIGN(ORIGIN(BL_FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
/* /*
this sends all unreferenced IRQHandlers to reset this sends all unreferenced IRQHandlers to reset
@ -208,9 +193,10 @@ SECTIONS
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */ /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector : .isr_vector :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */ KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4); . = 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 */ /* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
.flashtext : .flashtext :
@ -218,7 +204,7 @@ SECTIONS
. = ALIGN(4); . = ALIGN(4);
*(.flashtext) /* Startup code */ *(.flashtext) /* Startup code */
. = ALIGN(4); . = ALIGN(4);
} >FLASH } > BL_FLASH
/* init sections */ /* init sections */
@ -229,7 +215,7 @@ SECTIONS
KEEP(*(.initcalluavobj.init)) KEEP(*(.initcalluavobj.init))
. = ALIGN(4); . = ALIGN(4);
__uavobj_initcall_end = .; __uavobj_initcall_end = .;
} >FLASH } > BL_FLASH
/* the program code is stored in the .text section, which goes to Flash */ /* the program code is stored in the .text section, which goes to Flash */
.text : .text :
@ -247,7 +233,7 @@ SECTIONS
_etext = .; _etext = .;
/* This is used by the startup in order to initialize the .data secion */ /* This is used by the startup in order to initialize the .data secion */
_sidata = _etext; _sidata = _etext;
} >FLASH } > BL_FLASH
/* /*
@ -354,6 +340,13 @@ SECTIONS
__exidx_start = .; __exidx_start = .;
__exidx_end = .; __exidx_end = .;
.boardinfo :
{
. = ALIGN(4);
KEEP(*(.boardinfo))
. = ALIGN(4);
} > BD_INFO
/* after that it's only debugging information. */ /* after that it's only debugging information. */
/* remove the debugging information from the standard libraries */ /* remove the debugging information from the standard libraries */

13
flight/PiOS/STM32F10x/link_STM3210E_INS_memory.ld Normal file
View File

@ -0,0 +1,13 @@
/* Memory Spaces Definitions */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 0x10000
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x05000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08005000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08005000, LENGTH = 0x80000 - 0x05000
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
}

32
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld → flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
View File

@ -24,21 +24,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 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
}
_estack = 0x20004FF0;
/* This is the size of the stack for early init and for all FreeRTOS IRQs */ /* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400; _irq_stack_size = 0x400;
@ -62,10 +47,10 @@ PROVIDE ( HardFault_Handler = 0 ) ;
PROVIDE ( MemManage_Handler = 0 ) ; PROVIDE ( MemManage_Handler = 0 ) ;
PROVIDE ( BusFault_Handler = 0 ) ; PROVIDE ( BusFault_Handler = 0 ) ;
PROVIDE ( UsageFault_Handler = 0 ) ; PROVIDE ( UsageFault_Handler = 0 ) ;
PROVIDE ( SVC_Handler = 0 ) ; PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( DebugMon_Handler = 0 ) ; PROVIDE ( DebugMon_Handler = 0 ) ;
PROVIDE ( PendSV_Handler = 0 ) ; PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( SysTick_Handler = 0 ) ; PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE ( WWDG_IRQHandler = 0 ) ; PROVIDE ( WWDG_IRQHandler = 0 ) ;
PROVIDE ( PVD_IRQHandler = 0 ) ; PROVIDE ( PVD_IRQHandler = 0 ) ;
@ -199,18 +184,19 @@ PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ; PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ; PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
/* Sections Definitions */ /* Sections Definitions */
SECTIONS SECTIONS
{ {
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */ /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector : .isr_vector :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */ KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4); . = ALIGN(4);
} >FLASH } > FLASH
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */ /* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
.flashtext : .flashtext :
@ -218,7 +204,7 @@ SECTIONS
. = ALIGN(4); . = ALIGN(4);
*(.flashtext) /* Startup code */ *(.flashtext) /* Startup code */
. = ALIGN(4); . = ALIGN(4);
} >FLASH } > FLASH
/* init sections */ /* init sections */
@ -229,7 +215,7 @@ SECTIONS
KEEP(*(.initcalluavobj.init)) KEEP(*(.initcalluavobj.init))
. = ALIGN(4); . = ALIGN(4);
__uavobj_initcall_end = .; __uavobj_initcall_end = .;
} >FLASH } > FLASH
/* the program code is stored in the .text section, which goes to Flash */ /* the program code is stored in the .text section, which goes to Flash */
.text : .text :
@ -247,7 +233,7 @@ SECTIONS
_etext = .; _etext = .;
/* This is used by the startup in order to initialize the .data secion */ /* This is used by the startup in order to initialize the .data secion */
_sidata = _etext; _sidata = _etext;
} >FLASH } > FLASH
/* /*

3
flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
View File

@ -2,7 +2,7 @@
_irq_stack_size = 0x400; _irq_stack_size = 0x400;
/* Check valid alignment for VTOR */ /* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table"); ASSERT(ORIGIN(BL_FLASH) == ALIGN(ORIGIN(BL_FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
/* /*
this sends all unreferenced IRQHandlers to reset this sends all unreferenced IRQHandlers to reset
@ -166,6 +166,7 @@ SECTIONS
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */ /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector : .isr_vector :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */ KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4); . = ALIGN(4);
} > BL_FLASH } > BL_FLASH

8
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -158,20 +158,16 @@ PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ; PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ; PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
/* Sections Definitions */ /* Sections Definitions */
SECTIONS SECTIONS
{ {
.boardinfo :
{
. = ALIGN(4);
PROVIDE(pios_board_info_blob = .);
} > BD_INFO
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */ /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector : .isr_vector :
{ {
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */ KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4); . = ALIGN(4);
} >FLASH } >FLASH

3
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -186,7 +186,8 @@ int32_t PIOS_SYS_SerialNumberGet(char *str)
void NVIC_Configuration(void) void NVIC_Configuration(void)
{ {
/* Set the Vector Table base address as specified in .ld file */ /* Set the Vector Table base address as specified in .ld file */
NVIC_SetVectorTable(PIOS_NVIC_VECTTAB_FLASH, 0x0); extern void pios_isr_vector_table_base;
NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);
/* 4 bits for Interrupt priorities so no sub priorities */ /* 4 bits for Interrupt priorities so no sub priorities */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

2
flight/PiOS/inc/pios_board_info.h
View File

@ -10,6 +10,8 @@ struct pios_board_info {
uint32_t fw_size; uint32_t fw_size;
uint32_t desc_base; uint32_t desc_base;
uint32_t desc_size; uint32_t desc_size;
uint32_t ee_base;
uint32_t ee_size;
} __attribute__((packed)); } __attribute__((packed));
extern const struct pios_board_info pios_board_info_blob; extern const struct pios_board_info pios_board_info_blob;

63
flight/PipXtreme/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../) TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Debugging (YES/NO) ? # Debugging (YES/NO) ?
DEBUG ?= NO DEBUG ?= NO
@ -43,23 +50,6 @@ FLASH_TOOL = OPENOCD
# Include the USB files (YES/NO) ? # Include the USB files (YES/NO) ?
USE_USB = YES USE_USB = 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 = STM32103CB_PIPXTREME
#CHIP = STM32F103C8T
#BOARD = STM32103C8_PIPXTREME
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/pipxtreme
# Target file name (without extension).
TARGET = PipXtreme
# Paths # Paths
HOME_DIR = ./ HOME_DIR = ./
HOME_DIR_INC = $(HOME_DIR)/inc HOME_DIR_INC = $(HOME_DIR)/inc
@ -192,7 +182,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same, # 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 # it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line. # care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode.. # List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM = ASRCARM =
@ -257,7 +247,6 @@ DEBUGF = dwarf-2
CDEFS = -DSTM32F10X_$(MODEL) CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD) CDEFS += -DUSE_$(BOARD)
CDEFS += -DUSE_BOOTLOADER
# Place project-specific -D and/or -U options for # Place project-specific -D and/or -U options for
# Assembler with preprocessor here. # Assembler with preprocessor here.
@ -340,20 +329,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld LDFLAGS += -T$(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. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files. # List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -385,14 +362,6 @@ endif
endif endif
endif endif
# Program the device.
ifeq ($(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. # Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -422,29 +391,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino $(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)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections. # Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents # Generate Doxygen documents
docs: docs:
doxygen $(DOXYGENDIR)/doxygen.cfg doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory # Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),) ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<) @echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR) $(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin $(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else else
$(error INSTALL_DIR must be specified for $@) $(error INSTALL_DIR must be specified for $@)
endif endif
@ -486,4 +459,4 @@ else
endif endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all build clean clean_list program install .PHONY : all build clean clean_list install

18
make/boards/ahrs/board-info.mk Normal file
View File

@ -0,0 +1,18 @@
BOARD_TYPE := 0x02
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x00
MCU := cortex-m3
CHIP := STM32F103CBT
BOARD := STM32103CB_AHRS
MODEL := MD
MODEL_SUFFIX :=
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00002000 # Should include BD_INFO region
FW_BANK_BASE := 0x08002000 # Start of firmware flash
FW_BANK_SIZE := 0x0001E000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

18
make/boards/coptercontrol/board-info.mk Normal file
View File

@ -0,0 +1,18 @@
BOARD_TYPE := 0x04
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x01
MCU := cortex-m3
CHIP := STM32F103CBT
BOARD := STM32103CB_CC_Rev1
MODEL := MD
MODEL_SUFFIX := _CC
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00003000 # Should include BD_INFO region
FW_BANK_BASE := 0x08003000 # Start of firmware flash
FW_BANK_SIZE := 0x0001D000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

18
make/boards/ins/board-info.mk Normal file
View File

@ -0,0 +1,18 @@
BOARD_TYPE := 0x05
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x00
MCU := cortex-m3
CHIP := STM32F103RET
BOARD := STM3210E_INS
MODEL := HD
MODEL_SUFFIX := _OP
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00002000 # Should include BD_INFO region
FW_BANK_BASE := 0x08002000 # Start of firmware flash
FW_BANK_SIZE := 0x0001E000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

18
make/boards/openpilot/board-info.mk Normal file
View File

@ -0,0 +1,18 @@
BOARD_TYPE := 0x01
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x00
MCU := cortex-m3
CHIP := STM32F103RET
BOARD := STM3210E_OP
MODEL := HD
MODEL_SUFFIX := _OP
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00005000 # Should include BD_INFO region
FW_BANK_BASE := 0x08005000 # Start of firmware flash
FW_BANK_SIZE := 0x0007B000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

20
make/boards/pipxtreme/board-info.mk Normal file
View File

@ -0,0 +1,20 @@
BOARD_TYPE := 0x03
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x01
MCU := cortex-m3
CHIP := STM32F103CBT
BOARD := STM32103CB_PIPXTREME
MODEL := MD
MODEL_SUFFIX :=
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00003000 # Should include BD_INFO region
FW_BANK_BASE := 0x08003000 # Start of firmware flash
FW_BANK_SIZE := 0x0001CC00 # Should include FW_DESC_SIZE
EE_BANK_BASE := 0x0801FC00 # EEPROM storage area
EE_BANK_SIZE := 0x00000400 # Size of EEPROM storage area
FW_DESC_SIZE := 0x00000064

76
make/firmware-defs.mk
View File

@ -45,6 +45,10 @@ MSG_ASMFROMC := ${quote} AS(C) ${quote}
MSG_ASMFROMC_ARM := ${quote} AS(C)-ARM ${quote} MSG_ASMFROMC_ARM := ${quote} AS(C)-ARM ${quote}
MSG_PYMITEINIT := ${quote} PY ${quote} MSG_PYMITEINIT := ${quote} PY ${quote}
MSG_INSTALLING := ${quote} INSTALL ${quote} MSG_INSTALLING := ${quote} INSTALL ${quote}
MSG_OPFIRMWARE := ${quote} OPFW ${quote}
MSG_FWINFO := ${quote} FWINFO ${quote}
MSG_JTAG_PROGRAM := ${quote} JTAG-PGM ${quote}
MSG_JTAG_WIPE := ${quote} JTAG-WIPE ${quote}
toprel = $(subst $(realpath $(TOP))/,,$(abspath $(1))) toprel = $(subst $(realpath $(TOP))/,,$(abspath $(1)))
@ -68,6 +72,10 @@ gccversion :
@echo $(MSG_LOAD_FILE) $(call toprel, $@) @echo $(MSG_LOAD_FILE) $(call toprel, $@)
$(V1) $(OBJCOPY) -O binary $< $@ $(V1) $(OBJCOPY) -O binary $< $@
%.bin: %.o
@echo $(MSG_LOAD_FILE) $(call toprel, $@)
$(V1) $(OBJCOPY) -O binary $< $@
%.bin.o: %.bin %.bin.o: %.bin
@echo $(MSG_BIN_OBJ) $(call toprel, $@) @echo $(MSG_BIN_OBJ) $(call toprel, $@)
$(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \ $(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
@ -90,12 +98,39 @@ gccversion :
$(V1) $(NM) -n $< > $@ $(V1) $(NM) -n $< > $@
define SIZE_TEMPLATE define SIZE_TEMPLATE
.PHONY: size
size: $(1)_size
.PHONY: $(1)_size .PHONY: $(1)_size
$(1)_size: $(1) $(1)_size: $(1)
@echo $(MSG_SIZE) $$(call toprel, $$<) @echo $(MSG_SIZE) $$(call toprel, $$<)
$(V1) $(SIZE) -A $$< $(V1) $(SIZE) -A $$<
endef endef
# OpenPilot firmware image template
# $(1) = path to bin file
# $(2) = boardtype in hex
# $(3) = board revision in hex
define OPFW_TEMPLATE
FORCE:
$(1).firmwareinfo.c: $(1) $(TOP)/make/templates/firmwareinfotemplate.c FORCE
@echo $(MSG_FWINFO) $$(call toprel, $$@)
$(V1) python $(TOP)/make/scripts/version-info.py \
--path=$(TOP) \
--template=$(TOP)/make/templates/firmwareinfotemplate.c \
--outfile=$$@ \
--image=$(1) \
--type=$(2) \
--revision=$(3)
$(eval $(call COMPILE_C_TEMPLATE, $(1).firmwareinfo.c))
$(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmwareinfo.bin
@echo $(MSG_OPFIRMWARE) $$(call toprel, $$@)
$(V1) cat $(1) $(1).firmwareinfo.bin > $$@
endef
# Assemble: create object files from assembler source files. # Assemble: create object files from assembler source files.
define ASSEMBLE_TEMPLATE define ASSEMBLE_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1) $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
@ -163,21 +198,48 @@ $($(1):.c=.s) : %.s : %.c
$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ $(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
endef endef
# $(1) = Name of binary image to write
# $(2) = Base of flash region to write/wipe
# $(3) = Size of flash region to write/wipe
define JTAG_TEMPLATE
# --------------------------------------------------------------------------- # ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming # Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information # see openocd.pdf/openocd.texi for further information
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd # if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd OOCD_EXE ?= openocd
# debug level # debug level
OOCD_CL=-d0 OOCD_JTAG_SETUP = -d0
# interface and board/target settings (using the OOCD target-library here) # interface and board/target settings (using the OOCD target-library here)
OOCD_CL+=-s $(TOP)/flight/Project/OpenOCD OOCD_JTAG_SETUP += -s $(TOP)/flight/Project/OpenOCD
OOCD_CL+=-f foss-jtag.revb.cfg -f stm32.cfg OOCD_JTAG_SETUP += -f foss-jtag.revb.cfg -f stm32.cfg
# initialize # initialize
OOCD_CL+=-c init OOCD_BOARD_RESET = -c init
# show the targets # show the targets
OOCD_CL+=-c targets #OOCD_BOARD_RESET += -c targets
# commands to prepare flash-write # commands to prepare flash-write
OOCD_CL+= -c "reset halt" OOCD_BOARD_RESET += -c "reset halt"
.PHONY: program
program: $(1)
@echo $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
$(V1) $(OOCD_EXE) \
$$(OOCD_JTAG_SETUP) \
$$(OOCD_BOARD_RESET) \
-c "flash write_image erase $$< $(2) bin" \
-c "verify_image $$< $(2) bin" \
-c "reset run" \
-c "shutdown"
.PHONY: wipe
wipe:
@echo $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
$(V1) $(OOCD_EXE) \
$$(OOCD_JTAG_SETUP) \
$$(OOCD_BOARD_RESET) \
-c "flash erase_address pad $(2) $(3)" \
-c "reset run" \
-c "shutdown"
endef

18
make/scripts/version-info.py
View File

@ -69,7 +69,7 @@ class Repo:
def _get_tag(self): def _get_tag(self):
"""Get and store git tag for the HEAD commit""" """Get and store git tag for the HEAD commit"""
self._tag = None self._tag = None
self._exec('describe --exact-match HEAD') self._exec('describe --tags --exact-match HEAD')
if self._rc == 0: if self._rc == 0:
self._tag = self._out.strip(' \t\n\r') self._tag = self._out.strip(' \t\n\r')
@ -235,6 +235,21 @@ def sha1(file):
hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s]) hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s])
return hex_stream(sha1.digest()) return hex_stream(sha1.digest())
def xtrim(string, suffix, length):
"""Return string+suffix concatenated and trimmed up to length characters
This function appends suffix to the end of string and returns the result
up to length characters. If it does not fit then the string will be
truncated and the '+' will be put between it and the suffix.
"""
if len(string) + len(suffix) <= length:
return ''.join([string, suffix])
else:
n = length-1-len(suffix)
assert n > 0, "length of truncated string+suffix exceeds maximum length"
return ''.join([string[:n], '+', suffix])
def main(): def main():
"""This utility uses git repository in the current working directory """This utility uses git repository in the current working directory
or from the given path to extract some info about it and HEAD commit. or from the given path to extract some info about it and HEAD commit.
@ -306,6 +321,7 @@ dependent targets.
TAG_OR_BRANCH = r.tag(r.branch('unreleased')), TAG_OR_BRANCH = r.tag(r.branch('unreleased')),
TAG_OR_HASH8 = r.tag(r.hash(8, 'untagged')), TAG_OR_HASH8 = r.tag(r.hash(8, 'untagged')),
DIRTY = r.dirty(), DIRTY = r.dirty(),
FWTAG = xtrim(r.tag(r.branch('unreleased')), r.dirty(), 25),
UNIXTIME = r.time(), UNIXTIME = r.time(),
DATE = r.time('%Y%m%d'), DATE = r.time('%Y%m%d'),
DATETIME = r.time('%Y%m%d %H:%M'), DATETIME = r.time('%Y%m%d %H:%M'),

2
make/templates/firmwareinfotemplate.c
View File

@ -62,7 +62,7 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
.timestamp = ${UNIXTIME}, .timestamp = ${UNIXTIME},
.board_type = ${BOARD_TYPE}, .board_type = ${BOARD_TYPE},
.board_revision = ${BOARD_REVISION}, .board_revision = ${BOARD_REVISION},
.commit_tag_name = "${TAG_OR_BRANCH}${DIRTY}", .commit_tag_name = "${FWTAG}",
.sha1sum = { ${SHA1} }, .sha1sum = { ${SHA1} },
}; };

39
release/Makefile
View File

@ -18,7 +18,8 @@ RELEASE_LBL := $(shell $(VERSION_CMD) --format=\$${DATE}-\$${TAG_OR_HASH8}\$${D
RELEASE_DIR := $(BUILD_DIR)/release-$(RELEASE_LBL) RELEASE_DIR := $(BUILD_DIR)/release-$(RELEASE_LBL)
FW_DIR := $(RELEASE_DIR)/firmware-$(RELEASE_LBL) FW_DIR := $(RELEASE_DIR)/firmware-$(RELEASE_LBL)
BL_DIR := $(FW_DIR)/bootloaders BL_DIR := $(FW_DIR)/bootloaders
BLUPD_DIR := $(FW_DIR)/bootloader_updaters BU_DIR := $(FW_DIR)/bootloader-updaters
FE_DIR := $(FW_DIR)/flash-erase-tools
# Clean build options (recommended for package testing only) # Clean build options (recommended for package testing only)
ifeq ($(CLEAN_BUILD), NO) ifeq ($(CLEAN_BUILD), NO)
@ -32,13 +33,16 @@ CLEAN_GROUND := YES
CLEAN_FLIGHT := YES CLEAN_FLIGHT := YES
endif endif
# Setup targets # Set up targets
FW_TARGETS_COMMON := ahrs pipxtreme FW_STEMS_COMMON := ahrs pipxtreme
FW_TARGETS_INPUT := coptercontrol openpilot FW_STEMS_INPUT := coptercontrol openpilot
FW_TARGETS_TOOLS := coptercontrol FW_STEMS_TOOLS := coptercontrol
FW_TARGETS := $(FW_TARGETS_COMMON) $(FW_TARGETS_INPUT) FW_STEMS_ALL := $(FW_STEMS_COMMON) $(FW_STEMS_INPUT)
BL_TARGETS := $(addprefix bl_, $(FW_TARGETS)) FW_TARGETS_COMMON := $(addprefix fw_, $(FW_STEMS_COMMON))
BLUPD_TARGETS := $(addprefix blupd_, $(FW_TARGETS)) FW_TARGETS_INPUT := $(addprefix fw_, $(FW_STEMS_INPUT))
FW_TARGETS_TOOLS := $(addprefix fw_, $(FW_STEMS_TOOLS))
BL_TARGETS := $(addprefix bl_, $(FW_STEMS_ALL))
BU_TARGETS := $(addprefix bu_, $(FW_STEMS_ALL))
help: help:
@echo @echo
@ -102,17 +106,14 @@ $(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(RELEASE_LBL),
$(eval $(call INSTALL_TEMPLATE,fw_spektrum,uavobjects,$(FW_DIR),,-spektrum-$(RELEASE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_INPUT),install)) $(eval $(call INSTALL_TEMPLATE,fw_spektrum,uavobjects,$(FW_DIR),,-spektrum-$(RELEASE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_INPUT),install))
$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(RELEASE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_INPUT),install)) $(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(RELEASE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_INPUT),install))
# Bootloaders (change 'bin' to 'install' to install bootloaders too) # Bootloaders (change 'install' to 'bin' if you don't want to install bootloaders)
$(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(RELEASE_LBL),,,$(BL_TARGETS),bin)) $(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(RELEASE_LBL),,,$(BL_TARGETS),install))
# Bootloader Updaters # Bootloader updaters
$(eval $(call INSTALL_TEMPLATE,blupd_coptercontrol,all_bl,$(BLUPD_DIR),CopterControl_,-$(RELEASE_LBL),,,blupd_coptercontrol,install)) $(eval $(call INSTALL_TEMPLATE,all_bu,all_bl,$(BU_DIR),,-$(RELEASE_LBL),,,$(BU_TARGETS),install))
$(eval $(call INSTALL_TEMPLATE,blupd_ahrs,all_bl,$(BLUPD_DIR),AHRS_,-$(RELEASE_LBL),,,blupd_ahrs,install))
$(eval $(call INSTALL_TEMPLATE,blupd_openpilot,all_bl,$(BLUPD_DIR),OpenPilot_,-$(RELEASE_LBL),,,blupd_openpilot,install))
$(eval $(call INSTALL_TEMPLATE,blupd_pipxtreme,all_bl,$(BLUPD_DIR),PipXtreme_,-$(RELEASE_LBL),,,blupd_pipxtreme,install))
# CopterControl flash eraser tool # CopterControl flash eraser tool
$(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(BLUPD_DIR),,-FlashEraser-$(RELEASE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install)) $(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(FE_DIR),,-flash-erase-$(RELEASE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install))
# Order-only dependencies # Order-only dependencies
# They are bit complicated to support parallel (-j) builds and to create # They are bit complicated to support parallel (-j) builds and to create
@ -128,15 +129,15 @@ fw_tools: | fw_spektrum # ordered build, replace fw_spektrum by fw_ppm if uncomm
release_fw: | fw_common fw_pwm fw_spektrum # fw_ppm release_fw: | fw_common fw_pwm fw_spektrum # fw_ppm
release_blupd: | $(BLUPD_TARGETS) release_bu: | all_bu
release_flight: | release_fw release_blupd fw_tools release_flight: | release_fw release_bu fw_tools
release_ground: | ground_package release_ground: | ground_package
release: | release_flight release_ground release: | release_flight release_ground
.PHONY: help uavobjects all_clean release release_flight release_fw release_blupd release_ground .PHONY: help uavobjects all_clean release release_flight release_fw release_bu release_ground
# Decide on a verbosity level based on the V= parameter # Decide on a verbosity level based on the V= parameter
export AT := @ export AT := @