mirror of
https://bitbucket.org/librepilot/librepilot.git
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Makefile: firmware makefiles cleanup (CC)
Conflicts: flight/targets/CopterControl/Makefile
This commit is contained in:
Oleg Semyonov
parent
75ef685c6e
commit
f7bdcdb782
16
Makefile
16
Makefile
@ -451,21 +451,9 @@ fw_$(1)_%: uavobjects_flight
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=fw \
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TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
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REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
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\
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TARGET=fw_$(1) \
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OUTDIR=$(BUILD_DIR)/fw_$(1) \
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\
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PIOS=$(PIOS) \
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FLIGHTLIB=$(FLIGHTLIB) \
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OPMODULEDIR=$(OPMODULEDIR) \
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OPUAVOBJ=$(OPUAVOBJ) \
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OPUAVTALK=$(OPUAVTALK) \
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HWDEFSINC=$(HWDEFS)/$(1) \
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DOXYGENDIR=$(DOXYGENDIR) \
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OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
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\
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OUTDIR=$(BUILD_DIR)/fw_$(1) \
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TARGET=fw_$(1) \
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$$*
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.PHONY: $(1)_clean
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@ -1,13 +1,6 @@
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###############################################################################
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# @file Makefile
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# @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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# @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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# @addtogroup
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# @{
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# @addtogroup
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# @{
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# @brief Makefile to build firmware for the CopterControl board.
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###############################################################################
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#
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# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
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# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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@ -24,699 +17,147 @@
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
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TOP := $(realpath $(WHEREAMI)/../../../)
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include $(TOP)/make/firmware-defs.mk
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include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
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# Set developer code and compile options
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# Set to YES to compile for debugging
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DEBUG ?= NO
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# Include objects that are just nice information to show
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STACK_DIAGNOSTICS ?= NO
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MIXERSTATUS_DIAGNOSTICS ?= NO
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RATEDESIRED_DIAGNOSTICS ?= NO
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I2C_WDG_STATS_DIAGNOSTICS ?= NO
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DIAG_TASKS ?= NO
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#Or just turn on all the above diagnostics. WARNING: This consumes massive amounts of memory.
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ALL_DIGNOSTICS ?=NO
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# Set to YES to build a FW version that will erase all flash memory
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ERASE_FLASH ?= NO
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# Set to YES to use the Servo output pins for debugging via scope or logic analyser
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ENABLE_DEBUG_PINS ?= NO
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# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
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ENABLE_AUX_UART ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= NO
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# Remove command is different for Code Sourcery on Windows
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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ifndef OPENPILOT_IS_COOL
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$(error Top level Makefile must be used to build this target)
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endif
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FLASH_TOOL = OPENOCD
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include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
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include $(ROOT_DIR)/make/firmware-defs.mk
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# ARM DSP library
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USE_DSP_LIB ?= NO
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# Optional module and driver defaults
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USE_CAMERASTAB ?= YES
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USE_CAMERASTAB ?= YES
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USE_COMUSBBRIDGE ?= YES
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USE_GPS ?= YES
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USE_TXPID ?= YES
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USE_I2C ?= NO
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USE_ALTITUDE ?= NO
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USE_AUTOTUNE ?= YES
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TEST_FAULTS ?= NO
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USE_GPS ?= YES
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USE_TXPID ?= YES
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USE_I2C ?= NO
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USE_ALTITUDE ?= NO
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USE_AUTOTUNE ?= NO
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TEST_FAULTS ?= NO
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# Camera gimbal options
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USE_INPUT_LPF ?= YES
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USE_GIMBAL_LPF ?= YES
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USE_GIMBAL_FF ?= YES
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USE_INPUT_LPF ?= YES
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USE_GIMBAL_LPF ?= YES
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USE_GIMBAL_FF ?= YES
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# Set to YES to build a FW version that will erase data flash memory
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ERASE_FLASH ?= NO
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# List of mandatory modules to include
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MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
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# Telemetry must be last to grab the optional modules (why?)
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MODULES += Telemetry
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# List of optional modules to include
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OPTMODULES =
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ifeq ($(USE_CAMERASTAB), YES)
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OPTMODULES += CameraStab
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OPTMODULES += CameraStab
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endif
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ifeq ($(USE_COMUSBBRIDGE), YES)
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OPTMODULES += ComUsbBridge
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OPTMODULES += ComUsbBridge
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endif
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ifeq ($(USE_GPS), YES)
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OPTMODULES += GPS
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OPTMODULES += GPS
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CDEFS += -DUSE_GPS
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endif
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ifeq ($(USE_TXPID), YES)
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OPTMODULES += TxPID
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OPTMODULES += TxPID
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endif
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ifeq ($(USE_ALTITUDE), YES)
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ifeq ($(USE_I2C), YES)
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OPTMODULES += Altitude
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else
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$(error "Altitude module (USE_ALTITUDE=YES) requires i2c (USE_I2C=YES)")
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endif
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endif
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ifeq ($(TEST_FAULTS), YES)
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OPTMODULES += Fault
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ifeq ($(USE_I2C), YES)
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OPTMODULES += Altitude
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CDEFS += -DUSE_I2C
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else
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$(error Altitude module (USE_ALTITUDE=YES) requires i2c (USE_I2C=YES))
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endif
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endif
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ifeq ($(USE_AUTOTUNE), YES)
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OPTMODULES += Autotune
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OPTMODULES += Autotune
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endif
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ifeq ($(TEST_FAULTS), YES)
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OPTMODULES += Fault
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endif
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# List of mandatory modules to include
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MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
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# Telemetry must be last to grab the optional modules (why?)
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MODULES += Telemetry
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# Enable ARM DSP library
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USE_DSP_LIB = NO
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# Paths
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OPSYSTEM = ./System
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPTESTS = ./Tests
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FLIGHTLIBINC = $(FLIGHTLIB)/inc
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MATHLIB = $(FLIGHTLIB)/math
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MATHLIBINC = $(FLIGHTLIB)/math
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PIOSINC = $(PIOS)/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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STMUSBSRCDIR = $(STMUSBDIR)/src
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STMUSBINCDIR = $(STMUSBDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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DOSFSDIR = $(APPLIBDIR)/dosfs
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MSDDIR = $(APPLIBDIR)/msd
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RTOSDIR = $(PIOSCOMMON)/Libraries/FreeRTOS
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RTOSSRCDIR = $(RTOSDIR)/Source
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RTOSINCDIR = $(RTOSSRCDIR)/include
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RTOSPORTDIR = $(APPLIBDIR)/FreeRTOS/Source
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DOXYGENDIR = ../Doc/Doxygen
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PYMITE = $(FLIGHTLIB)/PyMite
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PYMITELIB = $(PYMITE)/lib
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PYMITEPLAT = $(PYMITE)/platform/openpilot
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PYMITETOOLS = $(PYMITE)/tools
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PYMITEVM = $(PYMITE)/vm
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PYMITEINC = $(PYMITEVM)
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PYMITEINC += $(PYMITEPLAT)
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PYMITEINC += $(OUTDIR)
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FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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ifndef TESTAPP
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## MODULES
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SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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## OPENPILOT CORE:
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SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/coptercontrol.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(OPSYSTEM)/alarms.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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else
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## TESTCODE
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SRC += $(OPTESTS)/test_common.c
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SRC += $(OPTESTS)/$(TESTAPP).c
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endif
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## UAVOBJECTS
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ifndef TESTAPP
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SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
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SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
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SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
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SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
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SRC += $(OPUAVSYNTHDIR)/faultsettings.c
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SRC += $(OPUAVSYNTHDIR)/flightstatus.c
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SRC += $(OPUAVSYNTHDIR)/systemstats.c
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SRC += $(OPUAVSYNTHDIR)/systemalarms.c
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SRC += $(OPUAVSYNTHDIR)/systemsettings.c
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SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
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SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
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SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
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SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
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SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
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SRC += $(OPUAVSYNTHDIR)/accels.c
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SRC += $(OPUAVSYNTHDIR)/gyros.c
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SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
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SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
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SRC += $(OPUAVSYNTHDIR)/i2cstats.c
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SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
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SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
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SRC += $(OPUAVSYNTHDIR)/mixersettings.c
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SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
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SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
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SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
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SRC += $(OPUAVSYNTHDIR)/cameradesired.c
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SRC += $(OPUAVSYNTHDIR)/gpsposition.c
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SRC += $(OPUAVSYNTHDIR)/gpsvelocity.c
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SRC += $(OPUAVSYNTHDIR)/hwsettings.c
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SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
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SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
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SRC += $(OPUAVSYNTHDIR)/relaytuningsettings.c
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SRC += $(OPUAVSYNTHDIR)/relaytuning.c
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SRC += $(OPUAVSYNTHDIR)/taskinfo.c
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SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
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SRC += $(OPUAVSYNTHDIR)/ratedesired.c
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SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
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SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
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SRC += $(OPUAVSYNTHDIR)/airspeedactual.c
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SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
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endif
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## PIOS Hardware (STM32F10x)
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include $(PIOS)/STM32F10x/library.mk
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SRC += $(PIOSSTM32F10X)/pios_sys.c
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_delay.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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SRC += $(PIOSSTM32F10X)/pios_adc.c
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SRC += $(PIOSSTM32F10X)/pios_servo.c
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SRC += $(PIOSSTM32F10X)/pios_i2c.c
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SRC += $(PIOSSTM32F10X)/pios_spi.c
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SRC += $(PIOSSTM32F10X)/pios_ppm.c
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SRC += $(PIOSSTM32F10X)/pios_pwm.c
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SRC += $(PIOSSTM32F10X)/pios_dsm.c
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SRC += $(PIOSSTM32F10X)/pios_debug.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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SRC += $(PIOSSTM32F10X)/pios_exti.c
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SRC += $(PIOSSTM32F10X)/pios_rtc.c
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SRC += $(PIOSSTM32F10X)/pios_wdg.c
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SRC += $(PIOSSTM32F10X)/pios_iap.c
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SRC += $(PIOSSTM32F10X)/pios_tim.c
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SRC += $(PIOSSTM32F10X)/pios_bl_helper.c
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# PIOS USB related files (separated to make code maintenance more easy)
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SRC += $(PIOSSTM32F10X)/pios_usb.c
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SRC += $(PIOSSTM32F10X)/pios_usbhook.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
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SRC += $(PIOSSTM32F10X)/pios_usb_rctx.c
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SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
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SRC += $(OPSYSTEM)/pios_usb_board_data.c
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SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
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SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
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SRC += $(PIOSCOMMON)/pios_usb_util.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_crc.c
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SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
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SRC += $(PIOSCOMMON)/pios_flash_jedec.c
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SRC += $(PIOSCOMMON)/pios_adxl345.c
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SRC += $(PIOSCOMMON)/pios_mpu6000.c
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_sbus.c
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#SRC += $(PIOSCOMMON)/pios_i2c_esc.c
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#SRC += $(PIOSCOMMON)/pios_bmp085.c
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SRC += $(PIOSCOMMON)/pios_rcvr.c
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SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/taskmonitor.c
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SRC += $(FLIGHTLIB)/sanitycheck.c
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SRC += $(MATHLIB)/sin_lookup.c
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SRC += $(MATHLIB)/pid.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f10x.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
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SRC += $(STMSPDSRCDIR)/misc.c
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## STM32 USB Library
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SRC += $(STMUSBSRCDIR)/usb_core.c
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SRC += $(STMUSBSRCDIR)/usb_init.c
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SRC += $(STMUSBSRCDIR)/usb_int.c
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SRC += $(STMUSBSRCDIR)/usb_mem.c
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SRC += $(STMUSBSRCDIR)/usb_regs.c
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SRC += $(STMUSBSRCDIR)/usb_sil.c
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## RTOS
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SRC += $(RTOSSRCDIR)/list.c
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SRC += $(RTOSSRCDIR)/queue.c
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SRC += $(RTOSSRCDIR)/tasks.c
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## RTOS Portable
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SRC += $(RTOSPORTDIR)/portable/GCC/ARM_CM3/port.c
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SRC += $(RTOSPORTDIR)/portable/MemMang/heap_1.c
|
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|
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## Dosfs file system
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#SRC += $(DOSFSDIR)/dosfs.c
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#SRC += $(DOSFSDIR)/dfs_sdcard.c
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## PyMite files
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||||
#SRC += $(wildcard ${PYMITEVM}/*.c)
|
||||
#SRC += $(wildcard ${PYMITEPLAT}/*.c)
|
||||
#SRC += $(OUTDIR)/pmlib_img.c
|
||||
#SRC += $(OUTDIR)/pmlib_nat.c
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||||
#SRC += $(OUTDIR)/pmlibusr_img.c
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||||
#SRC += $(OUTDIR)/pmlibusr_nat.c
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||||
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## Mass Storage Device
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||||
#SRC += $(MSDDIR)/msd.c
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||||
#SRC += $(MSDDIR)/msd_bot.c
|
||||
#SRC += $(MSDDIR)/msd_desc.c
|
||||
#SRC += $(MSDDIR)/msd_memory.c
|
||||
#SRC += $(MSDDIR)/msd_scsi.c
|
||||
#SRC += $(MSDDIR)/msd_scsi_data.c
|
||||
|
||||
# List C source files here which must be compiled in ARM-Mode (no -mthumb).
|
||||
# use file-extension c for "c-only"-files
|
||||
## just for testing, timer.c could be compiled in thumb-mode too
|
||||
SRCARM =
|
||||
|
||||
# List C++ source files here.
|
||||
# use file-extension .cpp for C++-files (not .C)
|
||||
CPPSRC =
|
||||
|
||||
# List C++ source files here which must be compiled in ARM-Mode.
|
||||
# use file-extension .cpp for C++-files (not .C)
|
||||
#CPPSRCARM = $(TARGET).cpp
|
||||
CPPSRCARM =
|
||||
|
||||
# List Assembler source files here.
|
||||
# Make them always end in a capital .S. Files ending in a lowercase .s
|
||||
# will not be considered source files but generated files (assembler
|
||||
# output from the compiler), and will be deleted upon "make clean"!
|
||||
# Even though the DOS/Win* filesystem matches both .s and .S the same,
|
||||
# it will preserve the spelling of the filenames, and gcc itself does
|
||||
# care about how the name is spelled on its command-line.
|
||||
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
|
||||
|
||||
# List Assembler source files here which must be assembled in ARM-Mode..
|
||||
ASRCARM =
|
||||
|
||||
# List any extra directories to look for include files here.
|
||||
# Each directory must be seperated by a space.
|
||||
EXTRAINCDIRS += $(OPSYSTEM)
|
||||
EXTRAINCDIRS += $(OPSYSTEMINC)
|
||||
EXTRAINCDIRS += $(OPUAVTALK)
|
||||
EXTRAINCDIRS += $(OPUAVTALKINC)
|
||||
EXTRAINCDIRS += $(OPUAVOBJ)
|
||||
EXTRAINCDIRS += $(OPUAVOBJINC)
|
||||
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
|
||||
EXTRAINCDIRS += $(PIOS)
|
||||
EXTRAINCDIRS += $(PIOSINC)
|
||||
EXTRAINCDIRS += $(FLIGHTLIBINC)
|
||||
EXTRAINCDIRS += $(MATHLIBINC)
|
||||
EXTRAINCDIRS += $(PIOSSTM32F10X)
|
||||
EXTRAINCDIRS += $(PIOSCOMMON)
|
||||
EXTRAINCDIRS += $(PIOSBOARDS)
|
||||
EXTRAINCDIRS += $(STMSPDINCDIR)
|
||||
EXTRAINCDIRS += $(STMUSBINCDIR)
|
||||
EXTRAINCDIRS += $(CMSISDIR)
|
||||
EXTRAINCDIRS += $(DOSFSDIR)
|
||||
EXTRAINCDIRS += $(MSDDIR)
|
||||
EXTRAINCDIRS += $(RTOSINCDIR)
|
||||
EXTRAINCDIRS += $(APPLIBDIR)
|
||||
EXTRAINCDIRS += $(RTOSPORTDIR)/portable/GCC/ARM_CM3
|
||||
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
|
||||
EXTRAINCDIRS += $(PYMITEINC)
|
||||
EXTRAINCDIRS += $(HWDEFSINC)
|
||||
|
||||
EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
|
||||
|
||||
|
||||
# List any extra directories to look for library files here.
|
||||
# Also add directories where the linker should search for
|
||||
# includes from linker-script to the list
|
||||
# Each directory must be seperated by a space.
|
||||
#EXTRA_LIBDIRS +=
|
||||
|
||||
# Extra Libraries
|
||||
# Each library-name must be seperated by a space.
|
||||
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
|
||||
# EXTRA_LIBS = xyz abc efsl
|
||||
# for newlib-lpc (file: libnewlibc-lpc.a):
|
||||
# EXTRA_LIBS = newlib-lpc
|
||||
#EXTRA_LIBS +=
|
||||
|
||||
# Path to Linker-Scripts
|
||||
LINKERSCRIPTPATH = $(PIOSSTM32F10X)
|
||||
|
||||
# Optimization level, can be [0, 1, 2, 3, s].
|
||||
# 0 = turn off optimization. s = optimize for size.
|
||||
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
|
||||
|
||||
ifeq ($(DEBUG),YES)
|
||||
OPT = 1
|
||||
else
|
||||
OPT = s
|
||||
endif
|
||||
|
||||
# Output format. (can be ihex or binary or both)
|
||||
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
|
||||
# ihex to create a load-image in Intel hex format
|
||||
#LOADFORMAT = ihex
|
||||
#LOADFORMAT = binary
|
||||
LOADFORMAT = both
|
||||
|
||||
# Debugging format.
|
||||
DEBUGF = dwarf-2
|
||||
|
||||
# Place project-specific -D (define) and/or
|
||||
# -U options for C here.
|
||||
CDEFS += -DSTM32F10X_$(MODEL)
|
||||
CDEFS += -DUSE_STDPERIPH_DRIVER
|
||||
CDEFS += -DUSE_$(BOARD)
|
||||
ifeq ($(ENABLE_DEBUG_PINS), YES)
|
||||
CDEFS += -DPIOS_ENABLE_DEBUG_PINS
|
||||
endif
|
||||
ifeq ($(ENABLE_DEBUG_CONSOLE), YES)
|
||||
CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE
|
||||
endif
|
||||
# Misc defines
|
||||
ifeq ($(ERASE_FLASH), YES)
|
||||
CDEFS += -DERASE_FLASH
|
||||
CDEFS += -DERASE_FLASH
|
||||
endif
|
||||
|
||||
ifneq ($(USE_GPS), NO)
|
||||
CDEFS += -DUSE_GPS
|
||||
endif
|
||||
|
||||
ifeq ($(USE_I2C), YES)
|
||||
CDEFS += -DUSE_I2C
|
||||
endif
|
||||
|
||||
ifeq ($(USE_INPUT_LPF), YES)
|
||||
CDEFS += -DUSE_INPUT_LPF
|
||||
CDEFS += -DUSE_INPUT_LPF
|
||||
endif
|
||||
|
||||
ifeq ($(USE_GIMBAL_LPF), YES)
|
||||
CDEFS += -DUSE_GIMBAL_LPF
|
||||
CDEFS += -DUSE_GIMBAL_LPF
|
||||
endif
|
||||
|
||||
ifeq ($(USE_GIMBAL_FF), YES)
|
||||
CDEFS += -DUSE_GIMBAL_FF
|
||||
CDEFS += -DUSE_GIMBAL_FF
|
||||
endif
|
||||
|
||||
# Declare all non-optional modules as built-in to force inclusion
|
||||
CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN }
|
||||
# List C source files here (C dependencies are automatically generated).
|
||||
# Use file-extension c for "c-only"-files
|
||||
ifndef TESTAPP
|
||||
## Modules
|
||||
SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
||||
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
||||
|
||||
# Place project-specific -D and/or -U options for
|
||||
# Assembler with preprocessor here.
|
||||
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
|
||||
ADEFS = -D__ASSEMBLY__
|
||||
|
||||
# Compiler flag to set the C Standard level.
|
||||
# c89 - "ANSI" C
|
||||
# gnu89 - c89 plus GCC extensions
|
||||
# c99 - ISO C99 standard (not yet fully implemented)
|
||||
# gnu99 - c99 plus GCC extensions
|
||||
CSTANDARD = -std=gnu99
|
||||
|
||||
#-----
|
||||
|
||||
# Compiler flags.
|
||||
|
||||
# -g*: generate debugging information
|
||||
# -O*: optimization level
|
||||
# -f...: tuning, see GCC manual and avr-libc documentation
|
||||
# -Wall...: warning level
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -adhlns...: create assembler listing
|
||||
#
|
||||
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
|
||||
|
||||
ifeq ($(DEBUG),YES)
|
||||
CFLAGS += -DDEBUG
|
||||
endif
|
||||
|
||||
#The following Makefile command, ifneq (, $(filter) $(A), $(B) $(C)) is equivalent
|
||||
# to the pseudocode `if(A== B || A==C)`
|
||||
ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DSTACK_DIAGNOSTICS
|
||||
endif
|
||||
|
||||
ifneq (,$(filter YES,$(MIXERSTATUS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
|
||||
endif
|
||||
|
||||
ifneq (,$(filter YES,$(RATEDESIRED_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DRATEDESIRED_DIAGNOSTICS
|
||||
endif
|
||||
|
||||
ifneq (,$(filter YES,$(I2C_WDG_STATS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
|
||||
endif
|
||||
|
||||
ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DDIAG_TASKS
|
||||
endif
|
||||
|
||||
CFLAGS += -g$(DEBUGF)
|
||||
CFLAGS += -O$(OPT)
|
||||
CFLAGS += -mcpu=$(MCU)
|
||||
CFLAGS += $(CDEFS)
|
||||
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
||||
|
||||
#CFLAGS += -fno-cprop-registers -fno-defer-pop -fno-guess-branch-probability -fno-section-anchors
|
||||
#CFLAGS += -fno-if-conversion -fno-if-conversion2 -fno-ipa-pure-const -fno-ipa-reference -fno-merge-constants
|
||||
#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename
|
||||
#CFLAGS += -fno-tree-dce -fno-tree-dominator-opts -fno-tree-dse -fno-tree-fre -fno-tree-sink -fno-tree-sra
|
||||
#CFLAGS += -fno-tree-ter
|
||||
#CFLAGS += -g$(DEBUGF) -DDEBUG
|
||||
|
||||
CFLAGS += -mapcs-frame
|
||||
CFLAGS += -fomit-frame-pointer
|
||||
ifeq ($(CODE_SOURCERY), YES)
|
||||
CFLAGS += -fpromote-loop-indices
|
||||
endif
|
||||
|
||||
CFLAGS += -Wall
|
||||
CFLAGS += -Werror
|
||||
CFLAGS += -ffunction-sections -fdata-sections
|
||||
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
# Compiler flags to generate dependency files:
|
||||
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
|
||||
|
||||
# flags only for C
|
||||
#CONLYFLAGS += -Wnested-externs
|
||||
CONLYFLAGS += $(CSTANDARD)
|
||||
|
||||
# Assembler flags.
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -ahlns: create listing
|
||||
ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
|
||||
ASFLAGS += $(ADEFS)
|
||||
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||
|
||||
MATH_LIB = -lm
|
||||
|
||||
# Linker flags.
|
||||
# -Wl,...: tell GCC to pass this to linker.
|
||||
# -Map: create map file
|
||||
# --cref: add cross reference to map file
|
||||
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
|
||||
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
||||
LDFLAGS += -lc
|
||||
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
||||
LDFLAGS += $(MATH_LIB)
|
||||
LDFLAGS += -lc -lgcc
|
||||
|
||||
# Set linker-script name depending on selected submodel name
|
||||
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
|
||||
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
|
||||
|
||||
# Define programs and commands.
|
||||
REMOVE = $(REMOVE_CMD) -f
|
||||
PYTHON = python
|
||||
|
||||
# List of all source files.
|
||||
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
|
||||
# List of all source files without directory and file-extension.
|
||||
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
|
||||
|
||||
# Define all object files.
|
||||
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
|
||||
|
||||
# Define all listing files (used for make clean).
|
||||
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
|
||||
# Define all depedency-files (used for make clean).
|
||||
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
||||
|
||||
# Default target.
|
||||
all: build
|
||||
|
||||
ifeq ($(LOADFORMAT),ihex)
|
||||
build: elf hex lss sym
|
||||
## Application Core
|
||||
SRC += ${OPMODULEDIR}/System/systemmod.c
|
||||
SRC += $(OPSYSTEM)/coptercontrol.c
|
||||
SRC += $(OPSYSTEM)/pios_board.c
|
||||
SRC += $(OPSYSTEM)/alarms.c
|
||||
SRC += $(OPUAVTALK)/uavtalk.c
|
||||
SRC += $(OPUAVOBJ)/uavobjectmanager.c
|
||||
SRC += $(OPUAVOBJ)/eventdispatcher.c
|
||||
else
|
||||
ifeq ($(LOADFORMAT),binary)
|
||||
build: elf bin lss sym
|
||||
else
|
||||
ifeq ($(LOADFORMAT),both)
|
||||
build: elf hex bin lss sym
|
||||
else
|
||||
$(error "$(MSG_FORMATERROR) $(FORMAT)")
|
||||
endif
|
||||
endif
|
||||
## Test Code
|
||||
SRC += $(OPTESTS)/test_common.c
|
||||
SRC += $(OPTESTS)/$(TESTAPP).c
|
||||
endif
|
||||
|
||||
# Generate code for PyMite
|
||||
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
|
||||
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
|
||||
# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
|
||||
# @$(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
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
# Assemble: create object files from assembler source files. ARM-only
|
||||
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files. ARM-only
|
||||
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files. ARM-only
|
||||
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM/Thumb
|
||||
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM only
|
||||
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
|
||||
|
||||
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
|
||||
|
||||
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
|
||||
|
||||
# Add jtag targets (program and wipe)
|
||||
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
|
||||
|
||||
.PHONY: elf lss sym hex bin bino opfw
|
||||
elf: $(OUTDIR)/$(TARGET).elf
|
||||
lss: $(OUTDIR)/$(TARGET).lss
|
||||
sym: $(OUTDIR)/$(TARGET).sym
|
||||
hex: $(OUTDIR)/$(TARGET).hex
|
||||
bin: $(OUTDIR)/$(TARGET).bin
|
||||
bino: $(OUTDIR)/$(TARGET).bin.o
|
||||
opfw: $(OUTDIR)/$(TARGET).opfw
|
||||
|
||||
# Display sizes of sections.
|
||||
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
|
||||
|
||||
# Generate Doxygen documents
|
||||
docs:
|
||||
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||
|
||||
# Install: install binary file with prefix/suffix into install directory
|
||||
install: $(OUTDIR)/$(TARGET).opfw
|
||||
ifneq ($(INSTALL_DIR),)
|
||||
@echo $(MSG_INSTALLING) $(call toprel, $<)
|
||||
$(V1) mkdir -p $(INSTALL_DIR)
|
||||
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
|
||||
else
|
||||
$(error INSTALL_DIR must be specified for $@)
|
||||
## UAVObjects
|
||||
ifndef TESTAPP
|
||||
SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/faultsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/flightstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemstats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemalarms.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/accels.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gyros.c
|
||||
SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
|
||||
SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
|
||||
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/mixersettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
|
||||
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gpsposition.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gpsvelocity.c
|
||||
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
|
||||
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
|
||||
SRC += $(OPUAVSYNTHDIR)/relaytuningsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/relaytuning.c
|
||||
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
|
||||
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
|
||||
SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/airspeedactual.c
|
||||
SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
|
||||
endif
|
||||
|
||||
# Target: clean project.
|
||||
clean: clean_list
|
||||
|
||||
clean_list :
|
||||
@echo $(MSG_CLEANING)
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
|
||||
$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.c)
|
||||
$(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.h)
|
||||
$(V1) $(REMOVE) $(ALLOBJ)
|
||||
$(V1) $(REMOVE) $(LSTFILES)
|
||||
$(V1) $(REMOVE) $(DEPFILES)
|
||||
$(V1) $(REMOVE) $(SRC:.c=.s)
|
||||
$(V1) $(REMOVE) $(SRCARM:.c=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||
|
||||
|
||||
# Create output files directory
|
||||
# all known MS Windows OS define the ComSpec environment variable
|
||||
ifdef ComSpec
|
||||
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
|
||||
else
|
||||
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
|
||||
endif
|
||||
|
||||
# Include the dependency files.
|
||||
ifdef ComSpec
|
||||
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
||||
else
|
||||
-include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||
endif
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : all build clean clean_list install
|
||||
include $(ROOT_DIR)/make/apps-defs.mk
|
||||
|
||||
552
make/apps-defs.mk
Normal file
552
make/apps-defs.mk
Normal file
@ -0,0 +1,552 @@
|
||||
#
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful, but
|
||||
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
# for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License along
|
||||
# with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
#
|
||||
|
||||
ifndef OPENPILOT_IS_COOL
|
||||
$(error Top level Makefile must be used to build this target)
|
||||
endif
|
||||
|
||||
# Set developer code and compile options.
|
||||
# Set to YES to compile for debugging
|
||||
DEBUG ?= NO
|
||||
|
||||
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
|
||||
ENABLE_DEBUG_PINS ?= NO
|
||||
|
||||
# Include objects that are just nice information to show
|
||||
STACK_DIAGNOSTICS ?= NO
|
||||
MIXERSTATUS_DIAGNOSTICS ?= NO
|
||||
RATEDESIRED_DIAGNOSTICS ?= NO
|
||||
I2C_WDG_STATS_DIAGNOSTICS ?= NO
|
||||
DIAG_TASKS ?= NO
|
||||
|
||||
# Or just turn on all the above diagnostics. WARNING: this consumes massive amounts of memory.
|
||||
ALL_DIGNOSTICS ?= NO
|
||||
|
||||
# Paths
|
||||
TOPDIR = .
|
||||
OPSYSTEM = $(TOPDIR)/System
|
||||
OPSYSTEMINC = $(OPSYSTEM)/inc
|
||||
PIOSINC = $(PIOS)/inc
|
||||
PIOSCOMMON = $(PIOS)/Common
|
||||
PIOSBOARDS = $(PIOS)/Boards
|
||||
FLIGHTLIBINC = $(FLIGHTLIB)/inc
|
||||
MATHLIB = $(FLIGHTLIB)/math
|
||||
MATHLIBINC = $(FLIGHTLIB)/math
|
||||
STMSPDSRCDIR = $(STMSPDDIR)/src
|
||||
STMSPDINCDIR = $(STMSPDDIR)/inc
|
||||
OPUAVTALKINC = $(OPUAVTALK)/inc
|
||||
OPUAVOBJINC = $(OPUAVOBJ)/inc
|
||||
DOXYGENDIR = $(TOPDIR)/../Doc/Doxygen
|
||||
OPTESTS = $(TOPDIR)/Tests
|
||||
|
||||
PYMITE = $(FLIGHTLIB)/PyMite
|
||||
PYMITELIB = $(PYMITE)/lib
|
||||
PYMITEPLAT = $(PYMITE)/platform/openpilot
|
||||
PYMITETOOLS = $(PYMITE)/tools
|
||||
PYMITEVM = $(PYMITE)/vm
|
||||
PYMITEINC = $(PYMITEVM)
|
||||
PYMITEINC += $(PYMITEPLAT)
|
||||
PYMITEINC += $(OUTDIR)
|
||||
|
||||
FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
|
||||
FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
|
||||
|
||||
ifeq ($(MCU),cortex-m3)
|
||||
PIOSSTM32F10X = $(PIOS)/STM32F10x
|
||||
APPLIBDIR = $(PIOSSTM32F10X)/Libraries
|
||||
STMLIBDIR = $(APPLIBDIR)
|
||||
STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
|
||||
STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
|
||||
STMUSBSRCDIR = $(STMUSBDIR)/src
|
||||
STMUSBINCDIR = $(STMUSBDIR)/inc
|
||||
CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
|
||||
DOSFSDIR = $(APPLIBDIR)/dosfs
|
||||
MSDDIR = $(APPLIBDIR)/msd
|
||||
RTOSDIR = $(PIOSCOMMON)/Libraries/FreeRTOS
|
||||
RTOSSRCDIR = $(RTOSDIR)/Source
|
||||
RTOSINCDIR = $(RTOSSRCDIR)/include
|
||||
RTOSPORTDIR = $(APPLIBDIR)/FreeRTOS/Source
|
||||
else ifeq ($(MCU),cortex-m4)
|
||||
|
||||
else
|
||||
$(error Unsupported MCU: $(MCU))
|
||||
endif
|
||||
|
||||
# List C source files here (C dependencies are automatically generated).
|
||||
# Use file-extension c for "c-only"-files
|
||||
|
||||
## PIOS Hardware
|
||||
ifeq ($(MCU),cortex-m3)
|
||||
## PIOS Hardware (STM32F10x)
|
||||
SRC += $(PIOSSTM32F10X)/pios_sys.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_led.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_delay.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usart.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_irq.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_adc.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_servo.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_i2c.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_spi.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_ppm.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_pwm.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_dsm.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_debug.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_gpio.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_exti.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_rtc.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_wdg.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_iap.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_tim.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_bl_helper.c
|
||||
|
||||
# PIOS USB related files
|
||||
SRC += $(OPSYSTEM)/pios_usb_board_data.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usb.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usbhook.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usb_rctx.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
|
||||
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
|
||||
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
|
||||
SRC += $(PIOSCOMMON)/pios_usb_util.c
|
||||
|
||||
## PIOS Hardware (Common)
|
||||
SRC += $(PIOSCOMMON)/pios_crc.c
|
||||
SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
|
||||
SRC += $(PIOSCOMMON)/pios_flash_jedec.c
|
||||
SRC += $(PIOSCOMMON)/pios_adxl345.c
|
||||
SRC += $(PIOSCOMMON)/pios_mpu6000.c
|
||||
SRC += $(PIOSCOMMON)/pios_com.c
|
||||
SRC += $(PIOSCOMMON)/pios_sbus.c
|
||||
SRC += $(PIOSCOMMON)/pios_rcvr.c
|
||||
SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
|
||||
SRC += $(PIOSCOMMON)/printf-stdarg.c
|
||||
# SRC += $(PIOSCOMMON)/pios_i2c_esc.c
|
||||
# SRC += $(PIOSCOMMON)/pios_bmp085.c
|
||||
|
||||
## Libraries for flight calculations
|
||||
SRC += $(FLIGHTLIB)/fifo_buffer.c
|
||||
SRC += $(FLIGHTLIB)/CoordinateConversions.c
|
||||
SRC += $(FLIGHTLIB)/taskmonitor.c
|
||||
SRC += $(FLIGHTLIB)/sanitycheck.c
|
||||
SRC += $(MATHLIB)/sin_lookup.c
|
||||
SRC += $(MATHLIB)/pid.c
|
||||
|
||||
## CMSIS for STM32
|
||||
SRC += $(CMSISDIR)/core_cm3.c
|
||||
SRC += $(CMSISDIR)/system_stm32f10x.c
|
||||
|
||||
## Used parts of the STM-Library
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
|
||||
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
|
||||
SRC += $(STMSPDSRCDIR)/misc.c
|
||||
|
||||
## STM32 USB Library
|
||||
SRC += $(STMUSBSRCDIR)/usb_core.c
|
||||
SRC += $(STMUSBSRCDIR)/usb_init.c
|
||||
SRC += $(STMUSBSRCDIR)/usb_int.c
|
||||
SRC += $(STMUSBSRCDIR)/usb_mem.c
|
||||
SRC += $(STMUSBSRCDIR)/usb_regs.c
|
||||
SRC += $(STMUSBSRCDIR)/usb_sil.c
|
||||
|
||||
## RTOS
|
||||
SRC += $(RTOSSRCDIR)/list.c
|
||||
SRC += $(RTOSSRCDIR)/queue.c
|
||||
SRC += $(RTOSSRCDIR)/tasks.c
|
||||
|
||||
## RTOS Portable
|
||||
SRC += $(RTOSPORTDIR)/portable/GCC/ARM_CM3/port.c
|
||||
SRC += $(RTOSPORTDIR)/portable/MemMang/heap_1.c
|
||||
else ifeq ($(MCU),cortex-m4)
|
||||
## PIOS Hardware (STM32F4xx)
|
||||
include $(PIOS)/STM32F4xx/library.mk
|
||||
endif
|
||||
|
||||
# List C source files here which must be compiled in ARM-Mode (no -mthumb).
|
||||
# Use file-extension c for "c-only"-files
|
||||
SRCARM =
|
||||
|
||||
# List C++ source files here.
|
||||
# Use file-extension .cpp for C++-files (not .C)
|
||||
CPPSRC =
|
||||
|
||||
# List C++ source files here which must be compiled in ARM-Mode.
|
||||
# Use file-extension .cpp for C++-files (not .C)
|
||||
CPPSRCARM =
|
||||
|
||||
# List Assembler source files here.
|
||||
# Make them always end in a capital .S. Files ending in a lowercase .s
|
||||
# will not be considered source files but generated files (assembler
|
||||
# output from the compiler), and will be deleted upon "make clean"!
|
||||
# Even though the DOS/Win* filesystem matches both .s and .S the same,
|
||||
# it will preserve the spelling of the filenames, and gcc itself does
|
||||
# care about how the name is spelled on its command-line.
|
||||
ifeq ($(MCU),cortex-m3)
|
||||
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
|
||||
else
|
||||
ASRC =
|
||||
endif
|
||||
|
||||
# List Assembler source files here which must be assembled in ARM-Mode.
|
||||
ASRCARM =
|
||||
|
||||
# List any extra directories to look for include files here.
|
||||
# Each directory must be seperated by a space.
|
||||
EXTRAINCDIRS += $(PIOS)
|
||||
EXTRAINCDIRS += $(PIOSINC)
|
||||
EXTRAINCDIRS += $(FLIGHTLIBINC)
|
||||
EXTRAINCDIRS += $(PIOSCOMMON)
|
||||
EXTRAINCDIRS += $(PIOSBOARDS)
|
||||
EXTRAINCDIRS += $(STMSPDINCDIR)
|
||||
EXTRAINCDIRS += $(CMSISDIR)
|
||||
EXTRAINCDIRS += $(HWDEFSINC)
|
||||
EXTRAINCDIRS += $(OPSYSTEMINC)
|
||||
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
|
||||
EXTRAINCDIRS += $(MATHLIBINC)
|
||||
EXTRAINCDIRS += $(PYMITEINC)
|
||||
|
||||
ifeq ($(MCU),cortex-m3)
|
||||
EXTRAINCDIRS += $(PIOSSTM32F10X)
|
||||
EXTRAINCDIRS += $(OPUAVTALK)
|
||||
EXTRAINCDIRS += $(OPUAVTALKINC)
|
||||
EXTRAINCDIRS += $(OPUAVOBJ)
|
||||
EXTRAINCDIRS += $(OPUAVOBJINC)
|
||||
EXTRAINCDIRS += $(DOSFSDIR)
|
||||
EXTRAINCDIRS += $(MSDDIR)
|
||||
EXTRAINCDIRS += $(RTOSINCDIR)
|
||||
EXTRAINCDIRS += $(STMUSBINCDIR)
|
||||
EXTRAINCDIRS += $(APPLIBDIR)
|
||||
EXTRAINCDIRS += $(RTOSPORTDIR)/portable/GCC/ARM_CM3
|
||||
else ifeq ($(MCU),cortex-m4)
|
||||
EXTRAINCDIRS += $(PIOSSTM34FXX)
|
||||
endif
|
||||
|
||||
# Modules
|
||||
EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/inc) $(OPMODULEDIR)/System/inc
|
||||
|
||||
# List any extra directories to look for library files here.
|
||||
# Also add directories where the linker should search for
|
||||
# includes from linker-script to the list
|
||||
# Each directory must be seperated by a space.
|
||||
EXTRA_LIBDIRS =
|
||||
|
||||
# Extra Libraries
|
||||
# Each library-name must be seperated by a space.
|
||||
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
|
||||
# EXTRA_LIBS = xyz abc efsl
|
||||
# for newlib-lpc (file: libnewlibc-lpc.a):
|
||||
# EXTRA_LIBS = newlib-lpc
|
||||
EXTRA_LIBS =
|
||||
|
||||
# Path to linker scripts
|
||||
ifeq ($(MCU),cortex-m3)
|
||||
LINKERSCRIPTPATH = $(PIOSSTM32F10X)
|
||||
else ifeq ($(MCU),cortex-m4)
|
||||
LINKERSCRIPTPATH = $(PIOSSTM32FXX)
|
||||
endif
|
||||
|
||||
# Optimization level, can be [0, 1, 2, 3, s].
|
||||
# 0 = turn off optimization. s = optimize for size.
|
||||
# Note: 3 is not always the best optimization level.
|
||||
ifeq ($(DEBUG), YES)
|
||||
OPT = 1
|
||||
else
|
||||
OPT = s
|
||||
endif
|
||||
|
||||
# Output format (can be ihex or binary or both).
|
||||
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
|
||||
# ihex to create a load-image in Intel hex format
|
||||
#LOADFORMAT = ihex
|
||||
#LOADFORMAT = binary
|
||||
LOADFORMAT = both
|
||||
|
||||
# Debugging format.
|
||||
DEBUGF = dwarf-2
|
||||
|
||||
# Place project-specific -D (define) and/or -U options for C here.
|
||||
ifeq ($(MCU),cortex-m3)
|
||||
CDEFS = -DSTM32F10X_$(MODEL)
|
||||
else ifeq ($(MCU),cortex-m4)
|
||||
CDEFS += -DSTM32F4XX
|
||||
CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
|
||||
CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
|
||||
endif
|
||||
|
||||
CDEFS += -DUSE_$(BOARD)
|
||||
CDEFS += -DUSE_STDPERIPH_DRIVER
|
||||
|
||||
ifeq ($(ENABLE_DEBUG_PINS), YES)
|
||||
CDEFS += -DPIOS_ENABLE_DEBUG_PINS
|
||||
endif
|
||||
|
||||
# Declare all non-optional modules as built-in to force inclusion
|
||||
CDEFS += $(foreach mod, $(MODULES), -DMODULE_$(mod)_BUILTIN)
|
||||
|
||||
# Place project-specific -D and/or -U options for Assembler with preprocessor here.
|
||||
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
|
||||
ADEFS = -D__ASSEMBLY__
|
||||
|
||||
# Compiler flag to set the C Standard level.
|
||||
# c89 - "ANSI" C
|
||||
# gnu89 - c89 plus GCC extensions
|
||||
# c99 - ISO C99 standard (not yet fully implemented)
|
||||
# gnu99 - c99 plus GCC extensions
|
||||
CSTANDARD = -std=gnu99
|
||||
|
||||
# Compiler flags.
|
||||
#
|
||||
# -g*: generate debugging information
|
||||
# -O*: optimization level
|
||||
# -f...: tuning, see GCC manual and avr-libc documentation
|
||||
# -Wall...: warning level
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -adhlns...: create assembler listing
|
||||
|
||||
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
|
||||
ifeq ($(MCU),cortex-m4)
|
||||
# This is not the best place for these. Really should abstract out
|
||||
# to the board file or something
|
||||
CFLAGS += -DSTM32F4XX
|
||||
CFLAGS += -DMEM_SIZE=1024000000
|
||||
endif
|
||||
|
||||
# The following Makefile command, ifneq (,$(filter) $(A), $(B) $(C))
|
||||
# is equivalent to the pseudocode `if (A == B || A == C)`
|
||||
ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DSTACK_DIAGNOSTICS
|
||||
endif
|
||||
|
||||
ifneq (,$(filter YES,$(MIXERSTATUS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
|
||||
endif
|
||||
|
||||
ifneq (,$(filter YES,$(RATEDESIRED_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DRATEDESIRED_DIAGNOSTICS
|
||||
endif
|
||||
|
||||
ifneq (,$(filter YES,$(I2C_WDG_STATS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
|
||||
endif
|
||||
|
||||
ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS)))
|
||||
CFLAGS += -DDIAG_TASKS
|
||||
endif
|
||||
|
||||
CFLAGS += -mcpu=$(MCU)
|
||||
CFLAGS += $(CDEFS)
|
||||
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
||||
CFLAGS += -mapcs-frame
|
||||
CFLAGS += -fomit-frame-pointer
|
||||
CFLAGS += -O$(OPT)
|
||||
CFLAGS += -g$(DEBUGF)
|
||||
|
||||
ifeq ($(DEBUG), YES)
|
||||
CFLAGS += -DDEBUG
|
||||
else
|
||||
CFLAGS += -fdata-sections -ffunction-sections
|
||||
endif
|
||||
|
||||
CFLAGS += -Wall
|
||||
# FIXME: STM32F4xx library raises strict aliasing and const qualifier warnings
|
||||
ifneq ($(MCU),cortex-m4)
|
||||
CFLAGS += -Werror
|
||||
endif
|
||||
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
|
||||
# Compiler flags to generate dependency files
|
||||
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
|
||||
|
||||
# Flags only for C
|
||||
#CONLYFLAGS += -Wnested-externs
|
||||
CONLYFLAGS += $(CSTANDARD)
|
||||
|
||||
# Assembler flags.
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -ahlns: create listing
|
||||
ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
|
||||
ASFLAGS += $(ADEFS)
|
||||
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||
|
||||
MATH_LIB = -lm
|
||||
|
||||
# Linker flags.
|
||||
# -Wl,...: tell GCC to pass this to linker.
|
||||
# -Map: create map file
|
||||
# --cref: add cross reference to map file
|
||||
LDFLAGS += -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
|
||||
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
||||
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
||||
LDFLAGS += -lc -lgcc $(MATH_LIB)
|
||||
|
||||
ifneq ($(DEBUG), YES)
|
||||
LDFLAGS += -Wl,-static
|
||||
endif
|
||||
|
||||
# Set linker-script name depending on selected submodel name
|
||||
ifeq ($(MCU),cortex-m3)
|
||||
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
|
||||
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
|
||||
else ifeq ($(MCU),cortex-m4)
|
||||
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
|
||||
endif
|
||||
|
||||
# List of all source files.
|
||||
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
|
||||
# List of all source files without directory and file-extension.
|
||||
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
|
||||
|
||||
# Define all object files.
|
||||
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
|
||||
|
||||
# Define all listing files (used for make clean).
|
||||
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
|
||||
# Define all depedency-files (used for make clean).
|
||||
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
||||
|
||||
# Default target.
|
||||
all: build
|
||||
|
||||
ifeq ($(LOADFORMAT),ihex)
|
||||
build: elf hex sym
|
||||
else ifeq ($(LOADFORMAT),binary)
|
||||
build: elf bin sym
|
||||
else ifeq ($(LOADFORMAT),both)
|
||||
build: elf hex bin sym
|
||||
else
|
||||
$(error "$(MSG_FORMATERROR) $(FORMAT)")
|
||||
endif
|
||||
|
||||
# Generate code for PyMite
|
||||
# $(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
|
||||
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
|
||||
# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
|
||||
# @$(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
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
# Assemble: create object files from assembler source files. ARM-only
|
||||
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files. ARM-only
|
||||
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files. ARM-only
|
||||
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM/Thumb
|
||||
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM only
|
||||
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
|
||||
|
||||
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
|
||||
|
||||
# Add opfw target
|
||||
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
|
||||
|
||||
# Add jtag targets (program and wipe)
|
||||
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
|
||||
|
||||
.PHONY: elf lss sym hex bin bino opfw
|
||||
elf: $(OUTDIR)/$(TARGET).elf
|
||||
lss: $(OUTDIR)/$(TARGET).lss
|
||||
sym: $(OUTDIR)/$(TARGET).sym
|
||||
hex: $(OUTDIR)/$(TARGET).hex
|
||||
bin: $(OUTDIR)/$(TARGET).bin
|
||||
bino: $(OUTDIR)/$(TARGET).bin.o
|
||||
opfw: $(OUTDIR)/$(TARGET).opfw
|
||||
|
||||
# Display sizes of sections.
|
||||
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
|
||||
|
||||
# Generate Doxygen documents
|
||||
docs:
|
||||
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||
|
||||
# Install: install binary file with prefix/suffix into install directory
|
||||
install: $(OUTDIR)/$(TARGET).opfw
|
||||
ifneq ($(INSTALL_DIR),)
|
||||
@$(ECHO) $(MSG_INSTALLING) $(call toprel, $<)
|
||||
$(V1) $(MKDIR) -p $(INSTALL_DIR)
|
||||
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
|
||||
else
|
||||
$(error INSTALL_DIR must be specified for $@)
|
||||
endif
|
||||
|
||||
# Target: clean project.
|
||||
clean: clean_list
|
||||
|
||||
clean_list :
|
||||
@echo $(MSG_CLEANING)
|
||||
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
|
||||
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
|
||||
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
|
||||
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
|
||||
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
|
||||
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
|
||||
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
|
||||
$(V1) $(RM) -f $(OUTDIR)/$(TARGET).opfw
|
||||
$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.c)
|
||||
$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.h)
|
||||
$(V1) $(RM) -f $(ALLOBJ)
|
||||
$(V1) $(RM) -f $(LSTFILES)
|
||||
$(V1) $(RM) -f $(DEPFILES)
|
||||
$(V1) $(RM) -f $(SRC:.c=.s)
|
||||
$(V1) $(RM) -f $(SRCARM:.c=.s)
|
||||
$(V1) $(RM) -f $(CPPSRC:.cpp=.s)
|
||||
$(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
|
||||
|
||||
# Create output files directory
|
||||
# all known MS Windows OS define the ComSpec environment variable
|
||||
$(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
|
||||
|
||||
# Include the dependency files.
|
||||
-include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : all build clean clean_list install
|
||||
@ -372,7 +372,7 @@ else
|
||||
endif
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
|
||||
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user