##### # Project: OpenPilot INS # # # Makefile for OpenPilot INS project # # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009. # # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 3 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License # for more details. # # You should have received a copy of the GNU General Public License along # with this program; if not, write to the Free Software Foundation, Inc., # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA ##### WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) TOP := $(realpath $(WHEREAMI)/../../../) override TCHAIN_PREFIX := override THUMB := 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 to YES for debugging DEBUG ?= YES # Set to YES when using Code Sourcery toolchain CODE_SOURCERY ?= NO ifeq ($(CODE_SOURCERY), YES) REMOVE_CMD = cs-rm else REMOVE_CMD = rm endif FLASH_TOOL = OPENOCD # List of modules to include MODULES = ManualControl Stabilization GPS MODULES += PathPlanner MODULES += FixedWingPathFollower MODULES += VtolPathFollower MODULES += CameraStab MODULES += Telemetry #MODULES += OveroSync PYMODULES = #FlightPlan # Paths OPSYSTEM = ./System OPSYSTEMINC = $(OPSYSTEM)/inc OPUAVTALK = ../../UAVTalk OPUAVTALKINC = $(OPUAVTALK)/inc OPUAVOBJ = ../../UAVObjects OPUAVOBJINC = $(OPUAVOBJ)/inc PIOS = ../../PiOS.posix PIOSINC = $(PIOS)/inc OPMODULEDIR = ../../Modules FLIGHTLIB = ../../Libraries FLIGHTLIBINC = $(FLIGHTLIB)/inc MATHLIB = $(FLIGHTLIB)/math MATHLIBINC = $(FLIGHTLIB)/math PIOSPOSIX = $(PIOS)/posix PIOSCOMMON = $(PIOS)/posix PIOSBOARDS = $(PIOS)/Boards PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries #APPLIBDIR = $(PIOSSTM32F4XX)/Libraries OPUAVOBJ = ../../UAVObjects OPUAVOBJINC = $(OPUAVOBJ)/inc BOOT = BOOTINC = 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 = $(OPMODULEDIR)/FlightPlan/flightplans HWDEFSINC = ../board_hw_defs/$(BOARD_NAME) UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight SRC = # optional component libraries include $(PIOSCOMMONLIB)/FreeRTOS/library.mk #include $(PIOSCOMMONLIB)/dosfs/library.mk #include $(PIOSCOMMONLIB)/msheap/library.mk # List C source files here. (C dependencies are automatically generated.) # use file-extension c for "c-only"-files ## PyMite files and modules SRC += $(OUTDIR)/pmlib_img.c SRC += $(OUTDIR)/pmlib_nat.c SRC += $(OUTDIR)/pmlibusr_img.c SRC += $(OUTDIR)/pmlibusr_nat.c PYSRC += $(wildcard ${PYMITEVM}/*.c) PYSRC += $(wildcard ${PYMITEPLAT}/*.c) PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} SRC += $(PYSRC) ## MODULES SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} SRC += ${OUTDIR}/InitMods.c ## OPENPILOT CORE: SRC += ${OPMODULEDIR}/System/systemmod.c SRC += $(OPSYSTEM)/simposix.c SRC += $(OPSYSTEM)/pios_board.c SRC += $(OPSYSTEM)/alarms.c SRC += $(OPUAVTALK)/uavtalk.c SRC += $(OPUAVOBJ)/uavobjectmanager.c SRC += $(OPUAVOBJ)/eventdispatcher.c SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c SRC += $(FLIGHTLIB)/CoordinateConversions.c SRC += $(FLIGHTLIB)/fifo_buffer.c SRC += $(FLIGHTLIB)/WorldMagModel.c SRC += $(FLIGHTLIB)/insgps13state.c SRC += $(FLIGHTLIB)/taskmonitor.c SRC += $(FLIGHTLIB)/paths.c SRC += $(MATHLIB)/sin_lookup.c SRC += $(MATHLIB)/pid.c ## PIOS Hardware (STM32F4xx) include $(PIOS)/posix/library.mk ## PIOS Hardware (Common) #SRC += $(PIOSCOMMON)/pios_mpu6000.c #SRC += $(PIOSCOMMON)/pios_bma180.c #SRC += $(PIOSCOMMON)/pios_l3gd20.c #SRC += $(PIOSCOMMON)/pios_hmc5883.c #SRC += $(PIOSCOMMON)/pios_ms5611.c #SRC += $(PIOSCOMMON)/pios_crc.c #SRC += $(PIOSCOMMON)/pios_com.c #SRC += $(PIOSCOMMON)/pios_rcvr.c #SRC += $(PIOSCOMMON)/pios_flash_jedec.c #SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c #SRC += $(PIOSCOMMON)/printf-stdarg.c #SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c #SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c include ./UAVObjects.inc SRC += $(UAVOBJSRC) # 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. # 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 += $(OPSYSTEMINC) EXTRAINCDIRS += $(OPUAVTALK) EXTRAINCDIRS += $(OPUAVTALKINC) EXTRAINCDIRS += $(OPUAVOBJ) EXTRAINCDIRS += $(OPUAVOBJINC) EXTRAINCDIRS += $(UAVOBJSYNTHDIR) EXTRAINCDIRS += $(FLIGHTLIBINC) EXTRAINCDIRS += $(MATHLIBINC) #EXTRAINCDIRS += $(PIOSSTM32F4XX) EXTRAINCDIRS += $(PIOSCOMMON) EXTRAINCDIRS += $(PIOSBOARDS) #EXTRAINCDIRS += $(STMSPDINCDIR) EXTRAINCDIRS += $(CMSISDIR) EXTRAINCDIRS += $(OPUAVSYNTHDIR) EXTRAINCDIRS += $(BOOTINC) EXTRAINCDIRS += $(PYMITEINC) EXTRAINCDIRS += $(HWDEFSINC) # Generate intermediate code gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h $(PYSRC): gencode PYTHON = python # 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 EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${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 = $(PIOSSTM32F4XX) # Optimization level, can be [0, 1, 2, 3, s]. # 0 = turn off optimization. s = optimize for size. # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) ifeq ($(DEBUG),YES) CFLAGS += -O0 CFLAGS += -DGENERAL_COV CFLAGS += -finstrument-functions -ffixed-r10 else CFLAGS += -Os endif # common architecture-specific flags from the device-specific library makefile CFLAGS += $(ARCHFLAGS) CFLAGS += $(UAVOBJDEFINE) CFLAGS += -DSTACK_DIAGNOSTICS CFLAGS += -DMIXERSTATUS_DIAGNOSTICS CFLAGS += -DRATEDESIRED_DIAGNOSTICS CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS CFLAGS += -DDIAG_TASKS # This is not the best place for these. Really should abstract out # to the board file or something #CFLAGS += -DSTM32F4XX CFLAGS += -DMEM_SIZE=1024000000 # Output format. (can be ihex or binary or both) # binary to create a load-image in raw-binary format i.e. for SAM-BA, # ihex to create a load-image in Intel hex format #LOADFORMAT = ihex #LOADFORMAT = binary LOADFORMAT = both # Debugging format. DEBUGF = dwarf-2 # Place project-specific -D (define) and/or # -U options for C here. CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ) CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ) CDEFS += -DUSE_STDPERIPH_DRIVER CDEFS += -DUSE_$(BOARD) # 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++) CFLAGS += -g$(DEBUGF) CFLAGS += -ffast-math #CFLAGS += -mcpu=$(MCU) CFLAGS += $(CDEFS) CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. #CFLAGS += -mapcs-frame CFLAGS += -fomit-frame-pointer ifeq ($(CODE_SOURCERY), YES) CFLAGS += -fpromote-loop-indices endif CFLAGS += -Wall #CFLAGS += -Werror CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) # Compiler flags to generate dependency files: CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d # flags only for C #CONLYFLAGS += -Wnested-externs CONLYFLAGS += $(CSTANDARD) # Assembler flags. # -Wa,...: tell GCC to pass this to the assembler. # -ahlns: create listing ASFLAGS = $(ARCHFLAGS) -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 = -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 -lpthread -lrt #Linker scripts LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP)) # Define programs and commands. REMOVE = $(REMOVE_CMD) -f PYHON = 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, $(ALLSRCBASE))) # Default target. all: gccversion build ifeq ($(LOADFORMAT),ihex) build: elf hex lss sym 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 endif # Link: create ELF output file from object files. $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) # 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 $@) endif # Target: clean project. clean: clean_list clean_list : @echo $(MSG_CLEANING) $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o $(V1) $(REMOVE) $(ALLOBJ) $(V1) $(REMOVE) $(LSTFILES) $(V1) $(REMOVE) $(DEPFILES) $(V1) $(REMOVE) $(SRC:.c=.s) $(V1) $(REMOVE) $(SRCARM:.c=.s) $(V1) $(REMOVE) $(CPPSRC:.cpp=.s) $(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s) # Create output files directory # all known MS Windows OS define the ComSpec environment variable ifdef ComSpec $(shell md $(subst /,\\,$(OUTDIR)) 2>NUL) else $(shell mkdir -p $(OUTDIR) 2>/dev/null) endif # Include the dependency files. ifdef ComSpec -include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*) else -include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*) endif #create compile-time module auto-initialisation MODNAMES = ${notdir $(subst /revolution,,$(MODULES))} # Test if quotes are needed for the echo-command result = ${shell echo "test"} ifeq (${result}, test) quote = ' else quote = endif # Generate intermediate code gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h # Generate code for module initialization ${OUTDIR}/InitMods.c: Makefile @echo ${MSG_MODINIT} @echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c # Listing of phony targets. .PHONY : all build clean clean_list install