##### # Project: OpenPilot OSD # # # Makefile for OpenPilot OSD 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)/../../) 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 ?= NO # Set to YES when using Code Sourcery toolchain CODE_SOURCERY ?= NO ifeq ($(CODE_SOURCERY), YES) REMOVE_CMD = cs-rm else REMOVE_CMD = rm endif FLASH_TOOL = OPENOCD # Optional module and driver defaults USE_CAMERASTAB ?= NO USE_COMUSBBRIDGE ?= NO USE_GPS ?= NO USE_TXPID ?= NO USE_I2C ?= NO USE_ALTITUDE ?= NO TEST_FAULTS ?= NO USE_MAGBARO ?= NO # List of optional modules to include OPTMODULES = ifeq ($(USE_CAMERASTAB), YES) OPTMODULES += CameraStab endif ifeq ($(USE_COMUSBBRIDGE), YES) OPTMODULES += ComUsbBridge endif ifeq ($(USE_GPS), YES) OPTMODULES += GPS endif ifeq ($(USE_TXPID), YES) OPTMODULES += TxPID endif ifeq ($(USE_ALTITUDE), YES) ifeq ($(USE_I2C), YES) OPTMODULES += Altitude else $(error "Altitude module (USE_ALTITUDE=YES) requires i2c (USE_I2C=YES)") endif endif ifeq ($(TEST_FAULTS), YES) OPTMODULES += Fault endif ifeq ($(USE_MAGBARO), YES) ifeq ($(USE_I2C), YES) OPTMODULES += Extensions/MagBaro else $(error "MagBaro module (USE_MAGBARO=YES) requires i2c (USE_I2C=YES)") endif endif # List of mandatory modules to include MODULES = Osd/osdgen MODULES += GPS MODULES += Osd/osdinput MODULES += Osd/WavPlayer #MODULES += Extensions/MagBaro MODULES += Telemetry MODULES += FirmwareIAP # Paths OPSYSTEM = ./System OPSYSTEMINC = $(OPSYSTEM)/inc OPUAVTALK = ../UAVTalk OPUAVTALKINC = $(OPUAVTALK)/inc OPMODULEDIR = ../Modules PIOS = ../PiOS PIOSINC = $(PIOS)/inc FLIGHTLIB = ../Libraries FLIGHTLIBINC = ../Libraries/inc PIOSSTM32F4XX = $(PIOS)/STM32F4xx PIOSCOMMON = $(PIOS)/Common PIOSBOARDS = $(PIOS)/Boards PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries PIOS_DEVLIB = $(PIOS)/STM32F4xx APPLIBDIR = $(PIOSSTM32F4XX)/Libraries STMLIBDIR = $(APPLIBDIR) STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver STMSPDSRCDIR = $(STMSPDDIR)/src STMSPDINCDIR = $(STMSPDDIR)/inc CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3 RTOSDIR = $(PIOSCOMMONLIB)/FreeRTOS RTOSSRCDIR = $(RTOSDIR)/Source RTOSINCDIR = $(RTOSSRCDIR)/include OPDIR = ../OSD OPUAVOBJ = ../UAVObjects OPUAVOBJINC = $(OPUAVOBJ)/inc OPSYSINC = $(OPDIR)/System/inc BOOT = ../Bootloaders/OSD BOOTINC = $(BOOT)/inc HWDEFSINC = ../board_hw_defs/$(BOARD_NAME) OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight # List C source files here. (C dependencies are automatically generated.) # use file-extension c for "c-only"-files ## MODULES SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} ## OPENPILOT CORE: SRC += ${OPMODULEDIR}/System/systemmod.c SRC += $(OPSYSTEM)/osd.c SRC += $(OPSYSTEM)/pios_board.c SRC += $(OPSYSTEM)/pios_usb_board_data.c SRC += $(OPSYSTEM)/fonts.c SRC += $(OPSYSTEM)/font_outlined8x14.c SRC += $(OPSYSTEM)/font_outlined8x8.c SRC += $(OPSYSTEM)/alarms.c SRC += $(OPUAVTALK)/uavtalk.c SRC += $(OPUAVOBJ)/uavobjectmanager.c SRC += $(OPUAVOBJ)/eventdispatcher.c #ifeq ($(DEBUG),YES) SRC += $(OPSYSTEM)/dcc_stdio.c SRC += $(OPSYSTEM)/cm3_fault_handlers.c #endif SRC += $(FLIGHTLIB)/fifo_buffer.c SRC += $(FLIGHTLIB)/taskmonitor.c SRC += $(FLIGHTLIB)/CoordinateConversions.c SRC += $(FLIGHTLIB)/WorldMagModel.c ## UAVOBJECTS #SRC += $(OPUAVSYNTHDIR)/accessorydesired.c SRC += $(OPUAVSYNTHDIR)/objectpersistence.c SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.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)/attituderaw.c SRC += $(OPUAVSYNTHDIR)/attitudeactual.c #SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c SRC += $(OPUAVSYNTHDIR)/i2cstats.c SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c #SRC += $(OPUAVSYNTHDIR)/telemetrysettings.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)/hwsettings.c #SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c #SRC += $(OPUAVSYNTHDIR)/receiveractivity.c SRC += $(OPUAVSYNTHDIR)/taskinfo.c SRC += $(OPUAVSYNTHDIR)/mixerstatus.c #SRC += $(OPUAVSYNTHDIR)/ratedesired.c SRC += $(OPUAVSYNTHDIR)/homelocation.c SRC += $(OPUAVSYNTHDIR)/gpsposition.c SRC += $(OPUAVSYNTHDIR)/gpssatellites.c SRC += $(OPUAVSYNTHDIR)/gpssettings.c SRC += $(OPUAVSYNTHDIR)/gpsvelocity.c SRC += $(OPUAVSYNTHDIR)/gpstime.c SRC += $(OPUAVSYNTHDIR)/osdsettings.c SRC += $(OPUAVSYNTHDIR)/baroaltitude.c SRC += $(OPUAVSYNTHDIR)/magnetometer.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_bmp085.c SRC += $(PIOSCOMMON)/pios_hmc5883.c #SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(PIOSCOMMON)/printf2.c SRC += $(PIOSCOMMON)/pios_crc.c SRC += $(PIOSCOMMON)/pios_video.c SRC += $(PIOSCOMMON)/pios_wavplay.c SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c SRC += $(PIOSCOMMON)/pios_usb_util.c SRC += $(PIOSCOMMON)/pios_sdcard.c # optional component libraries include $(PIOSCOMMONLIB)/FreeRTOS/library.mk include $(PIOSCOMMONLIB)/dosfs/library.mk include $(PIOSCOMMONLIB)/msheap/library.mk ## PIOS Hardware (STM32F4xx) include $(PIOS)/STM32F4xx/library.mk # 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 = $(PIOSSTM32F4XX)/startup_stm32f10x_$(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 += $(PIOSSTM32F4XX) EXTRAINCDIRS += $(PIOSCOMMON) EXTRAINCDIRS += $(PIOSBOARDS) EXTRAINCDIRS += $(STMSPDINCDIR) EXTRAINCDIRS += $(CMSISDIR) EXTRAINCDIRS += $(RTOSINCDIR) EXTRAINCDIRS += $(APPLIBDIR) EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3 EXTRAINCDIRS += $(OPUAVSYNTHDIR) EXTRAINCDIRS += $(BOOTINC) 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 = $(PIOSSTM32F4XX) # Optimization level, can be [0, 1, 2, 3, s]. # 0 = turn off optimization. s = optimize for size. # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) ifeq ($(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 += $(ARCHFLAGS) CFLAGS += -DDIAGNOSTICS CFLAGS += -DDIAG_TASKS # This is not the best place for these. Really should abstract out # to the board file or something CFLAGS += -DSTM32F4XX CFLAGS += -DMEM_SIZE=1024000000 # Output format. (can be ihex or binary or both) # binary to create a load-image in raw-binary format i.e. for SAM-BA, # ihex to create a load-image in Intel hex format #LOADFORMAT = ihex #LOADFORMAT = binary LOADFORMAT = both # Debugging format. DEBUGF = dwarf-2 # Place project-specific -D (define) and/or # -U options for C here. CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ) CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ) CDEFS += -DUSE_STDPERIPH_DRIVER CDEFS += -DUSE_$(BOARD) # Declare all non-optional modules as built-in to force inclusion CDEFS += $(foreach MOD, $(notdir $(MODULES)), -DMODULE_$(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++) 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) -mthumb -I. -x assembler-with-cpp ASFLAGS += $(ADEFS) ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) MATH_LIB = -lm # Linker flags. # -Wl,...: tell GCC to pass this to linker. # -Map: create map file # --cref: add cross reference to map file LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) LDFLAGS += -lc LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS)) LDFLAGS += $(MATH_LIB) LDFLAGS += -lc -lgcc #Linker scripts LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP)) # Define programs and commands. REMOVE = $(REMOVE_CMD) -f # 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 -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