##### # Project: OpenPilot # # # Makefile for OpenPilot project build PiOS and the AP. # # 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 $(TOP)/make/firmware-defs.mk # Set developer code and compile options # Set to YES to compile for debugging DEBUG ?= NO # Set to YES to use the Servo output pins for debugging via scope or logic analyser ENABLE_DEBUG_PINS ?= NO # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs ENABLE_AUX_UART ?= NO # OVERRIDE USE_BOOTLOADER = NO # Set to YES when using Code Sourcery toolchain CODE_SOURCERY ?= NO # Remove command is different for Code Sourcery on Windows ifeq ($(CODE_SOURCERY), YES) REMOVE_CMD = cs-rm else REMOVE_CMD = rm endif FLASH_TOOL = OPENOCD # MCU name, submodel and board # - MCU used for compiler-option (-mcpu) # - MODEL used for linker-script name (-T) and passed as define # - BOARD just passed as define (optional) MCU = cortex-m3 CHIP = STM32F103RET BOARD = STM3210E_OP MODEL = HD ifeq ($(USE_BOOTLOADER), YES) BOOT_MODEL = $(MODEL)_BL else BOOT_MODEL = $(MODEL)_NB endif # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.) OUTDIR = $(TOP)/build/bl_openpilot # Target file name (without extension). TARGET = OpenPilot_BL # Paths OPSYSTEM = . OPSYSTEMINC = $(OPSYSTEM)/inc OPUAVTALK = ./UAVTalk OPUAVTALKINC = $(OPUAVTALK)/inc OPUAVOBJ = ./UAVObjects OPUAVOBJINC = $(OPUAVOBJ)/inc OPTESTS = ./Tests OPMODULEDIR = ./Modules FLIGHTLIB = ../../Libraries FLIGHTLIBINC = ../../Libraries/inc PIOS = ../../PiOS PIOSINC = $(PIOS)/inc PIOSSTM32F10X = $(PIOS)/STM32F10x PIOSCOMMON = $(PIOS)/Common PIOSBOARDS = $(PIOS)/Boards APPLIBDIR = $(PIOSSTM32F10X)/Libraries STMLIBDIR = $(APPLIBDIR) STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver STMSPDSRCDIR = $(STMSPDDIR)/src STMSPDINCDIR = $(STMSPDDIR)/inc STMUSBSRCDIR = $(STMUSBDIR)/src STMUSBINCDIR = $(STMUSBDIR)/inc CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3 DOSFSDIR = $(APPLIBDIR)/dosfs MSDDIR = $(APPLIBDIR)/msd RTOSDIR = $(APPLIBDIR)/FreeRTOS RTOSSRCDIR = $(RTOSDIR)/Source RTOSINCDIR = $(RTOSSRCDIR)/include DOXYGENDIR = ../Doc/Doxygen # List C source files here. (C dependencies are automatically generated.) # use file-extension c for "c-only"-files ## OPENPILOT_BL CORE: SRC += $(OPSYSTEM)/main.c SRC += $(OPSYSTEM)/pios_board.c SRC += $(OPSYSTEM)/op_dfu.c SRC += $(FLIGHTLIB)/stopwatch.c SRC += $(OPSYSTEM)/ssp.c ## 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_spi.c SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c # PIOS USB related files (seperated to make code maintenance more easy) SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_opahrs_v0.c SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_opahrs_proto.c SRC += $(PIOSCOMMON)/printf-stdarg.c ## Libraries for flight calculations SRC += $(FLIGHTLIB)/fifo_buffer.c ## CMSIS for STM32 SRC += $(CMSISDIR)/core_cm3.c SRC += $(CMSISDIR)/system_stm32f10x.c ## Used parts of the STM-Library SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.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_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 # 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).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 += $(PIOS) EXTRAINCDIRS += $(PIOSINC) EXTRAINCDIRS += $(FLIGHTLIBINC) EXTRAINCDIRS += $(PIOSSTM32F10X) EXTRAINCDIRS += $(PIOSCOMMON) EXTRAINCDIRS += $(PIOSBOARDS) EXTRAINCDIRS += $(STMSPDINCDIR) EXTRAINCDIRS += $(STMUSBINCDIR) EXTRAINCDIRS += $(CMSISDIR) EXTRAINCDIRS += $(DOSFSDIR) EXTRAINCDIRS += $(MSDDIR) EXTRAINCDIRS += $(RTOSINCDIR) EXTRAINCDIRS += $(APPLIBDIR) EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3 # 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 = 0 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_AUX_UART), YES) CDEFS += -DPIOS_ENABLE_AUX_UART endif ifeq ($(USE_BOOTLOADER), YES) CDEFS += -DUSE_BOOTLOADER endif # Place project-specific -D and/or -U options for # Assembler with preprocessor here. #ADEFS = -DUSE_IRQ_ASM_WRAPPER ADEFS = -D__ASSEMBLY__ # Compiler flag to set the C Standard level. # c89 - "ANSI" C # gnu89 - c89 plus GCC extensions # c99 - ISO C99 standard (not yet fully implemented) # gnu99 - c99 plus GCC extensions CSTANDARD = -std=gnu99 #----- # Compiler flags. # -g*: generate debugging information # -O*: optimization level # -f...: tuning, see GCC manual and avr-libc documentation # -Wall...: warning level # -Wa,...: tell GCC to pass this to the assembler. # -adhlns...: create assembler listing # # Flags for C and C++ (arm-elf-gcc/arm-elf-g++) ifeq ($(DEBUG),YES) CFLAGS = -g$(DEBUGF) -DDEBUG endif CFLAGS += -O$(OPT) ifeq ($(DEBUG),NO) CFLAGS += -ffunction-sections endif CFLAGS += -mcpu=$(MCU) CFLAGS += $(CDEFS) CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += -mapcs-frame CFLAGS += -fomit-frame-pointer CFLAGS += -fpromote-loop-indices 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 += $(CSTANDARD) # Assembler flags. # -Wa,...: tell GCC to pass this to the assembler. # -ahlns: create listing ASFLAGS = -mcpu=$(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 ifeq ($(DEBUG),NO) LDFLAGS += -Wl,-static -Wl,-s endif 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_stm32f10x_$(MODEL).ld OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf # Program OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" # Verify OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)" # reset target OOCD_CL+=-c "reset run" # terminate OOCD after programming OOCD_CL+=-c shutdown # Define programs and commands. REMOVE = $(REMOVE_CMD) -f ###SHELL = sh ###COPY = cp # 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 endif endif ${OUTDIR}/InitMods.c: Makefile @echo $(MSG_MODINIT) $(call toprel, $@) @echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c # Program the device. ifeq ($(FLASH_TOOL),OPENOCD) # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script". program: $(OUTDIR)/$(TARGET).elf @echo ${quote}Programming with OPENOCD${quote} $(OOCD_EXE) $(OOCD_CL) 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)) .PHONY: elf lss sym hex bin elf: $(OUTDIR)/$(TARGET).elf lss: $(OUTDIR)/$(TARGET).lss sym: $(OUTDIR)/$(TARGET).sym hex: $(OUTDIR)/$(TARGET).hex bin: $(OUTDIR)/$(TARGET).bin # Display sizes of sections. $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) .PHONY: size size: $(OUTDIR)/$(TARGET).elf_size # Generate Doxygen documents docs: doxygen $(DOXYGENDIR)/doxygen.cfg # 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) $(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 program