mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
84e1a81f8b
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem, and pushes the responsibility for updating the TaskInfo UAVO into the System module. +review OPReview
182 lines
5.9 KiB
Makefile
182 lines
5.9 KiB
Makefile
#
|
|
# 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
|
|
|
|
# Paths
|
|
TOPDIR = .
|
|
OPSYSTEM = $(TOPDIR)
|
|
BOARDINC = $(TOPDIR)/..
|
|
OPSYSTEMINC = $(OPSYSTEM)/inc
|
|
PIOSINC = $(PIOS)/inc
|
|
PIOSCOMMON = $(PIOS)/common
|
|
FLIGHTLIBINC = $(FLIGHTLIB)/inc
|
|
|
|
## UAVTalk and UAVObject manager
|
|
OPUAVOBJINC = $(OPUAVOBJ)/inc
|
|
OPUAVTALKINC = $(OPUAVTALK)/inc
|
|
|
|
## Math
|
|
MATHLIB = $(FLIGHTLIB)/math
|
|
MATHLIBINC = $(FLIGHTLIB)/math
|
|
|
|
## FreeRTOS support
|
|
FREERTOS_DIR = $(PIOSCOMMON)/libraries/FreeRTOS
|
|
include $(FREERTOS_DIR)/library.mk
|
|
|
|
## Misc
|
|
OPTESTS = $(TOPDIR)/Tests
|
|
|
|
## PIOS Hardware
|
|
ifeq ($(MCU),cortex-m3)
|
|
include $(PIOS)/stm32f10x/library.mk
|
|
else ifeq ($(MCU),cortex-m4)
|
|
include $(PIOS)/stm32f4xx/library.mk
|
|
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 (Common Peripherals)
|
|
SRC += $(PIOSCOMMON)/pios_adxl345.c
|
|
SRC += $(PIOSCOMMON)/pios_bma180.c
|
|
SRC += $(PIOSCOMMON)/pios_bmp085.c
|
|
SRC += $(PIOSCOMMON)/pios_etasv3.c
|
|
SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
|
|
SRC += $(PIOSCOMMON)/pios_hcsr04.c
|
|
SRC += $(PIOSCOMMON)/pios_hmc5843.c
|
|
SRC += $(PIOSCOMMON)/pios_hmc5883.c
|
|
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
|
|
SRC += $(PIOSCOMMON)/pios_l3gd20.c
|
|
SRC += $(PIOSCOMMON)/pios_mpu6000.c
|
|
SRC += $(PIOSCOMMON)/pios_mpxv.c
|
|
SRC += $(PIOSCOMMON)/pios_ms5611.c
|
|
SRC += $(PIOSCOMMON)/pios_video.c
|
|
SRC += $(PIOSCOMMON)/pios_wavplay.c
|
|
|
|
## PIOS Hardware (Common)
|
|
SRC += $(PIOSCOMMON)/pios_iap.c
|
|
SRC += $(PIOSCOMMON)/pios_com.c
|
|
SRC += $(PIOSCOMMON)/pios_com_msg.c
|
|
SRC += $(PIOSCOMMON)/pios_crc.c
|
|
SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
|
|
SRC += $(PIOSCOMMON)/pios_flash_jedec.c
|
|
SRC += $(PIOSCOMMON)/pios_rcvr.c
|
|
SRC += $(PIOSCOMMON)/pios_rfm22b.c
|
|
SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
|
|
SRC += $(PIOSCOMMON)/pios_rfm22b_rcvr.c
|
|
SRC += $(PIOSCOMMON)/pios_sbus.c
|
|
SRC += $(PIOSCOMMON)/pios_sdcard.c
|
|
|
|
## PIOS USB related files
|
|
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
|
|
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
|
|
SRC += $(PIOSCOMMON)/pios_usb_util.c
|
|
|
|
## PIOS system code
|
|
SRC += $(PIOSCOMMON)/pios_task_monitor.c
|
|
|
|
## Misc library functions
|
|
SRC += $(FLIGHTLIB)/fifo_buffer.c
|
|
SRC += $(FLIGHTLIB)/sanitycheck.c
|
|
SRC += $(FLIGHTLIB)/CoordinateConversions.c
|
|
SRC += $(MATHLIB)/sin_lookup.c
|
|
SRC += $(MATHLIB)/pid.c
|
|
|
|
## Modules
|
|
SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
|
|
SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
|
|
|
|
# Declare all non-optional modules as built-in to force inclusion.
|
|
# Built-in modules are always enabled and cannot be disabled.
|
|
MODNAMES := $(notdir $(subst /revolution,,$(MODULES)))
|
|
MODULES_BUILTIN := $(foreach mod, $(MODNAMES), -DMODULE_$(shell $(ECHO) $(mod) | tr '[:lower:]' '[:upper:]')_BUILTIN)
|
|
CDEFS += $(MODULES_BUILTIN)
|
|
|
|
# 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.
|
|
ASRC +=
|
|
|
|
# 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 += $(BOARDINC)
|
|
EXTRAINCDIRS += $(FLIGHTLIBINC)
|
|
EXTRAINCDIRS += $(PIOSCOMMON)
|
|
EXTRAINCDIRS += $(OPSYSTEMINC)
|
|
EXTRAINCDIRS += $(MATHLIBINC)
|
|
EXTRAINCDIRS += $(OPUAVOBJINC)
|
|
EXTRAINCDIRS += $(OPUAVTALKINC)
|
|
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
|
|
|
|
# Modules
|
|
EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/inc) $(OPMODULEDIR)/System/inc
|
|
|
|
# List any extra directories to look for library files here.
|
|
# Also add directories where the linker should search for
|
|
# includes from linker-script to the list
|
|
# Each directory must be seperated by a space.
|
|
EXTRA_LIBDIRS +=
|
|
|
|
# Extra Libraries
|
|
# Each library-name must be seperated by a space.
|
|
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
|
|
# EXTRA_LIBS = xyz abc efsl
|
|
# for newlib-lpc (file: libnewlibc-lpc.a):
|
|
# EXTRA_LIBS = newlib-lpc
|
|
EXTRA_LIBS += m
|
|
|
|
# Compiler flags
|
|
CFLAGS +=
|
|
|
|
# Set linker-script name depending on selected submodel name
|
|
ifeq ($(MCU),cortex-m3)
|
|
LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
|
|
LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_sections.ld
|
|
else ifeq ($(MCU),cortex-m4)
|
|
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
|
|
endif
|
|
|
|
# Add jtag targets (program and wipe)
|
|
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
|