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LibrePilot/make/apps-defs.mk
Richard Flay (Hyper) 84e1a81f8b OP-936: Moves the task monitor code out of the flight library and into PiOS.
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
2013-05-03 07:01:14 +09:30

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)))