mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
b2a538375c
Changes in ahrs.c for new initialization and to fix issues with outdoor algorithm. The changes in ahrs.c are pretty messy, but committed mostly to get the code to Peabody for more extensive restructuring of ahrs.c. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2150 ebee16cc-31ac-478f-84a7-5cbb03baadba
783 lines
23 KiB
Makefile
783 lines
23 KiB
Makefile
#####
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# Project: OpenPilot
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#
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#
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# Makefile for OpenPilot project build PiOS and the AP.
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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#
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#####
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# Set developer code and compile options
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# Set to YES to compile for debugging
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DEBUG ?= YES
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# Set to YES to use the Servo output pins for debugging via scope or logic analyser
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ENABLE_DEBUG_PINS ?= NO
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# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
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ENABLE_AUX_UART ?= NO
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#
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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= YES
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# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
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TCHAIN_PREFIX ?= arm-none-eabi-
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# Remove command is different for Code Sourcery on Windows
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# YES enables -mthumb option to flags for source-files listed
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# in SRC and CPPSRC
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USE_THUMB_MODE = YES
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# List of modules to include
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MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Watchdog FirmwareIAP
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#MODULES = Telemetry Example
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#MODULES = Telemetry MK/MKSerial
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#MODULES = Telemetry
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#MODULES += Osd/OsdEtStd
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# MCU name, submodel and board
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# - MCU used for compiler-option (-mcpu)
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# - MODEL used for linker-script name (-T) and passed as define
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# - BOARD just passed as define (optional)
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MCU = cortex-m3
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CHIP = STM32F103RET
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BOARD = STM3210E_OP
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MODEL = HD
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ifeq ($(USE_BOOTLOADER), YES)
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BOOT_MODEL = $(MODEL)_BL
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else
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BOOT_MODEL = $(MODEL)_NB
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endif
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR = Build
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# Target file name (without extension).
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TARGET = OpenPilot
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# Paths
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OPSYSTEM = ./System
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALK = ./UAVTalk
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJ = ./UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPTESTS = ./Tests
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OPMODULEDIR = ./Modules
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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PIOS = ../PiOS
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PIOSINC = $(PIOS)/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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STMUSBSRCDIR = $(STMUSBDIR)/src
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STMUSBINCDIR = $(STMUSBDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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DOSFSDIR = $(APPLIBDIR)/dosfs
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MSDDIR = $(APPLIBDIR)/msd
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RTOSDIR = $(APPLIBDIR)/FreeRTOS
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RTOSSRCDIR = $(RTOSDIR)/Source
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RTOSINCDIR = $(RTOSSRCDIR)/include
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DOXYGENDIR = ../Doc/Doxygen
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AHRSBOOTLOADER = ../Bootloaders/AHRS/
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AHRSBOOTLOADERINC = $(AHRSBOOTLOADER)/inc
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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MODNAMES = $(notdir ${MODULES})
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ifndef TESTAPP
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## MODULES
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SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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SRC += ${OUTDIR}/InitMods.c
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## OPENPILOT CORE:
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SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/openpilot.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(OPSYSTEM)/alarms.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/uavobjectsinit.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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else
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## TESTCODE
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SRC += $(OPTESTS)/test_common.c
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SRC += $(OPTESTS)/$(TESTAPP).c
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endif
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## UAVOBJECTS
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ifndef TESTAPP
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SRC += $(OPUAVOBJ)/objectpersistence.c
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SRC += $(OPUAVOBJ)/positionactual.c
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SRC += $(OPUAVOBJ)/gpsposition.c
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SRC += $(OPUAVOBJ)/gpstime.c
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SRC += $(OPUAVOBJ)/gpssatellites.c
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SRC += $(OPUAVOBJ)/gcstelemetrystats.c
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SRC += $(OPUAVOBJ)/flighttelemetrystats.c
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SRC += $(OPUAVOBJ)/systemstats.c
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SRC += $(OPUAVOBJ)/systemalarms.c
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SRC += $(OPUAVOBJ)/systemsettings.c
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SRC += $(OPUAVOBJ)/telemetrysettings.c
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SRC += $(OPUAVOBJ)/actuatorcommand.c
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SRC += $(OPUAVOBJ)/actuatordesired.c
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SRC += $(OPUAVOBJ)/actuatorsettings.c
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SRC += $(OPUAVOBJ)/manualcontrolcommand.c
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SRC += $(OPUAVOBJ)/manualcontrolsettings.c
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SRC += $(OPUAVOBJ)/attitudedesired.c
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SRC += $(OPUAVOBJ)/stabilizationsettings.c
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SRC += $(OPUAVOBJ)/ahrsstatus.c
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SRC += $(OPUAVOBJ)/baroaltitude.c
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SRC += $(OPUAVOBJ)/ahrscalibration.c
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SRC += $(OPUAVOBJ)/attitudeactual.c
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SRC += $(OPUAVOBJ)/ahrssettings.c
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SRC += $(OPUAVOBJ)/flightbatterystate.c
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SRC += $(OPUAVOBJ)/attituderaw.c
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SRC += $(OPUAVOBJ)/homelocation.c
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SRC += $(OPUAVOBJ)/mixersettings.c
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SRC += $(OPUAVOBJ)/mixerstatus.c
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SRC += $(OPUAVOBJ)/positiondesired.c
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SRC += $(OPUAVOBJ)/velocitydesired.c
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SRC += $(OPUAVOBJ)/velocityactual.c
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SRC += $(OPUAVOBJ)/guidancesettings.c
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SRC += $(OPUAVOBJ)/firmwareiapobj.c
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SRC += $(OPUAVOBJ)/ratedesired.c
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endif
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## PIOS Hardware (STM32F10x)
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SRC += $(PIOSSTM32F10X)/pios_sys.c
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_delay.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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SRC += $(PIOSSTM32F10X)/pios_adc.c
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SRC += $(PIOSSTM32F10X)/pios_servo.c
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SRC += $(PIOSSTM32F10X)/pios_i2c.c
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SRC += $(PIOSSTM32F10X)/pios_spi.c
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SRC += $(PIOSSTM32F10X)/pios_ppm.c
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SRC += $(PIOSSTM32F10X)/pios_pwm.c
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SRC += $(PIOSSTM32F10X)/pios_spektrum.c
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SRC += $(PIOSSTM32F10X)/pios_debug.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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SRC += $(PIOSSTM32F10X)/pios_exti.c
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SRC += $(PIOSSTM32F10X)/pios_wdg.c
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# PIOS USB related files (seperated to make code maintenance more easy)
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SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
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#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_sdcard.c
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_bmp085.c
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SRC += $(PIOSCOMMON)/pios_iap.c
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#SRC += $(PIOSCOMMON)/pios_opahrs.c
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#SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
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SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f10x.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
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SRC += $(STMSPDSRCDIR)/misc.c
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## STM32 USB Library
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SRC += $(STMUSBSRCDIR)/usb_core.c
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SRC += $(STMUSBSRCDIR)/usb_init.c
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SRC += $(STMUSBSRCDIR)/usb_int.c
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SRC += $(STMUSBSRCDIR)/usb_mem.c
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SRC += $(STMUSBSRCDIR)/usb_regs.c
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SRC += $(STMUSBSRCDIR)/usb_sil.c
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## RTOS
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SRC += $(RTOSSRCDIR)/list.c
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SRC += $(RTOSSRCDIR)/queue.c
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SRC += $(RTOSSRCDIR)/tasks.c
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## RTOS Portable
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SRC += $(RTOSSRCDIR)/portable/GCC/ARM_CM3/port.c
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SRC += $(RTOSSRCDIR)/portable/MemMang/heap_2.c
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## Dosfs file system
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SRC += $(DOSFSDIR)/dosfs.c
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SRC += $(DOSFSDIR)/dfs_sdcard.c
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## AHRS boot loader comms
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SRC += $(AHRSBOOTLOADER)/ahrs_spi_program_master.c
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SRC += $(AHRSBOOTLOADER)/ahrs_spi_program.c
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## Mass Storage Device
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#SRC += $(MSDDIR)/msd.c
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#SRC += $(MSDDIR)/msd_bot.c
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#SRC += $(MSDDIR)/msd_desc.c
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#SRC += $(MSDDIR)/msd_memory.c
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#SRC += $(MSDDIR)/msd_scsi.c
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#SRC += $(MSDDIR)/msd_scsi_data.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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SRCARM =
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# List C++ source files here.
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# use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# use file-extension .cpp for C++-files (not .C)
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#CPPSRCARM = $(TARGET).cpp
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CPPSRCARM =
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# List Assembler source files here.
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# Make them always end in a capital .S. Files ending in a lowercase .s
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# will not be considered source files but generated files (assembler
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# output from the compiler), and will be deleted upon "make clean"!
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S
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# List Assembler source files here which must be assembled in ARM-Mode..
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ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS = $(OPSYSTEM)
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EXTRAINCDIRS += $(OPSYSTEMINC)
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EXTRAINCDIRS += $(OPUAVTALK)
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EXTRAINCDIRS += $(OPUAVTALKINC)
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EXTRAINCDIRS += $(OPUAVOBJ)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(STMUSBINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(DOSFSDIR)
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EXTRAINCDIRS += $(MSDDIR)
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EXTRAINCDIRS += $(RTOSINCDIR)
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EXTRAINCDIRS += $(APPLIBDIR)
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EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
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EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
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EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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# includes from linker-script to the list
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# Each directory must be seperated by a space.
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EXTRA_LIBDIRS =
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# Extra Libraries
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# Each library-name must be seperated by a space.
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# i.e. to link with libxyz.a, libabc.a and libefsl.a:
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# EXTRA_LIBS = xyz abc efsl
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# for newlib-lpc (file: libnewlibc-lpc.a):
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# EXTRA_LIBS = newlib-lpc
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EXTRA_LIBS =
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# Path to Linker-Scripts
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LINKERSCRIPTPATH = $(PIOSSTM32F10X)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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OPT = 0
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else
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OPT = s
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endif
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS = -DSTM32F10X_$(MODEL)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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ifeq ($(ENABLE_DEBUG_PINS), YES)
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CDEFS += -DPIOS_ENABLE_DEBUG_PINS
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endif
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ifeq ($(ENABLE_AUX_UART), YES)
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CDEFS += -DPIOS_ENABLE_AUX_UART
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endif
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ifeq ($(USE_BOOTLOADER), YES)
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CDEFS += -DUSE_BOOTLOADER
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endif
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# Place project-specific -D and/or -U options for
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# Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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ADEFS = -D__ASSEMBLY__
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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#-----
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# Compiler flags.
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# -g*: generate debugging information
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# -O*: optimization level
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# -f...: tuning, see GCC manual and avr-libc documentation
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# -Wall...: warning level
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# -Wa,...: tell GCC to pass this to the assembler.
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# -adhlns...: create assembler listing
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#
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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ifeq ($(DEBUG),YES)
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CFLAGS = -g$(DEBUGF) -DDEBUG
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endif
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CFLAGS += -O$(OPT)
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CFLAGS += -mcpu=$(MCU) -mthumb
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CFLAGS += $(CDEFS)
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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CFLAGS += -mapcs-frame
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CFLAGS += -fomit-frame-pointer
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ifeq ($(CODE_SOURCERY), YES)
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CFLAGS += -fpromote-loop-indices
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endif
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CFLAGS += -Wall
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CFLAGS += -Werror
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CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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# Compiler flags to generate dependency files:
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CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
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# flags only for C
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#CONLYFLAGS += -Wnested-externs
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|
CONLYFLAGS += $(CSTANDARD)
|
|
|
|
# Assembler flags.
|
|
# -Wa,...: tell GCC to pass this to the assembler.
|
|
# -ahlns: create listing
|
|
ASFLAGS = -mcpu=$(MCU) -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 += $(MATH_LIB)
|
|
LDFLAGS += -lc -lgcc
|
|
|
|
# Set linker-script name depending on selected submodel name
|
|
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(BOOT_MODEL).ld
|
|
|
|
# ---------------------------------------------------------------------------
|
|
# Options for OpenOCD flash-programming
|
|
# see openocd.pdf/openocd.texi for further information
|
|
#
|
|
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
|
|
# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
|
|
OOCD_EXE=openocd
|
|
# debug level
|
|
OOCD_CL=-d0
|
|
# interface and board/target settings (using the OOCD target-library here)
|
|
UNAME := $(shell uname)
|
|
ifeq ($(UNAME), Darwin)
|
|
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
|
|
else
|
|
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
|
|
endif
|
|
# initialize
|
|
OOCD_CL+=-c init
|
|
# show the targets
|
|
OOCD_CL+=-c targets
|
|
# commands to prepare flash-write
|
|
OOCD_CL+= -c "reset halt"
|
|
# flash erase
|
|
OOCD_CL+=-c "stm32x mass_erase 0"
|
|
# flash-write
|
|
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.
|
|
CC = $(TCHAIN_PREFIX)gcc
|
|
CPP = $(TCHAIN_PREFIX)g++
|
|
AR = $(TCHAIN_PREFIX)ar
|
|
OBJCOPY = $(TCHAIN_PREFIX)objcopy
|
|
OBJDUMP = $(TCHAIN_PREFIX)objdump
|
|
SIZE = $(TCHAIN_PREFIX)size
|
|
NM = $(TCHAIN_PREFIX)nm
|
|
REMOVE = $(REMOVE_CMD) -f
|
|
###SHELL = sh
|
|
###COPY = cp
|
|
|
|
|
|
|
|
# Define Messages
|
|
# English
|
|
MSG_ERRORS_NONE = Errors: none
|
|
MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
|
|
MSG_END = ${quote}-------- end --------${quote}
|
|
MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
|
|
MSG_SIZE_BEFORE = ${quote}Size before:${quote}
|
|
MSG_SIZE_AFTER = ${quote}Size after build:${quote}
|
|
MSG_LOAD_FILE = ${quote}Creating load file:${quote}
|
|
MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
|
|
MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
|
|
MSG_LINKING = ${quote}**** Linking :${quote}
|
|
MSG_COMPILING = ${quote}**** Compiling C :${quote}
|
|
MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
|
|
MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
|
|
MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
|
|
MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
|
|
MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
|
|
MSG_CLEANING = ${quote}Cleaning project:${quote}
|
|
MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
|
|
MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
|
|
MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
|
|
|
|
# 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)))
|
|
|
|
elf: $(OUTDIR)/$(TARGET).elf
|
|
lss: $(OUTDIR)/$(TARGET).lss
|
|
sym: $(OUTDIR)/$(TARGET).sym
|
|
hex: $(OUTDIR)/$(TARGET).hex
|
|
bin: $(OUTDIR)/$(TARGET).bin
|
|
|
|
# Default target.
|
|
#all: begin gccversion sizebefore build sizeafter finished end
|
|
all: begin gccversion build sizeafter finished end
|
|
|
|
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
|
|
|
|
# Test if quotes are needed for the echo-command
|
|
result = ${shell echo "test"}
|
|
ifeq (${result}, test)
|
|
quote = '
|
|
else
|
|
quote =
|
|
endif
|
|
|
|
${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 ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
|
|
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
|
|
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
|
|
|
# Eye candy.
|
|
begin:
|
|
## @echo
|
|
@echo $(MSG_BEGIN)
|
|
|
|
finished:
|
|
## @echo $(MSG_ERRORS_NONE)
|
|
|
|
end:
|
|
@echo $(MSG_END)
|
|
## @echo
|
|
|
|
# Display sizes of sections.
|
|
ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf
|
|
##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
|
|
sizebefore:
|
|
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
|
|
|
|
sizeafter:
|
|
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
|
|
@echo $(MSG_SIZE_AFTER)
|
|
$(ELFSIZE)
|
|
|
|
# Display compiler version information.
|
|
gccversion :
|
|
@$(CC) --version
|
|
# @echo $(ALLOBJ)
|
|
|
|
# Program the device.
|
|
ifeq ($(USE_BOOTLOADER), YES)
|
|
# Program the device with OP Upload Tool".
|
|
program: $(OUTDIR)/$(TARGET).bin
|
|
@echo ${quote}Programming with OP Upload Tool${quote}
|
|
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin
|
|
else
|
|
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
|
|
endif
|
|
|
|
# Create final output file (.hex) from ELF output file.
|
|
%.hex: %.elf
|
|
## @echo
|
|
@echo $(MSG_LOAD_FILE) $@
|
|
$(OBJCOPY) -O ihex $< $@
|
|
|
|
# Create final output file (.bin) from ELF output file.
|
|
%.bin: %.elf
|
|
## @echo
|
|
@echo $(MSG_LOAD_FILE) $@
|
|
$(OBJCOPY) -O binary $< $@
|
|
|
|
# Create extended listing file/disassambly from ELF output file.
|
|
# using objdump testing: option -C
|
|
%.lss: %.elf
|
|
## @echo
|
|
@echo $(MSG_EXTENDED_LISTING) $@
|
|
$(OBJDUMP) -h -S -C -r $< > $@
|
|
# $(OBJDUMP) -x -S $< > $@
|
|
|
|
# Create a symbol table from ELF output file.
|
|
%.sym: %.elf
|
|
## @echo
|
|
@echo $(MSG_SYMBOL_TABLE) $@
|
|
$(NM) -n $< > $@
|
|
|
|
# Link: create ELF output file from object files.
|
|
.SECONDARY : $(TARGET).elf
|
|
.PRECIOUS : $(ALLOBJ)
|
|
%.elf: $(ALLOBJ)
|
|
@echo $(MSG_LINKING) $@
|
|
# use $(CC) for C-only projects or $(CPP) for C++-projects:
|
|
$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
|
# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
|
|
|
|
|
# Assemble: create object files from assembler source files.
|
|
define ASSEMBLE_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_ASSEMBLING) $$< to $$@
|
|
$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
|
|
|
# Assemble: create object files from assembler source files. ARM-only
|
|
define ASSEMBLE_ARM_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_ASSEMBLING_ARM) $$< to $$@
|
|
$(CC) -c $$(ASFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
|
|
|
|
|
# Compile: create object files from C source files.
|
|
define COMPILE_C_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_COMPILING) $$< to $$@
|
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
|
|
|
# Compile: create object files from C source files. ARM-only
|
|
define COMPILE_C_ARM_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_COMPILING_ARM) $$< to $$@
|
|
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
|
|
|
|
|
# Compile: create object files from C++ source files.
|
|
define COMPILE_CPP_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_COMPILINGCPP) $$< to $$@
|
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
|
|
|
# Compile: create object files from C++ source files. ARM-only
|
|
define COMPILE_CPP_ARM_TEMPLATE
|
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
## @echo
|
|
@echo $(MSG_COMPILINGCPP_ARM) $$< to $$@
|
|
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
|
endef
|
|
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
|
|
|
|
|
# Compile: create assembler files from C source files. ARM/Thumb
|
|
$(SRC:.c=.s) : %.s : %.c
|
|
@echo $(MSG_ASMFROMC) $< to $@
|
|
$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
|
|
|
# Compile: create assembler files from C source files. ARM only
|
|
$(SRCARM:.c=.s) : %.s : %.c
|
|
@echo $(MSG_ASMFROMC_ARM) $< to $@
|
|
$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
|
|
|
# Generate Doxygen documents
|
|
docs:
|
|
doxygen $(DOXYGENDIR)/doxygen.cfg
|
|
|
|
# Target: clean project.
|
|
clean: begin clean_list finished end
|
|
|
|
clean_list :
|
|
## @echo
|
|
@echo $(MSG_CLEANING)
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).map
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).elf
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).hex
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).bin
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).sym
|
|
$(REMOVE) $(OUTDIR)/$(TARGET).lss
|
|
$(REMOVE) $(ALLOBJ)
|
|
$(REMOVE) $(LSTFILES)
|
|
$(REMOVE) $(DEPFILES)
|
|
$(REMOVE) $(SRC:.c=.s)
|
|
$(REMOVE) $(SRCARM:.c=.s)
|
|
$(REMOVE) $(CPPSRC:.cpp=.s)
|
|
$(REMOVE) $(CPPSRCARM:.cpp=.s)
|
|
|
|
|
|
# Create output files directory
|
|
# all known MS Windows OS define the ComSpec environment variable
|
|
ifdef ComSpec
|
|
$(shell md $(OUTDIR) 2>NUL)
|
|
else
|
|
$(shell mkdir $(OUTDIR) 2>/dev/null)
|
|
endif
|
|
|
|
# Include the dependency files.
|
|
ifdef ComSpec
|
|
-include $(shell md $(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
|
|
|
|
|
|
|
|
# Listing of phony targets.
|
|
.PHONY : all begin finish end sizebefore sizeafter gccversion \
|
|
build elf hex bin lss sym clean clean_list program
|
|
|