mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
d8edab8371
what they would be on a real board. Also fixed a typo in stabilization.c which made me lose time when trying to understand the code... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2260 ebee16cc-31ac-478f-84a7-5cbb03baadba
786 lines
23 KiB
Makefile
786 lines
23 KiB
Makefile
#####
|
|
# 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
|
|
#####
|
|
|
|
|
|
# Set developer code and compile options
|
|
# Set to YES to compile for debugging
|
|
DEBUG ?= YES
|
|
|
|
# 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
|
|
|
|
#
|
|
USE_BOOTLOADER ?= NO
|
|
|
|
|
|
# Set to YES when using Code Sourcery toolchain
|
|
CODE_SOURCERY ?= YES
|
|
|
|
# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
|
|
TCHAIN_PREFIX ?= arm-none-eabi-
|
|
|
|
# Remove command is different for Code Sourcery on Windows
|
|
ifeq ($(CODE_SOURCERY), YES)
|
|
REMOVE_CMD = cs-rm
|
|
else
|
|
REMOVE_CMD = rm
|
|
endif
|
|
|
|
FLASH_TOOL = OPENOCD
|
|
|
|
# YES enables -mthumb option to flags for source-files listed
|
|
# in SRC and CPPSRC
|
|
USE_THUMB_MODE = YES
|
|
|
|
# List of modules to include
|
|
MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance Watchdog FirmwareIAP
|
|
|
|
#MODULES = Telemetry Example
|
|
#MODULES = Telemetry MK/MKSerial
|
|
#MODULES = Telemetry
|
|
#MODULES += Osd/OsdEtStd
|
|
|
|
|
|
# MCU name, submodel and board
|
|
# - MCU used for compiler-option (-mcpu)
|
|
# - MODEL used for linker-script name (-T) and passed as define
|
|
# - BOARD just passed as define (optional)
|
|
MCU = cortex-m3
|
|
CHIP = STM32F103RET
|
|
BOARD = STM3210E_OP
|
|
MODEL = HD
|
|
ifeq ($(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 = Build
|
|
|
|
# Target file name (without extension).
|
|
TARGET = OpenPilot
|
|
|
|
# Paths
|
|
OPSYSTEM = ./System
|
|
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
|
|
AHRSBOOTLOADER = ../Bootloaders/AHRS/
|
|
AHRSBOOTLOADERINC = $(AHRSBOOTLOADER)/inc
|
|
|
|
# List C source files here. (C dependencies are automatically generated.)
|
|
# use file-extension c for "c-only"-files
|
|
|
|
MODNAMES = $(notdir ${MODULES})
|
|
|
|
ifndef TESTAPP
|
|
## MODULES
|
|
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
|
SRC += ${OUTDIR}/InitMods.c
|
|
## OPENPILOT CORE:
|
|
SRC += ${OPMODULEDIR}/System/systemmod.c
|
|
SRC += $(OPSYSTEM)/openpilot.c
|
|
SRC += $(OPSYSTEM)/pios_board.c
|
|
SRC += $(OPSYSTEM)/alarms.c
|
|
SRC += $(OPUAVTALK)/uavtalk.c
|
|
SRC += $(OPUAVOBJ)/uavobjectmanager.c
|
|
SRC += $(OPUAVOBJ)/uavobjectsinit.c
|
|
SRC += $(OPUAVOBJ)/eventdispatcher.c
|
|
else
|
|
## TESTCODE
|
|
SRC += $(OPTESTS)/test_common.c
|
|
SRC += $(OPTESTS)/$(TESTAPP).c
|
|
endif
|
|
|
|
|
|
|
|
## UAVOBJECTS
|
|
ifndef TESTAPP
|
|
SRC += $(OPUAVOBJ)/objectpersistence.c
|
|
SRC += $(OPUAVOBJ)/positionactual.c
|
|
SRC += $(OPUAVOBJ)/gpsposition.c
|
|
SRC += $(OPUAVOBJ)/gpstime.c
|
|
SRC += $(OPUAVOBJ)/gpssatellites.c
|
|
SRC += $(OPUAVOBJ)/gcstelemetrystats.c
|
|
SRC += $(OPUAVOBJ)/flighttelemetrystats.c
|
|
SRC += $(OPUAVOBJ)/systemstats.c
|
|
SRC += $(OPUAVOBJ)/systemalarms.c
|
|
SRC += $(OPUAVOBJ)/systemsettings.c
|
|
SRC += $(OPUAVOBJ)/telemetrysettings.c
|
|
SRC += $(OPUAVOBJ)/actuatorcommand.c
|
|
SRC += $(OPUAVOBJ)/actuatordesired.c
|
|
SRC += $(OPUAVOBJ)/actuatorsettings.c
|
|
SRC += $(OPUAVOBJ)/manualcontrolcommand.c
|
|
SRC += $(OPUAVOBJ)/manualcontrolsettings.c
|
|
SRC += $(OPUAVOBJ)/attitudedesired.c
|
|
SRC += $(OPUAVOBJ)/stabilizationsettings.c
|
|
SRC += $(OPUAVOBJ)/ahrsstatus.c
|
|
SRC += $(OPUAVOBJ)/i2cstats.c
|
|
SRC += $(OPUAVOBJ)/baroaltitude.c
|
|
SRC += $(OPUAVOBJ)/ahrscalibration.c
|
|
SRC += $(OPUAVOBJ)/attitudeactual.c
|
|
SRC += $(OPUAVOBJ)/ahrssettings.c
|
|
SRC += $(OPUAVOBJ)/flightbatterystate.c
|
|
SRC += $(OPUAVOBJ)/attituderaw.c
|
|
SRC += $(OPUAVOBJ)/homelocation.c
|
|
SRC += $(OPUAVOBJ)/mixersettings.c
|
|
SRC += $(OPUAVOBJ)/mixerstatus.c
|
|
SRC += $(OPUAVOBJ)/positiondesired.c
|
|
SRC += $(OPUAVOBJ)/velocitydesired.c
|
|
SRC += $(OPUAVOBJ)/velocityactual.c
|
|
SRC += $(OPUAVOBJ)/guidancesettings.c
|
|
SRC += $(OPUAVOBJ)/firmwareiapobj.c
|
|
SRC += $(OPUAVOBJ)/ratedesired.c
|
|
SRC += $(OPUAVOBJ)/pipxtrememodemsettings.c
|
|
SRC += $(OPUAVOBJ)/pipxtrememodemstatus.c
|
|
endif
|
|
|
|
## 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_adc.c
|
|
SRC += $(PIOSSTM32F10X)/pios_servo.c
|
|
SRC += $(PIOSSTM32F10X)/pios_i2c.c
|
|
SRC += $(PIOSSTM32F10X)/pios_spi.c
|
|
SRC += $(PIOSSTM32F10X)/pios_ppm.c
|
|
SRC += $(PIOSSTM32F10X)/pios_pwm.c
|
|
SRC += $(PIOSSTM32F10X)/pios_spektrum.c
|
|
SRC += $(PIOSSTM32F10X)/pios_debug.c
|
|
SRC += $(PIOSSTM32F10X)/pios_gpio.c
|
|
SRC += $(PIOSSTM32F10X)/pios_exti.c
|
|
SRC += $(PIOSSTM32F10X)/pios_wdg.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_endp.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_sdcard.c
|
|
SRC += $(PIOSCOMMON)/pios_com.c
|
|
SRC += $(PIOSCOMMON)/pios_bmp085.c
|
|
SRC += $(PIOSCOMMON)/pios_iap.c
|
|
#SRC += $(PIOSCOMMON)/pios_opahrs.c
|
|
#SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
|
|
SRC += $(PIOSCOMMON)/printf-stdarg.c
|
|
SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
|
|
SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
|
|
## Libraries for flight calculations
|
|
SRC += $(FLIGHTLIB)/fifo_buffer.c
|
|
SRC += $(FLIGHTLIB)/WorldMagModel.c
|
|
SRC += $(FLIGHTLIB)/CoordinateConversions.c
|
|
|
|
## CMSIS for STM32
|
|
SRC += $(CMSISDIR)/core_cm3.c
|
|
SRC += $(CMSISDIR)/system_stm32f10x.c
|
|
|
|
## Used parts of the STM-Library
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
|
|
SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.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_iwdg.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
|
|
|
|
## RTOS
|
|
SRC += $(RTOSSRCDIR)/list.c
|
|
SRC += $(RTOSSRCDIR)/queue.c
|
|
SRC += $(RTOSSRCDIR)/tasks.c
|
|
|
|
## RTOS Portable
|
|
SRC += $(RTOSSRCDIR)/portable/GCC/ARM_CM3/port.c
|
|
SRC += $(RTOSSRCDIR)/portable/MemMang/heap_2.c
|
|
|
|
## Dosfs file system
|
|
SRC += $(DOSFSDIR)/dosfs.c
|
|
SRC += $(DOSFSDIR)/dfs_sdcard.c
|
|
|
|
## AHRS boot loader comms
|
|
SRC += $(AHRSBOOTLOADER)/ahrs_spi_program_master.c
|
|
SRC += $(AHRSBOOTLOADER)/ahrs_spi_program.c
|
|
|
|
## Mass Storage Device
|
|
#SRC += $(MSDDIR)/msd.c
|
|
#SRC += $(MSDDIR)/msd_bot.c
|
|
#SRC += $(MSDDIR)/msd_desc.c
|
|
#SRC += $(MSDDIR)/msd_memory.c
|
|
#SRC += $(MSDDIR)/msd_scsi.c
|
|
#SRC += $(MSDDIR)/msd_scsi_data.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)_OP.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
|
|
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
|
|
|
|
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${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 = $(PIOSSTM32F10X)
|
|
|
|
# Optimization level, can be [0, 1, 2, 3, s].
|
|
# 0 = turn off optimization. s = optimize for size.
|
|
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
|
|
|
|
ifeq ($(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)
|
|
CFLAGS += -mcpu=$(MCU) -mthumb
|
|
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 += $(CSTANDARD)
|
|
|
|
# Assembler flags.
|
|
# -Wa,...: tell GCC to pass this to the assembler.
|
|
# -ahlns: create listing
|
|
ASFLAGS = -mcpu=$(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
|
|
|