mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-05 10:41:00 +08:00
105 lines
2.3 KiB
Makefile
105 lines
2.3 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
|
|
#
|
|
# tawaki_common.makefile
|
|
#
|
|
# based on STM32H7
|
|
# only compatible with ChibiOS
|
|
#
|
|
|
|
BOARD=tawaki
|
|
BOARD_VERSION=2.0
|
|
|
|
BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
|
|
BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD)_v$(BOARD_VERSION).h\"
|
|
|
|
ARCH=chibios
|
|
$(TARGET).ARCHDIR = $(ARCH)
|
|
|
|
RTOS=chibios
|
|
MCU=cortex-m7
|
|
|
|
## FPU on F7
|
|
USE_FPU=softfp
|
|
USE_FPU_OPT= -mfpu=fpv5-d16
|
|
|
|
USE_LTO ?= yes
|
|
|
|
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
|
|
|
|
##############################################################################
|
|
# Architecture or project specific options
|
|
#
|
|
# Define project name here (target)
|
|
PROJECT = $(TARGET)
|
|
|
|
CHIBIOS_LINKER_DIR = $(PAPARAZZI_SRC)/sw/airborne/arch/chibios/
|
|
|
|
# Project specific files and paths (see Makefile.chibios for details)
|
|
CHIBIOS_BOARD_PLATFORM = STM32H7xx/platform.mk
|
|
CHIBIOS_BOARD_LINKER = STM32H743xI_nobl_nc.ld
|
|
CHIBIOS_BOARD_STARTUP = startup_stm32h7xx.mk
|
|
|
|
# ITCM flash is a special flash that allow faster operations
|
|
# At the moment it is not possible to flash the code in this mode using dfu-util
|
|
# but it should work with the BlackMagicProbe or STLINK
|
|
# By default, normal flash is used
|
|
ifeq ($(USE_ITCM),1)
|
|
$(TARGET).CFLAGS += -DUSE_ITCM=1
|
|
DFU_ADDR = 0x00200000
|
|
else
|
|
$(TARGET).CFLAGS += -DUSE_ITCM=0
|
|
DFU_ADDR = 0x08000000
|
|
endif
|
|
|
|
##############################################################################
|
|
# Compiler settings
|
|
#
|
|
|
|
# default flash mode is via usb dfu bootloader
|
|
# possibilities: DFU-UTIL, SWD, STLINK
|
|
FLASH_MODE ?= DFU-UTIL
|
|
|
|
HAS_LUFTBOOT = FALSE
|
|
|
|
#
|
|
# default LED configuration
|
|
#
|
|
RADIO_CONTROL_LED ?= 4
|
|
BARO_LED ?= none
|
|
AHRS_ALIGNER_LED ?= 2
|
|
GPS_LED ?= 3
|
|
SYS_TIME_LED ?= 1
|
|
|
|
#
|
|
# default UART configuration (modem, gps, spektrum)
|
|
#
|
|
|
|
MODEM_PORT ?= UART2
|
|
MODEM_BAUD ?= B57600
|
|
|
|
GPS_PORT ?= UART7
|
|
GPS_BAUD ?= B57600
|
|
|
|
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
|
|
RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART8
|
|
|
|
# single mode
|
|
SBUS_PORT ?= UART8
|
|
# dual mode
|
|
SBUS1_PORT ?= UART8
|
|
SBUS2_PORT ?= UART6
|
|
|
|
#
|
|
# default actuator configuration
|
|
#
|
|
# you can use different actuators by adding a configure option to your firmware section
|
|
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
|
|
# and by setting the correct "driver" attribute in servo section
|
|
# e.g. <servo driver="Ppm">
|
|
#
|
|
ACTUATORS ?= actuators_pwm
|
|
|
|
|
|
# Bidirectionnal DSHOT timer for input capture timeout
|
|
DSHOT1_GPT_TIM ?= 7
|