mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Freek van Tienen
2a0dba4025
* [chibios] Add STM32H7 * [chibios] Update to latest version * [chibios] Cleanup board configuration * [chibios] Cleanup peripheral drivers * [chibios] Fix bootloader interrupt vector done inside ChibiOS * [sdlogger] Enable RTC by default * [chibios] Fix DMA buffers SPI/I2C * [formatting] Fix formatting/styling of files * [chibios] Change PWM configuration (small fixes i2c and makefile) * [chibios] Generic board files * [boards] Fix apogee board * [conf] Cleanup airframes and remove Navstik board
378 lines
10 KiB
Makefile
378 lines
10 KiB
Makefile
#
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# Copyright (C) 2012-2016 The Paparazzi Team
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#
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# This file is part of paparazzi.
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#
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# paparazzi 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 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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#
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# This is the common Makefile for target using chibios
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#
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# chibios directory
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CHIBIOS = $(PAPARAZZI_SRC)/sw/ext/chibios
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# directory with board defines for chibios platforms (board specific)
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BOARD_COMMON ?=
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BOARD_DIR ?= $(BOARD)/chibios
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CHIBIOS_BOARD_COMMON_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD_COMMON)
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CHIBIOS_BOARD_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD_DIR)
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# chibos linker scripts directory
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# to keep backwards compatibility with Luftboot (Lia/Lisa M)
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# and possibly other bootloaders (like PX4 bootloader)
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# we need to keep a separate linker script with a memory offset
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# because it is not possible to pass it dynamicaly to the linker
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# hence we have two destinations for linker scripts
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CHIBIOS_BOOTLOADER_SCRIPT =
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# check if we used 1 to define presence of luftboot
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ifeq ($(HAS_LUFTBOOT),1)
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CHIBIOS_BOOTLOADER_SCRIPT = 1
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endif
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# check if we used TRUE to define presence of luftboot
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ifeq ($(HAS_LUFTBOOT),TRUE)
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CHIBIOS_BOOTLOADER_SCRIPT = 1
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endif
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ifdef CHIBIOS_BOOTLOADER_SCRIPT
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# we use the modified linker script
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CHIBIOS_LINKER_DIR ?= $(PAPARAZZI_SRC)/sw/airborne/arch/chibios/
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else
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# we use the original linker script
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CHIBIOS_LINKER_DIR ?= $(STARTUPLD)
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endif
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# Launch with "make Q=''" to get full command display
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Q=@
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# Debugging options
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RTOS_DEBUG ?= 0
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ifeq (,$(findstring $(RTOS_DEBUG),0 FALSE))
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$(info ChibiOS Debug mode is ON)
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$(TARGET).CFLAGS += \
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-DCH_DBG_STATISTICS=TRUE \
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-DCH_DBG_SYSTEM_STATE_CHECK=TRUE \
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-DCH_DBG_ENABLE_CHECKS=TRUE \
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-DCH_DBG_ENABLE_ASSERTS=TRUE \
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-DCH_DBG_ENABLE_TRACE=TRUE \
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-DCH_DBG_ENABLE_STACK_CHECK=TRUE \
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-DCH_DBG_FILL_THREADS=TRUE \
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-DCH_DBG_STATISTICS=TRUE
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else
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$(TARGET).CFLAGS += -DCH_DBG_STATISTICS=TRUE -DCH_DBG_FILL_THREADS=TRUE
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endif
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#
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# Add syscalls and c++ new/delete operators
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#
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$(TARGET).srcs += c++.cpp pprz_syscalls.c
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$(TARGET).CXXFLAGS += -fno-sized-deallocation
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$(TARGET).CXXFLAGS += $(CXXSTANDARD)
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#
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# General rules
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#
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$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
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$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
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$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
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##############################################################################
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# Build global options
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# NOTE: Can be overridden externally.
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#
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# Paparazzi options here.
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ifeq ($(PPRZ_DEFINITION),)
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PPRZ_DEFINITION = -DUSE_CHIBIOS_RTOS -DUSE_ADC_WATCHDOG -DPPRZLINK_UNALIGNED_ACCESS=1
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endif
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# Compiler options here.
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ifeq ($(USE_OPT),)
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# ChibiOS already define OPT
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ifeq (,$(findstring $(RTOS_DEBUG),0 FALSE))
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CH_OPT ?= 0 -g -ggdb3 -fno-inline
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else
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CH_OPT ?= 2 -ggdb
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endif
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USE_OPT = -O$(CH_OPT) \
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-falign-functions=16 -fomit-frame-pointer \
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-W -Wall \
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$(PPRZ_DEFINITION)
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endif
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# C specific options here (added to USE_OPT).
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ifeq ($(USE_COPT),)
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USE_COPT = -std=gnu99
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endif
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# C++ specific options here (added to USE_OPT).
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ifeq ($(USE_CPPOPT),)
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USE_CPPOPT = -fno-rtti
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endif
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# Enable this if you want the linker to remove unused code and data
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ifeq ($(USE_LINK_GC),)
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USE_LINK_GC = yes
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endif
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# Linker extra options here.
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ifeq ($(USE_LDOPT),)
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USE_LDOPT =
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endif
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# Enable this if you want link time optimizations (LTO)
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ifeq ($(USE_LTO),)
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USE_LTO = no
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else
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# Force LTO to 'no' if in debug mode
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ifeq (,$(findstring $(RTOS_DEBUG),0 FALSE))
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USE_LTO = no
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endif
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endif
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# If enabled, this option allows to compile the application in THUMB mode.
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ifeq ($(USE_THUMB),)
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USE_THUMB = yes
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endif
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# Enable this if you want to see the full log while compiling.
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ifeq ($(USE_VERBOSE_COMPILE),)
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ifeq ($(Q),@)
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USE_VERBOSE_COMPILE = no
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else
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USE_VERBOSE_COMPILE = yes
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endif
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endif
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# If enabled, this option makes the build process faster by not compiling
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# modules not used in the current configuration.
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ifeq ($(USE_SMART_BUILD),)
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USE_SMART_BUILD = no
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endif
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#
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# Build global options
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##############################################################################
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##############################################################################
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# Architecture or project specific options
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#
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# Stack size to be allocated to the Cortex-M process stack. This stack is
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# the stack used by the main() thread.
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ifeq ($(USE_PROCESS_STACKSIZE),)
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USE_PROCESS_STACKSIZE = 0x2000
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endif
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# Stack size to the allocated to the Cortex-M main/exceptions stack. This
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# stack is used for processing interrupts and exceptions.
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ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
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USE_EXCEPTIONS_STACKSIZE = 0x400
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endif
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# Enables the use of FPU on Cortex-M4 / M7 (no, softfp, hard).
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ifeq ($(USE_FPU),)
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USE_FPU = hard
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endif
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#
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# Architecture or project specific options
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##############################################################################
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##############################################################################
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# Project, sources and paths
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#
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# Project name defined in board makefile
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# Imported source files and paths
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# Licensing files.
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include $(CHIBIOS)/os/license/license.mk
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# Startup files.
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include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/$(CHIBIOS_BOARD_STARTUP)
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# HAL-OSAL files (optional).
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include $(CHIBIOS)/os/hal/hal.mk
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include $(CHIBIOS)/os/hal/ports/STM32/$(CHIBIOS_BOARD_PLATFORM)
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include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
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# RTOS files (optional).
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include $(CHIBIOS)/os/rt/rt.mk
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include $(CHIBIOS)/os/common/ports/ARMv7-M/compilers/GCC/mk/port.mk
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# Other files (optional).
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#
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ifeq ($(USE_FATFS), TRUE)
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include $(PAPARAZZI_HOME)/conf/chibios/fatfs.mk
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endif
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# Define linker script file here
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LDSCRIPT= $(CHIBIOS_LINKER_DIR)/$(CHIBIOS_BOARD_LINKER)
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# C sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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CSRC = $(ALLCSRC) \
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$(CHIBIOS)/os/various/syscalls.c \
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$(PAPARAZZI_SRC)/sw/airborne/arch/chibios/board.c
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ECSRC = $(filter %.c, $($(TARGET).srcs))
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ECPPSRC = $(filter %.cpp, $($(TARGET).srcs))
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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CPPSRC =
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# C sources to be compiled in ARM mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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ACSRC =
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# C++ sources to be compiled in ARM mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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ACPPSRC =
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# C sources to be compiled in THUMB mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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TCSRC =
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# C sources to be compiled in THUMB mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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TCPPSRC =
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# List ASM source files here
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ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
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INCDIR = $(CONFDIR) $(ALLINC) $(CHIBIOS_BOARD_DIR) $(CHIBIOS_BOARD_COMMON_DIR)
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# Output directory and files
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BUILDDIR := $(AIRCRAFT_BUILD_DIR)/$(TARGET)
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#
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# Project, sources and paths
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##############################################################################
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##############################################################################
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# Compiler settings
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#
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MCU ?= cortex-m4
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TRGT = arm-none-eabi-
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CC = $(TRGT)gcc
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CPPC = $(TRGT)g++
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# Enable loading with g++ only if you need C++ runtime support.
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# NOTE: You can use C++ even without C++ support if you are careful. C++
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# runtime support makes code size explode.
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ifeq ($(ECPPSRC),)
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LD = $(TRGT)gcc
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else
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LD = $(TRGT)g++
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endif
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CP = $(TRGT)objcopy
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AS = $(TRGT)gcc -x assembler-with-cpp
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AR = $(TRGT)ar
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OD = $(TRGT)objdump
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SZ = $(TRGT)size
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HEX = $(CP) -O ihex
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BIN = $(CP) -O binary
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# ARM-specific options here
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AOPT =
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# THUMB-specific options here
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TOPT = -mthumb -DTHUMB
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# Define C warning options here
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CWARN = -Wall -Wextra -Wstrict-prototypes
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# Define C++ warning options here
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CPPWARN = -Wall -Wextra
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#
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# Compiler settings
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##############################################################################
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##############################################################################
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# Start of user section
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#
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# List all user C define here, like -D_DEBUG=1
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UDEFS = $($(TARGET).CFLAGS) $(USER_CFLAGS) $(BOARD_CFLAGS)
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# List all extra user CPP define here
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UPDEFS = $($(TARGET).CXXFLAGS)
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# Define ASM defines here
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UADEFS = $($(TARGET).CFLAGS) $(USER_CFLAGS) $(BOARD_CFLAGS)
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# List all user directories here
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# remove -I before include dir because ChibiOS is adding them again
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UINCDIR = $(CHIBIOS)/os/license $(patsubst -I%,%,$(INCLUDES))
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# List the user directory to look for the libraries here
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ULIBDIR = $(RUST_DIRS)
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# List all user libraries here
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ULIBS = -lm $(BOARD_LDFLAGS) $(RUST_LIBS)
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#
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# End of user defines
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##############################################################################
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#
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# Include upload rules
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##############################################################################
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# default: assume the luftboot bootloader is used
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# if luftboot is not used define NO_LUFTBOOT to a value != 0
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# this is necessary for Makefile.stm32-upload
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ifdef NO_LUFTBOOT
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ASSUMING_LUFTBOOT = "no"
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else
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ASSUMING_LUFTBOOT = "yes"
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endif
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# Settings for GDB
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GDB = $(shell which arm-none-eabi-gdb)
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ifeq ($(GDB),)
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GDB = $(shell which gdb-multiarch)
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endif
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# Settings for OOCD
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$(TARGET).OOCD_INTERFACE=ftdi/flossjtag
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OOCD_INTERFACE=ftdi/flossjtag
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OOCD = $(shell which openocd)
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ifndef $(TARGET).OOCD_BOARD
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OOCD_BOARD = lisa-m
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else
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OOCD_BOARD = $($(TARGET).OOCD_BOARD)
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endif
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###############################################################################
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RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
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#include $(RULESPATH)/rules.mk
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EXTRA_RULES_INCLUDE_PATH = $(PAPARAZZI_HOME)/conf/chibios/chibios_extra_rules.mk
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include $(PAPARAZZI_HOME)/conf/chibios/chibios_rules.mk
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###############################################################################
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# Upload makefile
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include $(PAPARAZZI_HOME)/conf/Makefile.stm32-upload
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