mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Piotr Esden-Tempski
48945a5c93
* Make the target device leave DFU mode after upload. * Make DfuSe leave optional. In some cases it is not desired to reboot into the payload after firmware upload. For those cases you can set DFU_LEAVE=0 and it will prevent the special DfuSe '''leave''' command to be issued. (this does not apply to devices that pull the boot0 pin high forever. After the '''leave''' the device will reboot and check the boot0 pin again. If the boot0 pin is asserted high during reboot the device will go back to the bootlader)
181 lines
5.3 KiB
Makefile
181 lines
5.3 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2013 Gautier Hattenberger
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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, see
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# <http://www.gnu.org/licenses/>.
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#
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#
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# This is the common Makefile for STM32 upload rules
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#
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# default: assume the luftboot bootloader is not used
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# if luftboot is used define HAS_LUFTBOOT to a value != 0
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OOCD_START_SECTOR = 0
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ASSUMING_LUFTBOOT = "no"
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ifdef HAS_LUFTBOOT
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$(shell echo luftboot: $(HAS_LUFTBOOT))
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ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
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OOCD_START_SECTOR = 4
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ASSUMING_LUFTBOOT = "yes"
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endif
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endif
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#
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# check which flash mode is configured
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#
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ifeq ($(FLASH_MODE),DFU)
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#
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# DFU flash mode paparazzi stm32_mem
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PYTHON ?= $(shell which python)
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ifdef DFU_ADDR
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DFU_ADDR_CMD = --addr=$(DFU_ADDR)
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endif
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ifdef DFU_PRODUCT
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DFU_PRODUCT_CMD = --product=$(DFU_PRODUCT)
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endif
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upload: $(OBJDIR)/$(TARGET).bin
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@echo "Using stm32 mem dfu loader"
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$(PYTHON) $(PAPARAZZI_SRC)/sw/tools/dfu/stm32_mem.py $(DFU_PRODUCT_CMD) $(DFU_ADDR_CMD) $^
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else ifeq ($(FLASH_MODE),DFU-UTIL)
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#
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# DFU flash mode using dfu-util
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DFU_ADDR ?= 0x08000000
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# verify if dfu-util version >= 0.7
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DFU_UTIL_VERSION = $(shell (dfu-util --version 2>/dev/null || echo NotFound 0) | head -n 1 | awk '{print $$2}')
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VERIFY = $(shell echo '$(DFU_UTIL_VERSION)>=0.7' | bc)
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DFU_SIZE ?= $(shell ls -nl $^ | awk '{print $$5}')
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DFU_LEAVE ?= 1
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ifeq ($(DFU_LEAVE),1)
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DFUSE_VERIFY_ADDRESS = $(DFU_ADDR):$(DFU_SIZE):leave
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else
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DFUSE_VERIFY_ADDRESS = $(DFU_ADDR):$(DFU_SIZE)
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endif
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upload: $(OBJDIR)/$(TARGET).bin
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@echo "Using dfu-util at $(DFU_ADDR)"
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$(Q)dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s $(DFU_ADDR) -D $^
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ifeq ($(VERIFY),1)
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@echo "Reading flashed bin file of size $(DFU_SIZE) for verification"
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$(Q)rm -f $(OBJDIR)/verify.bla
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$(Q)dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s $(DFUSE_VERIFY_ADDRESS) -U $(OBJDIR)/verify.bla
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$(Q)diff $^ $(OBJDIR)/verify.bla
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$(Q)rm -f $(OBJDIR)/verify.bla
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endif
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#
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# serial flash mode
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else ifeq ($(FLASH_MODE),SERIAL)
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LOADER ?= $(PAPARAZZI_SRC)/sw/tools/stm32loader/stm32loader.py
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upload: $(OBJDIR)/$(TARGET).bin
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$(LOADER) -p /dev/ttyUSB0 -b 115200 -e -w -v $^
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#
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# JTAG flash mode
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else ifeq ($(FLASH_MODE),JTAG)
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# via OpenOCD and "normal" jtag
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OOCD ?= openocd
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ifneq ($(BOARD_SERIAL),)
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OOCD_OPTIONS = -c "ft2232_serial $(BOARD_SERIAL)"
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endif
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ifndef $(TARGET).OOCD_INTERFACE
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OOCD_INTERFACE = lisa-l
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else
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OOCD_INTERFACE = $($(TARGET).OOCD_INTERFACE)
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endif
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ifndef $(TARGET).OOCD_BOARD
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OOCD_BOARD = lisa-l
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else
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OOCD_BOARD = $($(TARGET).OOCD_BOARD)
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endif
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upload: $(OBJDIR)/$(TARGET).hex
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@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
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@echo "Using OOCD = $(OOCD)"
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@echo " OOCD\t$<"
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$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
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-f board/$(OOCD_BOARD).cfg $(OOCD_OPTIONS) \
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-c init \
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-c "reset halt" \
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-c "reset init" \
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-c "flash erase_sector 0 $(OOCD_START_SECTOR) last" \
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-c "flash write_image $<" \
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-c reset \
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-c shutdown
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#
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# JTAG flash mode (with Black Magic Probe)
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else ifeq ($(FLASH_MODE),JTAG_BMP)
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BMP_PORT ?= $(shell ls /dev/bmp-gdb 2>/dev/null || echo /dev/ttyACM0)
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BMP_UPLOAD_SCRIPT ?= $(PAPARAZZI_SRC)/sw/tools/flash_scripts/bmp_jtag_flash.scr
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upload: $(OBJDIR)/$(TARGET).elf
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@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
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@echo "Using Black Magic Probe with JTAG on BMP_PORT $(BMP_PORT)"
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@echo "Using GDB = $(GDB)"
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@echo " BMP\t$<"
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$(Q)$(GDB) --batch \
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-ex 'target extended-remote $(BMP_PORT)' \
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-x $(BMP_UPLOAD_SCRIPT) \
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$<
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#
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# SWD flash mode (with Black Magic Probe)
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else ifeq ($(FLASH_MODE),SWD)
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# only works if BMP_PORT is defined
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BMP_PORT ?= $(shell ls /dev/bmp-gdb 2>/dev/null || echo /dev/ttyACM0)
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BMP_UPLOAD_SCRIPT ?= $(PAPARAZZI_SRC)/sw/tools/flash_scripts/bmp_swd_flash.scr
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upload: $(OBJDIR)/$(TARGET).elf
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@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
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@echo "Using Black Magic Probe with SWD on BMP_PORT $(BMP_PORT)"
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@echo "Using GDB = $(GDB)"
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@echo " BMP\t$<"
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$(Q)$(GDB) --batch \
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-ex 'target extended-remote $(BMP_PORT)' \
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-x $(BMP_UPLOAD_SCRIPT) \
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$<
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#
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# SWD flash mode (with STLINK)
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else ifeq ($(FLASH_MODE),STLINK)
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STLINK_ADDR ?= 0x08000000
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upload: $(OBJDIR)/$(TARGET).bin
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@echo "Using ST-LINK with SWD at $(STLINK_ADDR)"
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$(Q)st-flash write $^ $(STLINK_ADDR)
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else ifeq ($(FLASH_MODE),PX4_BOOTLOADER)
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# Program the device and start it.
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upload: $(OBJDIR)/$(TARGET).bin
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$(PAPARAZZI_SRC)/sw/tools/px4/px_mkfw.py --prototype $(PX4_PROTOTYPE) --image $(OBJDIR)/$(TARGET).bin > $(OBJDIR)/$(TARGET).px4
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$(PAPARAZZI_SRC)/sw/tools/px4/set_target.py $(PX4_TARGET) $(OBJDIR)/$(TARGET).px4
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$(PAPARAZZI_SRC)/sw/tools/px4/px_uploader.py --port $(PX4_BL_PORT) $(OBJDIR)/$(TARGET).px4
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#
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# no known flash mode
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else
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upload:
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@echo unknown FLASH_MODE $(FLASH_MODE)
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@echo Available FLASH_MODEs: DFU, DFU-UTIL, SWD, JTAG, JTAG_BMP, STLINK, SERIAL
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endif
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.PHONY : upload
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