https://github.com/tudelft/paparazzi
Tip revision: 341806fb0304a553ccef31266df151c59058a8c2 authored by Felix Ruess on 19 November 2014, 12:30:10 UTC
[release] v5.2.1 stable version
[release] v5.2.1 stable version
Tip revision: 341806f
Makefile.chibios-libopencm3
# Hey Emacs, this is a -*- makefile -*-
#
# Copyright (C) 2012 The Paparazzi Team
#
# This file is part of paparazzi.
#
# paparazzi 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 2, or (at your option)
# any later version.
#
# paparazzi 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 paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
# Verify that libopencm3 is compiled with chibios compatible float abi
# correct abi is -mfloat-abi=softfp
# on non chibios branches, libopencm3 is compiled with more optimised -mfloat-abi=hard
TAG_ABI_VFP_COUNT= \
$(shell (readelf -A $(PAPARAZZI_SRC)/sw/ext/libopencm3/lib/libopencm3_stm32f4.a | \
grep -c Tag_ABI_VFP_args))
ifneq ($(TAG_ABI_VFP_COUNT),0)
$(error libopencm3_stm32f4.a is generated with chibios incompatible -mfloat-abi=hard, \
please recompile with -mfloat-abi=softfp))
endif
#
# This is the common Makefile for target using chibios
CHIBIOS_BOARD_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD)/chibios-libopencm3
CHIBIOS_LIB_DIR = $(PAPARAZZI_SRC)/sw/airborne/subsystems/chibios-libopencm3
CHIBIOS_EXT = $(PAPARAZZI_SRC)/sw/ext/chibios
OPENCM3_EXT = $(PAPARAZZI_SRC)/sw/ext/libopencm3
PPRZ_GENERATED = $(AIRCRAFT_BUILD_DIR)/$(AIRCRAFT)/$(TARGET)/generated
PPRZ_CHIBIOS_OCM3 = $(SRC_FIRMWARE)/chibios-libopencm3
# Launch with "make Q=''" to get full command display
Q=@
#
# General rules
#
$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
##############################################################################
# Build global options
# NOTE: Can be overridden externally.
#
# Paparazzi options here.
ifeq ($(PPRZ_DEFINITION),)
PPRZ_DEFINITION = -DRTOS_IS_CHIBIOS -DUSE_ADC_WATCHDOG -DSYS_TIME_FREQUENCY=1000
endif
# Compiler options here.
ifeq ($(USE_OPT),)
# ChibiOS already define OPT
CH_OPT ?= 0 -g -ggdb3 -fno-inline
USE_OPT = -std=gnu11 -O$(CH_OPT) \
-falign-functions=16 -fno-omit-frame-pointer\
-W -Wall -Werror -Wno-error=unused-variable -Wno-error=format \
-Wno-error=unused-function -Wno-error=unused-parameter \
$(PPRZ_DEFINITION)
endif
# C specific options here (added to USE_OPT).
ifeq ($(USE_COPT),)
USE_COPT =
endif
# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
USE_CPPOPT = -fno-rtti
endif
# Enable this if you want the linker to remove unused code and data
ifeq ($(USE_LINK_GC),)
USE_LINK_GC = yes
endif
# If enabled, this option allows to compile the application in THUMB mode.
ifeq ($(USE_THUMB),)
USE_THUMB = yes
endif
# Enable this if you want to see the full log while compiling.
ifeq ($(USE_VERBOSE_COMPILE),)
ifeq ($(Q),@)
USE_VERBOSE_COMPILE = no
else
USE_VERBOSE_COMPILE = yes
endif
endif
#
# Build global options
##############################################################################
##############################################################################
# Architecture or project specific options
#
# Enables the use of FPU on Cortex-M4.
ifeq ($(USE_FPU),)
USE_FPU = yes
endif
#
# Architecture or project specific options
##############################################################################
##############################################################################
# Project, sources and paths
#
# Define project name here
PROJECT = ap
# Imported source files and paths
CHIBIOS = $(CHIBIOS_EXT)
OPENCM3 = $(OPENCM3_EXT)
OPENCM3_INC = $(OPENCM3)/include
OPENCM3_LIB = $(OPENCM3)/lib/
include $(CHIBIOS_BOARD_DIR)/board.mk
include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
#include $(CHIBIOS)/os/various/fatfs_bindings/fatfs.mk
include $(PAPARAZZI_HOME)/conf/chibios/fatfs.mk
include $(PAPARAZZI_HOME)/conf/chibios/chibi_lib_for_pprz.mk
# HACK : in order to make chibios to work with opencm3, we need a specially crafted
# vector.c file, with some vectors for chibios, and others for opencm3
# shunting should be done in mcuconf.h
PORTSRC := $(subst $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/vectors.c,\
$(PAPARAZZI_SRC)/sw/airborne/arch/stm32/stm32f4_chibios_vectors.c,\
$(PORTSRC))
include $(CHIBIOS)/os/kernel/kernel.mk
# Define linker script file here
LDSCRIPT= $($(TARGET).LDSCRIPT)
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(PORTSRC) \
$(KERNSRC) \
$(TESTSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(FATFSSRC) \
$(CHIBIOSLIBSRC) \
$(CHIBIOS)/os/various/chrtclib.c \
$(CHIBIOS)/os/various/syscalls.c
ECSRC = $($(TARGET).srcs)
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACSRC =
# C++ sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACPPSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCPPSRC =
# List ASM source files here
ASMSRC = $(PORTASM)
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOS)/os/various $(OPENCM3_INC) \
$(CHIBIOS_BOARD_DIR) $(CHIBIOS_LIB_DIR) \
$(PPRZ_GENERATED) $(FATFSINC) \
$(PPRZ_CHIBIOS_OCM3)
BUILDDIR := $(OBJDIR)
#
# Project, sources and paths
##############################################################################
##############################################################################
# Compiler settings
#
MCU = cortex-m4
#TRGT = arm-elf-
TRGT = arm-none-eabi-
CC = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
# runtime support makes code size explode.
LD = $(TRGT)gcc
#LD = $(TRGT)g++
CP = $(TRGT)objcopy
AS = $(TRGT)gcc -x assembler-with-cpp
OD = $(TRGT)objdump
HEX = $(CP) -O ihex
BIN = $(CP) -O binary
# ARM-specific options here
AOPT =
# THUMB-specific options here
TOPT = -mthumb -DTHUMB
# Define C warning options here
CWARN = -Wall -Wextra -Wstrict-prototypes
# Define C++ warning options here
CPPWARN = -Wall -Wextra
#
# Compiler settings
##############################################################################
##############################################################################
# Start of default section
#
# List all default C defines here, like -D_DEBUG=1
DDEFS = -DSTM32F4
#DDEFS =
# List all default ASM defines here, like -D_DEBUG=1
DADEFS =
# List all default directories to look for include files here
DINCDIR =
# List the default directory to look for the libraries here
DLIBDIR = $(OPENCM3_LIB)
# List all default libraries here
DLIBS = -lm -lopencm3_stm32f4
#DLIBS = -lm -lc -lnosys -nostartfiles -Wl,--gc-sections
#
# End of default section
##############################################################################
##############################################################################
# Start of user section
#
# List all user C define here, like -D_DEBUG=1
UDEFS = $($(TARGET).CFLAGS) $(LOCAL_CFLAGS) -DUSE_OCM3_SYSTICK_INIT=0
# Define ASM defines here
UADEFS =
# List all user directories here
# remove -I before include dir because ChibiOS is adding them again
UINCDIR = $(patsubst -I%,%,$(INCLUDES))
# List the user directory to look for the libraries here
ULIBDIR =
# List all user libraries here
ULIBS =
#
# End of user defines
##############################################################################
#
# Include upload rules
##############################################################################
include $(PAPARAZZI_HOME)/conf/Makefile.arm-embedded-toolchain
include $(PAPARAZZI_HOME)/conf/Makefile.stm32-upload
ifeq ($(USE_FPU),yes)
USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
DDEFS += -DCORTEX_USE_FPU=TRUE
else
DDEFS += -DCORTEX_USE_FPU=FALSE
endif
EXTRA_RULES_INCLUDE_PATH = $(PAPARAZZI_HOME)/conf/chibios/chibios_extra_rules.mk
include $(PAPARAZZI_HOME)/conf/chibios/chibios_rules.mk
#include $(CHIBIOS_EXT)/os/ports/GCC/ARMCMx/rules.mk