# Hey Emacs, this is a -*- makefile -*-
#
# Copyright (C) 2013 Gautier Hattenberger
#
# 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, see
# <http://www.gnu.org/licenses/>.
#

#
# This is the common Makefile for STM32 upload rules
#


# default: assume the luftboot bootloader is not used
# if luftboot is used define HAS_LUFTBOOT to a value != 0
OOCD_START_SECTOR = 0
ASSUMING_LUFTBOOT = "no"
ifdef HAS_LUFTBOOT
$(shell echo luftboot: $(HAS_LUFTBOOT))
ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
OOCD_START_SECTOR = 4
ASSUMING_LUFTBOOT = "yes"
endif
endif


#
# check which flash mode is configured
#
ifeq ($(FLASH_MODE),DFU)
#
# DFU flash mode paparazzi stm32_mem
PYTHON ?= $(shell which python)
ifdef DFU_ADDR
DFU_ADDR_CMD = --addr=$(DFU_ADDR)
endif
ifdef DFU_PRODUCT
DFU_PRODUCT_CMD = --product=$(DFU_PRODUCT)
endif
upload: $(OBJDIR)/$(TARGET).bin
	@echo "Using stm32 mem dfu loader"
	$(PYTHON) $(PAPARAZZI_SRC)/sw/tools/dfu/stm32_mem.py $(DFU_PRODUCT_CMD) $(DFU_ADDR_CMD) $^


else ifeq ($(FLASH_MODE),DFU-UTIL)
#
# DFU flash mode using dfu-util
DFU_ADDR ?= 0x08000000
# verify if dfu-util version >= 0.7
DFU_UTIL_VERSION = $(shell (dfu-util --version 2>/dev/null || echo NotFound 0) | head -n 1 | awk '{print $$2}')
VERIFY = $(shell echo '$(DFU_UTIL_VERSION)>=0.7' | bc)
DFU_SIZE ?= $(shell ls -nl $^ | awk '{print $$5}')
upload: $(OBJDIR)/$(TARGET).bin
	@echo "Using dfu-util at $(DFU_ADDR)"
	$(Q)dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s $(DFU_ADDR) -D $^
ifeq ($(VERIFY),1)
	@echo "Reading flashed bin file of size $(DFU_SIZE) for verification"
	$(Q)rm -f $(OBJDIR)/verify.bla
	$(Q)dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s $(DFU_ADDR):$(DFU_SIZE) -U $(OBJDIR)/verify.bla
	$(Q)diff $^ $(OBJDIR)/verify.bla
	$(Q)rm -f $(OBJDIR)/verify.bla
endif

#
# serial flash mode
else ifeq ($(FLASH_MODE),SERIAL)
LOADER ?= $(PAPARAZZI_SRC)/sw/tools/stm32loader/stm32loader.py
upload: $(OBJDIR)/$(TARGET).bin
	$(LOADER) -p /dev/ttyUSB0  -b 115200 -e -w -v $^

#
# JTAG flash mode
else ifeq ($(FLASH_MODE),JTAG)
# via OpenOCD and "normal" jtag
OOCD ?= openocd
ifneq ($(BOARD_SERIAL),)
OOCD_OPTIONS = -c "ft2232_serial $(BOARD_SERIAL)"
endif

ifndef $(TARGET).OOCD_INTERFACE
OOCD_INTERFACE = lisa-l
else
OOCD_INTERFACE =  $($(TARGET).OOCD_INTERFACE)
endif

ifndef $(TARGET).OOCD_BOARD
OOCD_BOARD = lisa-l
else
OOCD_BOARD =  $($(TARGET).OOCD_BOARD)
endif
upload: $(OBJDIR)/$(TARGET).hex
	@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
	@echo "Using OOCD = $(OOCD)"
	@echo "  OOCD\t$<"
	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
		-f board/$(OOCD_BOARD).cfg $(OOCD_OPTIONS) \
		-c init \
		-c "reset halt" \
		-c "reset init" \
		-c "flash erase_sector 0 $(OOCD_START_SECTOR) last" \
		-c "flash write_image $<" \
		-c reset \
		-c shutdown

#
# JTAG flash mode (with Black Magic Probe)
else ifeq ($(FLASH_MODE),JTAG_BMP)
BMP_PORT ?= /dev/ttyACM0
BMP_UPLOAD_SCRIPT ?= $(PAPARAZZI_SRC)/sw/tools/flash_scripts/bmp_jtag_flash.scr
upload: $(OBJDIR)/$(TARGET).elf
	@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
	@echo "Using Black Magic Probe with JTAG on BMP_PORT $(BMP_PORT)"
	@echo "Using GDB = $(GDB)"
	@echo "  BMP\t$<"
	$(Q)$(GDB) --batch \
		   -ex 'target extended-remote $(BMP_PORT)' \
		   -x $(BMP_UPLOAD_SCRIPT) \
		   $<

#
# SWD flash mode (with Black Magic Probe)
else ifeq ($(FLASH_MODE),SWD)
# only works if BMP_PORT is defined
BMP_PORT ?= /dev/ttyACM0
BMP_UPLOAD_SCRIPT ?= $(PAPARAZZI_SRC)/sw/tools/flash_scripts/bmp_swd_flash.scr
upload: $(OBJDIR)/$(TARGET).elf
	@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
	@echo "Using Black Magic Probe with SWD on BMP_PORT $(BMP_PORT)"
	@echo "Using GDB = $(GDB)"
	@echo "  BMP\t$<"
	$(Q)$(GDB) --batch \
		   -ex 'target extended-remote $(BMP_PORT)' \
		   -x $(BMP_UPLOAD_SCRIPT) \
		   $<

#
# SWD flash mode (with STLINK)
else ifeq ($(FLASH_MODE),STLINK)
STLINK_ADDR ?= 0x08000000
upload: $(OBJDIR)/$(TARGET).bin
	@echo "Using ST-LINK with SWD at $(STLINK_ADDR)"
	$(Q)st-flash write $^ $(STLINK_ADDR)

#
# no known flash mode
else
upload:
	@echo unknown FLASH_MODE $(FLASH_MODE)
	@echo Available FLASH_MODEs: DFU, DFU-UTIL, SWD, JTAG, JTAG_BMP, STLINK, SERIAL
endif

.PHONY : upload