flight/make/apps-defs.mk

   1 #
   2 # Copyright (C) 2015, The LibrePilot Project, http://www.librepilot.org
   3 # Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
   4 #
   5 # This program is free software; you can redistribute it and/or modify
   6 # it under the terms of the GNU General Public License as published by
   7 # the Free Software Foundation; either version 3 of the License, or
   8 # (at your option) any later version.
   9 #
  10 # This program is distributed in the hope that it will be useful, but
  11 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  12 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  13 # for more details.
  14 #
  15 # You should have received a copy of the GNU General Public License along
  16 # with this program; if not, write to the Free Software Foundation, Inc.,
  17 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  18 #
  19
  20 ifndef FLIGHT_MAKEFILE
  21     $(error Top level Makefile must be used to build this target)
  22 endif
  23
  24 # Paths
  25 TOPDIR          = .
  26 OPSYSTEM        = $(TOPDIR)
  27 BOARDINC        = $(TOPDIR)/..
  28 OPSYSTEMINC     = $(OPSYSTEM)/inc
  29 PIOSINC         = $(PIOS)/inc
  30 PIOSCOMMON      = $(PIOS)/common
  31 FLIGHTLIBINC    = $(FLIGHTLIB)/inc
  32
  33 ## UAVTalk and UAVObject manager
  34 OPUAVOBJINC     = $(OPUAVOBJ)/inc
  35 OPUAVTALKINC    = $(OPUAVTALK)/inc
  36
  37 ## MAVLink
  38 MAVLINKINC = $(FLIGHTLIB)/mavlink/v1.0/common
  39
  40
  41 ## PID
  42 PIDLIB          =$(FLIGHTLIB)/pid
  43 PIDLIBINC       =$(FLIGHTLIB)/pid
  44
  45 ## Math
  46 MATHLIB         = $(FLIGHTLIB)/math
  47 MATHLIBINC      = $(FLIGHTLIB)/math
  48
  49 ## FreeRTOS support
  50 FREERTOS_DIR     = $(PIOSCOMMON)/libraries/FreeRTOS
  51 include $(FREERTOS_DIR)/library.mk
  52
  53 ## Misc
  54 OPTESTS         = $(TOPDIR)/Tests
  55
  56 ## PIOS Hardware
  57 ifneq (,$(findstring STM32F10,$(CHIP)))
  58     include $(PIOS)/stm32f10x/library.mk
  59 else ifneq (,$(findstring STM32F4,$(CHIP)))
  60     include $(PIOS)/stm32f4xx/library.mk
  61 else ifneq (,$(findstring STM32F30,$(CHIP)))
  62     include $(PIOS)/stm32f30x/library.mk
  63 else ifneq (,$(findstring STM32F0,$(CHIP)))
  64     include $(PIOS)/stm32f0x/library.mk
  65 else
  66     $(error Unsupported CHIP: $(CHIP))
  67 endif
  68
  69 # List C source files here (C dependencies are automatically generated).
  70 # Use file-extension c for "c-only"-files
  71 ifneq ($(PIOS_APPS_MINIMAL),YES)
  72 ## PIOS Hardware (Common Peripherals)
  73 SRC += $(PIOSCOMMON)/pios_adxl345.c
  74 SRC += $(PIOSCOMMON)/pios_bma180.c
  75 SRC += $(PIOSCOMMON)/pios_bmp085.c
  76 SRC += $(PIOSCOMMON)/pios_etasv3.c
  77 SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
  78 SRC += $(PIOSCOMMON)/pios_hcsr04.c
  79 SRC += $(PIOSCOMMON)/pios_hmc5843.c
  80 SRC += $(PIOSCOMMON)/pios_hmc5x83.c
  81 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
  82 SRC += $(PIOSCOMMON)/pios_l3gd20.c
  83 SRC += $(PIOSCOMMON)/pios_mpu6000.c
  84 SRC += $(PIOSCOMMON)/pios_mpu9250.c
  85 SRC += $(PIOSCOMMON)/pios_mpxv.c
  86 SRC += $(PIOSCOMMON)/pios_ms4525do.c
  87 SRC += $(PIOSCOMMON)/pios_ms56xx.c
  88 SRC += $(PIOSCOMMON)/pios_bmp280.c
  89 SRC += $(PIOSCOMMON)/pios_oplinkrcvr.c
  90 SRC += $(PIOSCOMMON)/pios_video.c
  91 SRC += $(PIOSCOMMON)/pios_wavplay.c
  92 SRC += $(PIOSCOMMON)/pios_rfm22b.c
  93 SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
  94 SRC += $(PIOSCOMMON)/pios_rcvr.c
  95 SRC += $(PIOSCOMMON)/pios_dsm.c
  96 SRC += $(PIOSCOMMON)/pios_sbus.c
  97 SRC += $(PIOSCOMMON)/pios_hott.c
  98 SRC += $(PIOSCOMMON)/pios_srxl.c
  99 SRC += $(PIOSCOMMON)/pios_exbus.c
 100 SRC += $(PIOSCOMMON)/pios_ibus.c
 101 SRC += $(PIOSCOMMON)/pios_sdcard.c
 102 SRC += $(PIOSCOMMON)/pios_sensors.c
 103 SRC += $(PIOSCOMMON)/pios_servo.c
 104 SRC += $(PIOSCOMMON)/pios_openlrs.c
 105 SRC += $(PIOSCOMMON)/pios_openlrs_rcvr.c
 106 SRC += $(PIOSCOMMON)/pios_board_io.c
 107 SRC += $(PIOSCOMMON)/pios_board_sensors.c
 108
 109 ## Misc library functions
 110 SRC += $(FLIGHTLIB)/sanitycheck.c
 111 SRC += $(FLIGHTLIB)/CoordinateConversions.c
 112 SRC += $(MATHLIB)/sin_lookup.c
 113
 114 ## PID library functions
 115 SRC += $(MATHLIB)/pid.c
 116 CPPSRC += $(PIDLIB)/pidcontroldown.cpp
 117
 118 ## PIOS Hardware (Common)
 119 SRC += $(PIOSCOMMON)/pios_debuglog.c
 120 endif
 121
 122 SRC += $(PIOSCOMMON)/pios_iap.c
 123 SRC += $(PIOSCOMMON)/pios_com.c
 124 SRC += $(PIOSCOMMON)/pios_com_msg.c
 125 SRC += $(PIOSCOMMON)/pios_crc.c
 126 SRC += $(PIOSCOMMON)/pios_deltatime.c
 127 SRC += $(PIOSCOMMON)/pios_led.c
 128 SRC += $(PIOSCOMMON)/pios_semaphore.c
 129 SRC += $(PIOSCOMMON)/pios_thread.c
 130
 131 ifneq ($(PIOS_OMITS_USB),YES)
 132 ## PIOS USB related files
 133 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
 134 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 135 SRC += $(PIOSCOMMON)/pios_usb_util.c
 136 endif
 137 ## PIOS system code
 138 SRC += $(PIOSCOMMON)/pios_task_monitor.c
 139 SRC += $(PIOSCOMMON)/pios_callbackscheduler.c
 140 SRC += $(PIOSCOMMON)/pios_notify.c
 141 SRC += $(PIOSCOMMON)/pios_instrumentation.c
 142 SRC += $(PIOSCOMMON)/pios_mem.c
 143 ## Misc library functions
 144 SRC += $(FLIGHTLIB)/fifo_buffer.c
 145
 146 SRC += $(MATHLIB)/mathmisc.c
 147 SRC += $(MATHLIB)/butterworth.c
 148 SRC += $(FLIGHTLIB)/printf-stdarg.c
 149 SRC += $(FLIGHTLIB)/optypes.c
 150
 151 ## CPP support
 152 ifeq ($(USE_CXX),YES)
 153 CPPSRC += $(FLIGHTLIB)/mini_cpp.cpp
 154 endif
 155
 156 ifeq ($(DEBUG), YES)
 157 SRC += $(FLIGHTLIB)/dcc_stdio.c
 158 SRC += $(FLIGHTLIB)/cm3_fault_handlers.c
 159 endif
 160
 161 ## Modules
 162 SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
 163 CPPSRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.cpp)))
 164 SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
 165
 166 # Declare all non-optional modules as built-in to force inclusion.
 167 # Built-in modules are always enabled and cannot be disabled.
 168 MODNAMES := $(notdir $(subst /revolution,,$(MODULES)))
 169 MODULES_BUILTIN := $(foreach mod, $(MODNAMES), -DMODULE_$(shell echo $(mod) | tr '[:lower:]' '[:upper:]')_BUILTIN)
 170 CDEFS += $(MODULES_BUILTIN)
 171
 172 MODNAMES_ALL := $(notdir $(subst /revolution,,$(OPTMODULES) $(MODULES)))
 173 MODULES_ALL := $(foreach mod, $(MODNAMES_ALL), -DHAS_$(shell echo $(mod) | tr '[:lower:]' '[:upper:]')_MODULE)
 174 CDEFS += $(MODULES_ALL)
 175
 176 # List C source files here which must be compiled in ARM-Mode (no -mthumb).
 177 # Use file-extension c for "c-only"-files
 178 SRCARM +=
 179
 180 # List C++ source files here.
 181 # Use file-extension .cpp for C++-files (not .C)
 182 CPPSRC +=
 183
 184 # List C++ source files here which must be compiled in ARM-Mode.
 185 # Use file-extension .cpp for C++-files (not .C)
 186 CPPSRCARM +=
 187
 188 # List Assembler source files here.
 189 # Make them always end in a capital .S. Files ending in a lowercase .s
 190 # will not be considered source files but generated files (assembler
 191 # output from the compiler), and will be deleted upon "make clean"!
 192 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 193 # it will preserve the spelling of the filenames, and gcc itself does
 194 # care about how the name is spelled on its command-line.
 195 ASRC +=
 196
 197 # List Assembler source files here which must be assembled in ARM-Mode.
 198 ASRCARM +=
 199
 200 # List any extra directories to look for include files here.
 201 #    Each directory must be seperated by a space.
 202 EXTRAINCDIRS += $(PIOS)
 203 EXTRAINCDIRS += $(PIOSINC)
 204 EXTRAINCDIRS += $(BOARDINC)
 205 EXTRAINCDIRS += $(FLIGHTLIBINC)
 206 EXTRAINCDIRS += $(PIOSCOMMON)
 207 EXTRAINCDIRS += $(OPSYSTEMINC)
 208 EXTRAINCDIRS += $(MATHLIBINC)
 209 EXTRAINCDIRS += $(PIDLIBINC)
 210 EXTRAINCDIRS += $(OPUAVOBJINC)
 211 EXTRAINCDIRS += $(OPUAVTALKINC)
 212 EXTRAINCDIRS += $(FLIGHT_UAVOBJ_DIR)
 213 EXTRAINCDIRS += $(MAVLINKINC)
 214
 215 # Modules
 216 EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/inc) $(OPMODULEDIR)/System/inc
 217
 218 # List any extra directories to look for library files here.
 219 # Also add directories where the linker should search for
 220 # includes from linker-script to the list
 221 #     Each directory must be seperated by a space.
 222 EXTRA_LIBDIRS +=
 223
 224 # Extra Libraries
 225 #    Each library-name must be seperated by a space.
 226 #    i.e. to link with libxyz.a, libabc.a and libefsl.a:
 227 #    EXTRA_LIBS = xyz abc efsl
 228 # for newlib-lpc (file: libnewlibc-lpc.a):
 229 #    EXTRA_LIBS = newlib-lpc
 230 EXTRA_LIBS += m
 231
 232 # Compiler flags
 233 CFLAGS +=
 234
 235 # Set linker-script name depending on selected submodel name
 236 ifeq ($(MCU),cortex-m3)
 237     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
 238     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_sections.ld
 239 else ifeq ($(MCU),cortex-m4)
 240     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 241 else ifeq ($(MCU),cortex-m0)
 242     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
 243     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_sections.ld
 244 endif
 245
 246 # Add jtag targets (program and wipe)
 247 $(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))