make/apps-defs.mk

   1 #
   2 # Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
   3 #
   4 # This program is free software; you can redistribute it and/or modify
   5 # it under the terms of the GNU General Public License as published by
   6 # the Free Software Foundation; either version 3 of the License, or
   7 # (at your option) any later version.
   8 #
   9 # This program is distributed in the hope that it will be useful, but
  10 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  11 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  12 # for more details.
  13 #
  14 # You should have received a copy of the GNU General Public License along
  15 # with this program; if not, write to the Free Software Foundation, Inc.,
  16 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  17 #
  18
  19 ifndef OPENPILOT_IS_COOL
  20     $(error Top level Makefile must be used to build this target)
  21 endif
  22
  23 # Paths
  24 TOPDIR          = .
  25 OPSYSTEM        = $(TOPDIR)
  26 BOARDINC        = $(TOPDIR)/..
  27 OPSYSTEMINC     = $(OPSYSTEM)/inc
  28 PIOSINC         = $(PIOS)/inc
  29 PIOSCOMMON      = $(PIOS)/common
  30 FLIGHTLIBINC    = $(FLIGHTLIB)/inc
  31
  32 ## UAVTalk and UAVObject manager
  33 OPUAVOBJINC     = $(OPUAVOBJ)/inc
  34 OPUAVTALKINC    = $(OPUAVTALK)/inc
  35
  36 ## Math
  37 MATHLIB         = $(FLIGHTLIB)/math
  38 MATHLIBINC      = $(FLIGHTLIB)/math
  39
  40 ## FreeRTOS support
  41 FREERTOS_DIR     = $(PIOSCOMMON)/libraries/FreeRTOS
  42 include $(FREERTOS_DIR)/library.mk
  43
  44 ## Misc
  45 OPTESTS         = $(TOPDIR)/Tests
  46
  47 ## PIOS Hardware
  48 ifeq ($(MCU),cortex-m3)
  49     include $(PIOS)/stm32f10x/library.mk
  50 else ifeq ($(MCU),cortex-m4)
  51     include $(PIOS)/stm32f4xx/library.mk
  52 else ifeq ($(MCU),cortex-m0)
  53     include $(PIOS)/stm32f0x/library.mk
  54 else
  55     $(error Unsupported MCU: $(MCU))
  56 endif
  57
  58 # List C source files here (C dependencies are automatically generated).
  59 # Use file-extension c for "c-only"-files
  60 ifneq ($(PIOS_APPS_MINIMAL),YES)
  61 ## PIOS Hardware (Common Peripherals)
  62 SRC += $(PIOSCOMMON)/pios_adxl345.c
  63 SRC += $(PIOSCOMMON)/pios_bma180.c
  64 SRC += $(PIOSCOMMON)/pios_bmp085.c
  65 SRC += $(PIOSCOMMON)/pios_etasv3.c
  66 SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
  67 SRC += $(PIOSCOMMON)/pios_hcsr04.c
  68 SRC += $(PIOSCOMMON)/pios_hmc5843.c
  69 SRC += $(PIOSCOMMON)/pios_hmc5x83.c
  70 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
  71 SRC += $(PIOSCOMMON)/pios_l3gd20.c
  72 SRC += $(PIOSCOMMON)/pios_mpu6000.c
  73 SRC += $(PIOSCOMMON)/pios_mpxv.c
  74 SRC += $(PIOSCOMMON)/pios_ms4525do.c
  75 SRC += $(PIOSCOMMON)/pios_ms5611.c
  76 SRC += $(PIOSCOMMON)/pios_oplinkrcvr.c
  77 SRC += $(PIOSCOMMON)/pios_video.c
  78 SRC += $(PIOSCOMMON)/pios_wavplay.c
  79 SRC += $(PIOSCOMMON)/pios_rfm22b.c
  80 SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
  81 SRC += $(PIOSCOMMON)/pios_rcvr.c
  82 SRC += $(PIOSCOMMON)/pios_sbus.c
  83 SRC += $(PIOSCOMMON)/pios_sdcard.c
  84 SRC += $(PIOSCOMMON)/pios_sensors.c
  85
  86 ## Misc library functions
  87 SRC += $(FLIGHTLIB)/sanitycheck.c
  88 SRC += $(FLIGHTLIB)/CoordinateConversions.c
  89 SRC += $(MATHLIB)/sin_lookup.c
  90 SRC += $(MATHLIB)/pid.c
  91
  92 ## PIOS Hardware (Common)
  93 SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
  94 SRC += $(PIOSCOMMON)/pios_flash_jedec.c
  95 SRC += $(PIOSCOMMON)/pios_debuglog.c
  96 endif
  97
  98 SRC += $(PIOSCOMMON)/pios_iap.c
  99 SRC += $(PIOSCOMMON)/pios_com.c
 100 SRC += $(PIOSCOMMON)/pios_com_msg.c
 101 SRC += $(PIOSCOMMON)/pios_crc.c
 102 SRC += $(PIOSCOMMON)/pios_deltatime.c
 103 SRC += $(PIOSCOMMON)/pios_led.c
 104
 105 ifneq ($(PIOS_OMITS_USB),YES)
 106 ## PIOS USB related files
 107 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
 108 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 109 SRC += $(PIOSCOMMON)/pios_usb_util.c
 110 endif
 111 ## PIOS system code
 112 SRC += $(PIOSCOMMON)/pios_task_monitor.c
 113 SRC += $(PIOSCOMMON)/pios_callbackscheduler.c
 114 SRC += $(PIOSCOMMON)/pios_notify.c
 115 SRC += $(PIOSCOMMON)/pios_instrumentation.c
 116 SRC += $(PIOSCOMMON)/pios_mem.c
 117 ## Misc library functions
 118 SRC += $(FLIGHTLIB)/fifo_buffer.c
 119
 120 SRC += $(MATHLIB)/mathmisc.c
 121 SRC += $(MATHLIB)/butterworth.c
 122 SRC += $(FLIGHTLIB)/printf-stdarg.c
 123 SRC += $(FLIGHTLIB)/optypes.c
 124
 125 ## Modules
 126 SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
 127 CPPSRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.cpp)))
 128 SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
 129
 130 # Declare all non-optional modules as built-in to force inclusion.
 131 # Built-in modules are always enabled and cannot be disabled.
 132 MODNAMES := $(notdir $(subst /revolution,,$(MODULES)))
 133 MODULES_BUILTIN := $(foreach mod, $(MODNAMES), -DMODULE_$(shell $(ECHO) $(mod) | tr '[:lower:]' '[:upper:]')_BUILTIN)
 134 CDEFS += $(MODULES_BUILTIN)
 135
 136 # List C source files here which must be compiled in ARM-Mode (no -mthumb).
 137 # Use file-extension c for "c-only"-files
 138 SRCARM +=
 139
 140 # List C++ source files here.
 141 # Use file-extension .cpp for C++-files (not .C)
 142 CPPSRC +=
 143
 144 # List C++ source files here which must be compiled in ARM-Mode.
 145 # Use file-extension .cpp for C++-files (not .C)
 146 CPPSRCARM +=
 147
 148 # List Assembler source files here.
 149 # Make them always end in a capital .S. Files ending in a lowercase .s
 150 # will not be considered source files but generated files (assembler
 151 # output from the compiler), and will be deleted upon "make clean"!
 152 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 153 # it will preserve the spelling of the filenames, and gcc itself does
 154 # care about how the name is spelled on its command-line.
 155 ASRC +=
 156
 157 # List Assembler source files here which must be assembled in ARM-Mode.
 158 ASRCARM +=
 159
 160 # List any extra directories to look for include files here.
 161 #    Each directory must be seperated by a space.
 162 EXTRAINCDIRS += $(PIOS)
 163 EXTRAINCDIRS += $(PIOSINC)
 164 EXTRAINCDIRS += $(BOARDINC)
 165 EXTRAINCDIRS += $(FLIGHTLIBINC)
 166 EXTRAINCDIRS += $(PIOSCOMMON)
 167 EXTRAINCDIRS += $(OPSYSTEMINC)
 168 EXTRAINCDIRS += $(MATHLIBINC)
 169 EXTRAINCDIRS += $(OPUAVOBJINC)
 170 EXTRAINCDIRS += $(OPUAVTALKINC)
 171 EXTRAINCDIRS += $(OPUAVSYNTHDIR)
 172
 173 # Modules
 174 EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/inc) $(OPMODULEDIR)/System/inc
 175
 176 # List any extra directories to look for library files here.
 177 # Also add directories where the linker should search for
 178 # includes from linker-script to the list
 179 #     Each directory must be seperated by a space.
 180 EXTRA_LIBDIRS +=
 181
 182 # Extra Libraries
 183 #    Each library-name must be seperated by a space.
 184 #    i.e. to link with libxyz.a, libabc.a and libefsl.a:
 185 #    EXTRA_LIBS = xyz abc efsl
 186 # for newlib-lpc (file: libnewlibc-lpc.a):
 187 #    EXTRA_LIBS = newlib-lpc
 188 EXTRA_LIBS += m
 189
 190 # Compiler flags
 191 CFLAGS +=
 192
 193 # Set linker-script name depending on selected submodel name
 194 ifeq ($(MCU),cortex-m3)
 195     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
 196     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_sections.ld
 197 else ifeq ($(MCU),cortex-m4)
 198     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 199 else ifeq ($(MCU),cortex-m0)
 200     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
 201     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_sections.ld
 202 endif
 203
 204 # Add jtag targets (program and wipe)
 205 $(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))