flight/targets/boards/simposix/firmware/Makefile

   1 #####
   2 #
   3 # TODO: This file should be reworked. It will be done as a part of sim target refactoring.
   4 #
   5 # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
   6 #
   7 #
   8 # This program is free software; you can redistribute it and/or modify
   9 # it under the terms of the GNU General Public License as published by
  10 # the Free Software Foundation; either version 3 of the License, or
  11 # (at your option) any later version.
  12 #
  13 # This program is distributed in the hope that it will be useful, but
  14 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  15 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  16 # for more details.
  17 #
  18 # You should have received a copy of the GNU General Public License along
  19 # with this program; if not, write to the Free Software Foundation, Inc.,
  20 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  21 #####
  22
  23 override ARM_SDK_PREFIX :=
  24 override THUMB :=
  25
  26 include ../board-info.mk
  27 include $(ROOT_DIR)/make/firmware-defs.mk
  28
  29 # Set developer code and compile options
  30 # Set to YES for debugging
  31 DEBUG ?= YES
  32
  33 # List of modules to include
  34 MODULES = ManualControl Stabilization GPS
  35 MODULES += PathPlanner
  36 MODULES += PathFollower
  37 MODULES += CameraStab
  38 MODULES += Telemetry
  39 MODULES += Logging
  40 MODULES += FirmwareIAP
  41 MODULES += StateEstimation
  42 #MODULES += Sensors/simulated/Sensors
  43 MODULES += Airspeed
  44 #MODULES += AltitudeHold # now integrated in Stabilization
  45 #MODULES += OveroSync
  46
  47 SRC += $(FLIGHTLIB)/notification.c
  48
  49 # Paths
  50 OPSYSTEM = .
  51 BOARDINC = ..
  52 OPSYSTEMINC = $(OPSYSTEM)/inc
  53 OPUAVTALK = ../../../../uavtalk
  54 OPUAVTALKINC = $(OPUAVTALK)/inc
  55 OPUAVOBJ = ../../../../uavobjects
  56 OPUAVOBJINC = $(OPUAVOBJ)/inc
  57 PIOSINC = $(PIOS)/inc
  58 OPMODULEDIR = ../../../../modules
  59 FLIGHTLIB = ../../../../libraries
  60 FLIGHTLIBINC = $(FLIGHTLIB)/inc
  61 MATHLIB = $(FLIGHTLIB)/math
  62 MATHLIBINC = $(FLIGHTLIB)/math
  63 PIOSPOSIX = $(PIOS)/posix
  64 PIOSCOMMON = $(PIOS)/posix
  65 PIOSCORECOMMON = $(PIOS)/common
  66 PIOSCOMMONLIB = $(PIOS)/common/libraries
  67 BOOT =
  68 BOOTINC =
  69 UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
  70
  71 # optional component libraries
  72 include $(PIOS)/common/libraries/FreeRTOS/library.mk
  73 #include $(FLIGHTLIB)/PyMite/pymite.mk
  74
  75 # List C source files here. (C dependencies are automatically generated.)
  76 # use file-extension c for "c-only"-files
  77
  78 ## MODULES
  79 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
  80 SRC += ${OUTDIR}/InitMods.c
  81 ## OPENPILOT CORE:
  82 SRC += ${OPMODULEDIR}/System/systemmod.c
  83 SRC += $(OPSYSTEM)/simposix.c
  84 SRC += $(OPSYSTEM)/pios_board.c
  85 SRC += $(FLIGHTLIB)/alarms.c
  86 SRC += $(OPUAVTALK)/uavtalk.c
  87 SRC += $(OPUAVOBJ)/uavobjectmanager.c
  88 SRC += $(OPUAVOBJ)/eventdispatcher.c
  89 SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
  90
  91 SRC += $(FLIGHTLIB)/CoordinateConversions.c
  92 SRC += $(FLIGHTLIB)/fifo_buffer.c
  93 SRC += $(FLIGHTLIB)/WorldMagModel.c
  94 SRC += $(FLIGHTLIB)/insgps13state.c
  95 SRC += $(FLIGHTLIB)/paths.c
  96 SRC += $(FLIGHTLIB)/plans.c
  97 SRC += $(FLIGHTLIB)/sanitycheck.c
  98
  99 SRC += $(MATHLIB)/sin_lookup.c
 100 SRC += $(MATHLIB)/pid.c
 101 SRC += $(MATHLIB)/mathmisc.c
 102
 103 SRC += $(PIOSCORECOMMON)/pios_task_monitor.c
 104 SRC += $(PIOSCORECOMMON)/pios_dosfs_logfs.c
 105 SRC += $(PIOSCORECOMMON)/pios_debuglog.c
 106 SRC += $(PIOSCORECOMMON)/pios_callbackscheduler.c
 107 SRC += $(PIOSCORECOMMON)/pios_deltatime.c
 108 SRC += $(PIOSCORECOMMON)/pios_notify.c
 109 SRC += $(PIOSCORECOMMON)/pios_mem.c
 110
 111 ## PIOS Hardware
 112 include $(PIOS)/posix/library.mk
 113
 114 include ./UAVObjects.inc
 115 SRC += $(UAVOBJSRC)
 116
 117 # List any extra directories to look for include files here.
 118 #    Each directory must be seperated by a space.
 119 EXTRAINCDIRS  += $(PIOS)
 120 EXTRAINCDIRS  += $(PIOSINC)
 121 EXTRAINCDIRS  += $(BOARDINC)
 122 EXTRAINCDIRS  += $(OPSYSTEMINC)
 123 EXTRAINCDIRS  += $(OPUAVTALK)
 124 EXTRAINCDIRS  += $(OPUAVTALKINC)
 125 EXTRAINCDIRS  += $(OPUAVOBJ)
 126 EXTRAINCDIRS  += $(OPUAVOBJINC)
 127 EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
 128 EXTRAINCDIRS  += $(FLIGHTLIBINC)
 129 EXTRAINCDIRS  += $(MATHLIBINC)
 130 EXTRAINCDIRS  += $(PIOSCOMMON)
 131 EXTRAINCDIRS  += $(CMSISDIR)
 132 EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 133 EXTRAINCDIRS  += $(BOOTINC)
 134
 135 EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 136
 137 BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
 138 BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
 139 BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
 140 BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
 141 BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
 142 BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
 143 BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
 144
 145 # Since we are simulating all this firmware the code needs to know what the BL would
 146 # normally contain
 147 CFLAGS += $(BLONLY_CDEFS)
 148
 149 ifeq ($(DEBUG),YES)
 150 CFLAGS += -O0
 151 CFLAGS += -DGENERAL_COV
 152 CFLAGS += -finstrument-functions -ffixed-r10
 153 else
 154 CFLAGS += -Os
 155 endif
 156
 157 # common architecture-specific flags from the device-specific library makefile
 158 CFLAGS += $(ARCHFLAGS)
 159
 160 CFLAGS += $(UAVOBJDEFINE)
 161
 162 CFLAGS += -DDIAG_STACK
 163 CFLAGS += -DDIA_MIXERSTATUS
 164 CFLAGS += -DDIAG_RATEDESIRED
 165 CFLAGS += -DDIAG_I2C_WDG_STATS
 166 CFLAGS += -DDIAG_TASKS
 167 # Or all of above:
 168 #CFLAGS += -DDIAG_ALL
 169
 170 # This is not the best place for these.  Really should abstract out
 171 # to the board file or something
 172 #CFLAGS += -DSTM32F4XX
 173 CFLAGS += -DMEM_SIZE=1024000000
 174
 175 # Output format. (can be ihex or binary or both)
 176 #  binary to create a load-image in raw-binary format i.e. for SAM-BA,
 177 #  ihex to create a load-image in Intel hex format
 178 #LOADFORMAT = ihex
 179 #LOADFORMAT = binary
 180 LOADFORMAT = both
 181
 182 # Debugging format.
 183 DEBUGF = dwarf-2
 184
 185 # Place project-specific -D (define) and/or
 186 # -U options for C here.
 187 CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
 188 CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
 189 CDEFS += -DUSE_STDPERIPH_DRIVER
 190 CDEFS += -DUSE_$(BOARD)
 191
 192 # Place project-specific -D and/or -U options for
 193 # Assembler with preprocessor here.
 194 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
 195 ADEFS = -D__ASSEMBLY__
 196
 197 # Compiler flag to set the C Standard level.
 198 # c89   - "ANSI" C
 199 # gnu89 - c89 plus GCC extensions
 200 # c99   - ISO C99 standard (not yet fully implemented)
 201 # gnu99 - c99 plus GCC extensions
 202 CSTANDARD = -std=gnu99
 203
 204 #-----
 205
 206 # Compiler flags.
 207
 208 #  -g*:          generate debugging information
 209 #  -O*:          optimization level
 210 #  -f...:        tuning, see GCC manual and avr-libc documentation
 211 #  -Wall...:     warning level
 212 #  -Wa,...:      tell GCC to pass this to the assembler.
 213 #    -adhlns...: create assembler listing
 214 #
 215 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 216
 217 CFLAGS += -g$(DEBUGF)
 218
 219 CFLAGS += -ffast-math
 220
 221 #CFLAGS += -mcpu=$(MCU)
 222 CFLAGS += $(CDEFS)
 223 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 224
 225 #CFLAGS += -mapcs-frame
 226 CFLAGS += -fomit-frame-pointer
 227 ifeq ($(CODE_SOURCERY), YES)
 228 CFLAGS += -fpromote-loop-indices
 229 endif
 230
 231 CFLAGS += -Wall
 232 #CFLAGS += -Werror
 233 CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 234 # Compiler flags to generate dependency files:
 235 CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
 236
 237 # flags only for C
 238 #CONLYFLAGS += -Wnested-externs
 239 CONLYFLAGS += $(CSTANDARD)
 240
 241 # Assembler flags.
 242 #  -Wa,...:    tell GCC to pass this to the assembler.
 243 #  -ahlns:     create listing
 244 ASFLAGS  = $(ARCHFLAGS) -I. -x assembler-with-cpp
 245 ASFLAGS += $(ADEFS)
 246 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 247 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
 248
 249 MATH_LIB = -lm
 250
 251 # Linker flags.
 252 #  -Wl,...:     tell GCC to pass this to linker.
 253 #    -Map:      create map file
 254 #    --cref:    add cross reference to  map file
 255 #LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
 256 LDFLAGS = -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
 257 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
 258 LDFLAGS += -lc
 259 LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
 260 LDFLAGS += $(MATH_LIB)
 261 LDFLAGS += -lc -lgcc -lpthread -lrt
 262
 263 #Linker scripts
 264 LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 265
 266
 267 # Define programs and commands.
 268 REMOVE  = $(RM) -f
 269
 270 # List of all source files.
 271 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
 272 # List of all source files without directory and file-extension.
 273 ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
 274
 275 # Define all object files.
 276 ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE) uavobjectsinit.o.firmware_info ))
 277
 278 # Define all listing files (used for make clean).
 279 LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 280 # Define all depedency-files (used for make clean).
 281 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 282
 283 # Default target.
 284 all: gccversion build
 285
 286 ifeq ($(LOADFORMAT),ihex)
 287 build: elf hex lss sym
 288 else
 289 ifeq ($(LOADFORMAT),binary)
 290 build: elf bin lss sym
 291 else
 292 ifeq ($(LOADFORMAT),both)
 293 build: elf hex bin lss sym
 294 else
 295 $(error "$(MSG_FORMATERROR) $(FORMAT)")
 296 endif
 297 endif
 298 endif
 299
 300
 301 # Link: create ELF output file from object files.
 302 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 303
 304 # Assemble: create object files from assembler source files.
 305 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
 306
 307 # Assemble: create object files from assembler source files. ARM-only
 308 $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
 309
 310 # Compile: create object files from C source files.
 311 $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
 312
 313 # Compile: create object files from C source files. ARM-only
 314 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
 315
 316 # Compile: create object files from C++ source files.
 317 $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
 318
 319 # Compile: create object files from C++ source files. ARM-only
 320 $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
 321
 322 # Compile: create assembler files from C source files. ARM/Thumb
 323 $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 324
 325 # Compile: create assembler files from C source files. ARM only
 326 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 327
 328 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 329
 330 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 331
 332 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/uavobjectsinit.o,$(BOARD_TYPE),$(BOARD_REVISION)))
 333
 334 # Add jtag targets (program and wipe)
 335 $(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 336
 337 .PHONY: elf lss sym hex bin bino opfw
 338 elf: $(OUTDIR)/$(TARGET).elf
 339 lss: $(OUTDIR)/$(TARGET).lss
 340 sym: $(OUTDIR)/$(TARGET).sym
 341 hex: $(OUTDIR)/$(TARGET).hex
 342 bin: $(OUTDIR)/$(TARGET).bin
 343 bino: $(OUTDIR)/$(TARGET).bin.o
 344 opfw: $(OUTDIR)/$(TARGET).opfw
 345
 346 # Display sizes of sections.
 347 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
 348
 349 # Install: install binary file with prefix/suffix into install directory
 350 install: $(OUTDIR)/$(TARGET).opfw
 351 ifneq ($(INSTALL_DIR),)
 352         @echo $(MSG_INSTALLING) $(call toprel, $<)
 353         $(V1) mkdir -p $(INSTALL_DIR)
 354         $(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
 355 else
 356         $(error INSTALL_DIR must be specified for $@)
 357 endif
 358
 359 # Target: clean project.
 360 clean: clean_list
 361
 362 clean_list :
 363         @echo $(MSG_CLEANING)
 364         $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
 365         $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
 366         $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
 367         $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
 368         $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
 369         $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
 370         $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
 371         $(V1) $(REMOVE) $(ALLOBJ)
 372         $(V1) $(REMOVE) $(LSTFILES)
 373         $(V1) $(REMOVE) $(DEPFILES)
 374         $(V1) $(REMOVE) $(SRC:.c=.s)
 375         $(V1) $(REMOVE) $(SRCARM:.c=.s)
 376         $(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
 377         $(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
 378
 379 # Create output files directory
 380 # all known MS Windows OS define the ComSpec environment variable
 381 ifdef ComSpec
 382 $(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
 383 else
 384 $(shell mkdir -p $(OUTDIR) 2>/dev/null)
 385 endif
 386
 387 # Include the dependency files.
 388 ifdef ComSpec
 389 -include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
 390 else
 391 -include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 392 endif
 393
 394 #create compile-time module auto-initialisation
 395 MODNAMES = ${notdir $(subst /revolution,,$(MODULES))}
 396
 397 # Generate intermediate code
 398 gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
 399
 400 # Generate code for module initialization
 401 ${OUTDIR}/InitMods.c: Makefile
 402         $(V1) $(ECHO) $(MSG_MODINIT $(call toprel, $@))
 403         $(V1) $(ECHO) $(QUOTE)// Autogenerated file$(QUOTE) > ${OUTDIR}/InitMods.c
 404         $(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}$(QUOTE)  >> ${OUTDIR}/InitMods.c
 405         $(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}$(QUOTE)  >> ${OUTDIR}/InitMods.c
 406         $(V1) $(ECHO) $(QUOTE)void InitModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
 407         $(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}$(QUOTE)  >> ${OUTDIR}/InitMods.c
 408         $(V1) $(ECHO) $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
 409         $(V1) $(ECHO) $(QUOTE)void StartModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
 410         $(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Start();}$(QUOTE)  >> ${OUTDIR}/InitMods.c
 411         $(V1) $(ECHO) $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
 412
 413 # Listing of phony targets.
 414 .PHONY : all build clean clean_list install