flight/libraries/PyMite/platform/openpilot_sitl/SConscript

   1 import os
   2 import glob
   3
   4 TCHAIN = "arm-eabi"
   5 #TCHAIN = "arm-elf"
   6 #TCHAIN = "arm-none-eabi"
   7
   8 Import("vars")
   9
  10 vars.Add("PM_UART_BAUD", "Baud rate of the ipm serial connection.", "19200")
  11 vars.Add("IPM", "Add the interactive library to the standard lib", True)
  12 vars.Add("MCU", "Type of ARM device; the arg to -mcpu.", "cortex-m3")
  13 vars.Add("NM", "", "arm-eabi-nm")
  14 vars.Add("OBJCOPY", "", "%s-objcopy" % TCHAIN)
  15 vars.Add("OBJDUMP", "", "%s-objdump" % TCHAIN)
  16 vars.Add("SIZE", "", "%s-size" % TCHAIN)
  17 #vars.Add("DEBUG","", True)
  18
  19 CFLAGS = " -DUART_BAUD=$PM_UART_BAUD -Dgcc" \
  20          " -DUSE_STDPERIPH_DRIVER -DSTM32F10X_HD" \
  21          " -Wall -Wimplicit" \
  22          " -mcpu=$MCU -mthumb -Os -fomit-frame-pointer -mlittle-endian" \
  23          " -ffunction-sections -fdata-sections -fno-strict-aliasing"
  24
  25 LDFLAGS = "-mcpu=$MCU -mthumb -Wl,-T -Xlinker src/platform/stm32/stm32f10x.ld" \
  26           " -u _start-Wl,-e,Reset_Handler -Wl,-static -Wl,--gc-sections" \
  27           " -nostartfiles -Wl,--allow-multiple-definition"
  28
  29 AFLAGS = "-x assembler-with-cpp $_CPPINCFLAGS -mcpu=$MCU -mthumb -Wall -c"
  30
  31 if "DEBUG" in vars.args.keys():
  32     CFLAGS = "-g -gstabs -D__DEBUG__=1 " + CFLAGS
  33
  34 SOURCES = ["main.c", "plat.c", "stm32f10x_it.c", "syscalls.c"]
  35 SOURCES += glob.glob("FWlib/src/*.c")
  36 SOURCES += glob.glob("FWlib/src/*.s")
  37
  38 PY_SOURCES = ["main.py"]
  39 PM_LIB_ROOT = ["pmvm_%s" % vars.args["PLATFORM"]]
  40
  41 env = Environment(variables = vars,
  42                   CPPPATH = ["#src/vm", "#src/platform/stm32", "#src/platform/stm32/FWlib/inc"],
  43                   CC = "%s-gcc" % TCHAIN,
  44                   AS =  "%s-gcc" % TCHAIN,
  45                   ASFLAGS = AFLAGS,
  46                   CCFLAGS = CFLAGS,
  47                   CXX = "%s-g++" % TCHAIN,
  48                   AR = "%s-ar" % TCHAIN,
  49                   ARFLAGS = "rcs",
  50                   RANLIB = "%s-ranlib" % TCHAIN,
  51                   LINKFLAGS = LDFLAGS,
  52                   ENV = os.environ)
  53
  54 vmlib = SConscript(["../../vm/SConscript"], ["env", "vars"])
  55
  56 pmfeatures = env.Command(["pmfeatures.h"], ["pmfeatures.py"],
  57     "src/tools/pmGenPmFeatures.py $SOURCE > $TARGET")
  58
  59 img_sources = env.Command(["main_img.c", "main_nat.c"], [PY_SOURCES],
  60     "src/tools/pmImgCreator.py -f src/platform/stm32/pmfeatures.py -c -u " \
  61     "-o src/platform/stm32/main_img.c " \
  62     "--native-file=src/platform/stm32/main_nat.c $SOURCES")
  63
  64 elf = env.Program("main.elf", SOURCES + img_sources + vmlib,
  65                   LIBS = [PM_LIB_ROOT,"c","gcc","m"], LIBPATH = ["../../vm"])
  66
  67 bin = env.Command("main.bin", "main.elf", "$OBJCOPY -O binary $SOURCE $TARGET")