mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-30 20:48:33 -04:00
mk: added F4Light HAL support
This commit is contained in:
night-ghost
Andrew Tridgell
parent
0d8c71de71
commit
207f7893d6
@ -47,6 +47,10 @@ ifeq ($(HAL_BOARD),HAL_BOARD_QURT)
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include $(MK_DIR)/board_qurt.mk
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endif
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ifeq ($(HAL_BOARD),HAL_BOARD_F4LIGHT)
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include $(MK_DIR)/board_F4Light.mk
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endif
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endif
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endif
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362
mk/board_F4Light.mk
Normal file
362
mk/board_F4Light.mk
Normal file
@ -0,0 +1,362 @@
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#TOOLCHAIN = NATIVE
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TOOLCHAIN = ARM
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ARM_CXX := arm-none-eabi-g++
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ARM_CC := arm-none-eabi-gcc
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ARM_AS := arm-none-eabi-gcc
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ARM_AR := arm-none-eabi-ar
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#ARM_LD := arm-none-eabi-g++
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ARM_LD := arm-none-eabi-ld
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ARM_GDB := arm-none-eabi-gdb
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ARM_OBJCOPY := arm-none-eabi-objcopy
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#TOOLCHAIN = arm-none-eabi
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include $(MK_DIR)/find_tools.mk
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.DEFAULT_GOAL := all
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##
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## Target-specific configuration. This determines some compiler and
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## linker options/flags.
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##
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PATH:=$(PATH):/usr/local/bin
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# these default to a Maple Flash build.
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BOARD ?= f4light_Revolution
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MEMORY_TARGET ?= flash
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##
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## Useful paths, constants, etc.
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##
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STFLASH := /usr/local/stlink/st-flash
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STUTIL := /usr/local/stlink/st-util
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FLASH_ADDRESS := 0x08010000
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UPLOADER := dfu-util
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#leaflabs bootloader
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USBID := 1EAF:0003
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BLDROOT := $(SRCROOT)/..
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#BUILD_PATH := $(BLDROOT)/build
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BUILD_PATH := $(BUILDROOT)
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LIBRARIES_PATH := $(BLDROOT)/libraries
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REVO_PATH := $(LIBRARIES_PATH)/AP_HAL_F4Light
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WIRISH_PATH := $(REVO_PATH)/wirish
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BOARDS_PATH := $(REVO_PATH)/boards
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HARDWARE_PATH := $(REVO_PATH)/hardware
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HAL_PATH := $(REVO_PATH)/hardware/hal
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STM32_PATH := $(HARDWARE_PATH)/STM32F4xx_DSP_StdPeriph_Lib_V1.1.0
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STM32USB_PATH := $(HARDWARE_PATH)/STM32_USB_Driver
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cpu_flags := -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
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FIRMWARE_PATH := $(BLDROOT)/$(SKETCH)
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# List of input files to the sketch.cpp file in the order they should be appended to create it
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LIBRARY_INCLUDES :=
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SUPPORT_PATH := $(BLDROOT)/libraries/AP_HAL_F4Light/support
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TOOLS_PATH := $(BLDROOT)/libraries/AP_HAL_F4Light/support/tools
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# Support files for linker
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LDDIR := $(BOARDS_PATH)/$(BOARD)/ld
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# $(BOARD)- and $(MEMORY_TARGET)-specific configuration
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include $(BOARDS_PATH)/$(BOARD)/target-config.mk
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SIZE := arm-none-eabi-size
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DISAS := arm-none-eabi-objdump
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##
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## Compilation flags
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##
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EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_BYTESWAP_H=0
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EXTRAFLAGS += $(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DSKETCH_MAIN=ArduPilot_main
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GITFLAGS := -DGIT_VERSION="\"$(GIT_VERSION) $(shell date --rfc-3339=seconds)\""
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# -Wformat=1
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# -Werror=init-self -Wno-missing-field-initializers
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#-Werror
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WARNFLAGS = -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-psabi -Wno-unused-parameter -Wno-error=cast-align -Wno-error=unused-but-set-variable
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WARNFLAGS += -Wwrite-strings -Wformat=2 -Wshadow -Wfloat-equal -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-pragmas
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WARNFLAGS += -Wextra -Wlogical-op -Wno-unknown-pragmas -Wno-redundant-decls -Wno-packed -Wno-error=double-promotion -Wno-error=type-limits
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WARNFLAGS += -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=unused-parameter -Wno-missing-field-initializers
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WARNFLAGS += -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Werror=format-security -Werror=array-bounds
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WARNFLAGS += -Wno-error=unused-label -Wno-trigraphs
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OPTFLAGS = -Os
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OPTFLAGS += -fsingle-precision-constant -g3 -fno-strict-aliasing -fomit-frame-pointer -frename-registers
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#-fno-strength-reduce
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OPTFLAGS += -fno-builtin-printf -fno-aggressive-loop-optimizations -fpredictive-commoning
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#OPTFLAGS += -fassociative-math
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# -freciprocal-math -ffast-math - cause EKF errors
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OPTFLAGS += -fno-signed-zeros -fno-trapping-math
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OPTFLAGS += -finline-functions-called-once -fearly-inlining -finline-small-functions
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OPTFLAGS += -fmerge-all-constants
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WARNFLAGSCXX = -Wno-reorder
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DEPFLAGS = -MD -MT $@
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GLOBAL_FLAGS := -D$(VECT_BASE_ADDR)
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GLOBAL_FLAGS += -DBOARD_$(BOARD)
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GLOBAL_FLAGS += -DMCU_$(MCU)
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GLOBAL_FLAGS += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
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GLOBAL_FLAGS += -DSTM32F4XX
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GLOBAL_FLAGS += -DUSE_STDPERIPH_DRIVER
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GLOBAL_FLAGS += -DARM_MATH_CM4
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GLOBAL_FLAGS += -DUSE_OTG_FS_CORE
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GLOBAL_FLAGS += -DUSE_USB_OTG_FS
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GLOBAL_FLAGS += -DUSE_EMBEDDED_PHY
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GLOBAL_FLAGS += -D__FPU_PRESENT
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GLOBAL_FLAGS += -D__FPU_USED=1
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GLOBAL_FLAGS += -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
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GLOBAL_FLAGS += $(WARNFLAGS) $(DEPFLAGS) $(EXTRAFLAGS) $(OPTS)
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#
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GLOBAL_FLAGS += -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
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GLOBAL_FLAGS += -ffunction-sections
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GLOBAL_FLAGS += -fdata-sections
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#Produce debugging information in the operating system's native format
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GLOBAL_FLAGS += -ggdb
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#GLOBAL_FLAGS += -v -save-temps # for GCC bugreport
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# GLOBAL_CFLAGS -----------------------------------------------------------------------------------
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GLOBAL_CFLAGS := $(cpu_flags)
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#GLOBAL_CFLAGS += -nostdlib #Do not use the standard system startup files or libraries when linking
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GLOBAL_CFLAGS += -Wall #This enables all the warnings about constructions that some users consider questionable, and that are easy to avoid (or modify to prevent the warning), even in conjunction with macros
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GLOBAL_CFLAGS += $(GLOBAL_FLAGS) $(OPTFLAGS)
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GLOBAL_CFLAGS += -include $(BOARDS_PATH)/$(BOARD)/board.h
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# GLOBAL_CXXFLAGS ---------------------------------------------------------------------------------
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GLOBAL_CXXFLAGS := -fno-rtti #Disable generation of information about every class with virtual functions for use by the C++ runtime type identification features
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GLOBAL_CXXFLAGS += -fno-exceptions -fno-threadsafe-statics # not true C++
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GLOBAL_CXXFLAGS += -fconserve-space -fno-enforce-eh-specs -fno-use-cxa-atexit
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GLOBAL_CXXFLAGS += -std=gnu++11
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# Downgrade some diagnostics about nonconformant code from errors to warnings. Thus, using "-fpermissive" will allow some nonconforming code to compile.
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GLOBAL_CXXFLAGS += $(GLOBAL_CFLAGS) -fpermissive
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#-fpermissive
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# missing definitions
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GLOBAL_CXXFLAGS += -c -include $(WIRISH_PATH)/defs.h
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# GLOBAL_ASFLAGS ----------------------------------------------------------------------------------
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GLOBAL_ASFLAGS := $(cpu_flags)
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GLOBAL_ASFLAGS += -x assembler-with-cpp
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GLOBAL_ASFLAGS += $(GLOBAL_FLAGS) $(OPTFLAGS)
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# GLOBAL_LDFLAGS ----------------------------------------------------------------------------------
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LDFLAGS := $(cpu_flags)
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LDFLAGS += -static
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LDFLAGS += -lm -lgcc
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LDFLAGS += -Wall
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LDFLAGS += -Wl,--gc-sections
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LDFLAGS += -Wl,--cref
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#LDFLAGS += -Wl,--print-gc-sections
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LDFLAGS += -Wl,-Map -Wl,$(BUILD_PATH)/$(BOARD).map
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LDFLAGS += -T$(LDDIR)/$(LDSCRIPT)
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LDFLAGS += -L$(LDDIR)
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LDFLAGS += -Wl,--warn-common
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# -Wl,--verbose
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#let's linker optimize whole program itself
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LDFLAGS += -Wl,--relax
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#LDFLAGS += -fwhole-program
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##
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# -fwhole-program
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#--plugin=/usr/local/arm-none-eabi/lib/gcc/arm-none-eabi/5.2.1/liblto_plugin.so
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# -flto -fuse-linker-plugin
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# used to collect files from HAL folders tree
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TGT_BIN :=
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COREINCLUDES = -I$(HAL_PATH) -I$(STM32_PATH) -I$(WIRISH_PATH) -I$(BOARDS_PATH)/$(BOARD) -I$(STM32USB_PATH) \
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-I$(HARDWARE_PATH) \
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-I$(STM32_PATH)/Libraries/STM32F4xx_StdPeriph_Driver/inc \
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-I$(STM32_PATH)/Libraries/CMSIS/Include \
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-I$(STM32_PATH)/Libraries/CMSIS/Device/ST/STM32F4xx/Include \
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-I$(BUILDROOT)/libraries/GCS_MAVLink/ \
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-I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v2.0
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TGT_ASFLAGS = $(COREINCLUDES)
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##
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## Build rules and useful templates
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##
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include $(MK_DIR)/find_tools.mk
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# all subfolder's rules
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include $(WIRISH_PATH)/rules.mk
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include $(HARDWARE_PATH)/hal/rules.mk
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include $(HARDWARE_PATH)/4way/rules.mk
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include $(HARDWARE_PATH)/sd/rules.mk
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include $(HARDWARE_PATH)/STM32_USB_Driver/rules.mk
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include $(HARDWARE_PATH)/STM32F4xx_DSP_StdPeriph_Lib_V1.1.0/rules.mk
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include $(MK_DIR)/build_rules.mk
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LIBGCC := $(shell $(CC) $(GLOBAL_FLAGS) -print-libgcc-file-name)
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CFLAGS = $(GLOBAL_CFLAGS) $(TGT_CFLAGS) $(COREINCLUDES) -I$(LIBRARIES_PATH) $(LIBRARY_INCLUDES)
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CXXFLAGS = $(GLOBAL_CXXFLAGS) $(TGT_CFLAGS) $(COREINCLUDES) -I$(LIBRARIES_PATH) $(LIBRARY_INCLUDES) $(GITFLAGS)
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ASFLAGS = $(GLOBAL_ASFLAGS) $(TGT_ASFLAGS)
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##
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## Set all submodules here
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##
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SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES)
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SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES)
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################################################################################
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# Built products
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#
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# Library object files
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LIBOBJS := $(SKETCHLIBOBJS)
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# The ELF file
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SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
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BUILDELF = $(notdir $(SKETCHELF))
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# HEX file
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SKETCHHEX = $(BUILDROOT)/$(SKETCH).hex
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# BIN file
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SKETCHBIN = $(BUILDROOT)/$(SKETCH).bin
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# EEP file
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SKETCHEEP = $(BUILDROOT)/$(SKETCH).eep
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# Map file
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SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
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# All of the objects that may be built
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ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
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# All of the dependency files that may be generated
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ALLDEPS = $(ALLOBJS:%.o=%.d)
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CAT := cat
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FIND := /usr/bin/find
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################################################################################
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# Targets
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#
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all: $(SKETCHELF) $(SKETCHEEP) $(BUILD_PATH)/$(BOARD).bin
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print-%:
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echo "$*=$($*)"
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.PHONY: upload
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#upload via maple bootloader
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f4light-maple-upload: $(SKETCHBIN)
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$(LIBMAPLE_PATH)/support/scripts/reset.py && sleep 1 && $(UPLOADER) -a1 -d $(USBID) -D $(SKETCHBIN) -R
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#upload via BOOT0 hardware bootloader
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f4light-upload: $(SKETCHBIN)
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$(UPLOADER) -a 0 --dfuse-address $(FLASH_ADDRESS) -D $(SKETCHBIN) -R
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# sorry byt I use ST_LINK and SWD, not JTAG - @NG
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#f4light-debug:
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# $(AVARICE) --mkII --capture --jtag usb :4242 & \
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# gnome-terminal -x $(GDB) $(SKETCHELF) & \
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# echo -e '\n\nat the gdb prompt type "target remote localhost:4242"'
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## this allows you to flash your image via JTAG for when you
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## have completely broken your USB
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#f4light-jtag-program:
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# $(AVARICE) --mkII --jtag usb --erase --program --file $(SKETCHELF)
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f4light-debug:
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$(STUTIL) -m -p 4242
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## this allows you to flash your image via SWD for when you have completely broken your USB
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f4light-program:
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$(STFLASH) --reset write $(SKETCHBIN) $(FLASH_ADDRESS)
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################################################################################
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# Rules
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#
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# fetch dependency info from a previous build if any of it exists
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-include $(ALLDEPS)
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f4light-clean: clean
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$(v) $(FIND) $(REVO_PATH) -type f -name "*.d" -delete
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$(v) $(FIND) $(REVO_PATH) -type f -name "*.o" -delete
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$(v) $(FIND) $(REVO_PATH) -type f -name "*.i" -delete
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$(v) $(FIND) $(REVO_PATH) -type f -name "*.ii" -delete
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$(v) $(FIND) $(REVO_PATH) -type f -name "*.d" -delete
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# Link the final object. this line sets compilation order
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$(SKETCHELF): $(LIBOBJS) $(TGT_BIN) $(BUILD_PATH)/main.o $(SKETCHOBJS)
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$(RULEHDR)
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# $(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
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$(SILENT_LD) $(CXX) $(LDFLAGS) -o $@ $(TGT_BIN) $(BUILD_PATH)/main.o $(SKETCHOBJS) $(LIBOBJS) $(LIBS) $(LIBGCC) -Wl,-Map,$(BUILD_PATH)/$(BOARD).map
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# $(v) $(LD) $(LDFLAGS) -Map $(BUILD_PATH)/$(BOARD).map -o $(TGT_BIN) --start-group $(BUILD_PATH)/main.o $(SKETCHOBJS) $(LIBOBJS) $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
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#
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$(v)cp $(SKETCHELF) .
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@echo "Firmware is in $(BUILDELF)"
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# Create the eep file
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$(SKETCHEEP): $(SKETCHELF)
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$(RULEHDR)
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$(v)$(OBJCOPY) -O ihex -j.eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 $< $@
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$(BUILD_PATH)/main.o: $(WIRISH_PATH)/main.cxx
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$(SILENT_CXX) $(CXX) $(CXXFLAGS) $(LIBRARY_INCLUDES) -o $@ -c $<
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$(BUILD_PATH)/$(BOARD).bin: $(SKETCHELF)
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$(SILENT_OBJCOPY) $(OBJCOPY) -v -Obinary $(SKETCHELF) --gap-fill 0xFF $@ 1>/dev/null
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$(OBJCOPY) -v -Oihex $(SKETCHELF) $(BUILD_PATH)/$(BOARD).hex 1>/dev/null
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$(SILENT_DISAS) $(DISAS) -S $(SKETCHELF) > $(BUILD_PATH)/$(BOARD).disas
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@echo " "
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$(TOOLS_PATH)/dfu-convert --ihex $(BUILD_PATH)/$(BOARD).hex $(BUILD_PATH)/$(BOARD).dfu
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$(v)cp $(BUILD_PATH)/$(BOARD).hex .
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$(v)cp $(BUILD_PATH)/$(BOARD).bin .
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$(v)cp $(BUILD_PATH)/$(BOARD).dfu .
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@echo "Object file sizes:"
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@find $(BUILD_PATH) -iname *.o | xargs $(SIZE) -t > $(BUILD_PATH)/$(BOARD).sizes
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@cd $(REVO_PATH); find . -iname *.o | xargs $(SIZE) -t >> $(BUILD_PATH)/$(BOARD).sizes
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@cat $(BUILD_PATH)/$(BOARD).sizes
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@echo " "
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@echo "Final Size:"
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@$(SIZE) $<
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@echo $(MEMORY_TARGET) > $(BUILD_PATH)/build-type
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#
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# Build sketch objects
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#
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@ -5,15 +5,15 @@
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$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
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$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.c $(UAVCAN_HEADERS)
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$(RULEHDR)
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$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(v)$(CCACHE) $(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.S
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$(RULEHDR)
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@ -25,11 +25,11 @@ $(BUILDROOT)/%.o: $(SRCROOT)/%.S
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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||||
$(v)$(CCACHE) $(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
|
||||
$(RULEHDR)
|
||||
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
||||
$(v)$(CCACHE) $(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
|
||||
$(RULEHDR)
|
||||
|
||||
@ -161,6 +161,11 @@ HAL_BOARD = HAL_BOARD_QURT
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring f4light, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_F4LIGHT
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
# default to SITL
|
||||
ifeq ($(HAL_BOARD),)
|
||||
HAL_BOARD = HAL_BOARD_SITL
|
||||
|
||||
@ -30,3 +30,4 @@ help:
|
||||
@echo " vrbrain - the VRBrain boards"
|
||||
@echo " sitl - the SITL Software In The Loop simulation"
|
||||
@echo " qflight - qualcomm flight board"
|
||||
@echo " f4light - the OpenPilot Revolution Mini"
|
||||
|
||||
@ -13,3 +13,4 @@ LIBRARIES += AP_Volz_Protocol
|
||||
LIBRARIES += AP_SBusOut
|
||||
LIBRARIES += AP_TempCalibration
|
||||
LIBRARIES += AP_Radio
|
||||
LIBRARIES += AP_Param_Helper
|
||||
|
||||
@ -69,6 +69,11 @@ LIBTOKENS += \
|
||||
AP_HAL_QURT
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_F4LIGHT)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_F4Light
|
||||
endif
|
||||
|
||||
#
|
||||
# Find sketchbook libraries referenced by the sketch.
|
||||
#
|
||||
|
||||
@ -15,6 +15,10 @@ apm1 apm1-1280 apm2 apm2beta:
|
||||
flymaple flymaple-hil:
|
||||
$(error $@ is deprecated on master branch; use master-AVR)
|
||||
|
||||
f4light: HAL_BOARD = HAL_BOARD_F4LIGHT
|
||||
f4light: TOOLCHAIN = ARM
|
||||
f4light: all
|
||||
|
||||
qflight: HAL_BOARD = HAL_BOARD_LINUX
|
||||
qflight: TOOLCHAIN = QFLIGHT
|
||||
qflight: all
|
||||
|
||||
Loading…
Reference in New Issue
Block a user