mirror of https://github.com/ArduPilot/ardupilot
waf: use common makefile for ChibiOS if no custom present
This commit is contained in:
Andrew Tridgell
parent
bae9469af7
commit
9482ab1840
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@ -120,6 +120,15 @@ def configure(cfg):
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env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
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env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*')
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mk_custom = srcpath('libraries/AP_HAL_ChibiOS/hwdef/%s/chibios_board.mk' % env.BOARD)
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mk_common = srcpath('libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk')
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# see if there is a board specific make file
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if os.path.exists(mk_custom):
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env.BOARD_MK = mk_custom
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else:
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env.BOARD_MK = mk_common
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print("BOARD_MK=%s" % env.BOARD_MK)
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if cfg.options.default_parameters:
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cfg.msg('Default parameters', cfg.options.default_parameters, color='YELLOW')
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env.DEFAULT_PARAMETERS = srcpath(cfg.options.default_parameters)
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@ -137,14 +146,14 @@ def build(bld):
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bld(
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# create the file modules/ChibiOS/include_dirs
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rule='touch Makefile && BUILDDIR=${BUILDDIR} CHIBIOS=${CH_ROOT} AP_HAL=${AP_HAL_ROOT} ${MAKE} pass -f ${AP_HAL_ROOT}/hwdef/${BOARD}/chibios_board.mk',
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rule='touch Makefile && BUILDDIR=${BUILDDIR} CHIBIOS=${CH_ROOT} AP_HAL=${AP_HAL_ROOT} ${MAKE} pass -f ${BOARD_MK}',
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group='dynamic_sources',
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target='modules/ChibiOS/include_dirs'
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)
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bld(
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# build libch.a from ChibiOS sources and hwdef.h
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rule="BUILDDIR='${BUILDDIR}' CHIBIOS='${CH_ROOT}' AP_HAL=${AP_HAL_ROOT} '${MAKE}' lib -f ${AP_HAL_ROOT}/hwdef/${BOARD}/chibios_board.mk",
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rule="BUILDDIR='${BUILDDIR}' CHIBIOS='${CH_ROOT}' AP_HAL=${AP_HAL_ROOT} '${MAKE}' lib -f ${BOARD_MK}",
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group='dynamic_sources',
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source=bld.bldnode.find_or_declare('hwdef.h'),
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target=['modules/ChibiOS/libch.a']
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@ -0,0 +1,105 @@
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include "hal.h"
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#if HAL_USE_PAL || defined(__DOXYGEN__)
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/**
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* @brief PAL setup.
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* @details Digital I/O ports static configuration as defined in @p board.h.
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* This variable is used by the HAL when initializing the PAL driver.
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*/
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const PALConfig pal_default_config = {
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{VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR, VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
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{VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR, VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
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{VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR, VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
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{VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR, VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
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{VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR, VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
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{VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR, VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
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{VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR, VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
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{VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR, VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
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{VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR, VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH}
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};
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#endif
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/**
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* @brief Early initialization code.
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* @details This initialization must be performed just after stack setup
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* and before any other initialization.
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*/
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void __early_init(void) {
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stm32_clock_init();
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}
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void __late_init(void) {
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halInit();
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chSysInit();
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#ifdef HAL_USB_PRODUCT_ID
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setup_usb_strings();
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#endif
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}
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#if HAL_USE_SDC || defined(__DOXYGEN__)
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/**
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* @brief SDC card detection.
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*/
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bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
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static bool last_status = false;
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if (blkIsTransferring(sdcp))
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return last_status;
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return last_status = (bool)palReadPad(GPIOC, 11);
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}
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/**
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* @brief SDC card write protection detection.
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*/
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bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
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(void)sdcp;
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return false;
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}
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#endif /* HAL_USE_SDC */
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#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
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/**
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* @brief MMC_SPI card detection.
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*/
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bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
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(void)mmcp;
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/* TODO: Fill the implementation.*/
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return true;
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}
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/**
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* @brief MMC_SPI card write protection detection.
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*/
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bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
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(void)mmcp;
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/* TODO: Fill the implementation.*/
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return false;
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}
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#endif
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/**
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* @brief Board-specific initialization code.
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* @todo Add your board-specific code, if any.
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*/
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void boardInit(void) {
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HAL_BOARD_INIT_HOOK_CALL
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}
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@ -0,0 +1,228 @@
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##############################################################################
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# Build global options
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# NOTE: Can be overridden externally.
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#
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# Compiler options here.
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ifeq ($(USE_OPT),)
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USE_OPT = -Os -g -fomit-frame-pointer -falign-functions=16 -DCHPRINTF_USE_FLOAT=1
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endif
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# C specific options here (added to USE_OPT).
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ifeq ($(USE_COPT),)
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USE_COPT =
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endif
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# C++ specific options here (added to USE_OPT).
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ifeq ($(USE_CPPOPT),)
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USE_CPPOPT = -fno-rtti
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endif
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# Enable this if you want the linker to remove unused code and data
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ifeq ($(USE_LINK_GC),)
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USE_LINK_GC = yes
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endif
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# Linker extra options here.
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ifeq ($(USE_LDOPT),)
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USE_LDOPT =
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endif
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# Enable this if you want link time optimizations (LTO)
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ifeq ($(USE_LTO),)
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USE_LTO = no
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endif
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# If enabled, this option allows to compile the application in THUMB mode.
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ifeq ($(USE_THUMB),)
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USE_THUMB = yes
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endif
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# Enable this if you want to see the full log while compiling.
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ifeq ($(USE_VERBOSE_COMPILE),)
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USE_VERBOSE_COMPILE = no
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endif
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# If enabled, this option makes the build process faster by not compiling
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# modules not used in the current configuration.
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ifeq ($(USE_SMART_BUILD),)
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USE_SMART_BUILD = no
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endif
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#
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# Build global options
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##############################################################################
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##############################################################################
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# Architecture or project specific options
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#
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HWDEF = $(AP_HAL)/hwdef
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# Stack size to be allocated to the Cortex-M process stack. This stack is
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# the stack used by the main() thread.
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ifeq ($(USE_PROCESS_STACKSIZE),)
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USE_PROCESS_STACKSIZE = 0x400
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endif
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# Stack size to the allocated to the Cortex-M main/exceptions stack. This
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# stack is used for processing interrupts and exceptions.
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ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
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USE_EXCEPTIONS_STACKSIZE = 0x400
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endif
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# Enables the use of FPU (no, softfp, hard).
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ifeq ($(USE_FPU),)
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USE_FPU = hard
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endif
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#
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# Architecture or project specific options
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##############################################################################
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##############################################################################
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# Project, sources and paths
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#
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# Define project name here
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PROJECT = ch
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# Imported source files and paths
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# Startup files.
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include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
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# HAL-OSAL files (optional).
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include $(CHIBIOS)/os/hal/hal.mk
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include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk
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include $(CHIBIOS)/os/hal/osal/rt/osal.mk
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# RTOS files (optional).
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include $(CHIBIOS)/os/rt/rt.mk
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include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
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# Other files (optional).
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#include $(CHIBIOS)/test/rt/test.mk
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include $(CHIBIOS)/os/hal/lib/streams/streams.mk
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include $(CHIBIOS)/os/various/fatfs_bindings/fatfs.mk
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VARIOUSSRC = $(STREAMSSRC)
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VARIOUSINC = $(STREAMSINC)
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# C sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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CSRC = $(STARTUPSRC) \
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$(KERNSRC) \
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$(PORTSRC) \
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$(OSALSRC) \
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$(HALSRC) \
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$(PLATFORMSRC) \
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$(VARIOUSSRC) \
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$(FATFSSRC) \
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$(HWDEF)/common/stubs.c \
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$(HWDEF)/common/board.c \
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$(HWDEF)/common/usbcfg.c \
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$(HWDEF)/common/ppm.c \
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$(HWDEF)/common/flash.c \
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$(HWDEF)/common/malloc.c \
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$(HWDEF)/common/stdio.c \
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$(HWDEF)/common/posix.c \
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$(HWDEF)/common/hrt.c
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# $(TESTSRC) \
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# test.c
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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CPPSRC =
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# C sources to be compiled in ARM mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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ACSRC =
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# C++ sources to be compiled in ARM mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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ACPPSRC =
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# C sources to be compiled in THUMB mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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TCSRC =
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# C sources to be compiled in THUMB mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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TCPPSRC =
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# List ASM source files here
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ASMSRC =
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ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
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INCDIR = $(CHIBIOS)/os/license \
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$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) $(FATFSINC) \
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$(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) $(VARIOUSINC) \
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$(HWDEF)/common
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#
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# Project, sources and paths
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##############################################################################
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##############################################################################
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# Compiler settings
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#
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MCU = cortex-m4
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#TRGT = arm-elf-
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TRGT = arm-none-eabi-
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CC = $(TRGT)gcc
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CPPC = $(TRGT)g++
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# Enable loading with g++ only if you need C++ runtime support.
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# NOTE: You can use C++ even without C++ support if you are careful. C++
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# runtime support makes code size explode.
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LD = $(TRGT)gcc
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#LD = $(TRGT)g++
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CP = $(TRGT)objcopy
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AS = $(TRGT)gcc -x assembler-with-cpp
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AR = $(TRGT)ar
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OD = $(TRGT)objdump
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SZ = $(TRGT)size
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HEX = $(CP) -O ihex
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BIN = $(CP) -O binary
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# ARM-specific options here
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AOPT =
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# THUMB-specific options here
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TOPT = -mthumb -DTHUMB
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# Define C warning options here
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CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
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# Define C++ warning options here
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CPPWARN = -Wall -Wextra -Wundef
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#
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# Compiler settings
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##############################################################################
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##############################################################################
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# Start of user section
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#
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# List all user C define here, like -D_DEBUG=1
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UDEFS =
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# Define ASM defines here
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UADEFS =
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# List all user directories here
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UINCDIR =
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# List the user directory to look for the libraries here
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ULIBDIR =
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# List all user libraries here
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ULIBS =
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#
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# End of user defines
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##############################################################################
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include $(HWDEF)/common/chibios_common.mk
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