HAL_ChibiOS: build crashcatcher lib alongside chibios

libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk

@@ -129,6 +129,11 @@ CSRC += $(HWDEF)/common/stubs.c \
 #	   $(TESTSRC) \
 #	   test.c
 
+LIBCC_CSRC = $(CRASHCATCHER)/Core/src/CrashCatcher.c \
+             $(CRASHCATCHER)/HexDump/src/HexDump.c
+
+LIBCC_ASMXSRC = $(CRASHCATCHER)/Core/src/CrashCatcher_armv7m.S
+
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
 CPPSRC = $(sort $(ALLCPPSRC))
@@ -158,7 +163,8 @@ ASMSRC = $(ALLASMSRC)
 ASMXSRC = $(ALLXASMSRC)
 
 INCDIR = $(CHIBIOS)/os/license \
-         $(ALLINC) $(HWDEF)/common
+         $(ALLINC) $(HWDEF)/common \
+          $(CRASHCATCHER)/include \
 
 #
 # Project, sources and paths

libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk

@@ -85,7 +85,7 @@ else
 endif
 ASRC      := $(ACSRC) $(ACPPSRC)
 TSRC      := $(TCSRC) $(TCPPSRC)
-SRCPATHS  := $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)))
+SRCPATHS  := $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)) $(dir $(LIBCC_CSRC)) $(dir $(LIBCC_ASMXSRC)))
 
 # Various directories
 OBJDIR    := $(BUILDDIR)/obj
@@ -99,7 +99,9 @@ TCPPOBJS  := $(addprefix $(OBJDIR)/, $(notdir $(TCPPSRC:.cpp=.o)))
 ASMOBJS   := $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o)))
 ASMXOBJS  := $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o)))
 OBJS	  := $(ASMXOBJS) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
-
+LIBCC_ASMXOBJS := $(addprefix $(OBJDIR)/, $(notdir $(LIBCC_ASMXSRC:.S=.o)))
+LIBCC_TCOBJS := $(addprefix $(OBJDIR)/, $(notdir $(LIBCC_CSRC:.c=.o)))
+LIBCC_OBJS := $(LIBCC_ASMXOBJS) $(LIBCC_TCOBJS)
 # Paths
 IINCDIR   := $(patsubst %,-I%,$(INCDIR) $(DINCDIR) $(UINCDIR))
 LLIBDIR   := $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
@@ -117,7 +119,9 @@ MCFLAGS   := -mcpu=$(MCU)
 ODFLAGS	  = -x --syms
 ASFLAGS   = $(MCFLAGS) $(ADEFS)
 ASXFLAGS  = $(MCFLAGS) $(ADEFS)
+LIBCC_ASXFLAGS = $(ASXFLAGS) $(USE_FPU_OPT)
 CFLAGS    = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) $(DEFS)
+LIBCC_CFLAGS = $(CFLAGS)
 CPPFLAGS  = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) $(DEFS)
 LDFLAGS   = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
 
@@ -176,13 +180,13 @@ N := x
 C = $(words $N)$(eval N := x $N)
 ECHO = echo "[$C/$T] ChibiOS:"
 endif
-all: PRE_MAKE_ALL_RULE_HOOK $(OBJS) $(OUTFILES) POST_MAKE_ALL_RULE_HOOK
+all: PRE_MAKE_ALL_RULE_HOOK $(OBJS) $(LIBCC_OBJS) $(OUTFILES) POST_MAKE_ALL_RULE_HOOK
 
 PRE_MAKE_ALL_RULE_HOOK:
 
 POST_MAKE_ALL_RULE_HOOK:
 
-$(OBJS): | $(BUILDDIR) $(OBJDIR) $(LSTDIR)
+$(LIBCC_OBJS) $(OBJS): | $(BUILDDIR) $(OBJDIR) $(LSTDIR)
 
 $(BUILDDIR):
 ifneq ($(USE_VERBOSE_COMPILE),yes)
@@ -234,6 +238,15 @@ else
 	@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
 endif
 
+$(LIBCC_TCOBJS) : $(OBJDIR)/%.o : %.c
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+	@echo
+	$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+else
+	@$(ECHO) Compiling $(<F)
+	@$(CC) -c $(CFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+endif
+
 $(ASMOBJS) : $(OBJDIR)/%.o : %.s
 ifeq ($(USE_VERBOSE_COMPILE),yes)
 	@echo
@@ -252,6 +265,15 @@ else
 	@$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
 endif
 
+$(LIBCC_ASMXOBJS) : $(OBJDIR)/%.o : %.S
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+	@echo
+	$(CC) -c $(LIBCC_ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+else
+	@$(ECHO) Compiling $(<F)
+	@$(CC) -c $(LIBCC_ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+endif
+
 $(BUILDDIR)/$(PROJECT).elf: $(OBJS) $(LDSCRIPT)
 ifeq ($(USE_VERBOSE_COMPILE),yes)
 	@echo
@@ -308,13 +330,18 @@ else
 	@echo Done
 endif
 
-lib: $(OBJS) $(BUILDDIR)/lib$(PROJECT).a pass
+lib: $(OBJS) $(LIBCC_OBJS) $(BUILDDIR)/lib$(PROJECT).a $(BUILDDIR)/libcc.a pass
 
 $(BUILDDIR)/lib$(PROJECT).a: $(OBJS)
 	@$(AR) -r $@ $^
 	@echo
 	@echo ChibiOS: Done!
 
+$(BUILDDIR)/libcc.a: $(LIBCC_OBJS)
+	@$(AR) -r $@ $^
+	@echo
+	@echo CrashCatcher: Done!
+
 pass: $(BUILDDIR)
 	@echo $(foreach f,$(IINCDIR),"$(f);") > $(BUILDDIR)/include_dirs