mirror of https://github.com/ArduPilot/ardupilot
214 lines
7.0 KiB
Makefile
214 lines
7.0 KiB
Makefile
# board_flymaple.mk
|
|
#
|
|
# Build ArduPlane for Flymaple http://www.open-drone.org/flymaple
|
|
|
|
# cope with relative paths
|
|
ifeq ($(wildcard $(LIBMAPLE_PATH)/wirish),)
|
|
LIBMAPLE_PATH := $(shell cd $(SKETCHBOOK)/../libmaple && pwd)
|
|
endif
|
|
|
|
ifeq ($(wildcard $(LIBMAPLE_PATH)/wirish),)
|
|
$(error ERROR: failed to find libmaple - please see libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt)
|
|
endif
|
|
|
|
|
|
TOOLCHAIN = ARM
|
|
|
|
#include $(MK_DIR)/find_arduino.mk
|
|
include $(MK_DIR)/find_tools.mk
|
|
|
|
HARDWARE := leaflabs
|
|
MCU := STM32F103RE
|
|
FAMILY := cortex-m3
|
|
F_CPU := 72000000L
|
|
LINKER := maple_RET6/flash.ld
|
|
HARDWARE_CORE := maple
|
|
UPLOADER := dfu-util
|
|
USBID := 1EAF:0003
|
|
PRODUCT_ID := 0003
|
|
LD_MEM_DIR := sram_64k_flash_512k
|
|
|
|
#
|
|
# Tool options
|
|
#
|
|
DEFINES = -DF_CPU=$(F_CPU) -DMCU_$(MCU) -DBOARD_$(BOARD) -DERROR_LED_PORT=GPIOA -DERROR_LED_PIN=5 -DVECT_TAB_FLASH
|
|
DEFINES += -DSKETCH=\"$(SKETCH)\" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
|
|
DEFINES += $(EXTRAFLAGS) # from user config.mk
|
|
DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
|
|
WARNFLAGS = -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-psabi
|
|
WARNFLAGS += -Wwrite-strings -Wformat=2
|
|
WARNFLAGSCXX = -Wno-reorder
|
|
DEPFLAGS = -MD -MT $@
|
|
|
|
CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
|
|
COPTS = -ffunction-sections -fdata-sections -fsigned-char
|
|
|
|
ASOPTS = -x assembler-with-cpp
|
|
LISTOPTS = -adhlns=$(@:.o=.lst)
|
|
|
|
NATIVE_CPUFLAGS = -D_GNU_SOURCE
|
|
NATIVE_CPULDFLAGS = -g
|
|
NATIVE_OPTFLAGS = -O0 -g
|
|
|
|
ARM_CPUFLAGS = -mcpu=$(FAMILY) -march=armv7-m -mthumb -DBOARD_maple -DMCU_$(MCU)
|
|
ARM_CPULDFLAGS = -T$(LIBMAPLE_PATH)/support/ld/flash.ld -L $(LIBMAPLE_PATH)/support/ld/stm32/series/stm32f1/performance -L $(LIBMAPLE_PATH)/support/ld/stm32/mem/$(LD_MEM_DIR) -L $(LIBMAPLE_PATH)/support/ld -L $(LIBMAPLE_PATH)/support/ld/toolchains/generic
|
|
ARM_OPTFLAGS = -Os
|
|
|
|
CPUFLAGS= $($(TOOLCHAIN)_CPUFLAGS)
|
|
CPULDFLAGS= $($(TOOLCHAIN)_CPULDFLAGS)
|
|
OPTFLAGS= $($(TOOLCHAIN)_OPTFLAGS)
|
|
|
|
CXXFLAGS = $(CPUFLAGS) $(DEFINES) -Os -g3 -gdwarf-2 -nostdlib \
|
|
-ffunction-sections -fdata-sections \
|
|
-fno-rtti -fno-exceptions -Wl,--gc-sections $(OPTFLAGS)
|
|
CXXFLAGS += $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS)
|
|
CFLAGS = $(CPUFLAGS) $(DEFINES) -Os -g3 -gdwarf-2 -nostdlib \
|
|
-ffunction-sections -fdata-sections \
|
|
-fno-exceptions -Wl,--gc-sections $(OPTFLAGS)
|
|
CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS)
|
|
ASFLAGS = $(CPUFLAGS) $(DEFINES) -x assembler-with-cpp
|
|
ASFLAGS += $(ASOPTS)
|
|
|
|
LDFLAGS = $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS) -mcpu=cortex-m3 -mthumb \
|
|
-Xlinker --gc-sections \
|
|
-Xassembler --march=armv7-m -Wall
|
|
LDFLAGS += -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP) $(CPULDFLAGS)
|
|
|
|
# under certain situations with certain avr-gcc versions the --relax flag causes
|
|
# a bug. Give the user a way to disable this flag per-sketch.
|
|
# I know this is a rotten hack but we're really close to sunset on AVR.
|
|
EXCLUDE_RELAX := $(wildcard $(SRCROOT)/norelax.inoflag)
|
|
ifeq ($(EXCLUDE_RELAX),)
|
|
# LDFLAGS += -Wl,--relax
|
|
endif
|
|
|
|
LIBS = -lm
|
|
|
|
ifeq ($(VERBOSE),)
|
|
v = @
|
|
else
|
|
v =
|
|
endif
|
|
|
|
COREOBJS = $(LIBMAPLE_PATH)/build/libmaple/*.o $(LIBMAPLE_PATH)/build/libmaple/usb/stm32f1/*.o $(LIBMAPLE_PATH)/build/libmaple/stm32f1/*.o $(LIBMAPLE_PATH)/build/libmaple/usb/usb_lib/*.o $(LIBMAPLE_PATH)/build/libmaple/usb/usb_lib/*.o $(LIBMAPLE_PATH)/build/libmaple/stm32f1/performance/*.o $(LIBMAPLE_PATH)/build/wirish/*.o $(LIBMAPLE_PATH)/build/wirish/boards/maple/*.o $(LIBMAPLE_PATH)/build/wirish/stm32f1/*.o $(LIBMAPLE_PATH)/build/libraries/Wire/*.o
|
|
COREINCLUDES = -I$(LIBMAPLE_PATH)/libmaple/include/libmaple -I$(LIBMAPLE_PATH)/wirish/include/wirish -I$(LIBMAPLE_PATH)/libraries -I$(LIBMAPLE_PATH)/libmaple/include/libmaple -I$(LIBMAPLE_PATH)/wirish/include/wirish -I$(LIBMAPLE_PATH)/libraries -I$(LIBMAPLE_PATH)/libmaple/include -I$(LIBMAPLE_PATH)/libmaple/stm32f1/include -I$(LIBMAPLE_PATH)/wirish/include -I$(LIBMAPLE_PATH)/wirish/boards/maple/include -I$(LIBMAPLE_PATH)/libraries/Wire
|
|
|
|
# Library object files
|
|
LIBOBJS := $(SKETCHLIBOBJS) $(COREOBJS)
|
|
|
|
################################################################################
|
|
# Built products
|
|
#
|
|
|
|
# The ELF file
|
|
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
|
|
|
# HEX file
|
|
SKETCHHEX = $(BUILDROOT)/$(SKETCH).hex
|
|
|
|
# BIN file
|
|
SKETCHBIN = $(BUILDROOT)/$(SKETCH).bin
|
|
|
|
# EEP file
|
|
SKETCHEEP = $(BUILDROOT)/$(SKETCH).eep
|
|
|
|
# Map file
|
|
SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
|
|
|
|
# All of the objects that may be built
|
|
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
|
|
|
|
# All of the dependency files that may be generated
|
|
ALLDEPS = $(ALLOBJS:%.o=%.d)
|
|
|
|
################################################################################
|
|
# Targets
|
|
#
|
|
|
|
all: $(SKETCHELF) $(SKETCHEEP) $(SKETCHHEX)
|
|
|
|
print-%:
|
|
echo "$*=$($*)"
|
|
|
|
flymaple-upload: upload
|
|
|
|
.PHONY: upload
|
|
upload: $(SKETCHBIN)
|
|
$(LIBMAPLE_PATH)/support/scripts/reset.py && sleep 1 && $(UPLOADER) -a1 -d $(USBID) -D $(SKETCHBIN) -R
|
|
|
|
debug:
|
|
$(AVARICE) --mkII --capture --jtag usb :4242 & \
|
|
gnome-terminal -x $(GDB) $(SKETCHELF) & \
|
|
echo -e '\n\nat the gdb prompt type "target remote localhost:4242"'
|
|
|
|
# this allows you to flash your image via JTAG for when you
|
|
# have completely broken your USB
|
|
jtag-program:
|
|
$(AVARICE) --mkII --jtag usb --erase --program --file $(SKETCHELF)
|
|
|
|
################################################################################
|
|
# Rules
|
|
#
|
|
|
|
# fetch dependency info from a previous build if any of it exists
|
|
-include $(ALLDEPS)
|
|
|
|
# Link the final object
|
|
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
|
|
$(RULEHDR)
|
|
$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
|
|
|
|
# Create the hex file
|
|
$(SKETCHHEX): $(SKETCHELF)
|
|
$(RULEHDR)
|
|
$(v)$(OBJCOPY) -O ihex -R .eeprom $< $@
|
|
|
|
# Create the bin file
|
|
$(SKETCHBIN): $(SKETCHELF)
|
|
$(RULEHDR)
|
|
$(v)$(OBJCOPY) -v -O binary $< $@
|
|
|
|
# Create the eep file
|
|
$(SKETCHEEP): $(SKETCHELF)
|
|
$(RULEHDR)
|
|
$(v)$(OBJCOPY) -O ihex -j.eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 $< $@
|
|
|
|
#
|
|
# Build sketch objects
|
|
#
|
|
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
|
|
|
|
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
|
|
$(RULEHDR)
|
|
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(SRCROOT) $(SKETCH_INCLUDES)
|
|
|
|
$(BUILDROOT)/%.o: $(SRCROOT)/%.cpp
|
|
$(RULEHDR)
|
|
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
|
|
|
$(BUILDROOT)/%.o: $(SRCROOT)/%.c
|
|
$(RULEHDR)
|
|
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
|
|
|
$(BUILDROOT)/%.o: $(SRCROOT)/%.S
|
|
$(RULEHDR)
|
|
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
|
|
|
#
|
|
# Build library objects from sources in the sketchbook
|
|
#
|
|
SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
|
|
$(RULEHDR)
|
|
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
|
|
$(RULEHDR)
|
|
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
|
|
|
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
|
|
$(RULEHDR)
|
|
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
|
|