mirror of https://github.com/ArduPilot/ardupilot
379 lines
13 KiB
Makefile
379 lines
13 KiB
Makefile
|
|
#TOOLCHAIN = NATIVE
|
|
TOOLCHAIN = ARM
|
|
|
|
ARM_CXX := arm-none-eabi-g++
|
|
ARM_CC := arm-none-eabi-gcc
|
|
ARM_AS := arm-none-eabi-gcc
|
|
ARM_AR := arm-none-eabi-ar
|
|
#ARM_LD := arm-none-eabi-g++
|
|
ARM_LD := arm-none-eabi-ld
|
|
ARM_GDB := arm-none-eabi-gdb
|
|
ARM_OBJCOPY := arm-none-eabi-objcopy
|
|
|
|
SIZE := arm-none-eabi-size
|
|
DISAS := arm-none-eabi-objdump
|
|
|
|
#TOOLCHAIN = arm-none-eabi
|
|
include $(MK_DIR)/find_tools.mk
|
|
|
|
.DEFAULT_GOAL := all
|
|
|
|
##
|
|
## Target-specific configuration. This determines some compiler and
|
|
## linker options/flags.
|
|
##
|
|
|
|
|
|
PATH:=$(PATH):/usr/local/bin
|
|
|
|
# these default to a Maple Flash build.
|
|
BOARD ?= f4light_Revolution
|
|
MEMORY_TARGET ?= flash
|
|
|
|
##
|
|
## Useful paths, constants, etc.
|
|
##
|
|
|
|
STFLASH := /usr/local/stlink/st-flash
|
|
STUTIL := /usr/local/stlink/st-util
|
|
|
|
|
|
|
|
BL_ADDRESS := 0x08000000
|
|
FLASH_ADDRESS := 0x08010000
|
|
|
|
UPLOADER := dfu-util
|
|
#leaflabs bootloader
|
|
USBID := 1EAF:0003
|
|
|
|
BLDROOT := $(SRCROOT)/..
|
|
|
|
#BUILD_PATH := $(BLDROOT)/build
|
|
BUILD_PATH := $(BUILDROOT)
|
|
|
|
LIBRARIES_PATH := $(BLDROOT)/libraries
|
|
HAL_PATH := $(LIBRARIES_PATH)/AP_HAL_F4Light
|
|
WIRISH_PATH := $(HAL_PATH)/wirish
|
|
BOARDS_PATH := $(HAL_PATH)/boards
|
|
HARDWARE_PATH := $(HAL_PATH)/hardware
|
|
HAL_HW_PATH := $(HAL_PATH)/hardware/hal
|
|
STM32_PATH := $(HARDWARE_PATH)/STM32F4xx_DSP_StdPeriph_Lib_V1.1.0
|
|
STM32USB_PATH := $(HARDWARE_PATH)/STM32_USB_Driver
|
|
cpu_flags := -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
|
|
|
|
|
|
FIRMWARE_PATH := $(BLDROOT)/$(SKETCH)
|
|
|
|
# List of input files to the sketch.cpp file in the order they should be appended to create it
|
|
LIBRARY_INCLUDES :=
|
|
|
|
SUPPORT_PATH := $(BLDROOT)/libraries/AP_HAL_F4Light/support
|
|
TOOLS_PATH := $(BLDROOT)/libraries/AP_HAL_F4Light/support/tools
|
|
# Support files for linker
|
|
LDDIR := $(BOARDS_PATH)/$(BOARD)/ld
|
|
|
|
|
|
BOOTLOADERS := $(BLDROOT)/Tools/bootloaders
|
|
APJTOOL := $(BLDROOT)/Tools/ardupilotwaf/px_mkfw.py
|
|
|
|
|
|
# $(BOARD)- and $(MEMORY_TARGET)-specific configuration
|
|
include $(BOARDS_PATH)/$(BOARD)/target-config.mk
|
|
|
|
|
|
##
|
|
## Compilation flags
|
|
##
|
|
|
|
EXTRAFLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_BYTESWAP_H=0
|
|
EXTRAFLAGS += $(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DSKETCH_MAIN=ArduPilot_main
|
|
GITFLAGS := -DGIT_VERSION="\"$(GIT_VERSION) $(shell date --rfc-3339=seconds)\""
|
|
|
|
|
|
#-Werror
|
|
WARNFLAGS = -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-psabi -Wno-unused-parameter -Wno-error=cast-align -Wno-error=unused-but-set-variable
|
|
WARNFLAGS += -Wwrite-strings -Wformat=2 -Wshadow -Wfloat-equal -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-pragmas
|
|
WARNFLAGS += -Wextra -Wlogical-op -Wno-unknown-pragmas -Wno-redundant-decls -Wno-packed -Wno-error=double-promotion -Wno-error=type-limits
|
|
WARNFLAGS += -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=unused-parameter -Wno-missing-field-initializers
|
|
WARNFLAGS += -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function -Werror=format-security -Werror=array-bounds
|
|
WARNFLAGS += -Wno-error=unused-label -Wno-trigraphs
|
|
|
|
OPTFLAGS = -Os
|
|
OPTFLAGS += -fsingle-precision-constant -g3 -fno-strict-aliasing -fomit-frame-pointer -frename-registers
|
|
#-fno-strength-reduce
|
|
OPTFLAGS += -fno-builtin-printf -fno-aggressive-loop-optimizations -fpredictive-commoning
|
|
#OPTFLAGS += -fassociative-math -freciprocal-math -ffast-math - cause EKF errors
|
|
OPTFLAGS += -fno-signed-zeros -fno-trapping-math
|
|
OPTFLAGS += -finline-functions-called-once -fearly-inlining -finline-small-functions
|
|
OPTFLAGS += -fmerge-all-constants
|
|
|
|
WARNFLAGSCXX = -Wno-reorder
|
|
DEPFLAGS = -MD -MT $@
|
|
|
|
GLOBAL_FLAGS := -D$(VECT_BASE_ADDR)
|
|
GLOBAL_FLAGS += -DBOARD_$(BOARD)
|
|
|
|
GLOBAL_FLAGS += -DMCU_$(MCU)
|
|
GLOBAL_FLAGS += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
|
|
GLOBAL_FLAGS += -DSTM32F4XX
|
|
GLOBAL_FLAGS += -DUSE_STDPERIPH_DRIVER
|
|
GLOBAL_FLAGS += -DARM_MATH_CM4
|
|
GLOBAL_FLAGS += -DUSE_OTG_FS_CORE
|
|
GLOBAL_FLAGS += -DUSE_USB_OTG_FS
|
|
GLOBAL_FLAGS += -DUSE_EMBEDDED_PHY
|
|
GLOBAL_FLAGS += -D__FPU_PRESENT
|
|
GLOBAL_FLAGS += -D__FPU_USED=1
|
|
GLOBAL_FLAGS += -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
|
|
GLOBAL_FLAGS += $(WARNFLAGS) $(DEPFLAGS) $(EXTRAFLAGS) $(OPTS)
|
|
#
|
|
GLOBAL_FLAGS += -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
|
|
GLOBAL_FLAGS += -ffunction-sections
|
|
GLOBAL_FLAGS += -fdata-sections
|
|
|
|
|
|
#Produce debugging information in the operating system's native format
|
|
GLOBAL_FLAGS += -ggdb
|
|
#GLOBAL_FLAGS += -v -save-temps # for GCC bugreport
|
|
|
|
# GLOBAL_CFLAGS -----------------------------------------------------------------------------------
|
|
GLOBAL_CFLAGS := $(cpu_flags)
|
|
#GLOBAL_CFLAGS += -nostdlib #Do not use the standard system startup files or libraries when linking
|
|
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
|
|
GLOBAL_CFLAGS += $(GLOBAL_FLAGS) $(OPTFLAGS)
|
|
GLOBAL_CFLAGS += -include $(BOARDS_PATH)/$(BOARD)/board.h
|
|
|
|
|
|
# GLOBAL_CXXFLAGS ---------------------------------------------------------------------------------
|
|
GLOBAL_CXXFLAGS := -fno-rtti #Disable generation of information about every class with virtual functions for use by the C++ runtime type identification features
|
|
GLOBAL_CXXFLAGS += -fno-exceptions -fno-threadsafe-statics # not true C++
|
|
GLOBAL_CXXFLAGS += -fconserve-space -fno-enforce-eh-specs -fno-use-cxa-atexit
|
|
GLOBAL_CXXFLAGS += -std=gnu++11
|
|
|
|
# Downgrade some diagnostics about nonconformant code from errors to warnings. Thus, using "-fpermissive" will allow some nonconforming code to compile.
|
|
GLOBAL_CXXFLAGS += $(GLOBAL_CFLAGS)
|
|
# -fpermissive
|
|
|
|
# missing definitions
|
|
GLOBAL_CXXFLAGS += -c -include $(WIRISH_PATH)/defs.h
|
|
|
|
# GLOBAL_ASFLAGS ----------------------------------------------------------------------------------
|
|
GLOBAL_ASFLAGS := $(cpu_flags)
|
|
GLOBAL_ASFLAGS += -x assembler-with-cpp
|
|
GLOBAL_ASFLAGS += $(GLOBAL_FLAGS) $(OPTFLAGS)
|
|
|
|
# GLOBAL_LDFLAGS ----------------------------------------------------------------------------------
|
|
LDFLAGS := $(cpu_flags)
|
|
LDFLAGS += -static
|
|
LDFLAGS += -lm -lgcc
|
|
LDFLAGS += -Wall
|
|
LDFLAGS += -Wl,--gc-sections
|
|
LDFLAGS += -Wl,--cref
|
|
#LDFLAGS += -Wl,--print-gc-sections
|
|
LDFLAGS += -Wl,-Map -Wl,$(BUILD_PATH)/$(BOARD).map
|
|
LDFLAGS += -T$(LDDIR)/$(LDSCRIPT)
|
|
LDFLAGS += -L$(LDDIR)
|
|
LDFLAGS += -Wl,--warn-common
|
|
# -Wl,--verbose
|
|
#let's linker optimize whole program itself
|
|
LDFLAGS += -Wl,--relax
|
|
#LDFLAGS += -fwhole-program
|
|
##
|
|
# -fwhole-program
|
|
#--plugin=/usr/local/arm-none-eabi/lib/gcc/arm-none-eabi/5.2.1/liblto_plugin.so
|
|
# -flto -fuse-linker-plugin
|
|
|
|
# used to collect files from HAL folders tree
|
|
TGT_BIN :=
|
|
|
|
COREINCLUDES = -I$(HAL_HW_PATH) -I$(STM32_PATH) -I$(WIRISH_PATH) -I$(BOARDS_PATH)/$(BOARD) -I$(STM32USB_PATH) \
|
|
-I$(HARDWARE_PATH) \
|
|
-I$(STM32_PATH)/Libraries/STM32F4xx_StdPeriph_Driver/inc \
|
|
-I$(STM32_PATH)/Libraries/CMSIS/Include \
|
|
-I$(STM32_PATH)/Libraries/CMSIS/Device/ST/STM32F4xx/Include \
|
|
-I$(BUILDROOT)/libraries/GCS_MAVLink/ \
|
|
-I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v2.0
|
|
|
|
|
|
TGT_ASFLAGS = $(COREINCLUDES)
|
|
|
|
##
|
|
## Build rules and useful templates
|
|
##
|
|
|
|
include $(MK_DIR)/find_tools.mk
|
|
|
|
# all subfolder's rules
|
|
include $(WIRISH_PATH)/rules.mk
|
|
include $(HARDWARE_PATH)/hal/rules.mk
|
|
include $(HARDWARE_PATH)/4way/rules.mk
|
|
include $(HARDWARE_PATH)/sd/rules.mk
|
|
include $(HARDWARE_PATH)/STM32_USB_Driver/rules.mk
|
|
include $(HARDWARE_PATH)/STM32F4xx_DSP_StdPeriph_Lib_V1.1.0/rules.mk
|
|
|
|
include $(MK_DIR)/build_rules.mk
|
|
|
|
|
|
LIBGCC := $(shell $(CC) $(GLOBAL_FLAGS) -print-libgcc-file-name)
|
|
|
|
|
|
CFLAGS = $(GLOBAL_CFLAGS) $(TGT_CFLAGS) $(COREINCLUDES) -I$(LIBRARIES_PATH) $(LIBRARY_INCLUDES)
|
|
CXXFLAGS = $(GLOBAL_CXXFLAGS) $(TGT_CFLAGS) $(COREINCLUDES) -I$(LIBRARIES_PATH) $(LIBRARY_INCLUDES) $(GITFLAGS)
|
|
ASFLAGS = $(GLOBAL_ASFLAGS) $(TGT_ASFLAGS)
|
|
|
|
|
|
##
|
|
## Set all submodules here
|
|
##
|
|
|
|
|
|
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES)
|
|
|
|
SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES)
|
|
|
|
################################################################################
|
|
# Built products
|
|
#
|
|
|
|
|
|
# Library object files
|
|
LIBOBJS := $(SKETCHLIBOBJS)
|
|
|
|
# The ELF file
|
|
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
|
BUILDELF = $(notdir $(SKETCHELF))
|
|
|
|
# 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)
|
|
|
|
|
|
|
|
CAT := cat
|
|
|
|
FIND := /usr/bin/find
|
|
|
|
################################################################################
|
|
# Targets
|
|
#
|
|
|
|
all: $(SKETCHELF) $(SKETCHEEP) $(BUILD_PATH)/$(BOARD).bin
|
|
|
|
print-%:
|
|
echo "$*=$($*)"
|
|
|
|
.PHONY: upload
|
|
|
|
#upload via maple bootloader
|
|
f4light-maple-upload: $(SKETCHBIN)
|
|
$(LIBMAPLE_PATH)/support/scripts/reset.py && sleep 1 && $(UPLOADER) -a1 -d $(USBID) -D $(SKETCHBIN) -R
|
|
|
|
#upload via BOOT0 hardware bootloader
|
|
f4light-upload: $(SKETCHBIN)
|
|
$(UPLOADER) -a 0 --dfuse-address $(FLASH_ADDRESS) -D $(SKETCHBIN) -R
|
|
|
|
|
|
|
|
# sorry byt I use ST_LINK and SWD, not JTAG - @NG
|
|
|
|
#f4light-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
|
|
#f4light-jtag-program:
|
|
# $(AVARICE) --mkII --jtag usb --erase --program --file $(SKETCHELF)
|
|
|
|
f4light-debug:
|
|
$(STUTIL) -m -p 4242
|
|
|
|
## this allows you to flash your image via SWD for when you have completely broken your USB
|
|
f4light-program:
|
|
$(STFLASH) --reset write $(SKETCHBIN) $(FLASH_ADDRESS)
|
|
|
|
################################################################################
|
|
# Rules
|
|
#
|
|
|
|
|
|
# fetch dependency info from a previous build if any of it exists
|
|
-include $(ALLDEPS)
|
|
|
|
|
|
f4light-clean: clean
|
|
$(v) $(FIND) $(HAL_PATH) -type f -name "*.d" -delete
|
|
$(v) $(FIND) $(HAL_PATH) -type f -name "*.o" -delete
|
|
$(v) $(FIND) $(HAL_PATH) -type f -name "*.i" -delete
|
|
$(v) $(FIND) $(HAL_PATH) -type f -name "*.ii" -delete
|
|
$(v) $(FIND) $(HAL_PATH) -type f -name "*.d" -delete
|
|
|
|
|
|
# Link the final object. this line sets compilation order
|
|
$(SKETCHELF): $(LIBOBJS) $(TGT_BIN) $(BUILD_PATH)/main.o $(SKETCHOBJS)
|
|
|
|
|
|
$(RULEHDR)
|
|
# $(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
|
|
$(SILENT_LD) $(CXX) $(LDFLAGS) -o $@ $(TGT_BIN) $(BUILD_PATH)/main.o $(SKETCHOBJS) $(LIBOBJS) $(LIBS) $(LIBGCC) -Wl,-Map,$(BUILD_PATH)/$(BOARD).map
|
|
# $(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
|
|
#
|
|
$(v)cp $(SKETCHELF) .
|
|
@echo "Firmware is in $(BUILDELF)"
|
|
|
|
# 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_PATH)/main.o: $(WIRISH_PATH)/main.cxx
|
|
$(SILENT_CXX) $(CXX) $(CXXFLAGS) $(LIBRARY_INCLUDES) -o $@ -c $<
|
|
|
|
$(BUILD_PATH)/$(BOARD).bin: $(SKETCHELF)
|
|
$(SILENT_OBJCOPY) $(OBJCOPY) -v -Obinary $(SKETCHELF) --gap-fill 0xFF $@ 1>/dev/null
|
|
$(OBJCOPY) -v -Oihex $(SKETCHELF) $(BUILD_PATH)/$(BOARD).hex 1>/dev/null
|
|
$(SILENT_DISAS) $(DISAS) -S $(SKETCHELF) > $(BUILD_PATH)/$(BOARD).disas
|
|
@echo " "
|
|
$(TOOLS_PATH)/dfu-convert --ihex $(BUILD_PATH)/$(BOARD).hex $(BUILD_PATH)/$(BOARD).dfu
|
|
# python $(APJTOOL) --image $(BUILD_PATH)/$(BOARD).bin --prototype $(BUILDROOT)/apj.prototype > $(BUILD_PATH)/$(BOARD).apj
|
|
python $(APJTOOL) --image $(BUILD_PATH)/$(BOARD).bin --board_id $(BOARD_TYPE) --board_revision $(BOARD_REV) > $(BUILD_PATH)/$(BOARD).apj
|
|
dd if=/dev/zero ibs=1k count=64 | tr "\000" "\377" >$(BUILDROOT)/rom.bin
|
|
dd if=$(BOOTLOADERS)/$(BOOTLOADER).bin of=$(BUILDROOT)/rom.bin conv=notrunc
|
|
(printf '%02x %02x' "$(BOARD_TYPE)" "$(BOARD_REV)" ) | xxd -r -p - $(BUILDROOT)/board_id.bin
|
|
dd if=$(BUILDROOT)/board_id.bin of=$(BUILDROOT)/rom.bin obs=1 seek=16368 conv=notrunc
|
|
(cat $(BUILDROOT)/rom.bin; cat $(BUILD_PATH)/$(BOARD).bin) > $(BUILD_PATH)/$(BOARD)_bl.bin
|
|
$(TOOLS_PATH)/dfu-convert -b $(BL_ADDRESS):$(BUILDROOT)/rom.bin -b $(FLASH_ADDRESS):$(BUILD_PATH)/$(BOARD).bin $(BUILD_PATH)/$(BOARD)_bl.dfu
|
|
$(v)cp $(BUILD_PATH)/$(BOARD).hex .
|
|
$(v)cp $(BUILD_PATH)/$(BOARD).bin .
|
|
$(v)cp $(BUILD_PATH)/$(BOARD).dfu .
|
|
$(v)cp $(BUILD_PATH)/$(BOARD).apj .
|
|
$(v)cp $(BUILD_PATH)/$(BOARD)_bl.bin .
|
|
$(v)cp $(BUILD_PATH)/$(BOARD)_bl.dfu .
|
|
@echo "Object file sizes:"
|
|
@find $(BUILD_PATH) -iname "*.o" | xargs $(SIZE) -t > $(BUILD_PATH)/$(BOARD).sizes
|
|
cd $(HAL_PATH); find . -follow -iname "*.o" | xargs $(SIZE) -t >> $(BUILD_PATH)/$(BOARD).sizes
|
|
@cat $(BUILD_PATH)/$(BOARD).sizes
|
|
@echo " "
|
|
@echo "Final Size:"
|
|
@$(SIZE) $<
|
|
@echo $(MEMORY_TARGET) > $(BUILD_PATH)/build-type
|
|
|
|
#
|
|
# Build sketch objects
|
|
#
|