mirror of https://github.com/ArduPilot/ardupilot
182 lines
6.3 KiB
Makefile
182 lines
6.3 KiB
Makefile
# board_flymaple.mk
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#
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# Build ArduPlane for Flymaple http://www.open-drone.org/flymaple
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# cope with relative paths
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ifeq ($(wildcard $(LIBMAPLE_PATH)/wirish),)
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LIBMAPLE_PATH := $(shell cd $(SKETCHBOOK)/../libmaple && pwd)
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endif
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ifeq ($(wildcard $(LIBMAPLE_PATH)/wirish),)
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$(error ERROR: failed to find libmaple - please see libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt)
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endif
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TOOLCHAIN = ARM
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include $(MK_DIR)/find_tools.mk
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HARDWARE := leaflabs
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MCU := STM32F103RE
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FAMILY := cortex-m3
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F_CPU := 72000000L
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LINKER := maple_RET6/flash.ld
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HARDWARE_CORE := maple
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UPLOADER := dfu-util
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USBID := 1EAF:0003
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PRODUCT_ID := 0003
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LD_MEM_DIR := sram_64k_flash_512k
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#
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# Tool options
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#
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DEFINES = -DF_CPU=$(F_CPU) -DMCU_$(MCU) -DBOARD_$(BOARD) -DERROR_LED_PORT=GPIOA -DERROR_LED_PIN=5 -DVECT_TAB_FLASH
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DEFINES += -DSKETCH=\"$(SKETCH)\" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
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DEFINES += $(EXTRAFLAGS)
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DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
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WARNFLAGS = -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-psabi
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WARNFLAGS += -Wwrite-strings -Wformat=2
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WARNFLAGSCXX = -Wno-reorder
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DEPFLAGS = -MD -MT $@
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CXXOPTS = -std=gnu++11 -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
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COPTS = -ffunction-sections -fdata-sections -fsigned-char
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ASOPTS = -x assembler-with-cpp
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LISTOPTS = -adhlns=$(@:.o=.lst)
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NATIVE_CPUFLAGS = -D_GNU_SOURCE
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NATIVE_CPULDFLAGS = -g
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NATIVE_OPTFLAGS = -O0 -g
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ARM_CPUFLAGS = -mcpu=$(FAMILY) -march=armv7-m -mthumb -DBOARD_maple -DMCU_$(MCU)
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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
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ARM_OPTFLAGS = -Os
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CPUFLAGS= $($(TOOLCHAIN)_CPUFLAGS)
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CPULDFLAGS= $($(TOOLCHAIN)_CPULDFLAGS)
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OPTFLAGS= $($(TOOLCHAIN)_OPTFLAGS)
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CXXFLAGS = $(CPUFLAGS) $(DEFINES) -Os -g3 -gdwarf-2 -nostdlib \
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-ffunction-sections -fdata-sections \
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-fno-rtti -fno-exceptions -Wl,--gc-sections $(OPTFLAGS)
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CXXFLAGS += $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS)
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CFLAGS = $(CPUFLAGS) $(DEFINES) -Os -g3 -gdwarf-2 -nostdlib \
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-ffunction-sections -fdata-sections \
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-fno-exceptions -Wl,--gc-sections $(OPTFLAGS)
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CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS)
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ASFLAGS = $(CPUFLAGS) $(DEFINES) -x assembler-with-cpp
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ASFLAGS += $(ASOPTS)
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LDFLAGS = $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS) -mcpu=cortex-m3 -mthumb \
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-Xlinker --gc-sections \
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-Xassembler --march=armv7-m -Wall
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LDFLAGS += -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP) $(CPULDFLAGS)
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# under certain situations with certain avr-gcc versions the --relax flag causes
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# a bug. Give the user a way to disable this flag per-sketch.
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# I know this is a rotten hack but we're really close to sunset on AVR.
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EXCLUDE_RELAX := $(wildcard $(SRCROOT)/norelax.inoflag)
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ifeq ($(EXCLUDE_RELAX),)
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# LDFLAGS += -Wl,--relax
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endif
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LIBS = -lm
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ifeq ($(VERBOSE),)
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v = @
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else
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v =
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endif
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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 $(LIBMAPLE_PATH)/build/libraries/Wire/*.o
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COREINCLUDES = -I$(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
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# Library object files
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LIBOBJS := $(SKETCHLIBOBJS) $(COREOBJS)
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################################################################################
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# Built products
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#
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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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################################################################################
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# Targets
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#
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all: $(SKETCHELF) $(SKETCHEEP) $(SKETCHHEX)
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print-%:
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echo "$*=$($*)"
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flymaple-upload: upload
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.PHONY: upload
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upload: $(SKETCHBIN)
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$(LIBMAPLE_PATH)/support/scripts/reset.py && sleep 1 && $(UPLOADER) -a1 -d $(USBID) -D $(SKETCHBIN) -R
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debug:
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$(AVARICE) --mkII --capture --jtag usb :4242 & \
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gnome-terminal -x $(GDB) $(SKETCHELF) & \
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echo -e '\n\nat the gdb prompt type "target remote localhost:4242"'
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# this allows you to flash your image via JTAG for when you
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# have completely broken your USB
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jtag-program:
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$(AVARICE) --mkII --jtag usb --erase --program --file $(SKETCHELF)
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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 $(ALLDEPS)
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# Link the final object
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$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
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$(RULEHDR)
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$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
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$(v)cp $(SKETCHELF) .
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@echo "Firmware is in $(BUILDELF)"
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# Create the hex file
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$(SKETCHHEX): $(SKETCHELF)
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$(RULEHDR)
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$(v)$(OBJCOPY) -O ihex -R .eeprom $< $@
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# Create the bin file
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$(SKETCHBIN): $(SKETCHELF)
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$(RULEHDR)
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$(v)$(OBJCOPY) -v -O binary $< $@
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# Create the eep file
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$(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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SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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include $(MK_DIR)/build_rules.mk
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