-
Notifications
You must be signed in to change notification settings - Fork 0
/
Makefile
195 lines (155 loc) · 5.37 KB
/
Makefile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
#CROSS_COMPILE ?= arm-none-eabi-
CROSS_COMPILE ?= /Users/cooltouya/Programs/linaro-arm-none-eabi/bin/arm-none-eabi-
DEBUG ?= 1
USE_FPU ?= 1
# Now #define for project
ifeq ($(DEBUG), 1)
#CFLAGS += -DDEBUG_PRINT_ON_UART
else
#CFLAGS += -DUSE_MAVLINK
endif
CFLAGS += -DUSE_MAVLINK
######## Location Configuration ########
LIB = lib
CMSIS = $(LIB)/CMSIS
CMSIS_INCLUDE = $(CMSIS)/Include
CMSIS_DEVICE = $(CMSIS)/Device
CMSIS_DEVICE_SOURCE = $(CMSIS_DEVICE)/Source
CMSIS_DEVICE_INCLUDE = $(CMSIS_DEVICE)/Include
CMSIS_DEVICE_STARTUP = $(CMSIS_DEVICE_SOURCE)/gcc
ST_HAL_DRIVER = $(LIB)/STM32F4xx_HAL_Driver
ST_BSP = $(LIB)/BSP
MIDDLEWARES = $(LIB)/Middlewares
THIRD_PARTY = $(MIDDLEWARES)/Third_Party
RTOS = $(THIRD_PARTY)/FreeRTOS/Source
LINKER_DIR = $(LIB)/linker
LDSCRIPT = $(LINKER_DIR)/flash.ld
CONFIGS = configs
INIT = init
DRIVERS = drivers
MODULES = modules
HAL = hal
PLATFORM = platform
######## Build Configuration ########
# CMSIS
VPATH += $(CMSIS_DEVICE_SOURCE)
VPATH += $(CMSIS_DEVICE_STARTUP)
INCLUDES += -I$(CMSIS_DEVICE_INCLUDE)
INCLUDES += -I$(CMSIS_INCLUDE)
CRT0 = startup_stm32f411xe.o system_stm32f4xx.o
OBJ = $(CRT0)
OBJ += syscalls.o
# ST Lib
VPATH += $(ST_HAL_DRIVER)/Src
VPATH += $(ST_BSP)/STM32F4xx-Nucleo
VPATH += $(ST_BSP)/Components/lsm6ds0
VPATH += $(ST_BSP)/Components/lsm6ds3
VPATH += $(ST_BSP)/Components/hts221
VPATH += $(ST_BSP)/Components/lis3mdl
VPATH += $(ST_BSP)/Components/lps25h
VPATH += $(ST_BSP)/Components/lps25hb
VPATH += $(ST_BSP)/X_NUCLEO_IKS01A1
INCLUDES += -I$(ST_HAL_DRIVER)/Inc
INCLUDES += -I$(ST_BSP)/STM32F4xx-Nucleo
INCLUDES += -I$(ST_BSP)/Components/Common
INCLUDES += -I$(ST_BSP)/Components/lsm6ds0
INCLUDES += -I$(ST_BSP)/Components/lsm6ds3
INCLUDES += -I$(ST_BSP)/Components/hts221
INCLUDES += -I$(ST_BSP)/Components/lis3mdl
INCLUDES += -I$(ST_BSP)/Components/lps25h
INCLUDES += -I$(ST_BSP)/Components/lps25hb
INCLUDES += -I$(ST_BSP)/X_NUCLEO_IKS01A1
OBJ += stm32f4xx_nucleo.o
OBJ += $(patsubst %.c,%.o,$(notdir $(wildcard $(ST_HAL_DRIVER)/Src/*.c)))
OBJ += $(patsubst %.c,%.o,$(notdir $(wildcard $(ST_BSP)/Components/lsm6ds0/*.c)))
OBJ += $(patsubst %.c,%.o,$(notdir $(wildcard $(ST_BSP)/Components/lsm6ds3/*.c)))
OBJ += $(patsubst %.c,%.o,$(notdir $(wildcard $(ST_BSP)/Components/lis3mdl/*.c)))
OBJ += $(patsubst %.c,%.o,$(notdir $(wildcard $(ST_BSP)/Components/lps25h/*.c)))
OBJ += $(patsubst %.c,%.o,$(notdir $(wildcard $(ST_BSP)/Components/lps25hb/*.c)))
OBJ += $(patsubst %.c,%.o,$(notdir $(wildcard $(ST_BSP)/X_NUCLEO_IKS01A1/*.c)))
# MAVLINK
INCLUDES += -I$(LIB)/mavlink
INCLUDES += -I$(LIB)/mavlink/common
# RTOS
VPATH += $(RTOS)
VPATH += $(RTOS)/portable/GCC/ARM_CM4F
VPATH += $(RTOS)/portable/MemMang
INCLUDES += -I$(RTOS)/include
INCLUDES += -I$(RTOS)/portable/GCC/ARM_CM4F
MEMMANG_OBJ = heap_4.o
OBJ += port.o
OBJ += list.o tasks.o queue.o timers.o $(MEMMANG_OBJ)
# Project
VPATH += $(DRIVERS)/src $(MODULES)/src $(PLATFORM)/src $(INIT) $(HAL)/src
OBJ += main.o stm32f4xx_hal_msp.o stm32f4xx_it.o uart.o platform.o error_handler.o
OBJ += stabilizer.o system.o imu.o filter.o MahonyAHRS.o
#OBJ += stabilizer.o system.o imu.o filter.o MadgwickAHRS.o
#OBJ += stabilizer.o system.o imu.o filter.o MARG_Filter.o
#OBJ += stabilizer.o system.o imu.o filter.o sensfusion6.o
INCLUDES += -I$(DRIVERS)/inc -I$(MODULES)/inc -I$(PLATFORM)/inc -I$(HAL)/inc -I$(CONFIGS)
######## Compilation Configuration ########
AS = $(CROSS_COMPILE)as
CC = $(CROSS_COMPILE)gcc
LD = $(CROSS_COMPILE)gcc
SIZE = $(CROSS_COMPILE)size
OBJCOPY = $(CROSS_COMPILE)objcopy
ifeq ($(USE_FPU), 1)
PROCESSOR = -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16
else
PROCESSOR = -mcpu=cortex-m4 -mthumb
endif
LIBS = --specs=rdimon.specs -Wl,--start-group -lgcc -lc -lm -lrdimon -lnosys -Wl,--end-group
STFLAGS = -DUSE_STM32F4XX_NUCLEO -DSTM32F411xE -DUSE_HAL_DRIVER -DHSE_VALUE=8000000
ifeq ($(USE_FPU), 1)
STFLAGS += -D__FPU_USED
endif
ifeq ($(DEBUG), 1)
#CFLAGS += -O0 -g
CFLAGS += -Os -g
else
CFLAGS += -Os -g3
endif
CFLAGS += $(PROCESSOR) $(INCLUDES) $(STFLAGS) -Wall -fno-strict-aliasing
#-Wextra -Wimplicit-function-declaration \
-Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes
# Compiler flags to generate dependency files:
CFLAGS += -MD -MP -MF $(BIN)/dep/$(@).d -MQ $(@)
# Permits to remove un-used functions and global variables from output file
CFLAGS += -ffunction-sections -fdata-sections
ASFLAGS = $(PROCESSOR) $(INCLUDES)
LDFLAGS = $(PROCESSOR) --static $(LIBS) -T$(LDSCRIPT) -nostartfiles -Wl,-Map=$(PROG).map,--cref,--gc-sections
# Program name
PROG = Copter
# Where to compile the .o
BIN = bin
VPATH += $(BIN)
# Dependency files to include
DEPS := $(foreach o,$(OBJ),$(BIN)/dep/$(o).d)
######## Targets ########
all: build
build: compile
compile: $(PROG).elf $(PROG).bin $(PROG).hex
CC_COMMAND = $(CC) $(CFLAGS) -c $< -o $(BIN)/$@
.c.o:
@$(CC_COMMAND)
.S.o:
@$(CC_COMMAND)
LD_COMMAND = $(LD) $(LDFLAGS) $(foreach o,$(OBJ),$(BIN)/$(o)) -o $@
$(PROG).elf: $(OBJ) $(LDSCRIPT)
@$(LD_COMMAND)
HEX_COMMAND = $(OBJCOPY) $< -O ihex $@
$(PROG).hex: $(PROG).elf
@$(HEX_COMMAND)
BIN_COMMAND = $(OBJCOPY) $< -O binary --pad-to 0 $@
$(PROG).bin: $(PROG).elf
@$(BIN_COMMAND)
#CLEAN_O_COMMAND = rm -f $(foreach o,$(OBJ),$(BIN)/$(o))
CLEAN_O_COMMAND = rm -f $(BIN)/*.o
clean_o:
@$(CLEAN_O_COMMAND)
CLEAN_COMMAND = rm -f $(PROG).elf $(PROG).bin $(PROG).hex $(PROG).map $(BIN)/dep/*.d
clean: clean_o
@$(CLEAN_COMMAND)
#WRITE_COMMAND = ./write_bin.sh openocd.cfg $(PROG).elf
#write:
# @$(WRITE_COMMAND)