Makefile.chibios

#
# Copyright (C) 2013 AggieAir, A Remote Sensing Unmanned Aerial System for Scientific Applications
# Utah State University, http://aggieair.usu.edu/
#
# Michal Podhradsky (michal.podhradsky@aggiemail.usu.edu)
# Calvin Coopmans (c.r.coopmans@ieee.org)
#
# credits to ENAC team for initial work on ChibiOs and Paparazzi integration
#
# This file is part of paparazzi.
#
# paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING.  If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#

#
# This is the common Makefile for target using chibios
#
CHIBIOS =  $(PAPARAZZI_SRC)/sw/ext/chibios
CHIBIOS_SPECIFIC_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD)/chibios

# Launch with "make Q=''" to get full command display
Q=@

#
# General rules
#

$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
$(TARGET).objso	= $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
$(TARGET).objs	= $($(TARGET).objso:%.S=$(OBJDIR)/%.o)


##############################################################################
# Build global options
# NOTE: Can be overridden externally.
#

# Compiler options here.
ifeq ($(USE_OPT),)
   USE_OPT = -std=gnu99 -O2 -ggdb -fomit-frame-pointer -falign-functions \
	 -W -Wall
endif

# C specific options here (added to USE_OPT).
ifeq ($(USE_COPT),)
  USE_COPT =
endif

# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
  USE_CPPOPT = -fno-rtti
endif

# Enable this if you want the linker to remove unused code and data
ifeq ($(USE_LINK_GC),)
  USE_LINK_GC = yes
endif

# If enabled, this option allows to compile the application in THUMB mode.
ifeq ($(USE_THUMB),)
  USE_THUMB = yes
endif

# Enable this if you want to see the full log while compiling.
ifeq ($(USE_VERBOSE_COMPILE),)
  ifeq ($(Q),@)
    USE_VERBOSE_COMPILE = no
  else
    USE_VERBOSE_COMPILE = yes
  endif
endif

# Enable this if you really want to use the STM FWLib.
ifeq ($(USE_FWLIB),)
  USE_FWLIB = no
endif

#
# Build global options
##############################################################################


#
# Architecture or project specific options
##############################################################################



##############################################################################
# Project, sources and paths
#
# Imported source files and paths
include $(CHIBIOS_SPECIFIC_DIR)/board.mk
include $(CHIBIOS)/os/hal/platforms/$(CHIBIOS_BOARD_PLATFORM)
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/$(CHIBIOS_BOARD_PORT)
include $(CHIBIOS)/os/kernel/kernel.mk
#include $(CHIBIOS)/test/test.mk


# Define linker script file here
LDSCRIPT= $(PORTLD)/$(CHIBIOS_BOARD_LINKER)
# Define linker script file here
#LDSCRIPT= $($(TARGET).LDSCRIPT)

# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(PORTSRC) \
       $(KERNSRC) \
       $(TESTSRC) \
       $(HALSRC) \
       $(PLATFORMSRC) \
       $(BOARDSRC) \
       $(CHIBIOS)/os/various/evtimer.c \
       $(CHIBIOS)/os/various/syscalls.c \
       $(CHIBIOS_BOARD_MAIN) \
       $($(TARGET).srcs)

# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =

# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
ACSRC =

# C++ sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
ACPPSRC =

# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
TCSRC =

# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
TCPPSRC =

# List ASM source files here
ASMSRC = $(PORTASM)

INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
         $(CHIBIOS)/os/various $(CHIBIOS_SPECIFIC_DIR)

BUILDDIR := $(OBJDIR)

#
# Project, sources and paths
##############################################################################

##############################################################################
# Compiler settings
#
MCU  ?= cortex-m3

TRGT = arm-none-eabi-
CC   = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
#       runtime support makes code size explode.
LD   = $(TRGT)gcc
#LD   = $(TRGT)g++
CP   = $(TRGT)objcopy
AS   = $(TRGT)gcc -x assembler-with-cpp
OD   = $(TRGT)objdump
HEX  = $(CP) -O ihex
BIN  = $(CP) -O binary

# ARM-specific options here
AOPT =

# THUMB-specific options here
TOPT = -mthumb -DTHUMB

# Define C warning options here
CWARN = -Wall -Wextra -Wstrict-prototypes

# Define C++ warning options here
CPPWARN = -Wall -Wextra


#
# Compiler settings
##############################################################################

##############################################################################
# Start of default section
#

# List all default C defines here, like -D_DEBUG=1
DDEFS =

# List all default ASM defines here, like -D_DEBUG=1
DADEFS =

# List all default directories to look for include files here
DINCDIR =

# List the default directory to look for the libraries here
DLIBDIR =

# List all default libraries here
DLIBS = -lm
# -lm needed to tell the compiler to use <math.h>

#
# End of default section
##############################################################################

##############################################################################
# Start of user section (extra libraries etc.)
#

# List all user C define here, like -D_DEBUG=1
#UDEFS =
UDEFS = $($(TARGET).CFLAGS)

# Define ASM defines here
UADEFS =

# List all user directories here
#UINCDIR =
UINCDIR = $(patsubst -I%,%,$(INCLUDES))

# List the user directory to look for the libraries here
ULIBDIR =

# List all user libraries here
ULIBS =

#
# End of user defines
##############################################################################

# TODO: remove these...
# Info messages
#$(info CHIBIOS = $(CHIBIOS))
#$(info PORTSRC = $(PORTSRC))
#$(info KERNSRC = $(KERNSRC))
#$(info TESTSRC = $(TESTSRC))
#$(info HALSRC = $(HALSRC))
#$(info PLATFORMSRC = $(PLATFORMSRC))
#$(info BOARDSRC = $(BOARDSRC))
$(info INCDIR = $(INCDIR))
$(info UINCDIR = $(UINCDIR))
$(info CSRC = $(CSRC))
$(info UDEFS = $(UDEFS))

#
# Include upload rules
##############################################################################
# Default upload using black magic probe
#ifndef FLASH_MODE
#FLASH_MODE = JTAG
#endif

# for now, no luftboot
ASSUMING_LUFTBOOT = "yes"

# Settings for GDB
# default port configuration for BMP
BMP_PORT = /dev/ttyACM0
GDB = $(shell which arm-none-eabi-gdb)


# Settings for OOCD
$(TARGET).OOCD_INTERFACE=flossjtag
OOCD_INTERFACE=flossjtag
OOCD = $(shell which openocd)

ifndef $(TARGET).OOCD_BOARD
OOCD_BOARD = lisa-m
else
OOCD_BOARD =  $($(TARGET).OOCD_BOARD)
endif
###############################################################################
# Upload makefile
include $(PAPARAZZI_HOME)/conf/Makefile.stm32-upload


###############################################################################
ifeq ($(USE_FPU),yes)
  USE_OPT += -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
  DDEFS += -DCORTEX_USE_FPU=TRUE
else
  DDEFS += -DCORTEX_USE_FPU=FALSE
endif

# Compile
include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk