Makefile and linker update

1) Custom linker script in case we are using luftboot (8kb memory offset)
2) Custom makefiles rules for chibios (no .dep/ folder)

conf/Makefile.chibios

@@ -30,6 +30,7 @@
 #
 CHIBIOS =  $(PAPARAZZI_SRC)/sw/ext/chibios
 CHIBIOS_SPECIFIC_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD)/chibios
+CHIBIOS_ARCH_DIR = $(PAPARAZZI_SRC)/sw/airborne/arch/chibios
 
 # Launch with "make Q=''" to get full command display
 Q=@
@@ -108,13 +109,14 @@ 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
+ifdef NO_LUFTBOOT
 LDSCRIPT= $(PORTLD)/$(CHIBIOS_BOARD_LINKER)
-# Define linker script file here
-#LDSCRIPT= $($(TARGET).LDSCRIPT)
+else
+LDSCRIPT= $(CHIBIOS_ARCH_DIR)/$(CHIBIOS_BOARD_LINKER)
+endif
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -251,29 +253,11 @@ 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
+# default: assume the luftboot bootloader is used
+# if luftboot is not used define NO_LUFTBOOT to a value != 0
 ASSUMING_LUFTBOOT = "yes"
 
 # Settings for GDB
@@ -294,8 +278,98 @@ OOCD_BOARD =  $($(TARGET).OOCD_BOARD)
 endif
 ###############################################################################
 # Upload makefile
-include $(PAPARAZZI_HOME)/conf/Makefile.stm32-upload
+#include $(PAPARAZZI_HOME)/conf/Makefile.stm32-upload
+#
+# check which flash mode is configured
+#
+ifeq ($(FLASH_MODE),DFU)
+ifeq ($(DFU_UTIL),y)
+#
+# DFU flash mode using dfu-util
+DFU_ADDR ?= 0x08000000
+upload: $(OBJDIR)/$(TARGET).bin
+	@echo "Using dfu-util at $(DFU_ADDR)"
+	$(Q)dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s $(DFU_ADDR) -D $^
+else
+#
+# DFU flash mode paparazzi stm32_mem
+ifdef DFU_ADDR
+DFU_ADDR_CMD = --addr=$(DFU_ADDR)
+endif
+ifdef DFU_PRODUCT
+DFU_PRODUCT_CMD = --product=$(DFU_PRODUCT)
+endif
+upload: $(OBJDIR)/$(TARGET).bin
+	@echo "Using stm32 mem dfu loader"
+	$(PYTHON) $(PAPARAZZI_SRC)/sw/tools/dfu/stm32_mem.py $(DFU_PRODUCT_CMD) $(DFU_ADDR_CMD) $^
+endif
 
+#
+# serial flash mode
+else ifeq ($(FLASH_MODE),SERIAL)
+upload: $(OBJDIR)/$(TARGET).bin
+	$(LOADER) -p /dev/ttyUSB0  -b 115200 -e -w -v $^
+#
+# JTAG flash mode
+else ifeq ($(FLASH_MODE),JTAG)
+# either via normal jtag or BlackMagicProbe
+ifeq ($(BMP_PORT),)
+# normal jtag via OpenOCD
+upload: $(OBJDIR)/$(TARGET).hex
+	@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
+	@echo "Using OOCD = $(OOCD)"
+	@echo "  OOCD\t$<"
+	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
+		-f board/$(OOCD_BOARD).cfg $(OOCD_OPTIONS) \
+		-c init \
+		-c "reset halt" \
+		-c "reset init" \
+		-c "flash erase_sector 0 $(OOCD_START_SECTOR) last" \
+		-c "flash write_image $<" \
+		-c reset \
+		-c shutdown
+else
+# jtag via BMP
+BMP_UPLOAD_SCRIPT ?= $(PAPARAZZI_SRC)/sw/tools/flash_scripts/bmp_jtag_flash.scr
+
+upload: $(OBJDIR)/$(TARGET).elf
+	@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
+	@echo "Using Black Magic Probe with JTAG on BMP_PORT $(BMP_PORT)"
+	@echo "Using GDB = $(GDB)"
+	@echo "  BMP\t$<"
+	$(Q)$(GDB) --batch \
+		   -ex 'target extended-remote $(BMP_PORT)' \
+		   -x $(BMP_UPLOAD_SCRIPT) \
+		   $<
+endif
+#
+# SWD flash mode
+else ifeq ($(FLASH_MODE),SWD)
+# only works if BMP_PORT is defined
+ifeq ($(STLINK),y)
+STLINK_ADDR ?= 0x08000000
+upload: $(OBJDIR)/$(TARGET).bin
+	@echo "Using ST-LINK with SWD at $(STLINK_ADDR)"
+	$(Q)st-flash write $^ $(STLINK_ADDR)
+else
+BMP_PORT ?= /dev/ttyACM0
+BMP_UPLOAD_SCRIPT ?= $(PAPARAZZI_SRC)/sw/tools/flash_scripts/bmp_swd_flash.scr
+upload: $(OBJDIR)/$(TARGET).elf
+	@echo "Assuming luftboot bootloader: $(ASSUMING_LUFTBOOT)"
+	@echo "Using Black Magic Probe with SWD on BMP_PORT $(BMP_PORT)"
+	@echo "Using GDB = $(GDB)"
+	@echo "  BMP\t$<"
+	$(Q)$(GDB) --batch \
+		   -ex 'target extended-remote $(BMP_PORT)' \
+		   -x $(BMP_UPLOAD_SCRIPT) \
+		   $<
+endif
+#
+# no known flash mode
+else
+upload:
+	@echo unknown flash_mode $(FLASH_MODE)
+endif
 
 ###############################################################################
 ifeq ($(USE_FPU),yes)
@@ -306,4 +380,4 @@ else
 endif
 
 # Compile
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+include $(PAPARAZZI_HOME)/conf/chibios_rules.mk

conf/boards/lia_1.1_chibios.makefile

@@ -65,7 +65,6 @@ DFU_UTIL ?= n
 
 ifndef NO_LUFTBOOT
 $(TARGET).CFLAGS+=-DLUFTBOOT
-$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8002000
 endif
 
 ##############################################################################