AMiRo-OS

################################################################################

# AMiRo-OS is an operating system designed for the Autonomous Mini Robot       #

# (AMiRo) platform.                                                            #

# Copyright (C) 2016..2020  Thomas Schöpping et al.                            #

#                                                                              #

# This program 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 3 of the License, or            #

# (at your option) any later version.                                          #

#                                                                              #

# This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################

################################################################################

# Build global options                                                         #

# NOTE: Can be overridden externally.                                          #

#                                                                              #

# Compiler options here.

ifeq ($(USE_OPT),)

  USE_OPT = -O2 -fstack-usage

endif

# C specific options here (added to USE_OPT).

ifeq ($(USE_COPT),)

  USE_COPT = -std=c99 -fshort-enums

endif

# C++ specific options here (added to USE_OPT).

ifeq ($(USE_CPPOPT),)

  USE_CPPOPT = -fno-rtti -std=c++17

endif

# Enable this if you want the linker to remove unused code and data.

ifeq ($(USE_LINK_GC),)

  USE_LINK_GC = yes

endif

# Linker extra options here.

ifeq ($(USE_LDOPT),)

  USE_LDOPT =

endif

# Enable this if you want link time optimizations (LTO).

ifeq ($(USE_LTO),)

  USE_LTO = yes

endif

# Enable this if you want to see the full log while compiling.

ifeq ($(USE_VERBOSE_COMPILE),)

  USE_VERBOSE_COMPILE = no

endif

# If enabled, this option makes the build process faster by not compiling

# modules not used in the current configuration.

ifeq ($(USE_SMART_BUILD),)

  USE_SMART_BUILD = no

endif

#                                                                              #

# Build global options                                                         #

################################################################################

################################################################################

# Architecture or project specific options                                     #

#                                                                              #

# Stack size to be allocated to the Cortex-M process stack. This stack is

# the stack used by the main() thread.

ifeq ($(USE_PROCESS_STACKSIZE),)

  USE_PROCESS_STACKSIZE = 0x400

endif

# Stack size to the allocated to the Cortex-M main/exceptions stack. This

# stack is used for processing interrupts and exceptions.

ifeq ($(USE_EXCEPTIONS_STACKSIZE),)

  USE_EXCEPTIONS_STACKSIZE = 0x400

endif

# Enables the use of FPU.

# Possible selections are:

#   no     - no FPU is used (probably equals 'soft')

#   soft   - does not use the FPU, thus all floating point operations are emulated

#   softfp - uses the FPU, but uses the integer registers only

#   hard   - uses the FPU and passes data via the FPU registers

ifeq ($(USE_FPU),)

  USE_FPU = softfp

endif

# FPU-related options.

ifeq ($(USE_FPU_OPT),)

  USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16

endif

#                                                                              #

# Architecture or project specific options                                     #

################################################################################

################################################################################

# Project, target, sources and paths                                           #

#                                                                              #

# Absolute path to the project.

PROJECT_PATH := $(abspath $(dir $(lastword $(MAKEFILE_LIST))))

# Project name.

PROJECT := $(notdir $(PROJECT_PATH))

# Target settings.

MCU := cortex-m4

# Module specific paths and directories.

MODULE_DIR := .

CONFIG_DIR := $(MODULEDIR)

ifeq ($(BUILDDIR),)

  BUILDDIR := $(PROJECT_PATH)/build

endif

DEPDIR := $(dir $(BUILDDIR)).dep

# Linker script.

LDSCRIPT = STM32F405xG.ld

# General AMiRo-OS files.

include ../../amiro-os.mk

# Module specific ChibiOS files.

include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk

include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk

include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk

# Module specific configuration

## select one (or none) of the following

#BOARD_SENSORRING := BOARD_NOSENSORRING

#BOARD_SENSORRING := BOARD_PROXIMITYSENSOR

#BOARD_SENSORRING := BOARD_DISTANCESENSOR_VL53L0X

#BOARD_SENSORRING := BOARD_DISTANCESENSOR_VL53L1X

# Module specific periphery LLDs.

include $(AMIROLLD)/drivers/AT24C01B/v1/alld_AT24C01B.mk

include $(AMIROLLD)/drivers/bq241xx/v1/alld_bq241xx.mk

include $(AMIROLLD)/drivers/bq27500/v1/alld_bq27500.mk

include $(AMIROLLD)/drivers/INA219/v1/alld_INA219.mk

include $(AMIROLLD)/drivers/LED/v1/alld_LED.mk

include $(AMIROLLD)/drivers/PCA9544A/v1/alld_PCA9544A.mk

include $(AMIROLLD)/drivers/PKxxxExxx/v1/alld_PKxxxExxx.mk

include $(AMIROLLD)/drivers/switch/v1/alld_switch.mk

include $(AMIROLLD)/drivers/TPS6211x/v1/alld_TPS6211x.mk

ifeq ($(BOARD_SENSORRING), BOARD_PROXIMITYSENSOR)

  include $(AMIROLLD)/drivers/MPR121/v1/alld_MPR121.mk

  include $(AMIROLLD)/drivers/VCNL4020/v1/alld_VCNL4020.mk

else ifeq ($(BOARD_SENSORRING), BOARD_DISTANCESENSOR_VL53L0X)

  include $(AMIROLLD)/drivers/AT42QT1050/v1/alld_AT42QT1050.mk

  include $(AMIROLLD)/drivers/PCAL6524/v1/alld_PCAL6524.mk

else ifeq ($(BOARD_SENSORRING), BOARD_DISTANCESENSOR_VL53L1X)

  include $(AMIROLLD)/drivers/AT42QT1050/v1/alld_AT42QT1050.mk

  include $(AMIROLLD)/drivers/PCAL6524/v1/alld_PCAL6524.mk

else ifeq ($(BOARD_SENSORRING),)

  include $(AMIROLLD)/drivers/AT42QT1050/v1/alld_AT42QT1050.mk

  include $(AMIROLLD)/drivers/PCAL6524/v1/alld_PCAL6524.mk

  include $(AMIROLLD)/drivers/MPR121/v1/alld_MPR121.mk

  include $(AMIROLLD)/drivers/VCNL4020/v1/alld_VCNL4020.mk

endif

# Module specific inclusion directories

MODULE_INC = $(MODULE_DIR)

# Module specific C source files.

MODULE_CSRC = $(MODULE_DIR)/board.c \

              $(MODULE_DIR)/module.c

# Module specific tests.

include $(MODULE_DIR)/test/adc/module_test_adc.mk

include $(MODULE_DIR)/test/AT24C01B/module_test_AT24C01B.mk

include $(MODULE_DIR)/test/bq241xx/module_test_bq241xx.mk

include $(MODULE_DIR)/test/bq27500/module_test_bq27500.mk

include $(MODULE_DIR)/test/bq27500_bq241xx/module_test_bq27500_bq241xx.mk

include $(MODULE_DIR)/test/INA219/module_test_INA219.mk

include $(MODULE_DIR)/test/LED/module_test_LED.mk

include $(MODULE_DIR)/test/PCA9544A/module_test_PCA9544A.mk

include $(MODULE_DIR)/test/PKxxxExxx/module_test_PKxxxExxx.mk

include $(MODULE_DIR)/test/switch/module_test_switch.mk

include $(MODULE_DIR)/test/TPS6211x/module_test_TPS6211x.mk

include $(MODULE_DIR)/test/TPS6211x_INA219/module_test_TPS6211x_INA219.mk

ifeq ($(BOARD_SENSORRING), BOARD_PROXIMITYSENSOR)

  include $(MODULE_DIR)/test/MPR121/module_test_MPR121.mk

  include $(MODULE_DIR)/test/VCNL4020/module_test_VCNL4020.mk

else ifeq ($(BOARD_SENSORRING), BOARD_DISTANCESENSOR_VL53L0X)

  include $(MODULE_DIR)/test/AT42QT1050/module_test_AT42QT1050.mk

  include $(MODULE_DIR)/test/PCAL6524/module_test_PCAL6524.mk

else ifeq ($(BOARD_SENSORRING), BOARD_DISTANCESENSOR_VL53L1X)

  include $(MODULE_DIR)/test/AT42QT1050/module_test_AT42QT1050.mk

  include $(MODULE_DIR)/test/PCAL6524/module_test_PCAL6524.mk

else ifeq ($(BOARD_SENSORRING),)

  include $(MODULE_DIR)/test/AT42QT1050/module_test_AT42QT1050.mk

  include $(MODULE_DIR)/test/MPR121/module_test_MPR121.mk

  include $(MODULE_DIR)/test/PCAL6524/module_test_PCAL6524.mk

  include $(MODULE_DIR)/test/VCNL4020/module_test_VCNL4020.mk

endif

# C warning options.

CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes

# C++ warning options.

CPPWARN = -Wall -Wextra -Wundef

# Create an additional .srec image file.

SREC = $(CP) -O srec --srec-len=248

#                                                                              #

# Project, target, sources and paths                                           #

################################################################################

################################################################################

# Start of user section                                                        #

#                                                                              #

# List all user C define here, like -D_DEBUG=1

ifneq ($(BOARD_SENSORRING),)

  UDEFS += -DBOARD_SENSORRING=$(BOARD_SENSORRING)

endif

UDEFS +=

# Define ASM defines here

UADEFS +=

# List all user directories here

UINCDIR +=

# List the user directory to look for the libraries here

ULIBDIR +=

# List all user libraries here

ULIBS +=

#                                                                              #

# End of user section                                                          #

################################################################################

################################################################################

# Common rules                                                                 #

#                                                                              #

RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk

include $(RULESPATH)/arm-none-eabi.mk

include $(RULESPATH)/rules.mk

#                                                                              #

# Common rules                                                                 #

################################################################################

################################################################################

# Custom rules                                                                 #

#                                                                              #

FLASH_MODULES = $(PROJECT)

FLASH_FILES = $(BUILDDIR)/$(PROJECT).$(FLASHTOOL_EXT)

flash: $(FLASH_FILES)

	$(info )

ifeq ($(FLASHTOOL),SerialBoot)

	$(info Flashing ($(FLASHTOOL)):)

	$(FLASHTOOL_CMD) $(FLASHTOOL_ARGS)

else

	$(info ERROR: unable to flash the module (SerialBoot unavailable))

endif

#                                                                              #

# Custom rules                                                                 #

################################################################################