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 := $(MODULE_DIR)/STM32L476xG.ld

# General AMiRo-OS files.

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

# Module specific ChibiOS files.

include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32l4xx.mk

include $(CHIBIOS)/os/hal/ports/STM32/STM32L4xx/platform.mk

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

# Module specific periphery LLDs.

# 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.

# C warning options.

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

# C++ warning options.

CPPWARN = -Wall -Wextra -Wundef

#                                                                              #

# Project, target, sources and paths                                           #

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

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

# Start of user section                                                        #

#                                                                              #

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

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: $(BUILDDIR)/$(PROJECT).elf

	openocd -f interface/jlink.cfg -c "transport select swd" -c "set WORKAREASIZE 0x2000" -f target/stm32l4x.cfg -c "program $(BUILDDIR)/$(PROJECT).elf verify reset exit"

#                                                                              #

# Custom rules                                                                 #

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

/*

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/>.

*/

/*

 * STM32L476xJ memory setup.

 */

MEMORY

{

    flash0  : org = 0x08000000, len = 512K

    flash1  : org = 0x00000000, len = 0

    flash2  : org = 0x00000000, len = 0

    flash3  : org = 0x00000000, len = 0

    flash4  : org = 0x00000000, len = 0

    flash5  : org = 0x00000000, len = 0

    flash6  : org = 0x00000000, len = 0

    flash7  : org = 0x00000000, len = 0

    ram0    : org = 0x20000000, len = 96k

    ram1    : org = 0x00000000, len = 0

    ram2    : org = 0x00000000, len = 0

    ram3    : org = 0x00000000, len = 0

    ram4    : org = 0x10000000, len = 32k

    ram5    : org = 0x00000000, len = 0

    ram6    : org = 0x00000000, len = 0

    ram7    : org = 0x00000000, len = 0

}

/* For each data/text section two region are defined, a virtual region

   and a load region (_LMA suffix).*/

/* Flash region to be used for exception vectors.*/

REGION_ALIAS("VECTORS_FLASH", flash0);

REGION_ALIAS("VECTORS_FLASH_LMA", flash0);

/* Flash region to be used for constructors and destructors.*/

REGION_ALIAS("XTORS_FLASH", flash0);

REGION_ALIAS("XTORS_FLASH_LMA", flash0);

/* Flash region to be used for code text.*/

REGION_ALIAS("TEXT_FLASH", flash0);

REGION_ALIAS("TEXT_FLASH_LMA", flash0);

/* Flash region to be used for read only data.*/

REGION_ALIAS("RODATA_FLASH", flash0);

REGION_ALIAS("RODATA_FLASH_LMA", flash0);

/* Flash region to be used for various.*/

REGION_ALIAS("VARIOUS_FLASH", flash0);

REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);

/* Flash region to be used for RAM(n) initialization data.*/

REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);

/* RAM region to be used for Main stack. This stack accommodates the processing

   of all exceptions and interrupts.*/

REGION_ALIAS("MAIN_STACK_RAM", ram0);

/* RAM region to be used for the process stack. This is the stack used by

   the main() function.*/

REGION_ALIAS("PROCESS_STACK_RAM", ram0);

/* RAM region to be used for data segment.*/

REGION_ALIAS("DATA_RAM", ram0);

REGION_ALIAS("DATA_RAM_LMA", flash0);

/* RAM region to be used for BSS segment.*/

REGION_ALIAS("BSS_RAM", ram0);

/* RAM region to be used for the default heap.*/

REGION_ALIAS("HEAP_RAM", ram0);

/* RAM region with parity check. */

REGION_ALIAS("PARCHECK_RAM", ram4);

/* RAM region retainable in Standby mode. */

REGION_ALIAS("TANDBY_RAM", ram4);

/* RAM region that is write-protectable. */

REGION_ALIAS("WPROTECTED_RAM", ram4);

/* Generic rules inclusion.*/

INCLUDE rules.ld

/*

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/>.

*/

/**

 * @file

 * @brief   AMiRo-LLD configuration file for the BI-Vital (BGv5.1) module.

 * @details Contains the application specific AMiRo-LLD settings.

 *

 * @addtogroup BI-Vital_5.1_config

 * @{

 */

#ifndef ALLDCONF_H

#define ALLDCONF_H

/*

 * common configuration

 */

#include <aos_alldconf.h>

#endif /* ALLDCONF_H */

/** @} */

/*

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/>.

*/

/**

 * @file

 * @brief   AMiRo-OS Configuration file for the BI-Vital (BGv5.1) module.

 * @details Contains the application specific AMiRo-OS settings.

 *

 * @addtogroup BI-Vital_5.1_aos_config

 * @{

 */

#ifndef AOSCONF_H

#define AOSCONF_H

/*

 * compatibility guards

 */

#define _AMIRO_OS_CFG_

#define AMIRO_OS_CFG_VERSION_MAJOR              2

#define AMIRO_OS_CFG_VERSION_MINOR              1

#include <stdbool.h>

/*

 * Include an external configuration file to override the following default settings only if required.

 */

#if defined(AMIRO_APPS) && (AMIRO_APPS == true)

  #include <osconf.h>

#endif /* defined(AMIRO_APPS) && (AMIRO_APPS == true) */

/*===========================================================================*/

/**

 * @name Kernel parameters and options

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Flag to enable/disable debug API and logic.

 */

#if !defined(OS_CFG_DBG)

  #define AMIROOS_CFG_DBG                       true

#else /* !defined(OS_CFG_DBG) */

  #define AMIROOS_CFG_DBG                       OS_CFG_DBG

#endif /* !defined(OS_CFG_DBG) */

/**

 * @brief   Flag to enable/disable unit tests.

 * @note    Setting this flag will implicitely enable the shell.

 */

#if !defined(OS_CFG_TESTS_ENABLE)

  #define AMIROOS_CFG_TESTS_ENABLE              true

#else /* !defined(OS_CFG_TESTS_ENABLE) */

  #define AMIROOS_CFG_TESTS_ENABLE              OS_CFG_TESTS_ENABLE

#endif /* !defined(OS_CFG_TESTS_ENABLE) */

/**

 * @brief   Flag to enable/disable profiling API and logic.

 */

#if !defined(OS_CFG_PROFILE)

  #define AMIROOS_CFG_PROFILE                   true

#else /* !defined(OS_CFG_PROFILE) */

  #define AMIROOS_CFG_PROFILE                   OS_CFG_PROFILE

#endif /* !defined(OS_CFG_PROFILE) */

/**

 * @brief   Mask for the control thread to listen to certain GPIO events.

 * @note    Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration.

 */

#if !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK)

  #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK 0

#else /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */

  #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK

#endif /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */

/**

 * @brief   Timeout value when waiting for events in the main loop in microseconds.

 * @details A value of 0 deactivates the timeout.

 */

#if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)

  #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT         0

#else /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */

  #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT         OS_CFG_MAIN_LOOP_TIMEOUT

#endif /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */

/** @} */

/*===========================================================================*/

/**

 * @name Bootloader configuration

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Identifier of the instaled bootloader (if any).

 * @note    See aos_bootloader.h file for a list of available settings.

 */

#if !defined(OS_CFG_BOOTLOADER)

  #define AMIROOS_CFG_BOOTLOADER                AOS_BOOTLOADER_NONE

#else /* !defined(OS_CFG_BOOTLOADER) */