################################################################################ # AMiRo-OS is an operating system designed for the Autonomous Mini Robot # # (AMiRo) platform. # # Copyright (C) 2016..2019 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 . # # # # 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 ($(USE_OPT),) USE_OPT = -O2 -fomit-frame-pointer -falign-functions=16 -fstack-usage endif # C specific options here (added to USE_OPT). ifeq ($(USE_COPT),) USE_COPT = -std=c17 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 ($(USE_FPU),) USE_FPU = no endif # FPU-related options. ifeq ($(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 $(abspath $(lastword $(MAKEFILE_LIST))))) # Define project name here PROJECT := $(patsubst $(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))..)/%,%,$(PROJECT_PATH)) # Target settings. MCU = cortex-m3 # Imported source files and paths. include ../../kernel/kernel.mk CHIBIOS := $(AMIROOS_KERNEL) CONFDIR := . ifeq ($(BUILDDIR),) BUILDDIR := $(PROJECT_PATH)/build endif DEPDIR := $(dir $(BUILDDIR)).dep AMIROOS := ../.. # Licensing files. include $(CHIBIOS)/os/license/license.mk # Startup files. include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk # HAL-OSAL files (optional). include $(CHIBIOS)/os/hal/hal.mk include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.mk include $(CHIBIOS)/os/hal/osal/rt/osal.mk include $(CHIBIOS)/os/hal/lib/streams/streams.mk # RTOS files (optional). include $(CHIBIOS)/os/rt/rt.mk include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk # Auto-build files in ./source recursively. include $(CHIBIOS)/tools/mk/autobuild.mk # Other files (optional). include $(CHIBIOS)/test/lib/test.mk include $(CHIBIOS)/test/rt/rt_test.mk include $(CHIBIOS)/test/oslib/oslib_test.mk # AMiRo-BLT files include ../../bootloader/bootloader.mk # AMiRo-LLD files include ../../periphery-lld/periphery-lld.mk # AMiRo-OS files include ../modules.mk include $(AMIROOS)/core/core.mk include $(AMIROOS)/unittests/unittests.mk # Define linker script file here LDSCRIPT= STM32F103xB.ld # C sources that can be compiled in ARM or THUMB mode depending on the global # setting. CSRC = $(ALLCSRC) \ $(CHIBIOS)/os/various/syscalls.c \ $(CHIBIOS)/os/various/evtimer.c \ $(TESTSRC) \ board.c \ $(PERIPHERYLLDCSRC) \ $(UNITTESTSCSRC) \ $(AMIROOSCORECSRC) \ $(MODULESCSRC) \ module.c \ $(APPSCSRC) # C++ sources that can be compiled in ARM or THUMB mode depending on the global # setting. CPPSRC = $(ALLCPPSRC) \ $(CHIBIOS)/os/various/cpp_wrappers/syscalls_cpp.cpp \ $(AMIROOSCORECPPSRC) \ $(APPSCPPSRC) # List ASM source files here. ASMSRC = $(ALLASMSRC) \ $(APPSASMSRC) # List ASM with preprocessor source files here. ASMXSRC = $(ALLXASMSRC) \ $(APPSASMXSRC) # Inclusion directories. INCDIR = $(CONFDIR) \ $(ALLINC) \ $(TESTINC) \ $(CHIBIOS)/os/hal/lib/streams \ $(BOOTLOADERINC) \ $(PERIPHERYLLDINC) \ $(AMIROOS) \ $(UNITTESTSINC) \ $(AMIROOSCOREINC) \ $(MODULESINC) \ $(APPSINC) # Define C warning options here. CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes # Define C++ warning options here. 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/stlink-v2-1.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f1x.cfg -c "program build/$(PROJECT).elf verify reset exit" # # # Custom rules # ################################################################################