AMiRo-OS

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# 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 <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).                              #

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# 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=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                                                         #

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# 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                                     #

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# 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.

MODULEDIR := .

CONFDIR := $(MODULEDIR)

ifeq ($(BUILDDIR),)

  BUILDDIR := $(PROJECT_PATH)/build

endif

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

# Linker script.

LDSCRIPT := $(MODULEDIR)/STM32L476xG.ld

# General AMiRo-OS files.

include ../../amiroos.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

# Periphery LLDs.

AMIROOS_PERIPHERYLLD_INC += $(AMIROLLD)/drivers/LED/v1 \

                            $(AMIROLLD)/drivers/button/v1 \

                            $(AMIROLLD)/drivers/MPU6050/v1

# Tests.

AMIROOS_TEST_INC += $(AMIROOS_TEST_DIR)periphery-lld/button_v1 \

                    $(AMIROOS_TEST_DIR)periphery-lld/LED_v1 \

                    $(AMIROOS_TEST_DIR)periphery-lld/MPU6050_v1

# Module specific inclusion directories

MODULE_INC = $(MODULEDIR) \

             $(wildcard $(MODULEDIR)/test/*)

# Module specific C source files.

MODULE_CSRC = $(wildcard $(MODULE_INC:%=%/*.[Cc]))

# C warning options.

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

# C++ warning options.

CPPWARN = -Wall -Wextra -Wundef

#                                                                              #

# Project, target, sources and paths                                           #

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# 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                                                          #

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# Common rules                                                                 #

#                                                                              #

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

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

include $(RULESPATH)/rules.mk

#                                                                              #

# Common rules                                                                 #

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# Custom rules                                                                 #

#                                                                              #

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

	openocd -f interface/stlink-v2-1.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32l4x.cfg -c "program $(BUILDDIR)/$(PROJECT).elf verify reset exit"

#                                                                              #

# Custom rules                                                                 #

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