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################################################################################
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# AMiRo-OS is an operating system designed for the Autonomous Mini Robot #
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# (AMiRo) platform. #
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# Copyright (C) 2016..2018 Thomas Schöpping et al. #
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# #
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# This program is free software: you can redistribute it and/or modify #
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# it under the terms of the GNU General Public License as published by #
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# the Free Software Foundation, either version 3 of the License, or #
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# (at your option) any later version. #
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# #
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# This program is distributed in the hope that it will be useful, #
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# but WITHOUT ANY WARRANTY; without even the implied warranty of #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
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# GNU General Public License for more details. #
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# #
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# You should have received a copy of the GNU General Public License #
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# along with this program. If not, see <http://www.gnu.org/licenses/>. #
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# #
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# This research/work was supported by the Cluster of Excellence Cognitive #
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is #
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# funded by the German Research Foundation (DFG). #
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################################################################################
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################################################################################
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# Build global options #
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# NOTE: Can be overridden externally. #
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# #
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# Compiler options here.
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ifeq ($(USE_OPT),)
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USE_OPT = -O2 -fomit-frame-pointer -falign-functions=16 -fstack-usage
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endif
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# C specific options here (added to USE_OPT).
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ifeq ($(USE_COPT),)
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USE_COPT = -std=c11
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endif
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# C++ specific options here (added to USE_OPT).
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ifeq ($(USE_CPPOPT),)
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USE_CPPOPT = -fno-rtti -std=c++17
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endif
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# Enable this if you want the linker to remove unused code and data
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ifeq ($(USE_LINK_GC),)
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USE_LINK_GC = yes
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endif
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# Linker extra options here.
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ifeq ($(USE_LDOPT),)
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USE_LDOPT =
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endif
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# Enable this if you want link time optimizations (LTO)
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ifeq ($(USE_LTO),)
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USE_LTO = yes
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endif
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# If enabled, this option allows to compile the application in THUMB mode.
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ifeq ($(USE_THUMB),)
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USE_THUMB = yes
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endif
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# Enable this if you want to see the full log while compiling.
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ifeq ($(USE_VERBOSE_COMPILE),)
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USE_VERBOSE_COMPILE = no
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endif
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# If enabled, this option makes the build process faster by not compiling
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# modules not used in the current configuration.
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ifeq ($(USE_SMART_BUILD),)
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USE_SMART_BUILD = no
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endif
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# #
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# Build global options #
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################################################################################
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################################################################################
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# Architecture or project specific options #
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# #
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# Stack size to be allocated to the Cortex-M process stack. This stack is
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# the stack used by the main() thread.
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ifeq ($(USE_PROCESS_STACKSIZE),)
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USE_PROCESS_STACKSIZE = 0x400
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endif
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# Stack size to the allocated to the Cortex-M main/exceptions stack. This
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# stack is used for processing interrupts and exceptions.
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ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
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USE_EXCEPTIONS_STACKSIZE = 0x400
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endif
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# Enables the use of FPU on Cortex-M4.
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# Possible selections are:
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# no - no FPU is used (probably equals 'soft')
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# soft - does not use the FPU, thus all floating point operations are emulated
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# softfp - uses the FPU, but uses the integer registers only
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# hard - uses the FPU and passes data via the FPU registers
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ifeq ($(USE_FPU),)
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USE_FPU = no
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endif
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# #
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# Architecture or project specific options #
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################################################################################
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################################################################################
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# Project, sources and paths #
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# #
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# Define project name here
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PROJECT := $(patsubst $(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))..)/%,%,$(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))))
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# Imported source files and paths
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include ../../../kernel/kernel.mk
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CHIBIOS := $(AMIROOS_KERNEL)
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AMIROOS = ../..
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# Startup files
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include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk
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# HAL-OSAL files
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include $(CHIBIOS)/os/hal/hal.mk
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include $(AMIROOS)/hal/hal.mk
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include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.mk
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include $(AMIROOS)/hal/ports/STM32/platform.mk
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include ./board.mk
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include $(CHIBIOS)/os/hal/osal/rt/osal.mk
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# RTOS files
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include $(CHIBIOS)/os/rt/rt.mk
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include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
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# Other files (optional).
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include $(CHIBIOS)/test/rt/test.mk
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# AMiRo-BLT files
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include ../../../bootloader/bootloader.mk
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# AMiRo-LLD files
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include ../../../periphery-lld/periphery-lld.mk
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# AMiRo-OS files
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include $(AMIROOS)/modules/modules.mk
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include $(AMIROOS)/core/core.mk
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include $(AMIROOS)/unittests/unittests.mk
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# Define linker script file here
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LDSCRIPT= $(BOARDLD)/STM32F103xE.ld
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# C sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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CSRC = $(STARTUPSRC) \
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$(KERNSRC) \
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$(PORTSRC) \
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$(OSALSRC) \
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$(HALSRC) \
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$(PLATFORMSRC) \
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$(BOARDSRC) \
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$(MODULESCSRC) \
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$(TESTSRC) \
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$(PERIPHERYLLDCSRC) \
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$(AMIROOSCORECSRC) \
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$(UNITTESTSCSRC) \
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$(CHIBIOS)/os/various/evtimer.c \
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$(CHIBIOS)/os/various/syscalls.c \
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$(CHIBIOS)/os/hal/lib/streams/chprintf.c \
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module.c \
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$(APPSCSRC)
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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CPPSRC = $(AMIROOSCORECPPSRC) \
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$(APPSCPPSRC)
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# C sources to be compiled in ARM mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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ACSRC = $(APPSACSRC)
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# C++ sources to be compiled in ARM mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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ACPPSRC = $(APPSACPPSRC)
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# C sources to be compiled in THUMB mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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TCSRC = $(APPSTCSRC)
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# C sources to be compiled in THUMB mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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TCPPSRC = $(APPSTCPPSRC)
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# List ASM source files here
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ASMSRC = $(APPSASMSRC)
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ASMXSRC = $(STARTUPASM) \
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$(PORTASM) \
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$(OSALASM) \
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$(APPSASMXSRC)
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INCDIR = $(CHIBIOS)/os/license \
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$(STARTUPINC) \
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$(KERNINC) \
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$(PORTINC) \
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$(OSALINC) \
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$(HALINC) \
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$(PLATFORMINC) \
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$(BOARDINC) \
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$(MODULESINC) \
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$(TESTINC) \
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$(BOOTLOADERINC) \
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$(CHIBIOS)/os/hal/lib/streams \
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$(CHIBIOS)/os/various \
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$(PERIPHERYLLDINC) \
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$(AMIROOS) \
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$(AMIROOSCOREINC) \
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$(UNITTESTSINC) \
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$(APPSINC)
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# #
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# Project, sources and paths #
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################################################################################
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################################################################################
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# Compiler settings #
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# NOTE: Some can be overridden externally. #
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# #
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MCU = cortex-m3
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#TRGT = arm-elf-
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TRGT = arm-none-eabi-
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CC = $(TRGT)gcc
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CPPC = $(TRGT)g++
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# Enable loading with g++ only if you need C++ runtime support.
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# NOTE: You can use C++ even without C++ support if you are careful. C++
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# runtime support makes code size explode.
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LD = $(TRGT)gcc
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#LD = $(TRGT)g++
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CP = $(TRGT)objcopy
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AS = $(TRGT)gcc -x assembler-with-cpp
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AR = $(TRGT)ar
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OD = $(TRGT)objdump
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SZ = $(TRGT)size
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HEX = $(CP) -O ihex
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BIN = $(CP) -O binary
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SREC = $(CP) -O srec --srec-len=248
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# ARM-specific options here
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ifeq ($(AOPT),)
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AOPT =
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endif
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# THUMB-specific options here
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ifeq ($(TOPT),)
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TOPT = -mthumb -DTHUMB
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endif
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# Define C warning options here
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ifeq ($(CWARN),)
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CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
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endif
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# Define C++ warning options here
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ifeq ($(CPPWARN),)
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CPPWARN = -Wall -Wextra -Wundef
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endif
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# #
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# Compiler settings #
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################################################################################
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################################################################################
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# Start of user section #
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# #
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# List all user C define here, like -D_DEBUG=1
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UDEFS +=
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# Define ASM defines here
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UADEFS +=
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# List all user directories here
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UINCDIR +=
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# List the user directory to look for the libraries here
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ULIBDIR +=
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# List all user libraries here
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ULIBS +=
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# #
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# End of user defines #
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################################################################################
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# allow for custom build directory
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ifneq ($(BUILDDIR),)
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BUILDDIR := $(BUILDDIR)/$(PROJECT)
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endif
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RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
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include $(RULESPATH)/rules.mk
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include $(AMIROOS)/modules/flash.mk
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