################################################################################ # 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 . # # # # 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. include $(AMIROLLD)/drivers/LED/v1/alld_LED.mk include $(AMIROLLD)/drivers/button/v1/alld_button.mk include $(AMIROLLD)/drivers/MPU6050/v1/alld_MPU6050.mk include $(AMIROLLD)/drivers/VL53L1X/v1/alld_VL53L1X.mk # 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/button/module_test_button.mk include $(MODULE_DIR)/test/LED/module_test_LED.mk include $(MODULE_DIR)/test/MPU6050/module_test_MPU6050.mk include $(MODULE_DIR)/test/VL53L1X/module_test_VL53L1X.mk # 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/stlink-v2-1.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32l4x.cfg -c "program $(BUILDDIR)/$(PROJECT).elf verify reset exit" # # # Custom rules # ################################################################################