AMiRo-OS

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

# 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).                              #

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

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

# 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=c11

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

# If enabled, this option allows to compile the application in THUMB mode.

ifeq ($(USE_THUMB),)

  USE_THUMB = 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 on Cortex-M4.

# 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

#                                                                              #

# Architecture or project specific options                                     #

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

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

# Project, sources and paths                                                   #

#                                                                              #

# Define project name here

PROJECT := $(patsubst $(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))..)/%,%,$(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))))

# Imported source files and paths

include ../../kernel/kernel.mk

CHIBIOS := $(AMIROOS_KERNEL)

AMIROOS = ../..

# Licensing files

include $(CHIBIOS)/os/license/license.mk

# Startup files

include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk

# HAL-OSAL files

include $(CHIBIOS)/os/hal/hal.mk

include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk

include ./board.mk

include $(CHIBIOS)/os/hal/osal/rt/osal.mk

# RTOS files

include $(CHIBIOS)/os/rt/rt.mk

include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.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= $(BOARDLD)/STM32F407xG.ld

# C sources that can be compiled in ARM or THUMB mode depending on the global

# setting.

CSRC = $(LICSRC) \

       $(STARTUPSRC) \

       $(KERNSRC) \

       $(PORTSRC) \

       $(OSALSRC) \

       $(HALSRC) \

       $(PLATFORMSRC) \

       $(BOARDSRC) \

       $(MODULESCSRC) \

       $(TESTSRC) \

       $(PERIPHERYLLDCSRC) \

       $(AMIROOSCORECSRC) \

       $(UNITTESTSCSRC) \

       $(CHIBIOS)/os/various/evtimer.c \

       $(CHIBIOS)/os/various/syscalls.c \

       $(CHIBIOS)/os/hal/lib/streams/chprintf.c \

       module.c \

       $(APPSCSRC)

# C++ sources that can be compiled in ARM or THUMB mode depending on the global

# setting.

CPPSRC = $(AMIROOSCORECPPSRC) \

         $(APPSCPPSRC)

# C sources to be compiled in ARM mode regardless of the global setting.

# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

#       option that results in lower performance and larger code size.

ACSRC = $(APPSACSRC)

# C++ sources to be compiled in ARM mode regardless of the global setting.

# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

#       option that results in lower performance and larger code size.

ACPPSRC = $(APPSACPPSRC)

# C sources to be compiled in THUMB mode regardless of the global setting.

# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

#       option that results in lower performance and larger code size.

TCSRC = $(APPSTCSRC)

# C sources to be compiled in THUMB mode regardless of the global setting.

# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

#       option that results in lower performance and larger code size.

TCPPSRC = $(APPSTCPPSRC)

# List ASM source files here

ASMSRC = $(APPSASMSRC)

ASMXSRC = $(STARTUPASM) \

          $(PORTASM) \

          $(OSALASM) \

          $(APPSASMXSRC)

INCDIR = $(LICINC) \

         $(STARTUPINC) \

         $(KERNINC) \

         $(PORTINC) \

         $(OSALINC) \

         $(HALINC) \

         $(PLATFORMINC) \

         $(BOARDINC) \

         $(MODULESINC) \

         $(TESTINC) \

         $(BOOTLOADERINC) \

         $(CHIBIOS)/os/hal/lib/streams \

         $(PERIPHERYLLDINC) \

         $(AMIROOS) \

         $(AMIROOSCOREINC) \

         $(UNITTESTSINC) \

         $(APPSINC)

#                                                                              #

# Project, sources and paths                                                   #

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

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

# Compiler settings                                                            #

# NOTE: Some can be overridden externally.                                     #

#                                                                              #

MCU  = cortex-m4

#TRGT = arm-elf-

TRGT = arm-none-eabi-

CC   = $(TRGT)gcc

CPPC = $(TRGT)g++

# Enable loading with g++ only if you need C++ runtime support.

# NOTE: You can use C++ even without C++ support if you are careful. C++

#       runtime support makes code size explode.

LD   = $(TRGT)gcc

#LD   = $(TRGT)g++

CP   = $(TRGT)objcopy

AS   = $(TRGT)gcc -x assembler-with-cpp

AR   = $(TRGT)ar

OD   = $(TRGT)objdump

SZ   = $(TRGT)size

HEX  = $(CP) -O ihex

BIN  = $(CP) -O binary

SREC = $(CP) -O srec --srec-len=248

# ARM-specific options here

ifeq ($(AOPT),)

  AOPT =

endif

# THUMB-specific options here

ifeq ($(TOPT),)

  TOPT = -mthumb -DTHUMB

endif

# Define C warning options here

ifeq ($(CWARN),)

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

endif

# Define C++ warning options here

ifeq ($(CPPWARN),)

  CPPWARN = -Wall -Wextra -Wundef

endif

#                                                                              #

# Compiler settings                                                            #

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

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

# 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 defines                                                          #

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

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

# Start of targets section                                                     #

#                                                                              #

# all and its dependencies

BUILDDIR = ./build

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

include $(RULESPATH)/rules.mk

# flash

include $(AMIROOS)/bootloader/bootloader.mk

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

	openocd -f interface/stlink-v2-1.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f4x.cfg -c "program build/$(PROJECT).elf verify reset exit"

#                                                                              #

# End of targets section                                                       #

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