AMiRo-OS

Subproject commit fc7151bbed55fc4b7fa1f3becb10ba4a75bc21db

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

# 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 -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= STM32F103xE.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

# Create an additional .srec image file.

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

#                                                                              #

# 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_MODULES = $(PROJECT)

FLASH_FILES = $(BUILDDIR)/$(PROJECT).$(FLASHTOOL_EXT)

flash: $(FLASH_FILES)

	$(info )

ifeq ($(FLASHTOOL),SerialBoot)

	$(info Flashing ($(FLASHTOOL)):)

	$(FLASHTOOL_CMD) $(FLASHTOOL_ARGS)

else

	$(info ERROR: unable to flash the module (SerialBoot unavailable))

endif

#                                                                              #

# Custom rules                                                                 #

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

/*

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/>.

*/

/*

 * ST32F103xE memory setup.

 */

MEMORY

{

    flash0  : org = 0x08006000, len = 512k-24k

    flash1  : org = 0x00000000, len = 0

    flash2  : org = 0x00000000, len = 0

    flash3  : org = 0x00000000, len = 0

    flash4  : org = 0x00000000, len = 0

    flash5  : org = 0x00000000, len = 0

    flash6  : org = 0x00000000, len = 0

    flash7  : org = 0x00000000, len = 0

    ram0    : org = 0x20000000, len = 64k

    ram1    : org = 0x00000000, len = 0

    ram2    : org = 0x00000000, len = 0

    ram3    : org = 0x00000000, len = 0

    ram4    : org = 0x00000000, len = 0

    ram5    : org = 0x00000000, len = 0

    ram6    : org = 0x00000000, len = 0

    ram7    : org = 0x00000000, len = 0

}

/* For each data/text section two region are defined, a virtual region

   and a load region (_LMA suffix).*/

/* Flash region to be used for exception vectors.*/

REGION_ALIAS("VECTORS_FLASH", flash0);

REGION_ALIAS("VECTORS_FLASH_LMA", flash0);

/* Flash region to be used for constructors and destructors.*/

REGION_ALIAS("XTORS_FLASH", flash0);

REGION_ALIAS("XTORS_FLASH_LMA", flash0);

/* Flash region to be used for code text.*/

REGION_ALIAS("TEXT_FLASH", flash0);

REGION_ALIAS("TEXT_FLASH_LMA", flash0);

/* Flash region to be used for read only data.*/

REGION_ALIAS("RODATA_FLASH", flash0);

REGION_ALIAS("RODATA_FLASH_LMA", flash0);

/* Flash region to be used for various.*/

REGION_ALIAS("VARIOUS_FLASH", flash0);

REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);

/* Flash region to be used for RAM(n) initialization data.*/

REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);

/* RAM region to be used for Main stack. This stack accommodates the processing

   of all exceptions and interrupts.*/

REGION_ALIAS("MAIN_STACK_RAM", ram0);

/* RAM region to be used for the process stack. This is the stack used by

   the main() function.*/

REGION_ALIAS("PROCESS_STACK_RAM", ram0);

/* RAM region to be used for data segment.*/

REGION_ALIAS("DATA_RAM", ram0);

REGION_ALIAS("DATA_RAM_LMA", flash0);

/* RAM region to be used for BSS segment.*/

REGION_ALIAS("BSS_RAM", ram0);

/* RAM region to be used for the default heap.*/

REGION_ALIAS("HEAP_RAM", ram0);

/* Generic rules inclusion.*/

INCLUDE rules.ld

/*

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/>.

*/

/**

 * @file

 * @brief   AMiRo-LLD configuration file for the LightRing v1.0 module.

 * @details Contains the application specific AMiRo-LLD settings.

 *

 * @addtogroup lightring_lld_config

 * @{

 */

#ifndef ALLDCONF_H

#define ALLDCONF_H

/*

 * compatibility guards

 */

#define _AMIRO_LLD_CFG_

#define AMIRO_LLD_CFG_VERSION_MAJOR             1

#define AMIRO_LLD_CFG_VERSION_MINOR             0

/**

 * @brief   Width of the apalTime_t data type.

 *

 * @details Possible values are 8, 16, 32, and 64 bits.

 *          By definition time is represented at microsecond precision.

 */

#define AMIROLLD_CFG_TIME_SIZE                  32

/**

 * @brief   Enable flag for the AT24C01BN-SH-B EEPROM.

 */

#define AMIROLLD_CFG_AT24C01B                   1

/**

 * @brief   Enable flag for the status LED.

 */

#define AMIROLLD_CFG_LED                        1

/**

 * @brief   Enable flag for the TLC5947 LED driver.

 */

#define AMIROLLD_CFG_TLC5947                    1

#define TLC5947_LLD_CHAINED                     3

/**

 * @brief   Enable flag for the SN75C3221E RS232 Transceiver.

 */

#define AMIROLLD_CFG_SNx5C3221E                 1

/**

 * @brief   Enable flag for the MIC94042 high-side load switches.

 */

#define AMIROLLD_CFG_MIC9404x                   1

/**

 * @brief   Enable flag for the INA219 power monitor.

 */

#define AMIROLLD_CFG_INA219                     1

#endif /* ALLDCONF_H */

/** @} */

/*

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/>.

*/

/**

 * @file

 * @brief   AMiRo-OS Configuration file for the LightRing v1.1 module.

 * @details Contains the application specific AMiRo-OS settings.

 *