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=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 = 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 $(abspath $(lastword $(MAKEFILE_LIST)))))

# Define project name here

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

# Target settings.

MCU = cortex-m4

# 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_stm32f4xx.mk

# HAL-OSAL files (optional).

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

include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/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= STM32F401xE.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

#                                                                              #

# 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                                                                 #

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

# Custom rules                                                                 #

#                                                                              #

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

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

#                                                                              #

# Custom rules                                                                 #

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

/*

    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");

    you may not use this file except in compliance with the License.

    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software

    distributed under the License is distributed on an "AS IS" BASIS,

    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

    See the License for the specific language governing permissions and

    limitations under the License.

*/

/*

 * STM32F401xE memory setup.

 */

MEMORY

{

    flash0  : org = 0x08000000, len = 512k

    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 = 96k

    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 NUCLEO-F401RE board.

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

 *

 * @addtogroup NUCLEO-F401RE_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

#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 NUCLEO-F401RE module.

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

 *

 * @addtogroup NUCLEO-F401RE_aos_config

 * @{

 */

#ifndef AOSCONF_H

#define AOSCONF_H

/*

 * compatibility guards

 */

#define _AMIRO_OS_CFG_

#define AMIRO_OS_CFG_VERSION_MAJOR              2

#define AMIRO_OS_CFG_VERSION_MINOR              0

#include <stdbool.h>

/*

 * Include an external configuration file to override the following default settings only if required.

 */

#if defined(AMIRO_APPS) && (AMIRO_APPS == true)

  #include <osconf.h>

#endif /* defined(AMIRO_APPS) && (AMIRO_APPS == true) */

/*===========================================================================*/

/**

 * @name Kernel parameters and options

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Flag to enable/disable debug API and logic.

 */

#if !defined(OS_CFG_DBG)

  #define AMIROOS_CFG_DBG                       true

#else /* !defined(OS_CFG_DBG) */

  #define AMIROOS_CFG_DBG                       OS_CFG_DBG

#endif /* !defined(OS_CFG_DBG) */

/**

 * @brief   Flag to enable/disable unit tests.

 * @note    Setting this flag will implicitely enable the shell.

 */

#if !defined(OS_CFG_TESTS_ENABLE)

  #define AMIROOS_CFG_TESTS_ENABLE              true