################################################################################ # 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 . # # # # 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 $(lastword $(MAKEFILE_LIST)))) # Project name. PROJECT := $(notdir $(PROJECT_PATH)) # Target settings. MCU := cortex-m3 # Module specific paths and directories. MODULE_DIR := . CONFIG_DIR := $(MODULEDIR) ifeq ($(BUILDDIR),) BUILDDIR := $(PROJECT_PATH)/build endif DEPDIR := $(dir $(BUILDDIR)).dep # Linker script. LDSCRIPT = STM32F103xE.ld # General AMiRo-OS files. include ../../amiro-os.mk # Module specific ChibiOS files. include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.mk include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk # Periphery LLDs. include $(AMIROLLD)/drivers/AT24C01B/v1/alld_AT24C01B.mk include $(AMIROLLD)/drivers/INA219/v1/alld_INA219.mk include $(AMIROLLD)/drivers/LED/v1/alld_LED.mk include $(AMIROLLD)/drivers/MIC9404x/v1/alld_MIC9404x.mk include $(AMIROLLD)/drivers/TLC5947/v1/alld_TLC5947.mk include $(AMIROLLD)/drivers/DW1000/v2/alld_DW1000.mk # Tests. AMIROOS_TEST_INC += $(AMIROOS_TEST_DIR)periphery-lld/AT24C01B_v1 \ $(AMIROOS_TEST_DIR)periphery-lld/INA219_v1 \ $(AMIROOS_TEST_DIR)periphery-lld/LED_v1 \ $(AMIROOS_TEST_DIR)periphery-lld/MIC9404x_v1 \ $(AMIROOS_TEST_DIR)periphery-lld/TLC5947_v1 \ $(AMIROOS_TEST_DIR)periphery-lld/DW1000_v2 # Module specific inclusion directories MODULE_INC = $(MODULE_DIR) \ $(wildcard $(MODULE_DIR)/test/*) # Module specific C source files. MODULE_CSRC = $(wildcard $(MODULE_INC:%=%/*.[Cc])) # C warning options. CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes # C++ warning options. 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 # ################################################################################