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                                                         #

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

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# 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 = no

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_stm32f1xx.mk

# HAL-OSAL files

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

include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.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= STM32F103xB.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) \

       $(MODULESCSRC) \

       $(TESTSRC) \

       $(PERIPHERYLLDCSRC) \

       $(AMIROOSCORECSRC) \

       $(UNITTESTSCSRC) \

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

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

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

       board.c \

       module.c \

       $(APPSCSRC)

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

# setting.

CPPSRC = $(AMIROOSCORECPPSRC) \

         $(CHIBIOS)/os/various/cpp_wrappers/syscalls_cpp.cpp \

         $(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) \

         $(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

ifeq ($(BUILDDIR),)

	BUILDDIR = ./build

endif

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/stm32f1x.cfg -c "program build/$(PROJECT).elf verify reset exit"

#                                                                              #

# End of targets section                                                       #

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

/*

    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.

*/

/*

 * ST32F103xB memory setup.

 */

MEMORY

{

    flash0  : org = 0x08000000, len = 128k

    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 = 20k

    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-F103RB board.

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

 *

 * @addtogroup NUCLEO-F103RB_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