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Makefile
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Makefile
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##############################################################################
# Build global options
# NOTE: Can be overridden externally.
#
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -std=gnu99 -D_GNU_SOURCE
USE_OPT += -DBOARD_OTG_NOVBUSSENS $(build_args)
USE_OPT += -fsingle-precision-constant -Wdouble-promotion
endif
# C specific options here (added to USE_OPT).
ifeq ($(USE_COPT),)
USE_COPT =
endif
# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
USE_CPPOPT = -fno-rtti
endif
# Enable this if you want the linker to remove unused code and data
ifeq ($(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 = no
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 = yes
endif
# If enabled, this option makes the build process faster by not compiling
# modules not used in the current configuration.
ifeq ($(USE_SMART_BUILD),)
USE_SMART_BUILD = yes
endif
#
# Build global options
##############################################################################
##############################################################################
# Architecture or project specific options
#
# Stack size to be allocated to the Cortex-M process stack. This stack is
# the stack used by the main() thread.
ifeq ($(USE_PROCESS_STACKSIZE),)
USE_PROCESS_STACKSIZE = 0x800
endif
# Stack size to the allocated to the Cortex-M main/exceptions stack. This
# stack is used for processing interrupts and exceptions.
ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
USE_EXCEPTIONS_STACKSIZE = 0x800
endif
# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
ifeq ($(USE_FPU),)
USE_FPU = hard
endif
# Enable this if you really want to use the STM FWLib.
ifeq ($(USE_FWLIB),)
USE_FWLIB = yes
endif
#
# Architecture or project specific options
##############################################################################
##############################################################################
# Project, sources and paths
#
# Define project name here
PROJECT = BLDC_4_ChibiOS
# Imported source files and paths
CHIBIOS = ChibiOS_3.0.2
# Startup files
include $(CHIBIOS)/os/common/ports/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 $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files
include hwconf/hwconf.mk
include applications/applications.mk
include nrf/nrf.mk
include libcanard/canard.mk
include imu/imu.mk
include blackmagic/blackmagic.mk
# Define linker script file here
LDSCRIPT= ld_eeprom_emu.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(STARTUPSRC) \
$(KERNSRC) \
$(PORTSRC) \
$(OSALSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(CHIBIOS)/os/hal/lib/streams/chprintf.c \
$(CHIBIOS)/os/various/syscalls.c \
board.c \
main.c \
comm_usb_serial.c \
irq_handlers.c \
buffer.c \
comm_usb.c \
crc.c \
digital_filter.c \
ledpwm.c \
mcpwm.c \
servo_dec.c \
utils.c \
servo_simple.c \
packet.c \
terminal.c \
conf_general.c \
eeprom.c \
commands.c \
timeout.c \
comm_can.c \
ws2811.c \
led_external.c \
encoder.c \
flash_helper.c \
mc_interface.c \
mcpwm_foc.c \
gpdrive.c \
confgenerator.c \
timer.c \
i2c_bb.c \
virtual_motor.c \
$(HWSRC) \
$(APPSRC) \
$(NRFSRC) \
$(CANARDSRC) \
$(IMUSRC) \
$(BLACKMAGICSRC)
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =
# 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 =
# 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 =
# 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 =
# 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 =
# List ASM source files here
ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) \
$(CHIBIOS)/os/various \
$(CHIBIOS)/os/hal/lib/streams \
mcconf \
appconf \
$(HWINC) \
$(APPINC) \
$(NRFINC) \
$(CANARDINC) \
$(IMUINC) \
$(BLACKMAGICINC)
#
# Project, sources and paths
##############################################################################
##############################################################################
# Compiler settings
#
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 = $(CP) -O binary
# ARM-specific options here
AOPT =
# THUMB-specific options here
TOPT = -mthumb -DTHUMB
# Define C warning options here
CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes -Wshadow
# Define C++ warning options here
CPPWARN = -Wall -Wextra -Wundef
#
# Compiler settings
##############################################################################
##############################################################################
# Start of user section
#
# List all user C define here, like -D_DEBUG=1
UDEFS =
# Define ASM defines here
UADEFS =
# List all user directories here
UINCDIR =
# List the user directory to look for the libraries here
ULIBDIR =
# List all user libraries here
ULIBS = -lm
#
# End of user defines
##############################################################################
ifeq ($(USE_FWLIB),yes)
include $(CHIBIOS)/ext/stdperiph_stm32f4/stm32lib.mk
CSRC += $(STM32SRC)
INCDIR += $(STM32INC)
USE_OPT += -DUSE_STDPERIPH_DRIVER
endif
build/$(PROJECT).bin: build/$(PROJECT).elf
$(BIN) build/$(PROJECT).elf build/$(PROJECT).bin --gap-fill 0xFF
# Program
upload: build/$(PROJECT).bin
# qstlink2 --cli --erase --write build/$(PROJECT).bin
# openocd -f interface/stlink-v2.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f4x_stlink.cfg -c "program build/$(PROJECT).elf verify reset" # Older openocd
openocd -f board/stm32f4discovery.cfg -c "reset_config trst_only combined" -c "program build/$(PROJECT).elf verify reset exit" # For openocd 0.9
#program with olimex arm-usb-tiny-h and jtag-swd adapter board. needs openocd>=0.9
upload-olimex: build/$(PROJECT).bin
openocd -f interface/ftdi/olimex-arm-usb-tiny-h.cfg -f interface/ftdi/olimex-arm-jtag-swd.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f4x.cfg -c "program build/$(PROJECT).elf verify reset"
upload-pi: build/$(PROJECT).bin
openocd -f pi_stm32.cfg -c "reset_config trst_only combined" -c "program build/$(PROJECT).elf verify reset exit"
upload-pi-remote: build/$(PROJECT).elf
./upload_remote_pi build/$(PROJECT).elf ted 10.42.0.199 22
debug-start:
openocd -f stm32-bv_openocd.cfg
RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
include $(RULESPATH)/rules.mk