-
Notifications
You must be signed in to change notification settings - Fork 29
/
Makefile
261 lines (236 loc) · 9.75 KB
/
Makefile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
PROJECT_NAME := crazyflie2_nrf_firmware
TARGETS := nrf51422_xxaa
OUTPUT_DIRECTORY := _build
ifeq ($(DEVBOARD),1)
BOARD ?= PCA10028
else
BOARD ?= CUSTOM
endif
SDK_ROOT := vendor/nrf5sdk
PROJ_DIR := src
$(OUTPUT_DIRECTORY)/nrf51422_xxaa.out: \
LINKER_SCRIPT := crazyflie2_nrf_firmware.ld
# Source files common to all targets
SRC_FILES += \
$(SDK_ROOT)/components/libraries/log/src/nrf_log_backend_serial.c \
$(SDK_ROOT)/components/libraries/log/src/nrf_log_frontend.c \
$(SDK_ROOT)/components/libraries/util/app_error.c \
$(SDK_ROOT)/components/libraries/util/app_error_weak.c \
$(SDK_ROOT)/components/libraries/timer/app_timer.c \
$(SDK_ROOT)/components/libraries/util/app_util_platform.c \
$(SDK_ROOT)/components/libraries/crc16/crc16.c \
$(SDK_ROOT)/components/libraries/fstorage/fstorage.c \
$(SDK_ROOT)/components/libraries/hardfault/hardfault_implementation.c \
$(SDK_ROOT)/components/libraries/util/nrf_assert.c \
$(SDK_ROOT)/components/libraries/util/sdk_errors.c \
$(SDK_ROOT)/components/libraries/util/sdk_mapped_flags.c \
$(SDK_ROOT)/components/libraries/mailbox/app_mailbox.c \
$(SDK_ROOT)/components/boards/boards.c \
$(SDK_ROOT)/components/drivers_nrf/clock/nrf_drv_clock.c \
$(SDK_ROOT)/components/drivers_nrf/common/nrf_drv_common.c \
$(SDK_ROOT)/components/drivers_nrf/gpiote/nrf_drv_gpiote.c \
$(PROJ_DIR)/main.c \
$(PROJ_DIR)/ble_crazyflie.c \
$(PROJ_DIR)/syslink.c \
$(PROJ_DIR)/crazyflie2_pm.c \
$(PROJ_DIR)/esb.c \
$(PROJ_DIR)/timeslot.c \
$(PROJ_DIR)/button.c \
$(PROJ_DIR)/systick.c \
$(PROJ_DIR)/uart.c \
$(PROJ_DIR)/bootloader.c \
$(PROJ_DIR)/crc.c \
$(PROJ_DIR)/platform.c \
$(SDK_ROOT)/external/segger_rtt/RTT_Syscalls_GCC.c \
$(SDK_ROOT)/external/segger_rtt/SEGGER_RTT.c \
$(SDK_ROOT)/external/segger_rtt/SEGGER_RTT_printf.c \
$(SDK_ROOT)/components/ble/common/ble_advdata.c \
$(SDK_ROOT)/components/ble/ble_advertising/ble_advertising.c \
$(SDK_ROOT)/components/ble/common/ble_conn_params.c \
$(SDK_ROOT)/components/ble/common/ble_conn_state.c \
$(SDK_ROOT)/components/ble/common/ble_srv_common.c \
$(SDK_ROOT)/components/toolchain/gcc/gcc_startup_nrf51.S \
$(SDK_ROOT)/components/toolchain/system_nrf51.c \
$(SDK_ROOT)/components/softdevice/common/softdevice_handler/softdevice_handler.c \
$(SDK_ROOT)/components/ble/ble_services/ble_dis/ble_dis.c
# Include folders common to all targets
INC_FOLDERS += \
$(SDK_ROOT)/components/drivers_nrf/comp \
$(SDK_ROOT)/components/drivers_nrf/twi_master \
$(SDK_ROOT)/components/ble/ble_services/ble_ancs_c \
$(SDK_ROOT)/components/ble/ble_services/ble_ias_c \
$(SDK_ROOT)/components/softdevice/s130/headers \
$(SDK_ROOT)/components/libraries/pwm \
$(SDK_ROOT)/components/libraries/usbd/class/cdc/acm \
$(SDK_ROOT)/components/libraries/usbd/class/hid/generic \
$(SDK_ROOT)/components/libraries/usbd/class/msc \
$(SDK_ROOT)/components/libraries/usbd/class/hid \
$(SDK_ROOT)/components/libraries/log \
$(SDK_ROOT)/components/libraries/mailbox \
$(SDK_ROOT)/components/ble/ble_services/ble_gls \
$(SDK_ROOT)/components/libraries/fstorage \
$(SDK_ROOT)/components/drivers_nrf/i2s \
$(SDK_ROOT)/components/libraries/gpiote \
$(SDK_ROOT)/components/drivers_nrf/gpiote \
$(SDK_ROOT)/components/boards \
$(SDK_ROOT)/components/drivers_nrf/common \
$(SDK_ROOT)/components/ble/ble_advertising \
$(SDK_ROOT)/components/drivers_nrf/adc \
$(SDK_ROOT)/components/softdevice/s130/headers/nrf51 \
$(SDK_ROOT)/components/ble/ble_services/ble_bas_c \
$(SDK_ROOT)/components/ble/ble_services/ble_hrs_c \
$(SDK_ROOT)/components/libraries/queue \
$(SDK_ROOT)/components/ble/ble_dtm \
$(SDK_ROOT)/components/toolchain/cmsis/include \
$(SDK_ROOT)/components/ble/ble_services/ble_rscs_c \
$(SDK_ROOT)/components/drivers_nrf/uart \
$(SDK_ROOT)/components/ble/common \
$(SDK_ROOT)/components/ble/ble_services/ble_lls \
$(SDK_ROOT)/components/drivers_nrf/wdt \
$(SDK_ROOT)/components/libraries/bsp \
$(SDK_ROOT)/components/ble/ble_services/ble_bas \
$(SDK_ROOT)/components/libraries/experimental_section_vars \
$(SDK_ROOT)/components/ble/ble_services/ble_ans_c \
$(SDK_ROOT)/components/libraries/slip \
$(SDK_ROOT)/components/libraries/mem_manager \
$(SDK_ROOT)/external/segger_rtt \
$(SDK_ROOT)/components/libraries/csense_drv \
$(SDK_ROOT)/components/drivers_nrf/hal \
$(SDK_ROOT)/components/ble/ble_services/ble_nus_c \
$(SDK_ROOT)/components/drivers_nrf/rtc \
$(SDK_ROOT)/components/ble/ble_services/ble_ias \
$(SDK_ROOT)/components/libraries/usbd/class/hid/mouse \
$(SDK_ROOT)/components/drivers_nrf/ppi \
$(SDK_ROOT)/components/ble/ble_services/ble_dfu \
$(SDK_ROOT)/components/drivers_nrf/twis_slave \
$(SDK_ROOT)/components \
$(SDK_ROOT)/components/libraries/scheduler \
$(SDK_ROOT)/components/ble/ble_services/ble_lbs \
$(SDK_ROOT)/components/ble/ble_services/ble_hts \
$(SDK_ROOT)/components/drivers_nrf/delay \
$(SDK_ROOT)/components/libraries/crc16 \
$(SDK_ROOT)/components/drivers_nrf/timer \
$(SDK_ROOT)/components/libraries/util \
$(SDK_ROOT)/components/drivers_nrf/pwm \
$(PROJ_DIR)/../config \
$(SDK_ROOT)/components/libraries/usbd/class/cdc \
$(SDK_ROOT)/components/libraries/csense \
$(SDK_ROOT)/components/drivers_nrf/rng \
$(SDK_ROOT)/components/libraries/low_power_pwm \
$(SDK_ROOT)/components/libraries/hardfault \
$(SDK_ROOT)/components/ble/ble_services/ble_cscs \
$(SDK_ROOT)/components/libraries/uart \
$(SDK_ROOT)/components/libraries/hci \
$(SDK_ROOT)/components/libraries/usbd/class/hid/kbd \
$(SDK_ROOT)/components/drivers_nrf/spi_slave \
$(SDK_ROOT)/components/drivers_nrf/lpcomp \
$(SDK_ROOT)/components/libraries/timer \
$(SDK_ROOT)/components/drivers_nrf/power \
$(SDK_ROOT)/components/libraries/usbd/config \
$(SDK_ROOT)/components/toolchain \
$(SDK_ROOT)/components/libraries/led_softblink \
$(SDK_ROOT)/components/drivers_nrf/qdec \
$(SDK_ROOT)/components/ble/ble_services/ble_cts_c \
$(SDK_ROOT)/components/drivers_nrf/spi_master \
$(SDK_ROOT)/components/ble/ble_services/ble_nus \
$(SDK_ROOT)/components/ble/ble_services/ble_hids \
$(SDK_ROOT)/components/drivers_nrf/pdm \
$(SDK_ROOT)/components/libraries/crc32 \
$(SDK_ROOT)/components/libraries/usbd/class/audio \
$(SDK_ROOT)/components/libraries/sensorsim \
$(SDK_ROOT)/components/ble/peer_manager \
$(SDK_ROOT)/components/drivers_nrf/swi \
$(SDK_ROOT)/components/ble/ble_services/ble_tps \
$(SDK_ROOT)/components/ble/ble_services/ble_dis \
$(SDK_ROOT)/components/device \
$(SDK_ROOT)/components/ble/nrf_ble_qwr \
$(SDK_ROOT)/components/libraries/button \
$(SDK_ROOT)/components/libraries/usbd \
$(SDK_ROOT)/components/drivers_nrf/saadc \
$(SDK_ROOT)/components/ble/ble_services/ble_lbs_c \
$(SDK_ROOT)/components/ble/ble_racp \
$(SDK_ROOT)/components/toolchain/gcc \
$(SDK_ROOT)/components/libraries/fds \
$(SDK_ROOT)/components/libraries/twi \
$(SDK_ROOT)/components/drivers_nrf/clock \
$(SDK_ROOT)/components/ble/ble_services/ble_rscs \
$(SDK_ROOT)/components/drivers_nrf/usbd \
$(SDK_ROOT)/components/softdevice/common/softdevice_handler \
$(SDK_ROOT)/components/ble/ble_services/ble_hrs \
$(SDK_ROOT)/components/libraries/log/src \
$(SDK_ROOT)/components/ble/ble_services/ble_dis \
$(OUTPUT_DIRECTORY) \
# Libraries common to all targets
LIB_FILES += \
# C flags common to all targets
CFLAGS += -DBOARD_${BOARD}
CFLAGS += -DSOFTDEVICE_PRESENT
CFLAGS += -DNRF51
CFLAGS += -DS130
CFLAGS += -DBLE_STACK_SUPPORT_REQD
CFLAGS += -DSWI_DISABLE0
CFLAGS += -DNRF51422
CFLAGS += -DNRF_SD_BLE_API_VERSION=2
CFLAGS += -mcpu=cortex-m0
CFLAGS += -mthumb -mabi=aapcs
CFLAGS += -Wall -Werror -Os -g3
CFLAGS += -mfloat-abi=soft
# keep every function in separate section, this allows linker to discard unused ones
CFLAGS += -ffunction-sections -fdata-sections -fno-strict-aliasing
CFLAGS += -fno-builtin --short-enums
# Disable checks of newer compilers that the SDK does not pass
CFLAGS += -Wno-error=array-bounds
# Enable app config
CFLAGS += -DUSE_APP_CONFIG
# C++ flags common to all targets
CXXFLAGS += \
# Assembler flags common to all targets
ASMFLAGS += -x assembler-with-cpp
ASMFLAGS += -DBOARD_${BOARD}
ASMFLAGS += -DSOFTDEVICE_PRESENT
ASMFLAGS += -DNRF51
ASMFLAGS += -DS130
ASMFLAGS += -DBLE_STACK_SUPPORT_REQD
ASMFLAGS += -DSWI_DISABLE0
ASMFLAGS += -DNRF51422
ASMFLAGS += -DNRF_SD_BLE_API_VERSION=2
ASMFLAGS += -D__STACK_SIZE=512
ASMFLAGS += -D__HEAP_SIZE=512
# Linker flags
LDFLAGS += -mthumb -mabi=aapcs -L $(TEMPLATE_PATH) -T$(LINKER_SCRIPT)
LDFLAGS += -mcpu=cortex-m0
# let linker to dump unused sections
LDFLAGS += -Wl,--gc-sections
# use newlib in nano version
LDFLAGS += --specs=nano.specs -lc -lnosys
.PHONY: $(TARGETS) default all clean help flash flash_softdevice version.h
# Default target - first one defined
default: nrf51422_xxaa
# Print all targets that can be built
help:
@echo following targets are available:
@echo nrf51422_xxaa
TEMPLATE_PATH := $(SDK_ROOT)/components/toolchain/gcc
include $(TEMPLATE_PATH)/Makefile.common
$(foreach target, $(TARGETS), $(call define_target, $(target)))
# Flash the program
flash: $(OUTPUT_DIRECTORY)/nrf51422_xxaa.hex
@echo Flashing: $<
nrfjprog --program $< -f nrf51 --sectorerase
nrfjprog --reset -f nrf51
# Flash softdevice
flash_softdevice:
@echo Flashing: s130_nrf51_2.0.1_softdevice.hex
nrfjprog --program $(SDK_ROOT)/components/softdevice/s130/hex/s130_nrf51_2.0.1_softdevice.hex -f nrf51 --sectorerase
nrfjprog --reset -f nrf51
flash_mbs:
nrfjprog --program nrf_mbs_cf21.hex -f nrf51 --sectorerase
nrfjprog --memwr 0x10001014 --val 0x3F000 -f nrf51
nrfjprog --memwr 0x4001e504 --val 0x01 -f nrf51
nrfjprog --memwr 0x10001080 --val 0x3A000 -f nrf51
nrfjprog --reset -f nrf51
erase:
nrfjprog --eraseall -f nrf52
$(OUTPUT_DIRECTORY)/$(TARGETS)_bootloader.c.o: version.h
version.h:
./tools/build/generateVersionHeader.py --output _build/version.h