forked from bitcraze/crazyflie-firmware
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Makefile
224 lines (172 loc) · 7.98 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
OPENOCD ?= openocd
OPENOCD_INTERFACE ?= interface/stlink-v2.cfg
OPENOCD_TARGET ?= target/stm32f4x.cfg
OPENOCD_CMDS ?=
CPU = stm32f4
LOAD_ADDRESS_stm32f4 = 0x8000000
LOAD_ADDRESS_CLOAD_stm32f4 = 0x8004000
PYTHON ?= python3
# Cload is handled in a special way on windows in WSL to use the Windows python interpreter
ifdef WSL_DISTRO_NAME
CLOAD_SCRIPT ?= python.exe -m cfloader
else
CLOAD_SCRIPT ?= $(PYTHON) -m cfloader
endif
DFU_UTIL ?= dfu-util
CLOAD_CMDS ?=
CLOAD_ARGS ?=
ARCH := stm32f4
SRCARCH := stm32f4
ARCH_CFLAGS += -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16 -g3
ARCH_CFLAGS += -fno-math-errno -DARM_MATH_CM4 -D__FPU_PRESENT=1 -mfp16-format=ieee
ARCH_CFLAGS += -Wno-array-bounds -Wno-stringop-overread
ARCH_CFLAGS += -Wno-stringop-overflow
ARCH_CFLAGS += -DSTM32F4XX -DSTM32F40_41xxx -DHSE_VALUE=8000000 -DUSE_STDPERIPH_DRIVER
FREERTOS = $(srctree)/vendor/FreeRTOS
PORT = $(FREERTOS)/portable/GCC/ARM_CM4F
LIB = $(srctree)/src/lib
PROCESSOR = -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16
LINKER_DIR = $(srctree)/tools/make/F405/linker
LDFLAGS += --specs=nosys.specs --specs=nano.specs $(PROCESSOR)
image_LDFLAGS += -Wl,-Map=$(PROG).map,--cref,--gc-sections,--undefined=uxTopUsedPriority
image_LDFLAGS += -L$(srctree)/tools/make/F405/linker
image_LDFLAGS += -T $(LINKER_DIR)/FLASH_CLOAD.ld
INCLUDES += -I$(srctree)/vendor/CMSIS/CMSIS/Core/Include -I$(srctree)/vendor/CMSIS/CMSIS/DSP/Include
INCLUDES += -I$(srctree)/vendor/libdw1000/inc
INCLUDES += -I$(FREERTOS)/include -I$(PORT)
INCLUDES += -I$(srctree)/src/config
INCLUDES += -I$(srctree)/src/platform/interface
INCLUDES += -I$(srctree)/src/deck/interface -I$(srctree)/src/deck/drivers/interface
INCLUDES += -I$(srctree)/src/drivers/interface -I$(srctree)/src/drivers/bosch/interface
INCLUDES += -I$(srctree)/src/drivers/esp32/interface
INCLUDES += -I$(srctree)/src/hal/interface
INCLUDES += -I$(srctree)/src/modules/interface -I$(srctree)/src/modules/interface/kalman_core -I$(srctree)/src/modules/interface/lighthouse -I$(srctree)/src/modules/interface/outlierfilter
INCLUDES += -I$(srctree)/src/modules/interface/cpx -I$(srctree)/src/modules/interface/p2pDTR -I$(srctree)/src/modules/interface/controller -I$(srctree)/src/modules/interface/estimator
INCLUDES += -I$(srctree)/src/utils/interface -I$(srctree)/src/utils/interface/kve -I$(srctree)/src/utils/interface/lighthouse -I$(srctree)/src/utils/interface/tdoa
INCLUDES += -I$(LIB)/FatFS
INCLUDES += -I$(LIB)/CMSIS/STM32F4xx/Include
INCLUDES += -I$(LIB)/STM32_USB_Device_Library/Core/inc
INCLUDES += -I$(LIB)/STM32_USB_OTG_Driver/inc
INCLUDES += -I$(LIB)/STM32F4xx_StdPeriph_Driver/inc
INCLUDES += -I$(LIB)/vl53l1 -I$(LIB)/vl53l1/core/inc
INCLUDES += -I$(KBUILD_OUTPUT)/include/generated
# Here we tell Kbuild where to look for Kbuild files which will tell the
# buildsystem which sources to build
objs-y += src
objs-y += vendor
objs-y += app_api
objs-y += $(OOT)
MEM_SIZE_FLASH_K = 1008
MEM_SIZE_RAM_K = 128
MEM_SIZE_CCM_K = 64
#
# Make sure Kbuild use our config that hinders some configs from being enabled
# on allyesconfig or randconfig.
#
export KCONFIG_ALLCONFIG ?= configs/all.config
KBUILD_OUTPUT ?= build
-include $(KBUILD_OUTPUT)/include/config/auto.conf
#
# Special hack to handle float define. Kconfig has no float values
# so we use string. To avoid having to do atof in code we instead
# catch it here and convert to an, unquoted, float define.
#
ifneq ($(CONFIG_DECK_LOCO_2D_POSITION_HEIGHT),)
unquoted = $(patsubst "%",%,$(CONFIG_DECK_LOCO_2D_POSITION_HEIGHT))
ARCH_CFLAGS += -DDECK_LOCO_2D_POSITION_HEIGHT=$(unquoted)
endif
ifeq ($(CONFIG_PLATFORM_TAG),y)
PLATFORM = tag
endif
ifeq ($(CONFIG_PLATFORM_BOLT), y)
PLATFORM = bolt
endif
ifeq ($(CONFIG_PLATFORM_FLAPPER),y)
PLATFORM = flapper
endif
PLATFORM ?= cf2
PROG ?= $(PLATFORM)
ifeq ($(CONFIG_DEBUG),y)
ARCH_CFLAGS += -O0 -Wconversion
else
ARCH_CFLAGS += -Os -Werror
endif
_all:
all: $(PROG).hex $(PROG).bin
@echo "Build for the $(PLATFORM) platform!"
@$(PYTHON) $(srctree)/tools/make/versionTemplate.py --crazyflie-base $(srctree) --print-version
@$(PYTHON) $(srctree)/tools/make/size.py $(SIZE) $(PROG).elf $(MEM_SIZE_FLASH_K) $(MEM_SIZE_RAM_K) $(MEM_SIZE_CCM_K)
include tools/make/targets.mk
size:
@$(PYTHON) $(srctree)/tools/make/size.py $(SIZE) $(PROG).elf $(MEM_SIZE_FLASH_K) $(MEM_SIZE_RAM_K) $(MEM_SIZE_CCM_K)
# Radio bootloader
CLOAD ?= 1
cload:
ifeq ($(CLOAD), 1)
$(CLOAD_SCRIPT) $(CLOAD_CMDS) flash $(CLOAD_ARGS) $(PROG).bin stm32-fw
else
@echo "Only cload build can be bootloaded. Launch build and cload with CLOAD=1"
endif
# Flags required by the ST library
ifeq ($(CLOAD), 1)
LOAD_ADDRESS = $(LOAD_ADDRESS_CLOAD_$(CPU))
else
LOAD_ADDRESS = $(LOAD_ADDRESS_$(CPU))
endif
unit:
# The flag "-DUNITY_INCLUDE_DOUBLE" allows comparison of double values in Unity. See: https://stackoverflow.com/a/37790196
rake unit "DEFINES=$(ARCH_CFLAGS) -DUNITY_INCLUDE_DOUBLE" "FILES=$(FILES)" "UNIT_TEST_STYLE=$(UNIT_TEST_STYLE)"
#Flash the stm.
flash:
$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset halt" \
-c "flash write_image erase $(PROG).bin $(LOAD_ADDRESS) bin" \
-c "verify_image $(PROG).bin $(LOAD_ADDRESS) bin" -c "reset run" -c shutdown
#verify only
flash_verify:
$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset halt" \
-c "verify_image $(PROG).bin $(LOAD_ADDRESS) bin" -c "reset run" -c shutdown
#sends a usb message to the CF to place it in DFU mode, then updates firmware over usb
flash_dfu:
$(PYTHON) $(srctree)/tools/make/usb-bootloader.py
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000:leave -D $(PROG).bin
#uses the dfu utility to flash the firmware at 0x08004000, just after the bootloader
#call this target directly if CF cannont be flashed automatically through flash_dfu
flash_dfu_manual:
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000:leave -D $(PROG).bin
#STM utility targets
halt:
$(OPENOCD) -d0 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "halt" -c shutdown
reset:
$(OPENOCD) -d0 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset" -c shutdown
openocd:
$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "\$$_TARGETNAME configure -rtos auto"
trace:
$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -f tools/trace/enable_trace.cfg
rtt:
$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets \
-c "rtt setup 0x20000000 262144 \"SEGGER RTT\"" -c "rtt start" -c "rtt server start 2000 0"
gdb: $(PROG).elf
$(GDB) -ex "target remote localhost:3333" -ex "monitor reset halt" $^
erase:
$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets -c "halt" -c "stm32f4x mass_erase 0" -c shutdown
#Print preprocessor #defines
prep:
@$(CC) $(CFLAGS) -dM -E - < /dev/null
check_submodules:
@cd $(srctree); $(PYTHON) tools/make/check-for-submodules.py
# Give control over to Kbuild
-include tools/kbuild/Makefile.kbuild
ifeq ($(KBUILD_SRC),)
# Python bindings
MOD_INC = src/modules/interface
MOD_SRC = src/modules/src
bindings_python build/cffirmware.py: bindings/setup.py $(MOD_SRC)/*.c
swig -python -I$(MOD_INC) -Isrc/hal/interface -Isrc/utils/interface -I$(MOD_INC)/controller -Isrc/platform/interface -I$(MOD_INC)/outlierfilter -I$(MOD_INC)/kalman_core -o build/cffirmware_wrap.c bindings/cffirmware.i
$(PYTHON) bindings/setup.py build_ext --inplace
cp cffirmware_setup.py build/setup.py
test_python: build/cffirmware.py
PYTHONPATH=build $(PYTHON) -m pytest test_python
python_wheel: build/cffirmware.py
$(PYTHON) bindings/setup.py bdist_wheel
endif
.PHONY: all clean build compile unit prep erase flash check_submodules trace openocd gdb halt reset flash_dfu flash_dfu_manual flash_verify cload size print_version clean_version bindings_python test_python python_wheel