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Makefile
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Makefile
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# CrazyFlie's Makefile
# Copyright (c) 2011,2012 Bitcraze AB
# This Makefile compiles all the objet file to ./bin/ and the resulting firmware
# image in ./cfX.elf and ./cfX.bin
CRAZYFLIE_BASE ?= ./
# Put your personal build config in tools/make/config.mk and DO NOT COMMIT IT!
# Make a copy of tools/make/config.mk.example to get you started
-include tools/make/config.mk
CFLAGS += $(EXTRA_CFLAGS)
######### JTAG and environment configuration ##########
OPENOCD ?= openocd
#OPENOCD_INTERFACE ?= $(CRAZYFLIE_BASE)/config/ti-icdi.cfg
OPENOCD_INTERFACE ?= interface/stlink-v2.cfg
OPENOCD_CMDS ?=
CROSS_COMPILE ?= arm-none-eabi-
PYTHON ?= python
DFU_UTIL ?= dfu-util
CLOAD ?= 1
DEBUG ?= 0
CLOAD_SCRIPT ?= python3 -m cfloader
CLOAD_CMDS ?=
CLOAD_ARGS ?=
PLATFORM ?= cf2
LPS_TDMA_ENABLE ?= 0
LPS_TDOA_ENABLE ?= 0
LPS_TDOA3_ENABLE ?= 0
# Platform configuration handling
-include current_platform.mk
include $(CRAZYFLIE_BASE)/tools/make/platform.mk
CFLAGS += -DCRAZYFLIE_FW
######### Stabilizer configuration ##########
## These are set by the platform (see tools/make/platforms/*.mk), can be overwritten here
ESTIMATOR ?= any
CONTROLLER ?= Any # one of Any, PID, Mellinger, INDI
POWER_DISTRIBUTION ?= stock
#OpenOCD conf
RTOS_DEBUG ?= 0
LIB = $(CRAZYFLIE_BASE)/src/lib
FREERTOS = $(CRAZYFLIE_BASE)/vendor/FreeRTOS
############### CPU-specific build configuration ################
ifeq ($(CPU), stm32f4)
PORT = $(FREERTOS)/portable/GCC/ARM_CM4F
LINKER_DIR = $(CRAZYFLIE_BASE)/tools/make/F405/linker
ST_OBJ_DIR = $(CRAZYFLIE_BASE)/tools/make/F405
OPENOCD_TARGET ?= $(CRAZYFLIE_BASE)/config/stm32f4x.cfg
# St Lib
VPATH += $(LIB)/CMSIS/STM32F4xx/Source/
VPATH += $(LIB)/STM32_USB_Device_Library/Core/src
VPATH += $(LIB)/STM32_USB_OTG_Driver/src
VPATH += $(CRAZYFLIE_BASE)/src/deck/api $(CRAZYFLIE_BASE)/src/deck/core $(CRAZYFLIE_BASE)/src/deck/drivers/src $(CRAZYFLIE_BASE)/src/deck/drivers/src/test
VPATH += $(CRAZYFLIE_BASE)/src/utils/src/tdoa $(CRAZYFLIE_BASE)/src/utils/src/lighthouse
CRT0 = startup_stm32f40xx.o system_stm32f4xx.o
# Add ST lib object files
-include $(ST_OBJ_DIR)/st_obj.mk
# USB obj
ST_OBJ += usb_core.o usb_dcd_int.o usb_dcd.o
# USB Device obj
ST_OBJ += usbd_ioreq.o usbd_req.o usbd_core.o
PROCESSOR = -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16
CFLAGS += -fno-math-errno -DARM_MATH_CM4 -D__FPU_PRESENT=1 -D__TARGET_FPU_VFP -mfp16-format=ieee
#Flags required by the ST library
CFLAGS += -DSTM32F4XX -DSTM32F40_41xxx -DHSE_VALUE=8000000 -DUSE_STDPERIPH_DRIVER
LOAD_ADDRESS_stm32f4 = 0x8000000
LOAD_ADDRESS_CLOAD_stm32f4 = 0x8004000
endif
################ Build configuration ##################
# libdw dw1000 driver
VPATH += $(CRAZYFLIE_BASE)/vendor/libdw1000/src
# vl53l1 driver
VPATH += $(LIB)/vl53l1/core/src
# FreeRTOS
VPATH += $(PORT)
PORT_OBJ = port.o
VPATH += $(FREERTOS)/portable/MemMang
MEMMANG_OBJ ?= heap_4.o
VPATH += $(FREERTOS)
FREERTOS_OBJ = list.o tasks.o queue.o timers.o $(MEMMANG_OBJ)
#FatFS
VPATH += $(LIB)/FatFS
PROJ_OBJ += diskio.o ff.o syscall.o unicode.o fatfs_sd.o
ifeq ($(FATFS_DISKIO_TESTS), 1)
PROJ_OBJ += diskio_function_tests.o
CFLAGS += -DUSD_RUN_DISKIO_FUNCTION_TESTS
endif
ifeq ($(APP), 1)
CFLAGS += -DAPP_ENABLED=1
endif
ifdef APP_STACKSIZE
CFLAGS += -DAPP_STACKSIZE=$(APP_STACKSIZE)
endif
ifdef APP_PRIORITY
CFLAGS += -DAPP_PRIORITY=$(APP_PRIORITY)
endif
# Crazyflie sources
VPATH += $(CRAZYFLIE_BASE)/src/init $(CRAZYFLIE_BASE)/src/hal/src $(CRAZYFLIE_BASE)/src/modules/src $(CRAZYFLIE_BASE)/src/utils/src $(CRAZYFLIE_BASE)/src/drivers/bosch/src $(CRAZYFLIE_BASE)/src/drivers/src $(CRAZYFLIE_BASE)/src/platform
# Add my app folder
VPATH += $(CRAZYFLIE_BASE)/app
############### Source files configuration ################
# Init
PROJ_OBJ += main.o
PROJ_OBJ += platform.o platform_utils.o platform_$(PLATFORM).o platform_$(CPU).o
# Drivers
PROJ_OBJ += exti.o nvic.o motors.o
PROJ_OBJ += led_f405.o mpu6500.o i2cdev_f405.o ws2812_cf2.o lps25h.o i2c_drv.o
PROJ_OBJ += ak8963.o eeprom.o maxsonar.o piezo.o
PROJ_OBJ += uart_syslink.o swd.o uart1.o uart2.o watchdog.o
PROJ_OBJ += cppm.o
PROJ_OBJ += bmi055_accel.o bmi055_gyro.o bmi160.o bmp280.o bstdr_comm_support.o bmm150.o
PROJ_OBJ += bmi088_accel.o bmi088_gyro.o bmi088_fifo.o bmp3.o
PROJ_OBJ += pca9685.o vl53l0x.o pca95x4.o pca9555.o vl53l1x.o pmw3901.o
PROJ_OBJ += amg8833.o lh_bootloader.o
# USB Files
PROJ_OBJ += usb_bsp.o usblink.o usbd_desc.o usb.o
# Hal
PROJ_OBJ += crtp.o ledseq.o freeRTOSdebug.o buzzer.o
PROJ_OBJ += pm_$(CPU).o syslink.o radiolink.o ow_syslink.o proximity.o usec_time.o
PROJ_OBJ += sensors.o
# libdw
PROJ_OBJ += libdw1000.o libdw1000Spi.o
# vl53l1 lib
PROJ_OBJ += vl53l1_api_core.o vl53l1_api.o vl53l1_core.o vl53l1_silicon_core.o vl53l1_api_strings.o
PROJ_OBJ += vl53l1_api_calibration.o vl53l1_api_debug.o vl53l1_api_preset_modes.o vl53l1_error_strings.o
PROJ_OBJ += vl53l1_register_funcs.o vl53l1_wait.o vl53l1_core_support.o
# Modules
PROJ_OBJ += system.o comm.o console.o pid.o crtpservice.o param.o
PROJ_OBJ += log.o worker.o trigger.o sitaw.o queuemonitor.o msp.o
PROJ_OBJ += platformservice.o sound_cf2.o extrx.o sysload.o mem.o
PROJ_OBJ += range.o app_handler.o static_mem.o
# Stabilizer modules
PROJ_OBJ += commander.o crtp_commander.o crtp_commander_rpyt.o
PROJ_OBJ += crtp_commander_generic.o crtp_localization_service.o
PROJ_OBJ += attitude_pid_controller.o sensfusion6.o stabilizer.o
PROJ_OBJ += position_estimator_altitude.o position_controller_pid.o
PROJ_OBJ += estimator.o estimator_complementary.o
PROJ_OBJ += controller.o controller_pid.o controller_mellinger.o controller_indi.o
PROJ_OBJ += power_distribution_$(POWER_DISTRIBUTION).o
PROJ_OBJ += estimator_kalman.o kalman_core.o kalman_supervisor.o
# High-Level Commander
PROJ_OBJ += crtp_commander_high_level.o planner.o pptraj.o pptraj_compressed.o
# Deck Core
PROJ_OBJ += deck.o deck_info.o deck_drivers.o deck_test.o
# Deck API
PROJ_OBJ += deck_constants.o
PROJ_OBJ += deck_digital.o
PROJ_OBJ += deck_analog.o
PROJ_OBJ += deck_spi.o
# Decks
PROJ_OBJ += bigquad.o
PROJ_OBJ += ledring12.o
PROJ_OBJ += buzzdeck.o
PROJ_OBJ += gtgps.o
PROJ_OBJ += cppmdeck.o
PROJ_OBJ += usddeck.o
PROJ_OBJ += zranger.o zranger2.o
PROJ_OBJ += locodeck.o
PROJ_OBJ += clockCorrectionEngine.o
PROJ_OBJ += lpsTwrTag.o
PROJ_OBJ += lpsTdoa2Tag.o
PROJ_OBJ += lpsTdoa3Tag.o tdoaEngineInstance.o tdoaEngine.o tdoaStats.o tdoaStorage.o
PROJ_OBJ += outlierFilter.o
PROJ_OBJ += flowdeck_v1v2.o
PROJ_OBJ += oa.o
PROJ_OBJ += multiranger.o
PROJ_OBJ += lighthouse.o
PROJ_OBJ += activeMarkerDeck.o
PROJ_OBJ += aideck.o
ifeq ($(LPS_TDOA_ENABLE), 1)
CFLAGS += -DLPS_TDOA_ENABLE
endif
ifeq ($(LPS_TDOA3_ENABLE), 1)
CFLAGS += -DLPS_TDOA3_ENABLE
endif
ifeq ($(LPS_TDMA_ENABLE), 1)
CFLAGS += -DLPS_TDMA_ENABLE
endif
ifdef SENSORS
SENSORS_UPPER = $(shell echo $(SENSORS) | tr a-z A-Z)
CFLAGS += -DSENSORS_FORCE=SensorImplementation_$(SENSORS)
# Add sensor file to the build if needed
ifeq (,$(findstring DSENSOR_INCLUDED_$(SENSORS_UPPER),$(CFLAGS)))
CFLAGS += -DSENSOR_INCLUDED_$(SENSORS_UPPER)
PROJ_OBJ += sensors_$(SENSORS).o
endif
endif
#Deck tests
PROJ_OBJ += exptest.o
PROJ_OBJ += exptestRR.o
PROJ_OBJ += exptestBolt.o
#PROJ_OBJ += bigquadtest.o
#PROJ_OBJ += uarttest.o
#PROJ_OBJ += aidecktest.o
# Utilities
PROJ_OBJ += filter.o cpuid.o cfassert.o eprintf.o crc.o num.o debug.o
PROJ_OBJ += version.o FreeRTOS-openocd.o
PROJ_OBJ += configblockeeprom.o crc_bosch.o
PROJ_OBJ += sleepus.o statsCnt.o
PROJ_OBJ += pulse_processor.o lighthouse_geometry.o ootx_decoder.o lighthouse_calibration.o
ifeq ($(DEBUG_PRINT_ON_SEGGER_RTT), 1)
VPATH += $(LIB)/Segger_RTT/RTT
INCLUDES += -I$(LIB)/Segger_RTT/RTT
PROJ_OBJ += SEGGER_RTT.o SEGGER_RTT_printf.o
CFLAGS += -DDEBUG_PRINT_ON_SEGGER_RTT
endif
# Libs
PROJ_OBJ += libarm_math.a
# My App
ifeq ($(APP),1)
PROJ_OBJ += MyApp.o
endif
OBJ = $(FREERTOS_OBJ) $(PORT_OBJ) $(ST_OBJ) $(PROJ_OBJ) $(CRT0)
############### Compilation configuration ################
AS = $(CROSS_COMPILE)as
CC = $(CROSS_COMPILE)gcc
LD = $(CROSS_COMPILE)gcc
SIZE = $(CROSS_COMPILE)size
OBJCOPY = $(CROSS_COMPILE)objcopy
GDB = gdb-multiarch
INCLUDES += -I$(FREERTOS)/include -I$(PORT) -I$(CRAZYFLIE_BASE)/src
INCLUDES += -I$(CRAZYFLIE_BASE)/src/config -I$(CRAZYFLIE_BASE)/src/hal/interface -I$(CRAZYFLIE_BASE)/src/modules/interface
INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface -I$(CRAZYFLIE_BASE)/src/drivers/interface -I$(CRAZYFLIE_BASE)/src/platform
INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Include -I$(CRAZYFLIE_BASE)/src/drivers/bosch/interface
INCLUDES += -I$(LIB)/STM32F4xx_StdPeriph_Driver/inc
INCLUDES += -I$(LIB)/CMSIS/STM32F4xx/Include
INCLUDES += -I$(LIB)/STM32_USB_Device_Library/Core/inc
INCLUDES += -I$(LIB)/STM32_USB_OTG_Driver/inc
INCLUDES += -I$(CRAZYFLIE_BASE)/src/deck/interface -I$(CRAZYFLIE_BASE)/src/deck/drivers/interface
INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/clockCorrection
INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/tdoa
INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/lighthouse
INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/libdw1000/inc
INCLUDES += -I$(LIB)/FatFS
INCLUDES += -I$(LIB)/vl53l1
INCLUDES += -I$(LIB)/vl53l1/core/inc
ifeq ($(DEBUG), 1)
CFLAGS += -O0 -g3 -DDEBUG
# Prevent silent errors when converting between types (requires explicit casting)
CFLAGS += -Wconversion
else
# Fail on warnings
CFLAGS += -Os -g3 -Werror
endif
ifeq ($(LTO), 1)
CFLAGS += -flto
endif
CFLAGS += -DBOARD_REV_$(REV) -DESTIMATOR_NAME=$(ESTIMATOR)Estimator -DCONTROLLER_NAME=ControllerType$(CONTROLLER) -DPOWER_DISTRIBUTION_TYPE_$(POWER_DISTRIBUTION)
CFLAGS += $(PROCESSOR) $(INCLUDES)
CFLAGS += -Wall -Wmissing-braces -fno-strict-aliasing $(C_PROFILE) -std=gnu11
# Compiler flags to generate dependency files:
CFLAGS += -MD -MP -MF $(BIN)/dep/$(@).d -MQ $(@)
#Permits to remove un-used functions and global variables from output file
CFLAGS += -ffunction-sections -fdata-sections
# Prevent promoting floats to doubles
CFLAGS += -Wdouble-promotion
ASFLAGS = $(PROCESSOR) $(INCLUDES)
LDFLAGS = --specs=nosys.specs --specs=nano.specs $(PROCESSOR) -Wl,-Map=$(PROG).map,--cref,--gc-sections,--undefined=uxTopUsedPriority
LDFLAGS += -L$(CRAZYFLIE_BASE)/tools/make/F405/linker
#Flags required by the ST library
ifeq ($(CLOAD), 1)
LDFLAGS += -T $(LINKER_DIR)/FLASH_CLOAD.ld
LOAD_ADDRESS = $(LOAD_ADDRESS_CLOAD_$(CPU))
else
LDFLAGS += -T $(LINKER_DIR)/FLASH.ld
LOAD_ADDRESS = $(LOAD_ADDRESS_$(CPU))
endif
ifeq ($(LTO), 1)
LDFLAGS += -Os -flto -fuse-linker-plugin
endif
#Program name
PROG = $(PLATFORM)
#Where to compile the .o
BIN = bin
VPATH += $(BIN)
#Dependency files to include
DEPS := $(foreach o,$(OBJ),$(BIN)/dep/$(o).d)
##################### Misc. ################################
ifeq ($(SHELL),/bin/sh)
COL_RED=\033[1;31m
COL_GREEN=\033[1;32m
COL_RESET=\033[m
endif
#################### Targets ###############################
all: bin/ bin/dep bin/vendor check_submodules build
build:
# Each target is in a different line, so they are executed one after the other even when the processor has multiple cores (when the -j option for the make command is > 1). See: https://www.gnu.org/software/make/manual/html_node/Parallel.html
@$(MAKE) --no-print-directory clean_version CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
@$(MAKE) --no-print-directory compile CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
@$(MAKE) --no-print-directory print_version CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
@$(MAKE) --no-print-directory size CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
compile: $(PROG).hex $(PROG).bin $(PROG).dfu
bin/:
mkdir -p bin
bin/dep:
mkdir -p bin/dep
bin/vendor:
mkdir -p bin/vendor
libarm_math.a:
+$(MAKE) -C $(CRAZYFLIE_BASE)/tools/make/cmsis_dsp/ CRAZYFLIE_BASE=$(abspath $(CRAZYFLIE_BASE)) PROJ_ROOT=$(CURDIR) V=$(V) CROSS_COMPILE=$(CROSS_COMPILE)
clean_version:
ifeq ($(SHELL),/bin/sh)
@echo " CLEAN_VERSION"
@rm -f version.c
endif
print_version:
@echo "Build for the $(PLATFORM_NAME_$(PLATFORM))!"
@$(PYTHON) $(CRAZYFLIE_BASE)/tools/make/versionTemplate.py --crazyflie-base $(CRAZYFLIE_BASE) --print-version
ifeq ($(CLOAD), 1)
@echo "Crazyloader build!"
endif
ifeq ($(FATFS_DISKIO_TESTS), 1)
@echo "WARNING: FatFS diskio tests enabled. Erases SD-card!"
endif
size:
@$(SIZE) -B $(PROG).elf
#Radio bootloader
cload:
ifeq ($(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
#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
flash_dfu:
$(DFU_UTIL) -a 0 -D $(PROG).dfu
#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
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 $(CRAZYFLIE_BASE); $(PYTHON) tools/make/check-for-submodules.py
include $(CRAZYFLIE_BASE)/tools/make/targets.mk
#include dependencies
-include $(DEPS)
unit:
# The flag "-DUNITY_INCLUDE_DOUBLE" allows comparison of double values in Unity. See: https://stackoverflow.com/a/37790196
rake unit "DEFINES=$(CFLAGS) -DUNITY_INCLUDE_DOUBLE" "FILES=$(FILES)" "UNIT_TEST_STYLE=$(UNIT_TEST_STYLE)"
gdb_from_file: $(PROG).elf
$(GDB) -ex "target remote localhost:3333" -ex "source app/gdbcommands.gdb" $^
everything:
#close existing openocd. ignore error if openocd isn't running
-pkill openocd
#compile everything
$(MAKE) all
#load firmware onto board
$(MAKE) flash
#save symbols to txt file
readelf -a cf2.elf > Symbols.txt
#open openocd and make connection. & executes in background
$(MAKE) openocd &
#open gdb in a new terminal and make connection
xterm -e make gdb_from_file
# xterm -e make gdb
# konsole --hold -e make gdb
installgdb:
sudo apt-get update
sudo apt-get install gdb-multiarch -y