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Makefile
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Makefile
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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 $(PROCESSOR) -nostdlib
image_LDFLAGS += -Wl,-Map=$(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$(srctree)/src/modules/interface/lighthouse
INCLUDES += -I$(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
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 $(PLATFORM)!"
@$(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)
#
# Create symlinks to the ouput files in the build directory
#
for f in $$(ls $(PROG).*); do \
ln -sf $(KBUILD_OUTPUT)/$$f $(srctree)/$$(basename $$f); \
done
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 cffirmware.py: bindings/setup.py $(MOD_SRC)/*.c
swig -python -I$(MOD_INC) -Isrc/hal/interface -Isrc/utils/interface -o build/cffirmware_wrap.c bindings/cffirmware.i
$(PYTHON) bindings/setup.py build_ext --inplace
mv build/cffirmware.py cffirmware.py
test_python: cffirmware.py
$(PYTHON) -m pytest test_python
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