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Makefile
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Makefile
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##
## This file is part of the libopenstm32 project.
##
## Copyright (C) 2009 Uwe Hermann <[email protected]>
##
## This program is free software: you can redistribute it and/or modify
## it under the terms of the GNU General Public License as published by
## the Free Software Foundation, either version 3 of the License, or
## (at your option) any later version.
##
## This program is distributed in the hope that it will be useful,
## but WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
## GNU General Public License for more details.
##
## You should have received a copy of the GNU General Public License
## along with this program. If not, see <http://www.gnu.org/licenses/>.
##
OUT_DIR = obj
PREFIX ?= arm-none-eabi
CONTROL ?= SINE
CONTROLLC := $(shell echo $(CONTROL) | tr A-Z a-z)
BINARY = stm32_$(CONTROLLC)
SIZE = $(PREFIX)-size
CC = $(PREFIX)-gcc
CPP = $(PREFIX)-g++
LD = $(PREFIX)-gcc
OBJCOPY = $(PREFIX)-objcopy
OBJDUMP = $(PREFIX)-objdump
MKDIR_P = mkdir -p
TERMINAL_DEBUG ?= 0
CFLAGS = -Os -ggdb3 -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include \
-fno-common -fno-builtin -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \
-DCONTROL=CTRL_$(CONTROL) -DCTRL_SINE=0 -DCTRL_FOC=1 \
-mcpu=cortex-m3 -mthumb -std=gnu99 -ffunction-sections -fdata-sections
CPPFLAGS = -Os -ggdb3 -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include \
-fno-common -std=c++11 -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \
-DCONTROL=CTRL_$(CONTROL) -DCTRL_SINE=0 -DCTRL_FOC=1 \
-ffunction-sections -fdata-sections -fno-builtin -fno-rtti -fno-exceptions -fno-unwind-tables -mcpu=cortex-m3 -mthumb
# Check if the variable GITHUB_RUN_NUMBER exists. When running on the github actions running, this
# variable is automatically available.
# Create a compiler define with the content of the variable. Or, if it does not exist, use replacement value 99999.
EXTRACOMPILERFLAGS = $(shell \
if [ -z "$$GITHUB_RUN_NUMBER" ]; then echo "-DGITHUB_RUN_NUMBER=0"; else echo "-DGITHUB_RUN_NUMBER=$$GITHUB_RUN_NUMBER"; fi )
LDSCRIPT = stm32_sine.ld
LDFLAGS = -Llibopencm3/lib -ggdb3 -T$(LDSCRIPT) -march=armv7 -nostartfiles -Wl,--gc-sections,-Map,linker.map
OBJSL = stm32_sine.o hwinit.o stm32scheduler.o params.o terminal.o terminal_prj.o \
my_string.o digio.o sine_core.o my_fp.o fu.o inc_encoder.o printf.o anain.o \
temp_meas.o param_save.o throttle.o errormessage.o pwmgeneration.o \
picontroller.o terminalcommands.o vehiclecontrol.o \
stm32_can.o canmap.o canhardware.o cansdo.o
ifeq ($(CONTROL), SINE)
OBJSL += pwmgeneration-sine.o
endif
ifeq ($(CONTROL), FOC)
OBJSL += pwmgeneration-foc.o foc.o
endif
OBJS = $(patsubst %.o,obj/%.o, $(OBJSL))
DEPENDS = $(patsubst %.o,obj/%.d, $(OBJSL))
vpath %.c src/ libopeninv/src
vpath %.cpp src/ libopeninv/src
OPENOCD_BASE = /usr
OPENOCD = $(OPENOCD_BASE)/bin/openocd
OPENOCD_SCRIPTS = $(OPENOCD_BASE)/share/openocd/scripts
OPENOCD_FLASHER = $(OPENOCD_SCRIPTS)/interface/parport.cfg
OPENOCD_BOARD = $(OPENOCD_SCRIPTS)/board/olimex_stm32_h103.cfg
# Be silent per default, but 'make V=1' will show all compiler calls.
ifneq ($(V),1)
Q := @
NULL := 2>/dev/null
endif
# try-run
# Usage: option = $(call try-run, command,option-ok,otherwise)
# Exit code chooses option.
try-run = $(shell set -e; \
if ($(1)) >/dev/null 2>&1; \
then echo "$(2)"; \
else echo "$(3)"; \
fi)
# Test a linker (ld) option and return the gcc link command equivalent
comma := ,
link_command := -Wl$(comma)
ld-option = $(call try-run, $(PREFIX)-ld $(1) -v,$(link_command)$(1))
# Test whether we can suppress a safe warning about rwx segments
# only supported on binutils 2.39 or later
LDFLAGS += $(call ld-option,--no-warn-rwx-segments)
all: directories images
Debug:images
Release: images
cleanDebug:clean
images: $(BINARY)
@printf " OBJCOPY $(BINARY).bin\n"
$(Q)$(OBJCOPY) -Obinary $(BINARY) $(BINARY).bin
@printf " OBJCOPY $(BINARY).hex\n"
$(Q)$(OBJCOPY) -Oihex $(BINARY) $(BINARY).hex
$(Q)$(SIZE) $(BINARY)
directories: ${OUT_DIR}
${OUT_DIR}:
$(Q)${MKDIR_P} ${OUT_DIR}
$(BINARY): $(OBJS) $(LDSCRIPT)
@printf " LD $(subst $(shell pwd)/,,$(@))\n"
$(Q)$(LD) $(LDFLAGS) -o $(BINARY) $(OBJS) -lopencm3_stm32f1
-include $(DEPENDS)
$(OUT_DIR)/%.o: %.c Makefile
@printf " CC $(subst $(shell pwd)/,,$(@))\n"
$(Q)$(CC) $(CFLAGS) -MMD -MP -o $@ -c $<
$(OUT_DIR)/%.o: %.cpp Makefile
@printf " CPP $(subst $(shell pwd)/,,$(@))\n"
$(Q)$(CPP) $(CPPFLAGS) $(EXTRACOMPILERFLAGS) -MMD -MP -o $@ -c $<
clean:
@printf " CLEAN ${OUT_DIR}\n"
$(Q)rm -rf ${OUT_DIR}
@printf " CLEAN $(BINARY)\n"
$(Q)rm -f $(BINARY)
@printf " CLEAN $(BINARY).bin\n"
$(Q)rm -f $(BINARY).bin
@printf " CLEAN $(BINARY).hex\n"
$(Q)rm -f $(BINARY).hex
@printf " CLEAN $(BINARY).srec\n"
$(Q)rm -f $(BINARY).srec
@printf " CLEAN $(BINARY).list\n"
$(Q)rm -f $(BINARY).list
flash: images
@printf " FLASH $(BINARY).bin\n"
@# IMPORTANT: Don't use "resume", only "reset" will work correctly!
$(Q)$(OPENOCD) -s $(OPENOCD_SCRIPTS) \
-f $(OPENOCD_FLASHER) \
-f $(OPENOCD_BOARD) \
-c "init" -c "reset halt" \
-c "flash write_image erase $(BINARY).hex" \
-c "reset" \
-c "shutdown" $(NULL)
.PHONY: directories images clean
get-deps:
@printf " GIT SUBMODULE\n"
$(Q)git submodule update --init
@printf " MAKE libopencm3\n"
$(Q)${MAKE} -C libopencm3
Test:
$(MAKE) -C test
$(MAKE) -C libopeninv/test
cleanTest:
$(MAKE) -C test clean
$(MAKE) -C libopeninv/test clean