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stmbl/Makefile

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Makefile
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# Optimization level, can be [0, 1, 2, 3, s].
# 0 = turn off optimization. s = optimize for size.
#
OPT = -O1
# OPT = -O1 # for debugging
# Object files directory
# Warning: this will be removed by make clean!
#
OBJDIR = obj_app
# Target file name (without extension)
TARGET = $(OBJDIR)/stmbl
# Define all C source files (dependencies are generated automatically)
INCDIRS += inc
INCDIRS += inc/comps
INCDIRS += inc/comps/hw
INCDIRS += inc/shared_comps
INCDIRS += shared
SOURCES += src/main.c
SOURCES += src/stm32f4xx_it.c
SOURCES += src/system_stm32f4xx.c #TODO: update this, system file from cmsis
SOURCES += src/setup.c
SOURCES += src/usb_cdc.c
SOURCES += src/config.c
# SOURCES += src/hal_conf.c
SOURCES += src/hal_tbl.c
HWVERSION = v4
ifeq ($(HWVERSION),v3)
SRC_COMPS += src/comps/hw/io3.c
SRC_COMPS += src/comps/hvf1.c
SHARED_COMPS += shared/comps/pmsm.c
SHARED_COMPS += shared/comps/curpid.c
SHARED_COMPS += shared/comps/dq.c
SHARED_COMPS += shared/comps/idq.c
SHARED_COMPS += shared/common_f1.c
CFLAGS += -DV3
else
SRC_COMPS += src/comps/hw/io4.c
SRC_COMPS += src/comps/hv.c
#TODO: need backport to v3
SRC_COMPS += src/comps/enc_cmd.c
SRC_COMPS += src/comps/o_fb.c
SRC_COMPS += src/comps/sserial.c
SRC_COMPS += src/comps/yaskawa.c
SRC_COMPS += src/comps/encs.c
SRC_COMPS += src/comps/encf.c
SRC_COMPS += src/comps/endat.c
CFLAGS += -DV4
endif
SRC_COMPS += src/comps/usart.c
SRC_COMPS += src/comps/encm.c
SRC_COMPS += src/comps/dmm.c
SRC_COMPS += src/comps/smartabs.c
SRC_COMPS += src/comps/adc.c
SRC_COMPS += src/comps/enc_fb.c
SRC_COMPS += src/comps/conf.c
SRC_COMPS += src/comps/res.c
SRC_COMPS += src/comps/hx711.c
SHARED_COMPS += shared/comps/sim.c
SHARED_COMPS += shared/comps/term.c
SHARED_COMPS += shared/comps/svm.c
SHARED_COMPS += shared/comps/vel.c
SHARED_COMPS += shared/comps/rev.c
SHARED_COMPS += shared/comps/hal_test.c
# SHARED_COMPS += shared/comps/dc.c
SHARED_COMPS += shared/comps/ypid.c
SHARED_COMPS += shared/comps/fault.c
SHARED_COMPS += shared/comps/pid.c
SHARED_COMPS += shared/comps/spid.c
SHARED_COMPS += shared/comps/pe.c
SHARED_COMPS += shared/comps/pmsm_limits.c
SHARED_COMPS += shared/comps/pmsm_ttc.c
SHARED_COMPS += shared/comps/dc_limits.c
SHARED_COMPS += shared/comps/dc_ttc.c
SHARED_COMPS += shared/comps/acim_ttc.c
SHARED_COMPS += shared/comps/uvw.c
SHARED_COMPS += shared/comps/fanuc.c
SHARED_COMPS += shared/comps/fb_switch.c
SHARED_COMPS += shared/comps/reslimit.c
SHARED_COMPS += shared/comps/iit.c
SHARED_COMPS += shared/comps/vel_int.c
SHARED_COMPS += shared/comps/linrev.c
SHARED_COMPS += shared/comps/psi.c
SHARED_COMPS += shared/comps/stp.c
#SHARED_COMPS += shared/comps/uf.c
SHARED_COMPS += shared/comps/uf2.c
SHARED_COMPS += shared/comps/ramp.c
SHARED_COMPS += shared/comps/scale.c
SHARED_COMPS += shared/comps/idx_home.c
SHARED_COMPS += shared/comps/move.c
# SHARED_COMPS += shared/comps/ac.c
SHARED_COMPS += shared/comps/not.c
SHARED_COMPS += shared/comps/and.c
SHARED_COMPS += shared/comps/or.c
SHARED_COMPS += shared/comps/jog.c
SHARED_COMPS += shared/comps/velbuf.c
SHARED_COMPS += shared/comps/avg.c
SHARED_COMPS += shared/comps/mux.c
SHARED_COMPS += shared/comps/veltopos.c
# SHARED_COMPS += shared/comps/wobl.c
SHARED_COMPS += shared/comps/debounce.c
SHARED_COMPS += shared/comps/pos_filter.c
SHARED_COMPS += shared/comps/rl.c
SHARED_COMPS += shared/comps/mad.c
SHARED_COMPS += shared/comps/sensorless.c
SHARED_COMPS += shared/comps/field.c
SHARED_COMPS += shared/comps/gain.c
SHARED_COMPS += shared/comps/rlpsij.c
SHARED_COMPS += shared/comps/veltime.c
SHARED_COMPS += shared/comps/mpid.c
SHARED_COMPS += shared/comps/fmove.c
SHARED_COMPS += shared/comps/home.c
SHARED_COMPS += shared/comps/en.c
SHARED_COMPS += shared/comps/th.c
#SHARED_COMPS += shared/comps/asm.c
SHARED_COMPS += shared/comps/idpmsm.c
SHARED_COMPS += shared/comps/iddc.c
SHARED_COMPS += shared/comps/idm.c
SHARED_COMPS += shared/comps/ids.c
#SHARED_COMPS += shared/comps/motsim.c
COMPS = $(SRC_COMPS) $(SHARED_COMPS)
SOURCES += $(COMPS)
# SOURCES += src/eeprom.c
# SOURCES += src/link.c
SOURCES += src/version.c
SOURCES += src/syscalls.c
SOURCES += shared/crc.c
SOURCES += shared/crc8.c
SOURCES += shared/yaskawa_crc16.c
SOURCES += shared/endat.c
SOURCES += shared/angle.c
SOURCES += shared/hal.c
SOURCES += shared/commands.c
SOURCES += shared/config.c
SOURCES += src/conf_templates.c
SOURCES += shared/ringbuf.c
CONFIG_TEMPLATES = $(wildcard conf/template/*.txt)
USB_VCP_DIR = lib/STM32_USB_Device_VCP-1.2.0
CPPFLAGS += -DUSBD_PRODUCT_STRING='"STMBL Virtual ComPort"'
CPPFLAGS += -DCDC_IN_FRAME_INTERVAL=1
CPPFLAGS += -DAPP_RX_DATA_SIZE=4096
INCDIRS += $(USB_VCP_DIR)/inc
SOURCES += $(USB_VCP_DIR)/src/usbd_desc.c
USB_DEVICE_DIR = lib/STM32_USB_Device_Library-1.2.0
INCDIRS += $(USB_DEVICE_DIR)/Class/cdc/inc
SOURCES += $(USB_DEVICE_DIR)/Class/cdc/src/usbd_cdc_core.c
INCDIRS += $(USB_DEVICE_DIR)/Core/inc
SOURCES += $(USB_DEVICE_DIR)/Core/src/usbd_core.c
SOURCES += $(USB_DEVICE_DIR)/Core/src/usbd_ioreq.c
SOURCES += $(USB_DEVICE_DIR)/Core/src/usbd_req.c
USB_DRIVER_DIR = lib/STM32_USB_OTG_Driver-2.2.0
INCDIRS += $(USB_DRIVER_DIR)/inc
SOURCES += $(USB_DRIVER_DIR)/src/usb_core.c
SOURCES += $(USB_DRIVER_DIR)/src/usb_dcd.c
SOURCES += $(USB_DRIVER_DIR)/src/usb_dcd_int.c
# Standard peripheral library
CPPFLAGS += -DUSE_STDPERIPH_DRIVER
#CPPFLAGS += -DUSE_FULL_ASSERT
PERIPH_DRV_DIR = lib/STM32F4xx_StdPeriph_Driver-V1.6.0
INCDIRS += $(PERIPH_DRV_DIR)/inc
INCDIRS += lib/CMSIS/Include
INCDIRS += lib/CMSIS/Device/ST/STM32F4xx/Include
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_adc.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_crc.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_dma.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_flash.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_gpio.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_pwr.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_rcc.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_tim.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_usart.c
SOURCES += $(PERIPH_DRV_DIR)/src/stm32f4xx_spi.c
SOURCES += $(PERIPH_DRV_DIR)/src/misc.c
SOURCES += lib/CMSIS/Device/ST/STM32F4xx/Source/startup_stm32f40_41xxx.s
CPPFLAGS += -DSTM32F40_41xxx
CPPFLAGS += -DHSE_VALUE=8000000
LDSCRIPT = stm32_flash.ld
#============================================================================
SRC_COMP_OBJECTS = $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SRC_COMPS))))
SHARED_COMP_OBJECTS = $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SHARED_COMPS))))
OBJECTS += $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SOURCES))))
OBJECTS += hv_firmware.o
CPPFLAGS += $(addprefix -I,$(INCDIRS))
#---------------- Preprocessor Options ----------------
# -fsingle... make better use of the single-precision FPU
# -g generate debugging information
# -save-temps preserve .s and .i-files
#
CPPFLAGS += -fsingle-precision-constant
CPPFLAGS += -g
# CPPFLAGS += -save-temps=obj
#---------------- C Compiler Options ----------------
# -O* optimization level
# -f... tuning, see GCC documentation
# -Wall... warning level
#
CFLAGS += $(OPT)
CFLAGS += -std=gnu11
CFLAGS += -ffunction-sections
CFLAGS += -fdata-sections
CFLAGS += -Wall
CFLAGS += -Wmaybe-uninitialized
CFLAGS += -Wuninitialized
CFLAGS += -fno-builtin ## from old
CFLAGS += -nostartfiles
CFLAGS += -Wfatal-errors
#CFLAGS += -Wstrict-prototypes
#CFLAGS += -Wextra
#CFLAGS += -Wpointer-arith
#CFLAGS += -Winline
#CFLAGS += -Wunreachable-code
#CFLAGS += -Wundef
# Use a friendly C dialect
CPPFLAGS += -fno-strict-aliasing
CPPFLAGS += -fwrapv
#---------------- C++ Compiler Options ----------------
#
CXXFLAGS += $(OPT)
CXXFLAGS += -ffunction-sections
CXXFLAGS += -fdata-sections
CXXFLAGS += -Wall
#---------------- Assembler Options ----------------
# -Wa,... tell GCC to pass this to the assembler
#
#---------------- Linker Options ----------------
# -Wl,... tell GCC to pass this to linker
# -Map create map file
# --cref add cross reference to map file
#
LDFLAGS += $(OPT)
LDFLAGS += -lm
LDFLAGS += -Wl,-Map=$(TARGET).map,--cref
LDFLAGS += -Wl,--gc-sections
# LDFLAGS += -specs=nano.specs -u _printf_float -u _scanf_float
LDFLAGS += -T$(LDSCRIPT)
#============================================================================
POSTLD = $(PYTHON) tools/add_version_info.py # -q
# Compiler flags to generate dependency files
#
GENDEPFLAGS = -MMD -MP
# Combine all necessary flags and optional flags
# Add target processor to flags.
#
CPU = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
CFLAGS += $(CPU)
CXXFLAGS += $(CPU)
ASFLAGS += $(CPU)
LDFLAGS += $(CPU)
ADDRESS = 0x08010000
# Default target
#
all: gccversion tbl boot build showsize
build: tbl elf hex bin lss sym f3_boot
elf: $(TARGET).elf
hex: $(TARGET).hex
bin: tbl $(TARGET).bin
lss: $(TARGET).lss
sym: $(TARGET).sym
$(OBJDIR)/shared/commands.o: inc/commandslist.h
inc/commandslist.h: tools/create_cmd.py $(SOURCES)
@echo Generating commands list
@$(MKDIR) -p $(dir $@)
@$(PYTHON) tools/create_cmd.py $@ $(SOURCES)
src/hal_tbl.c: tools/create_hal_tbl.py $(COMPS)
@echo Generating HAL table
@$(MKDIR) -p $(dir $@)
@$(PYTHON) tools/create_hal_tbl.py $@ $(COMPS)
$(SRC_COMP_OBJECTS): $(OBJDIR)/src/comps/%.o: inc/comps/%_comp.h
$(SHARED_COMP_OBJECTS): $(OBJDIR)/shared/comps/%.o: inc/shared_comps/%_comp.h
inc/comps/%_comp.h: src/comps/%.c
@echo Generating H: $<
@$(MKDIR) -p $(dir $@)
@$(PYTHON) tools/create_comp_h.py $@ $<
inc/shared_comps/%_comp.h: shared/comps/%.c
@echo Generating H: $<
@$(MKDIR) -p $(dir $@)
@$(PYTHON) tools/create_comp_h.py $@ $<
src/conf_templates.c: tools/create_config.py $(CONFIG_TEMPLATES)
@echo Generating config
@$(MKDIR) -p $(dir $@)
@$(PYTHON) tools/create_config.py src/conf_templates.c $(CONFIG_TEMPLATES)
tbl: inc/commandslist.h src/hal_tbl.c src/conf_templates.c
obj_boot/blboot.bin: force_look
$(MAKE) -f bootloader/Makefile
#build f4 bootloader
boot: obj_boot/blboot.bin
#flash f4 bootloader using stlink
boot_flash:
$(MAKE) -f bootloader/Makefile flash
#flash f4 bootloader using df-util
boot_btburn:
$(MAKE) -f bootloader/Makefile btburn
#build f3 bootloader
f3_boot: force_look
$(MAKE) -f f3_boot/Makefile
#flash f3 bootloader using stlink
f3_boot_flash:
$(MAKE) -f f3_boot/Makefile flash
#flash f3 bootloader using df-util
f3_boot_btburn:
$(MAKE) -f f3_boot/Makefile btburn
#build f3 firmware
f3: force_look
$(MAKE) -f stm32f303/Makefile
#flash f3 firmware using stlink
f3_flash:
$(MAKE) -f stm32f303/Makefile flash
#flash f3 firmware using df-util
f3_btburn:
$(MAKE) -f stm32f303/Makefile btburn
#generate f3 firmware object from f3 bin
hv_firmware.o: force_look
$(MAKE) -f stm32f303/Makefile all
#build f103 firmware for V3 hardware
f1: force_look
$(MAKE) -f stm32f103/Makefile
#flash f103 firmware for V3 hardware using stlink
f1_flash: boot
$(MAKE) -f stm32f103/Makefile flash
f3_all_btburn: f3.bin
@$(DFU-UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D f3.bin
all_btburn: tools/bootloader.py f4.bin
@$(PYTHON) tools/bootloader.py
@sleep 1
@$(DFU-UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D f4.bin
all_flash: f4.bin
@$(ST-FLASH) --reset write f4.bin 0x08000000
f3_all_flash: f3.bin
@$(ST-FLASH) --reset write f3.bin 0x08000000
deploy: f3_boot f3 boot build binall
f4.bin: obj_boot/blboot.bin conf/festo.txt $(TARGET).bin
cat obj_boot/blboot.bin /dev/zero | head -c 32768 > f4.bin
cat conf/festo.txt /dev/zero | head -c 32768 >> f4.bin
cat $(TARGET).bin >> f4.bin
f3.bin: obj_f3_boot/f3_boot.bin obj_hvf3/hvf3.bin
cat obj_f3_boot/f3_boot.bin /dev/zero | head -c 16384 > f3.bin
cat obj_hvf3/hvf3.bin >> f3.bin
# TODO: consolidate these two rules into a wildcard version?
f4.dfu: tools/dfu-convert.py f4.bin
$(PYTHON) tools/dfu-convert.py -b 0x08000000:f4.bin f4.dfu
f3.dfu: tools/dfu-convert.py f3.bin
$(PYTHON) tools/dfu-convert.py -b 0x08000000:f3.bin f3.dfu
stmbl.dfu: tools/dfu-convert.py $(TARGET).bin
$(PYTHON) tools/dfu-convert.py -b 0x08010000:$(TARGET).bin stmbl.dfu
binall: f4.dfu f3.dfu stmbl.dfu
format:
find src/ f3_boot/ bootloader/ stm32f103/ stm32f303/ shared/ inc/ tools/ -iname '*.h' -o -iname '*.c' | xargs clang-format -i
# Target: clean project
#
clean:
@echo Cleaning project:
rm -rf hv_firmware.o
rm -rf f3.bin f4.bin f3.dfu f4.dfu stmbl.dfu
rm -rf $(OBJDIR)
rm -rf inc/commandslist.h
rm -rf inc/comps/*
rm -rf inc/shared_comps/*
rm -rf src/conf_templates.c
rm -rf src/hal_tbl.c
@$(MAKE) -f bootloader/Makefile clean
@$(MAKE) -f f3_boot/Makefile clean
@$(MAKE) -f stm32f103/Makefile clean
@$(MAKE) -f stm32f303/Makefile clean
# Include the base rules
#
include base.mak
# Include the dependency files
#
-include $(OBJECTS:.o=.d)
force_look:
@true
# Listing of phony targets
#
.PHONY: all build clean \
elf hex bin lss sym tbl \
boot boot_flash boot_brburn \
f3_boot f3_boot_flash f3_boot_btburn \
f3 f3_flash f3_btburn \
f1 f1_flash \
f3_all_btburn all_btburn all_flash f3_all_flash \
deploy \
format \
force_look
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