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Makefile
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Makefile
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######################################
# target
######################################
TARGET = sonar_firmware
######################################
# building variables
######################################
# debug build?
DEBUG = 1
# optimization
OPT = -Og
# These all have to be defined for your specific processor
CPU = -mcpu=cortex-m4
FPU = -mfpu=fpv4-sp-d16
FLOAT-ABI = -mfloat-abi=hard
PROJ_DIR := ./
MCU_SERIES := f3
MCU_PARTNO := STM32F303xC
# Project specific source directories, can be empty
SOURCE_DIRS :=
# link script
LDSCRIPT = $(PROJ_DIR)/LinkerScript.ld
# Source and header files are in same directory
LIBCANARD_DIR := $(PROJ_DIR)/libcanard
LIBCANARD_STM32_DIR := $(LIBCANARD_DIR)/drivers/stm32
CANARD_DSDL_COMPILED_DIR := $(PROJ_DIR)/libcanard_dsdlc_generated
HAL_DRIVER_DIR := HAL_Driver
HAL_DRIVER_INC_DIR := $(HAL_DRIVER_DIR)/Inc
HAL_DRIVER_SRC_DIR := $(HAL_DRIVER_DIR)/Src
CMSIS_DIR := CMSIS
CMSIS_CORE_DIR := $(CMSIS_DIR)/core
CMSIS_DEVICE_DIR := $(CMSIS_DIR)/device
SOURCE_DIRS += \
$(HAL_DRIVER_SRC_DIR) \
$(PROJ_DIR)/src \
$(PROJ_DIR)/adafruit_si5351 \
$(LIBCANARD_DIR) \
$(LIBCANARD_STM32_DIR) \
# Find C sources:
C_SOURCES := $(shell find $(SOURCE_DIRS) -maxdepth 1 ! -name "*template.c" -name "*.c")
# DSDL compiled sources need to be treated differently
C_SOURCES += $(shell find $(CANARD_DSDL_COMPILED_DIR) -name "*.c")
# Find C++ sources
CPP_SOURCES := $(shell find $(SOURCE_DIRS) -maxdepth 1 -name "*.cpp")
# Startup file, must be changed for different processors
ASM_SOURCES := $(PROJ_DIR)/startup/startup_stm32.s
##############
# Build tools
##############
PREFIX = arm-none-eabi-
# The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
# either it can be added to the PATH environment variable.
ifdef GCC_PATH
CC = $(GCC_PATH)/$(PREFIX)gcc
CXX = $(GCC_PATH)/$(PREFIX)g++
AS = $(GCC_PATH)/$(PREFIX)gcc -x assembler-with-cpp
CP = $(GCC_PATH)/$(PREFIX)objcopy
SZ = $(GCC_PATH)/$(PREFIX)size
else
CC = $(PREFIX)gcc
CXX = $(PREFIX)g++
AS = $(PREFIX)gcc -x assembler-with-cpp
CP = $(PREFIX)objcopy
SZ = $(PREFIX)size
endif
HEX = $(CP) -O ihex
BIN = $(CP) -O binary -S
# mcu
MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
# Definitions to be called when compiling
AS_DEFS :=
# Common to C and C++
C_DEFS := \
-DUSE_HAL_DRIVER \
-D$(MCU_PARTNO) \
# Includes for compiling
AS_INCLUDES :=
# Common to C and C++
C_INCLUDES := \
-I$(PROJ_DIR)/inc \
-I$(HAL_DRIVER_INC_DIR) \
-I$(CMSIS_CORE_DIR) \
-I$(CMSIS_DEVICE_DIR) \
-I$(PROJ_DIR)/adafruit_si5351 \
-I$(LIBCANARD_DIR) \
-I$(LIBCANARD_STM32_DIR) \
-I$(CANARD_DSDL_COMPILED_DIR) \
# compile gcc flags
ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -std=gnu99
CXXFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -std=c++11
ifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2
CXXFLAGS += -g -gdwarf-2
endif
# Generate dependency information
# As far as I understand, this makes it so you can recompile correctly when header files change
CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
CXXFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
##################
# Linker stuff!
##################
# libraries
LIBS = -lc -lm -lnosys
LIBDIR =
LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
ifdef ARM_MATH
LIBS += -larm_math
LIBDIR += -L$(CMSIS_DIR)/lib
endif
#################
# Building!
#################
BUILD_DIR := $(PROJ_DIR)/build
# default action: build all
all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
#######################################
# build the application
#######################################
# list of objects
OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
vpath %.c $(sort $(dir $(C_SOURCES)))
# C++ objects
OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(CPP_SOURCES:.cpp=.o)))
vpath %.cpp $(sort $(dir $(CPP_SOURCES)))
# list of ASM program objects
OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
vpath %.s $(sort $(dir $(ASM_SOURCES)))
$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR)
$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
$(BUILD_DIR)/%.o: %.cpp Makefile | $(BUILD_DIR)
$(CXX) -c $(CXXFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cpp=.lst)) $< -o $@
$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
$(AS) -c $(CFLAGS) $< -o $@
$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
$(CXX) $(OBJECTS) $(LDFLAGS) -o $@
$(SZ) $@
$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
$(HEX) $< $@
$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
$(BIN) $< $@
$(BUILD_DIR):
mkdir $@
#######################################
# clean up
#######################################
clean:
-rm -fR $(BUILD_DIR)
####################
# Flashing/Debugging
####################
flash: $(BUILD_DIR)/$(TARGET).elf
openocd -f $(COMMON_DIR)/$(MCU_SERIES)_openocd.cfg \
-c "program $(BUILD_DIR)/$(TARGET).elf verify reset exit" \
debug: $(BUILD_DIR)/$(TARGET).elf
openocd -f $(COMMON_DIR)/$(MCU_SERIES)_openocd.cfg
#########################
# Generating DSDL
#########################
.PHONY: dsdl
dsdl:
$(LIBCANARD_DIR)/dsdl_compiler/libcanard_dsdlc --outdir $(CANARD_DSDL_COMPILED_DIR) \
$(PROJ_DIR)/dsdl/uavcan $(PROJ_DIR)/custom_dsdl/arvp
#######################################
# dependencies
#######################################
-include $(wildcard $(BUILD_DIR)/*.d)