replace Makefile with a Rakefile to better handle dependencies
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Makefile
227
Makefile
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## This library is free software: you can redistribute it and/or modify
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## it under the terms of the GNU Lesser General Public License as published by
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## the Free Software Foundation, either version 3 of the License, or
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## (at your option) any later version.
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##
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## This library is distributed in the hope that it will be useful,
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## but WITHOUT ANY WARRANTY; without even the implied warranty of
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## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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## GNU Lesser General Public License for more details.
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##
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## You should have received a copy of the GNU Lesser General Public License
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## along with this library. If not, see <http://www.gnu.org/licenses/>.
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##
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## the make file provide rule to compile and flash firmware for STM32F1 micro-controllers
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## it uses libopencm3
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# be silent per default, but 'make V=1' will show all compiler calls.
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ifneq ($(V),1)
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Q := @
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NULL := 1> /dev/null 2> /dev/null
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endif
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# main names (without extension, for input source file and output binary)
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APPLICATION = application
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BOOTLOADER = bootloader
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FIRMWARE = $(APPLICATION) $(BOOTLOADER)
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# which development board is used
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# supported are: SYSTEM_BOARD, MAPLE_MINI, BLUE_PILL, CORE_BOARD
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BOARD = CORE_BOARD
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# opencm3 libraries
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OPENCM3_DIR := libopencm3
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OPENCM3_INC = $(OPENCM3_DIR)/include
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OPENCM3_LIB = $(OPENCM3_DIR)/lib
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# library for the STM32F1 (provided by opencm3)
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STM32F1_LIB = opencm3_stm32f1
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# libraries with source code used (also to be compiled)
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SRCLIBS = . lib
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# source files (this will be populated using includes based DEPENDENCIES)
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CSRC =
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# headers (unique, and if existing) corresponding to source files
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CHDR = $(sort $(patsubst %.c,%.h,$(wildcard $(CSRC))))
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# objects (unique, and if existing) compiled from source files
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OBJ = $(sort $(patsubst %.c,%.o,$(wildcard $(CSRC))))
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# figure out based on the main sources files which library files are used
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DEPENDENCIES = $(patsubst %,%.inc,$(FIRMWARE))
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# populates CSRC based on the library files used
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-include $(DEPENDENCIES)
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# executables for linking, compiling, debugging, ...
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# use clang to compile, GNU ARM toolchain for the rest
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PREFIX ?= arm-none-eabi
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# use ELLCC as compile
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CC := clang -target $(PREFIX)
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LD := $(PREFIX)-ld
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LD := $(PREFIX)-ld
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AR := $(PREFIX)-ar
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AS := $(PREFIX)-as
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OBJCOPY := $(PREFIX)-objcopy
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OBJDUMP := $(PREFIX)-objdump
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GDB := $(PREFIX)-gdb
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# device micro-controller and board
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DEFS += -DSTM32F1 -D$(BOARD)
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# C flags
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# optimize for size
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CFLAGS += -Os
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# add debug symbols (remove for smaller release)
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CFLAGS += -ggdb
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# use C99 (supported by most an sufficient)
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CFLAGS += -std=c99
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# have strict warning (for better code)
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CFLAGS += -Wpedantic -Wall -Werror -Wundef -Wextra -Wshadow -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes -Wstrict-overflow=5
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# add options for better code optimization
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CFLAGS += -fno-common -ffunction-sections -fdata-sections
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# use variable size enum (clang doesn't but opencm3, and gcc do)
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CFLAGS += -fshort-enums
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# use no variable size enum (ELLCC/musl does not)
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#CFLAGS += -fno-short-enums
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# don't use system main definition (the starting point)
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CFLAGS += -ffreestanding
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# don't use the standard library (only if you provide an alternative libc library)
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#CFLAGS += -nostdlib -nostdinc
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# include own libraries
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CFLAGS += $(foreach lib,$(SRCLIBS),-I $(lib))
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# include opencm3 libraries
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CFLAGS += -I $(OPENCM3_INC)
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# add defines for micro-controller and board
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CFLAGS += $(DEFS)
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# linker flags
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# build static binary (no shared libraries on the micro-controller)
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LDFLAGS += -static
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# don's include the system start files
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LDFLAGS += -nostartfiles
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# only keep used sections
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LDFLAGS += --gc-sections
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# don't use system libraries (only if you provide an alternative libc library)
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#LDFLAGS += -nostdlib -nostdinc
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# add standard libraries (for libc, libm, libnosys, libgcc)
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LDFLAGS += --library-path /usr/arm-none-eabi/lib/armv7-m/
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LDFLAGS += --library-path /usr/lib/gcc/arm-none-eabi/*/armv7-m/
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# opencm3 libraries
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LDFLAGS += --library-path $(OPENCM3_LIB)
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# used libraries (gcc provides the ARM ABI)
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LDLIBS += --library $(STM32F1_LIB) --library c --library m --library nosys --library gcc
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# target micro-controller information (ARM Cortex-M3 supports thumb and thumb2, but does not include a floating point unit)
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ARCH_FLAGS = -mthumb -mcpu=cortex-m3 -msoft-float
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# SWD adapter used
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# supported are : st-link v2 (STLINKV2), black magic probe (BMP)
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SWD_ADAPTER ?= BMP
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ifeq ($(SWD_ADAPTER),STLINKV2)
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# OpenOCD configuration
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OOCD ?= openocd
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OOCD_INTERFACE ?= stlink-v2
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OOCD_TARGET ?= stm32f1x
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else ifeq ($(SWD_ADAPTER),BMP)
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# the black magic probe has a SWD controller built in
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BMP_PORT ?= /dev/ttyACM0
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endif
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# compile target rules
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all: elf hex bin
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elf: $(patsubst %,%.elf,$(FIRMWARE))
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bin: $(patsubst %,%.bin,$(FIRMWARE))
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hex: $(patsubst %,%.hex,$(FIRMWARE))
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%.hex: %.elf
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$(Q)$(OBJCOPY) --strip-all --strip-debug --output-target ihex $(<) $(@)
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%.bin: %.elf
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$(Q)$(OBJCOPY) --strip-all --strip-debug --output-target binary $(<) $(@)
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%.map %.list: %.elf
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$(Q)$(OBJDUMP) -S $(<) > $(@)
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%.elf: %.o %.ld $(OBJ) $(OPENCM3_LIB)/lib$(STM32F1_LIB).a
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$(info linking $(@))
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$(Q)$(LD) $(LDFLAGS) --script $(*).ld $(<) $(OBJ) $(LDLIBS) -o $(@)
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$(Q)size $(@)
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%.o: %.c $(CHDR) $(OPENCM3_LIB)/lib$(STM32F1_LIB).a
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$(info compiling $(@))
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$(Q)$(CC) $(CFLAGS) $(ARCH_FLAGS) -o $(@) -c $(<)
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# find out which library source files also need to be compiled and linked, based on its dependencies
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%.inc: %.c $(OPENCM3_LIB)/lib$(STM32F1_LIB).a
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$(Q)echo "" > $(@)
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$(Q)for dependency in $(shell $(CC) $(CFLAGS) $(ARCH_FLAGS) -MM -c $(<)); do \
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if [ -f "$${dependency}" ]; then \
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for lib in $(SRCLIBS); do \
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if [ `dirname "$${dependency}"` = "$${lib}" ]; then \
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if [ -f `echo "$${dependency}" | sed -e 's|\(.*\)\.h$$|\1.c|'` ]; then \
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echo "$${dependency}" | sed -e 's|\(.*\)\.h$$|CSRC += \1.c\n-include \1.inc|g' -e 's|.*${*}.*||g' >> $(@); \
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fi; \
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fi; \
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done; \
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fi; \
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done
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# get libopencm3
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$(OPENCM3_DIR)/Makefile:
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$(info checking out libopencm3 submodule)
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$(Q)git submodule init
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$(Q)git submodule update
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# compile libopencm3
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$(OPENCM3_LIB)/lib$(STM32F1_LIB).a: $(OPENCM3_DIR)/Makefile
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$(info compiling libopencm3 submodule)
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$(Q)$(MAKE) --directory $(OPENCM3_DIR)
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# doxygen documentation
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doc: Doxyfile README.md $(patsubst %,%.c,$(FIRMWARE)) $(CSRC) $(CHDR)
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$(Q)doxygen $(<)
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clean:
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$(Q)$(RM) $(BOOTLOADER).elf $(BOOTLOADER).bin $(BOOTLOADER).hex $(APPLICATION).elf $(APPLICATION).bin $(APPLICATION).hex $(OBJ) $(DEPENDENCIES) *.inc lib/*.inc
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# flash application using DFU
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flash: $(APPLICATION).bin
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$(Q)dfu-util -d c440:0d00 -D $(<)
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# flash bootloader using SWD
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flash_bootloader: $(BOOTLOADER).hex
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$(info flashing $(<) using SWD)
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ifeq ($(SWD_ADAPTER),STLINKV2)
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$(Q)$(OOCD) --file interface/$(OOCD_INTERFACE).cfg --file target/$(OOCD_TARGET).cfg --command "init" --command "reset init" --command "flash write_image erase $(<)" --command "reset" --command "shutdown" $(NULL)
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else ifeq ($(SWD_ADAPTER),BMP)
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$(Q)$(GDB) --eval-command="target extended-remote $(BMP_PORT)" --eval-command="set confirm off" --eval-command="monitor swdp_scan" --eval-command="attach 1" --eval-command="load" --eval-command="detach" --eval-command="quit" $(<)
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endif
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# flash application using SWD
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flash_application: $(APPLICATION).hex
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$(info flashing $(<) using SWD)
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ifeq ($(SWD_ADAPTER),STLINKV2)
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$(Q)$(OOCD) --file interface/$(OOCD_INTERFACE).cfg --file target/$(OOCD_TARGET).cfg --command "init" --command "reset init" --command "flash write_image erase $(<)" --command "reset" --command "shutdown" $(NULL)
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else ifeq ($(SWD_ADAPTER),BMP)
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$(Q)$(GDB) --eval-command="target extended-remote $(BMP_PORT)" --eval-command="set confirm off" --eval-command="monitor swdp_scan" --eval-command="attach 1" --eval-command="load" --eval-command="kill" --eval-command="quit" $(<)
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endif
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# reset device by setting the data width to 5 bis on the USB CDC ACM port
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ifeq ($(SWD_ADAPTER)$(BMP_PORT),BMP/dev/ttyACM0)
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ACM_PORT := /dev/ttyACM2
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else
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ACM_PORT := /dev/ttyACM0
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endif
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reset:
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$(Q)stty --file $(ACM_PORT) raw cs5
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$(Q)sleep 0.5
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# debug application using GDB
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debug: $(APPLICATION).elf
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ifeq ($(SWD_ADAPTER),STLINKV2)
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# for GDB to work with openOCD the firmware needs to be reloaded
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$(Q)$(GDB) --eval-command="target remote | $(OOCD) --file interface/$(OOCD_INTERFACE).cfg --file target/$(OOCD_TARGET).cfg --command \"gdb_port pipe; log_output /dev/null; init\"" --eval-command="monitor reset halt" --eval-command="load" --eval-command="monitor reset init" $(<)
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else ifeq ($(SWD_ADAPTER),BMP)
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$(Q)$(GDB) --eval-command="target extended-remote $(BMP_PORT)" --eval-command="monitor version" --eval-command="monitor swdp_scan" --eval-command="attach 1" $(<)
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endif
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.PHONY: clean elf bin hex srec list flash reset
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@ -0,0 +1,242 @@
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# encoding: utf-8
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# ruby: 2.4.2
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=begin
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Rakefile to manage compile CuVoodoo STM32F1 firmware.
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the firmware is for development board based around a STM32F1xx micro-controller.
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the firmware uses the libopencm3 library providing support for this micro-controller.
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=end
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require 'rake'
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require 'rake/clean'
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# the firmwares to compile
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BOOTLOADER = "bootloader"
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APPLICATION = "application"
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FIRMWARES = [BOOTLOADER, APPLICATION]
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# which development board is used
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# supported are: SYSTEM_BOARD, MAPLE_MINI, BLUE_PILL, CORE_BOARD
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BOARD = ENV["BOARD"] || "CORE_BOARD"
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# libopencm3 definitions
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LIBOPENCM3_DIR = "libopencm3"
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LIBOPENCM3_INC = LIBOPENCM3_DIR+"/include"
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LIBOPENCM3_LIB = LIBOPENCM3_DIR+"/lib"
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# STM32F1 library use for this project provided libtm
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STM32F1_LIB = "opencm3_stm32f1"
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# source code used by the firmware
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SRC_DIRS = [".", "lib"]
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# cross-compiler environment
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PREFIX = ENV["PREFIX"] || "arm-none-eabi"
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CC = "clang -target #{PREFIX}" # use clang instead of gcc
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LD = PREFIX+"-ld"
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AR = PREFIX+"-ar"
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AS = PREFIX+"-as"
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OBJCOPY = PREFIX+"-objcopy"
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OBJDUMP = PREFIX+"-objdump"
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GDB = PREFIX+"-gdb"
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# compiler flags
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cflags = [ENV["CFLAGS"]]
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# optimize for size
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cflags << "-Os"
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# add debug symbols (remove for smaller release)
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cflags << "-ggdb"
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# use C99 (supported by most an sufficient)
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cflags << "-std=c99"
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# have strict warning (for better code)
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cflags << "-Wpedantic -Wall -Werror -Wundef -Wextra -Wshadow -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes -Wstrict-overflow=5"
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# add options for better code optimization
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cflags << "-fno-common -ffunction-sections -fdata-sections"
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# use variable size enum (clang doesn't but opencm3, and gcc do)
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cflags << "-fshort-enums"
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# don't use system main definition (the starting point)
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cflags << "-ffreestanding"
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# don't use the standard library (only if you provide an alternative libc library)
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#cflags << "-nostdlib -nostdinc"
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# include own libraries
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cflags += SRC_DIRS.collect {|srd_dir| "-I #{srd_dir}"}
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# include libopencm3 library
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cflags << "-I #{LIBOPENCM3_INC}"
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# add defines for micro-controller and board
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cflags << "-DSTM32F1 -D#{BOARD}"
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# render cflags
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cflags = cflags.compact*' '
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# linker flags
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ldflags = [ENV["LDFLAGS"]]
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# build static binary (no shared libraries on the micro-controller)
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ldflags << "-static"
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# don't include the system start files
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ldflags << "-nostartfiles"
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# only keep used sections
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ldflags << "--gc-sections"
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# don't use system libraries (only if you provide an alternative libc library)
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#ldflags << "-nostdlib -nostdinc"
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# add standard libraries (for libc, libm, libnosys, libgcc) and libopencm3
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library_paths = ["/usr/arm-none-eabi/lib/armv7-m/", "/usr/lib/gcc/arm-none-eabi/*/armv7-m/", LIBOPENCM3_LIB]
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ldflags += library_paths.collect {|library_path| "--library-path #{library_path}"}
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ldflags *= ' '
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# used libraries (gcc provides the ARM ABI)
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ldlibs = [STM32F1_LIB, "c", "m", "nosys", "gcc"]
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ldlibs = ldlibs.collect {|library| "--library #{library}"}
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ldlibs *= ' '
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# target micro-controller information (ARM Cortex-M3 supports thumb and thumb2, but does not include a floating point unit)
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archflags = "-mthumb -mcpu=cortex-m3 -msoft-float"
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desc "compile firmwares"
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task :default => FIRMWARES
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FIRMWARES.each do |firmware|
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desc "compile #{firmware} firmware"
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task firmware => [firmware+".elf", firmware+".bin", firmware+".hex"]
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CLOBBER.include(firmware+".elf")
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CLOBBER.include(firmware+".bin")
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CLOBBER.include(firmware+".hex")
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CLOBBER.include(firmware+".list")
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CLOBBER.include(firmware+".map")
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end
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# get dependencies of a file
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# done is a list of already known dependencies
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def dependencies(source, done=[])
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d_path = source.ext("d") # get the dependency file
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Rake::Task[d_path].invoke # ensure the dependency file exists
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d_file = IO.read(d_path) # read the dependencies from dependency file
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d_file = d_file.split(': ')[1].gsub("\n",'').gsub('\\ ','').gsub(/\s+/,' ').split(' ') # get a list of dependencies
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d_list = [] # list of dependencies
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# only save dependencies which are in our source directories
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d_file.each do |d|
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SRC_DIRS.each do |dir|
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if File.dirname(d)==dir then
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d_list << d
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end
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end
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end
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# get the dependencies of these dependencies, if we don't know them already
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done << source.ext("o")
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done.uniq!
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d_list.each do |d|
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d = d.ext("o")
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next if done.include? d
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done += dependencies(d, done)
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end
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done.uniq!
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return done
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end
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desc "get libopencm3"
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file LIBOPENCM3_DIR+"/Makefile" do
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sh "git submodule init"
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sh "git submodule update"
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end
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desc "compile libopencm3"
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file "#{LIBOPENCM3_LIB}/lib#{STM32F1_LIB}.a" => LIBOPENCM3_DIR+"/Makefile" do
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sh "make --directory #{LIBOPENCM3_DIR}"
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end
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task :doc => ["Doxyfile", "README.md"] do |t|
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sh "doxygen #{t.source}"
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end
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desc "compile source into object"
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rule '.o' => '.c' do |t|
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sh "#{CC} #{cflags} #{archflags} -o #{t.name} -c #{t.source}"
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end
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desc "generate dependencies"
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rule '.d' => '.c' do |t|
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sh "#{CC} #{cflags} #{archflags} -MM -MF #{t.name} -c #{t.source}"
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end
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desc "link binary"
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rule '.elf' => [proc{|f| dependencies(f)}, '.ld', "#{LIBOPENCM3_LIB}/lib#{STM32F1_LIB}.a"] do |t|
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sh "#{LD} #{ldflags} --script #{t.name.ext('ld')} #{t.prerequisites[0..-3].join(' ')} #{ldlibs} -o #{t.name}"
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sh "size #{t.name}"
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end
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desc "export binary"
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rule '.bin' => '.elf' do |t|
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sh "#{OBJCOPY} --strip-all --strip-debug --output-target binary #{t.source} #{t.name}"
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end
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desc "export intel hex file"
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rule '.hex' => '.elf' do |t|
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sh "#{OBJCOPY} --strip-all --strip-debug --output-target ihex #{t.source} #{t.name}"
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end
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desc "export list"
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rule '.list' => '.elf' do |t|
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sh "#{OBJDUMP} -S #{t.source} > #{t.name}"
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||||
end
|
||||
|
||||
desc "export map"
|
||||
rule '.map' => '.elf' do |t|
|
||||
sh "#{OBJDUMP} -S #{t.source} > #{t.name}"
|
||||
end
|
||||
|
||||
SRC_DIRS.each do |src_dir|
|
||||
CLEAN.include(src_dir+"/*.o")
|
||||
CLEAN.include(src_dir+"/*.d")
|
||||
end
|
||||
|
||||
# SWD/JTAG adapter used
|
||||
# supported are : STLINKV2 (ST-Link V2), BMP (Black Magic Probe)
|
||||
SWD_ADAPTER = ENV["SWD_ADAPTER"] || "BMP"
|
||||
# openOCD path to control the adapter
|
||||
OOCD = ENV["OOCD"] || "openocd"
|
||||
# openOCD adapted name
|
||||
OOCD_INTERFACE = ENV["OOCD_INTERFACE"] || (SWD_ADAPTER=="STLINKV2" ? "stlink-v2" : "")
|
||||
# openOCD target for the micro-controller
|
||||
OOCD_TARGET = "stm32f1x"
|
||||
# Black Magic Probe port
|
||||
BMP_PORT = ENV["BMP_PORT"] || "/dev/ttyACM0"
|
||||
|
||||
desc "flash application using USB DFU"
|
||||
task :flash => APPLICATION+".bin" do |t|
|
||||
sh "dfu-util -d c440:0d00 -D #{t.source}"
|
||||
end
|
||||
|
||||
desc "flash bootloader using SWD"
|
||||
task :flash_bootloader => BOOTLOADER+".hex" do |t|
|
||||
case SWD_ADAPTER
|
||||
when "STLINKV2"
|
||||
sh "#{OOCD} --file interface/#{OOCD_INTERFACE}.cfg --file target/#{OOCD_TARGET}.cfg --command 'init' --command 'reset init' --command 'flash write_image erase #{t.source}' --command 'reset' --command 'shutdown'"
|
||||
when "BMP"
|
||||
sh "#{GDB} --eval-command='target extended-remote #{BMP_PORT}' --eval-command='set confirm off' --eval-command='monitor swdp_scan' --eval-command='attach 1' --eval-command='load' --eval-command='kill' --eval-command='quit' #{t.source}"
|
||||
end
|
||||
end
|
||||
|
||||
desc "flash application using SWD"
|
||||
task :flash_application => APPLICATION+".hex" do |t|
|
||||
case SWD_ADAPTER
|
||||
when "STLINKV2"
|
||||
sh "#{OOCD} --file interface/#{OOCD_INTERFACE}.cfg --file target/#{OOCD_TARGET}.cfg --command 'init' --command 'reset init' --command 'flash write_image erase #{t.source}' --command 'reset' --command 'shutdown'"
|
||||
when "BMP"
|
||||
sh "#{GDB} --eval-command='target extended-remote #{BMP_PORT}' --eval-command='set confirm off' --eval-command='monitor swdp_scan' --eval-command='attach 1' --eval-command='load' --eval-command='kill' --eval-command='quit' #{t.source}"
|
||||
end
|
||||
end
|
||||
|
||||
# debug application using GDB
|
||||
desc "debug application using GDB"
|
||||
task :debug => APPLICATION+".elf" do |t|
|
||||
case SWD_ADAPTER
|
||||
when "STLINKV2"
|
||||
# for GDB to work with openOCD the firmware needs to be reloaded
|
||||
sh "#{GDB} --eval-command='target remote | #{OOCD} --file interface/#{OOCD_INTERFACE}.cfg --file target/#{OOCD_TARGET}.cfg --command \"gdb_port pipe; log_output /dev/null; init\"' --eval-command='monitor reset halt' --eval-command='load' --eval-command='monitor reset init' #{t.source}"
|
||||
when "BMP"
|
||||
sh "#{GDB} --eval-command='target extended-remote #{BMP_PORT}' --eval-command='monitor version' --eval-command='monitor swdp_scan' --eval-command='attach 1' #{t.source}"
|
||||
end
|
||||
end
|
||||
|
||||
# reset device by setting the data width to 5 bis on the USB CDC ACM port
|
||||
ACM_PORT = ENV["ACM_PORT"] || ("/dev/ttyACM0"==BMP_PORT ? "/dev/ttyACM2" : "/dev/ttyACM0")
|
||||
|
||||
desc "reset application using serial"
|
||||
task :reset do
|
||||
sh "stty --file #{ACM_PORT} raw cs5"
|
||||
sleep 0.5
|
||||
end
|
||||
Loading…
Reference in New Issue