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Makefile
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LIB_DIR = STM32Cube_FW_F4_V1.9.0
DRIVER = $(LIB_DIR)/Drivers/STM32F4xx_HAL_Driver/Src
BUILD_DIR = build
#Add any source files that you use here. Remember to end them with .o
OBJECTS = main.o \
src/stm32f4xx_it.o \
src/print.o \
src/packet_in.o \
src/packet_out.o \
src/init.o \
src/pressure.o \
src/servo.o \
src/matrices.o \
src/pi_controller.o \
src/imu.o
OBJECTS += \
$(DRIVER)/stm32f4xx_hal.o \
$(DRIVER)/stm32f4xx_hal_adc.o \
$(DRIVER)/stm32f4xx_hal_crc.o \
$(DRIVER)/stm32f4xx_hal_can.o \
$(DRIVER)/stm32f4xx_hal_uart.o \
$(DRIVER)/stm32f4xx_hal_usart.o \
$(DRIVER)/stm32f4xx_hal_cortex.o \
$(DRIVER)/stm32f4xx_hal_gpio.o \
$(DRIVER)/stm32f4xx_hal_rcc.o \
$(DRIVER)/stm32f4xx_hal_dma.o \
$(DRIVER)/stm32f4xx_hal_spi.o \
$(DRIVER)/stm32f4xx_hal_i2c.o \
$(DRIVER)/stm32f4xx_hal_i2c_ex.o \
$(DRIVER)/stm32f4xx_hal_tim.o \
$(DRIVER)/stm32f4xx_hal_tim_ex.o \
$(DRIVER)/stm32f4xx_hal_i2s.o \
$(DRIVER)/stm32f4xx_hal_i2s_ex.o \
$(LIB_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.o \
$(LIB_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f407xx.o \
$(LIB_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.o \
$(LIB_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/iar/startup_stm32f407xx.s \
INCLUDE_PATHS = \
-I./inc \
-I./$(LIB_DIR)/Inc \
-I./$(LIB_DIR)/Drivers/STM32F4xx_HAL_Driver/Inc \
-I./$(LIB_DIR)/Drivers/CMSIS/Include \
-I./$(LIB_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Include \
-I./$(LIB_DIR)/Middlewares/Third_party/LwIP/test/unit \
-I./$(LIB_DIR)/Middlewares/Third_party/LwIP/system \
-I./$(LIB_DIR)/Middlewares/Third_Party/LwIP/system \
-I./$(LIB_DIR)/Drivers/STM32F4xx_HAL_Driver/Inc \
-I./$(LIB_DIR)/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy \
-I./$(LIB_DIR)/Middlewares/Third_Party/LwIP/system/arch \
LINKER_SCRIPT = ./$(LIB_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/STM32F407XG.ld
#Build Directory: Change if useing a different folder
BUILD_DIR = build
#Project Name: This name gets used to generate the .o, .bin, and .hex files
PROJECT = main
###############################################################################
AS = $(GCC_BIN)arm-none-eabi-as
CC = $(GCC_BIN)arm-none-eabi-gcc
CPP = $(GCC_BIN)arm-none-eabi-g++
LD = $(GCC_BIN)arm-none-eabi-gcc
OBJCOPY = $(GCC_BIN)arm-none-eabi-objcopy
OBJDUMP = $(GCC_BIN)arm-none-eabi-objdump
SIZE = $(GCC_BIN)arm-none-eabi-size
# Compiling flags needed by the boards
CPU = -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=softfp
CC_FLAGS = $(CPU) -c -g -w -fno-common -fmessage-length=0 -Wall -Wextra -fno-exceptions -ffunction-sections -fdata-sections -fomit-frame-pointer -MMD -MP -fdiagnostics-color=auto
CC_SYMBOLS = \
-DSTM32F407xx \
-DSTM32F4 \
-DSTM32F407VG
LD_FLAGS = $(CPU) -Wl,--gc-sections --specs=nano.specs -u _printf_float -u _scanf_float -Wl,-Map=$(BUILD_DIR)/$(PROJECT).map,--cref
LD_SYS_LIBS = -lstdc++ -lsupc++ -lm -lc -lgcc -lnosys
CC_FLAGS += -DNDEBUG -Os
.PHONY: all compile clean burn dfu test
all: compile
compile: $(PROJECT).bin $(PROJECT).hex
@echo " ==> Compiled $(PROJECT).bin & $(PROJECT).hex"
.c.o:
@$(CC) $(CC_FLAGS) $(CC_SYMBOLS) -std=gnu99 $(INCLUDE_PATHS) -o $@ $<
.cpp.o:
@$(CPP) $(CC_FLAGS) $(CC_SYMBOLS) -std=gnu++98 -fno-rtti $(INCLUDE_PATHS) -o $@ $<
$(LIB_OBJ): $(LIB_SRC)
@$(CPP) $(CC_FLAGS) $(CC_SYMBOLS) -std=gnu++98 -fno-rtti $(INCLUDE_PATHS) $(LIB_SRC)
@mv *.o ./$(BUILD_DIR)
$(PROJECT).elf: $(OBJECTS)
@$(LD) $(LD_FLAGS) -T$(LINKER_SCRIPT) -o $(BUILD_DIR)/$@ $^ $(LD_SYS_LIBS) $(LD_SYS_LIBS)
@rm *.o
@rm src/*.o
$(PROJECT).bin: $(PROJECT).elf
@rm *.d
@rm src/*.d
@$(OBJCOPY) -O binary $(BUILD_DIR)/$< $(BUILD_DIR)/$@
$(PROJECT).hex: $(PROJECT).elf
@$(OBJCOPY) -g -O ihex $(BUILD_DIR)/$< $(BUILD_DIR)/$@
clean:
@rm $(BUILD_DIR)/*.hex
@rm $(BUILD_DIR)/*.elf
@rm $(BUILD_DIR)/*.map
@rm $(BUILD_DIR)/*.bin
@echo " ==> Cleaned build directory"
burn:
@echo " ==> Flashing $(BUILD_DIR)/main.bin to device with st-flash...\n"
@st-flash --reset write $(BUILD_DIR)/main.bin 0x8000000
dfu:
@echo " ==> Flashing $(BUILD_DIR)/$(PROJECT).bin to device with dfu-util...\n"
@dfu-util -a 0 --dfuse-address 0x08000000 -D $(BUILD_DIR)/$(PROJECT).bin