Update for new libswiftnav, link against BLAS and LAPACK. Reduce size…

… of Coffee FS area to give space for more code.

Makefile

@@ -18,36 +18,36 @@ else
 	MAKEFLAGS += PRN=$(PRN)
 endif
 
-.PHONY: all tests firmware bootloader docs libopencm3 libswiftnav
+.PHONY: all tests firmware bootloader docs .FORCE
 
 all: firmware bootloader tests
 
-firmware: libopencm3 libswiftnav
+firmware: libopencm3/lib/libopencm3_stm32f4.a libswiftnav/build/src/libswiftnav-static.a
 	@printf "BUILD   src\n"; \
-	$(MAKE) -C src $(MAKEFLAGS)
+	$(MAKE) -r -C src $(MAKEFLAGS)
 
 bootloader:
 	@printf "BUILD   bootloader\n"; \
-	$(MAKE) -C bootloader $(MAKEFLAGS)
+	$(MAKE) -r -C bootloader $(MAKEFLAGS)
 
 tests:
 	$(Q)for i in tests/*; do \
 		if [ -d $$i ]; then \
 			printf "BUILD   $$i\n"; \
-			$(MAKE) -C $$i $(MAKEFLAGS) || exit $?; \
+			$(MAKE) -r -C $$i $(MAKEFLAGS) || exit $?; \
 		fi; \
 	done
 
-libopencm3:
+libopencm3/lib/libopencm3_stm32f4.a: .FORCE
 	@printf "BUILD   libopencm3\n"; \
 	$(MAKE) -C libopencm3 $(MAKEFLAGS) lib/stm32/f4
 
-libswiftnav:
+libswiftnav/build/src/libswiftnav-static.a: .FORCE
 	@printf "BUILD   libswiftnav\n"; \
 	mkdir -p libswiftnav/build; cd libswiftnav/build; \
-	cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-gcc-arm-embedded.cmake $(CMAKEFLAGS) ../
-
+	cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-gcc-arm-embedded.cmake $(CMAKEFLAGS) ../
 	$(MAKE) -C libswiftnav/build $(MAKEFLAGS)
+
 clean:
 	@printf "CLEAN   src\n"; \
 	$(MAKE) -C src $(MAKEFLAGS) clean
@@ -68,3 +68,5 @@ docs:
 	$(MAKE) -C docs/diagrams
 	doxygen docs/Doxyfile
 
+.FORCE:
+

bootloader/Makefile

@@ -64,7 +64,7 @@ LDFLAGS += -lc -lnosys -T$(LDSCRIPT) -nostartfiles \
 					 -Wl,-wrap,printf -Wl,--gc-sections \
 					 -mcpu=cortex-m4 -march=armv7e-m -mthumb \
 					 -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
-					 -lopencm3_stm32f4 -lswiftnav-static-cortex-m4 -lm \
+					 -lopencm3_stm32f4 -lswiftnav-static -lm \
 					 -L$(SWIFTNAV_ROOT)/libopencm3/lib \
 					 -L$(SWIFTNAV_ROOT)/libswiftnav/build/src
 

src/cfs/cfs-coffee-arch.h

@@ -30,7 +30,7 @@ extern u32 _coffee_fs_area;
 extern u32 _ecoffee_fs_area;
 
 #define COFFEE_START           ((u32)&_coffee_fs_area)
-#define COFFEE_START_SECTOR    6
+#define COFFEE_START_SECTOR    7
 #define COFFEE_SIZE            ((u32)&_ecoffee_fs_area - (u32)&_coffee_fs_area)
 #define COFFEE_NAME_LENGTH     8 /* The maximum filename length. */
 #define COFFEE_MAX_OPEN_FILES  8

stm32/Makefile.include

@@ -65,11 +65,16 @@ CFLAGS += -I$(SWIFTNAV_ROOT)/src \
           -I$(SWIFTNAV_ROOT)/libswiftnav/include
 
 LDSCRIPT ?= $(SWIFTNAV_ROOT)/stm32/swiftnav.ld
-LDFLAGS += -lc -lnosys -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections \
+LDFLAGS += -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections \
            -mcpu=cortex-m4 -march=armv7e-m -mthumb \
            -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
-           -lopencm3_stm32f4 -lswiftnav-static-cortex-m4 -lm \
+           -lopencm3_stm32f4 -lswiftnav-static -llapacke -llapack -lcblas -lblas -lf2c -lm -lc -lnosys \
            -L$(SWIFTNAV_ROOT)/libopencm3/lib \
+           -L$(SWIFTNAV_ROOT)/libswiftnav/build/lapacke \
+           -L$(SWIFTNAV_ROOT)/libswiftnav/build/CBLAS/src \
+           -L$(SWIFTNAV_ROOT)/libswiftnav/build/clapack-3.2.1-CMAKE/BLAS/SRC \
+           -L$(SWIFTNAV_ROOT)/libswiftnav/build/clapack-3.2.1-CMAKE/SRC \
+           -L$(SWIFTNAV_ROOT)/libswiftnav/build/clapack-3.2.1-CMAKE/F2CLIBS/libf2c \
            -L$(SWIFTNAV_ROOT)/libswiftnav/build/src
 
 OOCD ?= openocd

stm32/swiftnav.ld

@@ -14,9 +14,9 @@
 MEMORY
 {
   /* Bootloader occupies first sector of flash. */
-	rom (rx) : ORIGIN = 0x08004000, LENGTH = 240K
-	coffee_fs_rom (r) : ORIGIN = 0x08040000, LENGTH = 768K
-	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+  rom (rx) : ORIGIN = 0x08004000, LENGTH = 368K
+  coffee_fs_rom (r) : ORIGIN = 0x08060000, LENGTH = 640K
+  ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
   /* STM32F4 Core Coupled Memory, not accesible by peripherals or DMA. */
   ccm (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
 }
@@ -25,6 +25,12 @@ MEMORY
 INCLUDE libopencm3_stm32f4.ld
 
 SECTIONS {
+  . = ALIGN(0x4);
+  _init = . ;
+
+  . = ALIGN(0x4);
+  _fini = . ;
+
   _stack_size = 65536;
   _stack = ORIGIN(ccm)+LENGTH(ccm);
   _stack_begin = _stack - _stack_size;