Add prototype rotor firmware skeleton

1 files changed, 213 insertions, 0 deletions

diff --git a/prototype/fw/Makefile b/prototype/fw/Makefile
new file mode 100644
index 0000000..db7952b
--- /dev/null
+++ b/prototype/fw/Makefile
@@ -0,0 +1,213 @@
+
+########################################################################################################################
+# Dependency directories
+########################################################################################################################
+
+CMSIS_CORE_DIR 		?= upstream/cmsis-core
+CMSIS_DEVICE_DIR 	?= upstream/cmsis-device-f3
+MUSL_DIR			?= upstream/musl
+TINYPRINTF_DIR		?= upstream/tinyprintf
+SQUARE_DIR			?= upstream/stm32square
+
+########################################################################################################################
+# Algorithm parameters
+########################################################################################################################
+
+# - none -
+
+########################################################################################################################
+# High-level build parameters
+########################################################################################################################
+
+DEBUG			?= 1
+OPT				?= 0
+
+BUILDDIR 		?= build
+BINARY 			:= safetyreset.elf
+LDSCRIPT 		:= generic_stm32.ld
+DEVICE 			:= STM32F302C8
+
+
+########################################################################################################################
+# Sources
+########################################################################################################################
+
+STARTUP_FILE 		:= $(CMSIS_DEVICE_DIR)/Source/Templates/gcc/startup_stm32f302xc.s
+
+ASM_SOURCES 		:= $(STARTUP_FILE)
+
+C_SOURCES		 	:= src/main.c
+C_SOURCES		 	+= upstream/tinyprintf/tinyprintf.c
+
+CPP_SOURCES			:= # - none -
+
+MUSL_SOURCES		:= # - none -
+MUSL_SOURCES		:= $(addprefix $(MUSL_DIR)/src/,$(MUSL_SOURCES))
+
+C_SOURCES += $(MUSL_SOURCES)
+
+
+########################################################################################################################
+# Low-level build parameters
+########################################################################################################################
+
+PREFIX		?= arm-none-eabi-
+
+CC			:= $(PREFIX)gcc
+CPP			:= $(PREFIX)cpp
+CXX			:= $(PREFIX)g++
+LD			:= $(PREFIX)gcc
+AR			:= $(PREFIX)ar
+AS			:= $(PREFIX)as
+SIZE		:= $(PREFIX)size
+NM			:= $(PREFIX)nm
+OBJCOPY		:= $(PREFIX)objcopy
+OBJDUMP		:= $(PREFIX)objdump
+GDB			:= $(PREFIX)gdb
+
+HOST_CC				?= $(HOST_PREFIX)gcc
+HOST_CXX			?= $(HOST_PREFIX)g++
+HOST_LD				?= $(HOST_PREFIX)gcc
+HOST_AR				?= $(HOST_PREFIX)ar
+HOST_AS				?= $(HOST_PREFIX)as
+HOST_OBJCOPY		?= $(HOST_PREFIX)objcopy
+HOST_OBJDUMP		?= $(HOST_PREFIX)objdump
+
+PYTHON3 ?= python3
+DOT		?= dot
+
+MUSL_DIR_ABS			:= $(abspath $(MUSL_DIR))
+CMSIS_CORE_DIR_ABS		:= $(abspath $(CMSIS_CORE_DIR))
+CMSIS_DEVICE_DIR_ABS	:= $(abspath $(CMSIS_DEVICE_DIR))
+
+DEVICE_FAMILY	:= $(shell echo $(DEVICE) | egrep -io 'STM32[a-z]{1,2}[0-9]'|cut -c 6-)
+DEVICE_DEFINES 	:= -DSTM32$(DEVICE_FAMILY) $(addprefix -D,$(shell cat $(SQUARE_DIR)/buildinfo/$(DEVICE_FAMILY)/$(DEVICE).defines))
+FAMILY_HEADER	:= $(shell ls $(CMSIS_DEVICE_DIR)/Include | grep -i '^STM32$(DEVICE_FAMILY)xx.h')
+
+ARCH_FLAGS		?= -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
+SYSTEM_FLAGS	?= -nostdlib -ffreestanding -nostartfiles
+
+COMMON_CFLAGS	+= -I$(abspath include)
+COMMON_CFLAGS	+= -I$(CMSIS_CORE_DIR_ABS)/Include 
+COMMON_CFLAGS	+= -I$(BUILDDIR)
+
+CFLAGS			+= -I$(abspath tools/musl_include_shims)
+CFLAGS			+= -I$(abspath $(TINYPRINTF_DIR))
+CFLAGS			+= -I$(CMSIS_DEVICE_DIR_ABS)/Include
+
+CFLAGS			+= $(ARCH_FLAGS) $(SYSTEM_FLAGS)
+CFLAGS			+= -fno-common -ffunction-sections -fdata-sections
+
+COMMON_CFLAGS	+= -O$(OPT) -std=gnu11 -g
+COMMON_CFLAGS 	+= $(DEVICE_DEFINES)
+COMMON_CFLAGS 	+= -DDEBUG=$(DEBUG)
+
+# for musl
+CFLAGS			+= -Dhidden=
+
+SIM_CFLAGS	+= -lm -DSIMULATION
+SIM_CFLAGS	+= -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef -Wno-unused-parameter
+
+INT_CFLAGS	+= -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef -Wno-unused-parameter
+INT_CFLAGS	+= -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes
+
+CXXFLAGS	+= -Os -g
+CXXFLAGS	+= $(ARCH_FLAGS) $(SYSTEM_FLAGS)
+CXXFLAGS	+= -fno-common -ffunction-sections -fdata-sections
+CXXFLAGS	+= -Wall -Wextra -Wshadow -Wundef -Wredundant-decls
+CXXFLAGS	+= -I.
+
+LDFLAGS			+= $(ARCH_FLAGS) $(SYSTEM_FLAGS)
+
+LIBS		+= -lgcc
+LDFLAGS		+= -Wl,--gc-sections
+
+LINKMEM_FLAGS ?= --trim-stubs=startup.o --trace-sections .isr_vector --highlight-subdirs $(BUILDDIR)
+
+OBJS := $(addprefix $(BUILDDIR)/,$(C_SOURCES:.c=.o) $(CXX_SOURCES:.cpp=.o) $(ASM_SOURCES:.s=.o))
+ALL_OBJS := $(OBJS)
+ALL_OBJS += $(BUILDDIR)/generated/stm32_system_patched.o
+# Add generated source here.
+
+########################################################################################################################
+# Rules
+########################################################################################################################
+
+all: binsize
+
+.PHONY: binsize
+binsize: $(BUILDDIR)/$(BINARY) $(BUILDDIR)/$(BINARY:.elf=-symbol-sizes.pdf)
+	$(LD) -T$(LDSCRIPT) $(LDFLAGS) -Wl,--print-memory-usage -o /dev/null $(ALL_OBJS) $(LIBS)
+	@echo
+	@echo "▐▬▬▬▌ SyMbOL sIzE HiGhScORe LiSt ▐▬▬▬▌"
+	$(NM) --print-size --size-sort --radix=d $< | tail -n 20
+
+$(BUILDDIR)/generated/mem_defs.ldi: $(SQUARE_DIR)/ld_memmap/$(DEVICE_FAMILY)/$(DEVICE).ldi | $(BUILDDIR)/generated
+	ln -sfr $< $@ 
+
+$(BUILDDIR)/generated/stm32_device.h: $(CMSIS_DEVICE_DIR_ABS)/Include/$(FAMILY_HEADER) | $(BUILDDIR)/generated
+	ln -sfr $< $@ 
+
+$(BUILDDIR)/generated/stm32_system_patched.c: $(wildcard $(CMSIS_DEVICE_DIR_ABS)/Source/Templates/system_stm32*.c) | $(BUILDDIR)/generated
+	$(PYTHON3) tools/patch_system_init.py $< > $@
+
+$(BUILDDIR)/generated/stm32_irqs.h: $(STARTUP_FILE) | $(BUILDDIR)/generated
+	$(PYTHON3) tools/gen_isr_header.py --generate-include-guards --use-cpp $(CPP) $< > $@
+
+$(BUILDDIR)/generated: ; mkdir -p $@
+
+.PRECIOUS: $(BUILDDIR)/$(BINARY) 
+$(BUILDDIR)/$(BINARY) $(BUILDDIR)/$(BINARY:.elf=.map) &: $(ALL_OBJS) $(LDSCRIPT) $(BUILDDIR)/generated/mem_defs.ldi
+	$(LD) -T$(LDSCRIPT) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/$(BINARY:.elf=.map) $(ALL_OBJS) $(LIBS)
+
+build/$(BINARY:.elf=-symbol-sizes.dot): $(ALL_OBJS)
+	$(PYTHON3) tools/linkmem.py $(LINKMEM_FLAGS) $(LD) -T$(LDSCRIPT) $(LDFLAGS) $^ $(LIBS) > $@
+
+%.pdf: %.dot
+	$(DOT) -T pdf $< -o $@
+
+%.dot: %.elf
+	r2 -a arm -qc 'aa;agRd' $< 2>/dev/null >$@
+
+$(BUILDDIR)/src/%.o: src/%.s
+	mkdir -p $(@D)
+	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
+
+$(BUILDDIR)/src/%.o: src/%.c $(BUILDDIR)/generated/stm32_irqs.h $(BUILDDIR)/generated/stm32_device.h
+	mkdir -p $(@D)
+	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
+
+$(BUILDDIR)/src/%.o: src/%.cpp $(BUILDDIR)/generated/stm32_irqs.h $(BUILDDIR)/generated/stm32_device.h
+	mkdir -p $(@D)
+	$(CXX) $(CXXFLAGS) -o $@ -c $<
+
+$< $(BUILDDIR)/generated/%.o: $(BUILDDIR)/generated/%.c
+	mkdir -p $(@D)
+	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
+
+$(BUILDDIR)/%.o: %.c
+	mkdir -p $(@D)
+	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $<
+
+$(BUILDDIR)/%.o: %.s
+	mkdir -p $(@D)
+	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $<
+
+venv:
+	test -d venv || python3 -m venv --system-site-packages venv
+	source venv/bin/activate && pip install cxxfilt pyelftools libarchive matplotlib
+
+clean:
+	rm -rf $(BUILDDIR)/src
+	rm -rf $(BUILDDIR)/generated
+	rm -f $(BUILDDIR)/$(BINARY)
+	rm -f $(BUILDDIR)/$(BINARY:.elf=.map)
+	rm -f $(BUILDDIR)/$(BINARY:.elf=-symbol-sizes.dot)
+	rm -f $(BUILDDIR)/$(BINARY:.elf=-symbol-sizes.pdf)
+
+mrproper: clean
+	rm -rf build
+
+.PHONY: clean mrproper
+
+-include $(OBJS:.o=.d)