第一次提交

2026-05-29 17:36:34 +08:00
commit 5b3333125d
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+##########################################################################################################################
+# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Tue Aug 20 20:15:41 CST 2024] 
+##########################################################################################################################
+
+# ------------------------------------------------
+# Generic Makefile (based on gcc) with Linux kernel style output
+#
+# Usage:
+#   make        - Build with quiet output (Linux kernel style)
+#   make V=1    - Build with verbose output (show full commands)
+#   make clean  - Clean build files
+#
+# ChangeLog :
+#	2017-02-10 - Several enhancements + project update mode
+#   2015-07-22 - first version
+# ------------------------------------------------
+
+######################################
+# target
+######################################
+TARGET = Basic_Framework_MC02
+
+
+######################################
+# building variables
+######################################
+# debug build?
+DEBUG = 1
+# optimization
+OPT = -Og
+
+
+#######################################
+# paths
+#######################################
+# Build path
+BUILD_DIR = build
+
+######################################
+# source
+######################################
+# C sources
+C_SOURCES =  \
+Core/Src/main.c \
+Core/Src/gpio.c \
+Core/Src/freertos.c \
+Core/Src/adc.c \
+Core/Src/dma.c \
+Core/Src/fdcan.c \
+Core/Src/octospi.c \
+Core/Src/spi.c \
+Core/Src/tim.c \
+Core/Src/usart.c \
+Core/Src/stm32h7xx_it.c \
+Core/Src/stm32h7xx_hal_msp.c \
+Core/Src/stm32h7xx_hal_timebase_tim.c \
+USB_DEVICE/App/usb_device.c \
+USB_DEVICE/App/usbd_desc.c \
+USB_DEVICE/App/usbd_cdc_if.c \
+USB_DEVICE/Target/usbd_conf.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c \
+Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c \
+Core/Src/system_stm32h7xx.c \
+Middlewares/Third_Party/FreeRTOS/Source/croutine.c \
+Middlewares/Third_Party/FreeRTOS/Source/event_groups.c \
+Middlewares/Third_Party/FreeRTOS/Source/list.c \
+Middlewares/Third_Party/FreeRTOS/Source/queue.c \
+Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c \
+Middlewares/Third_Party/FreeRTOS/Source/tasks.c \
+Middlewares/Third_Party/FreeRTOS/Source/timers.c \
+Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c \
+Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c \
+Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c \
+Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c \
+Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c \
+Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c \
+Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c \
+Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c \
+Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c \
+Core/Src/sysmem.c \
+Core/Src/syscalls.c \
+bsp/dwt/bsp_dwt.c \
+bsp/pwm/bsp_pwm.c \
+bsp/gpio/bsp_gpio.c \
+bsp/spi/bsp_spi.c \
+bsp/iic/bsp_iic.c \
+bsp/can/bsp_can.c \
+bsp/usart/bsp_usart.c \
+bsp/log/bsp_log.c \
+bsp/bsp_tools.c \
+modules/algorithm/controller.c \
+modules/algorithm/kalman_filter.c \
+modules/algorithm/QuaternionEKF.c \
+modules/algorithm/crc8.c \
+modules/algorithm/crc16.c \
+modules/algorithm/user_lib.c \
+modules/bluetooth/HC05.c \
+modules/BMI088/bmi088.c \
+modules/imu/BMI088driver.c \
+modules/imu/BMI088Middleware.c \
+modules/imu/ins_task.c \
+modules/master_machine/master_process.c \
+modules/master_machine/seasky_protocol.c \
+modules/motor/DJImotor/dji_motor.c \
+modules/motor/HTmotor/HT04.c \
+modules/motor/LKmotor/LK9025.c \
+modules/motor/DMmotor/dmmotor.c \
+modules/motor/step_motor/step_motor.c \
+modules/motor/step_motor/X_V2.c \
+modules/motor/servo_motor/servo_motor.c \
+modules/motor/motor_task.c \
+modules/oled/oled.c \
+modules/referee/crc_ref.c \
+modules/referee/rm_referee.c \
+modules/referee/referee_UI.c \
+modules/referee/referee_task.c \
+modules/remote/remote_control.c \
+modules/super_cap/super_cap.c \
+modules/can_comm/can_comm.c \
+modules/message_center/message_center.c \
+modules/daemon/daemon.c \
+modules/alarm/buzzer.c \
+modules/vofa/vofa.c \
+modules/opencv/opencv.c \
+modules/timachine/board_comm.c \
+application/gimbal/gimbal.c \
+application/chassis/chassis.c \
+application/shoot/shoot.c \
+application/cmd/robot_cmd.c \
+application/robot.c \
+Core/Src/i2c.c
+
+# ASM sources
+ASM_SOURCES =  \
+startup_stm32h723xx.s \
+Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s
+
+# ASM sources
+ASMM_SOURCES = 
+
+
+#######################################
+# binaries
+#######################################
+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
+AS = $(GCC_PATH)/$(PREFIX)gcc -x assembler-with-cpp
+CP = $(GCC_PATH)/$(PREFIX)objcopy
+SZ = $(GCC_PATH)/$(PREFIX)size
+else
+CC = $(PREFIX)gcc
+AS = $(PREFIX)gcc -x assembler-with-cpp
+CP = $(PREFIX)objcopy
+SZ = $(PREFIX)size
+endif
+HEX = $(CP) -O ihex
+BIN = $(CP) -O binary -S
+ 
+#######################################
+# CFLAGS
+#######################################
+# cpu
+CPU = -mcpu=cortex-m7
+
+# fpu
+FPU = -mfpu=fpv5-d16
+
+# float-abi
+FLOAT-ABI = -mfloat-abi=hard
+
+# mcu
+MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
+
+# macros for gcc
+# AS defines
+AS_DEFS = 
+
+# C defines
+C_DEFS =  \
+-DUSE_HAL_DRIVER \
+-DSTM32H723xx \
+-DARM_MATH_CM7 \
+
+
+# AS includes
+AS_INCLUDES =  \
+-ICore/Inc
+
+# C includes
+C_INCLUDES =  \
+-ICore/Inc \
+-IUSB_DEVICE/App \
+-IUSB_DEVICE/Target \
+-IDrivers/STM32H7xx_HAL_Driver/Inc \
+-IDrivers/STM32H7xx_HAL_Driver/Inc/Legacy \
+-IMiddlewares/Third_Party/FreeRTOS/Source/include \
+-IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS \
+-IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F \
+-IMiddlewares/ST/STM32_USB_Device_Library/Core/Inc \
+-IMiddlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc \
+-IDrivers/CMSIS/Device/ST/STM32H7xx/Include \
+-IDrivers/CMSIS/Include \
+-Iapplication/chassis \
+-Iapplication/shoot \
+-Iapplication/gimbal \
+-Iapplication/cmd \
+-Iapplication \
+-Ibsp/dwt \
+-Ibsp/can \
+-Ibsp/usart \
+-Ibsp/gpio \
+-Ibsp/spi \
+-Ibsp/iic \
+-Ibsp/log \
+-Ibsp/pwm \
+-Ibsp \
+-Imodules/algorithm \
+-Imodules/bluetooth \
+-Imodules/BMI088 \
+-Imodules/imu \
+-Imodules/master_machine \
+-Imodules/motor/DJImotor \
+-Imodules/motor/LKmotor \
+-Imodules/motor/HTmotor \
+-Imodules/motor/step_motor \
+-Imodules/motor/servo_motor \
+-Imodules/motor/DMmotor \
+-Imodules/motor \
+-Imodules/oled \
+-Imodules/referee \
+-Imodules/remote \
+-Imodules/super_cap \
+-Imodules/can_comm \
+-Imodules/message_center \
+-Imodules/daemon \
+-Imodules/alarm \
+-Imodules/vofa \
+-Imodules/opencv \
+-Imodules/timachine \
+-Imodules \
+-IMiddlewares/ST/ARM/DSP/Inc \
+-IMiddlewares/ST/ARM/DSP/Include/dsp \
+-IMiddlewares/Third_Party/SEGGER/RTT \
+-IMiddlewares/Third_Party/SEGGER/Config
+
+
+
+# compile gcc flags
+ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+
+CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+
+ifeq ($(DEBUG), 1)
+CFLAGS += -g -gdwarf-2
+endif
+
+
+# Generate dependency information
+CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
+
+
+#######################################
+# LDFLAGS
+#######################################
+# link script
+LDSCRIPT = STM32H723VGTx_FLASH.ld
+
+# libraries
+LIBS = -lc -lm -lnosys -larm_cortexM7lfdp_math
+LIBDIR = -LDrivers/CMSIS/DSP/Lib/GCC
+LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections,--print-memory-usage
+
+# default action: build all
+all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
+
+#######################################
+# quiet build
+#######################################
+ifeq ($(V),1)
+Q =
+else
+Q = @
+endif
+
+# Define the pretty-print functions
+define compile_c
+	@echo "  CC      $(notdir $<)"
+	$(Q)$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+endef
+
+define compile_asm
+	@echo "  AS      $(notdir $<)"
+	$(Q)$(AS) -c $(CFLAGS) $< -o $@
+endef
+
+define link_elf
+	@echo "  LD      $(notdir $@)"
+	$(Q)$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	$(Q)$(SZ) $@
+endef
+
+define create_hex
+	@echo "  HEX     $(notdir $@)"
+	$(Q)$(HEX) $< $@
+endef
+
+define create_bin
+	@echo "  BIN     $(notdir $@)"
+	$(Q)$(BIN) $< $@
+endef
+
+
+
+#######################################
+# build the application
+#######################################
+# list of objects
+OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
+vpath %.c $(sort $(dir $(C_SOURCES)))
+# list of ASM program objects
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
+vpath %.s $(sort $(dir $(ASM_SOURCES)))
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASMM_SOURCES:.S=.o)))
+vpath %.S $(sort $(dir $(ASMM_SOURCES)))
+
+$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) 
+	$(call compile_c)
+
+$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
+	$(call compile_asm)
+	
+$(BUILD_DIR)/%.o: %.S Makefile | $(BUILD_DIR)
+	$(call compile_asm)
+
+$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
+	$(call link_elf)
+
+$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(call create_hex)
+	
+$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(call create_bin)
+	
+$(BUILD_DIR):
+	@echo "  MKDIR   $(BUILD_DIR)"
+	$(Q)mkdir $@		
+
+#######################################
+# clean up
+#######################################
+clean:
+	@echo "  CLEAN   $(BUILD_DIR)"
+	$(Q)rd $(BUILD_DIR) /s/q
+  
+#######################################
+# dependencies
+#######################################
+-include $(wildcard $(BUILD_DIR)/*.d)
+
+# *** EOF ***