Merge pull request #91 from bitcraze/krichardsson/make-fix

bitcraze · Oct 19, 2023 · 8a6e189 · 8a6e189
2 parents 18b66fb + 51e3b9f
commit 8a6e189
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Showing 10 changed files with 79 additions and 44 deletions.
diff --git a/Makefile b/Makefile
@@ -1,14 +1,15 @@
 #Put your personal build config in config.mk and DO NOT COMMIT IT!
 -include config.mk
 
+PLATFORM ?= cf2
+-include platform/platform_$(PLATFORM).mk
+
 CLOAD_SCRIPT ?= python3 -m cfloader
 
 S110 ?= 1     # SoftDevice flashed or not
 BLE  ?= 1     # BLE mode activated or not. If disabled, CRTP mode is active
 DEBUG_PRINT_ON_SEGGER_RTT ?= 0 # debug prints
 
-PLATFORM ?= cf2
-
 CROSS_COMPILE?=arm-none-eabi-
 
 CC=$(CROSS_COMPILE)gcc
@@ -42,45 +43,50 @@ CFLAGS+=$(PROCESSOR) $(NRF) $(PERSONAL_DEFINES) $(INCLUDES) $(CONFIG) $(BUILD_OP
 ASFLAGS=$(PROCESSOR)
 LDFLAGS=$(PROCESSOR) --specs=nano.specs -Wl,-Map=$(PROGRAM).map# -Wl,--gc-sections
 ifdef SEMIHOSTING
-LDFLAGS+= --specs=rdimon.specs -lc -lrdimon
-CFLAGS+= -DSEMIHOSTING
+	LDFLAGS+= --specs=rdimon.specs -lc -lrdimon
+	CFLAGS+= -DSEMIHOSTING
 endif
 
+CFLAGS += -I$(NRF51_SDK)/Include/gcc
+CFLAGS += -I$(NRF51_SDK)/Include/
+
+## S110 ################################################################
 ifeq ($(strip $(S110)), 1)
-LDFLAGS += -T gcc_nrf51_s110_xxaa.ld
-CFLAGS += -DS110=1
+	LDFLAGS += -T gcc_nrf51_s110_xxaa.ld
+	CFLAGS += -DS110=1
+
+	CFLAGS += -I$(NRF_S110)/s110_nrf51822_7.3.0_API/include
+	CFLAGS += -I$(NRF_S110)/Include/
 else
-LDFLAGS += -T gcc_nrf51_blank_xxaa.ld
+	LDFLAGS += -T gcc_nrf51_blank_xxaa.ld
 endif
 
+## BLE ################################################################
 ifeq ($(strip $(BLE)), 1)
-CFLAGS += -DBLE=1
+	CFLAGS += -DBLE=1
+
+	CFLAGS += -DBLE_STACK_SUPPORT_REQD -DNRF51
+	CFLAGS += -I$(NRF51_SDK)/Include/ble/
+	CFLAGS += -I$(NRF51_SDK)/Include/ble/ble_services/
+	CFLAGS += -I$(NRF51_SDK)/Include/ble/device_manager/
+	CFLAGS += -I$(NRF51_SDK)/Include/app_common/
+	CFLAGS += -I$(NRF51_SDK)/Include/sd_common/
+	CFLAGS += -I$(NRF51_SDK)/Include/sdk/
+
+	OBJS += src/ble/ble.o
+	OBJS += src/ble/ble_crazyflies.o
+	OBJS += src/ble/timeslot.o
+
+	OBJS += $(NRF51_SDK)/Source/ble/ble_advdata.o
+	OBJS += $(NRF51_SDK)/Source/ble/ble_conn_params.o
+	OBJS += $(NRF51_SDK)/Source/ble/ble_services/ble_srv_common.o
+	OBJS += $(NRF51_SDK)/Source/ble/ble_services/ble_dis.o
+	OBJS += $(NRF51_SDK)/Source/ble/device_manager/device_manager_peripheral.o
+	OBJS += $(NRF51_SDK)/Source/sd_common/softdevice_handler.o
+	OBJS += $(NRF51_SDK)/Source/app_common/app_timer.o
+	OBJS += $(NRF51_SDK)/Source/app_common/pstorage.o
 endif
 
-OBJS += src/ble/ble.o
-OBJS += src/ble/ble_crazyflies.o
-OBJS += src/ble/timeslot.o
-
-OBJS += $(NRF51_SDK)/Source/ble/ble_advdata.o
-OBJS += $(NRF51_SDK)/Source/ble/ble_conn_params.o
-OBJS += $(NRF51_SDK)/Source/ble/ble_services/ble_srv_common.o
-OBJS += $(NRF51_SDK)/Source/ble/ble_services/ble_dis.o
-OBJS += $(NRF51_SDK)/Source/sd_common/softdevice_handler.o
-OBJS += $(NRF51_SDK)/Source/app_common/app_timer.o
-OBJS += $(NRF51_SDK)/Source/app_common/pstorage.o
-OBJS += $(NRF51_SDK)/Source/ble/device_manager/device_manager_peripheral.o
-
-CFLAGS += -DBLE_STACK_SUPPORT_REQD -DNRF51
-CFLAGS += -I$(NRF51_SDK)/Include/gcc
-CFLAGS += -I$(NRF51_SDK)/Include/
-CFLAGS += -I$(NRF51_SDK)/Include/ble/
-CFLAGS += -I$(NRF51_SDK)/Include/ble/ble_services/
-CFLAGS += -I$(NRF51_SDK)/Include/ble/device_manager/
-CFLAGS += -I$(NRF_S110)/s110_nrf51822_7.3.0_API/include
-CFLAGS += -I$(NRF_S110)/Include/
-CFLAGS += -I$(NRF51_SDK)/Include/app_common/
-CFLAGS += -I$(NRF51_SDK)/Include/sd_common/
-CFLAGS += -I$(NRF51_SDK)/Include/sdk/
 
 OBJS += src/main.o gcc_startup_nrf51.o system_nrf51.o src/uart.o \
         src/syslink.o src/pm.o src/systick.o src/button.o src/swd.o src/ow.o \

diff --git a/interface/pm.h b/interface/pm.h
@@ -24,6 +24,7 @@
 #ifndef __PM_H__
 #define __PM_H__
 #include <stdbool.h>
+#include <stdint.h>
 
 typedef enum {pmAllOff=0, pmSysOff=1, pmSysPowered=2, pmSysBootSetup=3, pmSysRunning=4} PmState;
 

diff --git a/platform/platform_bolt.mk b/platform/platform_bolt.mk
@@ -0,0 +1,2 @@
+S110=1
+BLE=0
diff --git a/platform/platform_cf2.mk b/platform/platform_cf2.mk
@@ -0,0 +1,2 @@
+S110=1
+BLE=1
diff --git a/platform/platform_flapper.mk b/platform/platform_flapper.mk
@@ -0,0 +1,2 @@
+S110=1
+BLE=1
diff --git a/platform/platform_tag.mk b/platform/platform_tag.mk
@@ -0,0 +1,2 @@
+S110=1
+BLE=0
diff --git a/src/ble/ble.c b/src/ble/ble.c
@@ -13,6 +13,9 @@
 /* Core of the Crazyflie bluetooth implementation. Instanciate Crazyflie
  * service
  */
+#ifndef S110
+#error S110 shall be used when using BLE
+#endif
 
 #include <stdint.h>
 #include <string.h>
@@ -40,10 +43,6 @@
 
 #include "ble_crazyflies.h"
 
-#if S110==0
-#error S110 shall be used when using BLE
-#endif
-
 #define DEVICE_NAME                          "Crazyflie"                              /**< Name of device. Will be included in the advertising data. */
 #define MANUFACTURER_NAME                    "Bitcraze"                     /**< Manufacturer. Will be passed to Device Information Service. */
 #define APP_ADV_INTERVAL                     200                                        /**< The advertising interval (in units of 0.625 ms. This value corresponds to 125 ms). */

diff --git a/src/esb.c b/src/esb.c
@@ -32,9 +32,6 @@
 
 #include <nrf.h>
 
-#include <ble_gap.h>
-#include <nrf_soc.h>
-
 #define RXQ_LEN 8
 #define TXQ_LEN 8
 
@@ -468,21 +465,26 @@ void esbSetDatarate(EsbDatarate dr)
   esbReset();
 }
 
+
+#ifdef BLE
 void ble_advertising_stop(void);
 void advertising_start(void);
 void ble_sd_stop(void);
+#endif
 
 void esbSetContwave(bool enable)
 {
   contwave = enable;
 
+#ifdef BLE
   if (bleEnabled) {
     if (enable) {
       ble_advertising_stop();
     } else {
       advertising_start();
     }
   }
+#endif
 
   esbReset();
 }

diff --git a/src/main.c b/src/main.c
@@ -39,15 +39,17 @@
 #include "pm.h"
 #include "pinout.h"
 #include "systick.h"
-#include "nrf_sdm.h"
-#include "nrf_soc.h"
 #include "version.h"
 #include "shutdown.h"
 
+#ifdef BLE
+#include "nrf_sdm.h"
+#include "ble_crazyflies.h"
+#endif
+
 #include "memory.h"
 #include "ownet.h"
 
-#include "ble_crazyflies.h"
 
 extern void  initialise_monitor_handles(void);
 extern int ble_init(void);
@@ -115,7 +117,9 @@ int main()
   msDelay(1000);
 
   if (bleEnabled) {
+#ifdef BLE
     ble_init();
+#endif
   } else {
     NRF_CLOCK->TASKS_HFCLKSTART = 1UL;
     while(!NRF_CLOCK->EVENTS_HFCLKSTARTED);
@@ -180,7 +184,7 @@ void mainloop()
 
   while(1)
   {
-
+#ifdef BLE
     if (bleEnabled) {
       if ((esbReceived == false) && bleCrazyfliesIsPacketReceived()) {
         EsbPacket* packet = bleCrazyfliesGetRxPacket();
@@ -190,6 +194,7 @@ void mainloop()
         bleCrazyfliesReleaseRxPacket(packet);
       }
     }
+#endif
 
 #ifndef CONT_WAVE_TEST
 
@@ -292,6 +297,7 @@ static void handleSyslinkEvents(bool slReceived)
           bzero(slRxPacket.data, SYSLINK_MTU);
         }
 
+#ifdef BLE
         if (bleEnabled) {
           if (slRxPacket.length < SYSLINK_MTU) {
             static EsbPacket pk;
@@ -300,6 +306,7 @@ static void handleSyslinkEvents(bool slReceived)
             bleCrazyfliesSendPacket(&pk);
           }
         }
+#endif
 
         break;
       case SYSLINK_RADIO_CHANNEL:
@@ -559,9 +566,11 @@ static void handleBootloaderCmd(struct esbPacket_s *packet)
       memcpy(&(txpk.data[3]), (uint32_t*)NRF_FICR->DEVICEADDR, 6);
 
       txpk.size = 9;
+#ifdef BLE
       if (bleEnabled) {
         bleCrazyfliesSendPacket(&txpk);
       }
+#endif
 
       if (esbCanTxPacket()) {
         struct esbPacket_s *pk = esbGetTxPacket();
@@ -580,7 +589,9 @@ static void handleBootloaderCmd(struct esbPacket_s *packet)
           NRF_POWER->GPREGRET |= 0x20U;
         }
         if (bleEnabled) {
+#ifdef BLE
           sd_nvic_SystemReset();
+#endif
         } else {
           NVIC_SystemReset();
         }
@@ -626,9 +637,12 @@ static void handleBootloaderCmd(struct esbPacket_s *packet)
 }
 
 static void disableBle() {
+#ifdef BLE
   if (bleEnabled) {
       sd_softdevice_disable();
-      bleEnabled = 0;
       esbInit();
   }
+#endif
+
+    bleEnabled = 0;
 }
diff --git a/src/pm.c b/src/pm.c
@@ -25,7 +25,10 @@
 
 #include <nrf.h>
 #include <nrf_gpio.h>
+
+#ifdef S110
 #include <nrf_soc.h>
+#endif
 
 #include "pm.h"
 #include "button.h"
@@ -165,7 +168,9 @@ static void pmNrfPower(bool enable)
     NRF_POWER->GPREGRET |= 0x01; // Workaround for not being able to determine reset reason...
 
     if (bleEnabled) {
+#ifdef BLE
       sd_power_system_off();
+#endif
     } else {
       NRF_POWER->SYSTEMOFF = 1UL;
     }