Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the cleanflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12 ###############################################################################
  13
  14
  15 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= NAZE
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40 ###############################################################################
  41 # Things that need to be maintained as the source changes
  42 #
  43
  44 FORKNAME              = inav
  45
  46 CC3D_TARGETS       = CC3D CC3D_OPBL CC3D_PPM1
  47 NAZE_TARGETS       = ALIENWIIF1
  48 SPRACINGF3_TARGETS = IRCFUSIONF3 RMDO
  49
  50 SDCARD_TARGETS     =
  51 SERIAL_USB_TARGETS = IRCFUSIONF3 SPRACINGF3
  52
  53 # Valid targets for STM VCP support
  54 VCP_TARGETS = $(CC3D_TARGETS) ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO SPARKY STM32F3DISCOVERY
  55
  56 # Valid targets for OP BootLoader support
  57 OPBL_TARGETS = CC3D_OPBL
  58
  59
  60 F405_TARGETS    =
  61 F405_TARGETS_16 =
  62 F411_TARGETS    =
  63
  64 F1_TARGETS    = $(CC3D_TARGETS) ALIENWIIF1 CJMCU EUSTM32F103RC NAZE OLIMEXINO PORT103R
  65 F3_TARGETS    = ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY
  66 F4_TARGETS    = $(F405_TARGETS) $(F405_TARGETS_16) $(F411_TARGETS)
  67 VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
  68
  69
  70 64K_TARGETS   = CJMCU
  71 128K_TARGETS  = $(CC3D_TARGETS) ALIENWIIF1 NAZE OLIMEXINO RMDO
  72 256K_TARGETS  = ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE EUSTM32F103RC LUX_RACE MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 STM32F3DISCOVERY
  73 512K_TARGETS  = $(F411_TARGETS)
  74 1024K_TARGETS = $(F405_TARGETS) $(F405_TARGETS_16)
  75
  76 # Configure default flash sizes for the targets
  77 ifeq ($(FLASH_SIZE),)
  78 ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
  79 FLASH_SIZE = 64
  80 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
  81 FLASH_SIZE = 128
  82 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
  83 FLASH_SIZE = 256
  84 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
  85 FLASH_SIZE = 512
  86 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
  87 FLASH_SIZE = 1024
  88 else
  89 $(error FLASH_SIZE not configured for target $(TARGET))
  90 endif
  91 endif
  92
  93 # note that there is no hardfault debugging startup file assembly handler for other platforms
  94 ifeq ($(DEBUG_HARDFAULTS),F3)
  95 CFLAGS               += -DDEBUG_HARDFAULTS
  96 STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
  97 else
  98 STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
  99 endif
 100
 101 REVISION := $(shell git log -1 --format="%h")
 102
 103 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
 104 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
 105 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
 106
 107 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 108
 109 # Working directories
 110 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
 111 SRC_DIR         = $(ROOT)/src/main
 112 OBJECT_DIR      = $(ROOT)/obj/main
 113 BIN_DIR         = $(ROOT)/obj
 114 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
 115 INCLUDE_DIRS    = $(SRC_DIR)
 116 LINKER_DIR      = $(ROOT)/src/main/target
 117
 118 # Search path for sources
 119 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 120 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 121 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 122
 123 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 124
 125
 126 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 127 # F3 TARGETS
 128
 129 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 130 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 131 EXCLUDES        = stm32f30x_crc.c \
 132                   stm32f30x_can.c
 133
 134 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 135 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 136
 137 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 138 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 139                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 140
 141 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 142                    $(STDPERIPH_DIR)/inc \
 143                    $(CMSIS_DIR)/CM1/CoreSupport \
 144                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 145
 146 ifeq ($(TARGET),$(filter $(TARGET),$(VCP_TARGETS)))
 147 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 148                    $(USBFS_DIR)/inc \
 149                    $(ROOT)/src/main/vcp
 150
 151 VPATH           := $(VPATH):$(USBFS_DIR)/src
 152
 153 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 154                         $(USBPERIPH_SRC)
 155
 156 endif
 157
 158 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 159
 160 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 161 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 162 TARGET_FLAGS    = -D$(TARGET)
 163 ## End F3 targets
 164 ##
 165 ## Start F4 targets
 166 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 167 ## End F4 targets
 168 ##
 169 ## Start EUSTM32F103RC PORT103R targets
 170 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 171
 172 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 173 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 174 EXCLUDES        = stm32f10x_crc.c \
 175                   stm32f10x_cec.c \
 176                   stm32f10x_can.c
 177
 178 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 179
 180 # Search path and source files for the CMSIS sources
 181 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 182 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 183                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 184
 185 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 186                    $(STDPERIPH_DIR)/inc \
 187                    $(CMSIS_DIR)/CM3/CoreSupport \
 188                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 189
 190 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 191
 192 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 193 TARGET_FLAGS    = -D$(TARGET) -pedantic
 194 DEVICE_FLAGS    = -DSTM32F10X_HD -DSTM32F10X
 195
 196 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 197 ## End EUSTM32F103RC PORT103R targets
 198 ##
 199 ## Start F1 targets
 200 else
 201
 202 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 203 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 204 EXCLUDES        = stm32f10x_crc.c \
 205                   stm32f10x_cec.c \
 206                   stm32f10x_can.c
 207
 208 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 209
 210 # Search path and source files for the CMSIS sources
 211 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 212 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 213                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 214
 215 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 216                    $(STDPERIPH_DIR)/inc \
 217                    $(CMSIS_DIR)/CM3/CoreSupport \
 218                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 219
 220 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 221
 222 ifeq ($(TARGET),$(filter $(TARGET), $(VCP_TARGETS)))
 223 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 224                    $(USBFS_DIR)/inc \
 225                    $(ROOT)/src/main/vcp
 226
 227 VPATH           := $(VPATH):$(USBFS_DIR)/src
 228
 229 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 230                         $(USBPERIPH_SRC)
 231
 232 endif
 233
 234 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 235 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 236 TARGET_FLAGS    = -D$(TARGET) -pedantic
 237 DEVICE_FLAGS    = -DSTM32F10X_MD -DSTM32F10X
 238
 239 endif
 240 ##
 241 ## End F1 targets
 242 ##
 243
 244 ifneq ($(FLASH_SIZE),)
 245 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 246 endif
 247
 248 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 249 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 250
 251 # VARIANTS
 252
 253 ifeq ($(TARGET),CHEBUZZF3)
 254 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 255 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 256 endif
 257
 258 ifeq ($(TARGET),$(filter $(TARGET),$(SPRACINGF3_TARGETS)))
 259 # VARIANTS of SPRACINGF3
 260 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 261 endif
 262
 263 ifeq ($(TARGET),$(filter $(TARGET), $(NAZE_TARGETS)))
 264 # VARIANTS of NAZE
 265 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -D$(TARGET)
 266 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 267 endif
 268
 269 ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
 270 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
 271 ifeq ($(TARGET),CC3D_OPBL)
 272 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
 273 CC3D_OPBL_SRC = $(CC3D_SRC)
 274 endif
 275 ifeq ($(TARGET),CC3D_PPM1)
 276 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_PPM1
 277 CC3D_PPM1_SRC = $(CC3D_SRC)
 278 endif
 279 TARGET_DIR = $(ROOT)/src/main/target/CC3D
 280 endif
 281
 282 ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
 283 OPBL=yes
 284 endif
 285
 286 ifeq ($(OPBL),yes)
 287 ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
 288 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 289 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 290 .DEFAULT_GOAL := binary
 291 else
 292 $(error OPBL specified with a unsupported target)
 293 endif
 294 endif
 295
 296 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 297                    $(TARGET_DIR)
 298
 299 VPATH           := $(VPATH):$(TARGET_DIR)
 300
 301 COMMON_SRC = \
 302             build_config.c \
 303             debug.c \
 304             version.c \
 305             $(TARGET_SRC) \
 306             main.c \
 307             mw.c \
 308             scheduler/scheduler.c \
 309             scheduler/scheduler_tasks.c \
 310             common/encoding.c \
 311             common/filter.c \
 312             common/maths.c \
 313             common/printf.c \
 314             common/typeconversion.c \
 315             config/config.c \
 316             config/runtime_config.c \
 317             drivers/adc.c \
 318             drivers/buf_writer.c \
 319             drivers/bus_i2c_soft.c \
 320             drivers/bus_spi.c \
 321             drivers/gps_i2cnav.c \
 322             drivers/gyro_sync.c \
 323             drivers/pwm_mapping.c \
 324             drivers/pwm_output.c \
 325             drivers/pwm_rx.c \
 326             drivers/serial.c \
 327             drivers/serial_uart.c \
 328             drivers/sound_beeper.c \
 329             drivers/system.c \
 330             drivers/timer.c \
 331             flight/failsafe.c \
 332             flight/imu.c \
 333             flight/hil.c \
 334             flight/mixer.c \
 335             flight/pid.c \
 336             io/beeper.c \
 337             io/rc_controls.c \
 338             io/rc_curves.c \
 339             io/serial.c \
 340             io/serial_4way.c \
 341             io/serial_4way_avrootloader.c \
 342             io/serial_4way_stk500v2.c \
 343             io/serial_cli.c \
 344             io/serial_msp.c \
 345             io/statusindicator.c \
 346             rx/ibus.c \
 347             rx/msp.c \
 348             rx/pwm.c \
 349             rx/rx.c \
 350             rx/sbus.c \
 351             rx/spektrum.c \
 352             rx/sumd.c \
 353             rx/sumh.c \
 354             rx/xbus.c \
 355             sensors/acceleration.c \
 356             sensors/battery.c \
 357             sensors/boardalignment.c \
 358             sensors/compass.c \
 359             sensors/gyro.c \
 360             sensors/initialisation.c \
 361             $(CMSIS_SRC) \
 362             $(DEVICE_STDPERIPH_SRC)
 363
 364 HIGHEND_SRC = \
 365             blackbox/blackbox.c \
 366             blackbox/blackbox_io.c \
 367             common/colorconversion.c \
 368             drivers/display_ug2864hsweg01.c \
 369             flight/navigation_rewrite.c \
 370             flight/navigation_rewrite_multicopter.c \
 371             flight/navigation_rewrite_fixedwing.c \
 372             flight/navigation_rewrite_pos_estimator.c \
 373             flight/navigation_rewrite_geo.c \
 374             flight/gps_conversion.c \
 375             io/gps.c \
 376             io/gps_ublox.c \
 377             io/gps_nmea.c \
 378             io/gps_naza.c \
 379             io/gps_i2cnav.c \
 380             io/ledstrip.c \
 381             io/display.c \
 382             sensors/rangefinder.c \
 383             sensors/barometer.c \
 384             telemetry/telemetry.c \
 385             telemetry/frsky.c \
 386             telemetry/hott.c \
 387             telemetry/smartport.c \
 388             telemetry/ltm.c
 389
 390 VCP_SRC = \
 391             vcp/hw_config.c \
 392             vcp/stm32_it.c \
 393             vcp/usb_desc.c \
 394             vcp/usb_endp.c \
 395             vcp/usb_istr.c \
 396             vcp/usb_prop.c \
 397             vcp/usb_pwr.c \
 398             drivers/serial_usb_vcp.c
 399
 400 STM32F10x_COMMON_SRC = \
 401             startup_stm32f10x_md_gcc.S \
 402             drivers/adc_stm32f10x.c \
 403             drivers/bus_i2c_stm32f10x.c \
 404             drivers/gpio_stm32f10x.c \
 405             drivers/inverter.c \
 406             drivers/light_led_stm32f10x.c \
 407             drivers/serial_softserial.c \
 408             drivers/serial_uart_stm32f10x.c \
 409             drivers/sound_beeper_stm32f10x.c \
 410             drivers/system_stm32f10x.c \
 411             drivers/timer_stm32f10x.c
 412
 413 STM32F30x_COMMON_SRC = \
 414             startup_stm32f30x_md_gcc.S \
 415             drivers/adc_stm32f30x.c \
 416             drivers/bus_i2c_stm32f30x.c \
 417             drivers/gpio_stm32f30x.c \
 418             drivers/light_led_stm32f30x.c \
 419             drivers/light_ws2811strip.c \
 420             drivers/light_ws2811strip_stm32f30x.c \
 421             drivers/serial_uart_stm32f30x.c \
 422             drivers/sound_beeper_stm32f30x.c \
 423             drivers/system_stm32f30x.c \
 424             drivers/timer_stm32f30x.c
 425
 426 NAZE_SRC = \
 427             $(STM32F10x_COMMON_SRC) \
 428             drivers/accgyro_adxl345.c \
 429             drivers/accgyro_bma280.c \
 430             drivers/accgyro_l3g4200d.c \
 431             drivers/accgyro_mma845x.c \
 432             drivers/accgyro_mpu.c \
 433             drivers/accgyro_mpu3050.c \
 434             drivers/accgyro_mpu6050.c \
 435             drivers/accgyro_mpu6500.c \
 436             drivers/accgyro_spi_mpu6500.c \
 437             drivers/barometer_bmp085.c \
 438             drivers/barometer_bmp280.c \
 439             drivers/barometer_ms5611.c \
 440             drivers/compass_ak8975.c \
 441             drivers/compass_hmc5883l.c \
 442             drivers/compass_mag3110.c \
 443             drivers/flash_m25p16.c \
 444             drivers/light_ws2811strip.c \
 445             drivers/light_ws2811strip_stm32f10x.c \
 446             drivers/sonar_hcsr04.c \
 447             drivers/sonar_srf10.c \
 448             io/flashfs.c \
 449             hardware_revision.c \
 450             $(HIGHEND_SRC) \
 451             $(COMMON_SRC)
 452
 453 ALIENWIIF1_SRC = $(NAZE_SRC)
 454
 455 EUSTM32F103RC_SRC = \
 456             $(STM32F10x_COMMON_SRC) \
 457             drivers/accgyro_adxl345.c \
 458             drivers/accgyro_bma280.c \
 459             drivers/accgyro_l3g4200d.c \
 460             drivers/accgyro_mma845x.c \
 461             drivers/accgyro_mpu.c \
 462             drivers/accgyro_mpu3050.c \
 463             drivers/accgyro_mpu6050.c \
 464             drivers/accgyro_spi_mpu6000.c \
 465             drivers/accgyro_spi_mpu6500.c \
 466             drivers/barometer_bmp085.c \
 467             drivers/barometer_bmp280.c \
 468             drivers/barometer_ms5611.c \
 469             drivers/compass_ak8975.c \
 470             drivers/compass_hmc5883l.c \
 471             drivers/compass_mag3110.c \
 472             drivers/flash_m25p16.c \
 473             drivers/light_ws2811strip.c \
 474             drivers/light_ws2811strip_stm32f10x.c \
 475             drivers/sonar_hcsr04.c \
 476             drivers/sonar_srf10.c \
 477             io/flashfs.c \
 478             $(HIGHEND_SRC) \
 479             $(COMMON_SRC)
 480
 481 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 482
 483 OLIMEXINO_SRC = \
 484             $(STM32F10x_COMMON_SRC) \
 485             drivers/accgyro_mpu.c \
 486             drivers/accgyro_mpu6050.c \
 487             drivers/barometer_bmp085.c \
 488             drivers/compass_ak8975.c \
 489             drivers/compass_hmc5883l.c \
 490             drivers/compass_mag3110.c \
 491             drivers/light_ws2811strip.c \
 492             drivers/light_ws2811strip_stm32f10x.c \
 493             drivers/sonar_hcsr04.c \
 494             drivers/sonar_srf10.c \
 495             $(HIGHEND_SRC) \
 496             $(COMMON_SRC)
 497
 498 CJMCU_SRC = \
 499             $(STM32F10x_COMMON_SRC) \
 500             drivers/accgyro_mpu.c \
 501             drivers/accgyro_mpu6050.c \
 502             drivers/compass_ak8975.c \
 503             drivers/compass_hmc5883l.c \
 504             drivers/compass_mag3110.c \
 505             hardware_revision.c \
 506             blackbox/blackbox.c \
 507             blackbox/blackbox_io.c \
 508             $(COMMON_SRC)
 509
 510 CC3D_SRC = \
 511             $(STM32F10x_COMMON_SRC) \
 512             drivers/accgyro_mpu.c \
 513             drivers/accgyro_spi_mpu6000.c \
 514             drivers/barometer_bmp085.c \
 515             drivers/barometer_bmp280.c \
 516             drivers/barometer_ms5611.c \
 517             drivers/compass_ak8975.c \
 518             drivers/compass_hmc5883l.c \
 519             drivers/compass_mag3110.c \
 520             drivers/flash_m25p16.c \
 521             drivers/light_ws2811strip.c \
 522             drivers/light_ws2811strip_stm32f10x.c \
 523             drivers/sonar_hcsr04.c \
 524             drivers/sonar_srf10.c \
 525             io/flashfs.c \
 526             $(HIGHEND_SRC) \
 527             $(COMMON_SRC) \
 528             $(VCP_SRC)
 529
 530 NAZE32PRO_SRC = \
 531             $(STM32F30x_COMMON_SRC) \
 532             $(HIGHEND_SRC) \
 533             $(COMMON_SRC) \
 534             $(VCP_SRC)
 535
 536 STM32F3DISCOVERY_COMMON_SRC = \
 537             $(STM32F30x_COMMON_SRC) \
 538             drivers/accgyro_l3gd20.c \
 539             drivers/accgyro_l3gd20.c \
 540             drivers/accgyro_lsm303dlhc.c \
 541             drivers/compass_ak8975.c \
 542             drivers/compass_hmc5883l.c \
 543             drivers/compass_mag3110.c \
 544             $(VCP_SRC)
 545
 546 STM32F3DISCOVERY_SRC = \
 547             $(STM32F3DISCOVERY_COMMON_SRC) \
 548             drivers/accgyro_adxl345.c \
 549             drivers/accgyro_bma280.c \
 550             drivers/accgyro_mma845x.c \
 551             drivers/accgyro_mpu.c \
 552             drivers/accgyro_mpu3050.c \
 553             drivers/accgyro_mpu6050.c \
 554             drivers/accgyro_l3g4200d.c \
 555             drivers/barometer_ms5611.c \
 556             drivers/compass_ak8975.c \
 557             drivers/compass_hmc5883l.c \
 558             drivers/compass_mag3110.c \
 559             $(HIGHEND_SRC) \
 560             $(COMMON_SRC)
 561
 562 CHEBUZZF3_SRC = \
 563             $(STM32F3DISCOVERY_SRC) \
 564             $(HIGHEND_SRC) \
 565             $(COMMON_SRC)
 566
 567 COLIBRI_RACE_SRC = \
 568             $(STM32F30x_COMMON_SRC) \
 569             drivers/accgyro_mpu.c \
 570             drivers/accgyro_mpu6500.c \
 571             drivers/accgyro_spi_mpu6500.c \
 572             drivers/accgyro_mpu6500.c \
 573             drivers/barometer_ms5611.c \
 574             drivers/compass_ak8975.c \
 575             drivers/compass_hmc5883l.c \
 576             drivers/compass_mag3110.c \
 577             drivers/serial_usb_vcp.c \
 578             $(HIGHEND_SRC) \
 579             $(COMMON_SRC) \
 580             $(VCP_SRC)
 581
 582 LUX_RACE_SRC = \
 583             $(STM32F30x_COMMON_SRC) \
 584             drivers/accgyro_mpu.c \
 585             drivers/accgyro_mpu6500.c \
 586             drivers/accgyro_spi_mpu6500.c \
 587             drivers/accgyro_mpu6500.c \
 588             drivers/serial_usb_vcp.c \
 589             $(HIGHEND_SRC) \
 590             $(COMMON_SRC) \
 591             $(VCP_SRC)
 592
 593 SPARKY_SRC = \
 594             $(STM32F30x_COMMON_SRC) \
 595             drivers/accgyro_mpu.c \
 596             drivers/accgyro_mpu6050.c \
 597             drivers/barometer_bmp085.c \
 598             drivers/barometer_ms5611.c \
 599             drivers/barometer_bmp280.c \
 600             drivers/compass_ak8975.c \
 601             drivers/compass_hmc5883l.c \
 602             drivers/compass_mag3110.c \
 603             drivers/serial_usb_vcp.c \
 604             drivers/sonar_hcsr04.c \
 605             drivers/sonar_srf10.c \
 606             $(HIGHEND_SRC) \
 607             $(COMMON_SRC) \
 608             $(VCP_SRC)
 609
 610 ALIENWIIF3_SRC = \
 611             $(SPARKY_SRC)
 612
 613 RMDO_SRC = \
 614             $(STM32F30x_COMMON_SRC) \
 615             drivers/accgyro_mpu.c \
 616             drivers/accgyro_mpu6050.c \
 617             drivers/barometer_bmp085.c \
 618             drivers/barometer_bmp280.c \
 619             drivers/barometer_ms5611.c \
 620             drivers/compass_ak8975.c \
 621             drivers/compass_hmc5883l.c \
 622             drivers/compass_mag3110.c \
 623             drivers/flash_m25p16.c \
 624             drivers/serial_softserial.c \
 625             drivers/sonar_hcsr04.c \
 626             drivers/sonar_srf10.c \
 627             io/flashfs.c \
 628             $(HIGHEND_SRC) \
 629             $(COMMON_SRC)
 630
 631 SPRACINGF3_SRC = \
 632             $(STM32F30x_COMMON_SRC) \
 633             drivers/accgyro_mpu.c \
 634             drivers/accgyro_mpu6050.c \
 635             drivers/barometer_bmp085.c \
 636             drivers/barometer_ms5611.c \
 637             drivers/barometer_bmp280.c \
 638             drivers/compass_ak8975.c \
 639             drivers/compass_hmc5883l.c \
 640             drivers/compass_mag3110.c \
 641             drivers/flash_m25p16.c \
 642             drivers/serial_softserial.c \
 643             drivers/sonar_hcsr04.c \
 644             drivers/sonar_srf10.c \
 645             io/flashfs.c \
 646             $(HIGHEND_SRC) \
 647             $(COMMON_SRC)
 648
 649 MOTOLAB_SRC = \
 650             $(STM32F30x_COMMON_SRC) \
 651             drivers/accgyro_mpu.c \
 652             drivers/accgyro_mpu6050.c \
 653             drivers/barometer_ms5611.c \
 654             drivers/compass_ak8975.c \
 655             drivers/compass_hmc5883l.c \
 656             drivers/compass_mag3110.c \
 657             drivers/serial_usb_vcp.c \
 658             drivers/flash_m25p16.c \
 659             io/flashfs.c \
 660             $(HIGHEND_SRC) \
 661             $(COMMON_SRC) \
 662             $(VCP_SRC)
 663
 664 # Search path and source files for the ST stdperiph library
 665 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 666
 667 ###############################################################################
 668 # Things that might need changing to use different tools
 669 #
 670
 671 # Tool names
 672 CC          = arm-none-eabi-gcc
 673 OBJCOPY     = arm-none-eabi-objcopy
 674 SIZE        = arm-none-eabi-size
 675
 676 #
 677 # Tool options.
 678 #
 679
 680 ifeq ($(DEBUG),GDB)
 681 OPTIMIZE    = -O0
 682 LTO_FLAGS   = $(OPTIMIZE)
 683 else
 684 OPTIMIZE    = -Os
 685 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 686 endif
 687
 688 DEBUG_FLAGS = -ggdb3 -DDEBUG
 689
 690 CFLAGS      = $(ARCH_FLAGS) \
 691               $(LTO_FLAGS) \
 692               $(addprefix -D,$(OPTIONS)) \
 693               $(addprefix -I,$(INCLUDE_DIRS)) \
 694               $(DEBUG_FLAGS) \
 695               -std=gnu99 \
 696               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 697               -ffunction-sections \
 698               -fdata-sections \
 699               $(DEVICE_FLAGS) \
 700               -DUSE_STDPERIPH_DRIVER \
 701               $(TARGET_FLAGS) \
 702               -D'__FORKNAME__="$(FORKNAME)"' \
 703               -D'__TARGET__="$(TARGET)"' \
 704               -D'__REVISION__="$(REVISION)"' \
 705               -save-temps=obj \
 706               -MMD -MP
 707
 708 ASFLAGS     = $(ARCH_FLAGS) \
 709               -x assembler-with-cpp \
 710               $(addprefix -I,$(INCLUDE_DIRS)) \
 711               -MMD -MP
 712
 713 LDFLAGS     = -lm \
 714               -nostartfiles \
 715               --specs=nano.specs \
 716               -lc \
 717               -lnosys \
 718               $(ARCH_FLAGS) \
 719               $(LTO_FLAGS) \
 720               $(DEBUG_FLAGS) \
 721               -static \
 722               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 723               -Wl,-L$(LINKER_DIR) \
 724               -Wl,--cref \
 725               -T$(LD_SCRIPT)
 726
 727 ###############################################################################
 728 # No user-serviceable parts below
 729 ###############################################################################
 730
 731 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 732                   --std=c99 --inline-suppr --quiet --force \
 733                   $(addprefix -I,$(INCLUDE_DIRS)) \
 734                   -I/usr/include -I/usr/include/linux
 735
 736 #
 737 # Things we will build
 738 #
 739 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 740 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 741 endif
 742
 743 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 744 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 745 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 746 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 747 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 748 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 749
 750
 751 ## Default make goal:
 752 ## hex         : Make filetype hex only
 753 .DEFAULT_GOAL := hex
 754
 755 ifeq ($(OPBL),yes)
 756 ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
 757 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 758 LD_SCRIPT     = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 759 .DEFAULT_GOAL := binary
 760 else
 761 $(error OPBL specified with an unsupported target)
 762 endif
 763 endif
 764
 765 ## Optional make goals:
 766 ## all         : Make all filetypes, binary and hex
 767 all: hex bin
 768
 769 ## binary      : Make binary filetype
 770 ## bin         : Alias of 'binary'
 771 ## hex         : Make hex filetype
 772 bin:    $(TARGET_BIN)
 773 binary: $(TARGET_BIN)
 774 hex:    $(TARGET_HEX)
 775
 776 # rule to reinvoke make with TARGET= parameter
 777 # rules that should be handled in toplevel Makefile, not dependent on TARGET
 778 GLOBAL_GOALS    = all_targets cppcheck test
 779
 780 .PHONY: $(VALID_TARGETS)
 781 $(VALID_TARGETS):
 782         $(MAKE) TARGET=$@ $(filter-out $(VALID_TARGETS) $(GLOBAL_GOALS), $(MAKECMDGOALS))
 783
 784 ## all_targets : Make all TARGETs
 785 .PHONY: all_targets
 786 all_targets : $(VALID_TARGETS)
 787
 788 ## clean       : clean up all temporary / machine-generated files
 789 clean:
 790         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 791         rm -rf $(OBJECT_DIR)/$(TARGET)
 792         cd src/test && $(MAKE) clean || true
 793
 794 flash_$(TARGET): $(TARGET_HEX)
 795         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 796         echo -n 'R' >$(SERIAL_DEVICE)
 797         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 798
 799 ## flash       : flash firmware (.hex) onto flight controller
 800 flash: flash_$(TARGET)
 801
 802 st-flash_$(TARGET): $(TARGET_BIN)
 803         st-flash --reset write $< 0x08000000
 804
 805 ## st-flash    : flash firmware (.bin) onto flight controller
 806 st-flash: st-flash_$(TARGET)
 807
 808 unbrick_$(TARGET): $(TARGET_HEX)
 809         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 810         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 811
 812 ## unbrick     : unbrick flight controller
 813 unbrick: unbrick_$(TARGET)
 814
 815 ## cppcheck    : run static analysis on C source code
 816 cppcheck: $(CSOURCES)
 817         $(CPPCHECK)
 818
 819 cppcheck-result.xml: $(CSOURCES)
 820         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 821
 822 ## help        : print this help message and exit
 823 help: Makefile
 824         @echo ""
 825         @echo "Makefile for the $(FORKNAME) firmware"
 826         @echo ""
 827         @echo "Usage:"
 828         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 829         @echo ""
 830         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 831         @echo ""
 832         @sed -n 's/^## //p' $<
 833
 834 ## test        : run the cleanflight test suite
 835 test:
 836         cd src/test && $(MAKE) test || true
 837
 838 # rebuild everything when makefile changes
 839 $(TARGET_OBJS) : Makefile
 840
 841 # List of buildable ELF files and their object dependencies.
 842 # It would be nice to compute these lists, but that seems to be just beyond make.
 843
 844 $(TARGET_HEX): $(TARGET_ELF)
 845         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 846
 847 $(TARGET_BIN): $(TARGET_ELF)
 848         $(OBJCOPY) -O binary $< $@
 849
 850 $(TARGET_ELF):  $(TARGET_OBJS)
 851         $(CC) -o $@ $^ $(LDFLAGS)
 852         $(SIZE) $(TARGET_ELF)
 853
 854 # Compile
 855 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 856         @mkdir -p $(dir $@)
 857         @echo %% $(notdir $<)
 858         @$(CC) -c -o $@ $(CFLAGS) $<
 859
 860 # Assemble
 861 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 862         @mkdir -p $(dir $@)
 863         @echo %% $(notdir $<)
 864         @$(CC) -c -o $@ $(ASFLAGS) $<
 865
 866 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 867         @mkdir -p $(dir $@)
 868         @echo %% $(notdir $<)
 869         @$(CC) -c -o $@ $(ASFLAGS) $<
 870
 871
 872 # include auto-generated dependencies
 873 -include $(TARGET_DEPS)