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 betaflight 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 ## V                 : Set verbosity level based on the V= parameter
  41 ##                     V=0 Low
  42 ##                     V=1 High
  43 export AT := @
  44
  45 ifndef V
  46 export V0    :=
  47 export V1    := $(AT)
  48 export STDOUT   :=
  49 else ifeq ($(V), 0)
  50 export V0    := $(AT)
  51 export V1    := $(AT)
  52 export STDOUT:= "> /dev/null"
  53 export MAKE  := $(MAKE) --no-print-directory
  54 else ifeq ($(V), 1)
  55 export V0    :=
  56 export V1    :=
  57 export STDOUT   :=
  58 endif
  59
  60 ###############################################################################
  61 # Things that need to be maintained as the source changes
  62 #
  63
  64 FORKNAME      = betaflight
  65
  66 # Working directories
  67 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  68 SRC_DIR         = $(ROOT)/src/main
  69 OBJECT_DIR      = $(ROOT)/obj/main
  70 BIN_DIR         = $(ROOT)/obj
  71 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  72 INCLUDE_DIRS    = $(SRC_DIR) \
  73                   $(ROOT)/src/main/target
  74 LINKER_DIR      = $(ROOT)/src/main/target/link
  75
  76 # Build tools, so we all share the same versions
  77 # import macros common to all supported build systems
  78 include $(ROOT)/make/system-id.mk
  79
  80 # developer preferences, edit these at will, they'll be gitignored
  81 -include $(ROOT)/make/local.mk
  82
  83 # configure some directories that are relative to wherever ROOT_DIR is located
  84 ifndef TOOLS_DIR
  85 TOOLS_DIR := $(ROOT)/tools
  86 endif
  87 BUILD_DIR := $(ROOT)/build
  88 DL_DIR    := $(ROOT)/downloads
  89
  90 export RM := rm
  91
  92 # import macros that are OS specific
  93 include $(ROOT)/make/$(OSFAMILY).mk
  94
  95 # include the tools makefile
  96 include $(ROOT)/make/tools.mk
  97
  98 # default xtal value for F4 targets
  99 HSE_VALUE       ?= 8000000
 100
 101 # used for turning on features like VCP and SDCARD
 102 FEATURES        =
 103
 104 SAMPLE_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO STM32F3DISCOVERY
 105 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
 106 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
 107
 108 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 109 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 110 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 111 VALID_TARGETS  := $(sort $(VALID_TARGETS))
 112
 113 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 114 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 115 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 116 else
 117 BASE_TARGET    := $(TARGET)
 118 endif
 119
 120 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 121 OPBL            = yes
 122 endif
 123
 124 # silently ignore if the file is not present. Allows for target specific.
 125 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 126
 127 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
 128 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 129
 130 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 131 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 132 endif
 133
 134 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
 135 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411 or F7x5. Have you prepared a valid target.mk?)
 136 endif
 137
 138 128K_TARGETS  = $(F1_TARGETS)
 139 256K_TARGETS  = $(F3_TARGETS)
 140 512K_TARGETS  = $(F411_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 141 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 142 2048K_TARGETS = $(F7X5XI_TARGETS)
 143
 144 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 145 ifeq ($(FLASH_SIZE),)
 146 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 147 FLASH_SIZE = 2048
 148 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 149 FLASH_SIZE = 1024
 150 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 151 FLASH_SIZE = 512
 152 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 153 FLASH_SIZE = 256
 154 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 155 FLASH_SIZE = 128
 156 else
 157 $(error FLASH_SIZE not configured for target $(TARGET))
 158 endif
 159 endif
 160
 161 # note that there is no hardfault debugging startup file assembly handler for other platforms
 162 ifeq ($(DEBUG_HARDFAULTS),F3)
 163 CFLAGS               += -DDEBUG_HARDFAULTS
 164 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 165 else
 166 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 167 endif
 168
 169 ifeq ($(DEBUG_HARDFAULTS),F7)
 170 CFLAGS               += -DDEBUG_HARDFAULTS
 171 endif
 172
 173 REVISION := $(shell git log -1 --format="%h")
 174
 175 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 176 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 177 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 178
 179 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 180
 181 # Search path for sources
 182 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 183 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 184 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 185 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 186 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 187
 188 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 189
 190 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 191 # F3 TARGETS
 192
 193 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 194 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 195 EXCLUDES        = stm32f30x_crc.c \
 196                   stm32f30x_can.c
 197 STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 198
 199 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 200 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 201
 202 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 203 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 204                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 205
 206 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 207                    $(STDPERIPH_DIR)/inc \
 208                    $(CMSIS_DIR)/CM1/CoreSupport \
 209                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 210
 211 ifneq ($(filter VCP, $(FEATURES)),)
 212 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 213                    $(USBFS_DIR)/inc \
 214                    $(ROOT)/src/main/vcp
 215
 216 VPATH           := $(VPATH):$(USBFS_DIR)/src
 217
 218 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 219                         $(USBPERIPH_SRC)
 220 endif
 221
 222 ifneq ($(filter SDCARD, $(FEATURES)),)
 223 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 224                    $(FATFS_DIR) \
 225
 226 VPATH           := $(VPATH):$(FATFS_DIR)
 227 endif
 228
 229 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 230
 231 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 232 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 233 # End F3 targets
 234 #
 235 # Start F4 targets
 236 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 237
 238 #STDPERIPH
 239 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 240 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 241 EXCLUDES        = stm32f4xx_crc.c \
 242                   stm32f4xx_can.c \
 243                   stm32f4xx_fmc.c \
 244                   stm32f4xx_sai.c \
 245                   stm32f4xx_cec.c \
 246                   stm32f4xx_dsi.c \
 247                   stm32f4xx_flash_ramfunc.c \
 248                   stm32f4xx_fmpi2c.c \
 249                   stm32f4xx_lptim.c \
 250                   stm32f4xx_qspi.c \
 251                   stm32f4xx_spdifrx.c \
 252                   stm32f4xx_cryp.c \
 253                   stm32f4xx_cryp_aes.c \
 254                   stm32f4xx_hash_md5.c \
 255                   stm32f4xx_cryp_des.c \
 256                   stm32f4xx_rtc.c \
 257                   stm32f4xx_hash.c \
 258                   stm32f4xx_dbgmcu.c \
 259                   stm32f4xx_cryp_tdes.c \
 260                   stm32f4xx_hash_sha1.c
 261
 262 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 263 EXCLUDES        += stm32f4xx_fsmc.c
 264 endif
 265
 266 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 267
 268 #USB
 269 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 270 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 271 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 272 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 273 EXCLUDES    = usb_bsp_template.c \
 274               usb_conf_template.c \
 275               usb_hcd_int.c \
 276               usb_hcd.c \
 277               usb_otg.c
 278
 279 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 280 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 281 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 282 EXCLUDES    = usbd_cdc_if_template.c
 283 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 284 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 285
 286 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 287                         $(USBOTG_SRC) \
 288                         $(USBCORE_SRC) \
 289                         $(USBCDC_SRC)
 290
 291 #CMSIS
 292 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 293 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 294                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 295 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 296                    $(STDPERIPH_DIR)/inc \
 297                    $(USBOTG_DIR)/inc \
 298                    $(USBCORE_DIR)/inc \
 299                    $(USBCDC_DIR)/inc \
 300                    $(USBFS_DIR)/inc \
 301                    $(CMSIS_DIR)/CM4/CoreSupport \
 302                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 303                    $(ROOT)/src/main/vcpf4
 304
 305 ifneq ($(filter SDCARD,$(FEATURES)),)
 306 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 307                    $(FATFS_DIR)
 308 VPATH           := $(VPATH):$(FATFS_DIR)
 309 endif
 310
 311 #Flags
 312 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 313
 314 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 315 DEVICE_FLAGS    = -DSTM32F411xE
 316 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 317 STARTUP_SRC     = startup_stm32f411xe.s
 318 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 319 DEVICE_FLAGS    = -DSTM32F40_41xxx
 320 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 321 STARTUP_SRC     = startup_stm32f40xx.s
 322 else
 323 $(error Unknown MCU for F4 target)
 324 endif
 325 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 326
 327 # End F4 targets
 328 #
 329 # Start F7 targets
 330 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 331
 332 #STDPERIPH
 333 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 334 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 335 EXCLUDES        = stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 336                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 337                   stm32f7xx_hal_timebase_tim_template.c
 338
 339 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 340
 341 #USB
 342 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 343 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 344 EXCLUDES    = usbd_conf_template.c
 345 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 346
 347 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 348 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 349 EXCLUDES   = usbd_cdc_if_template.c
 350 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 351
 352 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 353
 354 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 355                         $(USBCORE_SRC) \
 356                         $(USBCDC_SRC)
 357
 358 #CMSIS
 359 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 360 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 361 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 362                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 363 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 364                    $(STDPERIPH_DIR)/Inc \
 365                    $(USBCORE_DIR)/Inc \
 366                    $(USBCDC_DIR)/Inc \
 367                    $(CMSIS_DIR)/CM7/Include \
 368                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 369                    $(ROOT)/src/main/vcp_hal
 370
 371 ifneq ($(filter SDCARD,$(FEATURES)),)
 372 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 373                    $(FATFS_DIR)
 374 VPATH           := $(VPATH):$(FATFS_DIR)
 375 endif
 376
 377 #Flags
 378 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 379
 380 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 381 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 382 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 383 STARTUP_SRC     = startup_stm32f745xx.s
 384 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 385 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 386 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 387 STARTUP_SRC     = startup_stm32f746xx.s
 388 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 389 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 390 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 391 STARTUP_SRC     = startup_stm32f722xx.s
 392 else
 393 $(error Unknown MCU for F7 target)
 394 endif
 395 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 396
 397 TARGET_FLAGS    = -D$(TARGET)
 398
 399 # End F7 targets
 400 #
 401 # Start F1 targets
 402 else
 403
 404 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 405 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 406 EXCLUDES        = stm32f10x_crc.c \
 407                   stm32f10x_cec.c \
 408                   stm32f10x_can.c
 409 STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 410 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 411
 412 # Search path and source files for the CMSIS sources
 413 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 414 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 415                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 416
 417 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 418                    $(STDPERIPH_DIR)/inc \
 419                    $(CMSIS_DIR)/CM3/CoreSupport \
 420                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 421
 422 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 423
 424 ifneq ($(filter VCP, $(FEATURES)),)
 425 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 426                    $(USBFS_DIR)/inc \
 427                    $(ROOT)/src/main/vcp
 428
 429 VPATH           := $(VPATH):$(USBFS_DIR)/src
 430
 431 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 432                         $(USBPERIPH_SRC)
 433
 434 endif
 435
 436 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 437 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 438
 439 ifeq ($(DEVICE_FLAGS),)
 440 DEVICE_FLAGS    = -DSTM32F10X_MD
 441 endif
 442 DEVICE_FLAGS   += -DSTM32F10X
 443
 444 endif
 445 #
 446 # End F1 targets
 447 #
 448 ifneq ($(BASE_TARGET), $(TARGET))
 449 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 450 endif
 451
 452 ifneq ($(FLASH_SIZE),)
 453 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 454 endif
 455
 456 ifneq ($(HSE_VALUE),)
 457 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 458 endif
 459
 460 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 461 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 462
 463 ifeq ($(OPBL),yes)
 464 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 465 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 466 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 467 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 468 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 469 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 470 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 471 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 472 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 473 endif
 474 .DEFAULT_GOAL := binary
 475 else
 476 .DEFAULT_GOAL := hex
 477 endif
 478
 479 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 480                    $(ROOT)/lib/main/MAVLink
 481
 482 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 483                    $(TARGET_DIR)
 484
 485 VPATH           := $(VPATH):$(TARGET_DIR)
 486
 487 COMMON_SRC = \
 488             build/build_config.c \
 489             build/debug.c \
 490             build/version.c \
 491             $(TARGET_DIR_SRC) \
 492             main.c \
 493             common/encoding.c \
 494             common/filter.c \
 495             common/maths.c \
 496             common/printf.c \
 497             common/streambuf.c \
 498             common/typeconversion.c \
 499             config/config_eeprom.c \
 500             config/feature.c \
 501             config/parameter_group.c \
 502             drivers/adc.c \
 503             drivers/buf_writer.c \
 504             drivers/bus_i2c_soft.c \
 505             drivers/bus_spi.c \
 506             drivers/bus_spi_soft.c \
 507             drivers/display.c \
 508             drivers/exti.c \
 509             drivers/gyro_sync.c \
 510             drivers/io.c \
 511             drivers/light_led.c \
 512             drivers/resource.c \
 513             drivers/rx_nrf24l01.c \
 514             drivers/rx_spi.c \
 515             drivers/rx_xn297.c \
 516             drivers/pwm_esc_detect.c \
 517             drivers/pwm_output.c \
 518             drivers/rcc.c \
 519             drivers/rx_pwm.c \
 520             drivers/serial.c \
 521             drivers/serial_uart.c \
 522             drivers/sound_beeper.c \
 523             drivers/stack_check.c \
 524             drivers/system.c \
 525             drivers/timer.c \
 526             fc/config.c \
 527             fc/fc_init.c \
 528             fc/fc_dispatch.c \
 529             fc/fc_hardfaults.c \
 530             fc/fc_core.c \
 531             fc/fc_msp.c \
 532             fc/fc_tasks.c \
 533             fc/rc_controls.c \
 534             fc/rc_curves.c \
 535             fc/runtime_config.c \
 536             fc/cli.c \
 537             flight/altitudehold.c \
 538             flight/failsafe.c \
 539             flight/imu.c \
 540             flight/mixer.c \
 541             flight/pid.c \
 542             flight/servos.c \
 543             io/beeper.c \
 544             io/serial.c \
 545             io/serial_4way.c \
 546             io/serial_4way_avrootloader.c \
 547             io/serial_4way_stk500v2.c \
 548             io/statusindicator.c \
 549             msp/msp_serial.c \
 550             rx/ibus.c \
 551             rx/jetiexbus.c \
 552             rx/msp.c \
 553             rx/nrf24_cx10.c \
 554             rx/nrf24_inav.c \
 555             rx/nrf24_h8_3d.c \
 556             rx/nrf24_syma.c \
 557             rx/nrf24_v202.c \
 558             rx/pwm.c \
 559             rx/rx.c \
 560             rx/rx_spi.c \
 561             rx/crsf.c \
 562             rx/sbus.c \
 563             rx/spektrum.c \
 564             rx/sumd.c \
 565             rx/sumh.c \
 566             rx/xbus.c \
 567             scheduler/scheduler.c \
 568             sensors/acceleration.c \
 569             sensors/battery.c \
 570             sensors/boardalignment.c \
 571             sensors/compass.c \
 572             sensors/gyro.c \
 573             sensors/initialisation.c \
 574             $(CMSIS_SRC) \
 575             $(DEVICE_STDPERIPH_SRC)
 576
 577 HIGHEND_SRC = \
 578             blackbox/blackbox.c \
 579             blackbox/blackbox_io.c \
 580             cms/cms.c \
 581             cms/cms_menu_blackbox.c \
 582             cms/cms_menu_builtin.c \
 583             cms/cms_menu_imu.c \
 584             cms/cms_menu_ledstrip.c \
 585             cms/cms_menu_misc.c \
 586             cms/cms_menu_osd.c \
 587             cms/cms_menu_vtx.c \
 588             common/colorconversion.c \
 589             drivers/display_ug2864hsweg01.c \
 590             drivers/light_ws2811strip.c \
 591             drivers/serial_escserial.c \
 592             drivers/serial_softserial.c \
 593             drivers/sonar_hcsr04.c \
 594             flight/navigation.c \
 595             flight/gps_conversion.c \
 596             io/dashboard.c \
 597             io/displayport_max7456.c \
 598             io/displayport_msp.c \
 599             io/displayport_oled.c \
 600             io/gps.c \
 601             io/ledstrip.c \
 602             io/osd.c \
 603             sensors/sonar.c \
 604             sensors/barometer.c \
 605             telemetry/telemetry.c \
 606             telemetry/crsf.c \
 607             telemetry/srxl.c \
 608             telemetry/frsky.c \
 609             telemetry/hott.c \
 610             telemetry/smartport.c \
 611             telemetry/ltm.c \
 612             telemetry/mavlink.c \
 613             telemetry/ibus.c \
 614             sensors/esc_sensor.c \
 615             io/vtx_smartaudio.c
 616
 617 SPEED_OPTIMISED_SRC := ""
 618 SIZE_OPTIMISED_SRC  := ""
 619
 620 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 621 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 622             common/encoding.c \
 623             common/filter.c \
 624             common/maths.c \
 625             common/typeconversion.c \
 626             drivers/adc.c \
 627             drivers/buf_writer.c \
 628             drivers/bus_i2c_soft.c \
 629             drivers/bus_spi.c \
 630             drivers/bus_spi_soft.c \
 631             drivers/exti.c \
 632             drivers/gyro_sync.c \
 633             drivers/io.c \
 634             drivers/light_led.c \
 635             drivers/resource.c \
 636             drivers/rx_nrf24l01.c \
 637             drivers/rx_spi.c \
 638             drivers/rx_xn297.c \
 639             drivers/pwm_output.c \
 640             drivers/rcc.c \
 641             drivers/rx_pwm.c \
 642             drivers/serial.c \
 643             drivers/serial_uart.c \
 644             drivers/sound_beeper.c \
 645             drivers/stack_check.c \
 646             drivers/system.c \
 647             drivers/timer.c \
 648             fc/fc_tasks.c \
 649             fc/mw.c \
 650             fc/rc_controls.c \
 651             fc/rc_curves.c \
 652             fc/runtime_config.c \
 653             flight/altitudehold.c \
 654             flight/failsafe.c \
 655             flight/imu.c \
 656             flight/mixer.c \
 657             flight/pid.c \
 658             flight/servos.c \
 659             io/beeper.c \
 660             io/serial.c \
 661             io/statusindicator.c \
 662             rx/ibus.c \
 663             rx/jetiexbus.c \
 664             rx/msp.c \
 665             rx/nrf24_cx10.c \
 666             rx/nrf24_inav.c \
 667             rx/nrf24_h8_3d.c \
 668             rx/nrf24_syma.c \
 669             rx/nrf24_v202.c \
 670             rx/pwm.c \
 671             rx/rx.c \
 672             rx/rx_spi.c \
 673             rx/crsf.c \
 674             rx/sbus.c \
 675             rx/spektrum.c \
 676             rx/sumd.c \
 677             rx/sumh.c \
 678             rx/xbus.c \
 679             scheduler/scheduler.c \
 680             sensors/acceleration.c \
 681             sensors/boardalignment.c \
 682             sensors/gyro.c \
 683             $(CMSIS_SRC) \
 684             $(DEVICE_STDPERIPH_SRC) \
 685             blackbox/blackbox.c \
 686             blackbox/blackbox_io.c \
 687             drivers/display_ug2864hsweg01.c \
 688             drivers/light_ws2811strip.c \
 689             drivers/serial_softserial.c \
 690             io/dashboard.c \
 691             io/displayport_max7456.c \
 692             io/displayport_msp.c \
 693             io/displayport_oled.c \
 694             io/ledstrip.c \
 695             io/osd.c \
 696             telemetry/telemetry.c \
 697             telemetry/crsf.c \
 698             telemetry/frsky.c \
 699             telemetry/hott.c \
 700             telemetry/smartport.c \
 701             telemetry/ltm.c \
 702             telemetry/mavlink.c \
 703             telemetry/esc_telemetry.c \
 704
 705 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 706             drivers/serial_escserial.c \
 707             io/cli.c \
 708             io/serial_4way.c \
 709             io/serial_4way_avrootloader.c \
 710             io/serial_4way_stk500v2.c \
 711             msp/msp_serial.c \
 712             cms/cms.c \
 713             cms/cms_menu_blackbox.c \
 714             cms/cms_menu_builtin.c \
 715             cms/cms_menu_imu.c \
 716             cms/cms_menu_ledstrip.c \
 717             cms/cms_menu_misc.c \
 718             cms/cms_menu_osd.c \
 719             cms/cms_menu_vtx.c \
 720             io/vtx_smartaudio.c
 721 endif #F3
 722
 723 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 724 VCP_SRC = \
 725             vcpf4/stm32f4xx_it.c \
 726             vcpf4/usb_bsp.c \
 727             vcpf4/usbd_desc.c \
 728             vcpf4/usbd_usr.c \
 729             vcpf4/usbd_cdc_vcp.c \
 730             drivers/serial_usb_vcp.c
 731 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 732 VCP_SRC = \
 733             vcp_hal/usbd_desc.c \
 734             vcp_hal/usbd_conf.c \
 735             vcp_hal/usbd_cdc_interface.c \
 736             drivers/serial_usb_vcp.c
 737 else
 738 VCP_SRC = \
 739             vcp/hw_config.c \
 740             vcp/stm32_it.c \
 741             vcp/usb_desc.c \
 742             vcp/usb_endp.c \
 743             vcp/usb_istr.c \
 744             vcp/usb_prop.c \
 745             vcp/usb_pwr.c \
 746             drivers/serial_usb_vcp.c \
 747             drivers/usb_io.c
 748 endif
 749
 750 STM32F10x_COMMON_SRC = \
 751             drivers/adc_stm32f10x.c \
 752             drivers/bus_i2c_stm32f10x.c \
 753             drivers/dma.c \
 754             drivers/gpio_stm32f10x.c \
 755             drivers/inverter.c \
 756             drivers/light_ws2811strip_stm32f10x.c \
 757             drivers/serial_uart_stm32f10x.c \
 758             drivers/system_stm32f10x.c \
 759             drivers/timer_stm32f10x.c
 760
 761 STM32F30x_COMMON_SRC = \
 762             target/system_stm32f30x.c \
 763             drivers/adc_stm32f30x.c \
 764             drivers/bus_i2c_stm32f30x.c \
 765             drivers/dma.c \
 766             drivers/gpio_stm32f30x.c \
 767             drivers/light_ws2811strip_stm32f30x.c \
 768             drivers/pwm_output_stm32f3xx.c \
 769             drivers/serial_uart_stm32f30x.c \
 770             drivers/system_stm32f30x.c \
 771             drivers/timer_stm32f30x.c
 772
 773 STM32F4xx_COMMON_SRC = \
 774             target/system_stm32f4xx.c \
 775             drivers/accgyro_mpu.c \
 776             drivers/adc_stm32f4xx.c \
 777             drivers/bus_i2c_stm32f10x.c \
 778             drivers/dma_stm32f4xx.c \
 779             drivers/gpio_stm32f4xx.c \
 780             drivers/inverter.c \
 781             drivers/light_ws2811strip_stm32f4xx.c \
 782             drivers/pwm_output_stm32f4xx.c \
 783             drivers/serial_uart_stm32f4xx.c \
 784             drivers/system_stm32f4xx.c \
 785             drivers/timer_stm32f4xx.c
 786
 787 STM32F7xx_COMMON_SRC = \
 788             target/system_stm32f7xx.c \
 789             drivers/accgyro_mpu.c \
 790             drivers/adc_stm32f7xx.c \
 791             drivers/bus_i2c_hal.c \
 792             drivers/dma_stm32f7xx.c \
 793             drivers/gpio_stm32f7xx.c \
 794             drivers/inverter.c \
 795             drivers/bus_spi_hal.c \
 796             drivers/pwm_output_stm32f7xx.c \
 797             drivers/timer_hal.c \
 798             drivers/timer_stm32f7xx.c \
 799             drivers/system_stm32f7xx.c \
 800             drivers/serial_uart_stm32f7xx.c \
 801             drivers/serial_uart_hal.c
 802
 803 F7EXCLUDES = drivers/bus_spi.c \
 804             drivers/bus_i2c.c \
 805             drivers/timer.c \
 806             drivers/serial_uart.c
 807
 808 # check if target.mk supplied
 809 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 810 TARGET_SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 811 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 812 TARGET_SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
 813 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 814 TARGET_SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 815 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 816 TARGET_SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 817 endif
 818
 819 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 820 TARGET_SRC += \
 821             drivers/flash_m25p16.c \
 822             io/flashfs.c
 823 endif
 824
 825 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS) $(F4_TARGETS) $(F3_TARGETS)))
 826 TARGET_SRC += $(HIGHEND_SRC)
 827 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 828 TARGET_SRC += $(HIGHEND_SRC)
 829 endif
 830
 831 TARGET_SRC += $(COMMON_SRC)
 832 #excludes
 833 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 834 TARGET_SRC   := $(filter-out ${F7EXCLUDES}, $(TARGET_SRC))
 835 endif
 836
 837 ifneq ($(filter SDCARD,$(FEATURES)),)
 838 TARGET_SRC += \
 839             drivers/sdcard.c \
 840             drivers/sdcard_standard.c \
 841             io/asyncfatfs/asyncfatfs.c \
 842             io/asyncfatfs/fat_standard.c
 843 endif
 844
 845 ifneq ($(filter VCP,$(FEATURES)),)
 846 TARGET_SRC += $(VCP_SRC)
 847 endif
 848 # end target specific make file checks
 849
 850
 851 # Search path and source files for the ST stdperiph library
 852 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 853
 854 ###############################################################################
 855 # Things that might need changing to use different tools
 856 #
 857
 858 # Find out if ccache is installed on the system
 859 CCACHE := ccache
 860 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 861 ifneq ($(RESULT),0)
 862 CCACHE :=
 863 endif
 864
 865 # Tool names
 866 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 867 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 868 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 869 SIZE        := $(ARM_SDK_PREFIX)size
 870
 871 #
 872 # Tool options.
 873 #
 874
 875 ifneq ($(DEBUG),GDB)
 876 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
 877 OPTIMISE_SPEED      := ""
 878 OPTIMISE_SIZE       := ""
 879
 880 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 881 OPTIMISE_DEFAULT    := -Os
 882
 883 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 884
 885 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 886 OPTIMISE_DEFAULT    := -O2
 887 OPTIMISE_SPEED      := -Ofast
 888 OPTIMISE_SIZE       := -Os
 889
 890 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 891
 892 else
 893 OPTIMISE_DEFAULT    := -Ofast
 894
 895 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 896
 897 endif #TARGETS
 898
 899 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 900 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 901 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 902
 903 else #DEBUG
 904 OPTIMISE_DEFAULT    := -O0
 905
 906 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
 907
 908 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
 909 endif #DEBUG
 910
 911 DEBUG_FLAGS = -ggdb3 -DDEBUG
 912
 913 CFLAGS      += $(ARCH_FLAGS) \
 914               $(addprefix -D,$(OPTIONS)) \
 915               $(addprefix -I,$(INCLUDE_DIRS)) \
 916               $(DEBUG_FLAGS) \
 917               -std=gnu99 \
 918               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 919               -ffunction-sections \
 920               -fdata-sections \
 921               -pedantic \
 922               $(DEVICE_FLAGS) \
 923               -DUSE_STDPERIPH_DRIVER \
 924               -D$(TARGET) \
 925               $(TARGET_FLAGS) \
 926               -D'__FORKNAME__="$(FORKNAME)"' \
 927               -D'__TARGET__="$(TARGET)"' \
 928               -D'__REVISION__="$(REVISION)"' \
 929               -save-temps=obj \
 930               -MMD -MP
 931
 932 ASFLAGS     = $(ARCH_FLAGS) \
 933               -x assembler-with-cpp \
 934               $(addprefix -I,$(INCLUDE_DIRS)) \
 935               -MMD -MP
 936
 937 LDFLAGS     = -lm \
 938               -nostartfiles \
 939               --specs=nano.specs \
 940               -lc \
 941               -lnosys \
 942               $(ARCH_FLAGS) \
 943               $(LTO_FLAGS) \
 944               $(DEBUG_FLAGS) \
 945               -static \
 946               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 947               -Wl,-L$(LINKER_DIR) \
 948               -Wl,--cref \
 949               -Wl,--no-wchar-size-warning \
 950               -T$(LD_SCRIPT)
 951
 952 ###############################################################################
 953 # No user-serviceable parts below
 954 ###############################################################################
 955
 956 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 957                   --std=c99 --inline-suppr --quiet --force \
 958                   $(addprefix -I,$(INCLUDE_DIRS)) \
 959                   -I/usr/include -I/usr/include/linux
 960
 961 #
 962 # Things we will build
 963 #
 964 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 965 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 966 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 967 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 968 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 969 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 970
 971
 972 CLEAN_ARTIFACTS := $(TARGET_BIN)
 973 CLEAN_ARTIFACTS += $(TARGET_HEX)
 974 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 975
 976 # Make sure build date and revision is updated on every incremental build
 977 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(TARGET_SRC)
 978
 979 # List of buildable ELF files and their object dependencies.
 980 # It would be nice to compute these lists, but that seems to be just beyond make.
 981
 982 $(TARGET_HEX): $(TARGET_ELF)
 983         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 984
 985 $(TARGET_BIN): $(TARGET_ELF)
 986         $(V0) $(OBJCOPY) -O binary $< $@
 987
 988 $(TARGET_ELF):  $(TARGET_OBJS)
 989         $(V1) echo Linking $(TARGET)
 990         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
 991         $(V0) $(SIZE) $(TARGET_ELF)
 992
 993 # Compile
 994 ifneq ($(DEBUG),GDB)
 995 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 996         $(V1) mkdir -p $(dir $@)
 997         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 998         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
 999         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
1000         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
1001         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1002         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
1003         echo "%% $(notdir $<)" "$(STDOUT)" && \
1004         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
1005 else
1006 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1007         $(V1) mkdir -p $(dir $@)
1008         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
1009         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1010 endif
1011
1012 # Assemble
1013 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1014         $(V1) mkdir -p $(dir $@)
1015         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1016         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1017
1018 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1019         $(V1) mkdir -p $(dir $@)
1020         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1021         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1022
1023 ## sample            : Build all sample (travis) targets
1024 sample: $(SAMPLE_TARGETS)
1025
1026 ## all               : Build all valid targets
1027 all: $(VALID_TARGETS)
1028
1029 $(VALID_TARGETS):
1030                 $(V0) echo "" && \
1031                 echo "Building $@" && \
1032                 $(MAKE) binary hex TARGET=$@ && \
1033                 echo "Building $@ succeeded."
1034
1035
1036
1037 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1038 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1039
1040 ## clean             : clean up temporary / machine-generated files
1041 clean:
1042         $(V0) echo "Cleaning $(TARGET)"
1043         $(V0) rm -f $(CLEAN_ARTIFACTS)
1044         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1045         $(V0) echo "Cleaning $(TARGET) succeeded."
1046
1047 ## clean_test        : clean up temporary / machine-generated files (tests)
1048 clean_test:
1049         $(V0) cd src/test && $(MAKE) clean || true
1050
1051 ## clean_<TARGET>    : clean up one specific target
1052 $(CLEAN_TARGETS) :
1053         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1054
1055 ## <TARGET>_clean    : clean up one specific target (alias for above)
1056 $(TARGETS_CLEAN) :
1057         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1058
1059 ## clean_all         : clean all valid targets
1060 clean_all:$(CLEAN_TARGETS)
1061
1062 ## all_clean         : clean all valid targets (alias for above)
1063 all_clean:$(TARGETS_CLEAN)
1064
1065
1066 flash_$(TARGET): $(TARGET_HEX)
1067         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1068         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1069         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1070
1071 ## flash             : flash firmware (.hex) onto flight controller
1072 flash: flash_$(TARGET)
1073
1074 st-flash_$(TARGET): $(TARGET_BIN)
1075         $(V0) st-flash --reset write $< 0x08000000
1076
1077 ## st-flash          : flash firmware (.bin) onto flight controller
1078 st-flash: st-flash_$(TARGET)
1079
1080 binary:
1081         $(V0) $(MAKE) -j $(TARGET_BIN)
1082
1083 hex:
1084         $(V0) $(MAKE) -j $(TARGET_HEX)
1085
1086 unbrick_$(TARGET): $(TARGET_HEX)
1087         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1088         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1089
1090 ## unbrick           : unbrick flight controller
1091 unbrick: unbrick_$(TARGET)
1092
1093 ## cppcheck          : run static analysis on C source code
1094 cppcheck: $(CSOURCES)
1095         $(V0) $(CPPCHECK)
1096
1097 cppcheck-result.xml: $(CSOURCES)
1098         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1099
1100 # mkdirs
1101 $(DL_DIR):
1102         mkdir -p $@
1103
1104 $(TOOLS_DIR):
1105         mkdir -p $@
1106
1107 $(BUILD_DIR):
1108         mkdir -p $@
1109
1110 ## help              : print this help message and exit
1111 help: Makefile make/tools.mk
1112         $(V0) @echo ""
1113         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1114         $(V0) @echo ""
1115         $(V0) @echo "Usage:"
1116         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1117         $(V0) @echo "Or:"
1118         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1119         $(V0) @echo ""
1120         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1121         $(V0) @echo ""
1122         $(V0) @sed -n 's/^## //p' $?
1123
1124 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1125 targets:
1126         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
1127         $(V0) @echo "Target:        $(TARGET)"
1128         $(V0) @echo "Base target:   $(BASE_TARGET)"
1129
1130 ## test              : run the cleanflight test suite
1131 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1132 test junittest:
1133         $(V0) cd src/test && $(MAKE) $@
1134
1135 # rebuild everything when makefile changes
1136 $(TARGET_OBJS) : Makefile
1137
1138 # include auto-generated dependencies
1139 -include $(TARGET_DEPS)