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 ###############################################################################
8 # Makefile for building the betaflight firmware.
10 # Invoke this with 'make help' to see the list of supported targets.
12 ###############################################################################
15 # Things that the user might override on the commandline
18 # The target to build, see VALID_TARGETS below
21 # Compile-time options
24 # compile for OpenPilot BootLoader support
27 # Debugger optons, must be empty or GDB
30 # Insert the debugging hardfault debugger
31 # releases should not be built with this flag as it does not disable pwm output
34 # Serial port/Device for flashing
35 SERIAL_DEVICE ?
= $(firstword $(wildcard /dev
/ttyUSB
*) no-port-found
)
37 # Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
40 ## V : Set verbosity level based on the V= parameter
52 export STDOUT
:= "> /dev/null"
53 export MAKE
:= $(MAKE
) --no-print-directory
60 ###############################################################################
61 # Things that need to be maintained as the source changes
67 ROOT
:= $(patsubst %/,%,$(dir $(lastword
$(MAKEFILE_LIST
))))
68 SRC_DIR
= $(ROOT
)/src
/main
69 OBJECT_DIR
= $(ROOT
)/obj
/main
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
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
80 # developer preferences, edit these at will, they'll be gitignored
81 -include $(ROOT
)/make
/local.mk
83 # configure some directories that are relative to wherever ROOT_DIR is located
84 TOOLS_DIR
:= $(ROOT
)/tools
85 BUILD_DIR
:= $(ROOT
)/build
86 DL_DIR
:= $(ROOT
)/downloads
90 # import macros that are OS specific
91 include $(ROOT
)/make
/$(OSFAMILY
).mk
93 # include the tools makefile
94 include $(ROOT
)/make
/tools.mk
96 # default xtal value for F4 targets
99 # used for turning on features like VCP and SDCARD
102 SAMPLE_TARGETS
= ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO STM32F3DISCOVERY
103 ALT_TARGETS
= $(sort $(filter-out target
, $(basename $(notdir $(wildcard $(ROOT
)/src
/main
/target
/*/*.mk
)))))
104 OPBL_TARGETS
= $(filter %_OPBL
, $(ALT_TARGETS
))
106 VALID_TARGETS
= $(dir $(wildcard $(ROOT
)/src
/main
/target
/*/target.mk
))
107 VALID_TARGETS
:= $(subst /,, $(subst .
/src
/main
/target
/,, $(VALID_TARGETS
)))
108 VALID_TARGETS
:= $(VALID_TARGETS
) $(ALT_TARGETS
)
109 VALID_TARGETS
:= $(sort $(VALID_TARGETS
))
111 ifeq ($(filter $(TARGET
),$(ALT_TARGETS
)), $(TARGET
))
112 BASE_TARGET
:= $(firstword $(subst /,, $(subst .
/src
/main
/target
/,, $(dir $(wildcard $(ROOT
)/src
/main
/target
/*/$(TARGET
).mk
)))))
113 -include $(ROOT
)/src
/main
/target
/$(BASE_TARGET
)/$(TARGET
).mk
115 BASE_TARGET
:= $(TARGET
)
118 ifeq ($(filter $(TARGET
),$(OPBL_TARGETS
)), $(TARGET
))
122 # silently ignore if the file is not present. Allows for target specific.
123 -include $(ROOT
)/src
/main
/target
/$(BASE_TARGET
)/target.mk
125 F4_TARGETS
= $(F405_TARGETS
) $(F411_TARGETS
)
126 F7_TARGETS
= $(F7X2RE_TARGETS
) $(F7X5XE_TARGETS
) $(F7X5XG_TARGETS
) $(F7X5XI_TARGETS
) $(F7X6XG_TARGETS
)
128 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
129 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
). Have you prepared a valid target.mk?
)
132 ifeq ($(filter $(TARGET
),$(F1_TARGETS
) $(F3_TARGETS
) $(F4_TARGETS
) $(F7_TARGETS
)),)
133 $(error Target
'$(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 128K_TARGETS
= $(F1_TARGETS
)
137 256K_TARGETS
= $(F3_TARGETS
)
138 512K_TARGETS
= $(F411_TARGETS
) $(F7X2RE_TARGETS
) $(F7X5XE_TARGETS
)
139 1024K_TARGETS
= $(F405_TARGETS
) $(F7X5XG_TARGETS
) $(F7X6XG_TARGETS
)
140 2048K_TARGETS
= $(F7X5XI_TARGETS
)
142 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
143 ifeq ($(FLASH_SIZE
),)
144 ifeq ($(TARGET
),$(filter $(TARGET
),$(2048K_TARGETS
)))
146 else ifeq ($(TARGET
),$(filter $(TARGET
),$(1024K_TARGETS
)))
148 else ifeq ($(TARGET
),$(filter $(TARGET
),$(512K_TARGETS
)))
150 else ifeq ($(TARGET
),$(filter $(TARGET
),$(256K_TARGETS
)))
152 else ifeq ($(TARGET
),$(filter $(TARGET
),$(128K_TARGETS
)))
155 $(error FLASH_SIZE not configured for target
$(TARGET
))
159 # note that there is no hardfault debugging startup file assembly handler for other platforms
160 ifeq ($(DEBUG_HARDFAULTS
),F3
)
161 CFLAGS
+= -DDEBUG_HARDFAULTS
162 STM32F30x_COMMON_SRC
= startup_stm32f3_debug_hardfault_handler.S
164 STM32F30x_COMMON_SRC
= startup_stm32f30x_md_gcc.S
167 ifeq ($(DEBUG_HARDFAULTS
),F7
)
168 CFLAGS
+= -DDEBUG_HARDFAULTS
171 REVISION
:= $(shell git log
-1 --format
="%h")
173 FC_VER_MAJOR
:= $(shell grep
" FC_VERSION_MAJOR" src
/main
/build
/version.h | awk
'{print $$3}' )
174 FC_VER_MINOR
:= $(shell grep
" FC_VERSION_MINOR" src
/main
/build
/version.h | awk
'{print $$3}' )
175 FC_VER_PATCH
:= $(shell grep
" FC_VERSION_PATCH" src
/main
/build
/version.h | awk
'{print $$3}' )
177 FC_VER
:= $(FC_VER_MAJOR
).
$(FC_VER_MINOR
).
$(FC_VER_PATCH
)
179 # Search path for sources
180 VPATH
:= $(SRC_DIR
):$(SRC_DIR
)/startup
181 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
182 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
183 FATFS_DIR
= $(ROOT
)/lib
/main
/FatFS
184 FATFS_SRC
= $(notdir $(wildcard $(FATFS_DIR
)/*.c
))
186 CSOURCES
:= $(shell find
$(SRC_DIR
) -name
'*.c')
188 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
191 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
192 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
193 EXCLUDES
= stm32f30x_crc.c \
195 STARTUP_SRC
= startup_stm32f30x_md_gcc.S
197 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
198 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
200 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
201 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
202 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
204 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
205 $(STDPERIPH_DIR
)/inc \
206 $(CMSIS_DIR
)/CM1
/CoreSupport \
207 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
209 ifneq ($(filter VCP
, $(FEATURES
)),)
210 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
214 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
216 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
220 ifneq ($(filter SDCARD
, $(FEATURES
)),)
221 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
224 VPATH
:= $(VPATH
):$(FATFS_DIR
)
227 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k.
ld
229 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
230 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
234 else ifeq ($(TARGET
),$(filter $(TARGET
), $(F4_TARGETS
)))
237 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F4xx_StdPeriph_Driver
238 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
239 EXCLUDES
= stm32f4xx_crc.c \
245 stm32f4xx_flash_ramfunc.c \
249 stm32f4xx_spdifrx.c \
251 stm32f4xx_cryp_aes.c \
252 stm32f4xx_hash_md5.c \
253 stm32f4xx_cryp_des.c \
257 stm32f4xx_cryp_tdes.c \
258 stm32f4xx_hash_sha1.c
260 ifeq ($(TARGET
),$(filter $(TARGET
), $(F411_TARGETS
)))
261 EXCLUDES
+= stm32f4xx_fsmc.c
264 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
267 USBCORE_DIR
= $(ROOT
)/lib
/main
/STM32_USB_Device_Library
/Core
268 USBCORE_SRC
= $(notdir $(wildcard $(USBCORE_DIR
)/src
/*.c
))
269 USBOTG_DIR
= $(ROOT
)/lib
/main
/STM32_USB_OTG_Driver
270 USBOTG_SRC
= $(notdir $(wildcard $(USBOTG_DIR
)/src
/*.c
))
271 EXCLUDES
= usb_bsp_template.c \
272 usb_conf_template.c \
277 USBOTG_SRC
:= $(filter-out ${EXCLUDES}, $(USBOTG_SRC
))
278 USBCDC_DIR
= $(ROOT
)/lib
/main
/STM32_USB_Device_Library
/Class
/cdc
279 USBCDC_SRC
= $(notdir $(wildcard $(USBCDC_DIR
)/src
/*.c
))
280 EXCLUDES
= usbd_cdc_if_template.c
281 USBCDC_SRC
:= $(filter-out ${EXCLUDES}, $(USBCDC_SRC
))
282 VPATH
:= $(VPATH
):$(USBOTG_DIR
)/src
:$(USBCORE_DIR
)/src
:$(USBCDC_DIR
)/src
284 DEVICE_STDPERIPH_SRC
:= $(STDPERIPH_SRC
) \
290 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM4
/CoreSupport
:$(CMSIS_DIR
)/CM4
/DeviceSupport
/ST
/STM32F4xx
291 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM4
/CoreSupport
/*.c \
292 $(CMSIS_DIR
)/CM4
/DeviceSupport
/ST
/STM32F4xx
/*.c
))
293 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
294 $(STDPERIPH_DIR
)/inc \
299 $(CMSIS_DIR
)/CM4
/CoreSupport \
300 $(CMSIS_DIR
)/CM4
/DeviceSupport
/ST
/STM32F4xx \
301 $(ROOT
)/src
/main
/vcpf4
303 ifneq ($(filter SDCARD
,$(FEATURES
)),)
304 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
306 VPATH
:= $(VPATH
):$(FATFS_DIR
)
310 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-march
=armv7e-m
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
312 ifeq ($(TARGET
),$(filter $(TARGET
),$(F411_TARGETS
)))
313 DEVICE_FLAGS
= -DSTM32F411xE
314 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f411.
ld
315 STARTUP_SRC
= startup_stm32f411xe.s
316 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F405_TARGETS
)))
317 DEVICE_FLAGS
= -DSTM32F40_41xxx
318 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f405.
ld
319 STARTUP_SRC
= startup_stm32f40xx.s
321 $(error Unknown MCU for F4 target
)
323 DEVICE_FLAGS
+= -DHSE_VALUE
=$(HSE_VALUE
)
328 else ifeq ($(TARGET
),$(filter $(TARGET
), $(F7_TARGETS
)))
331 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F7xx_HAL_Driver
332 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/Src
/*.c
))
333 EXCLUDES
= stm32f7xx_hal_timebase_rtc_wakeup_template.c \
334 stm32f7xx_hal_timebase_rtc_alarm_template.c \
335 stm32f7xx_hal_timebase_tim_template.c
337 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
340 USBCORE_DIR
= $(ROOT
)/lib
/main
/Middlewares
/ST
/STM32_USB_Device_Library
/Core
341 USBCORE_SRC
= $(notdir $(wildcard $(USBCORE_DIR
)/Src
/*.c
))
342 EXCLUDES
= usbd_conf_template.c
343 USBCORE_SRC
:= $(filter-out ${EXCLUDES}, $(USBCORE_SRC
))
345 USBCDC_DIR
= $(ROOT
)/lib
/main
/Middlewares
/ST
/STM32_USB_Device_Library
/Class
/CDC
346 USBCDC_SRC
= $(notdir $(wildcard $(USBCDC_DIR
)/Src
/*.c
))
347 EXCLUDES
= usbd_cdc_if_template.c
348 USBCDC_SRC
:= $(filter-out ${EXCLUDES}, $(USBCDC_SRC
))
350 VPATH
:= $(VPATH
):$(USBCDC_DIR
)/Src
:$(USBCORE_DIR
)/Src
352 DEVICE_STDPERIPH_SRC
:= $(STDPERIPH_SRC
) \
357 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM7
/Include
:$(CMSIS_DIR
)/CM7
/Device
/ST
/STM32F7xx
358 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/Src
359 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM7
/Include
/*.c \
360 $(CMSIS_DIR
)/CM7
/Device
/ST
/STM32F7xx
/*.c
))
361 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
362 $(STDPERIPH_DIR
)/Inc \
365 $(CMSIS_DIR
)/CM7
/Include \
366 $(CMSIS_DIR
)/CM7
/Device
/ST
/STM32F7xx
/Include \
367 $(ROOT
)/src
/main
/vcp_hal
369 ifneq ($(filter SDCARD
,$(FEATURES
)),)
370 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
372 VPATH
:= $(VPATH
):$(FATFS_DIR
)
376 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m7
-mfloat-abi
=hard
-mfpu
=fpv5-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
378 ifeq ($(TARGET
),$(filter $(TARGET
),$(F7X5XG_TARGETS
)))
379 DEVICE_FLAGS
= -DSTM32F745xx
-DUSE_HAL_DRIVER
-D__FPU_PRESENT
380 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f745.
ld
381 STARTUP_SRC
= startup_stm32f745xx.s
382 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7X6XG_TARGETS
)))
383 DEVICE_FLAGS
= -DSTM32F746xx
-DUSE_HAL_DRIVER
-D__FPU_PRESENT
384 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f746.
ld
385 STARTUP_SRC
= startup_stm32f746xx.s
386 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7X2RE_TARGETS
)))
387 DEVICE_FLAGS
= -DSTM32F722xx
-DUSE_HAL_DRIVER
-D__FPU_PRESENT
388 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f722.
ld
389 STARTUP_SRC
= startup_stm32f722xx.s
391 $(error Unknown MCU for F7 target
)
393 DEVICE_FLAGS
+= -DHSE_VALUE
=$(HSE_VALUE
)
395 TARGET_FLAGS
= -D
$(TARGET
)
402 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
403 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
404 EXCLUDES
= stm32f10x_crc.c \
407 STARTUP_SRC
= startup_stm32f10x_md_gcc.S
408 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
410 # Search path and source files for the CMSIS sources
411 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
412 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
413 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
415 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
416 $(STDPERIPH_DIR
)/inc \
417 $(CMSIS_DIR
)/CM3
/CoreSupport \
418 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
420 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
422 ifneq ($(filter VCP
, $(FEATURES
)),)
423 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
427 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
429 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
) \
434 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
435 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
437 ifeq ($(DEVICE_FLAGS
),)
438 DEVICE_FLAGS
= -DSTM32F10X_MD
440 DEVICE_FLAGS
+= -DSTM32F10X
446 ifneq ($(BASE_TARGET
), $(TARGET
))
447 TARGET_FLAGS
:= $(TARGET_FLAGS
) -D
$(BASE_TARGET
)
450 ifneq ($(FLASH_SIZE
),)
451 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DFLASH_SIZE
=$(FLASH_SIZE
)
454 ifneq ($(HSE_VALUE
),)
455 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DHSE_VALUE
=$(HSE_VALUE
)
458 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(BASE_TARGET
)
459 TARGET_DIR_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
462 TARGET_FLAGS
:= -DOPBL
$(TARGET_FLAGS
)
463 ifeq ($(TARGET
), $(filter $(TARGET
),$(F405_TARGETS
)))
464 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f405_opbl.
ld
465 else ifeq ($(TARGET
), $(filter $(TARGET
),$(F411_TARGETS
)))
466 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f411_opbl.
ld
467 else ifeq ($(TARGET
), $(filter $(TARGET
),$(F3_TARGETS
)))
468 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k_opbl.
ld
469 else ifeq ($(TARGET
), $(filter $(TARGET
),$(F1_TARGETS
)))
470 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k_opbl.
ld
472 .DEFAULT_GOAL
:= binary
477 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
478 $(ROOT
)/lib
/main
/MAVLink
480 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
483 VPATH
:= $(VPATH
):$(TARGET_DIR
)
486 build
/build_config.c \
496 common
/typeconversion.c \
497 config
/config_eeprom.c \
499 config
/parameter_group.c \
501 drivers
/buf_writer.c \
502 drivers
/bus_i2c_soft.c \
504 drivers
/bus_spi_soft.c \
507 drivers
/gyro_sync.c \
509 drivers
/light_led.c \
511 drivers
/rx_nrf24l01.c \
514 drivers
/pwm_esc_detect.c \
515 drivers
/pwm_output.c \
519 drivers
/serial_uart.c \
520 drivers
/sound_beeper.c \
521 drivers
/stack_check.c \
532 fc/runtime_config.c \
534 flight
/altitudehold.c \
543 io
/serial_4way_avrootloader.c \
544 io
/serial_4way_stk500v2.c \
545 io
/statusindicator.c \
564 scheduler
/scheduler.c \
565 sensors
/acceleration.c \
567 sensors
/boardalignment.c \
570 sensors
/initialisation.c \
572 $(DEVICE_STDPERIPH_SRC
)
575 blackbox
/blackbox.c \
576 blackbox
/blackbox_io.c \
578 cms
/cms_menu_blackbox.c \
579 cms
/cms_menu_builtin.c \
581 cms
/cms_menu_ledstrip.c \
582 cms
/cms_menu_misc.c \
585 common
/colorconversion.c \
586 drivers
/display_ug2864hsweg01.c \
587 drivers
/light_ws2811strip.c \
588 drivers
/serial_escserial.c \
589 drivers
/serial_softserial.c \
590 drivers
/sonar_hcsr04.c \
591 flight
/navigation.c \
592 flight
/gps_conversion.c \
594 io
/displayport_max7456.c \
595 io
/displayport_msp.c \
596 io
/displayport_oled.c \
601 sensors
/barometer.c \
602 telemetry
/telemetry.c \
607 telemetry
/smartport.c \
609 telemetry
/mavlink.c \
611 sensors
/esc_sensor.c \
614 SPEED_OPTIMISED_SRC
:= ""
615 SIZE_OPTIMISED_SRC
:= ""
617 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
618 SPEED_OPTIMISED_SRC
:= $(SPEED_OPTIMISED_SRC
) \
622 common
/typeconversion.c \
624 drivers
/buf_writer.c \
625 drivers
/bus_i2c_soft.c \
627 drivers
/bus_spi_soft.c \
629 drivers
/gyro_sync.c \
631 drivers
/light_led.c \
633 drivers
/rx_nrf24l01.c \
636 drivers
/pwm_output.c \
640 drivers
/serial_uart.c \
641 drivers
/sound_beeper.c \
642 drivers
/stack_check.c \
649 fc/runtime_config.c \
650 flight
/altitudehold.c \
658 io
/statusindicator.c \
676 scheduler
/scheduler.c \
677 sensors
/acceleration.c \
678 sensors
/boardalignment.c \
681 $(DEVICE_STDPERIPH_SRC
) \
682 blackbox
/blackbox.c \
683 blackbox
/blackbox_io.c \
684 drivers
/display_ug2864hsweg01.c \
685 drivers
/light_ws2811strip.c \
686 drivers
/serial_softserial.c \
688 io
/displayport_max7456.c \
689 io
/displayport_msp.c \
690 io
/displayport_oled.c \
693 telemetry
/telemetry.c \
697 telemetry
/smartport.c \
699 telemetry
/mavlink.c \
700 telemetry
/esc_telemetry.c \
702 SIZE_OPTIMISED_SRC
:= $(SIZE_OPTIMISED_SRC
) \
703 drivers
/serial_escserial.c \
706 io
/serial_4way_avrootloader.c \
707 io
/serial_4way_stk500v2.c \
710 cms
/cms_menu_blackbox.c \
711 cms
/cms_menu_builtin.c \
713 cms
/cms_menu_ledstrip.c \
714 cms
/cms_menu_misc.c \
720 ifeq ($(TARGET
),$(filter $(TARGET
),$(F4_TARGETS
)))
722 vcpf4
/stm32f4xx_it.c \
726 vcpf4
/usbd_cdc_vcp.c \
727 drivers
/serial_usb_vcp.c
728 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
)))
730 vcp_hal
/usbd_desc.c \
731 vcp_hal
/usbd_conf.c \
732 vcp_hal
/usbd_cdc_interface.c \
733 drivers
/serial_usb_vcp.c
743 drivers
/serial_usb_vcp.c \
747 STM32F10x_COMMON_SRC
= \
748 drivers
/adc_stm32f10x.c \
749 drivers
/bus_i2c_stm32f10x.c \
751 drivers
/gpio_stm32f10x.c \
753 drivers
/light_ws2811strip_stm32f10x.c \
754 drivers
/serial_uart_stm32f10x.c \
755 drivers
/system_stm32f10x.c \
756 drivers
/timer_stm32f10x.c
758 STM32F30x_COMMON_SRC
= \
759 target
/system_stm32f30x.c \
760 drivers
/adc_stm32f30x.c \
761 drivers
/bus_i2c_stm32f30x.c \
763 drivers
/gpio_stm32f30x.c \
764 drivers
/light_ws2811strip_stm32f30x.c \
765 drivers
/pwm_output_stm32f3xx.c \
766 drivers
/serial_uart_stm32f30x.c \
767 drivers
/system_stm32f30x.c \
768 drivers
/timer_stm32f30x.c
770 STM32F4xx_COMMON_SRC
= \
771 target
/system_stm32f4xx.c \
772 drivers
/accgyro_mpu.c \
773 drivers
/adc_stm32f4xx.c \
774 drivers
/bus_i2c_stm32f10x.c \
775 drivers
/dma_stm32f4xx.c \
776 drivers
/gpio_stm32f4xx.c \
778 drivers
/light_ws2811strip_stm32f4xx.c \
779 drivers
/pwm_output_stm32f4xx.c \
780 drivers
/serial_uart_stm32f4xx.c \
781 drivers
/system_stm32f4xx.c \
782 drivers
/timer_stm32f4xx.c
784 STM32F7xx_COMMON_SRC
= \
785 target
/system_stm32f7xx.c \
786 drivers
/accgyro_mpu.c \
787 drivers
/adc_stm32f7xx.c \
788 drivers
/bus_i2c_hal.c \
789 drivers
/dma_stm32f7xx.c \
790 drivers
/gpio_stm32f7xx.c \
792 drivers
/bus_spi_hal.c \
793 drivers
/pwm_output_stm32f7xx.c \
794 drivers
/timer_hal.c \
795 drivers
/timer_stm32f7xx.c \
796 drivers
/system_stm32f7xx.c \
797 drivers
/serial_uart_stm32f7xx.c \
798 drivers
/serial_uart_hal.c
800 F7EXCLUDES
= drivers
/bus_spi.c \
803 drivers
/serial_uart.c
805 # check if target.mk supplied
806 ifeq ($(TARGET
),$(filter $(TARGET
),$(F4_TARGETS
)))
807 TARGET_SRC
:= $(STARTUP_SRC
) $(STM32F4xx_COMMON_SRC
) $(TARGET_SRC
)
808 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
)))
809 TARGET_SRC
:= $(STARTUP_SRC
) $(STM32F7xx_COMMON_SRC
) $(TARGET_SRC
)
810 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
811 TARGET_SRC
:= $(STARTUP_SRC
) $(STM32F30x_COMMON_SRC
) $(TARGET_SRC
)
812 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F1_TARGETS
)))
813 TARGET_SRC
:= $(STARTUP_SRC
) $(STM32F10x_COMMON_SRC
) $(TARGET_SRC
)
816 ifneq ($(filter ONBOARDFLASH
,$(FEATURES
)),)
818 drivers
/flash_m25p16.c \
822 ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
) $(F4_TARGETS
) $(F3_TARGETS
)))
823 TARGET_SRC
+= $(HIGHEND_SRC
)
824 else ifneq ($(filter HIGHEND
,$(FEATURES
)),)
825 TARGET_SRC
+= $(HIGHEND_SRC
)
828 TARGET_SRC
+= $(COMMON_SRC
)
830 ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
)))
831 TARGET_SRC
:= $(filter-out ${F7EXCLUDES}, $(TARGET_SRC
))
834 ifneq ($(filter SDCARD
,$(FEATURES
)),)
837 drivers
/sdcard_standard.c \
838 io
/asyncfatfs
/asyncfatfs.c \
839 io
/asyncfatfs
/fat_standard.c
842 ifneq ($(filter VCP
,$(FEATURES
)),)
843 TARGET_SRC
+= $(VCP_SRC
)
845 # end target specific make file checks
848 # Search path and source files for the ST stdperiph library
849 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
851 ###############################################################################
852 # Things that might need changing to use different tools
855 # Find out if ccache is installed on the system
857 RESULT
= $(shell (which
$(CCACHE
) > /dev
/null
2>&1; echo
$$?
) )
863 CROSS_CC
:= $(CCACHE
) $(ARM_SDK_PREFIX
)gcc
864 CROSS_CXX
:= $(CCACHE
) $(ARM_SDK_PREFIX
)g
++
865 OBJCOPY
:= $(ARM_SDK_PREFIX
)objcopy
866 SIZE
:= $(ARM_SDK_PREFIX
)size
873 OPTIMISATION_BASE
:= -flto
-fuse-linker-plugin
-ffast-math
877 ifeq ($(TARGET
),$(filter $(TARGET
),$(F1_TARGETS
)))
878 OPTIMISE_DEFAULT
:= -Os
880 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
882 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
883 OPTIMISE_DEFAULT
:= -O2
884 OPTIMISE_SPEED
:= -Ofast
887 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SPEED
)
890 OPTIMISE_DEFAULT
:= -Ofast
892 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
896 CC_DEFAULT_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
897 CC_SPEED_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SPEED
)
898 CC_SIZE_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SIZE
)
901 OPTIMISE_DEFAULT
:= -O0
903 CC_DEBUG_OPTIMISATION
:= $(OPTIMISE_DEFAULT
)
905 LTO_FLAGS
:= $(OPTIMISE_DEFAULT
)
908 DEBUG_FLAGS
= -ggdb3
-DDEBUG
910 CFLAGS
+= $(ARCH_FLAGS
) \
911 $(addprefix -D
,$(OPTIONS
)) \
912 $(addprefix -I
,$(INCLUDE_DIRS
)) \
915 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
916 -ffunction-sections \
920 -DUSE_STDPERIPH_DRIVER \
923 -D
'__FORKNAME__="$(FORKNAME)"' \
924 -D
'__TARGET__="$(TARGET)"' \
925 -D
'__REVISION__="$(REVISION)"' \
929 ASFLAGS
= $(ARCH_FLAGS
) \
930 -x assembler-with-cpp \
931 $(addprefix -I
,$(INCLUDE_DIRS
)) \
943 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
944 -Wl
,-L
$(LINKER_DIR
) \
946 -Wl
,--no-wchar-size-warning \
949 ###############################################################################
950 # No user-serviceable parts below
951 ###############################################################################
953 CPPCHECK
= cppcheck
$(CSOURCES
) --enable
=all --platform
=unix64 \
954 --std
=c99
--inline-suppr
--quiet
--force \
955 $(addprefix -I
,$(INCLUDE_DIRS
)) \
956 -I
/usr
/include -I
/usr
/include/linux
959 # Things we will build
961 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(FC_VER
)_
$(TARGET
).bin
962 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(FC_VER
)_
$(TARGET
).hex
963 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
964 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $(TARGET_SRC
))))
965 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $(TARGET_SRC
))))
966 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
969 CLEAN_ARTIFACTS
:= $(TARGET_BIN
)
970 CLEAN_ARTIFACTS
+= $(TARGET_HEX
)
971 CLEAN_ARTIFACTS
+= $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
973 # Make sure build date and revision is updated on every incremental build
974 $(OBJECT_DIR
)/$(TARGET
)/build
/version.o
: $(TARGET_SRC
)
976 # List of buildable ELF files and their object dependencies.
977 # It would be nice to compute these lists, but that seems to be just beyond make.
979 $(TARGET_HEX
): $(TARGET_ELF
)
980 $(V0
) $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
982 $(TARGET_BIN
): $(TARGET_ELF
)
983 $(V0
) $(OBJCOPY
) -O binary
$< $@
985 $(TARGET_ELF
): $(TARGET_OBJS
)
986 $(V1
) echo Linking
$(TARGET
)
987 $(V1
) $(CROSS_CC
) -o
$@
$^
$(LDFLAGS
)
988 $(V0
) $(SIZE
) $(TARGET_ELF
)
992 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
993 $(V1
) mkdir
-p
$(dir $@
)
994 $(V1
) $(if
$(findstring $(subst .
/src
/main
/,,$<),$(SPEED_OPTIMISED_SRC
)), \
995 echo
"%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
996 $(CROSS_CC
) -c
-o
$@
$(CFLAGS
) $(CC_SPEED_OPTIMISATION
) $<, \
997 $(if
$(findstring $(subst .
/src
/main
/,,$<),$(SIZE_OPTIMISED_SRC
)), \
998 echo
"%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
999 $(CROSS_CC
) -c
-o
$@
$(CFLAGS
) $(CC_SIZE_OPTIMISATION
) $<, \
1000 echo
"%% $(notdir $<)" "$(STDOUT)" && \
1001 $(CROSS_CC
) -c
-o
$@
$(CFLAGS
) $(CC_DEFAULT_OPTIMISATION
) $<))
1003 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
1004 $(V1
) mkdir
-p
$(dir $@
)
1005 $(V1
) echo
"%% $(notdir $<)" "$(STDOUT)" && \
1006 $(CROSS_CC
) -c
-o
$@
$(CFLAGS
) $(CC_DEBUG_OPTIMISATION
) $<
1010 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
1011 $(V1
) mkdir
-p
$(dir $@
)
1012 $(V1
) echo
"%% $(notdir $<)" "$(STDOUT)"
1013 $(V1
) $(CROSS_CC
) -c
-o
$@
$(ASFLAGS
) $<
1015 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
1016 $(V1
) mkdir
-p
$(dir $@
)
1017 $(V1
) echo
"%% $(notdir $<)" "$(STDOUT)"
1018 $(V1
) $(CROSS_CC
) -c
-o
$@
$(ASFLAGS
) $<
1020 ## sample : Build all sample (travis) targets
1021 sample
: $(SAMPLE_TARGETS
)
1023 ## all : Build all valid targets
1024 all: $(VALID_TARGETS
)
1028 echo
"Building $@" && \
1029 $(MAKE
) binary hex TARGET
=$@
&& \
1030 echo
"Building $@ succeeded."
1034 CLEAN_TARGETS
= $(addprefix clean_
,$(VALID_TARGETS
) )
1035 TARGETS_CLEAN
= $(addsuffix _clean
,$(VALID_TARGETS
) )
1037 ## clean : clean up temporary / machine-generated files
1039 $(V0
) echo
"Cleaning $(TARGET)"
1040 $(V0
) rm -f
$(CLEAN_ARTIFACTS
)
1041 $(V0
) rm -rf
$(OBJECT_DIR
)/$(TARGET
)
1042 $(V0
) echo
"Cleaning $(TARGET) succeeded."
1044 ## clean_test : clean up temporary / machine-generated files (tests)
1046 $(V0
) cd src
/test && $(MAKE
) clean || true
1048 ## clean_<TARGET> : clean up one specific target
1050 $(V0
) $(MAKE
) -j TARGET
=$(subst clean_
,,$@
) clean
1052 ## <TARGET>_clean : clean up one specific target (alias for above)
1054 $(V0
) $(MAKE
) -j TARGET
=$(subst _clean
,,$@
) clean
1056 ## clean_all : clean all valid targets
1057 clean_all
:$(CLEAN_TARGETS
)
1059 ## all_clean : clean all valid targets (alias for above)
1060 all_clean
:$(TARGETS_CLEAN
)
1063 flash_
$(TARGET
): $(TARGET_HEX
)
1064 $(V0
) stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
1065 $(V0
) echo
-n
'R' >$(SERIAL_DEVICE
)
1066 $(V0
) stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
1068 ## flash : flash firmware (.hex) onto flight controller
1069 flash
: flash_
$(TARGET
)
1071 st-flash_
$(TARGET
): $(TARGET_BIN
)
1072 $(V0
) st-flash
--reset write
$< 0x08000000
1074 ## st-flash : flash firmware (.bin) onto flight controller
1075 st-flash
: st-flash_
$(TARGET
)
1078 $(V0
) $(MAKE
) -j
$(TARGET_BIN
)
1081 $(V0
) $(MAKE
) -j
$(TARGET_HEX
)
1083 unbrick_
$(TARGET
): $(TARGET_HEX
)
1084 $(V0
) stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
1085 $(V0
) stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
1087 ## unbrick : unbrick flight controller
1088 unbrick
: unbrick_
$(TARGET
)
1090 ## cppcheck : run static analysis on C source code
1091 cppcheck
: $(CSOURCES
)
1094 cppcheck-result.xml
: $(CSOURCES
)
1095 $(V0
) $(CPPCHECK
) --xml-version
=2 2> cppcheck-result.xml
1107 ## help : print this help message and exit
1108 help
: Makefile make
/tools.mk
1110 $(V0
) @echo
"Makefile for the $(FORKNAME) firmware"
1112 $(V0
) @echo
"Usage:"
1113 $(V0
) @echo
" make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1115 $(V0
) @echo
" make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1117 $(V0
) @echo
"Valid TARGET values are: $(VALID_TARGETS)"
1119 $(V0
) @sed
-n
's/^## //p' $?
1121 ## targets : print a list of all valid target platforms (for consumption by scripts)
1123 $(V0
) @echo
"Valid targets: $(VALID_TARGETS)"
1124 $(V0
) @echo
"Target: $(TARGET)"
1125 $(V0
) @echo
"Base target: $(BASE_TARGET)"
1127 ## test : run the cleanflight test suite
1128 ## junittest : run the cleanflight test suite, producing Junit XML result files.
1130 $(V0
) cd src
/test && $(MAKE
) $@
1132 # rebuild everything when makefile changes
1133 $(TARGET_OBJS
) : Makefile
1135 # include auto-generated dependencies
1136 -include $(TARGET_DEPS
)