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 # Things that the user might override on the commandline
  15 #
  16
  17 # The target to build, see VALID_TARGETS below
  18 TARGET          ?= NAZE
  19
  20 # Compile-time options
  21 OPTIONS         ?=
  22
  23 # compile for OpenPilot BootLoader support
  24 OPBL ?=no
  25
  26 # Debugger optons, must be empty or GDB
  27 DEBUG ?=
  28
  29 # Serial port/Device for flashing
  30 SERIAL_DEVICE   ?= /dev/ttyUSB0
  31
  32 ###############################################################################
  33 # Things that need to be maintained as the source changes
  34 #
  35
  36 FORKNAME                         = cleanflight
  37
  38 VALID_TARGETS    = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC MASSIVEF3
  39
  40 # Valid targets for OP BootLoader support
  41 OPBL_VALID_TARGETS = CC3D
  42
  43 REVISION = $(shell git log -1 --format="%h")
  44
  45 # Working directories
  46 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  47 SRC_DIR          = $(ROOT)/src/main
  48 OBJECT_DIR       = $(ROOT)/obj/main
  49 BIN_DIR          = $(ROOT)/obj
  50 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  51 INCLUDE_DIRS = $(SRC_DIR)
  52 LINKER_DIR   = $(ROOT)/src/main/target
  53
  54 # Search path for sources
  55 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  56
  57 ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO MASSIVEF3))
  58
  59 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  60 USBFS_DIR               = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  61
  62 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  63 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  64
  65 EXCLUDES = stm32f30x_crc.c \
  66                 stm32f30x_can.c
  67
  68 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  69
  70 DEVICE_STDPERIPH_SRC = $(USBPERIPH_SRC) \
  71                 $(STDPERIPH_SRC)
  72
  73
  74 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x:$(USBFS_DIR)/src
  75 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  76                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
  77
  78 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  79                    $(STDPERIPH_DIR)/inc \
  80                    $(USBFS_DIR)/inc \
  81                    $(CMSIS_DIR)/CM1/CoreSupport \
  82                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x \
  83                    $(ROOT)/src/main/vcp
  84
  85 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_256k.ld
  86
  87 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
  88 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
  89 TARGET_FLAGS = -D$(TARGET)
  90 ifeq ($(TARGET),CHEBUZZF3)
  91 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
  92 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
  93 endif
  94
  95 ifeq ($(TARGET),MASSIVEF3)
  96 # MASSIVEF3 is a VARIANT of STM32F3DISCOVERY
  97 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
  98 endif
  99
 100
 101 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC))
 102
 103
 104 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 105
 106 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 107
 108 # Search path and source files for the CMSIS sources
 109 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 110 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 111                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 112
 113 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 114                    $(STDPERIPH_DIR)/inc \
 115                    $(CMSIS_DIR)/CM3/CoreSupport \
 116                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 117
 118 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_256k.ld
 119
 120 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 121 TARGET_FLAGS = -D$(TARGET) -pedantic
 122 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 123
 124 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 125
 126 else
 127
 128 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 129
 130 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 131
 132 # Search path and source files for the CMSIS sources
 133 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 134 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 135                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 136
 137 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 138                    $(STDPERIPH_DIR)/inc \
 139                    $(CMSIS_DIR)/CM3/CoreSupport \
 140                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 141
 142 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_128k.ld
 143
 144 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 145 TARGET_FLAGS = -D$(TARGET) -pedantic
 146 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 147
 148 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 149
 150 endif
 151
 152 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 153 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 154
 155 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 156                     $(TARGET_DIR)
 157
 158 VPATH           := $(VPATH):$(TARGET_DIR)
 159
 160 COMMON_SRC       = build_config.c \
 161                    version.c \
 162                    $(TARGET_SRC) \
 163                    config/config.c \
 164                    config/runtime_config.c \
 165                    common/maths.c \
 166                    common/printf.c \
 167                    common/typeconversion.c \
 168                    main.c \
 169                    mw.c \
 170                    flight/altitudehold.c \
 171                    flight/failsafe.c \
 172                    flight/flight.c \
 173                    flight/imu.c \
 174                    flight/mixer.c \
 175                    drivers/bus_i2c_soft.c \
 176                    drivers/serial.c \
 177                    drivers/sound_beeper.c \
 178                    drivers/system.c \
 179                    io/beeper.c \
 180                    io/rc_controls.c \
 181                    io/rc_curves.c \
 182                    io/serial.c \
 183                    io/serial_cli.c \
 184                    io/serial_msp.c \
 185                    io/statusindicator.c \
 186                    rx/rx.c \
 187                    rx/pwm.c \
 188                    rx/msp.c \
 189                    rx/sbus.c \
 190                    rx/sumd.c \
 191                    rx/sumh.c \
 192                    rx/spektrum.c \
 193                    sensors/acceleration.c \
 194                    sensors/battery.c \
 195                    sensors/boardalignment.c \
 196                    sensors/compass.c \
 197                    sensors/gyro.c \
 198                    sensors/initialisation.c \
 199                    $(CMSIS_SRC) \
 200                    $(DEVICE_STDPERIPH_SRC)
 201
 202 HIGHEND_SRC  = flight/autotune.c \
 203                    flight/navigation.c \
 204                    flight/gps_conversion.c \
 205                    common/colorconversion.c \
 206                    io/gps.c \
 207                    io/ledstrip.c \
 208                    io/display.c \
 209                    telemetry/telemetry.c \
 210                    telemetry/frsky.c \
 211                    telemetry/hott.c \
 212                    telemetry/msp.c \
 213                    sensors/sonar.c \
 214                    sensors/barometer.c
 215
 216 NAZE_SRC         = startup_stm32f10x_md_gcc.S \
 217                    drivers/accgyro_adxl345.c \
 218                    drivers/accgyro_bma280.c \
 219                    drivers/accgyro_l3g4200d.c \
 220                    drivers/accgyro_mma845x.c \
 221                    drivers/accgyro_mpu3050.c \
 222                    drivers/accgyro_mpu6050.c \
 223                    drivers/accgyro_spi_mpu6500.c \
 224                    drivers/adc.c \
 225                    drivers/adc_stm32f10x.c \
 226                    drivers/barometer_bmp085.c \
 227                    drivers/barometer_ms5611.c \
 228                    drivers/bus_spi.c \
 229                    drivers/bus_i2c_stm32f10x.c \
 230                    drivers/compass_hmc5883l.c \
 231                    drivers/display_ug2864hsweg01.h \
 232                    drivers/gpio_stm32f10x.c \
 233                    drivers/inverter.c \
 234                    drivers/light_led_stm32f10x.c \
 235                    drivers/light_ws2811strip.c \
 236                    drivers/light_ws2811strip_stm32f10x.c \
 237                    drivers/sonar_hcsr04.c \
 238                    drivers/pwm_mapping.c \
 239                    drivers/pwm_output.c \
 240                    drivers/pwm_rx.c \
 241                    drivers/serial_softserial.c \
 242                    drivers/serial_uart.c \
 243                    drivers/serial_uart_stm32f10x.c \
 244                    drivers/sound_beeper_stm32f10x.c \
 245                    drivers/system_stm32f10x.c \
 246                    drivers/timer.c \
 247                    hardware_revision.c \
 248                    $(HIGHEND_SRC) \
 249                    $(COMMON_SRC)
 250
 251 EUSTM32F103RC_SRC        = startup_stm32f10x_hd_gcc.S \
 252                    drivers/accgyro_adxl345.c \
 253                    drivers/accgyro_bma280.c \
 254                    drivers/accgyro_l3g4200d.c \
 255                    drivers/accgyro_mma845x.c \
 256                    drivers/accgyro_mpu3050.c \
 257                    drivers/accgyro_mpu6050.c \
 258                    drivers/accgyro_spi_mpu6000.c \
 259                    drivers/accgyro_spi_mpu6500.c \
 260                    drivers/adc.c \
 261                    drivers/adc_stm32f10x.c \
 262                    drivers/barometer_bmp085.c \
 263                    drivers/barometer_ms5611.c \
 264                    drivers/bus_i2c_stm32f10x.c \
 265                    drivers/bus_spi.c \
 266                    drivers/compass_hmc5883l.c \
 267                    drivers/display_ug2864hsweg01.h \
 268                    drivers/gpio_stm32f10x.c \
 269                    drivers/light_led_stm32f10x.c \
 270                    drivers/light_ws2811strip.c \
 271                    drivers/light_ws2811strip_stm32f10x.c \
 272                    drivers/pwm_mapping.c \
 273                    drivers/pwm_output.c \
 274                    drivers/pwm_rx.c \
 275                    drivers/serial_softserial.c \
 276                    drivers/serial_uart.c \
 277                    drivers/serial_uart_stm32f10x.c \
 278                    drivers/sonar_hcsr04.c \
 279                    drivers/sound_beeper_stm32f10x.c \
 280                    drivers/system_stm32f10x.c \
 281                    drivers/timer.c \
 282                    $(HIGHEND_SRC) \
 283                    $(COMMON_SRC)
 284
 285 OLIMEXINO_SRC    = startup_stm32f10x_md_gcc.S \
 286                    drivers/accgyro_mpu6050.c \
 287                    drivers/adc.c \
 288                    drivers/adc_stm32f10x.c \
 289                    drivers/barometer_bmp085.c \
 290                    drivers/bus_i2c_stm32f10x.c \
 291                    drivers/bus_spi.c \
 292                    drivers/compass_hmc5883l.c \
 293                    drivers/gpio_stm32f10x.c \
 294                    drivers/light_led_stm32f10x.c \
 295                    drivers/light_ws2811strip.c \
 296                    drivers/light_ws2811strip_stm32f10x.c \
 297                    drivers/pwm_mapping.c \
 298                    drivers/pwm_output.c \
 299                    drivers/pwm_rx.c \
 300                    drivers/serial_softserial.c \
 301                    drivers/serial_uart.c \
 302                    drivers/serial_uart_stm32f10x.c \
 303                    drivers/sonar_hcsr04.c \
 304                    drivers/sound_beeper_stm32f10x.c \
 305                    drivers/system_stm32f10x.c \
 306                    drivers/timer.c \
 307                    $(HIGHEND_SRC) \
 308                    $(COMMON_SRC)
 309
 310 ifeq ($(TARGET),CJMCU)
 311 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_64k.ld
 312 endif
 313
 314 ifeq ($(OPBL),yes)
 315 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 316 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_128k_opbl.ld
 317 .DEFAULT_GOAL := binary
 318 else
 319 $(error OPBL specified with a unsupported target)
 320 endif
 321 endif
 322
 323 CJMCU_SRC        = startup_stm32f10x_md_gcc.S \
 324                    drivers/adc.c \
 325                    drivers/adc_stm32f10x.c \
 326                    drivers/accgyro_mpu6050.c \
 327                    drivers/bus_i2c_stm32f10x.c \
 328                    drivers/compass_hmc5883l.c \
 329                    drivers/gpio_stm32f10x.c \
 330                    drivers/light_led_stm32f10x.c \
 331                    drivers/pwm_mapping.c \
 332                    drivers/pwm_output.c \
 333                    drivers/pwm_rx.c \
 334                    drivers/serial_uart.c \
 335                    drivers/serial_uart_stm32f10x.c \
 336                    drivers/sound_beeper_stm32f10x.c \
 337                    drivers/system_stm32f10x.c \
 338                    drivers/timer.c \
 339                    $(COMMON_SRC)
 340
 341 CC3D_SRC         = startup_stm32f10x_md_gcc.S \
 342                    drivers/accgyro_spi_mpu6000.c \
 343                    drivers/adc.c \
 344                    drivers/adc_stm32f10x.c \
 345                    drivers/bus_spi.c \
 346                    drivers/gpio_stm32f10x.c \
 347                    drivers/inverter.c \
 348                    drivers/light_led_stm32f10x.c \
 349                    drivers/light_ws2811strip.c \
 350                    drivers/light_ws2811strip_stm32f10x.c \
 351                    drivers/pwm_mapping.c \
 352                    drivers/pwm_output.c \
 353                    drivers/pwm_rx.c \
 354                    drivers/serial_softserial.c \
 355                    drivers/serial_uart.c \
 356                    drivers/serial_uart_stm32f10x.c \
 357                    drivers/sound_beeper_stm32f10x.c \
 358                    drivers/system_stm32f10x.c \
 359                    drivers/timer.c \
 360                    $(HIGHEND_SRC) \
 361                    $(COMMON_SRC)
 362
 363 STM32F30x_COMMON_SRC     = startup_stm32f30x_md_gcc.S \
 364                    drivers/adc.c \
 365                    drivers/adc_stm32f30x.c \
 366                    drivers/bus_i2c_stm32f30x.c \
 367                    drivers/bus_spi.c \
 368                    drivers/gpio_stm32f30x.c \
 369                    drivers/light_led_stm32f30x.c \
 370                    drivers/light_ws2811strip.c \
 371                    drivers/light_ws2811strip_stm32f30x.c \
 372                    drivers/pwm_mapping.c \
 373                    drivers/pwm_output.c \
 374                    drivers/pwm_rx.c \
 375                    drivers/serial_uart.c \
 376                    drivers/serial_uart_stm32f30x.c \
 377                    drivers/serial_usb_vcp.c \
 378                    drivers/sound_beeper_stm32f30x.c \
 379                    drivers/system_stm32f30x.c \
 380                    drivers/timer.c \
 381                    vcp/hw_config.c \
 382                    vcp/stm32_it.c \
 383                    vcp/usb_desc.c \
 384                    vcp/usb_endp.c \
 385                    vcp/usb_istr.c \
 386                    vcp/usb_prop.c \
 387                    vcp/usb_pwr.c
 388
 389 NAZE32PRO_SRC    = $(STM32F30x_COMMON_SRC) \
 390                    $(HIGHEND_SRC) \
 391                    $(COMMON_SRC)
 392
 393 STM32F3DISCOVERY_COMMON_SRC      = $(STM32F30x_COMMON_SRC) \
 394                    drivers/accgyro_l3gd20.c \
 395                    drivers/accgyro_l3gd20.c \
 396                    drivers/accgyro_lsm303dlhc.c
 397
 398 STM32F3DISCOVERY_SRC     = $(STM32F3DISCOVERY_COMMON_SRC) \
 399                    drivers/accgyro_adxl345.c \
 400                    drivers/accgyro_bma280.c \
 401                    drivers/accgyro_mma845x.c \
 402                    drivers/accgyro_mpu3050.c \
 403                    drivers/accgyro_mpu6050.c \
 404                    drivers/accgyro_l3g4200d.c \
 405                    $(HIGHEND_SRC) \
 406                    $(COMMON_SRC)
 407
 408 CHEBUZZF3_SRC    = $(STM32F3DISCOVERY_SRC) \
 409                    $(HIGHEND_SRC) \
 410                    $(COMMON_SRC)
 411
 412 MASSIVEF3_SRC    = $(STM32F3DISCOVERY_SRC) \
 413                    $(HIGHEND_SRC) \
 414                    $(COMMON_SRC)
 415
 416 ifeq ($(TARGET),MASSIVEF3)
 417 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_128k.ld
 418 endif
 419
 420 # Search path and source files for the ST stdperiph library
 421 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 422
 423 ###############################################################################
 424 # Things that might need changing to use different tools
 425 #
 426
 427 # Tool names
 428 CC               = arm-none-eabi-gcc
 429 OBJCOPY          = arm-none-eabi-objcopy
 430 SIZE             = arm-none-eabi-size
 431
 432 #
 433 # Tool options.
 434 #
 435
 436 ifeq ($(DEBUG),GDB)
 437 OPTIMIZE         = -O0
 438 LTO_FLAGS        = $(OPTIMIZE)
 439 else
 440 OPTIMIZE         = -Os
 441 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 442 endif
 443
 444 DEBUG_FLAGS      = -ggdb3
 445
 446 CFLAGS           = $(ARCH_FLAGS) \
 447                    $(LTO_FLAGS) \
 448                    $(addprefix -D,$(OPTIONS)) \
 449                    $(addprefix -I,$(INCLUDE_DIRS)) \
 450                    $(DEBUG_FLAGS) \
 451                    -std=gnu99 \
 452                    -Wall -Wextra -Wunsafe-loop-optimizations \
 453                    -ffunction-sections \
 454                    -fdata-sections \
 455                    $(DEVICE_FLAGS) \
 456                    -DUSE_STDPERIPH_DRIVER \
 457                    $(TARGET_FLAGS) \
 458                    -D'__FORKNAME__="$(FORKNAME)"' \
 459                    -D'__TARGET__="$(TARGET)"' \
 460                    -D'__REVISION__="$(REVISION)"' \
 461                    -save-temps=obj \
 462                    -MD
 463
 464 ASFLAGS          = $(ARCH_FLAGS) \
 465                    -x assembler-with-cpp \
 466                    $(addprefix -I,$(INCLUDE_DIRS)) \
 467                   -MD
 468
 469 LDFLAGS          = -lm \
 470                    -nostartfiles \
 471                    --specs=nano.specs \
 472                    -lc \
 473                    -lnosys \
 474                    $(ARCH_FLAGS) \
 475                    $(LTO_FLAGS) \
 476                    $(DEBUG_FLAGS) \
 477                    -static \
 478                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 479                    -T$(LD_SCRIPT)
 480
 481 ###############################################################################
 482 # No user-serviceable parts below
 483 ###############################################################################
 484
 485 #
 486 # Things we will build
 487 #
 488 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 489 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 490 endif
 491
 492 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 493 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 494 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 495 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 496 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 497 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 498
 499 # List of buildable ELF files and their object dependencies.
 500 # It would be nice to compute these lists, but that seems to be just beyond make.
 501
 502 $(TARGET_HEX): $(TARGET_ELF)
 503         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 504
 505 $(TARGET_BIN): $(TARGET_ELF)
 506         $(OBJCOPY) -O binary $< $@
 507
 508 $(TARGET_ELF):  $(TARGET_OBJS)
 509         $(CC) -o $@ $^ $(LDFLAGS)
 510         $(SIZE) $(TARGET_ELF)
 511
 512 # Compile
 513 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 514         @mkdir -p $(dir $@)
 515         @echo %% $(notdir $<)
 516         @$(CC) -c -o $@ $(CFLAGS) $<
 517
 518 # Assemble
 519 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 520         @mkdir -p $(dir $@)
 521         @echo %% $(notdir $<)
 522         @$(CC) -c -o $@ $(ASFLAGS) $<
 523
 524 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 525         @mkdir -p $(dir $@)
 526         @echo %% $(notdir $<)
 527         @$(CC) -c -o $@ $(ASFLAGS) $<
 528
 529 clean:
 530         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 531         rm -rf $(OBJECT_DIR)/$(TARGET)
 532
 533 flash_$(TARGET): $(TARGET_HEX)
 534         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 535         echo -n 'R' >$(SERIAL_DEVICE)
 536         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 537
 538 flash: flash_$(TARGET)
 539
 540 binary: $(TARGET_BIN)
 541
 542 unbrick_$(TARGET): $(TARGET_HEX)
 543         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 544         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 545
 546 unbrick: unbrick_$(TARGET)
 547
 548 help:
 549         @echo ""
 550         @echo "Makefile for the $(FORKNAME) firmware"
 551         @echo ""
 552         @echo "Usage:"
 553         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 554         @echo ""
 555         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 556         @echo ""
 557
 558 # rebuild everything when makefile changes
 559 $(TARGET_OBJS) : Makefile
 560
 561 # include auto-generated dependencies
 562 -include $(TARGET_DEPS)