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 ###############################################################################
  41 # Things that need to be maintained as the source changes
  42 #
  43
  44 FORKNAME      = betaflight
  45
  46 # Working directories
  47 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  48 SRC_DIR         = $(ROOT)/src/main
  49 OBJECT_DIR      = $(ROOT)/obj/main
  50 BIN_DIR         = $(ROOT)/obj
  51 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  52 INCLUDE_DIRS    = $(SRC_DIR) \
  53                   $(ROOT)/src/main/target
  54 LINKER_DIR      = $(ROOT)/src/main/target
  55
  56 # default xtal value for F4 targets
  57 HSE_VALUE       = 8000000
  58
  59 # used for turning on features like VCP and SDCARD
  60 FEATURES        =
  61
  62 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  63 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
  64
  65 #VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
  66 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  67 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  68 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  69 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  70
  71 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
  72 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
  73 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
  74 else
  75 BASE_TARGET    := $(TARGET)
  76 endif
  77
  78 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
  79 OPBL            = yes
  80 endif
  81
  82 # silently ignore if the file is not present. Allows for target specific.
  83 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
  84
  85 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
  86
  87 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
  88 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
  89 endif
  90
  91 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)),)
  92 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, or F411. Have you prepared a valid target.mk?)
  93 endif
  94
  95 128K_TARGETS  = $(F1_TARGETS)
  96 256K_TARGETS  = $(F3_TARGETS)
  97 512K_TARGETS  = $(F411_TARGETS)
  98 1024K_TARGETS = $(F405_TARGETS)
  99
 100 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 101 ifeq ($(FLASH_SIZE),)
 102 ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 103 FLASH_SIZE = 1024
 104 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 105 FLASH_SIZE = 512
 106 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 107 FLASH_SIZE = 256
 108 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 109 FLASH_SIZE = 128
 110 else
 111 $(error FLASH_SIZE not configured for target $(TARGET))
 112 endif
 113 endif
 114
 115 # note that there is no hardfault debugging startup file assembly handler for other platforms
 116 ifeq ($(DEBUG_HARDFAULTS),F3)
 117 CFLAGS               += -DDEBUG_HARDFAULTS
 118 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 119 else
 120 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 121 endif
 122
 123 REVISION = $(shell git log -1 --format="%h")
 124
 125 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
 126 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
 127 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
 128
 129 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 130
 131 # Search path for sources
 132 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 133 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 134 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 135 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 136 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 137
 138 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 139
 140 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 141 # F3 TARGETS
 142
 143 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 144 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 145 EXCLUDES        = stm32f30x_crc.c \
 146                   stm32f30x_can.c
 147
 148 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 149 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 150
 151 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 152 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 153                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 154
 155 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 156                    $(STDPERIPH_DIR)/inc \
 157                    $(CMSIS_DIR)/CM1/CoreSupport \
 158                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 159
 160 ifneq ($(filter VCP, $(FEATURES)),)
 161 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 162                    $(USBFS_DIR)/inc \
 163                    $(ROOT)/src/main/vcp
 164
 165 VPATH           := $(VPATH):$(USBFS_DIR)/src
 166
 167 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 168                         $(USBPERIPH_SRC)
 169 endif
 170
 171 ifneq ($(filter SDCARD, $(FEATURES)),)
 172 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 173                    $(FATFS_DIR) \
 174
 175 VPATH           := $(VPATH):$(FATFS_DIR)
 176 endif
 177
 178 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 179
 180 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 181 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 182 TARGET_FLAGS    = -D$(TARGET)
 183 # End F3 targets
 184 #
 185 # Start F4 targets
 186 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 187
 188 #STDPERIPH
 189 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 190 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 191 EXCLUDES        = stm32f4xx_crc.c \
 192                   stm32f4xx_can.c \
 193                   stm32f4xx_fmc.c \
 194                   stm32f4xx_sai.c \
 195                   stm32f4xx_cec.c \
 196                   stm32f4xx_dsi.c \
 197                   stm32f4xx_flash_ramfunc.c \
 198                   stm32f4xx_fmpi2c.c \
 199                   stm32f4xx_lptim.c \
 200                   stm32f4xx_qspi.c \
 201                   stm32f4xx_spdifrx.c \
 202                   stm32f4xx_cryp.c \
 203                   stm32f4xx_cryp_aes.c \
 204                   stm32f4xx_hash_md5.c \
 205                   stm32f4xx_cryp_des.c \
 206                   stm32f4xx_rtc.c \
 207                   stm32f4xx_hash.c \
 208                   stm32f4xx_dbgmcu.c \
 209                   stm32f4xx_cryp_tdes.c \
 210                   stm32f4xx_hash_sha1.c
 211
 212
 213 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 214 EXCLUDES += stm32f4xx_fsmc.c
 215 endif
 216
 217 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 218
 219 #USB
 220 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 221 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 222 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 223 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 224 EXCLUDES    = usb_bsp_template.c \
 225               usb_conf_template.c \
 226               usb_hcd_int.c \
 227               usb_hcd.c \
 228               usb_otg.c
 229
 230 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 231 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 232 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 233 EXCLUDES    = usbd_cdc_if_template.c
 234 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 235 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 236
 237 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 238                         $(USBOTG_SRC) \
 239                         $(USBCORE_SRC) \
 240                         $(USBCDC_SRC)
 241
 242 #CMSIS
 243 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 244 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 245                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 246 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 247                    $(STDPERIPH_DIR)/inc \
 248                    $(USBOTG_DIR)/inc \
 249                    $(USBCORE_DIR)/inc \
 250                    $(USBCDC_DIR)/inc \
 251                    $(USBFS_DIR)/inc \
 252                    $(CMSIS_DIR)/CM4/CoreSupport \
 253                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 254                    $(ROOT)/src/main/vcpf4
 255
 256 ifneq ($(filter SDCARD,$(FEATURES)),)
 257 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 258                    $(FATFS_DIR)
 259 VPATH           := $(VPATH):$(FATFS_DIR)
 260 endif
 261
 262 #Flags
 263 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 264
 265 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 266 DEVICE_FLAGS    = -DSTM32F411xE
 267 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 268 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 269 DEVICE_FLAGS    = -DSTM32F40_41xxx
 270 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 271 else
 272 $(error Unknown MCU for F4 target)
 273 endif
 274 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 275
 276 TARGET_FLAGS = -D$(TARGET)
 277 # End F4 targets
 278 #
 279 # Start F1 targets
 280 else
 281
 282 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 283 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 284 EXCLUDES        = stm32f10x_crc.c \
 285                   stm32f10x_cec.c \
 286                   stm32f10x_can.c
 287
 288 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 289
 290 # Search path and source files for the CMSIS sources
 291 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 292 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 293                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 294
 295 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 296                    $(STDPERIPH_DIR)/inc \
 297                    $(CMSIS_DIR)/CM3/CoreSupport \
 298                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 299
 300 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 301
 302 ifneq ($(filter VCP, $(FEATURES)),)
 303 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 304                    $(USBFS_DIR)/inc \
 305                    $(ROOT)/src/main/vcp
 306
 307 VPATH           := $(VPATH):$(USBFS_DIR)/src
 308
 309 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 310                         $(USBPERIPH_SRC)
 311
 312 endif
 313
 314 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 315 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 316 TARGET_FLAGS   := -D$(TARGET) -pedantic $(TARGET_FLAGS)
 317
 318 ifeq ($(DEVICE_FLAGS),)
 319 DEVICE_FLAGS    = -DSTM32F10X_MD
 320 endif
 321 DEVICE_FLAGS   += -DSTM32F10X
 322
 323 endif
 324 #
 325 # End F1 targets
 326 #
 327 ifneq ($(BASE_TARGET), $(TARGET))
 328 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 329 endif
 330
 331 ifneq ($(FLASH_SIZE),)
 332 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 333 endif
 334
 335 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 336 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 337
 338 ifeq ($(OPBL),yes)
 339 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 340 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 341 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 342 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 343 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 344 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 345 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 346 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 347 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 348 endif
 349 .DEFAULT_GOAL := binary
 350 else
 351 .DEFAULT_GOAL := hex
 352 endif
 353
 354 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 355                    $(TARGET_DIR)
 356
 357 VPATH           := $(VPATH):$(TARGET_DIR)
 358
 359 COMMON_SRC = \
 360             build_config.c \
 361             debug.c \
 362             version.c \
 363             $(TARGET_DIR_SRC) \
 364             main.c \
 365             mw.c \
 366             scheduler.c \
 367             scheduler_tasks.c \
 368             common/encoding.c \
 369             common/filter.c \
 370             common/maths.c \
 371             common/printf.c \
 372             common/typeconversion.c \
 373             config/config.c \
 374             config/runtime_config.c \
 375             drivers/adc.c \
 376             drivers/buf_writer.c \
 377             drivers/bus_i2c_soft.c \
 378             drivers/bus_spi.c \
 379             drivers/exti.c \
 380             drivers/gyro_sync.c \
 381             drivers/io.c \
 382             drivers/light_led.c \
 383             drivers/pwm_mapping.c \
 384             drivers/pwm_output.c \
 385             drivers/pwm_rx.c \
 386             drivers/rcc.c \
 387             drivers/serial.c \
 388             drivers/serial_uart.c \
 389             drivers/sound_beeper.c \
 390             drivers/system.c \
 391             drivers/timer.c \
 392             flight/altitudehold.c \
 393             flight/failsafe.c \
 394             flight/imu.c \
 395             flight/mixer.c \
 396             flight/pid.c \
 397             io/beeper.c \
 398             io/rc_controls.c \
 399             io/rc_curves.c \
 400             io/serial.c \
 401             io/serial_4way.c \
 402             io/serial_4way_avrootloader.c \
 403             io/serial_4way_stk500v2.c \
 404             io/serial_cli.c \
 405             io/serial_msp.c \
 406             io/statusindicator.c \
 407             rx/ibus.c \
 408             rx/jetiexbus.c \
 409             rx/msp.c \
 410             rx/pwm.c \
 411             rx/rx.c \
 412             rx/sbus.c \
 413             rx/spektrum.c \
 414             rx/sumd.c \
 415             rx/sumh.c \
 416             rx/xbus.c \
 417             sensors/acceleration.c \
 418             sensors/battery.c \
 419             sensors/boardalignment.c \
 420             sensors/compass.c \
 421             sensors/gyro.c \
 422             sensors/initialisation.c \
 423             $(CMSIS_SRC) \
 424             $(DEVICE_STDPERIPH_SRC)
 425
 426 HIGHEND_SRC = \
 427             blackbox/blackbox.c \
 428             blackbox/blackbox_io.c \
 429             common/colorconversion.c \
 430             drivers/display_ug2864hsweg01.c \
 431             flight/gtune.c \
 432             flight/navigation.c \
 433             flight/gps_conversion.c \
 434             io/gps.c \
 435             io/ledstrip.c \
 436             io/display.c \
 437             sensors/sonar.c \
 438             sensors/barometer.c \
 439             telemetry/telemetry.c \
 440             telemetry/frsky.c \
 441             telemetry/hott.c \
 442             telemetry/smartport.c \
 443             telemetry/ltm.c
 444
 445 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 446 VCP_SRC = \
 447             vcpf4/stm32f4xx_it.c \
 448             vcpf4/usb_bsp.c \
 449             vcpf4/usbd_desc.c \
 450             vcpf4/usbd_usr.c \
 451             vcpf4/usbd_cdc_vcp.c \
 452             drivers/serial_usb_vcp.c
 453 else
 454 VCP_SRC = \
 455             vcp/hw_config.c \
 456             vcp/stm32_it.c \
 457             vcp/usb_desc.c \
 458             vcp/usb_endp.c \
 459             vcp/usb_istr.c \
 460             vcp/usb_prop.c \
 461             vcp/usb_pwr.c \
 462             drivers/serial_usb_vcp.c \
 463             drivers/usb_io.c
 464 endif
 465
 466 STM32F10x_COMMON_SRC = \
 467             startup_stm32f10x_md_gcc.S \
 468             drivers/adc_stm32f10x.c \
 469             drivers/bus_i2c_stm32f10x.c \
 470             drivers/dma.c \
 471             drivers/gpio_stm32f10x.c \
 472             drivers/inverter.c \
 473             drivers/serial_softserial.c \
 474             drivers/serial_uart_stm32f10x.c \
 475             drivers/system_stm32f10x.c \
 476             drivers/timer_stm32f10x.c
 477
 478 STM32F30x_COMMON_SRC = \
 479             startup_stm32f30x_md_gcc.S \
 480             target/system_stm32f30x.c \
 481             drivers/adc_stm32f30x.c \
 482             drivers/bus_i2c_stm32f30x.c \
 483             drivers/dma.c \
 484             drivers/gpio_stm32f30x.c \
 485             drivers/light_ws2811strip_stm32f30x.c \
 486             drivers/serial_uart_stm32f30x.c \
 487             drivers/system_stm32f30x.c \
 488             drivers/timer_stm32f30x.c
 489
 490 STM32F4xx_COMMON_SRC = \
 491             startup_stm32f40xx.s \
 492             target/system_stm32f4xx.c \
 493             drivers/accgyro_mpu.c \
 494             drivers/adc_stm32f4xx.c \
 495             drivers/adc_stm32f4xx.c \
 496             drivers/bus_i2c_stm32f10x.c \
 497             drivers/gpio_stm32f4xx.c \
 498             drivers/inverter.c \
 499             drivers/serial_softserial.c \
 500             drivers/serial_uart_stm32f4xx.c \
 501             drivers/system_stm32f4xx.c \
 502             drivers/timer_stm32f4xx.c \
 503             drivers/dma_stm32f4xx.c
 504
 505 # check if target.mk supplied
 506 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 507 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 508 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 509 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 510 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 511 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 512 endif
 513
 514 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 515 TARGET_SRC += \
 516             drivers/flash_m25p16.c \
 517             io/flashfs.c
 518 endif
 519
 520 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS) $(F3_TARGETS)))
 521 TARGET_SRC += $(HIGHEND_SRC)
 522 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 523 TARGET_SRC += $(HIGHEND_SRC)
 524 endif
 525
 526 TARGET_SRC += $(COMMON_SRC)
 527
 528 ifneq ($(filter SDCARD,$(FEATURES)),)
 529 TARGET_SRC += \
 530             drivers/sdcard.c \
 531             drivers/sdcard_standard.c \
 532             io/asyncfatfs/asyncfatfs.c \
 533             io/asyncfatfs/fat_standard.c
 534 endif
 535
 536 ifneq ($(filter VCP,$(FEATURES)),)
 537 TARGET_SRC += $(VCP_SRC)
 538 endif
 539
 540 ifneq ($(filter MAX_OSD, $(FEATURES)),)
 541 TARGET_SRC += $(SRC_DIR)/drivers/max7456.c \
 542               $(SRC_DIR)/io/osd.c
 543 endif
 544 # end target specific make file checks
 545
 546
 547 # Search path and source files for the ST stdperiph library
 548 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 549
 550 ###############################################################################
 551 # Things that might need changing to use different tools
 552 #
 553
 554 # Tool names
 555 CC          = arm-none-eabi-gcc
 556 OBJCOPY     = arm-none-eabi-objcopy
 557 SIZE        = arm-none-eabi-size
 558
 559 #
 560 # Tool options.
 561 #
 562
 563 ifeq ($(DEBUG),GDB)
 564 OPTIMIZE    = -O0
 565 LTO_FLAGS   = $(OPTIMIZE)
 566 else
 567 OPTIMIZE    = -Os
 568 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 569 endif
 570
 571 DEBUG_FLAGS = -ggdb3 -DDEBUG
 572
 573 CFLAGS      += $(ARCH_FLAGS) \
 574               $(LTO_FLAGS) \
 575               $(addprefix -D,$(OPTIONS)) \
 576               $(addprefix -I,$(INCLUDE_DIRS)) \
 577               $(DEBUG_FLAGS) \
 578               -std=gnu99 \
 579               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 580               -ffunction-sections \
 581               -fdata-sections \
 582               $(DEVICE_FLAGS) \
 583               -DUSE_STDPERIPH_DRIVER \
 584               $(TARGET_FLAGS) \
 585               -D'__FORKNAME__="$(FORKNAME)"' \
 586               -D'__TARGET__="$(TARGET)"' \
 587               -D'__REVISION__="$(REVISION)"' \
 588               -save-temps=obj \
 589               -MMD -MP
 590
 591 ASFLAGS     = $(ARCH_FLAGS) \
 592               -x assembler-with-cpp \
 593               $(addprefix -I,$(INCLUDE_DIRS)) \
 594               -MMD -MP
 595
 596 LDFLAGS     = -lm \
 597               -nostartfiles \
 598               --specs=nano.specs \
 599               -lc \
 600               -lnosys \
 601               $(ARCH_FLAGS) \
 602               $(LTO_FLAGS) \
 603               $(DEBUG_FLAGS) \
 604               -static \
 605               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 606               -Wl,-L$(LINKER_DIR) \
 607               -Wl,--cref \
 608               -T$(LD_SCRIPT)
 609
 610 ###############################################################################
 611 # No user-serviceable parts below
 612 ###############################################################################
 613
 614 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 615                   --std=c99 --inline-suppr --quiet --force \
 616                   $(addprefix -I,$(INCLUDE_DIRS)) \
 617                   -I/usr/include -I/usr/include/linux
 618
 619 #
 620 # Things we will build
 621 #
 622 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 623 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 624 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 625 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 626 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 627 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 628
 629
 630 CLEAN_ARTIFACTS := $(TARGET_BIN)
 631 CLEAN_ARTIFACTS += $(TARGET_HEX)
 632 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 633
 634 # List of buildable ELF files and their object dependencies.
 635 # It would be nice to compute these lists, but that seems to be just beyond make.
 636
 637 $(TARGET_HEX): $(TARGET_ELF)
 638         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 639
 640 $(TARGET_BIN): $(TARGET_ELF)
 641         $(OBJCOPY) -O binary $< $@
 642
 643 $(TARGET_ELF):  $(TARGET_OBJS)
 644         @echo LD $(notdir $@)
 645         @$(CC) -o $@ $^ $(LDFLAGS)
 646         $(SIZE) $(TARGET_ELF)
 647
 648 # Compile
 649 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 650         @mkdir -p $(dir $@)
 651         @echo %% $(notdir $<)
 652         @$(CC) -c -o $@ $(CFLAGS) $<
 653
 654 # Assemble
 655 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 656         @mkdir -p $(dir $@)
 657         @echo %% $(notdir $<)
 658         @$(CC) -c -o $@ $(ASFLAGS) $<
 659
 660 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 661         @mkdir -p $(dir $@)
 662         @echo %% $(notdir $<)
 663         @$(CC) -c -o $@ $(ASFLAGS) $<
 664
 665
 666 ## all               : default task; compile C code, build firmware
 667 all:
 668         for build_target in $(VALID_TARGETS); do \
 669                 echo "" && \
 670                 echo "Building $$build_target" && \
 671                 $(MAKE) -j binary hex TARGET=$$build_target || \
 672                 break; \
 673                 echo "Building $$build_target succeeded."; \
 674         done
 675
 676 ## clean             : clean up all temporary / machine-generated files
 677 clean:
 678         rm -f $(CLEAN_ARTIFACTS)
 679         rm -rf $(OBJECT_DIR)/$(TARGET)
 680
 681 ## clean_test        : clean up all temporary / machine-generated files (tests)
 682 clean_test:
 683         cd src/test && $(MAKE) clean || true
 684
 685 ## clean_all_targets : clean all valid target platforms
 686 clean_all:
 687         for clean_target in $(VALID_TARGETS); do \
 688                 echo "" && \
 689                 echo "Cleaning $$clean_target" && \
 690                 $(MAKE) -j TARGET=$$clean_target clean || \
 691                 break; \
 692                 echo "Cleaning $$clean_target succeeded."; \
 693         done
 694
 695 flash_$(TARGET): $(TARGET_HEX)
 696         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 697         echo -n 'R' >$(SERIAL_DEVICE)
 698         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 699
 700 ## flash             : flash firmware (.hex) onto flight controller
 701 flash: flash_$(TARGET)
 702
 703 st-flash_$(TARGET): $(TARGET_BIN)
 704         st-flash --reset write $< 0x08000000
 705
 706 ## st-flash          : flash firmware (.bin) onto flight controller
 707 st-flash: st-flash_$(TARGET)
 708
 709 binary: $(TARGET_BIN)
 710 hex:    $(TARGET_HEX)
 711
 712 unbrick_$(TARGET): $(TARGET_HEX)
 713         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 714         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 715
 716 ## unbrick           : unbrick flight controller
 717 unbrick: unbrick_$(TARGET)
 718
 719 ## cppcheck          : run static analysis on C source code
 720 cppcheck: $(CSOURCES)
 721         $(CPPCHECK)
 722
 723 cppcheck-result.xml: $(CSOURCES)
 724         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 725
 726 ## help              : print this help message and exit
 727 help: Makefile
 728         @echo ""
 729         @echo "Makefile for the $(FORKNAME) firmware"
 730         @echo ""
 731         @echo "Usage:"
 732         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 733         @echo ""
 734         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 735         @echo ""
 736         @sed -n 's/^## //p' $<
 737
 738 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 739 targets:
 740         @echo "Valid targets: $(VALID_TARGETS)"
 741         @echo "Target:        $(TARGET)"
 742         @echo "Base target:   $(BASE_TARGET)"
 743
 744 ## test              : run the cleanflight test suite
 745 test:
 746         cd src/test && $(MAKE) test || true
 747
 748 # rebuild everything when makefile changes
 749 $(TARGET_OBJS) : Makefile
 750
 751 # include auto-generated dependencies
 752 -include $(TARGET_DEPS)