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
85 TOOLS_DIR
:= $(ROOT
)/tools
87 BUILD_DIR
:= $(ROOT
)/build
88 DL_DIR
:= $(ROOT
)/downloads
92 # import macros that are OS specific
93 include $(ROOT
)/make
/$(OSFAMILY
).mk
95 # include the tools makefile
96 include $(ROOT
)/make
/tools.mk
98 # default xtal value for F4 targets
101 # used for turning on features like VCP and SDCARD
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
))
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 $(VALID_TARGETS
))
113 ifeq ($(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
117 BASE_TARGET
:= $(TARGET
)
120 ifeq ($(filter $(TARGET
),$(OPBL_TARGETS
)), $(TARGET
))
124 # silently ignore if the file is not present. Allows for target specific.
125 -include $(ROOT
)/src
/main
/target
/$(BASE_TARGET
)/target.mk
127 F4_TARGETS
= $(F405_TARGETS
) $(F411_TARGETS
)
128 F7_TARGETS
= $(F7X2RE_TARGETS
) $(F7X5XE_TARGETS
) $(F7X5XG_TARGETS
) $(F7X5XI_TARGETS
) $(F7X6XG_TARGETS
)
130 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
131 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
). Have you prepared a valid target.mk?
)
134 ifeq ($(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?
)
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
= $(F7X5XI_TARGETS
)
144 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
145 ifeq ($(FLASH_SIZE
),)
146 ifeq ($(TARGET
),$(filter $(TARGET
),$(2048K_TARGETS
)))
148 else ifeq ($(TARGET
),$(filter $(TARGET
),$(1024K_TARGETS
)))
150 else ifeq ($(TARGET
),$(filter $(TARGET
),$(512K_TARGETS
)))
152 else ifeq ($(TARGET
),$(filter $(TARGET
),$(256K_TARGETS
)))
154 else ifeq ($(TARGET
),$(filter $(TARGET
),$(128K_TARGETS
)))
157 $(error FLASH_SIZE not configured for target
$(TARGET
))
161 # note that there is no hardfault debugging startup file assembly handler for other platforms
162 ifeq ($(DEBUG_HARDFAULTS
),F3
)
163 CFLAGS
+= -DDEBUG_HARDFAULTS
164 STM32F30x_COMMON_SRC
= startup_stm32f3_debug_hardfault_handler.S
166 STM32F30x_COMMON_SRC
= startup_stm32f30x_md_gcc.S
169 ifeq ($(DEBUG_HARDFAULTS
),F7
)
170 CFLAGS
+= -DDEBUG_HARDFAULTS
173 REVISION
:= $(shell git log
-1 --format
="%h")
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}' )
179 FC_VER
:= $(FC_VER_MAJOR
).
$(FC_VER_MINOR
).
$(FC_VER_PATCH
)
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
))
188 CSOURCES
:= $(shell find
$(SRC_DIR
) -name
'*.c')
190 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
193 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
194 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
195 EXCLUDES
= stm32f30x_crc.c \
197 STARTUP_SRC
= startup_stm32f30x_md_gcc.S
199 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
200 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
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
))
206 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
207 $(STDPERIPH_DIR
)/inc \
208 $(CMSIS_DIR
)/CM1
/CoreSupport \
209 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
211 ifneq ($(filter VCP
, $(FEATURES
)),)
212 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
216 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
218 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
222 ifneq ($(filter SDCARD
, $(FEATURES
)),)
223 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
226 VPATH
:= $(VPATH
):$(FATFS_DIR
)
229 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k.
ld
231 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
232 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
236 else ifeq ($(TARGET
),$(filter $(TARGET
), $(F4_TARGETS
)))
239 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F4xx_StdPeriph_Driver
240 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
241 EXCLUDES
= stm32f4xx_crc.c \
247 stm32f4xx_flash_ramfunc.c \
251 stm32f4xx_spdifrx.c \
253 stm32f4xx_cryp_aes.c \
254 stm32f4xx_hash_md5.c \
255 stm32f4xx_cryp_des.c \
259 stm32f4xx_cryp_tdes.c \
260 stm32f4xx_hash_sha1.c
262 ifeq ($(TARGET
),$(filter $(TARGET
), $(F411_TARGETS
)))
263 EXCLUDES
+= stm32f4xx_fsmc.c
266 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
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 \
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
286 DEVICE_STDPERIPH_SRC
:= $(STDPERIPH_SRC
) \
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 \
301 $(CMSIS_DIR
)/CM4
/CoreSupport \
302 $(CMSIS_DIR
)/CM4
/DeviceSupport
/ST
/STM32F4xx \
303 $(ROOT
)/src
/main
/vcpf4
305 ifneq ($(filter SDCARD
,$(FEATURES
)),)
306 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
308 VPATH
:= $(VPATH
):$(FATFS_DIR
)
312 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-march
=armv7e-m
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
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
323 $(error Unknown MCU for F4 target
)
325 DEVICE_FLAGS
+= -DHSE_VALUE
=$(HSE_VALUE
)
330 else ifeq ($(TARGET
),$(filter $(TARGET
), $(F7_TARGETS
)))
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
339 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
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
))
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
))
352 VPATH
:= $(VPATH
):$(USBCDC_DIR
)/Src
:$(USBCORE_DIR
)/Src
354 DEVICE_STDPERIPH_SRC
:= $(STDPERIPH_SRC
) \
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 \
367 $(CMSIS_DIR
)/CM7
/Include \
368 $(CMSIS_DIR
)/CM7
/Device
/ST
/STM32F7xx
/Include \
369 $(ROOT
)/src
/main
/vcp_hal
371 ifneq ($(filter SDCARD
,$(FEATURES
)),)
372 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
374 VPATH
:= $(VPATH
):$(FATFS_DIR
)
378 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m7
-mfloat-abi
=hard
-mfpu
=fpv5-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
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
393 $(error Unknown MCU for F7 target
)
395 DEVICE_FLAGS
+= -DHSE_VALUE
=$(HSE_VALUE
)
397 TARGET_FLAGS
= -D
$(TARGET
)
404 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
405 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
406 EXCLUDES
= stm32f10x_crc.c \
409 STARTUP_SRC
= startup_stm32f10x_md_gcc.S
410 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
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
))
417 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
418 $(STDPERIPH_DIR
)/inc \
419 $(CMSIS_DIR
)/CM3
/CoreSupport \
420 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
422 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
424 ifneq ($(filter VCP
, $(FEATURES
)),)
425 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
429 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
431 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
) \
436 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
437 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
439 ifeq ($(DEVICE_FLAGS
),)
440 DEVICE_FLAGS
= -DSTM32F10X_MD
442 DEVICE_FLAGS
+= -DSTM32F10X
448 ifneq ($(BASE_TARGET
), $(TARGET
))
449 TARGET_FLAGS
:= $(TARGET_FLAGS
) -D
$(BASE_TARGET
)
452 ifneq ($(FLASH_SIZE
),)
453 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DFLASH_SIZE
=$(FLASH_SIZE
)
456 ifneq ($(HSE_VALUE
),)
457 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DHSE_VALUE
=$(HSE_VALUE
)
460 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(BASE_TARGET
)
461 TARGET_DIR_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
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
474 .DEFAULT_GOAL
:= binary
479 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
480 $(ROOT
)/lib
/main
/MAVLink
482 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
485 VPATH
:= $(VPATH
):$(TARGET_DIR
)
488 build
/build_config.c \
498 common
/typeconversion.c \
499 config
/config_eeprom.c \
501 config
/parameter_group.c \
503 drivers
/buf_writer.c \
504 drivers
/bus_i2c_soft.c \
506 drivers
/bus_spi_soft.c \
509 drivers
/gyro_sync.c \
511 drivers
/light_led.c \
513 drivers
/rx_nrf24l01.c \
516 drivers
/pwm_esc_detect.c \
517 drivers
/pwm_output.c \
521 drivers
/serial_uart.c \
522 drivers
/sound_beeper.c \
523 drivers
/stack_check.c \
535 fc/runtime_config.c \
537 flight
/altitudehold.c \
546 io
/serial_4way_avrootloader.c \
547 io
/serial_4way_stk500v2.c \
548 io
/statusindicator.c \
567 scheduler
/scheduler.c \
568 sensors
/acceleration.c \
570 sensors
/boardalignment.c \
573 sensors
/initialisation.c \
575 $(DEVICE_STDPERIPH_SRC
)
578 blackbox
/blackbox.c \
579 blackbox
/blackbox_io.c \
581 cms
/cms_menu_blackbox.c \
582 cms
/cms_menu_builtin.c \
584 cms
/cms_menu_ledstrip.c \
585 cms
/cms_menu_misc.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 \
597 io
/displayport_max7456.c \
598 io
/displayport_msp.c \
599 io
/displayport_oled.c \
604 sensors
/barometer.c \
605 telemetry
/telemetry.c \
610 telemetry
/smartport.c \
612 telemetry
/mavlink.c \
614 sensors
/esc_sensor.c \
617 SPEED_OPTIMISED_SRC
:= ""
618 SIZE_OPTIMISED_SRC
:= ""
620 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
621 SPEED_OPTIMISED_SRC
:= $(SPEED_OPTIMISED_SRC
) \
625 common
/typeconversion.c \
627 drivers
/buf_writer.c \
628 drivers
/bus_i2c_soft.c \
630 drivers
/bus_spi_soft.c \
632 drivers
/gyro_sync.c \
634 drivers
/light_led.c \
636 drivers
/rx_nrf24l01.c \
639 drivers
/pwm_output.c \
643 drivers
/serial_uart.c \
644 drivers
/sound_beeper.c \
645 drivers
/stack_check.c \
652 fc/runtime_config.c \
653 flight
/altitudehold.c \
661 io
/statusindicator.c \
679 scheduler
/scheduler.c \
680 sensors
/acceleration.c \
681 sensors
/boardalignment.c \
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 \
691 io
/displayport_max7456.c \
692 io
/displayport_msp.c \
693 io
/displayport_oled.c \
696 telemetry
/telemetry.c \
700 telemetry
/smartport.c \
702 telemetry
/mavlink.c \
703 telemetry
/esc_telemetry.c \
705 SIZE_OPTIMISED_SRC
:= $(SIZE_OPTIMISED_SRC
) \
706 drivers
/serial_escserial.c \
709 io
/serial_4way_avrootloader.c \
710 io
/serial_4way_stk500v2.c \
713 cms
/cms_menu_blackbox.c \
714 cms
/cms_menu_builtin.c \
716 cms
/cms_menu_ledstrip.c \
717 cms
/cms_menu_misc.c \
723 ifeq ($(TARGET
),$(filter $(TARGET
),$(F4_TARGETS
)))
725 vcpf4
/stm32f4xx_it.c \
729 vcpf4
/usbd_cdc_vcp.c \
730 drivers
/serial_usb_vcp.c
731 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
)))
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
746 drivers
/serial_usb_vcp.c \
750 STM32F10x_COMMON_SRC
= \
751 drivers
/adc_stm32f10x.c \
752 drivers
/bus_i2c_stm32f10x.c \
754 drivers
/gpio_stm32f10x.c \
756 drivers
/light_ws2811strip_stm32f10x.c \
757 drivers
/serial_uart_stm32f10x.c \
758 drivers
/system_stm32f10x.c \
759 drivers
/timer_stm32f10x.c
761 STM32F30x_COMMON_SRC
= \
762 target
/system_stm32f30x.c \
763 drivers
/adc_stm32f30x.c \
764 drivers
/bus_i2c_stm32f30x.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
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 \
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
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 \
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
803 F7EXCLUDES
= drivers
/bus_spi.c \
806 drivers
/serial_uart.c
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
)
819 ifneq ($(filter ONBOARDFLASH
,$(FEATURES
)),)
821 drivers
/flash_m25p16.c \
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
)
831 TARGET_SRC
+= $(COMMON_SRC
)
833 ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
)))
834 TARGET_SRC
:= $(filter-out ${F7EXCLUDES}, $(TARGET_SRC
))
837 ifneq ($(filter SDCARD
,$(FEATURES
)),)
840 drivers
/sdcard_standard.c \
841 io
/asyncfatfs
/asyncfatfs.c \
842 io
/asyncfatfs
/fat_standard.c
845 ifneq ($(filter VCP
,$(FEATURES
)),)
846 TARGET_SRC
+= $(VCP_SRC
)
848 # end target specific make file checks
851 # Search path and source files for the ST stdperiph library
852 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
854 ###############################################################################
855 # Things that might need changing to use different tools
858 # Find out if ccache is installed on the system
860 RESULT
= $(shell (which
$(CCACHE
) > /dev
/null
2>&1; echo
$$?
) )
866 CROSS_CC
:= $(CCACHE
) $(ARM_SDK_PREFIX
)gcc
867 CROSS_CXX
:= $(CCACHE
) $(ARM_SDK_PREFIX
)g
++
868 OBJCOPY
:= $(ARM_SDK_PREFIX
)objcopy
869 SIZE
:= $(ARM_SDK_PREFIX
)size
876 OPTIMISATION_BASE
:= -flto
-fuse-linker-plugin
-ffast-math
880 ifeq ($(TARGET
),$(filter $(TARGET
),$(F1_TARGETS
)))
881 OPTIMISE_DEFAULT
:= -Os
883 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
885 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
886 OPTIMISE_DEFAULT
:= -O2
887 OPTIMISE_SPEED
:= -Ofast
890 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SPEED
)
893 OPTIMISE_DEFAULT
:= -Ofast
895 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
899 CC_DEFAULT_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
900 CC_SPEED_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SPEED
)
901 CC_SIZE_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SIZE
)
904 OPTIMISE_DEFAULT
:= -O0
906 CC_DEBUG_OPTIMISATION
:= $(OPTIMISE_DEFAULT
)
908 LTO_FLAGS
:= $(OPTIMISE_DEFAULT
)
911 DEBUG_FLAGS
= -ggdb3
-DDEBUG
913 CFLAGS
+= $(ARCH_FLAGS
) \
914 $(addprefix -D
,$(OPTIONS
)) \
915 $(addprefix -I
,$(INCLUDE_DIRS
)) \
918 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
919 -ffunction-sections \
923 -DUSE_STDPERIPH_DRIVER \
926 -D
'__FORKNAME__="$(FORKNAME)"' \
927 -D
'__TARGET__="$(TARGET)"' \
928 -D
'__REVISION__="$(REVISION)"' \
932 ASFLAGS
= $(ARCH_FLAGS
) \
933 -x assembler-with-cpp \
934 $(addprefix -I
,$(INCLUDE_DIRS
)) \
946 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
947 -Wl
,-L
$(LINKER_DIR
) \
949 -Wl
,--no-wchar-size-warning \
952 ###############################################################################
953 # No user-serviceable parts below
954 ###############################################################################
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
962 # Things we will build
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
972 CLEAN_ARTIFACTS
:= $(TARGET_BIN
)
973 CLEAN_ARTIFACTS
+= $(TARGET_HEX
)
974 CLEAN_ARTIFACTS
+= $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
976 # Make sure build date and revision is updated on every incremental build
977 $(OBJECT_DIR
)/$(TARGET
)/build
/version.o
: $(TARGET_SRC
)
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.
982 $(TARGET_HEX
): $(TARGET_ELF
)
983 $(V0
) $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
985 $(TARGET_BIN
): $(TARGET_ELF
)
986 $(V0
) $(OBJCOPY
) -O binary
$< $@
988 $(TARGET_ELF
): $(TARGET_OBJS
)
989 $(V1
) echo Linking
$(TARGET
)
990 $(V1
) $(CROSS_CC
) -o
$@
$^
$(LDFLAGS
)
991 $(V0
) $(SIZE
) $(TARGET_ELF
)
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
) $<))
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
) $<
1013 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
1014 $(V1
) mkdir
-p
$(dir $@
)
1015 $(V1
) echo
"%% $(notdir $<)" "$(STDOUT)"
1016 $(V1
) $(CROSS_CC
) -c
-o
$@
$(ASFLAGS
) $<
1018 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
1019 $(V1
) mkdir
-p
$(dir $@
)
1020 $(V1
) echo
"%% $(notdir $<)" "$(STDOUT)"
1021 $(V1
) $(CROSS_CC
) -c
-o
$@
$(ASFLAGS
) $<
1023 ## sample : Build all sample (travis) targets
1024 sample
: $(SAMPLE_TARGETS
)
1026 ## all : Build all valid targets
1027 all: $(VALID_TARGETS
)
1031 echo
"Building $@" && \
1032 $(MAKE
) binary hex TARGET
=$@
&& \
1033 echo
"Building $@ succeeded."
1037 CLEAN_TARGETS
= $(addprefix clean_
,$(VALID_TARGETS
) )
1038 TARGETS_CLEAN
= $(addsuffix _clean
,$(VALID_TARGETS
) )
1040 ## clean : clean up temporary / machine-generated files
1042 $(V0
) echo
"Cleaning $(TARGET)"
1043 $(V0
) rm -f
$(CLEAN_ARTIFACTS
)
1044 $(V0
) rm -rf
$(OBJECT_DIR
)/$(TARGET
)
1045 $(V0
) echo
"Cleaning $(TARGET) succeeded."
1047 ## clean_test : clean up temporary / machine-generated files (tests)
1049 $(V0
) cd src
/test && $(MAKE
) clean || true
1051 ## clean_<TARGET> : clean up one specific target
1053 $(V0
) $(MAKE
) -j TARGET
=$(subst clean_
,,$@
) clean
1055 ## <TARGET>_clean : clean up one specific target (alias for above)
1057 $(V0
) $(MAKE
) -j TARGET
=$(subst _clean
,,$@
) clean
1059 ## clean_all : clean all valid targets
1060 clean_all
:$(CLEAN_TARGETS
)
1062 ## all_clean : clean all valid targets (alias for above)
1063 all_clean
:$(TARGETS_CLEAN
)
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
)
1071 ## flash : flash firmware (.hex) onto flight controller
1072 flash
: flash_
$(TARGET
)
1074 st-flash_
$(TARGET
): $(TARGET_BIN
)
1075 $(V0
) st-flash
--reset write
$< 0x08000000
1077 ## st-flash : flash firmware (.bin) onto flight controller
1078 st-flash
: st-flash_
$(TARGET
)
1081 $(V0
) $(MAKE
) -j
$(TARGET_BIN
)
1084 $(V0
) $(MAKE
) -j
$(TARGET_HEX
)
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
)
1090 ## unbrick : unbrick flight controller
1091 unbrick
: unbrick_
$(TARGET
)
1093 ## cppcheck : run static analysis on C source code
1094 cppcheck
: $(CSOURCES
)
1097 cppcheck-result.xml
: $(CSOURCES
)
1098 $(V0
) $(CPPCHECK
) --xml-version
=2 2> cppcheck-result.xml
1110 ## help : print this help message and exit
1111 help
: Makefile make
/tools.mk
1113 $(V0
) @echo
"Makefile for the $(FORKNAME) firmware"
1115 $(V0
) @echo
"Usage:"
1116 $(V0
) @echo
" make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1118 $(V0
) @echo
" make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1120 $(V0
) @echo
"Valid TARGET values are: $(VALID_TARGETS)"
1122 $(V0
) @sed
-n
's/^## //p' $?
1124 ## targets : print a list of all valid target platforms (for consumption by scripts)
1126 $(V0
) @echo
"Valid targets: $(VALID_TARGETS)"
1127 $(V0
) @echo
"Target: $(TARGET)"
1128 $(V0
) @echo
"Base target: $(BASE_TARGET)"
1130 ## test : run the cleanflight test suite
1131 ## junittest : run the cleanflight test suite, producing Junit XML result files.
1133 $(V0
) cd src
/test && $(MAKE
) $@
1135 # rebuild everything when makefile changes
1136 $(TARGET_OBJS
) : Makefile
1138 # include auto-generated dependencies
1139 -include $(TARGET_DEPS
)