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 cleanflight firmware.
10 # Invoke this with 'make help' to see the list of supported targets.
13 ###############################################################################
14 # Things that the user might override on the commandline
17 # The target to build, see VALID_TARGETS below
20 # Compile-time options
23 # compile for OpenPilot BootLoader support
26 # Debugger optons, must be empty or GDB
29 # Serial port/Device for flashing
30 SERIAL_DEVICE ?
= $(firstword $(wildcard /dev
/ttyUSB
*) no-port-found
)
32 # Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
35 ###############################################################################
36 # Things that need to be maintained as the source changes
41 VALID_TARGETS
= NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1 ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO IRCFUSIONF3
43 # Valid targets for OP BootLoader support
44 OPBL_VALID_TARGETS
= CC3D
46 # Configure default flash sizes for the targets
48 ifeq ($(TARGET
),$(filter $(TARGET
),CJMCU
))
50 else ifeq ($(TARGET
),$(filter $(TARGET
),ALIENWIIF1 CC3D NAZE OLIMEXINO RMDO
))
52 else ifeq ($(TARGET
),$(filter $(TARGET
),EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB
))
55 $(error FLASH_SIZE not configured for target
)
59 REVISION
= $(shell git log
-1 --format
="%h")
62 ROOT
:= $(patsubst %/,%,$(dir $(lastword
$(MAKEFILE_LIST
))))
63 SRC_DIR
= $(ROOT
)/src
/main
64 OBJECT_DIR
= $(ROOT
)/obj
/main
66 CMSIS_DIR
= $(ROOT
)/lib
/main
/CMSIS
67 INCLUDE_DIRS
= $(SRC_DIR
)
68 LINKER_DIR
= $(ROOT
)/src
/main
/target
70 # Search path for sources
71 VPATH
:= $(SRC_DIR
):$(SRC_DIR
)/startup
72 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
73 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
75 ifeq ($(TARGET
),$(filter $(TARGET
),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO
))
77 CSOURCES
:= $(shell find
$(SRC_DIR
) -name
'*.c')
79 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
81 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
83 EXCLUDES
= stm32f30x_crc.c \
86 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
88 DEVICE_STDPERIPH_SRC
= \
92 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
93 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
94 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
96 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
97 $(STDPERIPH_DIR
)/inc \
98 $(CMSIS_DIR
)/CM1
/CoreSupport \
99 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
101 ifneq ($(TARGET
),$(filter $(TARGET
),SPRACINGF3 IRCFUSIONF3
))
102 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
106 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
108 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
113 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k.
ld
115 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
116 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
117 TARGET_FLAGS
= -D
$(TARGET
)
118 ifeq ($(TARGET
),CHEBUZZF3
)
119 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
120 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSTM32F3DISCOVERY
123 ifeq ($(TARGET
),$(filter $(TARGET
),RMDO IRCFUSIONF3
))
124 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
125 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSPRACINGF3
128 else ifeq ($(TARGET
),$(filter $(TARGET
),EUSTM32F103RC PORT103R
))
131 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
133 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
135 EXCLUDES
= stm32f10x_crc.c \
139 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
141 # Search path and source files for the CMSIS sources
142 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
143 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
144 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
146 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
147 $(STDPERIPH_DIR
)/inc \
148 $(CMSIS_DIR
)/CM3
/CoreSupport \
149 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
151 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
153 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
154 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
155 DEVICE_FLAGS
= -DSTM32F10X_HD
-DSTM32F10X
157 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
161 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
163 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
165 EXCLUDES
= stm32f10x_crc.c \
169 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
171 # Search path and source files for the CMSIS sources
172 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
173 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
174 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
176 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
177 $(STDPERIPH_DIR
)/inc \
178 $(CMSIS_DIR
)/CM3
/CoreSupport \
179 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
181 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
183 ifeq ($(TARGET
),CC3D
)
184 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
188 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
190 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
) \
195 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
197 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
198 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
199 DEVICE_FLAGS
= -DSTM32F10X_MD
-DSTM32F10X
203 ifneq ($(FLASH_SIZE
),)
204 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DFLASH_SIZE
=$(FLASH_SIZE
)
207 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(TARGET
)
208 TARGET_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
210 ifeq ($(TARGET
),ALIENWIIF1
)
211 # ALIENWIIF1 is a VARIANT of NAZE
212 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DNAZE
-DALIENWII32
213 TARGET_DIR
= $(ROOT
)/src
/main
/target
/NAZE
216 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
219 VPATH
:= $(VPATH
):$(TARGET_DIR
)
221 COMMON_SRC
= build_config.c \
226 config
/runtime_config.c \
229 common
/typeconversion.c \
234 flight
/altitudehold.c \
240 drivers
/bus_i2c_soft.c \
242 drivers
/sound_beeper.c \
244 drivers
/gyro_sync.c \
252 io
/statusindicator.c \
261 sensors
/acceleration.c \
263 sensors
/boardalignment.c \
266 sensors
/initialisation.c \
268 $(DEVICE_STDPERIPH_SRC
)
272 flight
/navigation.c \
273 flight
/gps_conversion.c \
274 common
/colorconversion.c \
278 telemetry
/telemetry.c \
282 telemetry
/smartport.c \
284 sensors
/barometer.c \
285 blackbox
/blackbox.c \
286 blackbox
/blackbox_io.c
296 drivers
/serial_usb_vcp.c
298 NAZE_SRC
= startup_stm32f10x_md_gcc.S \
299 drivers
/accgyro_adxl345.c \
300 drivers
/accgyro_bma280.c \
301 drivers
/accgyro_l3g4200d.c \
302 drivers
/accgyro_mma845x.c \
303 drivers
/accgyro_mpu.c \
304 drivers
/accgyro_mpu3050.c \
305 drivers
/accgyro_mpu6050.c \
306 drivers
/accgyro_mpu6500.c \
307 drivers
/accgyro_spi_mpu6500.c \
309 drivers
/adc_stm32f10x.c \
310 drivers
/barometer_bmp085.c \
311 drivers
/barometer_bmp280.c \
312 drivers
/barometer_ms5611.c \
313 drivers
/barometer_bmp280.c \
315 drivers
/bus_i2c_stm32f10x.c \
316 drivers
/compass_hmc5883l.c \
317 drivers
/display_ug2864hsweg01.h \
318 drivers
/flash_m25p16.c \
319 drivers
/gpio_stm32f10x.c \
321 drivers
/light_led_stm32f10x.c \
322 drivers
/light_ws2811strip.c \
323 drivers
/light_ws2811strip_stm32f10x.c \
324 drivers
/sonar_hcsr04.c \
325 drivers
/pwm_mapping.c \
326 drivers
/pwm_output.c \
328 drivers
/serial_softserial.c \
329 drivers
/serial_uart.c \
330 drivers
/serial_uart_stm32f10x.c \
331 drivers
/sound_beeper_stm32f10x.c \
332 drivers
/system_stm32f10x.c \
334 drivers
/timer_stm32f10x.c \
336 hardware_revision.c \
340 ALIENWIIF1_SRC
= $(NAZE_SRC
)
342 EUSTM32F103RC_SRC
= startup_stm32f10x_hd_gcc.S \
343 drivers
/accgyro_adxl345.c \
344 drivers
/accgyro_bma280.c \
345 drivers
/accgyro_l3g4200d.c \
346 drivers
/accgyro_mma845x.c \
347 drivers
/accgyro_mpu.c \
348 drivers
/accgyro_mpu3050.c \
349 drivers
/accgyro_mpu6050.c \
350 drivers
/accgyro_spi_mpu6000.c \
351 drivers
/accgyro_spi_mpu6500.c \
353 drivers
/adc_stm32f10x.c \
354 drivers
/barometer_bmp085.c \
355 drivers
/barometer_bmp280.c \
356 drivers
/barometer_ms5611.c \
357 drivers
/bus_i2c_stm32f10x.c \
359 drivers
/compass_ak8975.c \
360 drivers
/compass_hmc5883l.c \
361 drivers
/display_ug2864hsweg01.c \
362 drivers
/flash_m25p16.c \
363 drivers
/gpio_stm32f10x.c \
365 drivers
/light_led_stm32f10x.c \
366 drivers
/light_ws2811strip.c \
367 drivers
/light_ws2811strip_stm32f10x.c \
368 drivers
/pwm_mapping.c \
369 drivers
/pwm_output.c \
371 drivers
/serial_softserial.c \
372 drivers
/serial_uart.c \
373 drivers
/serial_uart_stm32f10x.c \
374 drivers
/sonar_hcsr04.c \
375 drivers
/sound_beeper_stm32f10x.c \
376 drivers
/system_stm32f10x.c \
378 drivers
/timer_stm32f10x.c \
383 PORT103R_SRC
= $(EUSTM32F103RC_SRC
)
385 OLIMEXINO_SRC
= startup_stm32f10x_md_gcc.S \
386 drivers
/accgyro_mpu.c \
387 drivers
/accgyro_mpu6050.c \
389 drivers
/adc_stm32f10x.c \
390 drivers
/barometer_bmp085.c \
391 drivers
/barometer_bmp280.c \
392 drivers
/bus_i2c_stm32f10x.c \
394 drivers
/compass_hmc5883l.c \
395 drivers
/gpio_stm32f10x.c \
396 drivers
/light_led_stm32f10x.c \
397 drivers
/light_ws2811strip.c \
398 drivers
/light_ws2811strip_stm32f10x.c \
399 drivers
/pwm_mapping.c \
400 drivers
/pwm_output.c \
402 drivers
/serial_softserial.c \
403 drivers
/serial_uart.c \
404 drivers
/serial_uart_stm32f10x.c \
405 drivers
/sonar_hcsr04.c \
406 drivers
/sound_beeper_stm32f10x.c \
407 drivers
/system_stm32f10x.c \
409 drivers
/timer_stm32f10x.c \
414 ifneq ($(filter $(TARGET
),$(OPBL_VALID_TARGETS
)),)
415 TARGET_FLAGS
:= -DOPBL
$(TARGET_FLAGS
)
416 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k_opbl.
ld
417 .DEFAULT_GOAL
:= binary
419 $(error OPBL specified with a unsupported target
)
424 startup_stm32f10x_md_gcc.S \
426 drivers
/adc_stm32f10x.c \
427 drivers
/accgyro_mpu.c \
428 drivers
/accgyro_mpu6050.c \
429 drivers
/bus_i2c_stm32f10x.c \
430 drivers
/compass_hmc5883l.c \
431 drivers
/gpio_stm32f10x.c \
432 drivers
/light_led_stm32f10x.c \
433 drivers
/pwm_mapping.c \
434 drivers
/pwm_output.c \
436 drivers
/serial_uart.c \
437 drivers
/serial_uart_stm32f10x.c \
438 drivers
/sound_beeper_stm32f10x.c \
439 drivers
/system_stm32f10x.c \
441 drivers
/timer_stm32f10x.c \
442 hardware_revision.c \
444 blackbox
/blackbox.c \
445 blackbox
/blackbox_io.c \
449 startup_stm32f10x_md_gcc.S \
450 drivers
/accgyro_mpu.c \
451 drivers
/accgyro_spi_mpu6000.c \
453 drivers
/adc_stm32f10x.c \
454 drivers
/barometer_bmp085.c \
455 drivers
/barometer_bmp280.c \
456 drivers
/barometer_ms5611.c \
458 drivers
/bus_i2c_stm32f10x.c \
459 drivers
/compass_hmc5883l.c \
460 drivers
/display_ug2864hsweg01.c \
461 drivers
/flash_m25p16.c \
462 drivers
/gpio_stm32f10x.c \
464 drivers
/light_led_stm32f10x.c \
465 drivers
/light_ws2811strip.c \
466 drivers
/light_ws2811strip_stm32f10x.c \
467 drivers
/pwm_mapping.c \
468 drivers
/pwm_output.c \
470 drivers
/serial_softserial.c \
471 drivers
/serial_uart.c \
472 drivers
/serial_uart_stm32f10x.c \
473 drivers
/sonar_hcsr04.c \
474 drivers
/sound_beeper_stm32f10x.c \
475 drivers
/system_stm32f10x.c \
477 drivers
/timer_stm32f10x.c \
483 STM32F30x_COMMON_SRC
= \
484 startup_stm32f30x_md_gcc.S \
486 drivers
/adc_stm32f30x.c \
487 drivers
/bus_i2c_stm32f30x.c \
489 drivers
/gpio_stm32f30x.c \
490 drivers
/light_led_stm32f30x.c \
491 drivers
/light_ws2811strip.c \
492 drivers
/light_ws2811strip_stm32f30x.c \
493 drivers
/pwm_mapping.c \
494 drivers
/pwm_output.c \
496 drivers
/serial_uart.c \
497 drivers
/serial_uart_stm32f30x.c \
498 drivers
/sound_beeper_stm32f30x.c \
499 drivers
/system_stm32f30x.c \
501 drivers
/timer_stm32f30x.c
504 $(STM32F30x_COMMON_SRC
) \
509 STM32F3DISCOVERY_COMMON_SRC
= \
510 $(STM32F30x_COMMON_SRC
) \
511 drivers
/accgyro_l3gd20.c \
512 drivers
/accgyro_l3gd20.c \
513 drivers
/accgyro_lsm303dlhc.c \
514 drivers
/compass_hmc5883l.c \
517 STM32F3DISCOVERY_SRC
= \
518 $(STM32F3DISCOVERY_COMMON_SRC
) \
519 drivers
/accgyro_adxl345.c \
520 drivers
/accgyro_bma280.c \
521 drivers
/accgyro_mma845x.c \
522 drivers
/accgyro_mpu.c \
523 drivers
/accgyro_mpu3050.c \
524 drivers
/accgyro_mpu6050.c \
525 drivers
/accgyro_l3g4200d.c \
526 drivers
/barometer_ms5611.c \
527 drivers
/barometer_bmp280.c \
528 drivers
/compass_ak8975.c \
533 $(STM32F3DISCOVERY_SRC
) \
538 $(STM32F30x_COMMON_SRC
) \
539 drivers
/display_ug2864hsweg01.c \
540 drivers
/accgyro_mpu.c \
541 drivers
/accgyro_mpu6500.c \
542 drivers
/accgyro_spi_mpu6500.c \
543 drivers
/accgyro_mpu6500.c \
544 drivers
/barometer_ms5611.c \
545 drivers
/compass_ak8975.c \
546 drivers
/compass_hmc5883l.c \
547 drivers
/serial_usb_vcp.c \
553 $(STM32F30x_COMMON_SRC
) \
554 drivers
/display_ug2864hsweg01.c \
555 drivers
/accgyro_mpu.c \
556 drivers
/accgyro_mpu6050.c \
557 drivers
/barometer_ms5611.c \
558 drivers
/barometer_bmp280.c \
559 drivers
/compass_ak8975.c \
560 drivers
/serial_usb_vcp.c \
569 $(STM32F30x_COMMON_SRC
) \
570 drivers
/accgyro_mpu.c \
571 drivers
/accgyro_mpu6050.c \
572 drivers
/barometer_bmp280.c \
573 drivers
/display_ug2864hsweg01.h \
574 drivers
/flash_m25p16.c \
575 drivers
/serial_softserial.c \
576 drivers
/sonar_hcsr04.c \
582 $(STM32F30x_COMMON_SRC
) \
583 drivers
/accgyro_mpu.c \
584 drivers
/accgyro_mpu6050.c \
585 drivers
/barometer_ms5611.c \
586 drivers
/compass_ak8975.c \
587 drivers
/barometer_bmp280.c \
588 drivers
/compass_hmc5883l.c \
589 drivers
/display_ug2864hsweg01.h \
590 drivers
/flash_m25p16.c \
591 drivers
/serial_softserial.c \
592 drivers
/sonar_hcsr04.c \
598 $(STM32F30x_COMMON_SRC
) \
599 drivers
/accgyro_mpu.c \
600 drivers
/accgyro_mpu6050.c \
601 drivers
/barometer_ms5611.c \
602 drivers
/compass_ak8975.c \
603 drivers
/barometer_bmp085.c \
604 drivers
/compass_hmc5883l.c \
605 drivers
/display_ug2864hsweg01.h \
606 drivers
/flash_m25p16.c \
607 drivers
/serial_softserial.c \
608 drivers
/sonar_hcsr04.c \
614 $(STM32F30x_COMMON_SRC
) \
615 drivers
/accgyro_mpu.c \
616 drivers
/display_ug2864hsweg01.c \
617 drivers
/accgyro_mpu6050.c \
618 drivers
/barometer_ms5611.c \
619 drivers
/compass_hmc5883l.c \
620 drivers
/serial_usb_vcp.c \
621 drivers
/flash_m25p16.c \
627 # Search path and source files for the ST stdperiph library
628 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
630 ###############################################################################
631 # Things that might need changing to use different tools
635 CC
= arm-none-eabi-gcc
636 OBJCOPY
= arm-none-eabi-objcopy
637 SIZE
= arm-none-eabi-size
645 LTO_FLAGS
= $(OPTIMIZE
)
648 LTO_FLAGS
= -flto
-fuse-linker-plugin
$(OPTIMIZE
)
651 DEBUG_FLAGS
= -ggdb3
-DDEBUG
653 CFLAGS
= $(ARCH_FLAGS
) \
655 $(addprefix -D
,$(OPTIONS
)) \
656 $(addprefix -I
,$(INCLUDE_DIRS
)) \
659 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
660 -ffunction-sections \
663 -DUSE_STDPERIPH_DRIVER \
665 -D
'__FORKNAME__="$(FORKNAME)"' \
666 -D
'__TARGET__="$(TARGET)"' \
667 -D
'__REVISION__="$(REVISION)"' \
671 ASFLAGS
= $(ARCH_FLAGS
) \
672 -x assembler-with-cpp \
673 $(addprefix -I
,$(INCLUDE_DIRS
)) \
685 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
686 -Wl
,-L
$(LINKER_DIR
) \
690 ###############################################################################
691 # No user-serviceable parts below
692 ###############################################################################
694 CPPCHECK
= cppcheck
$(CSOURCES
) --enable
=all --platform
=unix64 \
695 --std
=c99
--inline-suppr
--quiet
--force \
696 $(addprefix -I
,$(INCLUDE_DIRS
)) \
697 -I
/usr
/include -I
/usr
/include/linux
700 # Things we will build
702 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
703 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
))
706 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).bin
707 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).hex
708 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
709 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
710 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
711 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
715 CLEAN_ARTIFACTS
:= $(TARGET_BIN
)
717 CLEAN_ARTIFACTS
:= $(TARGET_HEX
)
719 CLEAN_ARTIFACTS
+= $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
721 # List of buildable ELF files and their object dependencies.
722 # It would be nice to compute these lists, but that seems to be just beyond make.
724 $(TARGET_HEX
): $(TARGET_ELF
)
725 $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
727 $(TARGET_BIN
): $(TARGET_ELF
)
728 $(OBJCOPY
) -O binary
$< $@
730 $(TARGET_ELF
): $(TARGET_OBJS
)
731 $(CC
) -o
$@
$^
$(LDFLAGS
)
732 $(SIZE
) $(TARGET_ELF
)
735 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
737 @echo
%% $(notdir $<)
738 @
$(CC
) -c
-o
$@
$(CFLAGS
) $<
741 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
743 @echo
%% $(notdir $<)
744 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
746 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
748 @echo
%% $(notdir $<)
749 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
752 ## all : default task; compile C code, build firmware
755 ## clean : clean up all temporary / machine-generated files
757 rm -f
$(CLEAN_ARTIFACTS
)
758 rm -rf
$(OBJECT_DIR
)/$(TARGET
)
759 cd src
/test && $(MAKE
) clean || true
761 flash_
$(TARGET
): $(TARGET_HEX
)
762 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
763 echo
-n
'R' >$(SERIAL_DEVICE
)
764 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
766 ## flash : flash firmware (.hex) onto flight controller
767 flash
: flash_
$(TARGET
)
769 st-flash_
$(TARGET
): $(TARGET_BIN
)
770 st-flash
--reset write
$< 0x08000000
772 ## st-flash : flash firmware (.bin) onto flight controller
773 st-flash
: st-flash_
$(TARGET
)
775 binary
: $(TARGET_BIN
)
777 unbrick_
$(TARGET
): $(TARGET_HEX
)
778 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
779 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
781 ## unbrick : unbrick flight controller
782 unbrick
: unbrick_
$(TARGET
)
784 ## cppcheck : run static analysis on C source code
785 cppcheck
: $(CSOURCES
)
788 cppcheck-result.xml
: $(CSOURCES
)
789 $(CPPCHECK
) --xml-version
=2 2> cppcheck-result.xml
791 ## help : print this help message and exit
794 @echo
"Makefile for the $(FORKNAME) firmware"
797 @echo
" make [TARGET=<target>] [OPTIONS=\"<options>\"]"
799 @echo
"Valid TARGET values are: $(VALID_TARGETS)"
801 @sed
-n
's/^## //p' $<
803 ## test : run the cleanflight test suite
805 cd src
/test && $(MAKE
) test || true
807 # rebuild everything when makefile changes
808 $(TARGET_OBJS
) : Makefile
810 # include auto-generated dependencies
811 -include $(TARGET_DEPS
)