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 ###############################################################################
16 # Things that the user might override on the commandline
19 # The target to build, see VALID_TARGETS below
22 # Compile-time options
25 # compile for OpenPilot BootLoader support
28 # Debugger optons, must be empty or GDB
31 # Serial port/Device for flashing
32 SERIAL_DEVICE ?
= $(firstword $(wildcard /dev
/ttyUSB
*) no-port-found
)
34 # Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
37 ###############################################################################
38 # Things that need to be maintained as the source changes
43 CC3D_TARGETS
= CC3D CC3D_OPBL
45 VALID_TARGETS
= NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3
$(CC3D_TARGETS
) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1 ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI
47 # Valid targets for OP VCP support
48 VCP_VALID_TARGETS
= $(CC3D_TARGETS
)
50 # Valid targets for OP BootLoader support
51 OPBL_VALID_TARGETS
= CC3D_OPBL
54 128K_TARGETS
= ALIENWIIF1
$(CC3D_TARGETS
) NAZE OLIMEXINO RMDO AFROMINI
55 256K_TARGETS
= EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB
57 F3_TARGETS
= STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO
60 # Configure default flash sizes for the targets
62 ifeq ($(TARGET
),$(filter $(TARGET
),$(64K_TARGETS
)))
64 else ifeq ($(TARGET
),$(filter $(TARGET
),$(128K_TARGETS
)))
66 else ifeq ($(TARGET
),$(filter $(TARGET
),$(256K_TARGETS
)))
69 $(error FLASH_SIZE not configured for target
$(TARGET
))
73 REVISION
= $(shell git log
-1 --format
="%h")
76 ROOT
:= $(patsubst %/,%,$(dir $(lastword
$(MAKEFILE_LIST
))))
77 SRC_DIR
= $(ROOT
)/src
/main
78 OBJECT_DIR
= $(ROOT
)/obj
/main
80 CMSIS_DIR
= $(ROOT
)/lib
/main
/CMSIS
81 INCLUDE_DIRS
= $(SRC_DIR
)
82 LINKER_DIR
= $(ROOT
)/src
/main
/target
84 # Search path for sources
85 VPATH
:= $(SRC_DIR
):$(SRC_DIR
)/startup
86 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
87 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
89 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
91 CSOURCES
:= $(shell find
$(SRC_DIR
) -name
'*.c')
93 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
95 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
97 EXCLUDES
= stm32f30x_crc.c \
100 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
102 DEVICE_STDPERIPH_SRC
= \
106 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
107 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
108 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
110 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
111 $(STDPERIPH_DIR
)/inc \
112 $(CMSIS_DIR
)/CM1
/CoreSupport \
113 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
115 ifneq ($(TARGET
),$(filter $(TARGET
),SPRACINGF3 IRCFUSIONF3
))
116 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
120 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
122 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
127 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k.
ld
129 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
130 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
131 TARGET_FLAGS
= -D
$(TARGET
)
132 ifeq ($(TARGET
),CHEBUZZF3
)
133 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
134 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSTM32F3DISCOVERY
137 ifeq ($(TARGET
),$(filter $(TARGET
),RMDO IRCFUSIONF3
))
138 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
139 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSPRACINGF3
142 else ifeq ($(TARGET
),$(filter $(TARGET
),EUSTM32F103RC PORT103R
))
145 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
147 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
149 EXCLUDES
= stm32f10x_crc.c \
153 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
155 # Search path and source files for the CMSIS sources
156 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
157 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
158 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
160 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
161 $(STDPERIPH_DIR
)/inc \
162 $(CMSIS_DIR
)/CM3
/CoreSupport \
163 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
165 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
167 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
168 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
169 DEVICE_FLAGS
= -DSTM32F10X_HD
-DSTM32F10X
171 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
175 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
177 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
179 EXCLUDES
= stm32f10x_crc.c \
183 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
185 # Search path and source files for the CMSIS sources
186 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
187 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
188 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
190 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
191 $(STDPERIPH_DIR
)/inc \
192 $(CMSIS_DIR
)/CM3
/CoreSupport \
193 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
195 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
197 ifeq ($(TARGET
),$(filter $(TARGET
), $(VCP_VALID_TARGETS
)))
198 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
202 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
204 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
) \
209 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
211 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
212 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
213 DEVICE_FLAGS
= -DSTM32F10X_MD
-DSTM32F10X
217 ifneq ($(FLASH_SIZE
),)
218 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DFLASH_SIZE
=$(FLASH_SIZE
)
221 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(TARGET
)
222 TARGET_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
224 ifeq ($(TARGET
),ALIENWIIF1
)
225 # ALIENWIIF1 is a VARIANT of NAZE
226 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DNAZE
-DALIENWII32
227 TARGET_DIR
= $(ROOT
)/src
/main
/target
/NAZE
230 ifeq ($(TARGET
),$(filter $(TARGET
), $(CC3D_TARGETS
)))
231 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DCC3D
232 TARGET_DIR
= $(ROOT
)/src
/main
/target
/CC3D
235 ifneq ($(filter $(TARGET
),$(OPBL_VALID_TARGETS
)),)
240 ifneq ($(filter $(TARGET
),$(OPBL_VALID_TARGETS
)),)
241 TARGET_FLAGS
:= -DOPBL
$(TARGET_FLAGS
)
242 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k_opbl.
ld
243 .DEFAULT_GOAL
:= binary
245 $(error OPBL specified with a unsupported target
)
249 ifeq ($(TARGET
),AFROMINI
)
250 # AFROMINI is a VARIANT of NAZE being recognized as rev4, but needs to use rev5 config
251 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DNAZE
-DAFROMINI
252 TARGET_DIR
= $(ROOT
)/src
/main
/target
/NAZE
255 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
258 VPATH
:= $(VPATH
):$(TARGET_DIR
)
260 COMMON_SRC
= build_config.c \
265 config
/runtime_config.c \
268 common
/typeconversion.c \
274 flight
/altitudehold.c \
280 drivers
/bus_i2c_soft.c \
282 drivers
/sound_beeper.c \
284 drivers
/gyro_sync.c \
292 io
/statusindicator.c \
302 sensors
/acceleration.c \
304 sensors
/boardalignment.c \
307 sensors
/initialisation.c \
309 $(DEVICE_STDPERIPH_SRC
)
313 flight
/navigation.c \
314 flight
/gps_conversion.c \
315 common
/colorconversion.c \
319 telemetry
/telemetry.c \
323 telemetry
/smartport.c \
325 sensors
/barometer.c \
326 blackbox
/blackbox.c \
327 blackbox
/blackbox_io.c
337 drivers
/serial_usb_vcp.c
339 NAZE_SRC
= startup_stm32f10x_md_gcc.S \
340 drivers
/accgyro_adxl345.c \
341 drivers
/accgyro_bma280.c \
342 drivers
/accgyro_l3g4200d.c \
343 drivers
/accgyro_mma845x.c \
344 drivers
/accgyro_mpu.c \
345 drivers
/accgyro_mpu3050.c \
346 drivers
/accgyro_mpu6050.c \
347 drivers
/accgyro_mpu6500.c \
348 drivers
/accgyro_spi_mpu6500.c \
350 drivers
/adc_stm32f10x.c \
351 drivers
/barometer_bmp085.c \
352 drivers
/barometer_bmp280.c \
353 drivers
/barometer_ms5611.c \
354 drivers
/barometer_bmp280.c \
356 drivers
/bus_i2c_stm32f10x.c \
357 drivers
/compass_hmc5883l.c \
358 drivers
/display_ug2864hsweg01.h \
359 drivers
/flash_m25p16.c \
360 drivers
/gpio_stm32f10x.c \
362 drivers
/light_led_stm32f10x.c \
363 drivers
/light_ws2811strip.c \
364 drivers
/light_ws2811strip_stm32f10x.c \
365 drivers
/sonar_hcsr04.c \
366 drivers
/pwm_mapping.c \
367 drivers
/pwm_output.c \
369 drivers
/serial_softserial.c \
370 drivers
/serial_uart.c \
371 drivers
/serial_uart_stm32f10x.c \
372 drivers
/sound_beeper_stm32f10x.c \
373 drivers
/system_stm32f10x.c \
375 drivers
/timer_stm32f10x.c \
377 hardware_revision.c \
381 ALIENWIIF1_SRC
= $(NAZE_SRC
)
383 AFROMINI_SRC
= $(NAZE_SRC
)
385 EUSTM32F103RC_SRC
= startup_stm32f10x_hd_gcc.S \
386 drivers
/accgyro_adxl345.c \
387 drivers
/accgyro_bma280.c \
388 drivers
/accgyro_l3g4200d.c \
389 drivers
/accgyro_mma845x.c \
390 drivers
/accgyro_mpu.c \
391 drivers
/accgyro_mpu3050.c \
392 drivers
/accgyro_mpu6050.c \
393 drivers
/accgyro_spi_mpu6000.c \
394 drivers
/accgyro_spi_mpu6500.c \
396 drivers
/adc_stm32f10x.c \
397 drivers
/barometer_bmp085.c \
398 drivers
/barometer_bmp280.c \
399 drivers
/barometer_ms5611.c \
400 drivers
/bus_i2c_stm32f10x.c \
402 drivers
/compass_ak8975.c \
403 drivers
/compass_hmc5883l.c \
404 drivers
/display_ug2864hsweg01.c \
405 drivers
/flash_m25p16.c \
406 drivers
/gpio_stm32f10x.c \
408 drivers
/light_led_stm32f10x.c \
409 drivers
/light_ws2811strip.c \
410 drivers
/light_ws2811strip_stm32f10x.c \
411 drivers
/pwm_mapping.c \
412 drivers
/pwm_output.c \
414 drivers
/serial_softserial.c \
415 drivers
/serial_uart.c \
416 drivers
/serial_uart_stm32f10x.c \
417 drivers
/sonar_hcsr04.c \
418 drivers
/sound_beeper_stm32f10x.c \
419 drivers
/system_stm32f10x.c \
421 drivers
/timer_stm32f10x.c \
426 PORT103R_SRC
= $(EUSTM32F103RC_SRC
)
428 OLIMEXINO_SRC
= startup_stm32f10x_md_gcc.S \
429 drivers
/accgyro_mpu.c \
430 drivers
/accgyro_mpu6050.c \
432 drivers
/adc_stm32f10x.c \
433 drivers
/barometer_bmp085.c \
434 drivers
/barometer_bmp280.c \
435 drivers
/bus_i2c_stm32f10x.c \
437 drivers
/compass_hmc5883l.c \
438 drivers
/gpio_stm32f10x.c \
439 drivers
/light_led_stm32f10x.c \
440 drivers
/light_ws2811strip.c \
441 drivers
/light_ws2811strip_stm32f10x.c \
442 drivers
/pwm_mapping.c \
443 drivers
/pwm_output.c \
445 drivers
/serial_softserial.c \
446 drivers
/serial_uart.c \
447 drivers
/serial_uart_stm32f10x.c \
448 drivers
/sonar_hcsr04.c \
449 drivers
/sound_beeper_stm32f10x.c \
450 drivers
/system_stm32f10x.c \
452 drivers
/timer_stm32f10x.c \
457 startup_stm32f10x_md_gcc.S \
459 drivers
/adc_stm32f10x.c \
460 drivers
/accgyro_mpu.c \
461 drivers
/accgyro_mpu6050.c \
462 drivers
/bus_i2c_stm32f10x.c \
463 drivers
/compass_hmc5883l.c \
464 drivers
/gpio_stm32f10x.c \
465 drivers
/light_led_stm32f10x.c \
466 drivers
/pwm_mapping.c \
467 drivers
/pwm_output.c \
469 drivers
/serial_uart.c \
470 drivers
/serial_uart_stm32f10x.c \
471 drivers
/sound_beeper_stm32f10x.c \
472 drivers
/system_stm32f10x.c \
474 drivers
/timer_stm32f10x.c \
475 hardware_revision.c \
477 blackbox
/blackbox.c \
478 blackbox
/blackbox_io.c \
482 startup_stm32f10x_md_gcc.S \
483 drivers
/accgyro_mpu.c \
484 drivers
/accgyro_spi_mpu6000.c \
486 drivers
/adc_stm32f10x.c \
487 drivers
/barometer_bmp085.c \
488 drivers
/barometer_bmp280.c \
489 drivers
/barometer_ms5611.c \
491 drivers
/bus_i2c_stm32f10x.c \
492 drivers
/compass_hmc5883l.c \
493 drivers
/display_ug2864hsweg01.c \
494 drivers
/flash_m25p16.c \
495 drivers
/gpio_stm32f10x.c \
497 drivers
/light_led_stm32f10x.c \
498 drivers
/light_ws2811strip.c \
499 drivers
/light_ws2811strip_stm32f10x.c \
500 drivers
/pwm_mapping.c \
501 drivers
/pwm_output.c \
503 drivers
/serial_softserial.c \
504 drivers
/serial_uart.c \
505 drivers
/serial_uart_stm32f10x.c \
506 drivers
/sonar_hcsr04.c \
507 drivers
/sound_beeper_stm32f10x.c \
508 drivers
/system_stm32f10x.c \
510 drivers
/timer_stm32f10x.c \
516 STM32F30x_COMMON_SRC
= \
517 startup_stm32f30x_md_gcc.S \
519 drivers
/adc_stm32f30x.c \
520 drivers
/bus_i2c_stm32f30x.c \
522 drivers
/gpio_stm32f30x.c \
523 drivers
/light_led_stm32f30x.c \
524 drivers
/light_ws2811strip.c \
525 drivers
/light_ws2811strip_stm32f30x.c \
526 drivers
/pwm_mapping.c \
527 drivers
/pwm_output.c \
529 drivers
/serial_uart.c \
530 drivers
/serial_uart_stm32f30x.c \
531 drivers
/sound_beeper_stm32f30x.c \
532 drivers
/system_stm32f30x.c \
534 drivers
/timer_stm32f30x.c
537 $(STM32F30x_COMMON_SRC
) \
542 STM32F3DISCOVERY_COMMON_SRC
= \
543 $(STM32F30x_COMMON_SRC
) \
544 drivers
/accgyro_l3gd20.c \
545 drivers
/accgyro_l3gd20.c \
546 drivers
/accgyro_lsm303dlhc.c \
547 drivers
/compass_hmc5883l.c \
550 STM32F3DISCOVERY_SRC
= \
551 $(STM32F3DISCOVERY_COMMON_SRC
) \
552 drivers
/accgyro_adxl345.c \
553 drivers
/accgyro_bma280.c \
554 drivers
/accgyro_mma845x.c \
555 drivers
/accgyro_mpu.c \
556 drivers
/accgyro_mpu3050.c \
557 drivers
/accgyro_mpu6050.c \
558 drivers
/accgyro_l3g4200d.c \
559 drivers
/barometer_ms5611.c \
560 drivers
/barometer_bmp280.c \
561 drivers
/compass_ak8975.c \
566 $(STM32F3DISCOVERY_SRC
) \
571 $(STM32F30x_COMMON_SRC
) \
573 drivers
/bus_bst_stm32f30x.c \
574 drivers
/display_ug2864hsweg01.c \
575 drivers
/accgyro_mpu.c \
576 drivers
/accgyro_mpu6500.c \
577 drivers
/accgyro_spi_mpu6500.c \
578 drivers
/accgyro_mpu6500.c \
579 drivers
/barometer_ms5611.c \
580 drivers
/compass_ak8975.c \
581 drivers
/compass_hmc5883l.c \
582 drivers
/serial_usb_vcp.c \
588 $(STM32F30x_COMMON_SRC
) \
589 drivers
/display_ug2864hsweg01.c \
590 drivers
/accgyro_mpu.c \
591 drivers
/accgyro_mpu6050.c \
592 drivers
/barometer_ms5611.c \
593 drivers
/barometer_bmp280.c \
594 drivers
/compass_ak8975.c \
595 drivers
/serial_usb_vcp.c \
604 $(STM32F30x_COMMON_SRC
) \
605 drivers
/accgyro_mpu.c \
606 drivers
/accgyro_mpu6050.c \
607 drivers
/barometer_bmp280.c \
608 drivers
/display_ug2864hsweg01.h \
609 drivers
/flash_m25p16.c \
610 drivers
/serial_softserial.c \
611 drivers
/sonar_hcsr04.c \
617 $(STM32F30x_COMMON_SRC
) \
618 drivers
/accgyro_mpu.c \
619 drivers
/accgyro_mpu6050.c \
620 drivers
/barometer_ms5611.c \
621 drivers
/compass_ak8975.c \
622 drivers
/barometer_bmp085.c \
623 drivers
/barometer_bmp280.c \
624 drivers
/compass_hmc5883l.c \
625 drivers
/display_ug2864hsweg01.h \
626 drivers
/flash_m25p16.c \
627 drivers
/serial_softserial.c \
628 drivers
/sonar_hcsr04.c \
634 $(STM32F30x_COMMON_SRC
) \
635 drivers
/accgyro_mpu.c \
636 drivers
/accgyro_mpu6050.c \
637 drivers
/barometer_ms5611.c \
638 drivers
/compass_ak8975.c \
639 drivers
/barometer_bmp085.c \
640 drivers
/compass_hmc5883l.c \
641 drivers
/display_ug2864hsweg01.h \
642 drivers
/flash_m25p16.c \
643 drivers
/serial_softserial.c \
644 drivers
/sonar_hcsr04.c \
650 $(STM32F30x_COMMON_SRC
) \
651 drivers
/accgyro_mpu.c \
652 drivers
/display_ug2864hsweg01.c \
653 drivers
/accgyro_mpu6050.c \
654 drivers
/accgyro_spi_mpu6000.c \
655 drivers
/barometer_ms5611.c \
656 drivers
/compass_hmc5883l.c \
657 drivers
/serial_usb_vcp.c \
658 drivers
/flash_m25p16.c \
664 # Search path and source files for the ST stdperiph library
665 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
667 ###############################################################################
668 # Things that might need changing to use different tools
672 CC
= arm-none-eabi-gcc
673 OBJCOPY
= arm-none-eabi-objcopy
674 SIZE
= arm-none-eabi-size
682 LTO_FLAGS
= $(OPTIMIZE
)
685 LTO_FLAGS
= -flto
-fuse-linker-plugin
$(OPTIMIZE
)
688 DEBUG_FLAGS
= -ggdb3
-DDEBUG
690 CFLAGS
= $(ARCH_FLAGS
) \
692 $(addprefix -D
,$(OPTIONS
)) \
693 $(addprefix -I
,$(INCLUDE_DIRS
)) \
696 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
697 -ffunction-sections \
700 -DUSE_STDPERIPH_DRIVER \
702 -D
'__FORKNAME__="$(FORKNAME)"' \
703 -D
'__TARGET__="$(TARGET)"' \
704 -D
'__REVISION__="$(REVISION)"' \
708 ASFLAGS
= $(ARCH_FLAGS
) \
709 -x assembler-with-cpp \
710 $(addprefix -I
,$(INCLUDE_DIRS
)) \
722 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
723 -Wl
,-L
$(LINKER_DIR
) \
727 ###############################################################################
728 # No user-serviceable parts below
729 ###############################################################################
731 CPPCHECK
= cppcheck
$(CSOURCES
) --enable
=all --platform
=unix64 \
732 --std
=c99
--inline-suppr
--quiet
--force \
733 $(addprefix -I
,$(INCLUDE_DIRS
)) \
734 -I
/usr
/include -I
/usr
/include/linux
737 # Things we will build
739 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
740 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
))
743 CC3D_OPBL_SRC
= $(CC3D_SRC
)
745 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).bin
746 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).hex
747 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
748 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
749 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
750 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
754 CLEAN_ARTIFACTS
:= $(TARGET_BIN
)
756 CLEAN_ARTIFACTS
:= $(TARGET_HEX
)
758 CLEAN_ARTIFACTS
+= $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
760 # List of buildable ELF files and their object dependencies.
761 # It would be nice to compute these lists, but that seems to be just beyond make.
763 $(TARGET_HEX
): $(TARGET_ELF
)
764 $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
766 $(TARGET_BIN
): $(TARGET_ELF
)
767 $(OBJCOPY
) -O binary
$< $@
769 $(TARGET_ELF
): $(TARGET_OBJS
)
770 $(CC
) -o
$@
$^
$(LDFLAGS
)
771 $(SIZE
) $(TARGET_ELF
)
774 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
776 @echo
%% $(notdir $<)
777 @
$(CC
) -c
-o
$@
$(CFLAGS
) $<
780 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
782 @echo
%% $(notdir $<)
783 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
785 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
787 @echo
%% $(notdir $<)
788 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
791 ## all : default task; compile C code, build firmware
794 ## clean : clean up all temporary / machine-generated files
796 rm -f
$(CLEAN_ARTIFACTS
)
797 rm -rf
$(OBJECT_DIR
)/$(TARGET
)
798 cd src
/test && $(MAKE
) clean || true
800 flash_
$(TARGET
): $(TARGET_HEX
)
801 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
802 echo
-n
'R' >$(SERIAL_DEVICE
)
803 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
805 ## flash : flash firmware (.hex) onto flight controller
806 flash
: flash_
$(TARGET
)
808 st-flash_
$(TARGET
): $(TARGET_BIN
)
809 st-flash
--reset write
$< 0x08000000
811 ## st-flash : flash firmware (.bin) onto flight controller
812 st-flash
: st-flash_
$(TARGET
)
814 binary
: $(TARGET_BIN
)
817 unbrick_
$(TARGET
): $(TARGET_HEX
)
818 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
819 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
821 ## unbrick : unbrick flight controller
822 unbrick
: unbrick_
$(TARGET
)
824 ## cppcheck : run static analysis on C source code
825 cppcheck
: $(CSOURCES
)
828 cppcheck-result.xml
: $(CSOURCES
)
829 $(CPPCHECK
) --xml-version
=2 2> cppcheck-result.xml
831 ## help : print this help message and exit
834 @echo
"Makefile for the $(FORKNAME) firmware"
837 @echo
" make [TARGET=<target>] [OPTIONS=\"<options>\"]"
839 @echo
"Valid TARGET values are: $(VALID_TARGETS)"
841 @sed
-n
's/^## //p' $<
843 ## test : run the cleanflight test suite
845 cd src
/test && $(MAKE
) test || true
847 # rebuild everything when makefile changes
848 $(TARGET_OBJS
) : Makefile
850 # include auto-generated dependencies
851 -include $(TARGET_DEPS
)