Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the cleanflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12
  13 ###############################################################################
  14
  15
  16 # Things that the user might override on the commandline
  17 #
  18
  19 # The target to build, see VALID_TARGETS below
  20 TARGET          ?= NAZE
  21
  22 # Compile-time options
  23 OPTIONS         ?=
  24
  25 # compile for OpenPilot BootLoader support
  26 OPBL ?=no
  27
  28 # Debugger optons, must be empty or GDB
  29 DEBUG ?=
  30
  31 # Serial port/Device for flashing
  32 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  33
  34 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  35 FLASH_SIZE ?=
  36
  37 ###############################################################################
  38 # Things that need to be maintained as the source changes
  39 #
  40
  41 FORKNAME                         = betaflight
  42
  43 CC3D_TARGETS = CC3D CC3D_OPBL
  44
  45 VALID_TARGETS    = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI
  46
  47 # Valid targets for OP VCP support
  48 VCP_VALID_TARGETS = $(CC3D_TARGETS)
  49
  50 # Valid targets for OP BootLoader support
  51 OPBL_VALID_TARGETS = CC3D_OPBL
  52
  53 64K_TARGETS  = CJMCU
  54 128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
  55 256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI
  56
  57 F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI
  58
  59
  60 # Configure default flash sizes for the targets
  61 ifeq ($(FLASH_SIZE),)
  62 ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
  63 FLASH_SIZE = 64
  64 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
  65 FLASH_SIZE = 128
  66 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
  67 FLASH_SIZE = 256
  68 else
  69 $(error FLASH_SIZE not configured for target $(TARGET))
  70 endif
  71 endif
  72
  73 REVISION = $(shell git log -1 --format="%h")
  74
  75 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
  76 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
  77 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
  78
  79 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
  80
  81 # Working directories
  82 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  83 SRC_DIR          = $(ROOT)/src/main
  84 OBJECT_DIR       = $(ROOT)/obj/main
  85 BIN_DIR          = $(ROOT)/obj
  86 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  87 INCLUDE_DIRS     = $(SRC_DIR)
  88 LINKER_DIR       = $(ROOT)/src/main/target
  89
  90 # Search path for sources
  91 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  92 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  93 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  94 FATFS_DIR       = $(ROOT)/lib/main/FatFS
  95 FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
  96
  97 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
  98
  99 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 100
 101 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 102
 103 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 104
 105 EXCLUDES        = stm32f30x_crc.c \
 106                 stm32f30x_can.c
 107
 108 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 109
 110 DEVICE_STDPERIPH_SRC = \
 111                 $(STDPERIPH_SRC)
 112
 113
 114 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 115 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 116                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 117
 118 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 119                    $(STDPERIPH_DIR)/inc \
 120                    $(CMSIS_DIR)/CM1/CoreSupport \
 121                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 122
 123 ifneq ($(TARGET),$(filter $(TARGET),SPRACINGF3 IRCFUSIONF3))
 124 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 125                    $(USBFS_DIR)/inc \
 126                    $(ROOT)/src/main/vcp
 127
 128 VPATH := $(VPATH):$(USBFS_DIR)/src
 129
 130 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 131                    $(USBPERIPH_SRC)
 132
 133 endif
 134
 135 ifeq ($(TARGET),SPRACINGF3MINI)
 136 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 137                    $(FATFS_DIR) \
 138
 139 VPATH := $(VPATH):$(FATFS_DIR)
 140 endif
 141
 142 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 143
 144 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 145 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 146 TARGET_FLAGS = -D$(TARGET)
 147 ifeq ($(TARGET),CHEBUZZF3)
 148 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 149 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 150 endif
 151
 152 ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 153 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
 154 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 155 endif
 156
 157 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 158
 159
 160 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 161
 162 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 163
 164 EXCLUDES        = stm32f10x_crc.c \
 165                 stm32f10x_cec.c \
 166                 stm32f10x_can.c
 167
 168 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 169
 170 # Search path and source files for the CMSIS sources
 171 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 172 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 173                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 174
 175 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 176                    $(STDPERIPH_DIR)/inc \
 177                    $(CMSIS_DIR)/CM3/CoreSupport \
 178                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 179
 180 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 181
 182 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 183 TARGET_FLAGS = -D$(TARGET) -pedantic
 184 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 185
 186 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 187
 188 else
 189
 190 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 191
 192 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 193
 194 EXCLUDES        = stm32f10x_crc.c \
 195                 stm32f10x_cec.c \
 196                 stm32f10x_can.c
 197
 198 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 199
 200 # Search path and source files for the CMSIS sources
 201 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 202 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 203                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 204
 205 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 206                    $(STDPERIPH_DIR)/inc \
 207                    $(CMSIS_DIR)/CM3/CoreSupport \
 208                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 209
 210 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 211
 212 ifeq ($(TARGET),$(filter $(TARGET), $(VCP_VALID_TARGETS)))
 213 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 214                    $(USBFS_DIR)/inc \
 215                    $(ROOT)/src/main/vcp
 216
 217 VPATH := $(VPATH):$(USBFS_DIR)/src
 218
 219 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 220                    $(USBPERIPH_SRC)
 221
 222 endif
 223
 224 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 225
 226 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 227 TARGET_FLAGS = -D$(TARGET) -pedantic
 228 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 229
 230 endif
 231
 232 ifneq ($(FLASH_SIZE),)
 233 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 234 endif
 235
 236 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 237 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 238
 239 ifeq ($(TARGET),ALIENFLIGHTF1)
 240 # ALIENFLIGHTF1 is a VARIANT of NAZE
 241 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENFLIGHT
 242 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 243 endif
 244
 245 ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
 246 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
 247 TARGET_DIR = $(ROOT)/src/main/target/CC3D
 248 endif
 249
 250 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 251 OPBL=yes
 252 endif
 253
 254 ifeq ($(OPBL),yes)
 255 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 256 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 257 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 258 .DEFAULT_GOAL := binary
 259 else
 260 $(error OPBL specified with a unsupported target)
 261 endif
 262 endif
 263
 264 ifeq ($(TARGET),AFROMINI)
 265 # AFROMINI is a VARIANT of NAZE being recognized as rev4, but needs to use rev5 config
 266 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DAFROMINI
 267 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 268 endif
 269
 270 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 271                     $(TARGET_DIR)
 272
 273 VPATH           := $(VPATH):$(TARGET_DIR)
 274
 275 COMMON_SRC = build_config.c \
 276                    debug.c \
 277                    version.c \
 278                    $(TARGET_SRC) \
 279                    config/config.c \
 280                    config/runtime_config.c \
 281                    common/maths.c \
 282                    common/printf.c \
 283                    common/typeconversion.c \
 284                    common/encoding.c \
 285                    common/filter.c \
 286                    scheduler.c \
 287                    scheduler_tasks.c \
 288                    main.c \
 289                    mw.c \
 290                    flight/altitudehold.c \
 291                    flight/failsafe.c \
 292                    flight/pid.c \
 293                    flight/imu.c \
 294                    flight/mixer.c \
 295                    drivers/bus_i2c_soft.c \
 296                    drivers/serial.c \
 297                    drivers/sound_beeper.c \
 298                    drivers/system.c \
 299                    drivers/gyro_sync.c \
 300                    drivers/dma.c \
 301                    drivers/buf_writer.c \
 302                    io/beeper.c \
 303                    io/rc_controls.c \
 304                    io/rc_curves.c \
 305                    io/serial.c \
 306                    io/serial_1wire.c \
 307                    io/serial_cli.c \
 308                    io/serial_msp.c \
 309                    io/statusindicator.c \
 310                    rx/rx.c \
 311                    rx/pwm.c \
 312                    rx/msp.c \
 313                    rx/sbus.c \
 314                    rx/sumd.c \
 315                    rx/sumh.c \
 316                    rx/spektrum.c \
 317                    rx/xbus.c \
 318                    rx/ibus.c \
 319            rx/jetiexbus.c \
 320                    sensors/acceleration.c \
 321                    sensors/battery.c \
 322                    sensors/boardalignment.c \
 323                    sensors/compass.c \
 324                    sensors/gyro.c \
 325                    sensors/initialisation.c \
 326                    $(CMSIS_SRC) \
 327                    $(DEVICE_STDPERIPH_SRC)
 328
 329 HIGHEND_SRC = \
 330                    flight/gtune.c \
 331                    flight/navigation.c \
 332                    flight/gps_conversion.c \
 333                    common/colorconversion.c \
 334                    io/gps.c \
 335                    io/ledstrip.c \
 336                    io/display.c \
 337                    telemetry/telemetry.c \
 338                    telemetry/frsky.c \
 339                    telemetry/hott.c \
 340                    telemetry/smartport.c \
 341                    telemetry/ltm.c \
 342                    sensors/sonar.c \
 343                    sensors/barometer.c \
 344                    blackbox/blackbox.c \
 345                    blackbox/blackbox_io.c
 346
 347 VCP_SRC = \
 348                    vcp/hw_config.c \
 349                    vcp/stm32_it.c \
 350                    vcp/usb_desc.c \
 351                    vcp/usb_endp.c \
 352                    vcp/usb_istr.c \
 353                    vcp/usb_prop.c \
 354                    vcp/usb_pwr.c \
 355                    drivers/serial_usb_vcp.c
 356
 357 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 358                    drivers/accgyro_adxl345.c \
 359                    drivers/accgyro_bma280.c \
 360                    drivers/accgyro_l3g4200d.c \
 361                    drivers/accgyro_mma845x.c \
 362                    drivers/accgyro_mpu.c \
 363                    drivers/accgyro_mpu3050.c \
 364                    drivers/accgyro_mpu6050.c \
 365                    drivers/accgyro_mpu6500.c \
 366                    drivers/accgyro_spi_mpu6500.c \
 367                    drivers/adc.c \
 368                    drivers/adc_stm32f10x.c \
 369                    drivers/barometer_bmp085.c \
 370                    drivers/barometer_bmp280.c \
 371                    drivers/barometer_ms5611.c \
 372                    drivers/barometer_bmp280.c \
 373                    drivers/bus_spi.c \
 374                    drivers/bus_i2c_stm32f10x.c \
 375                    drivers/compass_hmc5883l.c \
 376                    drivers/display_ug2864hsweg01.h \
 377                    drivers/flash_m25p16.c \
 378                    drivers/gpio_stm32f10x.c \
 379                    drivers/inverter.c \
 380                    drivers/light_led_stm32f10x.c \
 381                    drivers/light_ws2811strip.c \
 382                    drivers/light_ws2811strip_stm32f10x.c \
 383                    drivers/sonar_hcsr04.c \
 384                    drivers/pwm_mapping.c \
 385                    drivers/pwm_output.c \
 386                    drivers/pwm_rx.c \
 387                    drivers/serial_softserial.c \
 388                    drivers/serial_uart.c \
 389                    drivers/serial_uart_stm32f10x.c \
 390                    drivers/sound_beeper_stm32f10x.c \
 391                    drivers/system_stm32f10x.c \
 392                    drivers/timer.c \
 393                    drivers/timer_stm32f10x.c \
 394                    io/flashfs.c \
 395                    hardware_revision.c \
 396                    $(HIGHEND_SRC) \
 397                    $(COMMON_SRC)
 398
 399 ALIENFLIGHTF1_SRC = $(NAZE_SRC)
 400
 401 AFROMINI_SRC = $(NAZE_SRC)
 402
 403 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 404                    drivers/accgyro_adxl345.c \
 405                    drivers/accgyro_bma280.c \
 406                    drivers/accgyro_l3g4200d.c \
 407                    drivers/accgyro_mma845x.c \
 408                    drivers/accgyro_mpu.c \
 409                    drivers/accgyro_mpu3050.c \
 410                    drivers/accgyro_mpu6050.c \
 411                    drivers/accgyro_spi_mpu6000.c \
 412                    drivers/accgyro_spi_mpu6500.c \
 413                    drivers/adc.c \
 414                    drivers/adc_stm32f10x.c \
 415                    drivers/barometer_bmp085.c \
 416                    drivers/barometer_bmp280.c \
 417                    drivers/barometer_ms5611.c \
 418                    drivers/bus_i2c_stm32f10x.c \
 419                    drivers/bus_spi.c \
 420                    drivers/compass_ak8975.c \
 421                    drivers/compass_hmc5883l.c \
 422                    drivers/display_ug2864hsweg01.c \
 423                    drivers/flash_m25p16.c \
 424                    drivers/gpio_stm32f10x.c \
 425                    drivers/inverter.c \
 426                    drivers/light_led_stm32f10x.c \
 427                    drivers/light_ws2811strip.c \
 428                    drivers/light_ws2811strip_stm32f10x.c \
 429                    drivers/pwm_mapping.c \
 430                    drivers/pwm_output.c \
 431                    drivers/pwm_rx.c \
 432                    drivers/serial_softserial.c \
 433                    drivers/serial_uart.c \
 434                    drivers/serial_uart_stm32f10x.c \
 435                    drivers/sonar_hcsr04.c \
 436                    drivers/sound_beeper_stm32f10x.c \
 437                    drivers/system_stm32f10x.c \
 438                    drivers/timer.c \
 439                    drivers/timer_stm32f10x.c \
 440                    io/flashfs.c \
 441                    $(HIGHEND_SRC) \
 442                    $(COMMON_SRC)
 443
 444 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 445
 446 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 447                    drivers/accgyro_mpu.c \
 448                    drivers/accgyro_mpu6050.c \
 449                    drivers/adc.c \
 450                    drivers/adc_stm32f10x.c \
 451                    drivers/barometer_bmp085.c \
 452                    drivers/barometer_bmp280.c \
 453                    drivers/bus_i2c_stm32f10x.c \
 454                    drivers/bus_spi.c \
 455                    drivers/compass_hmc5883l.c \
 456                    drivers/gpio_stm32f10x.c \
 457                    drivers/light_led_stm32f10x.c \
 458                    drivers/light_ws2811strip.c \
 459                    drivers/light_ws2811strip_stm32f10x.c \
 460                    drivers/pwm_mapping.c \
 461                    drivers/pwm_output.c \
 462                    drivers/pwm_rx.c \
 463                    drivers/serial_softserial.c \
 464                    drivers/serial_uart.c \
 465                    drivers/serial_uart_stm32f10x.c \
 466                    drivers/sonar_hcsr04.c \
 467                    drivers/sound_beeper_stm32f10x.c \
 468                    drivers/system_stm32f10x.c \
 469                    drivers/timer.c \
 470                    drivers/timer_stm32f10x.c \
 471                    $(HIGHEND_SRC) \
 472                    $(COMMON_SRC)
 473
 474 CJMCU_SRC = \
 475                    startup_stm32f10x_md_gcc.S \
 476                    drivers/adc.c \
 477                    drivers/adc_stm32f10x.c \
 478                    drivers/accgyro_mpu.c \
 479                    drivers/accgyro_mpu6050.c \
 480                    drivers/bus_i2c_stm32f10x.c \
 481                    drivers/compass_hmc5883l.c \
 482                    drivers/gpio_stm32f10x.c \
 483                    drivers/light_led_stm32f10x.c \
 484                    drivers/pwm_mapping.c \
 485                    drivers/pwm_output.c \
 486                    drivers/pwm_rx.c \
 487                    drivers/serial_uart.c \
 488                    drivers/serial_uart_stm32f10x.c \
 489                    drivers/sound_beeper_stm32f10x.c \
 490                    drivers/system_stm32f10x.c \
 491                    drivers/timer.c \
 492                    drivers/timer_stm32f10x.c \
 493                    hardware_revision.c \
 494                    flight/gtune.c \
 495                    blackbox/blackbox.c \
 496                    blackbox/blackbox_io.c \
 497                    $(COMMON_SRC)
 498
 499 CC3D_SRC = \
 500                    startup_stm32f10x_md_gcc.S \
 501                    drivers/accgyro_mpu.c \
 502                    drivers/accgyro_spi_mpu6000.c \
 503                    drivers/adc.c \
 504                    drivers/adc_stm32f10x.c \
 505                    drivers/barometer_bmp085.c \
 506                    drivers/barometer_bmp280.c \
 507                    drivers/barometer_ms5611.c \
 508                    drivers/bus_spi.c \
 509                    drivers/bus_i2c_stm32f10x.c \
 510                    drivers/compass_hmc5883l.c \
 511                    drivers/display_ug2864hsweg01.c \
 512                    drivers/flash_m25p16.c \
 513                    drivers/gpio_stm32f10x.c \
 514                    drivers/inverter.c \
 515                    drivers/light_led_stm32f10x.c \
 516                    drivers/light_ws2811strip.c \
 517                    drivers/light_ws2811strip_stm32f10x.c \
 518                    drivers/pwm_mapping.c \
 519                    drivers/pwm_output.c \
 520                    drivers/pwm_rx.c \
 521                    drivers/serial_softserial.c \
 522                    drivers/serial_uart.c \
 523                    drivers/serial_uart_stm32f10x.c \
 524                    drivers/sonar_hcsr04.c \
 525                    drivers/sound_beeper_stm32f10x.c \
 526                    drivers/system_stm32f10x.c \
 527                    drivers/timer.c \
 528                    drivers/timer_stm32f10x.c \
 529                    io/flashfs.c \
 530                    $(HIGHEND_SRC) \
 531                    $(COMMON_SRC) \
 532                    $(VCP_SRC)
 533
 534 STM32F30x_COMMON_SRC = \
 535                    startup_stm32f30x_md_gcc.S \
 536                    drivers/adc.c \
 537                    drivers/adc_stm32f30x.c \
 538                    drivers/bus_i2c_stm32f30x.c \
 539                    drivers/bus_spi.c \
 540                    drivers/display_ug2864hsweg01.h \
 541                    drivers/gpio_stm32f30x.c \
 542                    drivers/light_led_stm32f30x.c \
 543                    drivers/pwm_mapping.c \
 544                    drivers/pwm_output.c \
 545                    drivers/pwm_rx.c \
 546                    drivers/serial_uart.c \
 547                    drivers/serial_uart_stm32f30x.c \
 548                    drivers/sound_beeper_stm32f30x.c \
 549                    drivers/system_stm32f30x.c \
 550                    drivers/timer.c \
 551                    drivers/timer_stm32f30x.c
 552
 553 NAZE32PRO_SRC = \
 554                    $(STM32F30x_COMMON_SRC) \
 555                    $(HIGHEND_SRC) \
 556                    $(COMMON_SRC) \
 557                    $(VCP_SRC)
 558
 559 STM32F3DISCOVERY_COMMON_SRC = \
 560                    $(STM32F30x_COMMON_SRC) \
 561                    drivers/light_ws2811strip.c \
 562                    drivers/light_ws2811strip_stm32f30x.c \
 563                    drivers/accgyro_l3gd20.c \
 564                    drivers/accgyro_l3gd20.c \
 565                    drivers/accgyro_lsm303dlhc.c \
 566                    drivers/compass_hmc5883l.c \
 567                    $(VCP_SRC)
 568
 569 STM32F3DISCOVERY_SRC = \
 570                    $(STM32F3DISCOVERY_COMMON_SRC) \
 571                    drivers/accgyro_adxl345.c \
 572                    drivers/accgyro_bma280.c \
 573                    drivers/accgyro_mma845x.c \
 574                    drivers/accgyro_mpu.c \
 575                    drivers/accgyro_mpu3050.c \
 576                    drivers/accgyro_mpu6050.c \
 577                    drivers/accgyro_l3g4200d.c \
 578                    drivers/barometer_ms5611.c \
 579                    drivers/barometer_bmp280.c \
 580                    drivers/compass_ak8975.c \
 581                    drivers/sdcard.c \
 582                    drivers/sdcard_standard.c \
 583                    io/asyncfatfs/asyncfatfs.c \
 584                    io/asyncfatfs/fat_standard.c \
 585                    $(HIGHEND_SRC) \
 586                    $(COMMON_SRC)
 587
 588 CHEBUZZF3_SRC = \
 589                    $(STM32F3DISCOVERY_SRC) \
 590                    $(HIGHEND_SRC) \
 591                    $(COMMON_SRC)
 592
 593 COLIBRI_RACE_SRC = \
 594                    $(STM32F30x_COMMON_SRC) \
 595                    io/i2c_bst.c \
 596                    drivers/bus_bst_stm32f30x.c \
 597                    drivers/accgyro_mpu.c \
 598                    drivers/accgyro_mpu6500.c \
 599                    drivers/accgyro_spi_mpu6500.c \
 600                    drivers/accgyro_mpu6500.c \
 601                    drivers/barometer_ms5611.c \
 602                    drivers/compass_ak8975.c \
 603                    drivers/compass_hmc5883l.c \
 604                    drivers/display_ug2864hsweg01.c \
 605                    drivers/light_ws2811strip.c \
 606                    drivers/light_ws2811strip_stm32f30x.c \
 607                    drivers/serial_usb_vcp.c \
 608                    $(HIGHEND_SRC) \
 609                    $(COMMON_SRC) \
 610                    $(VCP_SRC)
 611
 612 LUX_RACE_SRC = \
 613                    $(STM32F30x_COMMON_SRC) \
 614                    drivers/accgyro_mpu.c \
 615                    drivers/accgyro_mpu6500.c \
 616                    drivers/accgyro_spi_mpu6500.c \
 617                    drivers/accgyro_mpu6500.c \
 618                    drivers/light_ws2811strip.c \
 619                    drivers/light_ws2811strip_stm32f30x.c \
 620                    drivers/serial_usb_vcp.c \
 621                    $(HIGHEND_SRC) \
 622                    $(COMMON_SRC) \
 623                    $(VCP_SRC)
 624
 625 SPARKY_SRC = \
 626                    $(STM32F30x_COMMON_SRC) \
 627                    drivers/display_ug2864hsweg01.c \
 628                    drivers/accgyro_mpu.c \
 629                    drivers/accgyro_mpu6050.c \
 630                    drivers/barometer_ms5611.c \
 631                    drivers/barometer_bmp280.c \
 632                    drivers/compass_ak8975.c \
 633                    drivers/light_ws2811strip.c \
 634                    drivers/light_ws2811strip_stm32f30x.c \
 635                    drivers/serial_usb_vcp.c \
 636                    $(HIGHEND_SRC) \
 637                    $(COMMON_SRC) \
 638                    $(VCP_SRC)
 639
 640 ALIENFLIGHTF3_SRC = \
 641                    $(STM32F30x_COMMON_SRC) \
 642                    drivers/accgyro_mpu.c \
 643                    drivers/accgyro_mpu6050.c \
 644                    drivers/accgyro_mpu.c \
 645                    drivers/accgyro_mpu6500.c \
 646                    drivers/accgyro_spi_mpu6500.c \
 647                    drivers/compass_ak8963.c \
 648                    hardware_revision.c \
 649                    drivers/serial_usb_vcp.c \
 650                    drivers/sonar_hcsr04.c \
 651                    $(HIGHEND_SRC) \
 652                    $(COMMON_SRC) \
 653                    $(VCP_SRC)
 654
 655 RMDO_SRC = \
 656                    $(STM32F30x_COMMON_SRC) \
 657                    drivers/accgyro_mpu.c \
 658                    drivers/accgyro_mpu6050.c \
 659                    drivers/barometer_bmp280.c \
 660                    drivers/display_ug2864hsweg01.h \
 661                    drivers/flash_m25p16.c \
 662                    drivers/light_ws2811strip.c \
 663                    drivers/light_ws2811strip_stm32f30x.c \
 664                    drivers/serial_softserial.c \
 665                    drivers/sonar_hcsr04.c \
 666                    io/flashfs.c \
 667                    $(HIGHEND_SRC) \
 668                    $(COMMON_SRC)
 669
 670 SPRACINGF3_SRC = \
 671                    $(STM32F30x_COMMON_SRC) \
 672                    drivers/accgyro_mpu.c \
 673                    drivers/accgyro_mpu6050.c \
 674                    drivers/barometer_ms5611.c \
 675                    drivers/compass_ak8975.c \
 676                    drivers/barometer_bmp085.c \
 677                    drivers/barometer_bmp280.c \
 678                    drivers/compass_hmc5883l.c \
 679                    drivers/display_ug2864hsweg01.h \
 680                    drivers/flash_m25p16.c \
 681                    drivers/light_ws2811strip.c \
 682                    drivers/light_ws2811strip_stm32f30x.c \
 683                    drivers/serial_softserial.c \
 684                    drivers/sonar_hcsr04.c \
 685                    io/flashfs.c \
 686                    $(HIGHEND_SRC) \
 687                    $(COMMON_SRC)
 688
 689 IRCFUSIONF3_SRC = \
 690                    $(STM32F30x_COMMON_SRC) \
 691                    drivers/accgyro_mpu.c \
 692                    drivers/accgyro_mpu6050.c \
 693                    drivers/barometer_ms5611.c \
 694                    drivers/compass_ak8975.c \
 695                    drivers/barometer_bmp085.c \
 696                    drivers/barometer_bmp280.c \
 697                    drivers/compass_hmc5883l.c \
 698                    drivers/display_ug2864hsweg01.h \
 699                    drivers/flash_m25p16.c \
 700                    drivers/light_ws2811strip.c \
 701                    drivers/light_ws2811strip_stm32f30x.c \
 702                    drivers/serial_softserial.c \
 703                    drivers/sonar_hcsr04.c \
 704                    io/flashfs.c \
 705                    $(HIGHEND_SRC) \
 706                    $(COMMON_SRC)
 707
 708 MOTOLAB_SRC = \
 709                    $(STM32F30x_COMMON_SRC) \
 710                    drivers/accgyro_mpu.c \
 711                    drivers/display_ug2864hsweg01.c \
 712                    drivers/accgyro_mpu6050.c \
 713                    drivers/accgyro_spi_mpu6000.c \
 714                    drivers/barometer_ms5611.c \
 715                    drivers/compass_hmc5883l.c \
 716                    drivers/light_ws2811strip.c \
 717                    drivers/light_ws2811strip_stm32f30x.c \
 718                    drivers/serial_softserial.c \
 719                    drivers/serial_usb_vcp.c \
 720                    drivers/flash_m25p16.c \
 721                    io/flashfs.c \
 722                    $(HIGHEND_SRC) \
 723                    $(COMMON_SRC) \
 724                    $(VCP_SRC)
 725
 726 SPRACINGF3MINI_SRC       = \
 727                    $(STM32F30x_COMMON_SRC) \
 728                    drivers/accgyro_mpu.c \
 729                    drivers/accgyro_mpu6500.c \
 730                    drivers/barometer_bmp280.c \
 731                    drivers/compass_ak8975.c \
 732                    drivers/compass_hmc5883l.c \
 733                    drivers/display_ug2864hsweg01.h \
 734                    drivers/flash_m25p16.c \
 735                    drivers/light_ws2811strip.c \
 736                    drivers/light_ws2811strip_stm32f30x.c \
 737                    drivers/serial_softserial.c \
 738                    drivers/serial_usb_vcp.c \
 739                    drivers/sonar_hcsr04.c \
 740                    drivers/sdcard.c \
 741                    drivers/sdcard_standard.c \
 742                    drivers/transponder_ir.c \
 743                    drivers/transponder_ir_stm32f30x.c \
 744                    io/asyncfatfs/asyncfatfs.c \
 745                    io/asyncfatfs/fat_standard.c \
 746                    io/transponder_ir.c \
 747                    $(HIGHEND_SRC) \
 748                    $(COMMON_SRC) \
 749                    $(VCP_SRC)
 750 #                  $(FATFS_SRC)
 751
 752 # Search path and source files for the ST stdperiph library
 753 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 754
 755 ###############################################################################
 756 # Things that might need changing to use different tools
 757 #
 758
 759 # Tool names
 760 CC               = arm-none-eabi-gcc
 761 OBJCOPY          = arm-none-eabi-objcopy
 762 SIZE             = arm-none-eabi-size
 763
 764 #
 765 # Tool options.
 766 #
 767
 768 ifeq ($(DEBUG),GDB)
 769 OPTIMIZE         = -O0
 770 LTO_FLAGS        = $(OPTIMIZE)
 771 else
 772 OPTIMIZE         = -Os
 773 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 774 endif
 775
 776 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 777
 778 CFLAGS           = $(ARCH_FLAGS) \
 779                    $(LTO_FLAGS) \
 780                    $(addprefix -D,$(OPTIONS)) \
 781                    $(addprefix -I,$(INCLUDE_DIRS)) \
 782                    $(DEBUG_FLAGS) \
 783                    -std=gnu99 \
 784                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 785                    -ffunction-sections \
 786                    -fdata-sections \
 787                    $(DEVICE_FLAGS) \
 788                    -DUSE_STDPERIPH_DRIVER \
 789                    $(TARGET_FLAGS) \
 790                    -D'__FORKNAME__="$(FORKNAME)"' \
 791                    -D'__TARGET__="$(TARGET)"' \
 792                    -D'__REVISION__="$(REVISION)"' \
 793                    -save-temps=obj \
 794                    -MMD -MP
 795
 796 ASFLAGS          = $(ARCH_FLAGS) \
 797                    -x assembler-with-cpp \
 798                    $(addprefix -I,$(INCLUDE_DIRS)) \
 799                   -MMD -MP
 800
 801 LDFLAGS          = -lm \
 802                    -nostartfiles \
 803                    --specs=nano.specs \
 804                    -lc \
 805                    -lnosys \
 806                    $(ARCH_FLAGS) \
 807                    $(LTO_FLAGS) \
 808                    $(DEBUG_FLAGS) \
 809                    -static \
 810                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 811                    -Wl,-L$(LINKER_DIR) \
 812            -Wl,--cref \
 813                    -T$(LD_SCRIPT)
 814
 815 ###############################################################################
 816 # No user-serviceable parts below
 817 ###############################################################################
 818
 819 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 820                    --std=c99 --inline-suppr --quiet --force \
 821                    $(addprefix -I,$(INCLUDE_DIRS)) \
 822                    -I/usr/include -I/usr/include/linux
 823
 824 #
 825 # Things we will build
 826 #
 827 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 828 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 829 endif
 830
 831 CC3D_OPBL_SRC     = $(CC3D_SRC)
 832
 833 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 834 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 835 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 836 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 837 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 838 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 839
 840
 841 ifeq ($(OPBL),yes)
 842 CLEAN_ARTIFACTS := $(TARGET_BIN)
 843 else
 844 CLEAN_ARTIFACTS := $(TARGET_HEX)
 845 endif
 846 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 847
 848 # List of buildable ELF files and their object dependencies.
 849 # It would be nice to compute these lists, but that seems to be just beyond make.
 850
 851 $(TARGET_HEX): $(TARGET_ELF)
 852         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 853
 854 $(TARGET_BIN): $(TARGET_ELF)
 855         $(OBJCOPY) -O binary $< $@
 856
 857 $(TARGET_ELF):  $(TARGET_OBJS)
 858         $(CC) -o $@ $^ $(LDFLAGS)
 859         $(SIZE) $(TARGET_ELF)
 860
 861 # Compile
 862 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 863         @mkdir -p $(dir $@)
 864         @echo %% $(notdir $<)
 865         @$(CC) -c -o $@ $(CFLAGS) $<
 866
 867 # Assemble
 868 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 869         @mkdir -p $(dir $@)
 870         @echo %% $(notdir $<)
 871         @$(CC) -c -o $@ $(ASFLAGS) $<
 872
 873 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 874         @mkdir -p $(dir $@)
 875         @echo %% $(notdir $<)
 876         @$(CC) -c -o $@ $(ASFLAGS) $<
 877
 878
 879 ## all         : default task; compile C code, build firmware
 880 all: binary
 881
 882 ## clean       : clean up all temporary / machine-generated files
 883 clean:
 884         rm -f $(CLEAN_ARTIFACTS)
 885         rm -rf $(OBJECT_DIR)/$(TARGET)
 886         cd src/test && $(MAKE) clean || true
 887
 888 flash_$(TARGET): $(TARGET_HEX)
 889         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 890         echo -n 'R' >$(SERIAL_DEVICE)
 891         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 892
 893 ## flash       : flash firmware (.hex) onto flight controller
 894 flash: flash_$(TARGET)
 895
 896 st-flash_$(TARGET): $(TARGET_BIN)
 897         st-flash --reset write $< 0x08000000
 898
 899 ## st-flash    : flash firmware (.bin) onto flight controller
 900 st-flash: st-flash_$(TARGET)
 901
 902 binary: $(TARGET_BIN)
 903 hex:    $(TARGET_HEX)
 904
 905 unbrick_$(TARGET): $(TARGET_HEX)
 906         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 907         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 908
 909 ## unbrick     : unbrick flight controller
 910 unbrick: unbrick_$(TARGET)
 911
 912 ## cppcheck    : run static analysis on C source code
 913 cppcheck: $(CSOURCES)
 914         $(CPPCHECK)
 915
 916 cppcheck-result.xml: $(CSOURCES)
 917         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 918
 919 ## help        : print this help message and exit
 920 help: Makefile
 921         @echo ""
 922         @echo "Makefile for the $(FORKNAME) firmware"
 923         @echo ""
 924         @echo "Usage:"
 925         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 926         @echo ""
 927         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 928         @echo ""
 929         @sed -n 's/^## //p' $<
 930
 931 ## test        : run the cleanflight test suite
 932 test:
 933         cd src/test && $(MAKE) test || true
 934
 935 # rebuild everything when makefile changes
 936 $(TARGET_OBJS) : Makefile
 937
 938 # include auto-generated dependencies
 939 -include $(TARGET_DEPS)