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 # Things that the user might override on the commandline
  15 #
  16
  17 # The target to build, see VALID_TARGETS below
  18 TARGET          ?= NAZE
  19
  20 # Compile-time options
  21 OPTIONS         ?=
  22
  23 # Debugger optons, must be empty or GDB
  24 DEBUG ?=
  25
  26 # Serial port/Device for flashing
  27 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  28
  29 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  30 FLASH_SIZE ?=
  31
  32 ###############################################################################
  33 # Things that need to be maintained as the source changes
  34 #
  35
  36 FORKNAME                         = inav
  37
  38 VALID_TARGETS    = ALIENWIIF1 ALIENWIIF3 CC3D CHEBUZZF3 CJMCU COLIBRI_RACE EUSTM32F103RC LUX_RACE MOTOLAB NAZE NAZE32PRO OLIMEXINO PORT103R RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY
  39
  40 # Configure default flash sizes for the targets
  41 ifeq ($(FLASH_SIZE),)
  42 ifeq ($(TARGET),$(filter $(TARGET),CJMCU))
  43 FLASH_SIZE = 64
  44 else ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF1 CC3D NAZE OLIMEXINO RMDO))
  45 FLASH_SIZE = 128
  46 else ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE EUSTM32F103RC MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 STM32F3DISCOVERY))
  47 FLASH_SIZE = 256
  48 else
  49 $(error FLASH_SIZE not configured for target)
  50 endif
  51 endif
  52
  53 REVISION := $(shell git log -1 --format="%h")
  54
  55 # Working directories
  56 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  57 SRC_DIR          = $(ROOT)/src/main
  58 OBJECT_DIR       = $(ROOT)/obj/main
  59 BIN_DIR          = $(ROOT)/obj
  60 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  61 INCLUDE_DIRS     = $(SRC_DIR)
  62 LINKER_DIR       = $(ROOT)/src/main/target
  63
  64 # Search path for sources
  65 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  66 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  67 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  68
  69 CSOURCES                := $(shell find $(SRC_DIR) -name '*.c')
  70
  71 ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY))
  72
  73 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  74
  75 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  76
  77 EXCLUDES        = stm32f30x_crc.c \
  78                 stm32f30x_can.c
  79
  80 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  81
  82 DEVICE_STDPERIPH_SRC = \
  83                 $(STDPERIPH_SRC)
  84
  85
  86 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  87 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  88                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
  89
  90 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  91                    $(STDPERIPH_DIR)/inc \
  92                    $(CMSIS_DIR)/CM1/CoreSupport \
  93                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  94
  95 ifneq ($(TARGET),SPRACINGF3)
  96 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  97                    $(USBFS_DIR)/inc \
  98                    $(ROOT)/src/main/vcp
  99
 100 VPATH := $(VPATH):$(USBFS_DIR)/src
 101
 102 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 103                    $(USBPERIPH_SRC)
 104
 105 endif
 106
 107 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 108
 109 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 110 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 111 TARGET_FLAGS = -D$(TARGET)
 112 ifeq ($(TARGET),CHEBUZZF3)
 113 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 114 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 115 endif
 116
 117 ifeq ($(TARGET),RMDO)
 118 # RMDO is a VARIANT of SPRACINGF3
 119 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 120 endif
 121
 122 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 123
 124
 125 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 126
 127 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 128
 129 EXCLUDES        = stm32f10x_crc.c \
 130                 stm32f10x_cec.c \
 131                 stm32f10x_can.c
 132
 133 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 134
 135 # Search path and source files for the CMSIS sources
 136 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 137 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 138                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 139
 140 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 141                    $(STDPERIPH_DIR)/inc \
 142                    $(CMSIS_DIR)/CM3/CoreSupport \
 143                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 144
 145 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 146
 147 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 148 TARGET_FLAGS = -D$(TARGET) -pedantic
 149 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 150
 151 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 152
 153 else
 154
 155 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 156
 157 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 158
 159 EXCLUDES        = stm32f10x_crc.c \
 160                 stm32f10x_cec.c \
 161                 stm32f10x_can.c
 162
 163 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 164
 165 # Search path and source files for the CMSIS sources
 166 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 167 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 168                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 169
 170 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 171                    $(STDPERIPH_DIR)/inc \
 172                    $(CMSIS_DIR)/CM3/CoreSupport \
 173                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 174
 175 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 176
 177 ifeq ($(TARGET),CC3D)
 178 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 179                    $(USBFS_DIR)/inc \
 180                    $(ROOT)/src/main/vcp
 181
 182 VPATH := $(VPATH):$(USBFS_DIR)/src
 183
 184 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 185                    $(USBPERIPH_SRC)
 186
 187 endif
 188
 189 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 190
 191 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 192 TARGET_FLAGS = -D$(TARGET) -pedantic
 193 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 194
 195 endif
 196
 197 ifneq ($(FLASH_SIZE),)
 198 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 199 endif
 200
 201 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 202 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 203
 204 ifeq ($(TARGET),ALIENWIIF1)
 205 # ALIENWIIF1 is a VARIANT of NAZE
 206 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 207 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 208 endif
 209
 210 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 211                         $(TARGET_DIR)
 212
 213 VPATH           := $(VPATH):$(TARGET_DIR)
 214
 215 COMMON_SRC = build_config.c \
 216                    debug.c \
 217                    version.c \
 218                    $(TARGET_SRC) \
 219                    config/config.c \
 220                    config/runtime_config.c \
 221                    common/maths.c \
 222                    common/printf.c \
 223                    common/typeconversion.c \
 224                    common/encoding.c \
 225                    common/filter.c \
 226                    scheduler/scheduler.c \
 227                    scheduler/scheduler_tasks.c \
 228                    main.c \
 229                    mw.c \
 230                    flight/failsafe.c \
 231                    flight/pid.c \
 232                    flight/imu.c \
 233                    flight/hil.c \
 234                    flight/mixer.c \
 235                    drivers/bus_i2c_soft.c \
 236                    drivers/serial.c \
 237                    drivers/sound_beeper.c \
 238                    drivers/system.c \
 239                    drivers/gps_i2cnav.c \
 240                    drivers/gyro_sync.c \
 241                    drivers/buf_writer.c \
 242                    io/beeper.c \
 243                    io/rc_controls.c \
 244                    io/rc_curves.c \
 245                    io/serial.c \
 246                    io/serial_1wire.c \
 247                    io/serial_cli.c \
 248                    io/serial_msp.c \
 249                    io/statusindicator.c \
 250                    rx/rx.c \
 251                    rx/pwm.c \
 252                    rx/msp.c \
 253                    rx/sbus.c \
 254                    rx/sumd.c \
 255                    rx/sumh.c \
 256                    rx/spektrum.c \
 257                    rx/xbus.c \
 258                    rx/ibus.c \
 259                    sensors/acceleration.c \
 260                    sensors/battery.c \
 261                    sensors/boardalignment.c \
 262                    sensors/compass.c \
 263                    sensors/gyro.c \
 264                    sensors/initialisation.c \
 265                    $(CMSIS_SRC) \
 266                    $(DEVICE_STDPERIPH_SRC)
 267
 268 HIGHEND_SRC = \
 269                    flight/gtune.c \
 270                    flight/navigation_rewrite.c \
 271                    flight/navigation_rewrite_multicopter.c \
 272                    flight/navigation_rewrite_fixedwing.c \
 273                    flight/navigation_rewrite_pos_estimator.c \
 274                    flight/navigation_rewrite_geo.c \
 275                    flight/gps_conversion.c \
 276                    common/colorconversion.c \
 277                    io/gps.c \
 278                    io/gps_ublox.c \
 279                    io/gps_nmea.c \
 280                    io/gps_naza.c \
 281                    io/gps_i2cnav.c \
 282                    io/ledstrip.c \
 283                    io/display.c \
 284                    telemetry/telemetry.c \
 285                    telemetry/frsky.c \
 286                    telemetry/hott.c \
 287                    telemetry/smartport.c \
 288                    telemetry/ltm.c \
 289                    sensors/sonar.c \
 290                    sensors/barometer.c \
 291                    blackbox/blackbox.c \
 292                    blackbox/blackbox_io.c
 293
 294 VCP_SRC = \
 295                    vcp/hw_config.c \
 296                    vcp/stm32_it.c \
 297                    vcp/usb_desc.c \
 298                    vcp/usb_endp.c \
 299                    vcp/usb_istr.c \
 300                    vcp/usb_prop.c \
 301                    vcp/usb_pwr.c \
 302                    drivers/serial_usb_vcp.c
 303
 304 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 305                    drivers/accgyro_adxl345.c \
 306                    drivers/accgyro_bma280.c \
 307                    drivers/accgyro_l3g4200d.c \
 308                    drivers/accgyro_mma845x.c \
 309                    drivers/accgyro_mpu.c \
 310                    drivers/accgyro_mpu3050.c \
 311                    drivers/accgyro_mpu6050.c \
 312                    drivers/accgyro_mpu6500.c \
 313                    drivers/accgyro_spi_mpu6500.c \
 314                    drivers/adc.c \
 315                    drivers/adc_stm32f10x.c \
 316                    drivers/barometer_bmp085.c \
 317                    drivers/barometer_ms5611.c \
 318                    drivers/barometer_bmp280.c \
 319                    drivers/bus_spi.c \
 320                    drivers/bus_i2c_stm32f10x.c \
 321                    drivers/compass_hmc5883l.c \
 322                    drivers/compass_mag3110.c \
 323                    drivers/compass_ak8975.c \
 324                    drivers/display_ug2864hsweg01.h \
 325                    drivers/flash_m25p16.c \
 326                    drivers/gpio_stm32f10x.c \
 327                    drivers/inverter.c \
 328                    drivers/light_led_stm32f10x.c \
 329                    drivers/light_ws2811strip.c \
 330                    drivers/light_ws2811strip_stm32f10x.c \
 331                    drivers/sonar_hcsr04.c \
 332                    drivers/pwm_mapping.c \
 333                    drivers/pwm_output.c \
 334                    drivers/pwm_rx.c \
 335                    drivers/serial_softserial.c \
 336                    drivers/serial_uart.c \
 337                    drivers/serial_uart_stm32f10x.c \
 338                    drivers/sound_beeper_stm32f10x.c \
 339                    drivers/system_stm32f10x.c \
 340                    drivers/timer.c \
 341                    drivers/timer_stm32f10x.c \
 342                    io/flashfs.c \
 343                    hardware_revision.c \
 344                    $(HIGHEND_SRC) \
 345                    $(COMMON_SRC)
 346
 347 ALIENWIIF1_SRC = $(NAZE_SRC)
 348
 349 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 350                    drivers/accgyro_adxl345.c \
 351                    drivers/accgyro_bma280.c \
 352                    drivers/accgyro_l3g4200d.c \
 353                    drivers/accgyro_mma845x.c \
 354                    drivers/accgyro_mpu.c \
 355                    drivers/accgyro_mpu3050.c \
 356                    drivers/accgyro_mpu6050.c \
 357                    drivers/accgyro_spi_mpu6000.c \
 358                    drivers/accgyro_spi_mpu6500.c \
 359                    drivers/adc.c \
 360                    drivers/adc_stm32f10x.c \
 361                    drivers/barometer_bmp085.c \
 362                    drivers/barometer_ms5611.c \
 363                    drivers/bus_i2c_stm32f10x.c \
 364                    drivers/bus_spi.c \
 365                    drivers/compass_ak8975.c \
 366                    drivers/compass_mag3110.c \
 367                    drivers/compass_hmc5883l.c \
 368                    drivers/display_ug2864hsweg01.c \
 369                    drivers/flash_m25p16.c \
 370                    drivers/gpio_stm32f10x.c \
 371                    drivers/inverter.c \
 372                    drivers/light_led_stm32f10x.c \
 373                    drivers/light_ws2811strip.c \
 374                    drivers/light_ws2811strip_stm32f10x.c \
 375                    drivers/pwm_mapping.c \
 376                    drivers/pwm_output.c \
 377                    drivers/pwm_rx.c \
 378                    drivers/serial_softserial.c \
 379                    drivers/serial_uart.c \
 380                    drivers/serial_uart_stm32f10x.c \
 381                    drivers/sonar_hcsr04.c \
 382                    drivers/sound_beeper_stm32f10x.c \
 383                    drivers/system_stm32f10x.c \
 384                    drivers/timer.c \
 385                    drivers/timer_stm32f10x.c \
 386                    io/flashfs.c \
 387                    $(HIGHEND_SRC) \
 388                    $(COMMON_SRC)
 389
 390 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 391
 392 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 393                    drivers/accgyro_mpu.c \
 394                    drivers/accgyro_mpu6050.c \
 395                    drivers/adc.c \
 396                    drivers/adc_stm32f10x.c \
 397                    drivers/barometer_bmp085.c \
 398                    drivers/bus_i2c_stm32f10x.c \
 399                    drivers/bus_spi.c \
 400                    drivers/compass_hmc5883l.c \
 401                    drivers/compass_mag3110.c \
 402                    drivers/compass_ak8975.c \
 403                    drivers/gpio_stm32f10x.c \
 404                    drivers/light_led_stm32f10x.c \
 405                    drivers/light_ws2811strip.c \
 406                    drivers/light_ws2811strip_stm32f10x.c \
 407                    drivers/pwm_mapping.c \
 408                    drivers/pwm_output.c \
 409                    drivers/pwm_rx.c \
 410                    drivers/serial_softserial.c \
 411                    drivers/serial_uart.c \
 412                    drivers/serial_uart_stm32f10x.c \
 413                    drivers/sonar_hcsr04.c \
 414                    drivers/sound_beeper_stm32f10x.c \
 415                    drivers/system_stm32f10x.c \
 416                    drivers/timer.c \
 417                    drivers/timer_stm32f10x.c \
 418                    $(HIGHEND_SRC) \
 419                    $(COMMON_SRC)
 420
 421 CJMCU_SRC = \
 422                    startup_stm32f10x_md_gcc.S \
 423                    drivers/adc.c \
 424                    drivers/adc_stm32f10x.c \
 425                    drivers/accgyro_mpu.c \
 426                    drivers/accgyro_mpu6050.c \
 427                    drivers/bus_i2c_stm32f10x.c \
 428                    drivers/compass_mag3110.c \
 429                    drivers/compass_hmc5883l.c \
 430                    drivers/compass_ak8975.c \
 431                    drivers/gpio_stm32f10x.c \
 432                    drivers/light_led_stm32f10x.c \
 433                    drivers/pwm_mapping.c \
 434                    drivers/pwm_output.c \
 435                    drivers/pwm_rx.c \
 436                    drivers/serial_uart.c \
 437                    drivers/serial_uart_stm32f10x.c \
 438                    drivers/sound_beeper_stm32f10x.c \
 439                    drivers/system_stm32f10x.c \
 440                    drivers/timer.c \
 441                    drivers/timer_stm32f10x.c \
 442                    hardware_revision.c \
 443                    flight/gtune.c \
 444                    blackbox/blackbox.c \
 445                    blackbox/blackbox_io.c \
 446                    $(COMMON_SRC)
 447
 448 CC3D_SRC = \
 449                    startup_stm32f10x_md_gcc.S \
 450                    drivers/accgyro_mpu.c \
 451                    drivers/accgyro_spi_mpu6000.c \
 452                    drivers/adc.c \
 453                    drivers/adc_stm32f10x.c \
 454                    drivers/barometer_bmp085.c \
 455                    drivers/barometer_ms5611.c \
 456                    drivers/barometer_bmp280.c \
 457                    drivers/bus_spi.c \
 458                    drivers/bus_i2c_stm32f10x.c \
 459                    drivers/compass_mag3110.c \
 460                    drivers/compass_hmc5883l.c \
 461                    drivers/compass_ak8975.c \
 462                    drivers/display_ug2864hsweg01.c \
 463                    drivers/flash_m25p16.c \
 464                    drivers/gpio_stm32f10x.c \
 465                    drivers/inverter.c \
 466                    drivers/light_led_stm32f10x.c \
 467                    drivers/light_ws2811strip.c \
 468                    drivers/light_ws2811strip_stm32f10x.c \
 469                    drivers/pwm_mapping.c \
 470                    drivers/pwm_output.c \
 471                    drivers/pwm_rx.c \
 472                    drivers/serial_softserial.c \
 473                    drivers/serial_uart.c \
 474                    drivers/serial_uart_stm32f10x.c \
 475                    drivers/sonar_hcsr04.c \
 476                    drivers/sound_beeper_stm32f10x.c \
 477                    drivers/system_stm32f10x.c \
 478                    drivers/timer.c \
 479                    drivers/timer_stm32f10x.c \
 480                    io/flashfs.c \
 481                    $(HIGHEND_SRC) \
 482                    $(COMMON_SRC) \
 483                    $(VCP_SRC)
 484
 485 STM32F30x_COMMON_SRC = \
 486                    startup_stm32f30x_md_gcc.S \
 487                    drivers/adc.c \
 488                    drivers/adc_stm32f30x.c \
 489                    drivers/bus_i2c_stm32f30x.c \
 490                    drivers/bus_spi.c \
 491                    drivers/gpio_stm32f30x.c \
 492                    drivers/light_led_stm32f30x.c \
 493                    drivers/light_ws2811strip.c \
 494                    drivers/light_ws2811strip_stm32f30x.c \
 495                    drivers/pwm_mapping.c \
 496                    drivers/pwm_output.c \
 497                    drivers/pwm_rx.c \
 498                    drivers/serial_uart.c \
 499                    drivers/serial_uart_stm32f30x.c \
 500                    drivers/sound_beeper_stm32f30x.c \
 501                    drivers/system_stm32f30x.c \
 502                    drivers/timer.c \
 503                    drivers/timer_stm32f30x.c
 504
 505 NAZE32PRO_SRC = \
 506                    $(STM32F30x_COMMON_SRC) \
 507                    $(HIGHEND_SRC) \
 508                    $(COMMON_SRC) \
 509                    $(VCP_SRC)
 510
 511 STM32F3DISCOVERY_COMMON_SRC = \
 512                    $(STM32F30x_COMMON_SRC) \
 513                    drivers/accgyro_l3gd20.c \
 514                    drivers/accgyro_l3gd20.c \
 515                    drivers/accgyro_lsm303dlhc.c \
 516                    drivers/compass_mag3110.c \
 517                    drivers/compass_hmc5883l.c \
 518                    drivers/compass_ak8975.c \
 519                    $(VCP_SRC)
 520
 521 STM32F3DISCOVERY_SRC = \
 522                    $(STM32F3DISCOVERY_COMMON_SRC) \
 523                    drivers/accgyro_adxl345.c \
 524                    drivers/accgyro_bma280.c \
 525                    drivers/accgyro_mma845x.c \
 526                    drivers/accgyro_mpu.c \
 527                    drivers/accgyro_mpu3050.c \
 528                    drivers/accgyro_mpu6050.c \
 529                    drivers/accgyro_l3g4200d.c \
 530                    drivers/barometer_ms5611.c \
 531                    drivers/compass_mag3110.c \
 532                    drivers/compass_hmc5883l.c \
 533                    drivers/compass_ak8975.c \
 534                    $(HIGHEND_SRC) \
 535                    $(COMMON_SRC)
 536
 537 CHEBUZZF3_SRC = \
 538                    $(STM32F3DISCOVERY_SRC) \
 539                    $(HIGHEND_SRC) \
 540                    $(COMMON_SRC)
 541
 542 COLIBRI_RACE_SRC = \
 543                    $(STM32F30x_COMMON_SRC) \
 544                    drivers/display_ug2864hsweg01.c \
 545                    drivers/accgyro_mpu.c \
 546                    drivers/accgyro_mpu6500.c \
 547                    drivers/accgyro_spi_mpu6500.c \
 548                    drivers/accgyro_mpu6500.c \
 549                    drivers/barometer_ms5611.c \
 550                    drivers/compass_mag3110.c \
 551                    drivers/compass_ak8975.c \
 552                    drivers/compass_hmc5883l.c \
 553                    drivers/serial_usb_vcp.c \
 554                    $(HIGHEND_SRC) \
 555                    $(COMMON_SRC) \
 556                    $(VCP_SRC)
 557
 558 LUX_RACE_SRC = \
 559                    $(STM32F30x_COMMON_SRC) \
 560                    drivers/accgyro_mpu.c \
 561                    drivers/accgyro_mpu6500.c \
 562                    drivers/accgyro_spi_mpu6500.c \
 563                    drivers/accgyro_mpu6500.c \
 564                    drivers/light_ws2811strip.c \
 565                    drivers/light_ws2811strip_stm32f30x.c \
 566                    drivers/serial_usb_vcp.c \
 567                    $(HIGHEND_SRC) \
 568                    $(COMMON_SRC) \
 569                    $(VCP_SRC)
 570
 571 SPARKY_SRC = \
 572                    $(STM32F30x_COMMON_SRC) \
 573                    drivers/display_ug2864hsweg01.c \
 574                    drivers/accgyro_mpu.c \
 575                    drivers/accgyro_mpu6050.c \
 576                    drivers/barometer_bmp085.c \
 577                    drivers/barometer_ms5611.c \
 578                    drivers/barometer_bmp280.c \
 579                    drivers/compass_mag3110.c \
 580                    drivers/compass_ak8975.c \
 581                    drivers/compass_hmc5883l.c \
 582                    drivers/serial_usb_vcp.c \
 583                    $(HIGHEND_SRC) \
 584                    $(COMMON_SRC) \
 585                    $(VCP_SRC)
 586
 587 ALIENWIIF3_SRC = \
 588                    $(SPARKY_SRC)
 589
 590 RMDO_SRC = \
 591                    $(STM32F30x_COMMON_SRC) \
 592                    drivers/accgyro_mpu.c \
 593                    drivers/accgyro_mpu6050.c \
 594                    drivers/barometer_bmp085.c \
 595                    drivers/barometer_ms5611.c \
 596                    drivers/barometer_bmp280.c \
 597                    drivers/compass_mag3110.c \
 598                    drivers/compass_ak8975.c \
 599                    drivers/compass_hmc5883l.c \
 600                    drivers/display_ug2864hsweg01.h \
 601                    drivers/flash_m25p16.c \
 602                    drivers/serial_softserial.c \
 603                    drivers/sonar_hcsr04.c \
 604                    io/flashfs.c \
 605                    $(HIGHEND_SRC) \
 606                    $(COMMON_SRC)
 607
 608 SPRACINGF3_SRC = \
 609                    $(STM32F30x_COMMON_SRC) \
 610                    drivers/accgyro_mpu.c \
 611                    drivers/accgyro_mpu6050.c \
 612                    drivers/barometer_bmp085.c \
 613                    drivers/barometer_ms5611.c \
 614                    drivers/barometer_bmp280.c \
 615                    drivers/compass_mag3110.c \
 616                    drivers/compass_ak8975.c \
 617                    drivers/compass_hmc5883l.c \
 618                    drivers/display_ug2864hsweg01.h \
 619                    drivers/flash_m25p16.c \
 620                    drivers/serial_softserial.c \
 621                    drivers/sonar_hcsr04.c \
 622                    io/flashfs.c \
 623                    $(HIGHEND_SRC) \
 624                    $(COMMON_SRC)
 625
 626 MOTOLAB_SRC = \
 627                    $(STM32F30x_COMMON_SRC) \
 628                    drivers/accgyro_mpu.c \
 629                    drivers/accgyro_mpu6050.c \
 630                    drivers/barometer_ms5611.c \
 631                    drivers/compass_mag3110.c \
 632                    drivers/compass_ak8975.c \
 633                    drivers/compass_hmc5883l.c \
 634                    drivers/display_ug2864hsweg01.c \
 635                    drivers/serial_usb_vcp.c \
 636                    drivers/flash_m25p16.c \
 637                    io/flashfs.c \
 638                    $(HIGHEND_SRC) \
 639                    $(COMMON_SRC) \
 640                    $(VCP_SRC)
 641
 642 # Search path and source files for the ST stdperiph library
 643 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 644
 645 ###############################################################################
 646 # Things that might need changing to use different tools
 647 #
 648
 649 # Tool names
 650 CC               = arm-none-eabi-gcc
 651 OBJCOPY          = arm-none-eabi-objcopy
 652 SIZE             = arm-none-eabi-size
 653
 654 #
 655 # Tool options.
 656 #
 657
 658 ifeq ($(DEBUG),GDB)
 659 OPTIMIZE         = -O0
 660 LTO_FLAGS        = $(OPTIMIZE)
 661 else
 662 OPTIMIZE         = -Os
 663 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 664 endif
 665
 666 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 667
 668 CFLAGS           = $(ARCH_FLAGS) \
 669                    $(LTO_FLAGS) \
 670                    $(addprefix -D,$(OPTIONS)) \
 671                    $(addprefix -I,$(INCLUDE_DIRS)) \
 672                    $(DEBUG_FLAGS) \
 673                    -std=gnu99 \
 674                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 675                    -ffunction-sections \
 676                    -fdata-sections \
 677                    $(DEVICE_FLAGS) \
 678                    -DUSE_STDPERIPH_DRIVER \
 679                    $(TARGET_FLAGS) \
 680                    -D'__FORKNAME__="$(FORKNAME)"' \
 681                    -D'__TARGET__="$(TARGET)"' \
 682                    -D'__REVISION__="$(REVISION)"' \
 683                    -save-temps=obj \
 684                    -MMD -MP
 685
 686 ASFLAGS          = $(ARCH_FLAGS) \
 687                    -x assembler-with-cpp \
 688                    $(addprefix -I,$(INCLUDE_DIRS)) \
 689                   -MMD -MP
 690
 691 LDFLAGS          = -lm \
 692                    -nostartfiles \
 693                    --specs=nano.specs \
 694                    -lc \
 695                    -lnosys \
 696                    $(ARCH_FLAGS) \
 697                    $(LTO_FLAGS) \
 698                    $(DEBUG_FLAGS) \
 699                    -static \
 700                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 701                    -Wl,-L$(LINKER_DIR) \
 702                    -Wl,--cref \
 703                    -T$(LD_SCRIPT)
 704
 705 ###############################################################################
 706 # No user-serviceable parts below
 707 ###############################################################################
 708
 709 CPPCHECK                 = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 710                    --std=c99 --inline-suppr --quiet --force \
 711                    $(addprefix -I,$(INCLUDE_DIRS)) \
 712                    -I/usr/include -I/usr/include/linux
 713
 714 #
 715 # Things we will build
 716 #
 717 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 718 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 719 endif
 720
 721 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 722 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 723 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 724 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 725 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 726 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 727
 728 ## Default make goal:
 729 ## hex           : Make filetype hex only
 730 .DEFAULT_GOAL := hex
 731
 732 ## Optional make goals:
 733 ## all           : Make all filetypes, binary and hex
 734 all: hex bin
 735
 736 ## binary         : Make binary filetype
 737 ## bin           : Alias of 'binary'
 738 ## hex           : Make hex filetype
 739 bin:    $(TARGET_BIN)
 740 binary: $(TARGET_BIN)
 741 hex:    $(TARGET_HEX)
 742
 743 # rule to reinvoke make with TARGET= parameter
 744 # rules that should be handled in toplevel Makefile, not dependent on TARGET
 745 GLOBAL_GOALS    = all_targets cppcheck test
 746
 747 .PHONY: $(VALID_TARGETS)
 748 $(VALID_TARGETS):
 749         $(MAKE) TARGET=$@ $(filter-out $(VALID_TARGETS) $(GLOBAL_GOALS), $(MAKECMDGOALS))
 750
 751 ## all_targets : Make all TARGETs
 752 .PHONY: all_targets
 753 all_targets : $(VALID_TARGETS)
 754
 755 ## clean           : clean up all temporary / machine-generated files
 756 clean:
 757         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 758         rm -rf $(OBJECT_DIR)/$(TARGET)
 759         cd src/test && $(MAKE) clean || true
 760
 761 flash_$(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 $(SERIAL_DEVICE)
 765
 766 ## flash           : flash firmware (.hex) onto flight controller
 767 flash: flash_$(TARGET)
 768
 769 st-flash_$(TARGET): $(TARGET_BIN)
 770         st-flash --reset write $< 0x08000000
 771
 772 ## st-flash     : flash firmware (.bin) onto flight controller
 773 st-flash: st-flash_$(TARGET)
 774
 775 binary: $(TARGET_BIN)
 776
 777 unbrick_$(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 $(SERIAL_DEVICE)
 780
 781 ## unbrick       : unbrick flight controller
 782 unbrick: unbrick_$(TARGET)
 783
 784 ## cppcheck     : run static analysis on C source code
 785 cppcheck: $(CSOURCES)
 786         $(CPPCHECK)
 787
 788 cppcheck-result.xml: $(CSOURCES)
 789         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 790
 791 ## help         : print this help message and exit
 792 help: Makefile
 793         @echo ""
 794         @echo "Makefile for the $(FORKNAME) firmware"
 795         @echo ""
 796         @echo "Usage:"
 797         @echo "         make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 798         @echo ""
 799         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 800         @echo ""
 801         @sed -n 's/^## //p' $<
 802
 803 ## test         : run the cleanflight test suite
 804 test:
 805         cd src/test && $(MAKE) test || true
 806
 807 # rebuild everything when makefile changes
 808 $(TARGET_OBJS) : Makefile
 809
 810 # List of buildable ELF files and their object dependencies.
 811 # It would be nice to compute these lists, but that seems to be just beyond make.
 812
 813 $(TARGET_HEX): $(TARGET_ELF)
 814         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 815
 816 $(TARGET_BIN): $(TARGET_ELF)
 817         $(OBJCOPY) -O binary $< $@
 818
 819 $(TARGET_ELF):  $(TARGET_OBJS)
 820         $(CC) -o $@ $^ $(LDFLAGS)
 821         $(SIZE) $(TARGET_ELF)
 822
 823 # Compile
 824 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 825         @mkdir -p $(dir $@)
 826         @echo %% $(notdir $<)
 827         @$(CC) -c -o $@ $(CFLAGS) $<
 828
 829 # Assemble
 830 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 831         @mkdir -p $(dir $@)
 832         @echo %% $(notdir $<)
 833         @$(CC) -c -o $@ $(ASFLAGS) $<
 834
 835 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 836         @mkdir -p $(dir $@)
 837         @echo %% $(notdir $<)
 838         @$(CC) -c -o $@ $(ASFLAGS) $<
 839
 840
 841 # include auto-generated dependencies
 842 -include $(TARGET_DEPS)