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 # compile for OpenPilot BootLoader support
  24 OPBL ?=no
  25
  26 # Debugger optons, must be empty or GDB
  27 DEBUG ?=
  28
  29 # Serial port/Device for flashing
  30 SERIAL_DEVICE   ?= /dev/ttyUSB0
  31
  32 ###############################################################################
  33 # Things that need to be maintained as the source changes
  34 #
  35
  36 FORKNAME                         = cleanflight
  37
  38 VALID_TARGETS    = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1
  39
  40 # Valid targets for OP BootLoader support
  41 OPBL_VALID_TARGETS = CC3D
  42
  43 REVISION = $(shell git log -1 --format="%h")
  44
  45 # Working directories
  46 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  47 SRC_DIR          = $(ROOT)/src/main
  48 OBJECT_DIR       = $(ROOT)/obj/main
  49 BIN_DIR          = $(ROOT)/obj
  50 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  51 INCLUDE_DIRS     = $(SRC_DIR)
  52 LINKER_DIR       = $(ROOT)/src/main/target
  53
  54 # Search path for sources
  55 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  56
  57 ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 SPARKY))
  58
  59 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  60 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  61
  62 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  63 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  64
  65 EXCLUDES        = stm32f30x_crc.c \
  66                 stm32f30x_can.c
  67
  68 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  69
  70 DEVICE_STDPERIPH_SRC = \
  71                 $(STDPERIPH_SRC)
  72
  73
  74 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  75 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  76                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
  77
  78 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  79                    $(STDPERIPH_DIR)/inc \
  80                    $(CMSIS_DIR)/CM1/CoreSupport \
  81                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  82
  83 ifneq ($(TARGET),SPRACINGF3)
  84 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  85                    $(USBFS_DIR)/inc \
  86                    $(ROOT)/src/main/vcp
  87
  88 VPATH := $(VPATH):$(USBFS_DIR)/src
  89
  90 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
  91                    $(USBPERIPH_SRC)
  92
  93 endif
  94
  95 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_256k.ld
  96
  97 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
  98 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
  99 TARGET_FLAGS = -D$(TARGET)
 100 ifeq ($(TARGET),CHEBUZZF3)
 101 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 102 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 103 endif
 104
 105 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 106
 107
 108 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 109
 110 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 111
 112 EXCLUDES        = stm32f10x_crc.c \
 113                 stm32f10x_cec.c \
 114                 stm32f10x_can.c
 115
 116 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 117
 118 # Search path and source files for the CMSIS sources
 119 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 120 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 121                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 122
 123 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 124                    $(STDPERIPH_DIR)/inc \
 125                    $(CMSIS_DIR)/CM3/CoreSupport \
 126                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 127
 128 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_256k.ld
 129
 130 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 131 TARGET_FLAGS = -D$(TARGET) -pedantic
 132 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 133
 134 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 135
 136 else
 137
 138 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 139
 140 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 141
 142 EXCLUDES        = stm32f10x_crc.c \
 143                 stm32f10x_cec.c \
 144                 stm32f10x_can.c
 145
 146 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 147
 148 # Search path and source files for the CMSIS sources
 149 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 150 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 151                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 152
 153 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 154                    $(STDPERIPH_DIR)/inc \
 155                    $(CMSIS_DIR)/CM3/CoreSupport \
 156                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 157
 158 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_128k.ld
 159
 160 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 161 TARGET_FLAGS = -D$(TARGET) -pedantic
 162 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 163
 164 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 165
 166 endif
 167
 168 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 169 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 170
 171 ifeq ($(TARGET),ALIENWIIF1)
 172 # ALIENWIIF1 is a VARIANT of NAZE
 173 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 174 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 175 endif
 176
 177 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 178                     $(TARGET_DIR)
 179
 180 VPATH           := $(VPATH):$(TARGET_DIR)
 181
 182 COMMON_SRC       = build_config.c \
 183                    version.c \
 184                    $(TARGET_SRC) \
 185                    config/config.c \
 186                    config/runtime_config.c \
 187                    common/maths.c \
 188                    common/printf.c \
 189                    common/typeconversion.c \
 190                    main.c \
 191                    mw.c \
 192                    flight/altitudehold.c \
 193                    flight/failsafe.c \
 194                    flight/flight.c \
 195                    flight/imu.c \
 196                    flight/mixer.c \
 197                    drivers/bus_i2c_soft.c \
 198                    drivers/serial.c \
 199                    drivers/sound_beeper.c \
 200                    drivers/system.c \
 201                    io/beeper.c \
 202                    io/rc_controls.c \
 203                    io/rc_curves.c \
 204                    io/serial.c \
 205                    io/serial_cli.c \
 206                    io/serial_msp.c \
 207                    io/statusindicator.c \
 208                    rx/rx.c \
 209                    rx/pwm.c \
 210                    rx/msp.c \
 211                    rx/sbus.c \
 212                    rx/sumd.c \
 213                    rx/sumh.c \
 214                    rx/spektrum.c \
 215                    rx/xbus.c \
 216                    sensors/acceleration.c \
 217                    sensors/battery.c \
 218                    sensors/boardalignment.c \
 219                    sensors/compass.c \
 220                    sensors/gyro.c \
 221                    sensors/initialisation.c \
 222                    $(CMSIS_SRC) \
 223                    $(DEVICE_STDPERIPH_SRC)
 224
 225 HIGHEND_SRC  = flight/autotune.c \
 226                    flight/navigation.c \
 227                    flight/gps_conversion.c \
 228                    common/colorconversion.c \
 229                    io/gps.c \
 230                    io/ledstrip.c \
 231                    io/display.c \
 232                    telemetry/telemetry.c \
 233                    telemetry/frsky.c \
 234                    telemetry/hott.c \
 235                    telemetry/msp.c \
 236            telemetry/smartport.c \
 237                    sensors/sonar.c \
 238                    sensors/barometer.c \
 239                    blackbox/blackbox.c
 240
 241 NAZE_SRC         = startup_stm32f10x_md_gcc.S \
 242                    drivers/accgyro_adxl345.c \
 243                    drivers/accgyro_bma280.c \
 244                    drivers/accgyro_l3g4200d.c \
 245                    drivers/accgyro_mma845x.c \
 246                    drivers/accgyro_mpu3050.c \
 247                    drivers/accgyro_mpu6050.c \
 248                    drivers/accgyro_spi_mpu6500.c \
 249                    drivers/adc.c \
 250                    drivers/adc_stm32f10x.c \
 251                    drivers/barometer_bmp085.c \
 252                    drivers/barometer_ms5611.c \
 253                    drivers/bus_spi.c \
 254                    drivers/bus_i2c_stm32f10x.c \
 255                    drivers/compass_hmc5883l.c \
 256                    drivers/display_ug2864hsweg01.h \
 257                    drivers/gpio_stm32f10x.c \
 258                    drivers/inverter.c \
 259                    drivers/light_led_stm32f10x.c \
 260                    drivers/light_ws2811strip.c \
 261                    drivers/light_ws2811strip_stm32f10x.c \
 262                    drivers/sonar_hcsr04.c \
 263                    drivers/pwm_mapping.c \
 264                    drivers/pwm_output.c \
 265                    drivers/pwm_rx.c \
 266                    drivers/serial_softserial.c \
 267                    drivers/serial_uart.c \
 268                    drivers/serial_uart_stm32f10x.c \
 269                    drivers/sound_beeper_stm32f10x.c \
 270                    drivers/system_stm32f10x.c \
 271                    drivers/timer.c \
 272                    drivers/timer_stm32f10x.c \
 273                    hardware_revision.c \
 274                    $(HIGHEND_SRC) \
 275                    $(COMMON_SRC)
 276
 277 ALIENWIIF1_SRC  = $(NAZE_SRC)
 278
 279 EUSTM32F103RC_SRC        = startup_stm32f10x_hd_gcc.S \
 280                    drivers/accgyro_adxl345.c \
 281                    drivers/accgyro_bma280.c \
 282                    drivers/accgyro_l3g4200d.c \
 283                    drivers/accgyro_mma845x.c \
 284                    drivers/accgyro_mpu3050.c \
 285                    drivers/accgyro_mpu6050.c \
 286                    drivers/accgyro_spi_mpu6000.c \
 287                    drivers/accgyro_spi_mpu6500.c \
 288                    drivers/adc.c \
 289                    drivers/adc_stm32f10x.c \
 290                    drivers/barometer_bmp085.c \
 291                    drivers/barometer_ms5611.c \
 292                    drivers/bus_i2c_stm32f10x.c \
 293                    drivers/bus_spi.c \
 294                    drivers/compass_ak8975.c \
 295                    drivers/compass_hmc5883l.c \
 296                    drivers/display_ug2864hsweg01.c \
 297                    drivers/gpio_stm32f10x.c \
 298                    drivers/inverter.c \
 299                    drivers/light_led_stm32f10x.c \
 300                    drivers/light_ws2811strip.c \
 301                    drivers/light_ws2811strip_stm32f10x.c \
 302                    drivers/pwm_mapping.c \
 303                    drivers/pwm_output.c \
 304                    drivers/pwm_rx.c \
 305                    drivers/serial_softserial.c \
 306                    drivers/serial_uart.c \
 307                    drivers/serial_uart_stm32f10x.c \
 308                    drivers/sonar_hcsr04.c \
 309                    drivers/sound_beeper_stm32f10x.c \
 310                    drivers/system_stm32f10x.c \
 311                    drivers/timer.c \
 312                    drivers/timer_stm32f10x.c \
 313                    $(HIGHEND_SRC) \
 314                    $(COMMON_SRC)
 315
 316 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 317
 318 OLIMEXINO_SRC    = startup_stm32f10x_md_gcc.S \
 319                    drivers/accgyro_mpu6050.c \
 320                    drivers/adc.c \
 321                    drivers/adc_stm32f10x.c \
 322                    drivers/barometer_bmp085.c \
 323                    drivers/bus_i2c_stm32f10x.c \
 324                    drivers/bus_spi.c \
 325                    drivers/compass_hmc5883l.c \
 326                    drivers/gpio_stm32f10x.c \
 327                    drivers/light_led_stm32f10x.c \
 328                    drivers/light_ws2811strip.c \
 329                    drivers/light_ws2811strip_stm32f10x.c \
 330                    drivers/pwm_mapping.c \
 331                    drivers/pwm_output.c \
 332                    drivers/pwm_rx.c \
 333                    drivers/serial_softserial.c \
 334                    drivers/serial_uart.c \
 335                    drivers/serial_uart_stm32f10x.c \
 336                    drivers/sonar_hcsr04.c \
 337                    drivers/sound_beeper_stm32f10x.c \
 338                    drivers/system_stm32f10x.c \
 339                    drivers/timer.c \
 340                    drivers/timer_stm32f10x.c \
 341                    $(HIGHEND_SRC) \
 342                    $(COMMON_SRC)
 343
 344 ifeq ($(TARGET),CJMCU)
 345 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_64k.ld
 346 endif
 347
 348 ifeq ($(OPBL),yes)
 349 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 350 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_128k_opbl.ld
 351 .DEFAULT_GOAL := binary
 352 else
 353 $(error OPBL specified with a unsupported target)
 354 endif
 355 endif
 356
 357 CJMCU_SRC        = \
 358                    startup_stm32f10x_md_gcc.S \
 359                    drivers/adc.c \
 360                    drivers/adc_stm32f10x.c \
 361                    drivers/accgyro_mpu6050.c \
 362                    drivers/bus_i2c_stm32f10x.c \
 363                    drivers/compass_hmc5883l.c \
 364                    drivers/gpio_stm32f10x.c \
 365                    drivers/light_led_stm32f10x.c \
 366                    drivers/pwm_mapping.c \
 367                    drivers/pwm_output.c \
 368                    drivers/pwm_rx.c \
 369                    drivers/serial_uart.c \
 370                    drivers/serial_uart_stm32f10x.c \
 371                    drivers/sound_beeper_stm32f10x.c \
 372                    drivers/system_stm32f10x.c \
 373                    drivers/timer.c \
 374                    drivers/timer_stm32f10x.c \
 375                    blackbox/blackbox.c \
 376                    hardware_revision.c \
 377                    $(COMMON_SRC)
 378
 379 CC3D_SRC         = \
 380                    startup_stm32f10x_md_gcc.S \
 381                    drivers/accgyro_spi_mpu6000.c \
 382                    drivers/adc.c \
 383                    drivers/adc_stm32f10x.c \
 384                    drivers/bus_spi.c \
 385                    drivers/gpio_stm32f10x.c \
 386                    drivers/inverter.c \
 387                    drivers/light_led_stm32f10x.c \
 388                    drivers/light_ws2811strip.c \
 389                    drivers/light_ws2811strip_stm32f10x.c \
 390                    drivers/pwm_mapping.c \
 391                    drivers/pwm_output.c \
 392                    drivers/pwm_rx.c \
 393                    drivers/serial_softserial.c \
 394                    drivers/serial_uart.c \
 395                    drivers/serial_uart_stm32f10x.c \
 396                    drivers/sound_beeper_stm32f10x.c \
 397                    drivers/system_stm32f10x.c \
 398                    drivers/timer.c \
 399                    drivers/timer_stm32f10x.c \
 400                    $(HIGHEND_SRC) \
 401                    $(COMMON_SRC)
 402
 403 STM32F30x_COMMON_SRC     = \
 404                    startup_stm32f30x_md_gcc.S \
 405                    drivers/adc.c \
 406                    drivers/adc_stm32f30x.c \
 407                    drivers/bus_i2c_stm32f30x.c \
 408                    drivers/bus_spi.c \
 409                    drivers/gpio_stm32f30x.c \
 410                    drivers/light_led_stm32f30x.c \
 411                    drivers/light_ws2811strip.c \
 412                    drivers/light_ws2811strip_stm32f30x.c \
 413                    drivers/pwm_mapping.c \
 414                    drivers/pwm_output.c \
 415                    drivers/pwm_rx.c \
 416                    drivers/serial_uart.c \
 417                    drivers/serial_uart_stm32f30x.c \
 418                    drivers/sound_beeper_stm32f30x.c \
 419                    drivers/system_stm32f30x.c \
 420                    drivers/timer.c \
 421                    drivers/timer_stm32f30x.c
 422
 423 VCP_SRC  = \
 424                    vcp/hw_config.c \
 425                    vcp/stm32_it.c \
 426                    vcp/usb_desc.c \
 427                    vcp/usb_endp.c \
 428                    vcp/usb_istr.c \
 429                    vcp/usb_prop.c \
 430                    vcp/usb_pwr.c \
 431                    drivers/serial_usb_vcp.c
 432
 433 NAZE32PRO_SRC    = \
 434                    $(STM32F30x_COMMON_SRC) \
 435                    $(HIGHEND_SRC) \
 436                    $(COMMON_SRC) \
 437                    $(VCP_SRC)
 438
 439 STM32F3DISCOVERY_COMMON_SRC      = \
 440                    $(STM32F30x_COMMON_SRC) \
 441                    drivers/accgyro_l3gd20.c \
 442                    drivers/accgyro_l3gd20.c \
 443                    drivers/accgyro_lsm303dlhc.c \
 444                    drivers/compass_hmc5883l.c \
 445                    $(VCP_SRC)
 446
 447 STM32F3DISCOVERY_SRC     = \
 448                    $(STM32F3DISCOVERY_COMMON_SRC) \
 449                    drivers/accgyro_adxl345.c \
 450                    drivers/accgyro_bma280.c \
 451                    drivers/accgyro_mma845x.c \
 452                    drivers/accgyro_mpu3050.c \
 453                    drivers/accgyro_mpu6050.c \
 454                    drivers/accgyro_l3g4200d.c \
 455                    drivers/barometer_ms5611.c \
 456                    drivers/compass_ak8975.c \
 457                    $(HIGHEND_SRC) \
 458                    $(COMMON_SRC)
 459
 460 CHEBUZZF3_SRC    = \
 461                    $(STM32F3DISCOVERY_SRC) \
 462                    $(HIGHEND_SRC) \
 463                    $(COMMON_SRC)
 464
 465 SPARKY_SRC       = \
 466                    $(STM32F30x_COMMON_SRC) \
 467                    drivers/display_ug2864hsweg01.c \
 468                    drivers/accgyro_mpu6050.c \
 469                    drivers/barometer_ms5611.c \
 470                    drivers/compass_ak8975.c \
 471                    drivers/serial_usb_vcp.c \
 472                    $(HIGHEND_SRC) \
 473                    $(COMMON_SRC) \
 474                    $(VCP_SRC)
 475
 476 SPRACINGF3_SRC   = \
 477                    $(STM32F30x_COMMON_SRC) \
 478                    drivers/accgyro_mpu6050.c \
 479                    drivers/barometer_ms5611.c \
 480                    drivers/compass_hmc5883l.c \
 481                    $(HIGHEND_SRC) \
 482                    $(COMMON_SRC)
 483
 484 #ifeq ($(TARGET),SPRACINGF3)
 485 #LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_128k.ld
 486 #endif
 487
 488 # Search path and source files for the ST stdperiph library
 489 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 490
 491 ###############################################################################
 492 # Things that might need changing to use different tools
 493 #
 494
 495 # Tool names
 496 CC               = arm-none-eabi-gcc
 497 OBJCOPY          = arm-none-eabi-objcopy
 498 SIZE             = arm-none-eabi-size
 499
 500 #
 501 # Tool options.
 502 #
 503
 504 ifeq ($(DEBUG),GDB)
 505 OPTIMIZE         = -O0
 506 LTO_FLAGS        = $(OPTIMIZE)
 507 else
 508 OPTIMIZE         = -Os
 509 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 510 endif
 511
 512 DEBUG_FLAGS      = -ggdb3
 513
 514 CFLAGS           = $(ARCH_FLAGS) \
 515                    $(LTO_FLAGS) \
 516                    $(addprefix -D,$(OPTIONS)) \
 517                    $(addprefix -I,$(INCLUDE_DIRS)) \
 518                    $(DEBUG_FLAGS) \
 519                    -std=gnu99 \
 520                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 521                    -ffunction-sections \
 522                    -fdata-sections \
 523                    $(DEVICE_FLAGS) \
 524                    -DUSE_STDPERIPH_DRIVER \
 525                    $(TARGET_FLAGS) \
 526                    -D'__FORKNAME__="$(FORKNAME)"' \
 527                    -D'__TARGET__="$(TARGET)"' \
 528                    -D'__REVISION__="$(REVISION)"' \
 529                    -save-temps=obj \
 530                    -MMD
 531
 532 ASFLAGS          = $(ARCH_FLAGS) \
 533                    -x assembler-with-cpp \
 534                    $(addprefix -I,$(INCLUDE_DIRS)) \
 535                   -MMD
 536
 537 LDFLAGS          = -lm \
 538                    -nostartfiles \
 539                    --specs=nano.specs \
 540                    -lc \
 541                    -lnosys \
 542                    $(ARCH_FLAGS) \
 543                    $(LTO_FLAGS) \
 544                    $(DEBUG_FLAGS) \
 545                    -static \
 546                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 547                    -T$(LD_SCRIPT)
 548
 549 ###############################################################################
 550 # No user-serviceable parts below
 551 ###############################################################################
 552
 553 #
 554 # Things we will build
 555 #
 556 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 557 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 558 endif
 559
 560 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 561 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 562 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 563 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 564 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 565 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 566
 567 # List of buildable ELF files and their object dependencies.
 568 # It would be nice to compute these lists, but that seems to be just beyond make.
 569
 570 $(TARGET_HEX): $(TARGET_ELF)
 571         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 572
 573 $(TARGET_BIN): $(TARGET_ELF)
 574         $(OBJCOPY) -O binary $< $@
 575
 576 $(TARGET_ELF):  $(TARGET_OBJS)
 577         $(CC) -o $@ $^ $(LDFLAGS)
 578         $(SIZE) $(TARGET_ELF)
 579
 580 # Compile
 581 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 582         @mkdir -p $(dir $@)
 583         @echo %% $(notdir $<)
 584         @$(CC) -c -o $@ $(CFLAGS) $<
 585
 586 # Assemble
 587 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 588         @mkdir -p $(dir $@)
 589         @echo %% $(notdir $<)
 590         @$(CC) -c -o $@ $(ASFLAGS) $<
 591
 592 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 593         @mkdir -p $(dir $@)
 594         @echo %% $(notdir $<)
 595         @$(CC) -c -o $@ $(ASFLAGS) $<
 596
 597 clean:
 598         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 599         rm -rf $(OBJECT_DIR)/$(TARGET)
 600
 601 flash_$(TARGET): $(TARGET_HEX)
 602         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 603         echo -n 'R' >$(SERIAL_DEVICE)
 604         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 605
 606 flash: flash_$(TARGET)
 607
 608 binary: $(TARGET_BIN)
 609
 610 unbrick_$(TARGET): $(TARGET_HEX)
 611         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 612         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 613
 614 unbrick: unbrick_$(TARGET)
 615
 616 help:
 617         @echo ""
 618         @echo "Makefile for the $(FORKNAME) firmware"
 619         @echo ""
 620         @echo "Usage:"
 621         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 622         @echo ""
 623         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 624         @echo ""
 625
 626 # rebuild everything when makefile changes
 627 $(TARGET_OBJS) : Makefile
 628
 629 # include auto-generated dependencies
 630 -include $(TARGET_DEPS)