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 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= SPRACINGF3NEO
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40
  41 ###############################################################################
  42 # Things that need to be maintained as the source changes
  43 #
  44
  45 FORKNAME      = cleanflight
  46
  47 # Working directories
  48 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  49 SRC_DIR         = $(ROOT)/src/main
  50 OBJECT_DIR      = $(ROOT)/obj/main
  51 BIN_DIR         = $(ROOT)/obj
  52 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  53 INCLUDE_DIRS    = $(SRC_DIR) \
  54                   $(ROOT)/src/main/target
  55 LINKER_DIR      = $(ROOT)/src/main/target/link
  56
  57 ## V                 : Set verbosity level based on the V= parameter
  58 ##                     V=0 Low
  59 ##                     V=1 High
  60 include $(ROOT)/make/build_verbosity.mk
  61
  62 # Build tools, so we all share the same versions
  63 # import macros common to all supported build systems
  64 include $(ROOT)/make/system-id.mk
  65
  66 # developer preferences, edit these at will, they'll be gitignored
  67 -include $(ROOT)/make/local.mk
  68
  69 # configure some directories that are relative to wherever ROOT_DIR is located
  70 ifndef TOOLS_DIR
  71 TOOLS_DIR := $(ROOT)/tools
  72 endif
  73 BUILD_DIR := $(ROOT)/build
  74 DL_DIR    := $(ROOT)/downloads
  75
  76 export RM := rm
  77
  78 # import macros that are OS specific
  79 include $(ROOT)/make/$(OSFAMILY).mk
  80
  81 # include the tools makefile
  82 include $(ROOT)/make/tools.mk
  83
  84 # default xtal value for F4 targets
  85 HSE_VALUE       ?= 8000000
  86
  87 # used for turning on features like VCP and SDCARD
  88 FEATURES        =
  89
  90 OFFICIAL_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF4EVO
  91 ALT_TARGETS       = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  92 OPBL_TARGETS      = $(filter %_OPBL, $(ALT_TARGETS))
  93 OSD_SLAVE_TARGETS = SPRACINGF3OSD
  94
  95 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  96 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  97 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  98 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  99
 100 GROUP_1_TARGETS := \
 101         AFROMINI \
 102         AIORACERF3 \
 103         AIR32 \
 104         AIRBOTF4 \
 105         AIRBOTF4SD \
 106         AIRHEROF3 \
 107         ALIENFLIGHTF1 \
 108         ALIENFLIGHTF3 \
 109         ALIENFLIGHTF4 \
 110         ALIENFLIGHTNGF7 \
 111         ANYFCF7 \
 112         BEEBRAIN \
 113         BEEROTORF4 \
 114         BETAFLIGHTF3 \
 115         BLUEJAYF4 \
 116         CC3D \
 117         CC3D_OPBL \
 118
 119 GROUP_2_TARGETS := \
 120         CHEBUZZF3 \
 121         CJMCU \
 122         CL_RACINGF4 \
 123         COLIBRI \
 124         COLIBRI_OPBL \
 125         COLIBRI_RACE \
 126         DOGE \
 127         ELLE0 \
 128         F4BY \
 129         FISHDRONEF4 \
 130         FLIP32F3OSD \
 131         FURYF3 \
 132         FURYF4 \
 133         FURYF7 \
 134         IMPULSERCF3 \
 135         IRCFUSIONF3 \
 136         ISHAPEDF3 \
 137
 138 GROUP_3_TARGETS := \
 139         KAKUTEF4 \
 140         KISSCC \
 141         KIWIF4 \
 142         LUX_RACE \
 143         LUXV2_RACE \
 144         MICROSCISKY \
 145         MOTOLAB \
 146         MULTIFLITEPICO \
 147         NAZE \
 148         NERO \
 149         NUCLEOF7 \
 150         OMNIBUS \
 151         OMNIBUSF4 \
 152         OMNIBUSF4SD \
 153         PIKOBLX \
 154         PLUMF4 \
 155         PODIUMF4 \
 156
 157 GROUP_4_TARGETS := \
 158         RCEXPLORERF3 \
 159         REVO \
 160         REVO_OPBL \
 161         REVOLT \
 162         REVONANO \
 163         RMDO \
 164         SINGULARITY \
 165         SIRINFPV \
 166         SOULF4 \
 167         SPARKY \
 168         SPARKY2 \
 169         SPRACINGF3 \
 170         SPRACINGF3EVO \
 171         SPRACINGF3MINI \
 172         SPRACINGF3NEO \
 173         SPRACINGF3OSD \
 174         SPRACINGF4EVO \
 175         STM32F3DISCOVERY \
 176         TINYBEEF3 \
 177
 178 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
 179
 180
 181 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 182 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 183 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 184 else
 185 BASE_TARGET    := $(TARGET)
 186 endif
 187
 188 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 189 OPBL            = yes
 190 endif
 191
 192 ifeq ($(filter $(TARGET),$(OSD_SLAVE_TARGETS)), $(TARGET))
 193 # build an OSD SLAVE
 194 OSD_SLAVE       = yes
 195 else
 196 # build an FC
 197 FC              = yes
 198 endif
 199
 200
 201 # silently ignore if the file is not present. Allows for target specific.
 202 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 203
 204 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F446_TARGETS)
 205 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 206
 207 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 208 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 209 endif
 210
 211 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS) $(SITL_TARGETS)),)
 212 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411 or F7x5. Have you prepared a valid target.mk?)
 213 endif
 214
 215 128K_TARGETS  = $(F1_TARGETS)
 216 256K_TARGETS  = $(F3_TARGETS)
 217 512K_TARGETS  = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 218 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 219 2048K_TARGETS = $(F7X5XI_TARGETS) $(SITL_TARGETS)
 220
 221 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 222 ifeq ($(FLASH_SIZE),)
 223 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 224 FLASH_SIZE = 2048
 225 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 226 FLASH_SIZE = 1024
 227 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 228 FLASH_SIZE = 512
 229 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 230 FLASH_SIZE = 256
 231 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 232 FLASH_SIZE = 128
 233 else
 234 $(error FLASH_SIZE not configured for target $(TARGET))
 235 endif
 236 endif
 237
 238 # note that there is no hardfault debugging startup file assembly handler for other platforms
 239 ifeq ($(DEBUG_HARDFAULTS),F3)
 240 CFLAGS               += -DDEBUG_HARDFAULTS
 241 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 242 else
 243 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 244 endif
 245
 246 ifeq ($(DEBUG_HARDFAULTS),F7)
 247 CFLAGS               += -DDEBUG_HARDFAULTS
 248 endif
 249
 250 REVISION := $(shell git log -1 --format="%h")
 251
 252 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 253 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 254 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 255
 256 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 257
 258 # Search path for sources
 259 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 260 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 261 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 262 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 263 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 264
 265 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 266
 267 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 268 # F3 TARGETS
 269
 270 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 271 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 272 EXCLUDES        = stm32f30x_crc.c \
 273                   stm32f30x_can.c
 274 STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 275
 276 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 277 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 278
 279 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 280 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 281                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 282
 283 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 284                    $(STDPERIPH_DIR)/inc \
 285                    $(CMSIS_DIR)/CM1/CoreSupport \
 286                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 287
 288 ifneq ($(filter VCP, $(FEATURES)),)
 289 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 290                    $(USBFS_DIR)/inc \
 291                    $(ROOT)/src/main/vcp
 292
 293 VPATH           := $(VPATH):$(USBFS_DIR)/src
 294
 295 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 296                         $(USBPERIPH_SRC)
 297 endif
 298
 299 ifneq ($(filter SDCARD, $(FEATURES)),)
 300 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 301                    $(FATFS_DIR) \
 302
 303 VPATH           := $(VPATH):$(FATFS_DIR)
 304 endif
 305
 306 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 307
 308 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 309 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 310 # End F3 targets
 311 #
 312 # Start F4 targets
 313 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 314
 315 #STDPERIPH
 316 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 317 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 318 EXCLUDES        = stm32f4xx_crc.c \
 319                   stm32f4xx_can.c \
 320                   stm32f4xx_fmc.c \
 321                   stm32f4xx_sai.c \
 322                   stm32f4xx_cec.c \
 323                   stm32f4xx_dsi.c \
 324                   stm32f4xx_flash_ramfunc.c \
 325                   stm32f4xx_fmpi2c.c \
 326                   stm32f4xx_lptim.c \
 327                   stm32f4xx_qspi.c \
 328                   stm32f4xx_spdifrx.c \
 329                   stm32f4xx_cryp.c \
 330                   stm32f4xx_cryp_aes.c \
 331                   stm32f4xx_hash_md5.c \
 332                   stm32f4xx_cryp_des.c \
 333                   stm32f4xx_rtc.c \
 334                   stm32f4xx_hash.c \
 335                   stm32f4xx_dbgmcu.c \
 336                   stm32f4xx_cryp_tdes.c \
 337                   stm32f4xx_hash_sha1.c
 338
 339 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 340 EXCLUDES        += stm32f4xx_fsmc.c
 341 endif
 342
 343 ifeq ($(TARGET),$(filter $(TARGET), $(F446_TARGETS)))
 344 EXCLUDES        += stm32f4xx_fsmc.c
 345 endif
 346
 347 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 348
 349 #USB
 350 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 351 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 352 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 353 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 354 EXCLUDES    = usb_bsp_template.c \
 355               usb_conf_template.c \
 356               usb_hcd_int.c \
 357               usb_hcd.c \
 358               usb_otg.c
 359
 360 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 361 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 362 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 363 EXCLUDES    = usbd_cdc_if_template.c
 364 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 365 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 366
 367 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 368                         $(USBOTG_SRC) \
 369                         $(USBCORE_SRC) \
 370                         $(USBCDC_SRC)
 371
 372 #CMSIS
 373 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 374 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 375                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 376 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 377                    $(STDPERIPH_DIR)/inc \
 378                    $(USBOTG_DIR)/inc \
 379                    $(USBCORE_DIR)/inc \
 380                    $(USBCDC_DIR)/inc \
 381                    $(USBFS_DIR)/inc \
 382                    $(CMSIS_DIR)/CM4/CoreSupport \
 383                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 384                    $(ROOT)/src/main/vcpf4
 385
 386 ifneq ($(filter SDCARD,$(FEATURES)),)
 387 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 388                    $(FATFS_DIR)
 389 VPATH           := $(VPATH):$(FATFS_DIR)
 390 endif
 391
 392 #Flags
 393 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 394
 395 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 396 DEVICE_FLAGS    = -DSTM32F411xE
 397 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 398 STARTUP_SRC     = startup_stm32f411xe.s
 399 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 400 DEVICE_FLAGS    = -DSTM32F40_41xxx
 401 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 402 STARTUP_SRC     = startup_stm32f40xx.s
 403 else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
 404 DEVICE_FLAGS    = -DSTM32F446xx
 405 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f446.ld
 406 STARTUP_SRC     = startup_stm32f446xx.s
 407 else
 408 $(error Unknown MCU for F4 target)
 409 endif
 410 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 411
 412 # End F4 targets
 413 #
 414 # Start F7 targets
 415 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 416
 417 #STDPERIPH
 418 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 419 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 420 EXCLUDES        = stm32f7xx_hal_can.c \
 421                   stm32f7xx_hal_cec.c \
 422                   stm32f7xx_hal_crc.c \
 423                   stm32f7xx_hal_crc_ex.c \
 424                   stm32f7xx_hal_cryp.c \
 425                   stm32f7xx_hal_cryp_ex.c \
 426                   stm32f7xx_hal_dac.c \
 427                   stm32f7xx_hal_dac_ex.c \
 428                   stm32f7xx_hal_dcmi.c \
 429                   stm32f7xx_hal_dcmi_ex.c \
 430                   stm32f7xx_hal_dfsdm.c \
 431                   stm32f7xx_hal_dma2d.c \
 432                   stm32f7xx_hal_dsi.c \
 433                   stm32f7xx_hal_eth.c \
 434                   stm32f7xx_hal_hash.c \
 435                   stm32f7xx_hal_hash_ex.c \
 436                   stm32f7xx_hal_hcd.c \
 437                   stm32f7xx_hal_i2s.c \
 438                   stm32f7xx_hal_irda.c \
 439                   stm32f7xx_hal_iwdg.c \
 440                   stm32f7xx_hal_jpeg.c \
 441                   stm32f7xx_hal_lptim.c \
 442                   stm32f7xx_hal_ltdc.c \
 443                   stm32f7xx_hal_ltdc_ex.c \
 444                   stm32f7xx_hal_mdios.c \
 445                   stm32f7xx_hal_mmc.c \
 446                   stm32f7xx_hal_msp_template.c \
 447                   stm32f7xx_hal_nand.c \
 448                   stm32f7xx_hal_nor.c \
 449                   stm32f7xx_hal_qspi.c \
 450                   stm32f7xx_hal_rng.c \
 451                   stm32f7xx_hal_rtc.c \
 452                   stm32f7xx_hal_rtc_ex.c \
 453                   stm32f7xx_hal_sai.c \
 454                   stm32f7xx_hal_sai_ex.c \
 455                   stm32f7xx_hal_sd.c \
 456                   stm32f7xx_hal_sdram.c \
 457                   stm32f7xx_hal_smartcard.c \
 458                   stm32f7xx_hal_smartcard_ex.c \
 459                   stm32f7xx_hal_smbus.c \
 460                   stm32f7xx_hal_spdifrx.c \
 461                   stm32f7xx_hal_sram.c \
 462                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 463                   stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 464                   stm32f7xx_hal_timebase_tim_template.c \
 465                   stm32f7xx_hal_wwdg.c \
 466                   stm32f7xx_ll_adc.c \
 467                   stm32f7xx_ll_crc.c \
 468                   stm32f7xx_ll_dac.c \
 469                   stm32f7xx_ll_dma.c \
 470                   stm32f7xx_ll_dma2d.c \
 471                   stm32f7xx_ll_exti.c \
 472                   stm32f7xx_ll_fmc.c \
 473                   stm32f7xx_ll_gpio.c \
 474                   stm32f7xx_ll_i2c.c \
 475                   stm32f7xx_ll_lptim.c \
 476                   stm32f7xx_ll_pwr.c \
 477                   stm32f7xx_ll_rcc.c \
 478                   stm32f7xx_ll_rng.c \
 479                   stm32f7xx_ll_rtc.c \
 480                   stm32f7xx_ll_sdmmc.c \
 481                   stm32f7xx_ll_spi.c \
 482                   stm32f7xx_ll_tim.c \
 483                   stm32f7xx_ll_usart.c \
 484                   stm32f7xx_ll_utils.c
 485
 486 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 487
 488 #USB
 489 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 490 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 491 EXCLUDES    = usbd_conf_template.c
 492 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 493
 494 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 495 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 496 EXCLUDES   = usbd_cdc_if_template.c
 497 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 498
 499 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 500
 501 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 502                         $(USBCORE_SRC) \
 503                         $(USBCDC_SRC)
 504
 505 #CMSIS
 506 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 507 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 508 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 509                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 510 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 511                    $(STDPERIPH_DIR)/Inc \
 512                    $(USBCORE_DIR)/Inc \
 513                    $(USBCDC_DIR)/Inc \
 514                    $(CMSIS_DIR)/CM7/Include \
 515                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 516                    $(ROOT)/src/main/vcp_hal
 517
 518 ifneq ($(filter SDCARD,$(FEATURES)),)
 519 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 520                    $(FATFS_DIR)
 521 VPATH           := $(VPATH):$(FATFS_DIR)
 522 endif
 523
 524 #Flags
 525 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 526
 527 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 528 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 529 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 530 STARTUP_SRC     = startup_stm32f745xx.s
 531 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 532 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 533 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 534 STARTUP_SRC     = startup_stm32f746xx.s
 535 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 536 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 537 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 538 STARTUP_SRC     = startup_stm32f722xx.s
 539 else
 540 $(error Unknown MCU for F7 target)
 541 endif
 542 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 543
 544 TARGET_FLAGS    = -D$(TARGET)
 545
 546 # End F7 targets
 547 #
 548 # Start SITL targets
 549 else ifeq ($(TARGET),$(filter $(TARGET), $(SITL_TARGETS)))
 550
 551 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 552                    $(ROOT)/lib/main/dyad
 553
 554 SITL_SRC        := $(ROOT)/lib/main/dyad/dyad.c
 555
 556 #Flags
 557 ARCH_FLAGS      =
 558 DEVICE_FLAGS    =
 559 LD_SCRIPT       = src/main/target/SITL/parameter_group.ld
 560 STARTUP_SRC     =
 561
 562 TARGET_FLAGS    = -D$(TARGET)
 563
 564 ARM_SDK_PREFIX  =
 565
 566 # End SITL targets
 567 #
 568 # Start F1 targets
 569 else
 570
 571 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 572 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 573 EXCLUDES        = stm32f10x_crc.c \
 574                   stm32f10x_cec.c \
 575                   stm32f10x_can.c
 576 STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 577 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 578
 579 # Search path and source files for the CMSIS sources
 580 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 581 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 582                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 583
 584 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 585                    $(STDPERIPH_DIR)/inc \
 586                    $(CMSIS_DIR)/CM3/CoreSupport \
 587                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 588
 589 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 590
 591 ifneq ($(filter VCP, $(FEATURES)),)
 592 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 593                    $(USBFS_DIR)/inc \
 594                    $(ROOT)/src/main/vcp
 595
 596 VPATH           := $(VPATH):$(USBFS_DIR)/src
 597
 598 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 599                         $(USBPERIPH_SRC)
 600
 601 endif
 602
 603 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 604 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 605
 606 ifeq ($(DEVICE_FLAGS),)
 607 DEVICE_FLAGS    = -DSTM32F10X_MD
 608 endif
 609 DEVICE_FLAGS   += -DSTM32F10X
 610
 611 endif
 612 #
 613 # End F1 targets
 614 #
 615 ifneq ($(BASE_TARGET), $(TARGET))
 616 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 617 endif
 618
 619 ifneq ($(FLASH_SIZE),)
 620 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 621 endif
 622
 623 ifneq ($(HSE_VALUE),)
 624 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 625 endif
 626
 627 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 628 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 629
 630 ifeq ($(OPBL),yes)
 631 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 632 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 633 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 634 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 635 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 636 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 637 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 638 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 639 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 640 endif
 641 .DEFAULT_GOAL := binary
 642 else
 643 .DEFAULT_GOAL := hex
 644 endif
 645
 646 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 647                    $(ROOT)/lib/main/MAVLink
 648
 649 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 650                    $(TARGET_DIR)
 651
 652 VPATH           := $(VPATH):$(TARGET_DIR)
 653
 654 COMMON_SRC = \
 655             build/build_config.c \
 656             build/debug.c \
 657             build/version.c \
 658             $(TARGET_DIR_SRC) \
 659             main.c \
 660             common/encoding.c \
 661             common/filter.c \
 662             common/maths.c \
 663             common/printf.c \
 664             common/streambuf.c \
 665             common/typeconversion.c \
 666             config/config_eeprom.c \
 667             config/feature.c \
 668             config/parameter_group.c \
 669             config/config_streamer.c \
 670             drivers/adc.c \
 671             drivers/buf_writer.c \
 672             drivers/bus_i2c_soft.c \
 673             drivers/bus_spi.c \
 674             drivers/bus_spi_soft.c \
 675             drivers/display.c \
 676             drivers/exti.c \
 677             drivers/io.c \
 678             drivers/light_led.c \
 679             drivers/resource.c \
 680             drivers/rcc.c \
 681             drivers/serial.c \
 682             drivers/serial_uart.c \
 683             drivers/sound_beeper.c \
 684             drivers/stack_check.c \
 685             drivers/system.c \
 686             drivers/timer.c \
 687             drivers/transponder_ir.c \
 688             drivers/transponder_ir_arcitimer.c \
 689             drivers/transponder_ir_ilap.c \
 690             fc/config.c \
 691             fc/fc_dispatch.c \
 692             fc/fc_hardfaults.c \
 693             fc/fc_msp.c \
 694             fc/fc_tasks.c \
 695             fc/runtime_config.c \
 696             io/beeper.c \
 697             io/serial.c \
 698             io/statusindicator.c \
 699             io/transponder_ir.c \
 700             msp/msp_serial.c \
 701             scheduler/scheduler.c \
 702             sensors/battery.c \
 703             sensors/current.c \
 704             sensors/voltage.c \
 705
 706 OSD_SLAVE_SRC = \
 707             io/displayport_max7456.c \
 708             osd_slave/osd_slave_init.c \
 709             io/osd_slave.c
 710
 711 FC_SRC = \
 712             fc/fc_init.c \
 713             fc/controlrate_profile.c \
 714             drivers/gyro_sync.c \
 715             drivers/rx_nrf24l01.c \
 716             drivers/rx_spi.c \
 717             drivers/rx_xn297.c \
 718             drivers/pwm_esc_detect.c \
 719             drivers/pwm_output.c \
 720             drivers/rx_pwm.c \
 721             drivers/serial_softserial.c \
 722             fc/fc_core.c \
 723             fc/fc_rc.c \
 724             fc/rc_adjustments.c \
 725             fc/rc_controls.c \
 726             fc/cli.c \
 727             flight/altitudehold.c \
 728             flight/failsafe.c \
 729             flight/imu.c \
 730             flight/mixer.c \
 731             flight/pid.c \
 732             flight/servos.c \
 733             io/serial_4way.c \
 734             io/serial_4way_avrootloader.c \
 735             io/serial_4way_stk500v2.c \
 736             rx/ibus.c \
 737             rx/jetiexbus.c \
 738             rx/msp.c \
 739             rx/nrf24_cx10.c \
 740             rx/nrf24_inav.c \
 741             rx/nrf24_h8_3d.c \
 742             rx/nrf24_syma.c \
 743             rx/nrf24_v202.c \
 744             rx/pwm.c \
 745             rx/rx.c \
 746             rx/rx_spi.c \
 747             rx/crsf.c \
 748             rx/sbus.c \
 749             rx/spektrum.c \
 750             rx/sumd.c \
 751             rx/sumh.c \
 752             rx/xbus.c \
 753             sensors/acceleration.c \
 754             sensors/boardalignment.c \
 755             sensors/compass.c \
 756             sensors/gyro.c \
 757             sensors/gyroanalyse.c \
 758             sensors/initialisation.c \
 759             blackbox/blackbox.c \
 760             blackbox/blackbox_io.c \
 761             cms/cms.c \
 762             cms/cms_menu_blackbox.c \
 763             cms/cms_menu_builtin.c \
 764             cms/cms_menu_imu.c \
 765             cms/cms_menu_ledstrip.c \
 766             cms/cms_menu_misc.c \
 767             cms/cms_menu_osd.c \
 768             cms/cms_menu_vtx.c \
 769             common/colorconversion.c \
 770             common/gps_conversion.c \
 771             drivers/display_ug2864hsweg01.c \
 772             drivers/light_ws2811strip.c \
 773             drivers/serial_escserial.c \
 774             drivers/sonar_hcsr04.c \
 775             drivers/vtx_common.c \
 776             flight/navigation.c \
 777             io/dashboard.c \
 778             io/displayport_max7456.c \
 779             io/displayport_msp.c \
 780             io/displayport_oled.c \
 781             io/gps.c \
 782             io/ledstrip.c \
 783             io/osd.c \
 784             sensors/sonar.c \
 785             sensors/barometer.c \
 786             telemetry/telemetry.c \
 787             telemetry/crsf.c \
 788             telemetry/srxl.c \
 789             telemetry/frsky.c \
 790             telemetry/hott.c \
 791             telemetry/smartport.c \
 792             telemetry/ltm.c \
 793             telemetry/mavlink.c \
 794             telemetry/ibus.c \
 795             telemetry/ibus_shared.c \
 796             sensors/esc_sensor.c \
 797             io/vtx_string.c \
 798             io/vtx_smartaudio.c \
 799             io/vtx_tramp.c \
 800             io/vtx.c
 801
 802 COMMON_DEVICE_SRC = \
 803             $(CMSIS_SRC) \
 804             $(DEVICE_STDPERIPH_SRC)
 805
 806 ifeq ($(OSD_SLAVE),yes)
 807 TARGET_FLAGS := -DUSE_OSD_SLAVE $(TARGET_FLAGS)
 808 COMMON_SRC := $(COMMON_SRC) $(OSD_SLAVE_SRC) $(COMMON_DEVICE_SRC)
 809 else
 810 COMMON_SRC := $(COMMON_SRC) $(FC_SRC) $(COMMON_DEVICE_SRC)
 811 endif
 812
 813
 814 SPEED_OPTIMISED_SRC := ""
 815 SIZE_OPTIMISED_SRC  := ""
 816
 817 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 818 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 819             common/encoding.c \
 820             common/filter.c \
 821             common/maths.c \
 822             common/typeconversion.c \
 823             drivers/adc.c \
 824             drivers/buf_writer.c \
 825             drivers/bus_i2c_soft.c \
 826             drivers/bus_spi.c \
 827             drivers/bus_spi_soft.c \
 828             drivers/exti.c \
 829             drivers/gyro_sync.c \
 830             drivers/io.c \
 831             drivers/light_led.c \
 832             drivers/resource.c \
 833             drivers/rx_nrf24l01.c \
 834             drivers/rx_spi.c \
 835             drivers/rx_xn297.c \
 836             drivers/pwm_output.c \
 837             drivers/rcc.c \
 838             drivers/rx_pwm.c \
 839             drivers/serial.c \
 840             drivers/serial_uart.c \
 841             drivers/sound_beeper.c \
 842             drivers/system.c \
 843             drivers/timer.c \
 844             fc/fc_core.c \
 845             fc/fc_tasks.c \
 846             fc/fc_rc.c \
 847             fc/rc_controls.c \
 848             fc/runtime_config.c \
 849             flight/imu.c \
 850             flight/mixer.c \
 851             flight/pid.c \
 852             flight/servos.c \
 853             io/serial.c \
 854             rx/ibus.c \
 855             rx/jetiexbus.c \
 856             rx/nrf24_cx10.c \
 857             rx/nrf24_inav.c \
 858             rx/nrf24_h8_3d.c \
 859             rx/nrf24_syma.c \
 860             rx/nrf24_v202.c \
 861             rx/pwm.c \
 862             rx/rx.c \
 863             rx/rx_spi.c \
 864             rx/crsf.c \
 865             rx/sbus.c \
 866             rx/spektrum.c \
 867             rx/sumd.c \
 868             rx/sumh.c \
 869             rx/xbus.c \
 870             scheduler/scheduler.c \
 871             sensors/acceleration.c \
 872             sensors/boardalignment.c \
 873             sensors/gyro.c \
 874             sensors/gyroanalyse.c \
 875             $(CMSIS_SRC) \
 876             $(DEVICE_STDPERIPH_SRC) \
 877             drivers/display_ug2864hsweg01.c \
 878             drivers/light_ws2811strip.c \
 879             drivers/serial_softserial.c \
 880             io/dashboard.c \
 881             io/displayport_max7456.c \
 882             io/osd.c \
 883             io/osd_slave.c
 884
 885 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 886             drivers/serial_escserial.c \
 887             drivers/vtx_common.c \
 888             io/cli.c \
 889             io/serial_4way.c \
 890             io/serial_4way_avrootloader.c \
 891             io/serial_4way_stk500v2.c \
 892             msp/msp_serial.c \
 893             cms/cms.c \
 894             cms/cms_menu_blackbox.c \
 895             cms/cms_menu_builtin.c \
 896             cms/cms_menu_imu.c \
 897             cms/cms_menu_ledstrip.c \
 898             cms/cms_menu_misc.c \
 899             cms/cms_menu_osd.c \
 900             cms/cms_menu_vtx.c \
 901             io/vtx_smartaudio.c \
 902             io/vtx_tramp.c
 903 endif #F3
 904
 905 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 906 VCP_SRC = \
 907             vcpf4/stm32f4xx_it.c \
 908             vcpf4/usb_bsp.c \
 909             vcpf4/usbd_desc.c \
 910             vcpf4/usbd_usr.c \
 911             vcpf4/usbd_cdc_vcp.c \
 912             drivers/serial_usb_vcp.c \
 913             drivers/usb_io.c
 914 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 915 VCP_SRC = \
 916             vcp_hal/usbd_desc.c \
 917             vcp_hal/usbd_conf.c \
 918             vcp_hal/usbd_cdc_interface.c \
 919             drivers/serial_usb_vcp.c \
 920             drivers/usb_io.c
 921 else
 922 VCP_SRC = \
 923             vcp/hw_config.c \
 924             vcp/stm32_it.c \
 925             vcp/usb_desc.c \
 926             vcp/usb_endp.c \
 927             vcp/usb_istr.c \
 928             vcp/usb_prop.c \
 929             vcp/usb_pwr.c \
 930             drivers/serial_usb_vcp.c \
 931             drivers/usb_io.c
 932 endif
 933
 934 STM32F10x_COMMON_SRC = \
 935             drivers/adc_stm32f10x.c \
 936             drivers/bus_i2c_stm32f10x.c \
 937             drivers/dma.c \
 938             drivers/gpio_stm32f10x.c \
 939             drivers/inverter.c \
 940             drivers/light_ws2811strip_stdperiph.c \
 941             drivers/serial_uart_stm32f10x.c \
 942             drivers/system_stm32f10x.c \
 943             drivers/timer_stm32f10x.c
 944
 945 STM32F30x_COMMON_SRC = \
 946             target/system_stm32f30x.c \
 947             drivers/adc_stm32f30x.c \
 948             drivers/bus_i2c_stm32f30x.c \
 949             drivers/dma.c \
 950             drivers/gpio_stm32f30x.c \
 951             drivers/light_ws2811strip_stdperiph.c \
 952             drivers/pwm_output_dshot.c \
 953             drivers/serial_uart_stm32f30x.c \
 954             drivers/system_stm32f30x.c \
 955             drivers/timer_stm32f30x.c
 956
 957 STM32F4xx_COMMON_SRC = \
 958             target/system_stm32f4xx.c \
 959             drivers/accgyro_mpu.c \
 960             drivers/adc_stm32f4xx.c \
 961             drivers/bus_i2c_stm32f10x.c \
 962             drivers/dma_stm32f4xx.c \
 963             drivers/gpio_stm32f4xx.c \
 964             drivers/inverter.c \
 965             drivers/light_ws2811strip_stdperiph.c \
 966             drivers/pwm_output_dshot.c \
 967             drivers/serial_uart_stm32f4xx.c \
 968             drivers/system_stm32f4xx.c \
 969             drivers/timer_stm32f4xx.c
 970
 971 STM32F7xx_COMMON_SRC = \
 972             target/system_stm32f7xx.c \
 973             drivers/accgyro_mpu.c \
 974             drivers/adc_stm32f7xx.c \
 975             drivers/bus_i2c_hal.c \
 976             drivers/dma_stm32f7xx.c \
 977             drivers/gpio_stm32f7xx.c \
 978             drivers/inverter.c \
 979             drivers/bus_spi_hal.c \
 980             drivers/pwm_output_stm32f7xx.c \
 981             drivers/timer_hal.c \
 982             drivers/timer_stm32f7xx.c \
 983             drivers/system_stm32f7xx.c \
 984             drivers/serial_uart_stm32f7xx.c \
 985             drivers/serial_uart_hal.c
 986
 987 F7EXCLUDES = drivers/bus_spi.c \
 988             drivers/bus_i2c.c \
 989             drivers/timer.c \
 990             drivers/serial_uart.c
 991
 992 SITLEXCLUDES = \
 993             drivers/adc.c \
 994             drivers/bus_spi.c \
 995             drivers/bus_i2c.c \
 996             drivers/dma.c \
 997             drivers/pwm_output.c \
 998             drivers/timer.c \
 999             drivers/light_led.c \
1000             drivers/system.c \
1001             drivers/rcc.c \
1002             drivers/serial_uart.c \
1003
1004
1005 # check if target.mk supplied
1006 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
1007 SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1008 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
1009 SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1010 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
1011 SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1012 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
1013 SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1014 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1015 SRC := $(TARGET_SRC) $(SITL_SRC) $(VARIANT_SRC)
1016 endif
1017
1018 ifneq ($(filter $(TARGET),$(F4_TARGETS) $(F7_TARGETS)),)
1019 DSPLIB := $(ROOT)/lib/main/DSP_Lib
1020 DEVICE_FLAGS += -DARM_MATH_CM4 -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE
1021
1022 INCLUDE_DIRS += $(DSPLIB)/Include
1023
1024 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_f32.c
1025 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_f32.c
1026 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_init_f32.c
1027 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_radix8_f32.c
1028 SRC += $(DSPLIB)/Source/CommonTables/arm_common_tables.c
1029
1030 SRC += $(DSPLIB)/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
1031 SRC += $(DSPLIB)/Source/StatisticsFunctions/arm_max_f32.c
1032
1033 SRC += $(wildcard $(DSPLIB)/Source/*/*.S)
1034 endif
1035
1036
1037 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
1038 SRC += \
1039             drivers/flash_m25p16.c \
1040             io/flashfs.c
1041 endif
1042
1043 SRC += $(COMMON_SRC)
1044
1045 #excludes
1046 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
1047 SRC   := $(filter-out ${F7EXCLUDES}, $(SRC))
1048 endif
1049
1050 #SITL excludes
1051 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1052 SRC   := $(filter-out ${SITLEXCLUDES}, $(SRC))
1053 endif
1054
1055 ifneq ($(filter SDCARD,$(FEATURES)),)
1056 SRC += \
1057             drivers/sdcard.c \
1058             drivers/sdcard_standard.c \
1059             io/asyncfatfs/asyncfatfs.c \
1060             io/asyncfatfs/fat_standard.c
1061 endif
1062
1063 ifneq ($(filter VCP,$(FEATURES)),)
1064 SRC += $(VCP_SRC)
1065 endif
1066 # end target specific make file checks
1067
1068
1069 # Search path and source files for the ST stdperiph library
1070 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
1071
1072 ###############################################################################
1073 # Things that might need changing to use different tools
1074 #
1075
1076 # Find out if ccache is installed on the system
1077 CCACHE := ccache
1078 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
1079 ifneq ($(RESULT),0)
1080 CCACHE :=
1081 endif
1082
1083 # Tool names
1084 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
1085 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
1086 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
1087 SIZE        := $(ARM_SDK_PREFIX)size
1088
1089 #
1090 # Tool options.
1091 #
1092
1093 ifneq ($(DEBUG),GDB)
1094 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
1095 OPTIMISE_SPEED      := ""
1096 OPTIMISE_SIZE       := ""
1097
1098 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
1099 OPTIMISE_DEFAULT    := -Os
1100
1101 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1102
1103 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
1104 OPTIMISE_DEFAULT    := -O2
1105 OPTIMISE_SPEED      := -Ofast
1106 OPTIMISE_SIZE       := -Os
1107
1108 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1109
1110 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1111 OPTIMISE_DEFAULT    := -Ofast
1112 OPTIMISE_SPEED      := -Ofast
1113 OPTIMISE_SIZE       := -Os
1114
1115 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1116
1117 else
1118 OPTIMISE_DEFAULT    := -Ofast
1119
1120 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1121
1122 endif #TARGETS
1123
1124 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1125 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1126 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
1127
1128 else #DEBUG
1129 OPTIMISE_DEFAULT    := -O0
1130
1131 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
1132
1133 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
1134 endif #DEBUG
1135
1136 DEBUG_FLAGS = -ggdb3 -DDEBUG
1137
1138 CFLAGS      += $(ARCH_FLAGS) \
1139               $(addprefix -D,$(OPTIONS)) \
1140               $(addprefix -I,$(INCLUDE_DIRS)) \
1141               $(DEBUG_FLAGS) \
1142               -std=gnu99 \
1143               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
1144               -ffunction-sections \
1145               -fdata-sections \
1146               -pedantic \
1147               $(DEVICE_FLAGS) \
1148               -DUSE_STDPERIPH_DRIVER \
1149               -D$(TARGET) \
1150               $(TARGET_FLAGS) \
1151               -D'__FORKNAME__="$(FORKNAME)"' \
1152               -D'__TARGET__="$(TARGET)"' \
1153               -D'__REVISION__="$(REVISION)"' \
1154               -save-temps=obj \
1155               -MMD -MP
1156
1157 ASFLAGS     = $(ARCH_FLAGS) \
1158               -x assembler-with-cpp \
1159               $(addprefix -I,$(INCLUDE_DIRS)) \
1160               -MMD -MP
1161
1162 LDFLAGS     = -lm \
1163               -nostartfiles \
1164               --specs=nano.specs \
1165               -lc \
1166               -lnosys \
1167               $(ARCH_FLAGS) \
1168               $(LTO_FLAGS) \
1169               $(DEBUG_FLAGS) \
1170               -static \
1171               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1172               -Wl,-L$(LINKER_DIR) \
1173               -Wl,--cref \
1174               -Wl,--no-wchar-size-warning \
1175               -T$(LD_SCRIPT)
1176
1177 #SITL compile
1178 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1179 LDFLAGS     = \
1180               -lm \
1181               -lpthread \
1182               -lc \
1183               -lrt \
1184               $(ARCH_FLAGS) \
1185               $(LTO_FLAGS) \
1186               $(DEBUG_FLAGS) \
1187               -static \
1188               -static-libgcc \
1189               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1190               -Wl,-L$(LINKER_DIR) \
1191               -Wl,--cref \
1192               -T$(LD_SCRIPT)
1193 endif
1194
1195 ###############################################################################
1196 # No user-serviceable parts below
1197 ###############################################################################
1198
1199 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
1200                   --std=c99 --inline-suppr --quiet --force \
1201                   $(addprefix -I,$(INCLUDE_DIRS)) \
1202                   -I/usr/include -I/usr/include/linux
1203
1204 #
1205 # Things we will build
1206 #
1207 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
1208 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
1209 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
1210 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1211 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1212 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
1213
1214
1215 CLEAN_ARTIFACTS := $(TARGET_BIN)
1216 CLEAN_ARTIFACTS += $(TARGET_HEX)
1217 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
1218
1219 # Make sure build date and revision is updated on every incremental build
1220 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
1221
1222 # List of buildable ELF files and their object dependencies.
1223 # It would be nice to compute these lists, but that seems to be just beyond make.
1224
1225 $(TARGET_HEX): $(TARGET_ELF)
1226         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
1227
1228 $(TARGET_BIN): $(TARGET_ELF)
1229         $(V0) $(OBJCOPY) -O binary $< $@
1230
1231 $(TARGET_ELF):  $(TARGET_OBJS)
1232         $(V1) echo Linking $(TARGET)
1233         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
1234         $(V0) $(SIZE) $(TARGET_ELF)
1235
1236 # Compile
1237 ifneq ($(DEBUG),GDB)
1238 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1239         $(V1) mkdir -p $(dir $@)
1240         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
1241         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
1242         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
1243         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
1244         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1245         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
1246         echo "%% $(notdir $<)" "$(STDOUT)" && \
1247         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
1248 else
1249 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1250         $(V1) mkdir -p $(dir $@)
1251         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
1252         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1253 endif
1254
1255 # Assemble
1256 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1257         $(V1) mkdir -p $(dir $@)
1258         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1259         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1260
1261 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1262         $(V1) mkdir -p $(dir $@)
1263         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1264         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1265
1266
1267 ## all               : Build all valid targets
1268 all: $(VALID_TARGETS)
1269
1270 ## official          : Build all official (travis) targets
1271 official: $(OFFICIAL_TARGETS)
1272
1273 ## targets-group-1   : build some targets
1274 targets-group-1: $(GROUP_1_TARGETS)
1275
1276 ## targets-group-2   : build some targets
1277 targets-group-2: $(GROUP_2_TARGETS)
1278
1279 ## targets-group-3   : build some targets
1280 targets-group-3: $(GROUP_3_TARGETS)
1281
1282 ## targets-group-3   : build some targets
1283 targets-group-4: $(GROUP_4_TARGETS)
1284
1285 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
1286 targets-group-rest: $(GROUP_OTHER_TARGETS)
1287
1288
1289 $(VALID_TARGETS):
1290                 $(V0) echo "" && \
1291                 echo "Building $@" && \
1292                 time $(MAKE) binary hex TARGET=$@ && \
1293                 echo "Building $@ succeeded."
1294
1295
1296
1297 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1298 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1299
1300 ## clean             : clean up temporary / machine-generated files
1301 clean:
1302         $(V0) echo "Cleaning $(TARGET)"
1303         $(V0) rm -f $(CLEAN_ARTIFACTS)
1304         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1305         $(V0) echo "Cleaning $(TARGET) succeeded."
1306
1307 ## clean_test        : clean up temporary / machine-generated files (tests)
1308 clean_test:
1309         $(V0) cd src/test && $(MAKE) clean || true
1310
1311 ## clean_<TARGET>    : clean up one specific target
1312 $(CLEAN_TARGETS) :
1313         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1314
1315 ## <TARGET>_clean    : clean up one specific target (alias for above)
1316 $(TARGETS_CLEAN) :
1317         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1318
1319 ## clean_all         : clean all valid targets
1320 clean_all:$(CLEAN_TARGETS)
1321
1322 ## all_clean         : clean all valid targets (alias for above)
1323 all_clean:$(TARGETS_CLEAN)
1324
1325
1326 flash_$(TARGET): $(TARGET_HEX)
1327         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1328         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1329         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1330
1331 ## flash             : flash firmware (.hex) onto flight controller
1332 flash: flash_$(TARGET)
1333
1334 st-flash_$(TARGET): $(TARGET_BIN)
1335         $(V0) st-flash --reset write $< 0x08000000
1336
1337 ## st-flash          : flash firmware (.bin) onto flight controller
1338 st-flash: st-flash_$(TARGET)
1339
1340 binary:
1341         $(V0) $(MAKE) -j $(TARGET_BIN)
1342
1343 hex:
1344         $(V0) $(MAKE) -j $(TARGET_HEX)
1345
1346 unbrick_$(TARGET): $(TARGET_HEX)
1347         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1348         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1349
1350 ## unbrick           : unbrick flight controller
1351 unbrick: unbrick_$(TARGET)
1352
1353 ## cppcheck          : run static analysis on C source code
1354 cppcheck: $(CSOURCES)
1355         $(V0) $(CPPCHECK)
1356
1357 cppcheck-result.xml: $(CSOURCES)
1358         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1359
1360 # mkdirs
1361 $(DL_DIR):
1362         mkdir -p $@
1363
1364 $(TOOLS_DIR):
1365         mkdir -p $@
1366
1367 $(BUILD_DIR):
1368         mkdir -p $@
1369
1370 ## version           : print firmware version
1371 version:
1372         @echo $(FC_VER)
1373
1374 ## help              : print this help message and exit
1375 help: Makefile make/tools.mk
1376         $(V0) @echo ""
1377         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1378         $(V0) @echo ""
1379         $(V0) @echo "Usage:"
1380         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1381         $(V0) @echo "Or:"
1382         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1383         $(V0) @echo ""
1384         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1385         $(V0) @echo ""
1386         $(V0) @sed -n 's/^## //p' $?
1387
1388 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1389 targets:
1390         $(V0) @echo "Valid targets:      $(VALID_TARGETS)"
1391         $(V0) @echo "Target:             $(TARGET)"
1392         $(V0) @echo "Base target:        $(BASE_TARGET)"
1393         $(V0) @echo "Official targets:   $(OFFICIAL_TARGETS)"
1394         $(V0) @echo "targets-group-1:    $(GROUP_1_TARGETS)"
1395         $(V0) @echo "targets-group-2:    $(GROUP_2_TARGETS)"
1396         $(V0) @echo "targets-group-3:    $(GROUP_3_TARGETS)"
1397         $(V0) @echo "targets-group-4:    $(GROUP_4_TARGETS)"
1398         $(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
1399
1400 ## test              : run the cleanflight test suite
1401 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1402 test junittest:
1403         $(V0) cd src/test && $(MAKE) $@
1404
1405 # rebuild everything when makefile changes
1406 $(TARGET_OBJS) : Makefile
1407
1408 # include auto-generated dependencies
1409 -include $(TARGET_DEPS)