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 $(wildcard /dev/ttyUSB*) no-port-found)
  28
  29 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  30 FLASH_SIZE ?=
  31
  32 ###############################################################################
  33 # Things that need to be maintained as the source changes
  34 #
  35
  36 FORKNAME                         = cleanflight
  37
  38 VALID_TARGETS    = ALIENWIIF1 ALIENWIIF3 CC3D CHEBUZZF3 CJMCU COLIBRI_RACE EUSTM32F103RC LUX_RACE MOTOLAB NAZE NAZE32PRO OLIMEXINO PORT103R RMDO SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY IRCFUSIONF3
  39
  40 # Configure default flash sizes for the targets
  41 ifeq ($(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 EUSTM32F103RC LUX_RACE MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY IRCFUSIONF3))
  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 FATFS_DIR       = $(ROOT)/lib/main/FatFS
  69 FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
  70
  71 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
  72
  73 ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY IRCFUSIONF3))
  74
  75 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  76
  77 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  78
  79 EXCLUDES        = stm32f30x_crc.c \
  80                 stm32f30x_can.c
  81
  82 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  83
  84 DEVICE_STDPERIPH_SRC = \
  85                 $(STDPERIPH_SRC)
  86
  87
  88 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  89 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  90                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
  91
  92 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  93                    $(STDPERIPH_DIR)/inc \
  94                    $(CMSIS_DIR)/CM1/CoreSupport \
  95                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  96
  97 ifneq ($(TARGET),$(filter $(TARGET),SPRACINGF3))
  98 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  99                    $(USBFS_DIR)/inc \
 100                    $(ROOT)/src/main/vcp
 101
 102 VPATH := $(VPATH):$(USBFS_DIR)/src
 103
 104 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 105                    $(USBPERIPH_SRC)
 106
 107 endif
 108
 109 ifeq ($(TARGET),SPRACINGF3MINI)
 110 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 111                    $(FATFS_DIR) \
 112
 113 VPATH := $(VPATH):$(FATFS_DIR)
 114 endif
 115
 116 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 117
 118 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 119 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 120 TARGET_FLAGS = -D$(TARGET)
 121 ifeq ($(TARGET),CHEBUZZF3)
 122 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 123 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 124 endif
 125
 126 ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 127 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
 128 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 129 endif
 130
 131 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 132
 133
 134 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 135
 136 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 137
 138 EXCLUDES        = stm32f10x_crc.c \
 139                 stm32f10x_cec.c \
 140                 stm32f10x_can.c
 141
 142 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 143
 144 # Search path and source files for the CMSIS sources
 145 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 146 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 147                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 148
 149 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 150                    $(STDPERIPH_DIR)/inc \
 151                    $(CMSIS_DIR)/CM3/CoreSupport \
 152                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 153
 154 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 155
 156 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 157 TARGET_FLAGS = -D$(TARGET) -pedantic
 158 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 159
 160 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 161
 162 else
 163
 164 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 165
 166 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 167
 168 EXCLUDES        = stm32f10x_crc.c \
 169                 stm32f10x_cec.c \
 170                 stm32f10x_can.c
 171
 172 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 173
 174 # Search path and source files for the CMSIS sources
 175 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 176 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 177                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 178
 179 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 180                    $(STDPERIPH_DIR)/inc \
 181                    $(CMSIS_DIR)/CM3/CoreSupport \
 182                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 183
 184 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 185
 186 ifeq ($(TARGET),CC3D)
 187 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 188                    $(USBFS_DIR)/inc \
 189                    $(ROOT)/src/main/vcp
 190
 191 VPATH := $(VPATH):$(USBFS_DIR)/src
 192
 193 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 194                    $(USBPERIPH_SRC)
 195
 196 endif
 197
 198 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 199
 200 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 201 TARGET_FLAGS = -D$(TARGET) -pedantic
 202 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 203
 204 endif
 205
 206 ifneq ($(FLASH_SIZE),)
 207 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 208 endif
 209
 210 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 211 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 212
 213 ifeq ($(TARGET),ALIENWIIF1)
 214 # ALIENWIIF1 is a VARIANT of NAZE
 215 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 216 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 217 endif
 218
 219 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 220                     $(TARGET_DIR)
 221
 222 VPATH           := $(VPATH):$(TARGET_DIR)
 223
 224 COMMON_SRC = build_config.c \
 225                    debug.c \
 226                    version.c \
 227                    $(TARGET_SRC) \
 228                    config/config.c \
 229                    config/runtime_config.c \
 230                    config/config_streamer.c \
 231                    config/config_eeprom.c \
 232                    config/parameter_group.c \
 233                    config/feature.c \
 234                    config/profile.c \
 235                    common/maths.c \
 236                    common/printf.c \
 237                    common/typeconversion.c \
 238                    common/encoding.c \
 239                    common/filter.c \
 240                    scheduler.c \
 241            scheduler_tasks.c \
 242                    main.c \
 243                    mw.c \
 244                    flight/altitudehold.c \
 245                    flight/failsafe.c \
 246                    flight/pid.c \
 247                    flight/pid_luxfloat.c \
 248                    flight/pid_mwrewrite.c \
 249                    flight/pid_mw23.c \
 250                    flight/imu.c \
 251                    flight/mixer.c \
 252                    drivers/bus_i2c_soft.c \
 253                    drivers/serial.c \
 254                    drivers/sound_beeper.c \
 255                    drivers/system.c \
 256                    drivers/dma.c \
 257                    drivers/buf_writer.c \
 258                    drivers/gyro_sync.c \
 259                    io/beeper.c \
 260                    io/gimbal.c \
 261                    io/motor_and_servo.c \
 262                    io/rate_profile.c \
 263                    io/rc_adjustments.c \
 264                    io/rc_controls.c \
 265                    io/rc_curves.c \
 266                    io/serial.c \
 267                    io/serial_4way.c \
 268                    io/serial_4way_avrootloader.c \
 269                    io/serial_4way_stk500v2.c \
 270                    io/serial_cli.c \
 271                    io/serial_msp.c \
 272                    io/statusindicator.c \
 273                    rx/rx.c \
 274                    rx/pwm.c \
 275                    rx/msp.c \
 276                    rx/sbus.c \
 277                    rx/sumd.c \
 278                    rx/sumh.c \
 279                    rx/spektrum.c \
 280                    rx/xbus.c \
 281                    rx/ibus.c \
 282                    sensors/sensors.c \
 283                    sensors/acceleration.c \
 284                    sensors/battery.c \
 285                    sensors/boardalignment.c \
 286                    sensors/compass.c \
 287                    sensors/gyro.c \
 288                    sensors/initialisation.c \
 289                    $(CMSIS_SRC) \
 290                    $(DEVICE_STDPERIPH_SRC)
 291
 292 HIGHEND_SRC = \
 293                    flight/gtune.c \
 294                    flight/navigation.c \
 295                    flight/gps_conversion.c \
 296                    common/colorconversion.c \
 297                    io/gps.c \
 298                    io/ledstrip.c \
 299                    io/display.c \
 300                    telemetry/telemetry.c \
 301                    telemetry/frsky.c \
 302                    telemetry/hott.c \
 303                    telemetry/smartport.c \
 304                    telemetry/ltm.c \
 305                    telemetry/mavlink.c \
 306                    sensors/sonar.c \
 307                    sensors/barometer.c \
 308                    blackbox/blackbox.c \
 309                    blackbox/blackbox_io.c
 310
 311 VCP_SRC = \
 312                    vcp/hw_config.c \
 313                    vcp/stm32_it.c \
 314                    vcp/usb_desc.c \
 315                    vcp/usb_endp.c \
 316                    vcp/usb_istr.c \
 317                    vcp/usb_prop.c \
 318                    vcp/usb_pwr.c \
 319                    drivers/serial_usb_vcp.c \
 320                    drivers/usb_io.c
 321
 322 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 323                    drivers/accgyro_adxl345.c \
 324                    drivers/accgyro_bma280.c \
 325                    drivers/accgyro_l3g4200d.c \
 326                    drivers/accgyro_mma845x.c \
 327                    drivers/accgyro_mpu.c \
 328                    drivers/accgyro_mpu3050.c \
 329                    drivers/accgyro_mpu6050.c \
 330                    drivers/accgyro_mpu6500.c \
 331                    drivers/accgyro_spi_mpu6500.c \
 332                    drivers/adc.c \
 333                    drivers/adc_stm32f10x.c \
 334                    drivers/barometer_bmp085.c \
 335                    drivers/barometer_ms5611.c \
 336                    drivers/barometer_bmp280.c \
 337                    drivers/bus_spi.c \
 338                    drivers/bus_i2c_stm32f10x.c \
 339                    drivers/compass_hmc5883l.c \
 340                    drivers/display_ug2864hsweg01.h \
 341                    drivers/flash_m25p16.c \
 342                    drivers/gpio_stm32f10x.c \
 343                    drivers/inverter.c \
 344                    drivers/light_led_stm32f10x.c \
 345                    drivers/light_ws2811strip.c \
 346                    drivers/light_ws2811strip_stm32f10x.c \
 347                    drivers/sonar_hcsr04.c \
 348                    drivers/pwm_mapping.c \
 349                    drivers/pwm_output.c \
 350                    drivers/pwm_rx.c \
 351                    drivers/serial_softserial.c \
 352                    drivers/serial_uart.c \
 353                    drivers/serial_uart_stm32f10x.c \
 354                    drivers/sound_beeper_stm32f10x.c \
 355                    drivers/system_stm32f10x.c \
 356                    drivers/timer.c \
 357                    drivers/timer_stm32f10x.c \
 358                    io/flashfs.c \
 359                    hardware_revision.c \
 360                    $(HIGHEND_SRC) \
 361                    $(COMMON_SRC)
 362
 363 ALIENWIIF1_SRC = $(NAZE_SRC)
 364
 365 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 366                    drivers/accgyro_adxl345.c \
 367                    drivers/accgyro_bma280.c \
 368                    drivers/accgyro_l3g4200d.c \
 369                    drivers/accgyro_mma845x.c \
 370                    drivers/accgyro_mpu.c \
 371                    drivers/accgyro_mpu3050.c \
 372                    drivers/accgyro_mpu6050.c \
 373                    drivers/accgyro_mpu6500.c \
 374                    drivers/accgyro_spi_mpu6000.c \
 375                    drivers/accgyro_spi_mpu6500.c \
 376                    drivers/adc.c \
 377                    drivers/adc_stm32f10x.c \
 378                    drivers/barometer_bmp085.c \
 379                    drivers/barometer_ms5611.c \
 380                    drivers/bus_i2c_stm32f10x.c \
 381                    drivers/bus_spi.c \
 382                    drivers/compass_ak8975.c \
 383                    drivers/compass_hmc5883l.c \
 384                    drivers/display_ug2864hsweg01.c \
 385                    drivers/flash_m25p16.c \
 386                    drivers/gpio_stm32f10x.c \
 387                    drivers/inverter.c \
 388                    drivers/light_led_stm32f10x.c \
 389                    drivers/light_ws2811strip.c \
 390                    drivers/light_ws2811strip_stm32f10x.c \
 391                    drivers/pwm_mapping.c \
 392                    drivers/pwm_output.c \
 393                    drivers/pwm_rx.c \
 394                    drivers/serial_softserial.c \
 395                    drivers/serial_uart.c \
 396                    drivers/serial_uart_stm32f10x.c \
 397                    drivers/sonar_hcsr04.c \
 398                    drivers/sound_beeper_stm32f10x.c \
 399                    drivers/system_stm32f10x.c \
 400                    drivers/timer.c \
 401                    drivers/timer_stm32f10x.c \
 402                    io/flashfs.c \
 403                    $(HIGHEND_SRC) \
 404                    $(COMMON_SRC)
 405
 406 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 407
 408 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 409                    drivers/accgyro_mpu.c \
 410                    drivers/accgyro_mpu6050.c \
 411                    drivers/adc.c \
 412                    drivers/adc_stm32f10x.c \
 413                    drivers/barometer_bmp085.c \
 414                    drivers/bus_i2c_stm32f10x.c \
 415                    drivers/bus_spi.c \
 416                    drivers/compass_hmc5883l.c \
 417                    drivers/gpio_stm32f10x.c \
 418                    drivers/light_led_stm32f10x.c \
 419                    drivers/light_ws2811strip.c \
 420                    drivers/light_ws2811strip_stm32f10x.c \
 421                    drivers/pwm_mapping.c \
 422                    drivers/pwm_output.c \
 423                    drivers/pwm_rx.c \
 424                    drivers/serial_softserial.c \
 425                    drivers/serial_uart.c \
 426                    drivers/serial_uart_stm32f10x.c \
 427                    drivers/sonar_hcsr04.c \
 428                    drivers/sound_beeper_stm32f10x.c \
 429                    drivers/system_stm32f10x.c \
 430                    drivers/timer.c \
 431                    drivers/timer_stm32f10x.c \
 432                    $(HIGHEND_SRC) \
 433                    $(COMMON_SRC)
 434
 435 CJMCU_SRC = \
 436                    startup_stm32f10x_md_gcc.S \
 437                    drivers/adc.c \
 438                    drivers/adc_stm32f10x.c \
 439                    drivers/accgyro_mpu.c \
 440                    drivers/accgyro_mpu6050.c \
 441                    drivers/bus_i2c_stm32f10x.c \
 442                    drivers/compass_hmc5883l.c \
 443                    drivers/gpio_stm32f10x.c \
 444                    drivers/light_led_stm32f10x.c \
 445                    drivers/pwm_mapping.c \
 446                    drivers/pwm_output.c \
 447                    drivers/pwm_rx.c \
 448                    drivers/serial_uart.c \
 449                    drivers/serial_uart_stm32f10x.c \
 450                    drivers/sound_beeper_stm32f10x.c \
 451                    drivers/system_stm32f10x.c \
 452                    drivers/timer.c \
 453                    drivers/timer_stm32f10x.c \
 454                    hardware_revision.c \
 455                    flight/gtune.c \
 456                    blackbox/blackbox.c \
 457                    blackbox/blackbox_io.c \
 458                    $(COMMON_SRC)
 459
 460 CC3D_SRC = \
 461                    startup_stm32f10x_md_gcc.S \
 462                    drivers/accgyro_mpu.c \
 463                    drivers/accgyro_spi_mpu6000.c \
 464                    drivers/adc.c \
 465                    drivers/adc_stm32f10x.c \
 466                    drivers/barometer_bmp085.c \
 467                    drivers/barometer_ms5611.c \
 468                    drivers/bus_spi.c \
 469                    drivers/bus_i2c_stm32f10x.c \
 470                    drivers/compass_hmc5883l.c \
 471                    drivers/display_ug2864hsweg01.c \
 472                    drivers/flash_m25p16.c \
 473                    drivers/gpio_stm32f10x.c \
 474                    drivers/inverter.c \
 475                    drivers/light_led_stm32f10x.c \
 476                    drivers/light_ws2811strip.c \
 477                    drivers/light_ws2811strip_stm32f10x.c \
 478                    drivers/pwm_mapping.c \
 479                    drivers/pwm_output.c \
 480                    drivers/pwm_rx.c \
 481                    drivers/serial_softserial.c \
 482                    drivers/serial_uart.c \
 483                    drivers/serial_uart_stm32f10x.c \
 484                    drivers/sonar_hcsr04.c \
 485                    drivers/sound_beeper_stm32f10x.c \
 486                    drivers/system_stm32f10x.c \
 487                    drivers/timer.c \
 488                    drivers/timer_stm32f10x.c \
 489                    io/flashfs.c \
 490                    $(HIGHEND_SRC) \
 491                    $(COMMON_SRC) \
 492                    $(VCP_SRC)
 493
 494 STM32F30x_COMMON_SRC = \
 495                    startup_stm32f30x_md_gcc.S \
 496                    drivers/adc.c \
 497                    drivers/adc_stm32f30x.c \
 498                    drivers/bus_i2c_stm32f30x.c \
 499                    drivers/bus_spi.c \
 500                    drivers/display_ug2864hsweg01.h \
 501                    drivers/gpio_stm32f30x.c \
 502                    drivers/light_led_stm32f30x.c \
 503                    drivers/pwm_mapping.c \
 504                    drivers/pwm_output.c \
 505                    drivers/pwm_rx.c \
 506                    drivers/serial_uart.c \
 507                    drivers/serial_uart_stm32f30x.c \
 508                    drivers/sound_beeper_stm32f30x.c \
 509                    drivers/system_stm32f30x.c \
 510                    drivers/timer.c \
 511                    drivers/timer_stm32f30x.c
 512
 513 NAZE32PRO_SRC = \
 514                    $(STM32F30x_COMMON_SRC) \
 515                    $(HIGHEND_SRC) \
 516                    $(COMMON_SRC) \
 517                    $(VCP_SRC)
 518
 519 STM32F3DISCOVERY_COMMON_SRC = \
 520                    $(STM32F30x_COMMON_SRC) \
 521                    drivers/light_ws2811strip.c \
 522                    drivers/light_ws2811strip_stm32f30x.c \
 523                    drivers/accgyro_l3gd20.c \
 524                    drivers/accgyro_l3gd20.c \
 525                    drivers/accgyro_lsm303dlhc.c \
 526                    drivers/compass_hmc5883l.c \
 527                    $(VCP_SRC)
 528
 529 STM32F3DISCOVERY_SRC = \
 530                    $(STM32F3DISCOVERY_COMMON_SRC) \
 531                    drivers/accgyro_adxl345.c \
 532                    drivers/accgyro_bma280.c \
 533                    drivers/accgyro_mma845x.c \
 534                    drivers/accgyro_mpu.c \
 535                    drivers/accgyro_mpu3050.c \
 536                    drivers/accgyro_mpu6050.c \
 537                    drivers/accgyro_l3g4200d.c \
 538                    drivers/barometer_ms5611.c \
 539                    drivers/compass_ak8975.c \
 540                    drivers/sdcard.c \
 541                    drivers/sdcard_standard.c \
 542                    io/asyncfatfs/asyncfatfs.c \
 543                    io/asyncfatfs/fat_standard.c \
 544                    $(HIGHEND_SRC) \
 545                    $(COMMON_SRC)
 546
 547 CHEBUZZF3_SRC = \
 548                    $(STM32F3DISCOVERY_SRC) \
 549                    $(HIGHEND_SRC) \
 550                    $(COMMON_SRC)
 551
 552 COLIBRI_RACE_SRC = \
 553                    $(STM32F30x_COMMON_SRC) \
 554                    drivers/accgyro_mpu.c \
 555                    drivers/accgyro_mpu6500.c \
 556                    drivers/accgyro_spi_mpu6500.c \
 557                    drivers/barometer_ms5611.c \
 558                    drivers/compass_ak8963.c \
 559                    drivers/compass_ak8975.c \
 560                    drivers/compass_hmc5883l.c \
 561                    drivers/display_ug2864hsweg01.c \
 562                    drivers/light_ws2811strip.c \
 563                    drivers/light_ws2811strip_stm32f30x.c \
 564                    drivers/serial_usb_vcp.c \
 565                    $(HIGHEND_SRC) \
 566                    $(COMMON_SRC) \
 567                    $(VCP_SRC)
 568
 569 LUX_RACE_SRC = \
 570                    $(STM32F30x_COMMON_SRC) \
 571                    drivers/accgyro_mpu.c \
 572                    drivers/accgyro_mpu6500.c \
 573                    drivers/accgyro_spi_mpu6500.c \
 574                    drivers/light_ws2811strip.c \
 575                    drivers/light_ws2811strip_stm32f30x.c \
 576                    drivers/serial_usb_vcp.c \
 577                    $(HIGHEND_SRC) \
 578                    $(COMMON_SRC) \
 579                    $(VCP_SRC)
 580
 581 SPARKY_SRC = \
 582                    $(STM32F30x_COMMON_SRC) \
 583                    drivers/display_ug2864hsweg01.c \
 584                    drivers/accgyro_mpu.c \
 585                    drivers/accgyro_mpu6050.c \
 586                    drivers/barometer_ms5611.c \
 587                    drivers/compass_ak8975.c \
 588                    drivers/light_ws2811strip.c \
 589                    drivers/light_ws2811strip_stm32f30x.c \
 590                    drivers/serial_usb_vcp.c \
 591                    drivers/sonar_hcsr04.c \
 592                    $(HIGHEND_SRC) \
 593                    $(COMMON_SRC) \
 594                    $(VCP_SRC)
 595
 596 ALIENWIIF3_SRC = \
 597                    $(STM32F30x_COMMON_SRC) \
 598                    drivers/display_ug2864hsweg01.c \
 599                    drivers/accgyro_mpu.c \
 600                    drivers/accgyro_mpu6050.c \
 601                    drivers/barometer_ms5611.c \
 602                    drivers/compass_ak8975.c \
 603                    drivers/serial_usb_vcp.c \
 604                    drivers/sonar_hcsr04.c \
 605                    $(HIGHEND_SRC) \
 606                    $(COMMON_SRC) \
 607                    $(VCP_SRC)
 608
 609 RMDO_SRC = \
 610                    $(STM32F30x_COMMON_SRC) \
 611                    drivers/accgyro_mpu.c \
 612                    drivers/accgyro_mpu6050.c \
 613                    drivers/barometer_bmp280.c \
 614                    drivers/display_ug2864hsweg01.h \
 615                    drivers/flash_m25p16.c \
 616                    drivers/light_ws2811strip.c \
 617                    drivers/light_ws2811strip_stm32f30x.c \
 618                    drivers/serial_softserial.c \
 619                    drivers/sonar_hcsr04.c \
 620                    io/flashfs.c \
 621                    $(HIGHEND_SRC) \
 622                    $(COMMON_SRC)
 623
 624 SPRACINGF3_SRC = \
 625                    $(STM32F30x_COMMON_SRC) \
 626                    drivers/accgyro_mpu.c \
 627                    drivers/accgyro_mpu6050.c \
 628                    drivers/barometer_ms5611.c \
 629                    drivers/compass_ak8975.c \
 630                    drivers/compass_hmc5883l.c \
 631                    drivers/display_ug2864hsweg01.h \
 632                    drivers/flash_m25p16.c \
 633                    drivers/light_ws2811strip.c \
 634                    drivers/light_ws2811strip_stm32f30x.c \
 635                    drivers/serial_softserial.c \
 636                    drivers/sonar_hcsr04.c \
 637                    io/flashfs.c \
 638                    $(HIGHEND_SRC) \
 639                    $(COMMON_SRC)
 640
 641 SPRACINGF3EVO_SRC        = \
 642                    $(STM32F30x_COMMON_SRC) \
 643                    drivers/accgyro_mpu.c \
 644                    drivers/accgyro_mpu6500.c \
 645                    drivers/accgyro_spi_mpu6500.c \
 646                    drivers/barometer_bmp280.c \
 647                    drivers/compass_ak8963.c \
 648                    drivers/display_ug2864hsweg01.h \
 649                    drivers/light_ws2811strip.c \
 650                    drivers/light_ws2811strip_stm32f30x.c \
 651                    drivers/serial_usb_vcp.c \
 652                    drivers/sdcard.c \
 653                    drivers/sdcard_standard.c \
 654                    drivers/transponder_ir.c \
 655                    drivers/transponder_ir_stm32f30x.c \
 656                    io/asyncfatfs/asyncfatfs.c \
 657                    io/asyncfatfs/fat_standard.c \
 658                    io/transponder_ir.c \
 659                    $(HIGHEND_SRC) \
 660                    $(COMMON_SRC) \
 661                    $(VCP_SRC)
 662
 663 MOTOLAB_SRC = \
 664                    $(STM32F30x_COMMON_SRC) \
 665                    drivers/accgyro_mpu.c \
 666                    drivers/accgyro_mpu6050.c \
 667                    drivers/barometer_ms5611.c \
 668                    drivers/compass_hmc5883l.c \
 669                    drivers/display_ug2864hsweg01.c \
 670                    drivers/light_ws2811strip.c \
 671                    drivers/light_ws2811strip_stm32f30x.c \
 672                    drivers/serial_usb_vcp.c \
 673                    drivers/flash_m25p16.c \
 674                    io/flashfs.c \
 675                    $(HIGHEND_SRC) \
 676                    $(COMMON_SRC) \
 677                    $(VCP_SRC)
 678
 679 SPRACINGF3MINI_SRC       = \
 680                    $(STM32F30x_COMMON_SRC) \
 681                    drivers/accgyro_mpu.c \
 682                    drivers/accgyro_mpu6500.c \
 683                    drivers/barometer_bmp280.c \
 684                    drivers/compass_ak8963.c \
 685                    drivers/compass_hmc5883l.c \
 686                    drivers/display_ug2864hsweg01.h \
 687                    drivers/flash_m25p16.c \
 688                    drivers/light_ws2811strip.c \
 689                    drivers/light_ws2811strip_stm32f30x.c \
 690                    drivers/serial_softserial.c \
 691                    drivers/serial_usb_vcp.c \
 692                    drivers/sonar_hcsr04.c \
 693                    drivers/sdcard.c \
 694                    drivers/sdcard_standard.c \
 695                    drivers/transponder_ir.c \
 696                    drivers/transponder_ir_stm32f30x.c \
 697                    io/asyncfatfs/asyncfatfs.c \
 698                    io/asyncfatfs/fat_standard.c \
 699                    io/transponder_ir.c \
 700                    $(HIGHEND_SRC) \
 701                    $(COMMON_SRC) \
 702                    $(VCP_SRC)
 703
 704 IRCFUSIONF3_SRC = \
 705                    $(STM32F30x_COMMON_SRC) \
 706                    drivers/accgyro_mpu.c \
 707                    drivers/accgyro_mpu6050.c \
 708                    drivers/barometer_bmp085.c \
 709                    drivers/flash_m25p16.c \
 710                    io/flashfs.c \
 711                    $(HIGHEND_SRC) \
 712                    $(COMMON_SRC)
 713
 714 # Search path and source files for the ST stdperiph library
 715 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 716
 717 ###############################################################################
 718 # Things that might need changing to use different tools
 719 #
 720
 721 # Tool names
 722 CC               = arm-none-eabi-gcc
 723 OBJCOPY          = arm-none-eabi-objcopy
 724 SIZE             = arm-none-eabi-size
 725
 726 #
 727 # Tool options.
 728 #
 729
 730 ifeq ($(DEBUG),GDB)
 731 OPTIMIZE         = -O0
 732 LTO_FLAGS        = $(OPTIMIZE)
 733 else
 734 OPTIMIZE         = -Os
 735 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 736 endif
 737
 738 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 739
 740 CFLAGS           = $(ARCH_FLAGS) \
 741                    $(LTO_FLAGS) \
 742                    $(addprefix -D,$(OPTIONS)) \
 743                    $(addprefix -I,$(INCLUDE_DIRS)) \
 744                    $(DEBUG_FLAGS) \
 745                    -std=gnu99 \
 746                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion -Wundef \
 747                    -ffunction-sections \
 748                    -fdata-sections \
 749                    $(DEVICE_FLAGS) \
 750                    -DUSE_STDPERIPH_DRIVER \
 751                    $(TARGET_FLAGS) \
 752                    -D'__FORKNAME__="$(FORKNAME)"' \
 753                    -D'__TARGET__="$(TARGET)"' \
 754                    -D'__REVISION__="$(REVISION)"' \
 755                    -save-temps=obj \
 756                    -MMD -MP
 757
 758 ASFLAGS          = $(ARCH_FLAGS) \
 759                    -x assembler-with-cpp \
 760                    $(addprefix -I,$(INCLUDE_DIRS)) \
 761                   -MMD -MP
 762
 763 LDFLAGS          = -lm \
 764                    -nostartfiles \
 765                    --specs=nano.specs \
 766                    -lc \
 767                    -lnosys \
 768                    $(ARCH_FLAGS) \
 769                    $(LTO_FLAGS) \
 770                    $(DEBUG_FLAGS) \
 771                    -static \
 772                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 773                    -Wl,-L$(LINKER_DIR) \
 774            -Wl,--cref \
 775                    -T$(LD_SCRIPT)
 776
 777 ###############################################################################
 778 # No user-serviceable parts below
 779 ###############################################################################
 780
 781 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 782                    --std=c99 --inline-suppr --quiet --force \
 783                    $(addprefix -I,$(INCLUDE_DIRS)) \
 784                    -I/usr/include -I/usr/include/linux
 785
 786 #
 787 # Things we will build
 788 #
 789 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 790 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 791 endif
 792
 793 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 794 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 795 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 796 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 797 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 798 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 799
 800
 801 ## Default make goal:
 802 ## hex         : Make filetype hex only
 803 .DEFAULT_GOAL := hex
 804
 805 ## Optional make goals:
 806 ## all         : Make all filetypes, binary and hex
 807 all: hex bin
 808
 809 ## binary      : Make binary filetype
 810 ## bin         : Alias of 'binary'
 811 ## hex         : Make hex filetype
 812 bin:    $(TARGET_BIN)
 813 binary: $(TARGET_BIN)
 814 hex:    $(TARGET_HEX)
 815
 816 # rule to reinvoke make with TARGET= parameter
 817 # rules that should be handled in toplevel Makefile, not dependent on TARGET
 818 GLOBAL_GOALS    = all_targets cppcheck test
 819
 820 .PHONY: $(VALID_TARGETS)
 821 $(VALID_TARGETS):
 822         $(MAKE) TARGET=$@ $(filter-out $(VALID_TARGETS) $(GLOBAL_GOALS), $(MAKECMDGOALS))
 823
 824 ## all_targets : Make all TARGETs
 825 .PHONY: all_targets
 826 all_targets : $(VALID_TARGETS)
 827
 828 ## clean       : clean up all temporary / machine-generated files
 829 clean:
 830         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 831         rm -rf $(OBJECT_DIR)/$(TARGET)
 832         cd src/test && $(MAKE) clean || true
 833
 834 flash_$(TARGET): $(TARGET_HEX)
 835         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 836         echo -n 'R' >$(SERIAL_DEVICE)
 837         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 838
 839 ## flash       : flash firmware (.hex) onto flight controller
 840 flash: flash_$(TARGET)
 841
 842 st-flash_$(TARGET): $(TARGET_BIN)
 843         st-flash --reset write $< 0x08000000
 844
 845 ## st-flash    : flash firmware (.bin) onto flight controller
 846 st-flash: st-flash_$(TARGET)
 847
 848 unbrick_$(TARGET): $(TARGET_HEX)
 849         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 850         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 851
 852 ## unbrick     : unbrick flight controller
 853 unbrick: unbrick_$(TARGET)
 854
 855 ## cppcheck    : run static analysis on C source code
 856 cppcheck: $(CSOURCES)
 857         $(CPPCHECK)
 858
 859 cppcheck-result.xml: $(CSOURCES)
 860         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 861
 862 ## help        : print this help message and exit
 863 help: Makefile
 864         @echo ""
 865         @echo "Makefile for the $(FORKNAME) firmware"
 866         @echo ""
 867         @echo "Usage:"
 868         @echo "        make [goal] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 869         @echo ""
 870         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 871         @echo ""
 872         @sed -n 's/^## //p' $<
 873
 874 ## test        : run the cleanflight test suite
 875 ## junittest   : run the cleanflight test suite, producing Junit XML result files.
 876 test junittest:
 877         cd src/test && $(MAKE) $@ || true
 878
 879 # rebuild everything when makefile changes
 880 $(TARGET_OBJS) : Makefile
 881
 882 # List of buildable ELF files and their object dependencies.
 883 # It would be nice to compute these lists, but that seems to be just beyond make.
 884
 885 $(TARGET_HEX): $(TARGET_ELF)
 886         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 887
 888 $(TARGET_BIN): $(TARGET_ELF)
 889         $(OBJCOPY) -O binary $< $@
 890
 891 $(TARGET_ELF):  $(TARGET_OBJS)
 892         $(CC) -o $@ $^ $(LDFLAGS)
 893         $(SIZE) $(TARGET_ELF)
 894
 895 # Compile
 896 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 897         @mkdir -p $(dir $@)
 898         @echo %% $(notdir $<)
 899         @$(CC) -c -o $@ $(CFLAGS) $<
 900
 901 # Assemble
 902 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 903         @mkdir -p $(dir $@)
 904         @echo %% $(notdir $<)
 905         @$(CC) -c -o $@ $(ASFLAGS) $<
 906
 907 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 908         @mkdir -p $(dir $@)
 909         @echo %% $(notdir $<)
 910         @$(CC) -c -o $@ $(ASFLAGS) $<
 911
 912
 913
 914 # include auto-generated dependencies
 915 -include $(TARGET_DEPS)