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 ###############################################################################
8 # Makefile for building the cleanflight firmware.
10 # Invoke this with 'make help' to see the list of supported targets.
13 ###############################################################################
14 # Things that the user might override on the commandline
17 # The target to build, see VALID_TARGETS below
20 # Compile-time options
23 # compile for OpenPilot BootLoader support
26 # Debugger optons, must be empty or GDB
29 # Serial port/Device for flashing
30 SERIAL_DEVICE ?
= /dev
/ttyUSB0
32 ###############################################################################
33 # Things that need to be maintained as the source changes
36 FORKNAME
= cleanflight
38 VALID_TARGETS
= NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC MASSIVEF3 PORT103R SPARKY
40 # Valid targets for OP BootLoader support
41 OPBL_VALID_TARGETS
= CC3D
43 REVISION
= $(shell git log
-1 --format
="%h")
46 ROOT
:= $(patsubst %/,%,$(dir $(lastword
$(MAKEFILE_LIST
))))
47 SRC_DIR
= $(ROOT
)/src
/main
48 OBJECT_DIR
= $(ROOT
)/obj
/main
50 CMSIS_DIR
= $(ROOT
)/lib
/main
/CMSIS
51 INCLUDE_DIRS
= $(SRC_DIR
)
52 LINKER_DIR
= $(ROOT
)/src
/main
/target
54 # Search path for sources
55 VPATH
:= $(SRC_DIR
):$(SRC_DIR
)/startup
57 ifeq ($(TARGET
),$(filter $(TARGET
),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO MASSIVEF3 SPARKY
))
59 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
60 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
62 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
63 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
65 EXCLUDES
= stm32f30x_crc.c \
68 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
70 DEVICE_STDPERIPH_SRC
= $(USBPERIPH_SRC
) \
74 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
:$(USBFS_DIR
)/src
75 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
76 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
78 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
79 $(STDPERIPH_DIR
)/inc \
81 $(CMSIS_DIR
)/CM1
/CoreSupport \
82 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x \
85 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_256k.
ld
87 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
88 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
89 TARGET_FLAGS
= -D
$(TARGET
)
90 ifeq ($(TARGET
),CHEBUZZF3
)
91 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
92 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSTM32F3DISCOVERY
95 ifeq ($(TARGET
),MASSIVEF3
)
96 # MASSIVEF3 is a VARIANT of STM32F3DISCOVERY
97 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSTM32F3DISCOVERY
101 else ifeq ($(TARGET
),$(filter $(TARGET
),EUSTM32F103RC PORT103R
))
104 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
106 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
108 # Search path and source files for the CMSIS sources
109 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
110 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
111 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
113 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
114 $(STDPERIPH_DIR
)/inc \
115 $(CMSIS_DIR
)/CM3
/CoreSupport \
116 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
118 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_256k.
ld
120 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
121 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
122 DEVICE_FLAGS
= -DSTM32F10X_HD
-DSTM32F10X
124 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
128 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
130 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
132 # Search path and source files for the CMSIS sources
133 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
134 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
135 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
137 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
138 $(STDPERIPH_DIR
)/inc \
139 $(CMSIS_DIR
)/CM3
/CoreSupport \
140 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
142 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_128k.
ld
144 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
145 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
146 DEVICE_FLAGS
= -DSTM32F10X_MD
-DSTM32F10X
148 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
152 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(TARGET
)
153 TARGET_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
155 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
158 VPATH
:= $(VPATH
):$(TARGET_DIR
)
160 COMMON_SRC
= build_config.c \
164 config
/runtime_config.c \
167 common
/typeconversion.c \
170 flight
/altitudehold.c \
175 drivers
/bus_i2c_soft.c \
177 drivers
/sound_beeper.c \
185 io
/statusindicator.c \
193 sensors
/acceleration.c \
195 sensors
/boardalignment.c \
198 sensors
/initialisation.c \
200 $(DEVICE_STDPERIPH_SRC
)
202 HIGHEND_SRC
= flight
/autotune.c \
203 flight
/navigation.c \
204 flight
/gps_conversion.c \
205 common
/colorconversion.c \
209 telemetry
/telemetry.c \
213 telemetry
/smartport.c \
217 NAZE_SRC
= startup_stm32f10x_md_gcc.S \
218 drivers
/accgyro_adxl345.c \
219 drivers
/accgyro_bma280.c \
220 drivers
/accgyro_l3g4200d.c \
221 drivers
/accgyro_mma845x.c \
222 drivers
/accgyro_mpu3050.c \
223 drivers
/accgyro_mpu6050.c \
224 drivers
/accgyro_spi_mpu6500.c \
226 drivers
/adc_stm32f10x.c \
227 drivers
/barometer_bmp085.c \
228 drivers
/barometer_ms5611.c \
230 drivers
/bus_i2c_stm32f10x.c \
231 drivers
/compass_hmc5883l.c \
232 drivers
/display_ug2864hsweg01.h \
233 drivers
/gpio_stm32f10x.c \
235 drivers
/light_led_stm32f10x.c \
236 drivers
/light_ws2811strip.c \
237 drivers
/light_ws2811strip_stm32f10x.c \
238 drivers
/sonar_hcsr04.c \
239 drivers
/pwm_mapping.c \
240 drivers
/pwm_output.c \
242 drivers
/serial_softserial.c \
243 drivers
/serial_uart.c \
244 drivers
/serial_uart_stm32f10x.c \
245 drivers
/sound_beeper_stm32f10x.c \
246 drivers
/system_stm32f10x.c \
248 drivers
/timer_stm32f10x.c \
249 hardware_revision.c \
253 EUSTM32F103RC_SRC
= startup_stm32f10x_hd_gcc.S \
254 drivers
/accgyro_adxl345.c \
255 drivers
/accgyro_bma280.c \
256 drivers
/accgyro_l3g4200d.c \
257 drivers
/accgyro_mma845x.c \
258 drivers
/accgyro_mpu3050.c \
259 drivers
/accgyro_mpu6050.c \
260 drivers
/accgyro_spi_mpu6000.c \
261 drivers
/accgyro_spi_mpu6500.c \
263 drivers
/adc_stm32f10x.c \
264 drivers
/barometer_bmp085.c \
265 drivers
/barometer_ms5611.c \
266 drivers
/bus_i2c_stm32f10x.c \
268 drivers
/compass_hmc5883l.c \
269 drivers
/display_ug2864hsweg01.c \
270 drivers
/gpio_stm32f10x.c \
272 drivers
/light_led_stm32f10x.c \
273 drivers
/light_ws2811strip.c \
274 drivers
/light_ws2811strip_stm32f10x.c \
275 drivers
/pwm_mapping.c \
276 drivers
/pwm_output.c \
278 drivers
/serial_softserial.c \
279 drivers
/serial_uart.c \
280 drivers
/serial_uart_stm32f10x.c \
281 drivers
/sonar_hcsr04.c \
282 drivers
/sound_beeper_stm32f10x.c \
283 drivers
/system_stm32f10x.c \
285 drivers
/timer_stm32f10x.c \
289 PORT103R_SRC
= $(EUSTM32F103RC_SRC
)
291 OLIMEXINO_SRC
= startup_stm32f10x_md_gcc.S \
292 drivers
/accgyro_mpu6050.c \
294 drivers
/adc_stm32f10x.c \
295 drivers
/barometer_bmp085.c \
296 drivers
/bus_i2c_stm32f10x.c \
298 drivers
/compass_hmc5883l.c \
299 drivers
/gpio_stm32f10x.c \
300 drivers
/light_led_stm32f10x.c \
301 drivers
/light_ws2811strip.c \
302 drivers
/light_ws2811strip_stm32f10x.c \
303 drivers
/pwm_mapping.c \
304 drivers
/pwm_output.c \
306 drivers
/serial_softserial.c \
307 drivers
/serial_uart.c \
308 drivers
/serial_uart_stm32f10x.c \
309 drivers
/sonar_hcsr04.c \
310 drivers
/sound_beeper_stm32f10x.c \
311 drivers
/system_stm32f10x.c \
313 drivers
/timer_stm32f10x.c \
317 ifeq ($(TARGET
),CJMCU
)
318 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_64k.
ld
322 ifneq ($(filter $(TARGET
),$(OPBL_VALID_TARGETS
)),)
323 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_128k_opbl.
ld
324 .DEFAULT_GOAL
:= binary
326 $(error OPBL specified with a unsupported target
)
330 CJMCU_SRC
= startup_stm32f10x_md_gcc.S \
332 drivers
/adc_stm32f10x.c \
333 drivers
/accgyro_mpu6050.c \
334 drivers
/bus_i2c_stm32f10x.c \
335 drivers
/compass_hmc5883l.c \
336 drivers
/gpio_stm32f10x.c \
337 drivers
/light_led_stm32f10x.c \
338 drivers
/pwm_mapping.c \
339 drivers
/pwm_output.c \
341 drivers
/serial_uart.c \
342 drivers
/serial_uart_stm32f10x.c \
343 drivers
/sound_beeper_stm32f10x.c \
344 drivers
/system_stm32f10x.c \
346 drivers
/timer_stm32f10x.c \
349 CC3D_SRC
= startup_stm32f10x_md_gcc.S \
350 drivers
/accgyro_spi_mpu6000.c \
352 drivers
/adc_stm32f10x.c \
354 drivers
/gpio_stm32f10x.c \
356 drivers
/light_led_stm32f10x.c \
357 drivers
/light_ws2811strip.c \
358 drivers
/light_ws2811strip_stm32f10x.c \
359 drivers
/pwm_mapping.c \
360 drivers
/pwm_output.c \
362 drivers
/serial_softserial.c \
363 drivers
/serial_uart.c \
364 drivers
/serial_uart_stm32f10x.c \
365 drivers
/sound_beeper_stm32f10x.c \
366 drivers
/system_stm32f10x.c \
368 drivers
/timer_stm32f10x.c \
372 STM32F30x_COMMON_SRC
= startup_stm32f30x_md_gcc.S \
374 drivers
/adc_stm32f30x.c \
375 drivers
/bus_i2c_stm32f30x.c \
377 drivers
/gpio_stm32f30x.c \
378 drivers
/light_led_stm32f30x.c \
379 drivers
/light_ws2811strip.c \
380 drivers
/light_ws2811strip_stm32f30x.c \
381 drivers
/pwm_mapping.c \
382 drivers
/pwm_output.c \
384 drivers
/serial_uart.c \
385 drivers
/serial_uart_stm32f30x.c \
386 drivers
/serial_usb_vcp.c \
387 drivers
/sound_beeper_stm32f30x.c \
388 drivers
/system_stm32f30x.c \
390 drivers
/timer_stm32f30x.c \
399 NAZE32PRO_SRC
= $(STM32F30x_COMMON_SRC
) \
403 STM32F3DISCOVERY_COMMON_SRC
= $(STM32F30x_COMMON_SRC
) \
404 drivers
/accgyro_l3gd20.c \
405 drivers
/accgyro_l3gd20.c \
406 drivers
/accgyro_lsm303dlhc.c
408 STM32F3DISCOVERY_SRC
= $(STM32F3DISCOVERY_COMMON_SRC
) \
409 drivers
/accgyro_adxl345.c \
410 drivers
/accgyro_bma280.c \
411 drivers
/accgyro_mma845x.c \
412 drivers
/accgyro_mpu3050.c \
413 drivers
/accgyro_mpu6050.c \
414 drivers
/accgyro_l3g4200d.c \
418 CHEBUZZF3_SRC
= $(STM32F3DISCOVERY_SRC
) \
422 MASSIVEF3_SRC
= $(STM32F3DISCOVERY_SRC
) \
426 SPARKY_SRC
= $(STM32F30x_COMMON_SRC
) \
427 drivers
/display_ug2864hsweg01.c \
428 drivers
/accgyro_mpu9150.c \
429 drivers
/barometer_ms5611.c \
433 ifeq ($(TARGET
),MASSIVEF3
)
434 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_128k.
ld
437 # Search path and source files for the ST stdperiph library
438 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
440 ###############################################################################
441 # Things that might need changing to use different tools
445 CC
= arm-none-eabi-gcc
446 OBJCOPY
= arm-none-eabi-objcopy
447 SIZE
= arm-none-eabi-size
455 LTO_FLAGS
= $(OPTIMIZE
)
458 LTO_FLAGS
= -flto
-fuse-linker-plugin
$(OPTIMIZE
)
463 CFLAGS
= $(ARCH_FLAGS
) \
465 $(addprefix -D
,$(OPTIONS
)) \
466 $(addprefix -I
,$(INCLUDE_DIRS
)) \
469 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
470 -ffunction-sections \
473 -DUSE_STDPERIPH_DRIVER \
475 -D
'__FORKNAME__="$(FORKNAME)"' \
476 -D
'__TARGET__="$(TARGET)"' \
477 -D
'__REVISION__="$(REVISION)"' \
481 ASFLAGS
= $(ARCH_FLAGS
) \
482 -x assembler-with-cpp \
483 $(addprefix -I
,$(INCLUDE_DIRS
)) \
495 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
498 ###############################################################################
499 # No user-serviceable parts below
500 ###############################################################################
503 # Things we will build
505 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
506 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
))
509 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).bin
510 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).hex
511 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
512 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
513 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
514 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
516 # List of buildable ELF files and their object dependencies.
517 # It would be nice to compute these lists, but that seems to be just beyond make.
519 $(TARGET_HEX
): $(TARGET_ELF
)
520 $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
522 $(TARGET_BIN
): $(TARGET_ELF
)
523 $(OBJCOPY
) -O binary
$< $@
525 $(TARGET_ELF
): $(TARGET_OBJS
)
526 $(CC
) -o
$@
$^
$(LDFLAGS
)
527 $(SIZE
) $(TARGET_ELF
)
530 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
532 @echo
%% $(notdir $<)
533 @
$(CC
) -c
-o
$@
$(CFLAGS
) $<
536 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
538 @echo
%% $(notdir $<)
539 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
541 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
543 @echo
%% $(notdir $<)
544 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
547 rm -f
$(TARGET_BIN
) $(TARGET_HEX
) $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
548 rm -rf
$(OBJECT_DIR
)/$(TARGET
)
550 flash_
$(TARGET
): $(TARGET_HEX
)
551 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
552 echo
-n
'R' >$(SERIAL_DEVICE
)
553 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
555 flash
: flash_
$(TARGET
)
557 binary
: $(TARGET_BIN
)
559 unbrick_
$(TARGET
): $(TARGET_HEX
)
560 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
561 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
563 unbrick
: unbrick_
$(TARGET
)
567 @echo
"Makefile for the $(FORKNAME) firmware"
570 @echo
" make [TARGET=<target>] [OPTIONS=\"<options>\"]"
572 @echo
"Valid TARGET values are: $(VALID_TARGETS)"
575 # rebuild everything when makefile changes
576 $(TARGET_OBJS
) : Makefile
578 # include auto-generated dependencies
579 -include $(TARGET_DEPS
)