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 SPRACINGF3 PORT103R SPARKY ALIENWIIF1 ALIENWIIF3
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
56 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
57 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
59 ifeq ($(TARGET
),$(filter $(TARGET
),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 SPARKY ALIENWIIF3
))
61 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
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
= \
74 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
75 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
76 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
78 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
79 $(STDPERIPH_DIR
)/inc \
80 $(CMSIS_DIR
)/CM1
/CoreSupport \
81 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
83 ifneq ($(TARGET
),SPRACINGF3
)
84 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
88 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
90 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
95 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_256k.
ld
97 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
98 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
99 TARGET_FLAGS
= -D
$(TARGET
)
100 ifeq ($(TARGET
),CHEBUZZF3
)
101 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
102 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSTM32F3DISCOVERY
105 else ifeq ($(TARGET
),$(filter $(TARGET
),EUSTM32F103RC PORT103R
))
108 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
110 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
112 EXCLUDES
= stm32f10x_crc.c \
116 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
118 # Search path and source files for the CMSIS sources
119 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
120 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
121 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
123 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
124 $(STDPERIPH_DIR
)/inc \
125 $(CMSIS_DIR
)/CM3
/CoreSupport \
126 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
128 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_256k.
ld
130 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
131 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
132 DEVICE_FLAGS
= -DSTM32F10X_HD
-DSTM32F10X
134 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
138 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
140 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
142 EXCLUDES
= stm32f10x_crc.c \
146 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
148 # Search path and source files for the CMSIS sources
149 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
150 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
151 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
153 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
154 $(STDPERIPH_DIR
)/inc \
155 $(CMSIS_DIR
)/CM3
/CoreSupport \
156 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
158 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
160 ifeq ($(TARGET
),CC3D
)
161 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
165 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
167 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
) \
172 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_128k.
ld
174 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
175 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
176 DEVICE_FLAGS
= -DSTM32F10X_MD
-DSTM32F10X
180 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(TARGET
)
181 TARGET_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
183 ifeq ($(TARGET
),ALIENWIIF1
)
184 # ALIENWIIF1 is a VARIANT of NAZE
185 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DNAZE
-DALIENWII32
186 TARGET_DIR
= $(ROOT
)/src
/main
/target
/NAZE
189 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
192 VPATH
:= $(VPATH
):$(TARGET_DIR
)
194 COMMON_SRC
= build_config.c \
198 config
/runtime_config.c \
201 common
/typeconversion.c \
205 flight
/altitudehold.c \
211 drivers
/bus_i2c_soft.c \
213 drivers
/sound_beeper.c \
221 io
/statusindicator.c \
230 sensors
/acceleration.c \
232 sensors
/boardalignment.c \
235 sensors
/initialisation.c \
237 $(DEVICE_STDPERIPH_SRC
)
239 HIGHEND_SRC
= flight
/autotune.c \
240 flight
/navigation.c \
241 flight
/gps_conversion.c \
242 common
/colorconversion.c \
246 telemetry
/telemetry.c \
250 telemetry
/smartport.c \
252 sensors
/barometer.c \
253 blackbox
/blackbox.c \
254 blackbox
/blackbox_io.c
264 drivers
/serial_usb_vcp.c
266 NAZE_SRC
= startup_stm32f10x_md_gcc.S \
267 drivers
/accgyro_adxl345.c \
268 drivers
/accgyro_bma280.c \
269 drivers
/accgyro_l3g4200d.c \
270 drivers
/accgyro_mma845x.c \
271 drivers
/accgyro_mpu3050.c \
272 drivers
/accgyro_mpu6050.c \
273 drivers
/accgyro_spi_mpu6500.c \
275 drivers
/adc_stm32f10x.c \
276 drivers
/barometer_bmp085.c \
277 drivers
/barometer_ms5611.c \
279 drivers
/bus_i2c_stm32f10x.c \
280 drivers
/compass_hmc5883l.c \
281 drivers
/display_ug2864hsweg01.h \
282 drivers
/gpio_stm32f10x.c \
284 drivers
/light_led_stm32f10x.c \
285 drivers
/light_ws2811strip.c \
286 drivers
/light_ws2811strip_stm32f10x.c \
287 drivers
/sonar_hcsr04.c \
288 drivers
/pwm_mapping.c \
289 drivers
/pwm_output.c \
291 drivers
/serial_softserial.c \
292 drivers
/serial_uart.c \
293 drivers
/serial_uart_stm32f10x.c \
294 drivers
/sound_beeper_stm32f10x.c \
295 drivers
/system_stm32f10x.c \
297 drivers
/timer_stm32f10x.c \
298 drivers
/flash_m25p16.c \
300 hardware_revision.c \
304 ALIENWIIF1_SRC
= $(NAZE_SRC
)
306 EUSTM32F103RC_SRC
= startup_stm32f10x_hd_gcc.S \
307 drivers
/accgyro_adxl345.c \
308 drivers
/accgyro_bma280.c \
309 drivers
/accgyro_l3g4200d.c \
310 drivers
/accgyro_mma845x.c \
311 drivers
/accgyro_mpu3050.c \
312 drivers
/accgyro_mpu6050.c \
313 drivers
/accgyro_spi_mpu6000.c \
314 drivers
/accgyro_spi_mpu6500.c \
316 drivers
/adc_stm32f10x.c \
317 drivers
/barometer_bmp085.c \
318 drivers
/barometer_ms5611.c \
319 drivers
/bus_i2c_stm32f10x.c \
321 drivers
/compass_ak8975.c \
322 drivers
/compass_hmc5883l.c \
323 drivers
/display_ug2864hsweg01.c \
324 drivers
/gpio_stm32f10x.c \
326 drivers
/light_led_stm32f10x.c \
327 drivers
/light_ws2811strip.c \
328 drivers
/light_ws2811strip_stm32f10x.c \
329 drivers
/pwm_mapping.c \
330 drivers
/pwm_output.c \
332 drivers
/serial_softserial.c \
333 drivers
/serial_uart.c \
334 drivers
/serial_uart_stm32f10x.c \
335 drivers
/sonar_hcsr04.c \
336 drivers
/sound_beeper_stm32f10x.c \
337 drivers
/system_stm32f10x.c \
339 drivers
/timer_stm32f10x.c \
343 PORT103R_SRC
= $(EUSTM32F103RC_SRC
)
345 OLIMEXINO_SRC
= startup_stm32f10x_md_gcc.S \
346 drivers
/accgyro_mpu6050.c \
348 drivers
/adc_stm32f10x.c \
349 drivers
/barometer_bmp085.c \
350 drivers
/bus_i2c_stm32f10x.c \
352 drivers
/compass_hmc5883l.c \
353 drivers
/gpio_stm32f10x.c \
354 drivers
/light_led_stm32f10x.c \
355 drivers
/light_ws2811strip.c \
356 drivers
/light_ws2811strip_stm32f10x.c \
357 drivers
/pwm_mapping.c \
358 drivers
/pwm_output.c \
360 drivers
/serial_softserial.c \
361 drivers
/serial_uart.c \
362 drivers
/serial_uart_stm32f10x.c \
363 drivers
/sonar_hcsr04.c \
364 drivers
/sound_beeper_stm32f10x.c \
365 drivers
/system_stm32f10x.c \
367 drivers
/timer_stm32f10x.c \
371 ifeq ($(TARGET
),CJMCU
)
372 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_64k.
ld
376 ifneq ($(filter $(TARGET
),$(OPBL_VALID_TARGETS
)),)
377 TARGET_FLAGS
:= -DOPBL
$(TARGET_FLAGS
)
378 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_128k_opbl.
ld
379 .DEFAULT_GOAL
:= binary
381 $(error OPBL specified with a unsupported target
)
386 startup_stm32f10x_md_gcc.S \
388 drivers
/adc_stm32f10x.c \
389 drivers
/accgyro_mpu6050.c \
390 drivers
/bus_i2c_stm32f10x.c \
391 drivers
/compass_hmc5883l.c \
392 drivers
/gpio_stm32f10x.c \
393 drivers
/light_led_stm32f10x.c \
394 drivers
/pwm_mapping.c \
395 drivers
/pwm_output.c \
397 drivers
/serial_uart.c \
398 drivers
/serial_uart_stm32f10x.c \
399 drivers
/sound_beeper_stm32f10x.c \
400 drivers
/system_stm32f10x.c \
402 drivers
/timer_stm32f10x.c \
403 hardware_revision.c \
404 blackbox
/blackbox.c \
405 blackbox
/blackbox_io.c \
409 startup_stm32f10x_md_gcc.S \
410 drivers
/accgyro_spi_mpu6000.c \
412 drivers
/adc_stm32f10x.c \
413 drivers
/barometer_bmp085.c \
414 drivers
/barometer_ms5611.c \
416 drivers
/bus_i2c_stm32f10x.c \
417 drivers
/compass_hmc5883l.c \
418 drivers
/display_ug2864hsweg01.c \
419 drivers
/gpio_stm32f10x.c \
421 drivers
/light_led_stm32f10x.c \
422 drivers
/light_ws2811strip.c \
423 drivers
/light_ws2811strip_stm32f10x.c \
424 drivers
/pwm_mapping.c \
425 drivers
/pwm_output.c \
427 drivers
/serial_softserial.c \
428 drivers
/serial_uart.c \
429 drivers
/serial_uart_stm32f10x.c \
430 drivers
/sound_beeper_stm32f10x.c \
431 drivers
/system_stm32f10x.c \
433 drivers
/timer_stm32f10x.c \
434 drivers
/flash_m25p16.c \
440 STM32F30x_COMMON_SRC
= \
441 startup_stm32f30x_md_gcc.S \
443 drivers
/adc_stm32f30x.c \
444 drivers
/bus_i2c_stm32f30x.c \
446 drivers
/gpio_stm32f30x.c \
447 drivers
/light_led_stm32f30x.c \
448 drivers
/light_ws2811strip.c \
449 drivers
/light_ws2811strip_stm32f30x.c \
450 drivers
/pwm_mapping.c \
451 drivers
/pwm_output.c \
453 drivers
/serial_uart.c \
454 drivers
/serial_uart_stm32f30x.c \
455 drivers
/sound_beeper_stm32f30x.c \
456 drivers
/system_stm32f30x.c \
458 drivers
/timer_stm32f30x.c
461 $(STM32F30x_COMMON_SRC
) \
466 STM32F3DISCOVERY_COMMON_SRC
= \
467 $(STM32F30x_COMMON_SRC
) \
468 drivers
/accgyro_l3gd20.c \
469 drivers
/accgyro_l3gd20.c \
470 drivers
/accgyro_lsm303dlhc.c \
471 drivers
/compass_hmc5883l.c \
474 STM32F3DISCOVERY_SRC
= \
475 $(STM32F3DISCOVERY_COMMON_SRC
) \
476 drivers
/accgyro_adxl345.c \
477 drivers
/accgyro_bma280.c \
478 drivers
/accgyro_mma845x.c \
479 drivers
/accgyro_mpu3050.c \
480 drivers
/accgyro_mpu6050.c \
481 drivers
/accgyro_l3g4200d.c \
482 drivers
/barometer_ms5611.c \
483 drivers
/compass_ak8975.c \
488 $(STM32F3DISCOVERY_SRC
) \
493 $(STM32F30x_COMMON_SRC
) \
494 drivers
/display_ug2864hsweg01.c \
495 drivers
/accgyro_mpu6050.c \
496 drivers
/barometer_ms5611.c \
497 drivers
/compass_ak8975.c \
498 drivers
/serial_usb_vcp.c \
503 ALIENWIIF3_SRC
= $(SPARKY_SRC
)
506 $(STM32F30x_COMMON_SRC
) \
507 drivers
/accgyro_mpu6050.c \
508 drivers
/barometer_ms5611.c \
509 drivers
/compass_hmc5883l.c \
510 drivers
/display_ug2864hsweg01.h \
511 drivers
/flash_m25p16.c \
516 ifeq ($(TARGET
),SPRACINGF3
)
517 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_128k.
ld
520 # Search path and source files for the ST stdperiph library
521 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
523 ###############################################################################
524 # Things that might need changing to use different tools
528 CC
= arm-none-eabi-gcc
529 OBJCOPY
= arm-none-eabi-objcopy
530 SIZE
= arm-none-eabi-size
538 LTO_FLAGS
= $(OPTIMIZE
)
541 LTO_FLAGS
= -flto
-fuse-linker-plugin
$(OPTIMIZE
)
546 CFLAGS
= $(ARCH_FLAGS
) \
548 $(addprefix -D
,$(OPTIONS
)) \
549 $(addprefix -I
,$(INCLUDE_DIRS
)) \
552 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
553 -ffunction-sections \
556 -DUSE_STDPERIPH_DRIVER \
558 -D
'__FORKNAME__="$(FORKNAME)"' \
559 -D
'__TARGET__="$(TARGET)"' \
560 -D
'__REVISION__="$(REVISION)"' \
564 ASFLAGS
= $(ARCH_FLAGS
) \
565 -x assembler-with-cpp \
566 $(addprefix -I
,$(INCLUDE_DIRS
)) \
578 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
581 ###############################################################################
582 # No user-serviceable parts below
583 ###############################################################################
586 # Things we will build
588 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
589 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
))
592 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).bin
593 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).hex
594 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
595 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
596 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
597 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
599 # List of buildable ELF files and their object dependencies.
600 # It would be nice to compute these lists, but that seems to be just beyond make.
602 $(TARGET_HEX
): $(TARGET_ELF
)
603 $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
605 $(TARGET_BIN
): $(TARGET_ELF
)
606 $(OBJCOPY
) -O binary
$< $@
608 $(TARGET_ELF
): $(TARGET_OBJS
)
609 $(CC
) -o
$@
$^
$(LDFLAGS
)
610 $(SIZE
) $(TARGET_ELF
)
613 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
615 @echo
%% $(notdir $<)
616 @
$(CC
) -c
-o
$@
$(CFLAGS
) $<
619 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
621 @echo
%% $(notdir $<)
622 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
624 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
626 @echo
%% $(notdir $<)
627 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
630 rm -f
$(TARGET_BIN
) $(TARGET_HEX
) $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
631 rm -rf
$(OBJECT_DIR
)/$(TARGET
)
633 flash_
$(TARGET
): $(TARGET_HEX
)
634 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
635 echo
-n
'R' >$(SERIAL_DEVICE
)
636 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
638 flash
: flash_
$(TARGET
)
640 binary
: $(TARGET_BIN
)
642 unbrick_
$(TARGET
): $(TARGET_HEX
)
643 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
644 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
646 unbrick
: unbrick_
$(TARGET
)
650 @echo
"Makefile for the $(FORKNAME) firmware"
653 @echo
" make [TARGET=<target>] [OPTIONS=\"<options>\"]"
655 @echo
"Valid TARGET values are: $(VALID_TARGETS)"
658 # rebuild everything when makefile changes
659 $(TARGET_OBJS
) : Makefile
661 # include auto-generated dependencies
662 -include $(TARGET_DEPS
)