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
  16 # Things that the user might override on the commandline
  17 #
  18
  19 # The target to build, see VALID_TARGETS below
  20 TARGET          ?= NAZE
  21
  22 # Compile-time options
  23 OPTIONS         ?=
  24
  25 # compile for OpenPilot BootLoader support
  26 OPBL ?=no
  27
  28 # Debugger optons, must be empty or GDB
  29 DEBUG ?=
  30
  31 # Serial port/Device for flashing
  32 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  33
  34 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  35 FLASH_SIZE ?=
  36
  37 ###############################################################################
  38 # Things that need to be maintained as the source changes
  39 #
  40
  41 FORKNAME                         = betaflight
  42
  43 CC3D_TARGETS = CC3D CC3D_OPBL
  44
  45 VALID_TARGETS    = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1 ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI
  46
  47 # Valid targets for OP VCP support
  48 VCP_VALID_TARGETS = $(CC3D_TARGETS)
  49
  50 # Valid targets for OP BootLoader support
  51 OPBL_VALID_TARGETS = CC3D_OPBL
  52
  53 64K_TARGETS  = CJMCU
  54 128K_TARGETS = ALIENWIIF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
  55 256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB
  56
  57 F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO
  58
  59
  60 # Configure default flash sizes for the targets
  61 ifeq ($(FLASH_SIZE),)
  62 ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
  63 FLASH_SIZE = 64
  64 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
  65 FLASH_SIZE = 128
  66 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
  67 FLASH_SIZE = 256
  68 else
  69 $(error FLASH_SIZE not configured for target $(TARGET))
  70 endif
  71 endif
  72
  73 REVISION = $(shell git log -1 --format="%h")
  74
  75 # Working directories
  76 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  77 SRC_DIR          = $(ROOT)/src/main
  78 OBJECT_DIR       = $(ROOT)/obj/main
  79 BIN_DIR          = $(ROOT)/obj
  80 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  81 INCLUDE_DIRS     = $(SRC_DIR)
  82 LINKER_DIR       = $(ROOT)/src/main/target
  83
  84 # Search path for sources
  85 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  86 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  87 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  88
  89 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
  90
  91 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
  92
  93 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  94
  95 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  96
  97 EXCLUDES        = stm32f30x_crc.c \
  98                 stm32f30x_can.c
  99
 100 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 101
 102 DEVICE_STDPERIPH_SRC = \
 103                 $(STDPERIPH_SRC)
 104
 105
 106 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 107 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 108                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 109
 110 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 111                    $(STDPERIPH_DIR)/inc \
 112                    $(CMSIS_DIR)/CM1/CoreSupport \
 113                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 114
 115 ifneq ($(TARGET),$(filter $(TARGET),SPRACINGF3 IRCFUSIONF3))
 116 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 117                    $(USBFS_DIR)/inc \
 118                    $(ROOT)/src/main/vcp
 119
 120 VPATH := $(VPATH):$(USBFS_DIR)/src
 121
 122 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 123                    $(USBPERIPH_SRC)
 124
 125 endif
 126
 127 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 128
 129 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 130 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 131 TARGET_FLAGS = -D$(TARGET)
 132 ifeq ($(TARGET),CHEBUZZF3)
 133 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 134 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 135 endif
 136
 137 ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 138 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
 139 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 140 endif
 141
 142 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 143
 144
 145 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 146
 147 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 148
 149 EXCLUDES        = stm32f10x_crc.c \
 150                 stm32f10x_cec.c \
 151                 stm32f10x_can.c
 152
 153 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 154
 155 # Search path and source files for the CMSIS sources
 156 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 157 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 158                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 159
 160 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 161                    $(STDPERIPH_DIR)/inc \
 162                    $(CMSIS_DIR)/CM3/CoreSupport \
 163                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 164
 165 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 166
 167 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 168 TARGET_FLAGS = -D$(TARGET) -pedantic
 169 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 170
 171 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 172
 173 else
 174
 175 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 176
 177 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 178
 179 EXCLUDES        = stm32f10x_crc.c \
 180                 stm32f10x_cec.c \
 181                 stm32f10x_can.c
 182
 183 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 184
 185 # Search path and source files for the CMSIS sources
 186 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 187 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 188                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 189
 190 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 191                    $(STDPERIPH_DIR)/inc \
 192                    $(CMSIS_DIR)/CM3/CoreSupport \
 193                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 194
 195 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 196
 197 ifeq ($(TARGET),$(filter $(TARGET), $(VCP_VALID_TARGETS)))
 198 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 199                    $(USBFS_DIR)/inc \
 200                    $(ROOT)/src/main/vcp
 201
 202 VPATH := $(VPATH):$(USBFS_DIR)/src
 203
 204 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 205                    $(USBPERIPH_SRC)
 206
 207 endif
 208
 209 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 210
 211 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 212 TARGET_FLAGS = -D$(TARGET) -pedantic
 213 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 214
 215 endif
 216
 217 ifneq ($(FLASH_SIZE),)
 218 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 219 endif
 220
 221 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 222 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 223
 224 ifeq ($(TARGET),ALIENWIIF1)
 225 # ALIENWIIF1 is a VARIANT of NAZE
 226 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 227 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 228 endif
 229
 230 ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
 231 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
 232 TARGET_DIR = $(ROOT)/src/main/target/CC3D
 233 endif
 234
 235 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 236 OPBL=yes
 237 endif
 238
 239 ifeq ($(OPBL),yes)
 240 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 241 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 242 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 243 .DEFAULT_GOAL := binary
 244 else
 245 $(error OPBL specified with a unsupported target)
 246 endif
 247 endif
 248
 249 ifeq ($(TARGET),AFROMINI)
 250 # AFROMINI is a VARIANT of NAZE being recognized as rev4, but needs to use rev5 config
 251 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DAFROMINI
 252 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 253 endif
 254
 255 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 256                     $(TARGET_DIR)
 257
 258 VPATH           := $(VPATH):$(TARGET_DIR)
 259
 260 COMMON_SRC = build_config.c \
 261                    debug.c \
 262                    version.c \
 263                    $(TARGET_SRC) \
 264                    config/config.c \
 265                    config/runtime_config.c \
 266                    common/maths.c \
 267                    common/printf.c \
 268                    common/typeconversion.c \
 269                    common/encoding.c \
 270                    common/filter.c \
 271                    scheduler.c \
 272                    main.c \
 273                    mw.c \
 274                    flight/altitudehold.c \
 275                    flight/failsafe.c \
 276                    flight/pid.c \
 277                    flight/imu.c \
 278                    flight/mixer.c \
 279                    flight/lowpass.c \
 280                    drivers/bus_i2c_soft.c \
 281                    drivers/serial.c \
 282                    drivers/sound_beeper.c \
 283                    drivers/system.c \
 284                    drivers/gyro_sync.c \
 285                    io/beeper.c \
 286                    io/rc_controls.c \
 287                    io/rc_curves.c \
 288                    io/serial.c \
 289                    io/serial_1wire.c \
 290                    io/serial_cli.c \
 291                    io/serial_msp.c \
 292                    io/statusindicator.c \
 293                    rx/rx.c \
 294                    rx/pwm.c \
 295                    rx/msp.c \
 296                    rx/sbus.c \
 297                    rx/sumd.c \
 298                    rx/sumh.c \
 299                    rx/spektrum.c \
 300                    rx/xbus.c \
 301                    sensors/acceleration.c \
 302                    sensors/battery.c \
 303                    sensors/boardalignment.c \
 304                    sensors/compass.c \
 305                    sensors/gyro.c \
 306                    sensors/initialisation.c \
 307                    $(CMSIS_SRC) \
 308                    $(DEVICE_STDPERIPH_SRC)
 309
 310 HIGHEND_SRC = \
 311                    flight/gtune.c \
 312                    flight/navigation.c \
 313                    flight/gps_conversion.c \
 314                    common/colorconversion.c \
 315                    io/gps.c \
 316                    io/ledstrip.c \
 317                    io/display.c \
 318                    telemetry/telemetry.c \
 319                    telemetry/frsky.c \
 320                    telemetry/hott.c \
 321                    telemetry/msp.c \
 322                    telemetry/smartport.c \
 323                    sensors/sonar.c \
 324                    sensors/barometer.c \
 325                    blackbox/blackbox.c \
 326                    blackbox/blackbox_io.c
 327
 328 VCP_SRC = \
 329                    vcp/hw_config.c \
 330                    vcp/stm32_it.c \
 331                    vcp/usb_desc.c \
 332                    vcp/usb_endp.c \
 333                    vcp/usb_istr.c \
 334                    vcp/usb_prop.c \
 335                    vcp/usb_pwr.c \
 336                    drivers/serial_usb_vcp.c
 337
 338 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 339                    drivers/accgyro_adxl345.c \
 340                    drivers/accgyro_bma280.c \
 341                    drivers/accgyro_l3g4200d.c \
 342                    drivers/accgyro_mma845x.c \
 343                    drivers/accgyro_mpu.c \
 344                    drivers/accgyro_mpu3050.c \
 345                    drivers/accgyro_mpu6050.c \
 346                    drivers/accgyro_mpu6500.c \
 347                    drivers/accgyro_spi_mpu6500.c \
 348                    drivers/adc.c \
 349                    drivers/adc_stm32f10x.c \
 350                    drivers/barometer_bmp085.c \
 351                    drivers/barometer_bmp280.c \
 352                    drivers/barometer_ms5611.c \
 353                    drivers/barometer_bmp280.c \
 354                    drivers/bus_spi.c \
 355                    drivers/bus_i2c_stm32f10x.c \
 356                    drivers/compass_hmc5883l.c \
 357                    drivers/display_ug2864hsweg01.h \
 358                    drivers/flash_m25p16.c \
 359                    drivers/gpio_stm32f10x.c \
 360                    drivers/inverter.c \
 361                    drivers/light_led_stm32f10x.c \
 362                    drivers/light_ws2811strip.c \
 363                    drivers/light_ws2811strip_stm32f10x.c \
 364                    drivers/sonar_hcsr04.c \
 365                    drivers/pwm_mapping.c \
 366                    drivers/pwm_output.c \
 367                    drivers/pwm_rx.c \
 368                    drivers/serial_softserial.c \
 369                    drivers/serial_uart.c \
 370                    drivers/serial_uart_stm32f10x.c \
 371                    drivers/sound_beeper_stm32f10x.c \
 372                    drivers/system_stm32f10x.c \
 373                    drivers/timer.c \
 374                    drivers/timer_stm32f10x.c \
 375                    io/flashfs.c \
 376                    hardware_revision.c \
 377                    $(HIGHEND_SRC) \
 378                    $(COMMON_SRC)
 379
 380 ALIENWIIF1_SRC = $(NAZE_SRC)
 381
 382 AFROMINI_SRC = $(NAZE_SRC)
 383
 384 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 385                    drivers/accgyro_adxl345.c \
 386                    drivers/accgyro_bma280.c \
 387                    drivers/accgyro_l3g4200d.c \
 388                    drivers/accgyro_mma845x.c \
 389                    drivers/accgyro_mpu.c \
 390                    drivers/accgyro_mpu3050.c \
 391                    drivers/accgyro_mpu6050.c \
 392                    drivers/accgyro_spi_mpu6000.c \
 393                    drivers/accgyro_spi_mpu6500.c \
 394                    drivers/adc.c \
 395                    drivers/adc_stm32f10x.c \
 396                    drivers/barometer_bmp085.c \
 397                    drivers/barometer_bmp280.c \
 398                    drivers/barometer_ms5611.c \
 399                    drivers/bus_i2c_stm32f10x.c \
 400                    drivers/bus_spi.c \
 401                    drivers/compass_ak8975.c \
 402                    drivers/compass_hmc5883l.c \
 403                    drivers/display_ug2864hsweg01.c \
 404                    drivers/flash_m25p16.c \
 405                    drivers/gpio_stm32f10x.c \
 406                    drivers/inverter.c \
 407                    drivers/light_led_stm32f10x.c \
 408                    drivers/light_ws2811strip.c \
 409                    drivers/light_ws2811strip_stm32f10x.c \
 410                    drivers/pwm_mapping.c \
 411                    drivers/pwm_output.c \
 412                    drivers/pwm_rx.c \
 413                    drivers/serial_softserial.c \
 414                    drivers/serial_uart.c \
 415                    drivers/serial_uart_stm32f10x.c \
 416                    drivers/sonar_hcsr04.c \
 417                    drivers/sound_beeper_stm32f10x.c \
 418                    drivers/system_stm32f10x.c \
 419                    drivers/timer.c \
 420                    drivers/timer_stm32f10x.c \
 421                    io/flashfs.c \
 422                    $(HIGHEND_SRC) \
 423                    $(COMMON_SRC)
 424
 425 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 426
 427 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 428                    drivers/accgyro_mpu.c \
 429                    drivers/accgyro_mpu6050.c \
 430                    drivers/adc.c \
 431                    drivers/adc_stm32f10x.c \
 432                    drivers/barometer_bmp085.c \
 433                    drivers/barometer_bmp280.c \
 434                    drivers/bus_i2c_stm32f10x.c \
 435                    drivers/bus_spi.c \
 436                    drivers/compass_hmc5883l.c \
 437                    drivers/gpio_stm32f10x.c \
 438                    drivers/light_led_stm32f10x.c \
 439                    drivers/light_ws2811strip.c \
 440                    drivers/light_ws2811strip_stm32f10x.c \
 441                    drivers/pwm_mapping.c \
 442                    drivers/pwm_output.c \
 443                    drivers/pwm_rx.c \
 444                    drivers/serial_softserial.c \
 445                    drivers/serial_uart.c \
 446                    drivers/serial_uart_stm32f10x.c \
 447                    drivers/sonar_hcsr04.c \
 448                    drivers/sound_beeper_stm32f10x.c \
 449                    drivers/system_stm32f10x.c \
 450                    drivers/timer.c \
 451                    drivers/timer_stm32f10x.c \
 452                    $(HIGHEND_SRC) \
 453                    $(COMMON_SRC)
 454
 455 CJMCU_SRC = \
 456                    startup_stm32f10x_md_gcc.S \
 457                    drivers/adc.c \
 458                    drivers/adc_stm32f10x.c \
 459                    drivers/accgyro_mpu.c \
 460                    drivers/accgyro_mpu6050.c \
 461                    drivers/bus_i2c_stm32f10x.c \
 462                    drivers/compass_hmc5883l.c \
 463                    drivers/gpio_stm32f10x.c \
 464                    drivers/light_led_stm32f10x.c \
 465                    drivers/pwm_mapping.c \
 466                    drivers/pwm_output.c \
 467                    drivers/pwm_rx.c \
 468                    drivers/serial_uart.c \
 469                    drivers/serial_uart_stm32f10x.c \
 470                    drivers/sound_beeper_stm32f10x.c \
 471                    drivers/system_stm32f10x.c \
 472                    drivers/timer.c \
 473                    drivers/timer_stm32f10x.c \
 474                    hardware_revision.c \
 475                    flight/gtune.c \
 476                    blackbox/blackbox.c \
 477                    blackbox/blackbox_io.c \
 478                    $(COMMON_SRC)
 479
 480 CC3D_SRC = \
 481                    startup_stm32f10x_md_gcc.S \
 482                    drivers/accgyro_mpu.c \
 483                    drivers/accgyro_spi_mpu6000.c \
 484                    drivers/adc.c \
 485                    drivers/adc_stm32f10x.c \
 486                    drivers/barometer_bmp085.c \
 487                    drivers/barometer_bmp280.c \
 488                    drivers/barometer_ms5611.c \
 489                    drivers/bus_spi.c \
 490                    drivers/bus_i2c_stm32f10x.c \
 491                    drivers/compass_hmc5883l.c \
 492                    drivers/display_ug2864hsweg01.c \
 493                    drivers/flash_m25p16.c \
 494                    drivers/gpio_stm32f10x.c \
 495                    drivers/inverter.c \
 496                    drivers/light_led_stm32f10x.c \
 497                    drivers/light_ws2811strip.c \
 498                    drivers/light_ws2811strip_stm32f10x.c \
 499                    drivers/pwm_mapping.c \
 500                    drivers/pwm_output.c \
 501                    drivers/pwm_rx.c \
 502                    drivers/serial_softserial.c \
 503                    drivers/serial_uart.c \
 504                    drivers/serial_uart_stm32f10x.c \
 505                    drivers/sonar_hcsr04.c \
 506                    drivers/sound_beeper_stm32f10x.c \
 507                    drivers/system_stm32f10x.c \
 508                    drivers/timer.c \
 509                    drivers/timer_stm32f10x.c \
 510                    io/flashfs.c \
 511                    $(HIGHEND_SRC) \
 512                    $(COMMON_SRC) \
 513                    $(VCP_SRC)
 514
 515 STM32F30x_COMMON_SRC = \
 516                    startup_stm32f30x_md_gcc.S \
 517                    drivers/adc.c \
 518                    drivers/adc_stm32f30x.c \
 519                    drivers/bus_i2c_stm32f30x.c \
 520                    drivers/bus_spi.c \
 521                    drivers/gpio_stm32f30x.c \
 522                    drivers/light_led_stm32f30x.c \
 523                    drivers/light_ws2811strip.c \
 524                    drivers/light_ws2811strip_stm32f30x.c \
 525                    drivers/pwm_mapping.c \
 526                    drivers/pwm_output.c \
 527                    drivers/pwm_rx.c \
 528                    drivers/serial_uart.c \
 529                    drivers/serial_uart_stm32f30x.c \
 530                    drivers/sound_beeper_stm32f30x.c \
 531                    drivers/system_stm32f30x.c \
 532                    drivers/timer.c \
 533                    drivers/timer_stm32f30x.c
 534
 535 NAZE32PRO_SRC = \
 536                    $(STM32F30x_COMMON_SRC) \
 537                    $(HIGHEND_SRC) \
 538                    $(COMMON_SRC) \
 539                    $(VCP_SRC)
 540
 541 STM32F3DISCOVERY_COMMON_SRC = \
 542                    $(STM32F30x_COMMON_SRC) \
 543                    drivers/accgyro_l3gd20.c \
 544                    drivers/accgyro_l3gd20.c \
 545                    drivers/accgyro_lsm303dlhc.c \
 546                    drivers/compass_hmc5883l.c \
 547                    $(VCP_SRC)
 548
 549 STM32F3DISCOVERY_SRC = \
 550                    $(STM32F3DISCOVERY_COMMON_SRC) \
 551                    drivers/accgyro_adxl345.c \
 552                    drivers/accgyro_bma280.c \
 553                    drivers/accgyro_mma845x.c \
 554                    drivers/accgyro_mpu.c \
 555                    drivers/accgyro_mpu3050.c \
 556                    drivers/accgyro_mpu6050.c \
 557                    drivers/accgyro_l3g4200d.c \
 558                    drivers/barometer_ms5611.c \
 559                    drivers/barometer_bmp280.c \
 560                    drivers/compass_ak8975.c \
 561                    $(HIGHEND_SRC) \
 562                    $(COMMON_SRC)
 563
 564 CHEBUZZF3_SRC = \
 565                    $(STM32F3DISCOVERY_SRC) \
 566                    $(HIGHEND_SRC) \
 567                    $(COMMON_SRC)
 568
 569 COLIBRI_RACE_SRC = \
 570                    $(STM32F30x_COMMON_SRC) \
 571                    io/i2c_bst.c \
 572                    drivers/bus_bst_stm32f30x.c \
 573                    drivers/display_ug2864hsweg01.c \
 574                    drivers/accgyro_mpu.c \
 575                    drivers/accgyro_mpu6500.c \
 576                    drivers/accgyro_spi_mpu6500.c \
 577                    drivers/accgyro_mpu6500.c \
 578                    drivers/barometer_ms5611.c \
 579                    drivers/compass_ak8975.c \
 580                    drivers/compass_hmc5883l.c \
 581                    drivers/serial_usb_vcp.c \
 582                    $(HIGHEND_SRC) \
 583                    $(COMMON_SRC) \
 584                    $(VCP_SRC)
 585
 586 SPARKY_SRC = \
 587                    $(STM32F30x_COMMON_SRC) \
 588                    drivers/display_ug2864hsweg01.c \
 589                    drivers/accgyro_mpu.c \
 590                    drivers/accgyro_mpu6050.c \
 591                    drivers/barometer_ms5611.c \
 592                    drivers/barometer_bmp280.c \
 593                    drivers/compass_ak8975.c \
 594                    drivers/serial_usb_vcp.c \
 595                    $(HIGHEND_SRC) \
 596                    $(COMMON_SRC) \
 597                    $(VCP_SRC)
 598
 599 ALIENWIIF3_SRC = \
 600                    $(SPARKY_SRC)
 601
 602 RMDO_SRC = \
 603                    $(STM32F30x_COMMON_SRC) \
 604                    drivers/accgyro_mpu.c \
 605                    drivers/accgyro_mpu6050.c \
 606                    drivers/barometer_bmp280.c \
 607                    drivers/display_ug2864hsweg01.h \
 608                    drivers/flash_m25p16.c \
 609                    drivers/serial_softserial.c \
 610                    drivers/sonar_hcsr04.c \
 611                    io/flashfs.c \
 612                    $(HIGHEND_SRC) \
 613                    $(COMMON_SRC)
 614
 615 SPRACINGF3_SRC = \
 616                    $(STM32F30x_COMMON_SRC) \
 617                    drivers/accgyro_mpu.c \
 618                    drivers/accgyro_mpu6050.c \
 619                    drivers/barometer_ms5611.c \
 620                    drivers/compass_ak8975.c \
 621                    drivers/barometer_bmp280.c \
 622                    drivers/compass_hmc5883l.c \
 623                    drivers/display_ug2864hsweg01.h \
 624                    drivers/flash_m25p16.c \
 625                    drivers/serial_softserial.c \
 626                    drivers/sonar_hcsr04.c \
 627                    io/flashfs.c \
 628                    $(HIGHEND_SRC) \
 629                    $(COMMON_SRC)
 630
 631 IRCFUSIONF3_SRC = \
 632                    $(STM32F30x_COMMON_SRC) \
 633                    drivers/accgyro_mpu.c \
 634                    drivers/accgyro_mpu6050.c \
 635                    drivers/barometer_ms5611.c \
 636                    drivers/compass_ak8975.c \
 637                    drivers/barometer_bmp085.c \
 638                    drivers/compass_hmc5883l.c \
 639                    drivers/display_ug2864hsweg01.h \
 640                    drivers/flash_m25p16.c \
 641                    drivers/serial_softserial.c \
 642                    drivers/sonar_hcsr04.c \
 643                    io/flashfs.c \
 644                    $(HIGHEND_SRC) \
 645                    $(COMMON_SRC)
 646
 647 MOTOLAB_SRC = \
 648                    $(STM32F30x_COMMON_SRC) \
 649                    drivers/accgyro_mpu.c \
 650                    drivers/display_ug2864hsweg01.c \
 651                    drivers/accgyro_mpu6050.c \
 652                    drivers/accgyro_spi_mpu6000.c \
 653                    drivers/barometer_ms5611.c \
 654                    drivers/compass_hmc5883l.c \
 655                    drivers/serial_usb_vcp.c \
 656                    drivers/flash_m25p16.c \
 657                    io/flashfs.c \
 658                    $(HIGHEND_SRC) \
 659                    $(COMMON_SRC) \
 660                    $(VCP_SRC)
 661
 662 # Search path and source files for the ST stdperiph library
 663 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 664
 665 ###############################################################################
 666 # Things that might need changing to use different tools
 667 #
 668
 669 # Tool names
 670 CC               = arm-none-eabi-gcc
 671 OBJCOPY          = arm-none-eabi-objcopy
 672 SIZE             = arm-none-eabi-size
 673
 674 #
 675 # Tool options.
 676 #
 677
 678 ifeq ($(DEBUG),GDB)
 679 OPTIMIZE         = -O0
 680 LTO_FLAGS        = $(OPTIMIZE)
 681 else
 682 OPTIMIZE         = -Os
 683 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 684 endif
 685
 686 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 687
 688 CFLAGS           = $(ARCH_FLAGS) \
 689                    $(LTO_FLAGS) \
 690                    $(addprefix -D,$(OPTIONS)) \
 691                    $(addprefix -I,$(INCLUDE_DIRS)) \
 692                    $(DEBUG_FLAGS) \
 693                    -std=gnu99 \
 694                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 695                    -ffunction-sections \
 696                    -fdata-sections \
 697                    $(DEVICE_FLAGS) \
 698                    -DUSE_STDPERIPH_DRIVER \
 699                    $(TARGET_FLAGS) \
 700                    -D'__FORKNAME__="$(FORKNAME)"' \
 701                    -D'__TARGET__="$(TARGET)"' \
 702                    -D'__REVISION__="$(REVISION)"' \
 703                    -save-temps=obj \
 704                    -MMD -MP
 705
 706 ASFLAGS          = $(ARCH_FLAGS) \
 707                    -x assembler-with-cpp \
 708                    $(addprefix -I,$(INCLUDE_DIRS)) \
 709                   -MMD -MP
 710
 711 LDFLAGS          = -lm \
 712                    -nostartfiles \
 713                    --specs=nano.specs \
 714                    -lc \
 715                    -lnosys \
 716                    $(ARCH_FLAGS) \
 717                    $(LTO_FLAGS) \
 718                    $(DEBUG_FLAGS) \
 719                    -static \
 720                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 721                    -Wl,-L$(LINKER_DIR) \
 722            -Wl,--cref \
 723                    -T$(LD_SCRIPT)
 724
 725 ###############################################################################
 726 # No user-serviceable parts below
 727 ###############################################################################
 728
 729 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 730                    --std=c99 --inline-suppr --quiet --force \
 731                    $(addprefix -I,$(INCLUDE_DIRS)) \
 732                    -I/usr/include -I/usr/include/linux
 733
 734 #
 735 # Things we will build
 736 #
 737 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 738 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 739 endif
 740
 741 CC3D_OPBL_SRC     = $(CC3D_SRC)
 742
 743 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 744 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 745 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 746 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 747 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 748 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 749
 750
 751 ifeq ($(OPBL),yes)
 752 CLEAN_ARTIFACTS := $(TARGET_BIN)
 753 else
 754 CLEAN_ARTIFACTS := $(TARGET_HEX)
 755 endif
 756 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 757
 758 # List of buildable ELF files and their object dependencies.
 759 # It would be nice to compute these lists, but that seems to be just beyond make.
 760
 761 $(TARGET_HEX): $(TARGET_ELF)
 762         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 763
 764 $(TARGET_BIN): $(TARGET_ELF)
 765         $(OBJCOPY) -O binary $< $@
 766
 767 $(TARGET_ELF):  $(TARGET_OBJS)
 768         $(CC) -o $@ $^ $(LDFLAGS)
 769         $(SIZE) $(TARGET_ELF)
 770
 771 # Compile
 772 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 773         @mkdir -p $(dir $@)
 774         @echo %% $(notdir $<)
 775         @$(CC) -c -o $@ $(CFLAGS) $<
 776
 777 # Assemble
 778 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 779         @mkdir -p $(dir $@)
 780         @echo %% $(notdir $<)
 781         @$(CC) -c -o $@ $(ASFLAGS) $<
 782
 783 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 784         @mkdir -p $(dir $@)
 785         @echo %% $(notdir $<)
 786         @$(CC) -c -o $@ $(ASFLAGS) $<
 787
 788
 789 ## all         : default task; compile C code, build firmware
 790 all: binary
 791
 792 ## clean       : clean up all temporary / machine-generated files
 793 clean:
 794         rm -f $(CLEAN_ARTIFACTS)
 795         rm -rf $(OBJECT_DIR)/$(TARGET)
 796         cd src/test && $(MAKE) clean || true
 797
 798 flash_$(TARGET): $(TARGET_HEX)
 799         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 800         echo -n 'R' >$(SERIAL_DEVICE)
 801         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 802
 803 ## flash       : flash firmware (.hex) onto flight controller
 804 flash: flash_$(TARGET)
 805
 806 st-flash_$(TARGET): $(TARGET_BIN)
 807         st-flash --reset write $< 0x08000000
 808
 809 ## st-flash    : flash firmware (.bin) onto flight controller
 810 st-flash: st-flash_$(TARGET)
 811
 812 binary: $(TARGET_BIN)
 813 hex:    $(TARGET_HEX)
 814
 815 unbrick_$(TARGET): $(TARGET_HEX)
 816         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 817         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 818
 819 ## unbrick     : unbrick flight controller
 820 unbrick: unbrick_$(TARGET)
 821
 822 ## cppcheck    : run static analysis on C source code
 823 cppcheck: $(CSOURCES)
 824         $(CPPCHECK)
 825
 826 cppcheck-result.xml: $(CSOURCES)
 827         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 828
 829 ## help        : print this help message and exit
 830 help: Makefile
 831         @echo ""
 832         @echo "Makefile for the $(FORKNAME) firmware"
 833         @echo ""
 834         @echo "Usage:"
 835         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 836         @echo ""
 837         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 838         @echo ""
 839         @sed -n 's/^## //p' $<
 840
 841 ## test        : run the cleanflight test suite
 842 test:
 843         cd src/test && $(MAKE) test || true
 844
 845 # rebuild everything when makefile changes
 846 $(TARGET_OBJS) : Makefile
 847
 848 # include auto-generated dependencies
 849 -include $(TARGET_DEPS)