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 iNav firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12 ###############################################################################
  13
  14
  15 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= NAZE
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40 ###############################################################################
  41 # Things that need to be maintained as the source changes
  42 #
  43
  44 FORKNAME      = inav
  45
  46 # Working directories
  47 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  48 SRC_DIR         = $(ROOT)/src/main
  49 OBJECT_DIR      = $(ROOT)/obj/main
  50 BIN_DIR         = $(ROOT)/obj
  51 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  52 INCLUDE_DIRS    = $(SRC_DIR) \
  53                   $(ROOT)/src/main/target
  54 LINKER_DIR      = $(ROOT)/src/main/target
  55
  56 # default xtal value for F4 targets
  57 HSE_VALUE       = 8000000
  58
  59 # used for turning on features like VCP and SDCARD
  60 FEATURES        =
  61
  62 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  63 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
  64
  65 #VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
  66 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  67 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  68 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  69 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  70
  71 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
  72 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
  73 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
  74 else
  75 BASE_TARGET    := $(TARGET)
  76 endif
  77
  78 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
  79 OPBL            = yes
  80 endif
  81
  82 # silently ignore if the file is not present. Allows for target specific.
  83 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
  84
  85 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
  86
  87 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
  88 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
  89 endif
  90
  91 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)),)
  92 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, or F411. Have you prepared a valid target.mk?)
  93 endif
  94
  95 128K_TARGETS  = $(F1_TARGETS)
  96 256K_TARGETS  = $(F3_TARGETS)
  97 512K_TARGETS  = $(F411_TARGETS)
  98 1024K_TARGETS = $(F405_TARGETS)
  99
 100 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 101 ifeq ($(FLASH_SIZE),)
 102 ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 103 FLASH_SIZE = 1024
 104 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 105 FLASH_SIZE = 512
 106 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 107 FLASH_SIZE = 256
 108 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 109 FLASH_SIZE = 128
 110 else
 111 $(error FLASH_SIZE not configured for target $(TARGET))
 112 endif
 113 endif
 114
 115 # note that there is no hardfault debugging startup file assembly handler for other platforms
 116 ifeq ($(DEBUG_HARDFAULTS),F3)
 117 CFLAGS               += -DDEBUG_HARDFAULTS
 118 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 119 else
 120 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 121 endif
 122
 123 REVISION = $(shell git log -1 --format="%h")
 124
 125 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 126 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 127 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 128
 129 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 130
 131 # Search path for sources
 132 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 133 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 134 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 135 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 136 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 137
 138 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 139
 140 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 141 # F3 TARGETS
 142
 143 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 144 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 145 EXCLUDES        = stm32f30x_crc.c \
 146                   stm32f30x_can.c
 147
 148 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 149 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 150
 151 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 152 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 153                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 154
 155 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 156                    $(STDPERIPH_DIR)/inc \
 157                    $(CMSIS_DIR)/CM1/CoreSupport \
 158                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 159
 160 ifneq ($(filter VCP, $(FEATURES)),)
 161 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 162                    $(USBFS_DIR)/inc \
 163                    $(ROOT)/src/main/vcp
 164
 165 VPATH           := $(VPATH):$(USBFS_DIR)/src
 166
 167 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 168                         $(USBPERIPH_SRC)
 169 endif
 170
 171 ifneq ($(filter SDCARD, $(FEATURES)),)
 172 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 173                    $(FATFS_DIR) \
 174
 175 VPATH           := $(VPATH):$(FATFS_DIR)
 176 endif
 177
 178 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 179
 180 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 181 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 182 TARGET_FLAGS    = -D$(TARGET)
 183 # End F3 targets
 184 #
 185 # Start F4 targets
 186 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 187
 188 #STDPERIPH
 189 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 190 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 191 EXCLUDES        = stm32f4xx_crc.c \
 192                   stm32f4xx_can.c \
 193                   stm32f4xx_fmc.c \
 194                   stm32f4xx_sai.c \
 195                   stm32f4xx_cec.c \
 196                   stm32f4xx_dsi.c \
 197                   stm32f4xx_flash_ramfunc.c \
 198                   stm32f4xx_fmpi2c.c \
 199                   stm32f4xx_lptim.c \
 200                   stm32f4xx_qspi.c \
 201                   stm32f4xx_spdifrx.c \
 202                   stm32f4xx_cryp.c \
 203                   stm32f4xx_cryp_aes.c \
 204                   stm32f4xx_hash_md5.c \
 205                   stm32f4xx_cryp_des.c \
 206                   stm32f4xx_rtc.c \
 207                   stm32f4xx_hash.c \
 208                   stm32f4xx_dbgmcu.c \
 209                   stm32f4xx_cryp_tdes.c \
 210                   stm32f4xx_hash_sha1.c
 211
 212
 213 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 214 EXCLUDES += stm32f4xx_fsmc.c
 215 endif
 216
 217 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 218
 219 #USB
 220 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 221 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 222 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 223 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 224 EXCLUDES    = usb_bsp_template.c \
 225               usb_conf_template.c \
 226               usb_hcd_int.c \
 227               usb_hcd.c \
 228               usb_otg.c
 229
 230 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 231 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 232 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 233 EXCLUDES    = usbd_cdc_if_template.c
 234 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 235 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 236
 237 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 238                         $(USBOTG_SRC) \
 239                         $(USBCORE_SRC) \
 240                         $(USBCDC_SRC)
 241
 242 #CMSIS
 243 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 244 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 245                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 246 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 247                    $(STDPERIPH_DIR)/inc \
 248                    $(USBOTG_DIR)/inc \
 249                    $(USBCORE_DIR)/inc \
 250                    $(USBCDC_DIR)/inc \
 251                    $(USBFS_DIR)/inc \
 252                    $(CMSIS_DIR)/CM4/CoreSupport \
 253                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 254                    $(ROOT)/src/main/vcpf4
 255
 256 ifneq ($(filter SDCARD,$(FEATURES)),)
 257 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 258                    $(FATFS_DIR)
 259 VPATH           := $(VPATH):$(FATFS_DIR)
 260 endif
 261
 262 #Flags
 263 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 264
 265 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 266 DEVICE_FLAGS    = -DSTM32F411xE
 267 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 268 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 269 DEVICE_FLAGS    = -DSTM32F40_41xxx
 270 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 271 else
 272 $(error Unknown MCU for F4 target)
 273 endif
 274 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 275
 276 TARGET_FLAGS = -D$(TARGET)
 277 # End F4 targets
 278 #
 279 # Start F1 targets
 280 else
 281
 282 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 283 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 284 EXCLUDES        = stm32f10x_crc.c \
 285                   stm32f10x_cec.c \
 286                   stm32f10x_can.c
 287
 288 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 289
 290 # Search path and source files for the CMSIS sources
 291 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 292 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 293                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 294
 295 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 296                    $(STDPERIPH_DIR)/inc \
 297                    $(CMSIS_DIR)/CM3/CoreSupport \
 298                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 299
 300 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 301
 302 ifneq ($(filter VCP, $(FEATURES)),)
 303 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 304                    $(USBFS_DIR)/inc \
 305                    $(ROOT)/src/main/vcp
 306
 307 VPATH           := $(VPATH):$(USBFS_DIR)/src
 308
 309 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 310                         $(USBPERIPH_SRC)
 311
 312 endif
 313
 314 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 315 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 316 TARGET_FLAGS   := -D$(TARGET) -pedantic $(TARGET_FLAGS)
 317
 318 ifeq ($(DEVICE_FLAGS),)
 319 DEVICE_FLAGS    = -DSTM32F10X_MD
 320 endif
 321 DEVICE_FLAGS   += -DSTM32F10X
 322
 323 endif
 324 #
 325 # End F1 targets
 326 #
 327 ifneq ($(BASE_TARGET), $(TARGET))
 328 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 329 endif
 330
 331 ifneq ($(FLASH_SIZE),)
 332 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 333 endif
 334
 335 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 336 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 337
 338 ifeq ($(OPBL),yes)
 339 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 340 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 341 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 342 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 343 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 344 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 345 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 346 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 347 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 348 endif
 349 .DEFAULT_GOAL := binary
 350 else
 351 .DEFAULT_GOAL := hex
 352 endif
 353
 354 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 355                    $(TARGET_DIR)
 356
 357 VPATH           := $(VPATH):$(TARGET_DIR)
 358
 359 COMMON_SRC = \
 360             build/build_config.c \
 361             build/debug.c \
 362             build/version.c \
 363             build/assert.c \
 364             $(TARGET_DIR_SRC) \
 365             main.c \
 366             fc/mw.c \
 367             common/encoding.c \
 368             common/filter.c \
 369             common/maths.c \
 370             common/printf.c \
 371             common/typeconversion.c \
 372             common/streambuf.c \
 373             config/config.c \
 374             fc/runtime_config.c \
 375             drivers/logging.c \
 376             drivers/adc.c \
 377             drivers/buf_writer.c \
 378             drivers/bus_i2c_soft.c \
 379             drivers/bus_spi.c \
 380             drivers/bus_spi_soft.c \
 381             drivers/exti.c \
 382             drivers/gps_i2cnav.c \
 383             drivers/gyro_sync.c \
 384             drivers/io.c \
 385             drivers/light_led.c \
 386             drivers/rx_nrf24l01.c \
 387             drivers/rx_xn297.c \
 388             drivers/pwm_mapping.c \
 389             drivers/pwm_output.c \
 390             drivers/pwm_rx.c \
 391             drivers/rcc.c \
 392             drivers/serial.c \
 393             drivers/serial_uart.c \
 394             drivers/sound_beeper.c \
 395             drivers/system.c \
 396             drivers/timer.c \
 397             flight/failsafe.c \
 398             flight/imu.c \
 399             flight/hil.c \
 400             flight/mixer.c \
 401             flight/pid.c \
 402             io/beeper.c \
 403             fc/rc_controls.c \
 404             fc/rc_curves.c \
 405             io/serial.c \
 406             io/serial_4way.c \
 407             io/serial_4way_avrootloader.c \
 408             io/serial_4way_stk500v2.c \
 409             io/serial_cli.c \
 410             io/serial_msp.c \
 411             io/statusindicator.c \
 412             rx/ibus.c \
 413             rx/jetiexbus.c \
 414             rx/msp.c \
 415             rx/nrf24.c \
 416             rx/nrf24_cx10.c \
 417             rx/nrf24_inav.c \
 418             rx/nrf24_h8_3d.c \
 419             rx/nrf24_syma.c \
 420             rx/nrf24_v202.c \
 421             rx/pwm.c \
 422             rx/rx.c \
 423             rx/sbus.c \
 424             rx/spektrum.c \
 425             rx/sumd.c \
 426             rx/sumh.c \
 427             rx/xbus.c \
 428             scheduler/scheduler.c \
 429             scheduler/scheduler_tasks.c \
 430             sensors/acceleration.c \
 431             sensors/battery.c \
 432             sensors/boardalignment.c \
 433             sensors/compass.c \
 434             sensors/gyro.c \
 435             sensors/initialisation.c \
 436             $(CMSIS_SRC) \
 437             $(DEVICE_STDPERIPH_SRC)
 438
 439 HIGHEND_SRC = \
 440             blackbox/blackbox.c \
 441             blackbox/blackbox_io.c \
 442             common/colorconversion.c \
 443             drivers/display_ug2864hsweg01.c \
 444             drivers/sonar_hcsr04.c \
 445             drivers/sonar_srf10.c \
 446             flight/navigation_rewrite.c \
 447             flight/navigation_rewrite_multicopter.c \
 448             flight/navigation_rewrite_fixedwing.c \
 449             flight/navigation_rewrite_pos_estimator.c \
 450             flight/navigation_rewrite_geo.c \
 451             flight/gps_conversion.c \
 452             io/gps.c \
 453             io/gps_ublox.c \
 454             io/gps_nmea.c \
 455             io/gps_naza.c \
 456             io/gps_i2cnav.c \
 457             io/ledstrip.c \
 458             io/display.c \
 459             sensors/rangefinder.c \
 460             sensors/barometer.c \
 461             telemetry/telemetry.c \
 462             telemetry/frsky.c \
 463             telemetry/hott.c \
 464             telemetry/smartport.c \
 465             telemetry/mavlink.c \
 466             telemetry/ltm.c
 467
 468 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 469 VCP_SRC = \
 470             vcpf4/stm32f4xx_it.c \
 471             vcpf4/usb_bsp.c \
 472             vcpf4/usbd_desc.c \
 473             vcpf4/usbd_usr.c \
 474             vcpf4/usbd_cdc_vcp.c \
 475             drivers/serial_usb_vcp.c
 476 else
 477 VCP_SRC = \
 478             vcp/hw_config.c \
 479             vcp/stm32_it.c \
 480             vcp/usb_desc.c \
 481             vcp/usb_endp.c \
 482             vcp/usb_istr.c \
 483             vcp/usb_prop.c \
 484             vcp/usb_pwr.c \
 485             drivers/serial_usb_vcp.c \
 486             drivers/usb_io.c
 487 endif
 488
 489 STM32F10x_COMMON_SRC = \
 490             startup_stm32f10x_md_gcc.S \
 491             drivers/adc_stm32f10x.c \
 492             drivers/bus_i2c_stm32f10x.c \
 493             drivers/dma.c \
 494             drivers/gpio_stm32f10x.c \
 495             drivers/inverter.c \
 496             drivers/serial_softserial.c \
 497             drivers/serial_uart_stm32f10x.c \
 498             drivers/system_stm32f10x.c \
 499             drivers/timer_stm32f10x.c
 500
 501 STM32F30x_COMMON_SRC = \
 502             startup_stm32f30x_md_gcc.S \
 503             target/system_stm32f30x.c \
 504             drivers/adc_stm32f30x.c \
 505             drivers/bus_i2c_stm32f30x.c \
 506             drivers/dma.c \
 507             drivers/gpio_stm32f30x.c \
 508             drivers/light_ws2811strip_stm32f30x.c \
 509             drivers/serial_uart_stm32f30x.c \
 510             drivers/system_stm32f30x.c \
 511             drivers/timer_stm32f30x.c
 512
 513 STM32F4xx_COMMON_SRC = \
 514             startup_stm32f40xx.s \
 515             target/system_stm32f4xx.c \
 516             drivers/accgyro_mpu.c \
 517             drivers/adc_stm32f4xx.c \
 518             drivers/adc_stm32f4xx.c \
 519             drivers/bus_i2c_stm32f10x.c \
 520             drivers/gpio_stm32f4xx.c \
 521             drivers/inverter.c \
 522             drivers/serial_softserial.c \
 523             drivers/serial_uart_stm32f4xx.c \
 524             drivers/system_stm32f4xx.c \
 525             drivers/timer_stm32f4xx.c \
 526             drivers/dma_stm32f4xx.c
 527
 528 # check if target.mk supplied
 529 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 530 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 531 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 532 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 533 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 534 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 535 endif
 536
 537 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 538 TARGET_SRC += \
 539             drivers/flash_m25p16.c \
 540             io/flashfs.c
 541 endif
 542
 543 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS) $(F3_TARGETS)))
 544 TARGET_SRC += $(HIGHEND_SRC)
 545 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 546 TARGET_SRC += $(HIGHEND_SRC)
 547 endif
 548
 549 TARGET_SRC += $(COMMON_SRC)
 550
 551 ifneq ($(filter SDCARD,$(FEATURES)),)
 552 TARGET_SRC += \
 553             drivers/sdcard.c \
 554             drivers/sdcard_standard.c \
 555             io/asyncfatfs/asyncfatfs.c \
 556             io/asyncfatfs/fat_standard.c
 557 endif
 558
 559 ifneq ($(filter VCP,$(FEATURES)),)
 560 TARGET_SRC += $(VCP_SRC)
 561 endif
 562 # end target specific make file checks
 563
 564
 565 # Search path and source files for the ST stdperiph library
 566 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 567
 568 ###############################################################################
 569 # Things that might need changing to use different tools
 570 #
 571
 572 # Tool names
 573 CC          = arm-none-eabi-gcc
 574 OBJCOPY     = arm-none-eabi-objcopy
 575 SIZE        = arm-none-eabi-size
 576
 577 #
 578 # Tool options.
 579 #
 580
 581 ifeq ($(DEBUG),GDB)
 582 OPTIMIZE    = -O0
 583 LTO_FLAGS   = $(OPTIMIZE)
 584 else
 585 OPTIMIZE    = -Os
 586 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 587 endif
 588
 589 DEBUG_FLAGS = -ggdb3 -DDEBUG
 590
 591 CFLAGS      += $(ARCH_FLAGS) \
 592               $(LTO_FLAGS) \
 593               $(addprefix -D,$(OPTIONS)) \
 594               $(addprefix -I,$(INCLUDE_DIRS)) \
 595               $(DEBUG_FLAGS) \
 596               -std=gnu99 \
 597               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 598               -ffunction-sections \
 599               -fdata-sections \
 600               $(DEVICE_FLAGS) \
 601               -DUSE_STDPERIPH_DRIVER \
 602               $(TARGET_FLAGS) \
 603               -D'__FORKNAME__="$(FORKNAME)"' \
 604               -D'__TARGET__="$(TARGET)"' \
 605               -D'__REVISION__="$(REVISION)"' \
 606               -save-temps=obj \
 607               -MMD -MP
 608
 609 ASFLAGS     = $(ARCH_FLAGS) \
 610               -x assembler-with-cpp \
 611               $(addprefix -I,$(INCLUDE_DIRS)) \
 612               -MMD -MP
 613
 614 LDFLAGS     = -lm \
 615               -nostartfiles \
 616               --specs=nano.specs \
 617               -lc \
 618               -lnosys \
 619               $(ARCH_FLAGS) \
 620               $(LTO_FLAGS) \
 621               $(DEBUG_FLAGS) \
 622               -static \
 623               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 624               -Wl,-L$(LINKER_DIR) \
 625               -Wl,--cref \
 626               -Wl,--no-wchar-size-warning \
 627               -T$(LD_SCRIPT)
 628
 629 ###############################################################################
 630 # No user-serviceable parts below
 631 ###############################################################################
 632
 633 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 634                   --std=c99 --inline-suppr --quiet --force \
 635                   $(addprefix -I,$(INCLUDE_DIRS)) \
 636                   -I/usr/include -I/usr/include/linux
 637
 638 #
 639 # Things we will build
 640 #
 641 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 642 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 643 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 644 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 645 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 646 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 647
 648
 649 CLEAN_ARTIFACTS := $(TARGET_BIN)
 650 CLEAN_ARTIFACTS += $(TARGET_HEX)
 651 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 652
 653 # List of buildable ELF files and their object dependencies.
 654 # It would be nice to compute these lists, but that seems to be just beyond make.
 655
 656 $(TARGET_HEX): $(TARGET_ELF)
 657         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 658
 659 $(TARGET_BIN): $(TARGET_ELF)
 660         $(OBJCOPY) -O binary $< $@
 661
 662 $(TARGET_ELF):  $(TARGET_OBJS)
 663         @echo LD $(notdir $@)
 664         @$(CC) -o $@ $^ $(LDFLAGS)
 665         $(SIZE) $(TARGET_ELF)
 666
 667 # Compile
 668 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 669         @mkdir -p $(dir $@)
 670         @echo %% $(notdir $<)
 671         @$(CC) -c -o $@ $(CFLAGS) $<
 672
 673 # Assemble
 674 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 675         @mkdir -p $(dir $@)
 676         @echo %% $(notdir $<)
 677         @$(CC) -c -o $@ $(ASFLAGS) $<
 678
 679 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 680         @mkdir -p $(dir $@)
 681         @echo %% $(notdir $<)
 682         @$(CC) -c -o $@ $(ASFLAGS) $<
 683
 684
 685 ## all               : Build all valid targets
 686 all: $(VALID_TARGETS)
 687
 688 $(VALID_TARGETS):
 689                 echo "" && \
 690                 echo "Building $@" && \
 691                 $(MAKE) -j binary hex TARGET=$@ && \
 692                 echo "Building $@ succeeded."
 693
 694 ## clean             : clean up all temporary / machine-generated files
 695 clean:
 696         rm -f $(CLEAN_ARTIFACTS)
 697         rm -rf $(OBJECT_DIR)/$(TARGET)
 698
 699 ## clean_test        : clean up all temporary / machine-generated files (tests)
 700 clean_test:
 701         cd src/test && $(MAKE) clean || true
 702
 703 ## clean_all_targets : clean all valid target platforms
 704 clean_all:
 705         for clean_target in $(VALID_TARGETS); do \
 706                 echo "" && \
 707                 echo "Cleaning $$clean_target" && \
 708                 $(MAKE) -j TARGET=$$clean_target clean || \
 709                 break; \
 710                 echo "Cleaning $$clean_target succeeded."; \
 711         done
 712
 713 flash_$(TARGET): $(TARGET_HEX)
 714         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 715         echo -n 'R' >$(SERIAL_DEVICE)
 716         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 717
 718 ## flash             : flash firmware (.hex) onto flight controller
 719 flash: flash_$(TARGET)
 720
 721 st-flash_$(TARGET): $(TARGET_BIN)
 722         st-flash --reset write $< 0x08000000
 723
 724 ## st-flash          : flash firmware (.bin) onto flight controller
 725 st-flash: st-flash_$(TARGET)
 726
 727 binary: $(TARGET_BIN)
 728 hex:    $(TARGET_HEX)
 729
 730 unbrick_$(TARGET): $(TARGET_HEX)
 731         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 732         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 733
 734 ## unbrick           : unbrick flight controller
 735 unbrick: unbrick_$(TARGET)
 736
 737 ## cppcheck          : run static analysis on C source code
 738 cppcheck: $(CSOURCES)
 739         $(CPPCHECK)
 740
 741 cppcheck-result.xml: $(CSOURCES)
 742         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 743
 744 ## help              : print this help message and exit
 745 help: Makefile
 746         @echo ""
 747         @echo "Makefile for the $(FORKNAME) firmware"
 748         @echo ""
 749         @echo "Usage:"
 750         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 751         @echo "Or:"
 752         @echo "        make <target> [OPTIONS=\"<options>\"]"
 753         @echo ""
 754         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 755         @echo ""
 756         @sed -n 's/^## //p' $<
 757
 758 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 759 targets:
 760         @echo "Valid targets: $(VALID_TARGETS)"
 761         @echo "Target:        $(TARGET)"
 762         @echo "Base target:   $(BASE_TARGET)"
 763
 764 ## test              : run the cleanflight test suite
 765 test:
 766         cd src/test && $(MAKE) test || true
 767
 768 # rebuild everything when makefile changes
 769 $(TARGET_OBJS) : Makefile
 770
 771 # include auto-generated dependencies
 772 -include $(TARGET_DEPS)