Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the cleanflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12
  13 ###############################################################################
  14 # Things that the user might override on the commandline
  15 #
  16
  17 # The target to build, see VALID_TARGETS below
  18 TARGET          ?= NAZE
  19
  20 # Compile-time options
  21 OPTIONS         ?=
  22 export OPTIONS
  23
  24 # Debugger optons, must be empty or GDB
  25 DEBUG ?=
  26
  27 # Serial port/Device for flashing
  28 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  29
  30 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  31 FLASH_SIZE ?=
  32
  33 ###############################################################################
  34 # Things that need to be maintained as the source changes
  35 #
  36
  37 FORKNAME                         = cleanflight
  38
  39 64K_TARGETS  = CJMCU
  40 128K_TARGETS = ALIENFLIGHTF1 CC3D NAZE OLIMEXINO RMDO SPRACINGF1OSD
  41 256K_TARGETS = ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE EUSTM32F103RC IRCFUSIONF3 LUX_RACE MOTOLAB PORT103R RCEXPLORERF3 SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF3OSD
  42
  43 F3_TARGETS = ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE IRCFUSIONF3 LUX_RACE MOTOLAB RCEXPLORERF3 RMDO SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF3OSD
  44
  45 VALID_TARGETS = $(64K_TARGETS) $(128K_TARGETS) $(256K_TARGETS)
  46
  47 VCP_TARGETS = CC3D ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB RCEXPLORERF3 SPARKY SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF1OSD SPRACINGF3OSD
  48 OSD_TARGETS = SPRACINGF1OSD SPRACINGF3OSD
  49
  50 # Configure default flash sizes for the targets
  51 ifeq ($(FLASH_SIZE),)
  52 ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
  53 FLASH_SIZE = 64
  54 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
  55 FLASH_SIZE = 128
  56 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
  57 FLASH_SIZE = 256
  58 else
  59 $(error FLASH_SIZE not configured for target $(TARGET))
  60 endif
  61 endif
  62
  63 REVISION := $(shell git log -1 --format="%h")
  64
  65 # Working directories
  66 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  67 SRC_DIR          = $(ROOT)/src/main
  68 OBJECT_DIR       = $(ROOT)/obj/main
  69 BIN_DIR          = $(ROOT)/obj
  70 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  71 INCLUDE_DIRS     = $(SRC_DIR) \
  72                                 $(ROOT)/src/main/target
  73 LINKER_DIR       = $(ROOT)/src/main/target
  74
  75 # Search path for sources
  76 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  77 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  78 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  79
  80 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
  81
  82 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
  83 # F3 TARGETS
  84
  85 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  86
  87 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  88
  89 EXCLUDES        = stm32f30x_crc.c \
  90                 stm32f30x_can.c
  91
  92 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  93
  94 DEVICE_STDPERIPH_SRC = \
  95                 $(STDPERIPH_SRC)
  96
  97
  98 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  99 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 100                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 101
 102 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 103                    $(STDPERIPH_DIR)/inc \
 104                    $(CMSIS_DIR)/CM1/CoreSupport \
 105                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 106
 107 ifeq ($(TARGET),$(filter $(TARGET),$(VCP_TARGETS)))
 108 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 109                    $(USBFS_DIR)/inc \
 110                    $(ROOT)/src/main/vcp
 111
 112 VPATH := $(VPATH):$(USBFS_DIR)/src
 113
 114 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 115                    $(USBPERIPH_SRC)
 116
 117 endif
 118
 119 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 120
 121 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 122 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 123 TARGET_FLAGS = -D$(TARGET)
 124
 125 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 126 # TARGETS: EUSTM32F103RC PORT103R
 127
 128
 129 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 130
 131 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 132
 133 EXCLUDES        = stm32f10x_crc.c \
 134                 stm32f10x_cec.c \
 135                 stm32f10x_can.c
 136
 137 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 138
 139 # Search path and source files for the CMSIS sources
 140 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 141 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 142                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 143
 144 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 145                    $(STDPERIPH_DIR)/inc \
 146                    $(CMSIS_DIR)/CM3/CoreSupport \
 147                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 148
 149 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 150
 151 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 152 TARGET_FLAGS = -D$(TARGET)
 153 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 154
 155 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 156
 157 else
 158 # F1 TARGETS
 159
 160 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 161
 162 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 163
 164 EXCLUDES        = stm32f10x_crc.c \
 165                 stm32f10x_cec.c \
 166                 stm32f10x_can.c
 167
 168 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 169
 170 # Search path and source files for the CMSIS sources
 171 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 172 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 173                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 174
 175 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 176                    $(STDPERIPH_DIR)/inc \
 177                    $(CMSIS_DIR)/CM3/CoreSupport \
 178                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 179
 180 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 181
 182 ifeq ($(TARGET),$(filter $(TARGET),$(VCP_TARGETS)))
 183 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 184                    $(USBFS_DIR)/inc \
 185                    $(ROOT)/src/main/vcp
 186
 187 VPATH := $(VPATH):$(USBFS_DIR)/src
 188
 189 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 190                    $(USBPERIPH_SRC)
 191
 192 endif
 193
 194 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 195
 196 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 197 TARGET_FLAGS = -D$(TARGET)
 198 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 199
 200 endif #TARGETS
 201
 202 ifneq ($(FLASH_SIZE),)
 203 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 204 endif
 205
 206 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 207 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 208
 209 # VARIANTS
 210 ifeq ($(TARGET),ALIENFLIGHTF1)
 211 # ALIENFLIGHTF1 is a VARIANT of NAZE
 212 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENFLIGHT
 213 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 214 endif
 215 ifeq ($(TARGET),CHEBUZZF3)
 216 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 217 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 218 endif
 219 ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 220 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
 221 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 222 endif
 223
 224 # OSDs
 225 ifeq ($(TARGET),$(filter $(TARGET),$(OSD_TARGETS)))
 226 TARGET_FLAGS := $(TARGET_FLAGS) -DOSD
 227 endif
 228
 229
 230
 231 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 232                     $(TARGET_DIR)
 233
 234 VPATH           := $(VPATH):$(TARGET_DIR)
 235
 236 SYSTEM_SRC = \
 237                    build/build_config.c \
 238                    build/debug.c \
 239                    build/version.c \
 240                    config/config_streamer.c \
 241                    config/parameter_group.c \
 242                    config/config_eeprom.c \
 243                    common/encoding.c \
 244                    common/filter.c \
 245                    common/maths.c \
 246                    common/printf.c \
 247                    common/streambuf.c \
 248                    common/typeconversion.c \
 249                    common/crc.c \
 250                    common/pilot.c \
 251                    drivers/buf_writer.c \
 252                    drivers/dma.c \
 253                    drivers/serial.c \
 254                    drivers/system.c \
 255                    scheduler/scheduler.c \
 256                    io/serial.c \
 257                    io/statusindicator.c \
 258                    msp/msp.c \
 259                    msp/msp_serial.c \
 260                    msp/msp_server.c \
 261                    $(TARGET_SRC) \
 262                    $(CMSIS_SRC) \
 263                    $(DEVICE_STDPERIPH_SRC)
 264
 265 FC_COMMON_SRC = \
 266                    config/feature.c \
 267                    config/profile.c \
 268                    fc/boot.c \
 269                    fc/fc_debug.c \
 270                    fc/cleanflight_fc.c \
 271                    fc/fc_tasks.c \
 272                    fc/rate_profile.c \
 273                    fc/rc_adjustments.c \
 274                    fc/rc_controls.c \
 275                    fc/rc_curves.c \
 276                    fc/fc_serial.c \
 277                    fc/config.c \
 278                    fc/runtime_config.c \
 279                    fc/msp_server_fc.c \
 280                    flight/altitudehold.c \
 281                    flight/failsafe.c \
 282                    flight/pid.c \
 283                    flight/pid_luxfloat.c \
 284                    flight/pid_mwrewrite.c \
 285                    flight/pid_mw23.c \
 286                    flight/imu.c \
 287                    flight/mixer.c \
 288                    flight/servos.c \
 289                    drivers/bus_i2c_soft.c \
 290                    drivers/exti.c \
 291                    drivers/io.c \
 292                    drivers/rcc.c \
 293                    drivers/sound_beeper.c \
 294                    drivers/gyro_sync.c \
 295                    io/beeper.c \
 296                    io/gimbal.c \
 297                    io/motor_and_servo.c \
 298                    io/serial_4way.c \
 299                    io/serial_4way_avrootloader.c \
 300                    io/serial_4way_stk500v2.c \
 301                    io/serial_cli.c \
 302                    io/statusindicator.c \
 303                    rx/rx.c \
 304                    rx/pwm.c \
 305                    rx/msp.c \
 306                    rx/sbus.c \
 307                    rx/sumd.c \
 308                    rx/sumh.c \
 309                    rx/spektrum.c \
 310                    rx/xbus.c \
 311                    rx/ibus.c \
 312                    rx/srxl.c \
 313                    sensors/sensors.c \
 314                    sensors/acceleration.c \
 315                    sensors/battery.c \
 316                    sensors/voltage.c \
 317                    sensors/amperage.c \
 318                    sensors/boardalignment.c \
 319                    sensors/compass.c \
 320                    sensors/gyro.c \
 321                    sensors/initialisation.c
 322
 323 OSD_COMMON_SRC = \
 324                    config/feature.c \
 325                    osd/boot.c \
 326                    osd/cleanflight_osd.c \
 327                    osd/fc_state.c \
 328                    osd/config.c \
 329                    osd/osd.c \
 330                    osd/osd_screen.c \
 331                    osd/osd_element.c \
 332                    osd/osd_element_render.c \
 333                    osd/osd_serial.c \
 334                    osd/msp_server_osd.c \
 335                    osd/msp_client_osd.c \
 336                    osd/osd_tasks.c \
 337                    sensors/battery.c \
 338                    sensors/voltage.c \
 339                    sensors/amperage.c \
 340                    io/beeper.c
 341
 342 HIGHEND_SRC = \
 343                    flight/gtune.c \
 344                    flight/navigation.c \
 345                    flight/gps_conversion.c \
 346                    common/colorconversion.c \
 347                    io/gps.c \
 348                    io/ledstrip.c \
 349                    io/display.c \
 350                    telemetry/telemetry.c \
 351                    telemetry/frsky.c \
 352                    telemetry/hott.c \
 353                    telemetry/smartport.c \
 354                    telemetry/ltm.c \
 355                    telemetry/mavlink.c \
 356                    sensors/sonar.c \
 357                    sensors/barometer.c \
 358                    blackbox/blackbox.c \
 359                    blackbox/blackbox_io.c
 360
 361 VCP_SRC = \
 362                    vcp/hw_config.c \
 363                    vcp/stm32_it.c \
 364                    vcp/usb_desc.c \
 365                    vcp/usb_endp.c \
 366                    vcp/usb_istr.c \
 367                    vcp/usb_prop.c \
 368                    vcp/usb_pwr.c \
 369                    drivers/serial_usb_vcp.c \
 370                    drivers/usb_io.c
 371
 372 STM32F10x_COMMON_SRC = \
 373                    drivers/adc.c \
 374                    drivers/adc_stm32f10x.c \
 375                    drivers/bus_i2c_stm32f10x.c \
 376                    drivers/gpio_stm32f10x.c \
 377                    drivers/light_led_stm32f10x.c \
 378                    drivers/serial_uart.c \
 379                    drivers/serial_uart_stm32f10x.c \
 380                    drivers/system_stm32f10x.c
 381
 382 NAZE_SRC = \
 383                    startup_stm32f10x_md_gcc.S \
 384                    $(STM32F10x_COMMON_SRC) \
 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_mpu6500.c \
 393                    drivers/accgyro_spi_mpu6500.c \
 394                    drivers/barometer_bmp085.c \
 395                    drivers/barometer_ms5611.c \
 396                    drivers/barometer_bmp280.c \
 397                    drivers/bus_spi.c \
 398                    drivers/compass_hmc5883l.c \
 399                    drivers/display_ug2864hsweg01.h \
 400                    drivers/flash_m25p16.c \
 401                    drivers/inverter.c \
 402                    drivers/light_ws2811strip.c \
 403                    drivers/light_ws2811strip_stm32f10x.c \
 404                    drivers/sonar_hcsr04.c \
 405                    drivers/pwm_mapping.c \
 406                    drivers/pwm_output.c \
 407                    drivers/pwm_rx.c \
 408                    drivers/serial_softserial.c \
 409                    drivers/sound_beeper_stm32f10x.c \
 410                    drivers/timer.c \
 411                    drivers/timer_stm32f10x.c \
 412                    io/flashfs.c \
 413                    hardware_revision.c \
 414                    $(HIGHEND_SRC) \
 415                    $(FC_COMMON_SRC) \
 416                    $(SYSTEM_SRC)
 417
 418 ALIENFLIGHTF1_SRC = $(NAZE_SRC)
 419
 420 EUSTM32F103RC_SRC = \
 421                    startup_stm32f10x_hd_gcc.S \
 422                    $(STM32F10x_COMMON_SRC) \
 423                    drivers/accgyro_adxl345.c \
 424                    drivers/accgyro_bma280.c \
 425                    drivers/accgyro_l3g4200d.c \
 426                    drivers/accgyro_mma845x.c \
 427                    drivers/accgyro_mpu.c \
 428                    drivers/accgyro_mpu3050.c \
 429                    drivers/accgyro_mpu6050.c \
 430                    drivers/accgyro_mpu6500.c \
 431                    drivers/accgyro_spi_mpu6000.c \
 432                    drivers/accgyro_spi_mpu6500.c \
 433                    drivers/barometer_bmp085.c \
 434                    drivers/barometer_ms5611.c \
 435                    drivers/bus_spi.c \
 436                    drivers/compass_ak8975.c \
 437                    drivers/compass_hmc5883l.c \
 438                    drivers/display_ug2864hsweg01.c \
 439                    drivers/flash_m25p16.c \
 440                    drivers/inverter.c \
 441                    drivers/light_ws2811strip.c \
 442                    drivers/light_ws2811strip_stm32f10x.c \
 443                    drivers/pwm_mapping.c \
 444                    drivers/pwm_output.c \
 445                    drivers/pwm_rx.c \
 446                    drivers/serial_softserial.c \
 447                    drivers/sonar_hcsr04.c \
 448                    drivers/sound_beeper_stm32f10x.c \
 449                    drivers/timer.c \
 450                    drivers/timer_stm32f10x.c \
 451                    io/flashfs.c \
 452                    $(HIGHEND_SRC) \
 453                    $(FC_COMMON_SRC) \
 454                    $(SYSTEM_SRC)
 455
 456 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 457
 458 OLIMEXINO_SRC = \
 459                    startup_stm32f10x_md_gcc.S \
 460                    $(STM32F10x_COMMON_SRC) \
 461                    drivers/accgyro_mpu.c \
 462                    drivers/accgyro_mpu6050.c \
 463                    drivers/barometer_bmp085.c \
 464                    drivers/bus_spi.c \
 465                    drivers/compass_hmc5883l.c \
 466                    drivers/light_ws2811strip.c \
 467                    drivers/light_ws2811strip_stm32f10x.c \
 468                    drivers/pwm_mapping.c \
 469                    drivers/pwm_output.c \
 470                    drivers/pwm_rx.c \
 471                    drivers/serial_softserial.c \
 472                    drivers/sonar_hcsr04.c \
 473                    drivers/sound_beeper_stm32f10x.c \
 474                    drivers/timer.c \
 475                    drivers/timer_stm32f10x.c \
 476                    $(HIGHEND_SRC) \
 477                    $(FC_COMMON_SRC) \
 478                    $(SYSTEM_SRC)
 479
 480 CJMCU_SRC = \
 481                    startup_stm32f10x_md_gcc.S \
 482                    $(STM32F10x_COMMON_SRC) \
 483                    drivers/accgyro_mpu.c \
 484                    drivers/accgyro_mpu6050.c \
 485                    drivers/compass_hmc5883l.c \
 486                    drivers/pwm_mapping.c \
 487                    drivers/pwm_output.c \
 488                    drivers/pwm_rx.c \
 489                    drivers/sound_beeper_stm32f10x.c \
 490                    drivers/timer.c \
 491                    drivers/timer_stm32f10x.c \
 492                    hardware_revision.c \
 493                    flight/gtune.c \
 494                    blackbox/blackbox.c \
 495                    blackbox/blackbox_io.c \
 496                    $(FC_COMMON_SRC) \
 497                    $(SYSTEM_SRC)
 498
 499 CC3D_SRC = \
 500                    startup_stm32f10x_md_gcc.S \
 501                    $(STM32F10x_COMMON_SRC) \
 502                    drivers/accgyro_mpu.c \
 503                    drivers/accgyro_spi_mpu6000.c \
 504                    drivers/barometer_bmp085.c \
 505                    drivers/barometer_ms5611.c \
 506                    drivers/bus_spi.c \
 507                    drivers/compass_hmc5883l.c \
 508                    drivers/display_ug2864hsweg01.c \
 509                    drivers/flash_m25p16.c \
 510                    drivers/inverter.c \
 511                    drivers/light_ws2811strip.c \
 512                    drivers/light_ws2811strip_stm32f10x.c \
 513                    drivers/pwm_mapping.c \
 514                    drivers/pwm_output.c \
 515                    drivers/pwm_rx.c \
 516                    drivers/serial_softserial.c \
 517                    drivers/sonar_hcsr04.c \
 518                    drivers/sound_beeper_stm32f10x.c \
 519                    drivers/timer.c \
 520                    drivers/timer_stm32f10x.c \
 521                    io/flashfs.c \
 522                    $(HIGHEND_SRC) \
 523                    $(FC_COMMON_SRC) \
 524                    $(SYSTEM_SRC) \
 525                    $(VCP_SRC)
 526
 527 STM32F30x_COMMON_SRC = \
 528                    startup_stm32f30x_md_gcc.S \
 529                    target/system_stm32f30x.c \
 530                    drivers/adc.c \
 531                    drivers/adc_stm32f30x.c \
 532                    drivers/bus_i2c_stm32f30x.c \
 533                    drivers/bus_spi.c \
 534                    drivers/gpio_stm32f30x.c \
 535                    drivers/light_led_stm32f30x.c \
 536                    drivers/serial_uart.c \
 537                    drivers/serial_uart_stm32f30x.c \
 538                    drivers/sound_beeper_stm32f30x.c \
 539                    drivers/system_stm32f30x.c
 540
 541 STM32F30x_FC_COMMON_SRC = \
 542                    drivers/display_ug2864hsweg01.h \
 543                    drivers/timer.c \
 544                    drivers/timer_stm32f30x.c \
 545                    drivers/pwm_mapping.c \
 546                    drivers/pwm_output.c \
 547                    drivers/pwm_rx.c
 548
 549 STM32F3DISCOVERY_COMMON_SRC = \
 550                    $(STM32F30x_COMMON_SRC) \
 551                    drivers/accgyro_l3gd20.c \
 552                    drivers/accgyro_l3gd20.c \
 553                    drivers/accgyro_lsm303dlhc.c \
 554                    drivers/compass_hmc5883l.c \
 555                    $(VCP_SRC)
 556
 557 STM32F3DISCOVERY_SRC = \
 558                    $(STM32F3DISCOVERY_COMMON_SRC) \
 559                    $(STM32F30x_FC_COMMON_SRC) \
 560                    drivers/accgyro_adxl345.c \
 561                    drivers/accgyro_bma280.c \
 562                    drivers/accgyro_mma845x.c \
 563                    drivers/accgyro_mpu.c \
 564                    drivers/accgyro_mpu3050.c \
 565                    drivers/accgyro_mpu6050.c \
 566                    drivers/accgyro_l3g4200d.c \
 567                    drivers/barometer_ms5611.c \
 568                    drivers/compass_ak8975.c \
 569                    drivers/light_ws2811strip.c \
 570                    drivers/light_ws2811strip_stm32f30x.c \
 571                    drivers/sdcard.c \
 572                    drivers/sdcard_standard.c \
 573                    io/asyncfatfs/asyncfatfs.c \
 574                    io/asyncfatfs/fat_standard.c \
 575                    $(HIGHEND_SRC) \
 576                    $(FC_COMMON_SRC) \
 577                    $(SYSTEM_SRC)
 578
 579 CHEBUZZF3_SRC = \
 580                    $(STM32F3DISCOVERY_SRC) \
 581                    $(HIGHEND_SRC) \
 582                    $(FC_COMMON_SRC) \
 583                    $(SYSTEM_SRC)
 584
 585 COLIBRI_RACE_SRC = \
 586                    $(STM32F30x_COMMON_SRC) \
 587                    $(STM32F30x_FC_COMMON_SRC) \
 588                    drivers/accgyro_mpu.c \
 589                    drivers/accgyro_mpu6500.c \
 590                    drivers/accgyro_spi_mpu6500.c \
 591                    drivers/barometer_ms5611.c \
 592                    drivers/compass_ak8963.c \
 593                    drivers/compass_ak8975.c \
 594                    drivers/compass_hmc5883l.c \
 595                    drivers/display_ug2864hsweg01.c \
 596                    drivers/light_ws2811strip.c \
 597                    drivers/light_ws2811strip_stm32f30x.c \
 598                    drivers/serial_usb_vcp.c \
 599                    $(HIGHEND_SRC) \
 600                    $(FC_COMMON_SRC) \
 601                    $(SYSTEM_SRC) \
 602                    $(VCP_SRC)
 603
 604 LUX_RACE_SRC = \
 605                    $(STM32F30x_COMMON_SRC) \
 606                    $(STM32F30x_FC_COMMON_SRC) \
 607                    drivers/accgyro_mpu.c \
 608                    drivers/accgyro_mpu6500.c \
 609                    drivers/accgyro_spi_mpu6500.c \
 610                    drivers/light_ws2811strip.c \
 611                    drivers/light_ws2811strip_stm32f30x.c \
 612                    drivers/serial_usb_vcp.c \
 613                    $(HIGHEND_SRC) \
 614                    $(FC_COMMON_SRC) \
 615                    $(SYSTEM_SRC) \
 616                    $(VCP_SRC)
 617
 618 SPARKY_SRC = \
 619                    $(STM32F30x_COMMON_SRC) \
 620                    $(STM32F30x_FC_COMMON_SRC) \
 621                    drivers/display_ug2864hsweg01.c \
 622                    drivers/accgyro_mpu.c \
 623                    drivers/accgyro_mpu6050.c \
 624                    drivers/barometer_ms5611.c \
 625                    drivers/compass_ak8975.c \
 626                    drivers/light_ws2811strip.c \
 627                    drivers/light_ws2811strip_stm32f30x.c \
 628                    drivers/serial_usb_vcp.c \
 629                    drivers/sonar_hcsr04.c \
 630                    $(HIGHEND_SRC) \
 631                    $(FC_COMMON_SRC) \
 632                    $(SYSTEM_SRC) \
 633                    $(VCP_SRC)
 634
 635 ALIENFLIGHTF3_SRC = \
 636                    $(STM32F30x_COMMON_SRC) \
 637                    $(STM32F30x_FC_COMMON_SRC) \
 638                    drivers/display_ug2864hsweg01.c \
 639                    drivers/accgyro_mpu.c \
 640                    drivers/accgyro_mpu6050.c \
 641                    drivers/accgyro_mpu6500.c \
 642                    drivers/accgyro_spi_mpu6500.c \
 643                    drivers/compass_ak8963.c \
 644                    drivers/serial_usb_vcp.c \
 645                    drivers/sonar_hcsr04.c \
 646                    $(HIGHEND_SRC) \
 647                    $(FC_COMMON_SRC) \
 648                    $(SYSTEM_SRC) \
 649                    $(VCP_SRC)
 650
 651 RCEXPLORERF3_SRC = \
 652                    $(STM32F30x_COMMON_SRC) \
 653                    $(STM32F30x_FC_COMMON_SRC) \
 654                    drivers/accgyro_mpu.c \
 655                    drivers/accgyro_spi_mpu6000.c \
 656                    drivers/barometer_ms5611.c \
 657                    drivers/compass_hmc5883l.c \
 658                    drivers/compass_ak8975.c \
 659                    drivers/display_ug2864hsweg01.c \
 660                    drivers/serial_usb_vcp.c \
 661                    drivers/flash_m25p16.c \
 662                    drivers/light_ws2811strip.c \
 663                    drivers/light_ws2811strip_stm32f30x.c \
 664                    drivers/sonar_hcsr04.c \
 665                    io/flashfs.c \
 666                    $(HIGHEND_SRC) \
 667                    $(FC_COMMON_SRC) \
 668                    $(SYSTEM_SRC) \
 669                    $(VCP_SRC)
 670
 671 RMDO_SRC = \
 672                    $(STM32F30x_COMMON_SRC) \
 673                    $(STM32F30x_FC_COMMON_SRC) \
 674                    drivers/accgyro_mpu.c \
 675                    drivers/accgyro_mpu6050.c \
 676                    drivers/barometer_bmp280.c \
 677                    drivers/display_ug2864hsweg01.h \
 678                    drivers/flash_m25p16.c \
 679                    drivers/light_ws2811strip.c \
 680                    drivers/light_ws2811strip_stm32f30x.c \
 681                    drivers/serial_softserial.c \
 682                    drivers/sonar_hcsr04.c \
 683                    io/flashfs.c \
 684                    $(HIGHEND_SRC) \
 685                    $(FC_COMMON_SRC) \
 686                    $(SYSTEM_SRC)
 687
 688 SPRACINGF3_SRC = \
 689                    $(STM32F30x_COMMON_SRC) \
 690                    $(STM32F30x_FC_COMMON_SRC) \
 691                    drivers/accgyro_mpu.c \
 692                    drivers/accgyro_mpu6050.c \
 693                    drivers/barometer_ms5611.c \
 694                    drivers/compass_ak8975.c \
 695                    drivers/compass_hmc5883l.c \
 696                    drivers/display_ug2864hsweg01.h \
 697                    drivers/flash_m25p16.c \
 698                    drivers/light_ws2811strip.c \
 699                    drivers/light_ws2811strip_stm32f30x.c \
 700                    drivers/serial_softserial.c \
 701                    drivers/sonar_hcsr04.c \
 702                    io/flashfs.c \
 703                    $(HIGHEND_SRC) \
 704                    $(FC_COMMON_SRC) \
 705                    $(SYSTEM_SRC)
 706
 707 SPRACINGF3EVO_SRC        = \
 708                    $(STM32F30x_COMMON_SRC) \
 709                    $(STM32F30x_FC_COMMON_SRC) \
 710                    drivers/accgyro_mpu.c \
 711                    drivers/accgyro_mpu6500.c \
 712                    drivers/accgyro_spi_mpu6500.c \
 713                    drivers/barometer_bmp280.c \
 714                    drivers/compass_ak8963.c \
 715                    drivers/display_ug2864hsweg01.h \
 716                    drivers/light_ws2811strip.c \
 717                    drivers/light_ws2811strip_stm32f30x.c \
 718                    drivers/serial_softserial.c \
 719                    drivers/serial_usb_vcp.c \
 720                    drivers/sdcard.c \
 721                    drivers/sdcard_standard.c \
 722                    drivers/transponder_ir.c \
 723                    drivers/transponder_ir_stm32f30x.c \
 724                    io/asyncfatfs/asyncfatfs.c \
 725                    io/asyncfatfs/fat_standard.c \
 726                    io/transponder_ir.c \
 727                    $(HIGHEND_SRC) \
 728                    $(FC_COMMON_SRC) \
 729                    $(SYSTEM_SRC) \
 730                    $(VCP_SRC)
 731
 732 MOTOLAB_SRC = \
 733                    $(STM32F30x_COMMON_SRC) \
 734                    $(STM32F30x_FC_COMMON_SRC) \
 735                    drivers/accgyro_mpu.c \
 736                    drivers/accgyro_spi_mpu6000.c \
 737                    drivers/accgyro_mpu6050.c \
 738                    drivers/barometer_ms5611.c \
 739                    drivers/compass_hmc5883l.c \
 740                    drivers/display_ug2864hsweg01.c \
 741                    drivers/light_ws2811strip.c \
 742                    drivers/light_ws2811strip_stm32f30x.c \
 743                    drivers/serial_usb_vcp.c \
 744                    drivers/flash_m25p16.c \
 745                    io/flashfs.c \
 746                    $(HIGHEND_SRC) \
 747                    $(FC_COMMON_SRC) \
 748                    $(SYSTEM_SRC) \
 749                    $(VCP_SRC)
 750
 751 SPRACINGF3MINI_SRC       = \
 752                    $(STM32F30x_COMMON_SRC) \
 753                    $(STM32F30x_FC_COMMON_SRC) \
 754                    drivers/accgyro_mpu.c \
 755                    drivers/accgyro_mpu6500.c \
 756                    drivers/barometer_bmp280.c \
 757                    drivers/compass_ak8963.c \
 758                    drivers/compass_hmc5883l.c \
 759                    drivers/display_ug2864hsweg01.h \
 760                    drivers/flash_m25p16.c \
 761                    drivers/light_ws2811strip.c \
 762                    drivers/light_ws2811strip_stm32f30x.c \
 763                    drivers/serial_softserial.c \
 764                    drivers/serial_usb_vcp.c \
 765                    drivers/sonar_hcsr04.c \
 766                    drivers/sdcard.c \
 767                    drivers/sdcard_standard.c \
 768                    drivers/transponder_ir.c \
 769                    drivers/transponder_ir_stm32f30x.c \
 770                    io/asyncfatfs/asyncfatfs.c \
 771                    io/asyncfatfs/fat_standard.c \
 772                    io/transponder_ir.c \
 773                    $(HIGHEND_SRC) \
 774                    $(FC_COMMON_SRC) \
 775                    $(SYSTEM_SRC) \
 776                    $(VCP_SRC)
 777
 778 IRCFUSIONF3_SRC = \
 779                    $(STM32F30x_COMMON_SRC) \
 780                    $(STM32F30x_FC_COMMON_SRC) \
 781                    drivers/accgyro_mpu.c \
 782                    drivers/accgyro_mpu6050.c \
 783                    drivers/barometer_bmp085.c \
 784                    drivers/flash_m25p16.c \
 785                    io/flashfs.c \
 786                    $(HIGHEND_SRC) \
 787                    $(FC_COMMON_SRC) \
 788                    $(SYSTEM_SRC)
 789
 790 SPRACINGF1OSD_SRC = \
 791                    startup_stm32f10x_md_gcc.S \
 792                    $(STM32F10x_COMMON_SRC) \
 793                    drivers/bus_spi.c \
 794                    drivers/video_max7456.c \
 795                    drivers/flash_m25p16.c \
 796                    drivers/io.c \
 797                    drivers/exti.c \
 798                    drivers/rcc.c \
 799                    io/flashfs.c \
 800                    osd/fonts/font_max7456_12x18.c \
 801                    osd/osd_max7456.c \
 802                    $(OSD_COMMON_SRC) \
 803                    $(SYSTEM_SRC) \
 804                    $(VCP_SRC)
 805
 806 SPRACINGF3OSD_SRC = \
 807                    $(STM32F30x_COMMON_SRC) \
 808                    drivers/video_max7456.c \
 809                    drivers/flash_m25p16.c \
 810                    drivers/io.c \
 811                    drivers/exti.c \
 812                    drivers/rcc.c \
 813                    drivers/transponder_ir.c \
 814                    drivers/transponder_ir_stm32f30x.c \
 815                    io/flashfs.c \
 816                    io/transponder_ir.c \
 817                    osd/fonts/font_max7456_12x18.c \
 818                    osd/osd_max7456.c \
 819                    $(OSD_COMMON_SRC) \
 820                    $(SYSTEM_SRC) \
 821                    $(VCP_SRC)
 822
 823 # Search path and source files for the ST stdperiph library
 824 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 825
 826 ###############################################################################
 827 # Things that might need changing to use different tools
 828 #
 829
 830 # Find out if ccache is installed on the system
 831 CCACHE := ccache
 832 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 833 ifneq ($(RESULT),0)
 834 CCACHE :=
 835 endif
 836
 837 # Tool names
 838 CC          := $(CCACHE) arm-none-eabi-gcc
 839 OBJCOPY     := arm-none-eabi-objcopy
 840 SIZE        := arm-none-eabi-size
 841
 842 #
 843 # Tool options.
 844 #
 845
 846 ifeq ($(DEBUG),GDB)
 847 OPTIMIZE         = -O0
 848 LTO_FLAGS        = $(OPTIMIZE)
 849 else
 850 OPTIMIZE         = -Os
 851 LTO_FLAGS        =  -flto -fuse-linker-plugin $(OPTIMIZE)
 852 endif
 853
 854 ifneq ($(filter $(OPTIONS),FAIL_ON_WARNINGS),)
 855 WARN_FLAGS      += -Werror
 856 endif
 857
 858 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 859
 860 CFLAGS           = $(ARCH_FLAGS) \
 861                    $(LTO_FLAGS) \
 862                    $(WARN_FLAGS) \
 863                    $(addprefix -D,$(OPTIONS)) \
 864                    $(addprefix -I,$(INCLUDE_DIRS)) \
 865                    $(DEBUG_FLAGS) \
 866                    -std=gnu99 \
 867                    -Wall -Wpedantic -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion -Wundef \
 868                    -ffunction-sections \
 869                    -fdata-sections \
 870                    $(DEVICE_FLAGS) \
 871                    -DUSE_STDPERIPH_DRIVER \
 872                    $(TARGET_FLAGS) \
 873                    -D'__FORKNAME__="$(FORKNAME)"' \
 874                    -D'__TARGET__="$(TARGET)"' \
 875                    -D'__REVISION__="$(REVISION)"' \
 876                    -fverbose-asm -ffat-lto-objects \
 877                    -save-temps=obj \
 878                    -MMD -MP
 879
 880 ASFLAGS          = $(ARCH_FLAGS) \
 881                    $(WARN_FLAGS) \
 882                    -x assembler-with-cpp \
 883                    $(addprefix -I,$(INCLUDE_DIRS)) \
 884                   -MMD -MP
 885
 886 LDFLAGS          = -lm \
 887                    -nostartfiles \
 888                    --specs=nano.specs \
 889                    -lc \
 890                    -lnosys \
 891                    $(ARCH_FLAGS) \
 892                    $(LTO_FLAGS) \
 893                    $(WARN_FLAGS) \
 894                    $(DEBUG_FLAGS) \
 895                    -static \
 896                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 897                    -Wl,-L$(LINKER_DIR) \
 898                    -Wl,--cref \
 899                    -T$(LD_SCRIPT)
 900
 901 ###############################################################################
 902 # No user-serviceable parts below
 903 ###############################################################################
 904
 905 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 906                    --std=c99 --inline-suppr --quiet --force \
 907                    $(addprefix -I,$(INCLUDE_DIRS)) \
 908                    -I/usr/include -I/usr/include/linux
 909
 910 #
 911 # Things we will build
 912 #
 913 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 914 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 915 endif
 916
 917 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 918 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 919 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 920 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 921 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 922 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 923
 924
 925 ## Default make goal:
 926 ## hex         : Make filetype hex only
 927 .DEFAULT_GOAL := hex
 928
 929 ## Optional make goals:
 930 ## all         : Make all filetypes, binary and hex
 931 all: hex bin
 932
 933 ## binary      : Make binary filetype
 934 ## bin         : Alias of 'binary'
 935 ## hex         : Make hex filetype
 936 bin:    $(TARGET_BIN)
 937 binary: $(TARGET_BIN)
 938 hex:    $(TARGET_HEX)
 939
 940 # rule to reinvoke make with TARGET= parameter
 941 # rules that should be handled in toplevel Makefile, not dependent on TARGET
 942 GLOBAL_GOALS    = all_targets cppcheck test
 943
 944 .PHONY: $(VALID_TARGETS)
 945 $(VALID_TARGETS):
 946         $(MAKE) TARGET=$@ $(filter-out $(VALID_TARGETS) $(GLOBAL_GOALS), $(MAKECMDGOALS))
 947
 948 ## all_targets : Make all TARGETs
 949 .PHONY: all_targets
 950 all_targets : $(VALID_TARGETS)
 951
 952 ## clean       : clean up all temporary / machine-generated files
 953 clean:
 954         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 955         rm -rf $(OBJECT_DIR)/$(TARGET)
 956         cd src/test && $(MAKE) clean || true
 957
 958 flash_$(TARGET): $(TARGET_HEX)
 959         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 960         echo -n 'R' >$(SERIAL_DEVICE)
 961         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 962
 963 ## flash       : flash firmware (.hex) onto flight controller
 964 flash: flash_$(TARGET)
 965
 966 st-flash_$(TARGET): $(TARGET_BIN)
 967         st-flash --reset write $< 0x08000000
 968
 969 ## st-flash    : flash firmware (.bin) onto flight controller
 970 st-flash: st-flash_$(TARGET)
 971
 972 unbrick_$(TARGET): $(TARGET_HEX)
 973         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 974         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 975
 976 ## unbrick     : unbrick flight controller
 977 unbrick: unbrick_$(TARGET)
 978
 979 ## cppcheck    : run static analysis on C source code
 980 cppcheck: $(CSOURCES)
 981         $(CPPCHECK)
 982
 983 cppcheck-result.xml: $(CSOURCES)
 984         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 985
 986 ## help        : print this help message and exit
 987 help: Makefile
 988         @echo ""
 989         @echo "Makefile for the $(FORKNAME) firmware"
 990         @echo ""
 991         @echo "Usage:"
 992         @echo "        make [goal] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 993         @echo ""
 994         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 995         @echo ""
 996         @sed -n 's/^## //p' $<
 997
 998 ## test        : run the cleanflight test suite
 999 ## junittest   : run the cleanflight test suite, producing Junit XML result files.
1000 test junittest:
1001         cd src/test && $(MAKE) $@
1002
1003 # rebuild everything when makefile changes
1004 $(TARGET_OBJS) : Makefile
1005
1006 # List of buildable ELF files and their object dependencies.
1007 # It would be nice to compute these lists, but that seems to be just beyond make.
1008
1009 $(TARGET_HEX): $(TARGET_ELF)
1010         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
1011
1012 $(TARGET_BIN): $(TARGET_ELF)
1013         $(OBJCOPY) -O binary $< $@
1014
1015 $(TARGET_ELF):  $(TARGET_OBJS)
1016         $(CC) -o $@ $^ $(LDFLAGS)
1017         $(SIZE) $(TARGET_ELF)
1018
1019 # Compile
1020 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1021         @mkdir -p $(dir $@)
1022         @echo %% $(notdir $<)
1023         @$(CC) -c -o $@ $(CFLAGS) $<
1024
1025 # Assemble
1026 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1027         @mkdir -p $(dir $@)
1028         @echo %% $(notdir $<)
1029         @$(CC) -c -o $@ $(ASFLAGS) $<
1030
1031 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1032         @mkdir -p $(dir $@)
1033         @echo %% $(notdir $<)
1034         @$(CC) -c -o $@ $(ASFLAGS) $<
1035
1036
1037
1038 # include auto-generated dependencies
1039 -include $(TARGET_DEPS)