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 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= SPRACINGF3NEO
  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 ## V                 : Set verbosity level based on the V= parameter
  41 ##                     V=0 Low
  42 ##                     V=1 High
  43 export AT := @
  44
  45 ifndef V
  46 export V0    :=
  47 export V1    := $(AT)
  48 export STDOUT   :=
  49 else ifeq ($(V), 0)
  50 export V0    := $(AT)
  51 export V1    := $(AT)
  52 export STDOUT:= "> /dev/null"
  53 export MAKE  := $(MAKE) --no-print-directory
  54 else ifeq ($(V), 1)
  55 export V0    :=
  56 export V1    :=
  57 export STDOUT   :=
  58 endif
  59
  60 ###############################################################################
  61 # Things that need to be maintained as the source changes
  62 #
  63
  64 FORKNAME      = cleanflight
  65
  66 # Working directories
  67 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  68 SRC_DIR         = $(ROOT)/src/main
  69 OBJECT_DIR      = $(ROOT)/obj/main
  70 BIN_DIR         = $(ROOT)/obj
  71 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  72 INCLUDE_DIRS    = $(SRC_DIR) \
  73                   $(ROOT)/src/main/target
  74 LINKER_DIR      = $(ROOT)/src/main/target/link
  75
  76 # Build tools, so we all share the same versions
  77 # import macros common to all supported build systems
  78 include $(ROOT)/make/system-id.mk
  79
  80 # developer preferences, edit these at will, they'll be gitignored
  81 -include $(ROOT)/make/local.mk
  82
  83 # configure some directories that are relative to wherever ROOT_DIR is located
  84 ifndef TOOLS_DIR
  85 TOOLS_DIR := $(ROOT)/tools
  86 endif
  87 BUILD_DIR := $(ROOT)/build
  88 DL_DIR    := $(ROOT)/downloads
  89
  90 export RM := rm
  91
  92 # import macros that are OS specific
  93 include $(ROOT)/make/$(OSFAMILY).mk
  94
  95 # include the tools makefile
  96 include $(ROOT)/make/tools.mk
  97
  98 # default xtal value for F4 targets
  99 HSE_VALUE       ?= 8000000
 100
 101 # used for turning on features like VCP and SDCARD
 102 FEATURES        =
 103
 104 OFFICIAL_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF3MINI STM32F3DISCOVERY
 105 ALT_TARGETS       = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
 106 OPBL_TARGETS      = $(filter %_OPBL, $(ALT_TARGETS))
 107
 108 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 109 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 110 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 111 VALID_TARGETS  := $(sort $(VALID_TARGETS))
 112
 113 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 114 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 115 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 116 else
 117 BASE_TARGET    := $(TARGET)
 118 endif
 119
 120 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 121 OPBL            = yes
 122 endif
 123
 124 # silently ignore if the file is not present. Allows for target specific.
 125 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 126
 127 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F446_TARGETS)
 128 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 129
 130 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 131 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 132 endif
 133
 134 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
 135 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411 or F7x5. Have you prepared a valid target.mk?)
 136 endif
 137
 138 128K_TARGETS  = $(F1_TARGETS)
 139 256K_TARGETS  = $(F3_TARGETS)
 140 512K_TARGETS  = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 141 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 142 2048K_TARGETS = $(F7X5XI_TARGETS)
 143
 144 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 145 ifeq ($(FLASH_SIZE),)
 146 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 147 FLASH_SIZE = 2048
 148 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 149 FLASH_SIZE = 1024
 150 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 151 FLASH_SIZE = 512
 152 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 153 FLASH_SIZE = 256
 154 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 155 FLASH_SIZE = 128
 156 else
 157 $(error FLASH_SIZE not configured for target $(TARGET))
 158 endif
 159 endif
 160
 161 # note that there is no hardfault debugging startup file assembly handler for other platforms
 162 ifeq ($(DEBUG_HARDFAULTS),F3)
 163 CFLAGS               += -DDEBUG_HARDFAULTS
 164 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 165 else
 166 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 167 endif
 168
 169 ifeq ($(DEBUG_HARDFAULTS),F7)
 170 CFLAGS               += -DDEBUG_HARDFAULTS
 171 endif
 172
 173 REVISION := $(shell git log -1 --format="%h")
 174
 175 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 176 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 177 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 178
 179 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 180
 181 # Search path for sources
 182 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 183 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 184 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 185 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 186 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 187
 188 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 189
 190 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 191 # F3 TARGETS
 192
 193 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 194 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 195 EXCLUDES        = stm32f30x_crc.c \
 196                   stm32f30x_can.c
 197 STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 198
 199 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 200 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 201
 202 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 203 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 204                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 205
 206 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 207                    $(STDPERIPH_DIR)/inc \
 208                    $(CMSIS_DIR)/CM1/CoreSupport \
 209                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 210
 211 ifneq ($(filter VCP, $(FEATURES)),)
 212 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 213                    $(USBFS_DIR)/inc \
 214                    $(ROOT)/src/main/vcp
 215
 216 VPATH           := $(VPATH):$(USBFS_DIR)/src
 217
 218 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 219                         $(USBPERIPH_SRC)
 220 endif
 221
 222 ifneq ($(filter SDCARD, $(FEATURES)),)
 223 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 224                    $(FATFS_DIR) \
 225
 226 VPATH           := $(VPATH):$(FATFS_DIR)
 227 endif
 228
 229 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 230
 231 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 232 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 233 # End F3 targets
 234 #
 235 # Start F4 targets
 236 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 237
 238 #STDPERIPH
 239 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 240 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 241 EXCLUDES        = stm32f4xx_crc.c \
 242                   stm32f4xx_can.c \
 243                   stm32f4xx_fmc.c \
 244                   stm32f4xx_sai.c \
 245                   stm32f4xx_cec.c \
 246                   stm32f4xx_dsi.c \
 247                   stm32f4xx_flash_ramfunc.c \
 248                   stm32f4xx_fmpi2c.c \
 249                   stm32f4xx_lptim.c \
 250                   stm32f4xx_qspi.c \
 251                   stm32f4xx_spdifrx.c \
 252                   stm32f4xx_cryp.c \
 253                   stm32f4xx_cryp_aes.c \
 254                   stm32f4xx_hash_md5.c \
 255                   stm32f4xx_cryp_des.c \
 256                   stm32f4xx_rtc.c \
 257                   stm32f4xx_hash.c \
 258                   stm32f4xx_dbgmcu.c \
 259                   stm32f4xx_cryp_tdes.c \
 260                   stm32f4xx_hash_sha1.c
 261
 262 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 263 EXCLUDES        += stm32f4xx_fsmc.c
 264 endif
 265
 266 ifeq ($(TARGET),$(filter $(TARGET), $(F446_TARGETS)))
 267 EXCLUDES        += stm32f4xx_fsmc.c
 268 endif
 269
 270 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 271
 272 #USB
 273 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 274 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 275 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 276 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 277 EXCLUDES    = usb_bsp_template.c \
 278               usb_conf_template.c \
 279               usb_hcd_int.c \
 280               usb_hcd.c \
 281               usb_otg.c
 282
 283 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 284 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 285 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 286 EXCLUDES    = usbd_cdc_if_template.c
 287 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 288 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 289
 290 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 291                         $(USBOTG_SRC) \
 292                         $(USBCORE_SRC) \
 293                         $(USBCDC_SRC)
 294
 295 #CMSIS
 296 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 297 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 298                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 299 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 300                    $(STDPERIPH_DIR)/inc \
 301                    $(USBOTG_DIR)/inc \
 302                    $(USBCORE_DIR)/inc \
 303                    $(USBCDC_DIR)/inc \
 304                    $(USBFS_DIR)/inc \
 305                    $(CMSIS_DIR)/CM4/CoreSupport \
 306                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 307                    $(ROOT)/src/main/vcpf4
 308
 309 ifneq ($(filter SDCARD,$(FEATURES)),)
 310 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 311                    $(FATFS_DIR)
 312 VPATH           := $(VPATH):$(FATFS_DIR)
 313 endif
 314
 315 #Flags
 316 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 317
 318 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 319 DEVICE_FLAGS    = -DSTM32F411xE
 320 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 321 STARTUP_SRC     = startup_stm32f411xe.s
 322 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 323 DEVICE_FLAGS    = -DSTM32F40_41xxx
 324 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 325 STARTUP_SRC     = startup_stm32f40xx.s
 326 else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
 327 DEVICE_FLAGS    = -DSTM32F446xx
 328 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f446.ld
 329 STARTUP_SRC     = startup_stm32f446xx.s
 330 else
 331 $(error Unknown MCU for F4 target)
 332 endif
 333 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 334
 335 # End F4 targets
 336 #
 337 # Start F7 targets
 338 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 339
 340 #STDPERIPH
 341 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 342 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 343 EXCLUDES        = stm32f7xx_hal_can.c \
 344                   stm32f7xx_hal_cec.c \
 345                   stm32f7xx_hal_crc.c \
 346                   stm32f7xx_hal_crc_ex.c \
 347                   stm32f7xx_hal_cryp.c \
 348                   stm32f7xx_hal_cryp_ex.c \
 349                   stm32f7xx_hal_dac.c \
 350                   stm32f7xx_hal_dac_ex.c \
 351                   stm32f7xx_hal_dcmi.c \
 352                   stm32f7xx_hal_dcmi_ex.c \
 353                   stm32f7xx_hal_dfsdm.c \
 354                   stm32f7xx_hal_dma2d.c \
 355                   stm32f7xx_hal_dsi.c \
 356                   stm32f7xx_hal_eth.c \
 357                   stm32f7xx_hal_hash.c \
 358                   stm32f7xx_hal_hash_ex.c \
 359                   stm32f7xx_hal_hcd.c \
 360                   stm32f7xx_hal_i2s.c \
 361                   stm32f7xx_hal_irda.c \
 362                   stm32f7xx_hal_iwdg.c \
 363                   stm32f7xx_hal_jpeg.c \
 364                   stm32f7xx_hal_lptim.c \
 365                   stm32f7xx_hal_ltdc.c \
 366                   stm32f7xx_hal_ltdc_ex.c \
 367                   stm32f7xx_hal_mdios.c \
 368                   stm32f7xx_hal_mmc.c \
 369                   stm32f7xx_hal_msp_template.c \
 370                   stm32f7xx_hal_nand.c \
 371                   stm32f7xx_hal_nor.c \
 372                   stm32f7xx_hal_qspi.c \
 373                   stm32f7xx_hal_rng.c \
 374                   stm32f7xx_hal_rtc.c \
 375                   stm32f7xx_hal_rtc_ex.c \
 376                   stm32f7xx_hal_sai.c \
 377                   stm32f7xx_hal_sai_ex.c \
 378                   stm32f7xx_hal_sd.c \
 379                   stm32f7xx_hal_sdram.c \
 380                   stm32f7xx_hal_smartcard.c \
 381                   stm32f7xx_hal_smartcard_ex.c \
 382                   stm32f7xx_hal_smbus.c \
 383                   stm32f7xx_hal_spdifrx.c \
 384                   stm32f7xx_hal_sram.c \
 385                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 386                   stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 387                   stm32f7xx_hal_timebase_tim_template.c \
 388                   stm32f7xx_hal_wwdg.c \
 389                   stm32f7xx_ll_adc.c \
 390                   stm32f7xx_ll_crc.c \
 391                   stm32f7xx_ll_dac.c \
 392                   stm32f7xx_ll_dma.c \
 393                   stm32f7xx_ll_dma2d.c \
 394                   stm32f7xx_ll_exti.c \
 395                   stm32f7xx_ll_fmc.c \
 396                   stm32f7xx_ll_gpio.c \
 397                   stm32f7xx_ll_i2c.c \
 398                   stm32f7xx_ll_lptim.c \
 399                   stm32f7xx_ll_pwr.c \
 400                   stm32f7xx_ll_rcc.c \
 401                   stm32f7xx_ll_rng.c \
 402                   stm32f7xx_ll_rtc.c \
 403                   stm32f7xx_ll_sdmmc.c \
 404                   stm32f7xx_ll_spi.c \
 405                   stm32f7xx_ll_tim.c \
 406                   stm32f7xx_ll_usart.c \
 407                   stm32f7xx_ll_utils.c
 408
 409 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 410
 411 #USB
 412 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 413 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 414 EXCLUDES    = usbd_conf_template.c
 415 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 416
 417 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 418 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 419 EXCLUDES   = usbd_cdc_if_template.c
 420 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 421
 422 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 423
 424 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 425                         $(USBCORE_SRC) \
 426                         $(USBCDC_SRC)
 427
 428 #CMSIS
 429 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 430 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 431 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 432                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 433 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 434                    $(STDPERIPH_DIR)/Inc \
 435                    $(USBCORE_DIR)/Inc \
 436                    $(USBCDC_DIR)/Inc \
 437                    $(CMSIS_DIR)/CM7/Include \
 438                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 439                    $(ROOT)/src/main/vcp_hal
 440
 441 ifneq ($(filter SDCARD,$(FEATURES)),)
 442 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 443                    $(FATFS_DIR)
 444 VPATH           := $(VPATH):$(FATFS_DIR)
 445 endif
 446
 447 #Flags
 448 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 449
 450 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 451 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 452 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 453 STARTUP_SRC     = startup_stm32f745xx.s
 454 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 455 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 456 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 457 STARTUP_SRC     = startup_stm32f746xx.s
 458 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 459 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 460 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 461 STARTUP_SRC     = startup_stm32f722xx.s
 462 else
 463 $(error Unknown MCU for F7 target)
 464 endif
 465 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 466
 467 TARGET_FLAGS    = -D$(TARGET)
 468
 469 # End F7 targets
 470 #
 471 # Start F1 targets
 472 else
 473
 474 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 475 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 476 EXCLUDES        = stm32f10x_crc.c \
 477                   stm32f10x_cec.c \
 478                   stm32f10x_can.c
 479 STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 480 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 481
 482 # Search path and source files for the CMSIS sources
 483 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 484 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 485                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 486
 487 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 488                    $(STDPERIPH_DIR)/inc \
 489                    $(CMSIS_DIR)/CM3/CoreSupport \
 490                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 491
 492 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 493
 494 ifneq ($(filter VCP, $(FEATURES)),)
 495 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 496                    $(USBFS_DIR)/inc \
 497                    $(ROOT)/src/main/vcp
 498
 499 VPATH           := $(VPATH):$(USBFS_DIR)/src
 500
 501 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 502                         $(USBPERIPH_SRC)
 503
 504 endif
 505
 506 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 507 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 508
 509 ifeq ($(DEVICE_FLAGS),)
 510 DEVICE_FLAGS    = -DSTM32F10X_MD
 511 endif
 512 DEVICE_FLAGS   += -DSTM32F10X
 513
 514 endif
 515 #
 516 # End F1 targets
 517 #
 518 ifneq ($(BASE_TARGET), $(TARGET))
 519 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 520 endif
 521
 522 ifneq ($(FLASH_SIZE),)
 523 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 524 endif
 525
 526 ifneq ($(HSE_VALUE),)
 527 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 528 endif
 529
 530 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 531 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 532
 533 ifeq ($(OPBL),yes)
 534 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 535 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 536 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 537 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 538 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 539 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 540 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 541 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 542 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 543 endif
 544 .DEFAULT_GOAL := binary
 545 else
 546 .DEFAULT_GOAL := hex
 547 endif
 548
 549 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 550                    $(ROOT)/lib/main/MAVLink
 551
 552 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 553                    $(TARGET_DIR)
 554
 555 VPATH           := $(VPATH):$(TARGET_DIR)
 556
 557 COMMON_SRC = \
 558             build/build_config.c \
 559             build/debug.c \
 560             build/version.c \
 561             $(TARGET_DIR_SRC) \
 562             main.c \
 563             common/encoding.c \
 564             common/filter.c \
 565             common/maths.c \
 566             common/printf.c \
 567             common/streambuf.c \
 568             common/typeconversion.c \
 569             config/config_eeprom.c \
 570             config/feature.c \
 571             config/parameter_group.c \
 572             config/config_streamer.c \
 573             drivers/adc.c \
 574             drivers/buf_writer.c \
 575             drivers/bus_i2c_soft.c \
 576             drivers/bus_spi.c \
 577             drivers/bus_spi_soft.c \
 578             drivers/display.c \
 579             drivers/exti.c \
 580             drivers/gyro_sync.c \
 581             drivers/io.c \
 582             drivers/light_led.c \
 583             drivers/resource.c \
 584             drivers/rx_nrf24l01.c \
 585             drivers/rx_spi.c \
 586             drivers/rx_xn297.c \
 587             drivers/pwm_esc_detect.c \
 588             drivers/pwm_output.c \
 589             drivers/rcc.c \
 590             drivers/rx_pwm.c \
 591             drivers/serial.c \
 592             drivers/serial_uart.c \
 593             drivers/serial_softserial.c \
 594             drivers/sound_beeper.c \
 595             drivers/stack_check.c \
 596             drivers/system.c \
 597             drivers/timer.c \
 598             fc/config.c \
 599             fc/controlrate_profile.c \
 600             fc/fc_init.c \
 601             fc/fc_dispatch.c \
 602             fc/fc_hardfaults.c \
 603             fc/fc_core.c \
 604             fc/fc_rc.c \
 605             fc/fc_msp.c \
 606             fc/fc_tasks.c \
 607             fc/rc_adjustments.c \
 608             fc/rc_controls.c \
 609             fc/runtime_config.c \
 610             fc/cli.c \
 611             flight/altitudehold.c \
 612             flight/failsafe.c \
 613             flight/imu.c \
 614             flight/mixer.c \
 615             flight/pid.c \
 616             flight/servos.c \
 617             io/beeper.c \
 618             io/serial.c \
 619             io/serial_4way.c \
 620             io/serial_4way_avrootloader.c \
 621             io/serial_4way_stk500v2.c \
 622             io/statusindicator.c \
 623             msp/msp_serial.c \
 624             rx/ibus.c \
 625             rx/jetiexbus.c \
 626             rx/msp.c \
 627             rx/nrf24_cx10.c \
 628             rx/nrf24_inav.c \
 629             rx/nrf24_h8_3d.c \
 630             rx/nrf24_syma.c \
 631             rx/nrf24_v202.c \
 632             rx/pwm.c \
 633             rx/rx.c \
 634             rx/rx_spi.c \
 635             rx/crsf.c \
 636             rx/sbus.c \
 637             rx/spektrum.c \
 638             rx/sumd.c \
 639             rx/sumh.c \
 640             rx/xbus.c \
 641             scheduler/scheduler.c \
 642             sensors/acceleration.c \
 643             sensors/battery.c \
 644             sensors/boardalignment.c \
 645             sensors/compass.c \
 646             sensors/gyro.c \
 647             sensors/gyroanalyse.c \
 648             sensors/initialisation.c \
 649             blackbox/blackbox.c \
 650             blackbox/blackbox_io.c \
 651             cms/cms.c \
 652             cms/cms_menu_blackbox.c \
 653             cms/cms_menu_builtin.c \
 654             cms/cms_menu_imu.c \
 655             cms/cms_menu_ledstrip.c \
 656             cms/cms_menu_misc.c \
 657             cms/cms_menu_osd.c \
 658             cms/cms_menu_vtx.c \
 659             common/colorconversion.c \
 660             common/gps_conversion.c \
 661             drivers/display_ug2864hsweg01.c \
 662             drivers/light_ws2811strip.c \
 663             drivers/serial_escserial.c \
 664             drivers/sonar_hcsr04.c \
 665             drivers/vtx_common.c \
 666             drivers/transponder_ir.c \
 667             flight/navigation.c \
 668             io/dashboard.c \
 669             io/displayport_max7456.c \
 670             io/displayport_msp.c \
 671             io/displayport_oled.c \
 672             io/gps.c \
 673             io/ledstrip.c \
 674             io/osd.c \
 675             io/transponder_ir.c \
 676             sensors/sonar.c \
 677             sensors/barometer.c \
 678             telemetry/telemetry.c \
 679             telemetry/crsf.c \
 680             telemetry/srxl.c \
 681             telemetry/frsky.c \
 682             telemetry/hott.c \
 683             telemetry/smartport.c \
 684             telemetry/ltm.c \
 685             telemetry/mavlink.c \
 686             telemetry/ibus.c \
 687             telemetry/ibus_shared.c \
 688             sensors/esc_sensor.c \
 689             io/vtx_string.c \
 690             io/vtx_smartaudio.c \
 691             io/vtx_tramp.c \
 692             io/vtx.c \
 693             $(CMSIS_SRC) \
 694             $(DEVICE_STDPERIPH_SRC)
 695
 696
 697 SPEED_OPTIMISED_SRC := ""
 698 SIZE_OPTIMISED_SRC  := ""
 699
 700 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 701 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 702             common/encoding.c \
 703             common/filter.c \
 704             common/maths.c \
 705             common/typeconversion.c \
 706             drivers/adc.c \
 707             drivers/buf_writer.c \
 708             drivers/bus_i2c_soft.c \
 709             drivers/bus_spi.c \
 710             drivers/bus_spi_soft.c \
 711             drivers/exti.c \
 712             drivers/gyro_sync.c \
 713             drivers/io.c \
 714             drivers/light_led.c \
 715             drivers/resource.c \
 716             drivers/rx_nrf24l01.c \
 717             drivers/rx_spi.c \
 718             drivers/rx_xn297.c \
 719             drivers/pwm_output.c \
 720             drivers/rcc.c \
 721             drivers/rx_pwm.c \
 722             drivers/serial.c \
 723             drivers/serial_uart.c \
 724             drivers/sound_beeper.c \
 725             drivers/system.c \
 726             drivers/timer.c \
 727             fc/fc_core.c \
 728             fc/fc_tasks.c \
 729             fc/fc_rc.c \
 730             fc/rc_controls.c \
 731             fc/runtime_config.c \
 732             flight/imu.c \
 733             flight/mixer.c \
 734             flight/pid.c \
 735             flight/servos.c \
 736             io/serial.c \
 737             rx/ibus.c \
 738             rx/jetiexbus.c \
 739             rx/nrf24_cx10.c \
 740             rx/nrf24_inav.c \
 741             rx/nrf24_h8_3d.c \
 742             rx/nrf24_syma.c \
 743             rx/nrf24_v202.c \
 744             rx/pwm.c \
 745             rx/rx.c \
 746             rx/rx_spi.c \
 747             rx/crsf.c \
 748             rx/sbus.c \
 749             rx/spektrum.c \
 750             rx/sumd.c \
 751             rx/sumh.c \
 752             rx/xbus.c \
 753             scheduler/scheduler.c \
 754             sensors/acceleration.c \
 755             sensors/boardalignment.c \
 756             sensors/gyro.c \
 757             sensors/gyroanalyse.c \
 758             $(CMSIS_SRC) \
 759             $(DEVICE_STDPERIPH_SRC) \
 760             drivers/display_ug2864hsweg01.c \
 761             drivers/light_ws2811strip.c \
 762             drivers/serial_softserial.c \
 763             io/dashboard.c \
 764             io/displayport_max7456.c \
 765             io/osd.c \
 766
 767 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 768             drivers/serial_escserial.c \
 769             drivers/vtx_common.c \
 770             io/cli.c \
 771             io/serial_4way.c \
 772             io/serial_4way_avrootloader.c \
 773             io/serial_4way_stk500v2.c \
 774             msp/msp_serial.c \
 775             cms/cms.c \
 776             cms/cms_menu_blackbox.c \
 777             cms/cms_menu_builtin.c \
 778             cms/cms_menu_imu.c \
 779             cms/cms_menu_ledstrip.c \
 780             cms/cms_menu_misc.c \
 781             cms/cms_menu_osd.c \
 782             cms/cms_menu_vtx.c \
 783             io/vtx_smartaudio.c \
 784             io/vtx_tramp.c
 785 endif #F3
 786
 787 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 788 VCP_SRC = \
 789             vcpf4/stm32f4xx_it.c \
 790             vcpf4/usb_bsp.c \
 791             vcpf4/usbd_desc.c \
 792             vcpf4/usbd_usr.c \
 793             vcpf4/usbd_cdc_vcp.c \
 794             drivers/serial_usb_vcp.c \
 795             drivers/usb_io.c
 796 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 797 VCP_SRC = \
 798             vcp_hal/usbd_desc.c \
 799             vcp_hal/usbd_conf.c \
 800             vcp_hal/usbd_cdc_interface.c \
 801             drivers/serial_usb_vcp.c \
 802             drivers/usb_io.c
 803 else
 804 VCP_SRC = \
 805             vcp/hw_config.c \
 806             vcp/stm32_it.c \
 807             vcp/usb_desc.c \
 808             vcp/usb_endp.c \
 809             vcp/usb_istr.c \
 810             vcp/usb_prop.c \
 811             vcp/usb_pwr.c \
 812             drivers/serial_usb_vcp.c \
 813             drivers/usb_io.c
 814 endif
 815
 816 STM32F10x_COMMON_SRC = \
 817             drivers/adc_stm32f10x.c \
 818             drivers/bus_i2c_stm32f10x.c \
 819             drivers/dma.c \
 820             drivers/gpio_stm32f10x.c \
 821             drivers/inverter.c \
 822             drivers/light_ws2811strip_stdperiph.c \
 823             drivers/serial_uart_stm32f10x.c \
 824             drivers/system_stm32f10x.c \
 825             drivers/timer_stm32f10x.c
 826
 827 STM32F30x_COMMON_SRC = \
 828             target/system_stm32f30x.c \
 829             drivers/adc_stm32f30x.c \
 830             drivers/bus_i2c_stm32f30x.c \
 831             drivers/dma.c \
 832             drivers/gpio_stm32f30x.c \
 833             drivers/light_ws2811strip_stdperiph.c \
 834             drivers/pwm_output_dshot.c \
 835             drivers/serial_uart_stm32f30x.c \
 836             drivers/system_stm32f30x.c \
 837             drivers/timer_stm32f30x.c
 838
 839 STM32F4xx_COMMON_SRC = \
 840             target/system_stm32f4xx.c \
 841             drivers/accgyro_mpu.c \
 842             drivers/adc_stm32f4xx.c \
 843             drivers/bus_i2c_stm32f10x.c \
 844             drivers/dma_stm32f4xx.c \
 845             drivers/gpio_stm32f4xx.c \
 846             drivers/inverter.c \
 847             drivers/light_ws2811strip_stdperiph.c \
 848             drivers/pwm_output_dshot.c \
 849             drivers/serial_uart_stm32f4xx.c \
 850             drivers/system_stm32f4xx.c \
 851             drivers/timer_stm32f4xx.c
 852
 853 STM32F7xx_COMMON_SRC = \
 854             target/system_stm32f7xx.c \
 855             drivers/accgyro_mpu.c \
 856             drivers/adc_stm32f7xx.c \
 857             drivers/bus_i2c_hal.c \
 858             drivers/dma_stm32f7xx.c \
 859             drivers/gpio_stm32f7xx.c \
 860             drivers/inverter.c \
 861             drivers/bus_spi_hal.c \
 862             drivers/pwm_output_stm32f7xx.c \
 863             drivers/timer_hal.c \
 864             drivers/timer_stm32f7xx.c \
 865             drivers/system_stm32f7xx.c \
 866             drivers/serial_uart_stm32f7xx.c \
 867             drivers/serial_uart_hal.c
 868
 869 F7EXCLUDES = drivers/bus_spi.c \
 870             drivers/bus_i2c.c \
 871             drivers/timer.c \
 872             drivers/serial_uart.c
 873
 874 # check if target.mk supplied
 875 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 876 SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 877 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 878 SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 879 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 880 SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 881 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 882 SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 883 endif
 884
 885 ifneq ($(filter $(TARGET),$(F4_TARGETS) $(F7_TARGETS)),)
 886 DSPLIB := $(ROOT)/lib/main/DSP_Lib
 887 DEVICE_FLAGS += -DARM_MATH_CM4 -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE
 888
 889 INCLUDE_DIRS += $(DSPLIB)/Include
 890
 891 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_f32.c
 892 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_f32.c
 893 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_init_f32.c
 894 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_radix8_f32.c
 895 SRC += $(DSPLIB)/Source/CommonTables/arm_common_tables.c
 896
 897 SRC += $(DSPLIB)/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
 898 SRC += $(DSPLIB)/Source/StatisticsFunctions/arm_max_f32.c
 899
 900 SRC += $(wildcard $(DSPLIB)/Source/*/*.S)
 901 endif
 902
 903
 904 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 905 SRC += \
 906             drivers/flash_m25p16.c \
 907             io/flashfs.c
 908 endif
 909
 910 SRC += $(COMMON_SRC)
 911
 912 #excludes
 913 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 914 SRC   := $(filter-out ${F7EXCLUDES}, $(SRC))
 915 endif
 916
 917 ifneq ($(filter SDCARD,$(FEATURES)),)
 918 SRC += \
 919             drivers/sdcard.c \
 920             drivers/sdcard_standard.c \
 921             io/asyncfatfs/asyncfatfs.c \
 922             io/asyncfatfs/fat_standard.c
 923 endif
 924
 925 ifneq ($(filter VCP,$(FEATURES)),)
 926 SRC += $(VCP_SRC)
 927 endif
 928 # end target specific make file checks
 929
 930
 931 # Search path and source files for the ST stdperiph library
 932 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 933
 934 ###############################################################################
 935 # Things that might need changing to use different tools
 936 #
 937
 938 # Find out if ccache is installed on the system
 939 CCACHE := ccache
 940 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 941 ifneq ($(RESULT),0)
 942 CCACHE :=
 943 endif
 944
 945 # Tool names
 946 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 947 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 948 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 949 SIZE        := $(ARM_SDK_PREFIX)size
 950
 951 #
 952 # Tool options.
 953 #
 954
 955 ifneq ($(DEBUG),GDB)
 956 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
 957 OPTIMISE_SPEED      := ""
 958 OPTIMISE_SIZE       := ""
 959
 960 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 961 OPTIMISE_DEFAULT    := -Os
 962
 963 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 964
 965 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 966 OPTIMISE_DEFAULT    := -O2
 967 OPTIMISE_SPEED      := -Ofast
 968 OPTIMISE_SIZE       := -Os
 969
 970 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 971
 972 else
 973 OPTIMISE_DEFAULT    := -Ofast
 974
 975 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 976
 977 endif #TARGETS
 978
 979 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 980 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 981 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 982
 983 else #DEBUG
 984 OPTIMISE_DEFAULT    := -O0
 985
 986 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
 987
 988 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
 989 endif #DEBUG
 990
 991 DEBUG_FLAGS = -ggdb3 -DDEBUG
 992
 993 CFLAGS      += $(ARCH_FLAGS) \
 994               $(addprefix -D,$(OPTIONS)) \
 995               $(addprefix -I,$(INCLUDE_DIRS)) \
 996               $(DEBUG_FLAGS) \
 997               -std=gnu99 \
 998               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 999               -ffunction-sections \
1000               -fdata-sections \
1001               -pedantic \
1002               $(DEVICE_FLAGS) \
1003               -DUSE_STDPERIPH_DRIVER \
1004               -D$(TARGET) \
1005               $(TARGET_FLAGS) \
1006               -D'__FORKNAME__="$(FORKNAME)"' \
1007               -D'__TARGET__="$(TARGET)"' \
1008               -D'__REVISION__="$(REVISION)"' \
1009               -save-temps=obj \
1010               -MMD -MP
1011
1012 ASFLAGS     = $(ARCH_FLAGS) \
1013               -x assembler-with-cpp \
1014               $(addprefix -I,$(INCLUDE_DIRS)) \
1015               -MMD -MP
1016
1017 LDFLAGS     = -lm \
1018               -nostartfiles \
1019               --specs=nano.specs \
1020               -lc \
1021               -lnosys \
1022               $(ARCH_FLAGS) \
1023               $(LTO_FLAGS) \
1024               $(DEBUG_FLAGS) \
1025               -static \
1026               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1027               -Wl,-L$(LINKER_DIR) \
1028               -Wl,--cref \
1029               -Wl,--no-wchar-size-warning \
1030               -T$(LD_SCRIPT)
1031
1032 ###############################################################################
1033 # No user-serviceable parts below
1034 ###############################################################################
1035
1036 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
1037                   --std=c99 --inline-suppr --quiet --force \
1038                   $(addprefix -I,$(INCLUDE_DIRS)) \
1039                   -I/usr/include -I/usr/include/linux
1040
1041 #
1042 # Things we will build
1043 #
1044 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
1045 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
1046 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
1047 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1048 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1049 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
1050
1051
1052 CLEAN_ARTIFACTS := $(TARGET_BIN)
1053 CLEAN_ARTIFACTS += $(TARGET_HEX)
1054 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
1055
1056 # Make sure build date and revision is updated on every incremental build
1057 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
1058
1059 # List of buildable ELF files and their object dependencies.
1060 # It would be nice to compute these lists, but that seems to be just beyond make.
1061
1062 $(TARGET_HEX): $(TARGET_ELF)
1063         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
1064
1065 $(TARGET_BIN): $(TARGET_ELF)
1066         $(V0) $(OBJCOPY) -O binary $< $@
1067
1068 $(TARGET_ELF):  $(TARGET_OBJS)
1069         $(V1) echo Linking $(TARGET)
1070         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
1071         $(V0) $(SIZE) $(TARGET_ELF)
1072
1073 # Compile
1074 ifneq ($(DEBUG),GDB)
1075 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1076         $(V1) mkdir -p $(dir $@)
1077         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
1078         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
1079         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
1080         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
1081         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1082         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
1083         echo "%% $(notdir $<)" "$(STDOUT)" && \
1084         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
1085 else
1086 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1087         $(V1) mkdir -p $(dir $@)
1088         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
1089         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1090 endif
1091
1092 # Assemble
1093 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1094         $(V1) mkdir -p $(dir $@)
1095         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1096         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1097
1098 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1099         $(V1) mkdir -p $(dir $@)
1100         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1101         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1102
1103 ## official            : Build all official (travis) targets
1104 official: $(OFFICIAL_TARGETS)
1105
1106 ## all               : Build all valid targets
1107 all: $(VALID_TARGETS)
1108
1109 $(VALID_TARGETS):
1110                 $(V0) echo "" && \
1111                 echo "Building $@" && \
1112                 $(MAKE) binary hex TARGET=$@ && \
1113                 echo "Building $@ succeeded."
1114
1115
1116
1117 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1118 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1119
1120 ## clean             : clean up temporary / machine-generated files
1121 clean:
1122         $(V0) echo "Cleaning $(TARGET)"
1123         $(V0) rm -f $(CLEAN_ARTIFACTS)
1124         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1125         $(V0) echo "Cleaning $(TARGET) succeeded."
1126
1127 ## clean_test        : clean up temporary / machine-generated files (tests)
1128 clean_test:
1129         $(V0) cd src/test && $(MAKE) clean || true
1130
1131 ## clean_<TARGET>    : clean up one specific target
1132 $(CLEAN_TARGETS) :
1133         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1134
1135 ## <TARGET>_clean    : clean up one specific target (alias for above)
1136 $(TARGETS_CLEAN) :
1137         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1138
1139 ## clean_all         : clean all valid targets
1140 clean_all:$(CLEAN_TARGETS)
1141
1142 ## all_clean         : clean all valid targets (alias for above)
1143 all_clean:$(TARGETS_CLEAN)
1144
1145
1146 flash_$(TARGET): $(TARGET_HEX)
1147         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1148         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1149         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1150
1151 ## flash             : flash firmware (.hex) onto flight controller
1152 flash: flash_$(TARGET)
1153
1154 st-flash_$(TARGET): $(TARGET_BIN)
1155         $(V0) st-flash --reset write $< 0x08000000
1156
1157 ## st-flash          : flash firmware (.bin) onto flight controller
1158 st-flash: st-flash_$(TARGET)
1159
1160 binary:
1161         $(V0) $(MAKE) -j $(TARGET_BIN)
1162
1163 hex:
1164         $(V0) $(MAKE) -j $(TARGET_HEX)
1165
1166 unbrick_$(TARGET): $(TARGET_HEX)
1167         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1168         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1169
1170 ## unbrick           : unbrick flight controller
1171 unbrick: unbrick_$(TARGET)
1172
1173 ## cppcheck          : run static analysis on C source code
1174 cppcheck: $(CSOURCES)
1175         $(V0) $(CPPCHECK)
1176
1177 cppcheck-result.xml: $(CSOURCES)
1178         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1179
1180 # mkdirs
1181 $(DL_DIR):
1182         mkdir -p $@
1183
1184 $(TOOLS_DIR):
1185         mkdir -p $@
1186
1187 $(BUILD_DIR):
1188         mkdir -p $@
1189
1190 ## help              : print this help message and exit
1191 help: Makefile make/tools.mk
1192         $(V0) @echo ""
1193         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1194         $(V0) @echo ""
1195         $(V0) @echo "Usage:"
1196         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1197         $(V0) @echo "Or:"
1198         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1199         $(V0) @echo ""
1200         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1201         $(V0) @echo ""
1202         $(V0) @sed -n 's/^## //p' $?
1203
1204 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1205 targets:
1206         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
1207         $(V0) @echo "Target:        $(TARGET)"
1208         $(V0) @echo "Base target:   $(BASE_TARGET)"
1209
1210 ## test              : run the cleanflight test suite
1211 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1212 test junittest:
1213         $(V0) cd src/test && $(MAKE) $@
1214
1215 # rebuild everything when makefile changes
1216 $(TARGET_OBJS) : Makefile
1217
1218 # include auto-generated dependencies
1219 -include $(TARGET_DEPS)