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 betaflight 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 ## 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      = betaflight
  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 # developer preferences, edit these at will, they'll be gitignored
  80 include $(ROOT)/make/local.mk
  81
  82 # configure some directories that are relative to wherever ROOT_DIR is located
  83 TOOLS_DIR := $(ROOT)/tools
  84 BUILD_DIR := $(ROOT)/build
  85 DL_DIR := $(ROOT)/downloads
  86
  87 export RM := rm
  88
  89 # import macros that are OS specific
  90 include $(ROOT)/make/$(OSFAMILY).mk
  91
  92 # include the tools makefile
  93 include $(ROOT)/make/tools.mk
  94
  95 # default xtal value for F4 targets
  96 HSE_VALUE       = 8000000
  97
  98 # used for turning on features like VCP and SDCARD
  99 FEATURES        =
 100
 101 SAMPLE_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO STM32F3DISCOVERY
 102 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
 103 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
 104
 105 #VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
 106 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 107 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 108 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 109 VALID_TARGETS  := $(sort $(VALID_TARGETS))
 110
 111 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 112 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 113 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 114 else
 115 BASE_TARGET    := $(TARGET)
 116 endif
 117
 118 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 119 OPBL            = yes
 120 endif
 121
 122 # silently ignore if the file is not present. Allows for target specific.
 123 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 124
 125 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
 126 F7_TARGETS      = $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS)
 127
 128 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 129 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 130 endif
 131
 132 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
 133 $(error Target '$(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?)
 134 endif
 135
 136 128K_TARGETS  = $(F1_TARGETS)
 137 256K_TARGETS  = $(F3_TARGETS)
 138 512K_TARGETS  = $(F411_TARGETS) $(F7X5XE_TARGETS)
 139 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS)
 140 2048K_TARGETS = $(F7X5XI_TARGETS)
 141
 142 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 143 ifeq ($(FLASH_SIZE),)
 144 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 145 FLASH_SIZE = 2048
 146 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 147 FLASH_SIZE = 1024
 148 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 149 FLASH_SIZE = 512
 150 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 151 FLASH_SIZE = 256
 152 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 153 FLASH_SIZE = 128
 154 else
 155 $(error FLASH_SIZE not configured for target $(TARGET))
 156 endif
 157 endif
 158
 159 # note that there is no hardfault debugging startup file assembly handler for other platforms
 160 ifeq ($(DEBUG_HARDFAULTS),F3)
 161 CFLAGS               += -DDEBUG_HARDFAULTS
 162 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 163 else
 164 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 165 endif
 166
 167 ifeq ($(DEBUG_HARDFAULTS),F7)
 168 CFLAGS               += -DDEBUG_HARDFAULTS
 169 endif
 170
 171 REVISION = $(shell git log -1 --format="%h")
 172
 173 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 174 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 175 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 176
 177 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 178
 179 # Search path for sources
 180 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 181 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 182 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 183 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 184 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 185
 186 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 187
 188 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 189 # F3 TARGETS
 190
 191 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 192 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 193 EXCLUDES        = stm32f30x_crc.c \
 194                   stm32f30x_can.c
 195
 196 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 197 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 198
 199 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 200 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 201                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 202
 203 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 204                    $(STDPERIPH_DIR)/inc \
 205                    $(CMSIS_DIR)/CM1/CoreSupport \
 206                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 207
 208 ifneq ($(filter VCP, $(FEATURES)),)
 209 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 210                    $(USBFS_DIR)/inc \
 211                    $(ROOT)/src/main/vcp
 212
 213 VPATH           := $(VPATH):$(USBFS_DIR)/src
 214
 215 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 216                         $(USBPERIPH_SRC)
 217 endif
 218
 219 ifneq ($(filter SDCARD, $(FEATURES)),)
 220 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 221                    $(FATFS_DIR) \
 222
 223 VPATH           := $(VPATH):$(FATFS_DIR)
 224 endif
 225
 226 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 227
 228 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 229 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 230 # End F3 targets
 231 #
 232 # Start F4 targets
 233 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 234
 235 #STDPERIPH
 236 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 237 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 238 EXCLUDES        = stm32f4xx_crc.c \
 239                   stm32f4xx_can.c \
 240                   stm32f4xx_fmc.c \
 241                   stm32f4xx_sai.c \
 242                   stm32f4xx_cec.c \
 243                   stm32f4xx_dsi.c \
 244                   stm32f4xx_flash_ramfunc.c \
 245                   stm32f4xx_fmpi2c.c \
 246                   stm32f4xx_lptim.c \
 247                   stm32f4xx_qspi.c \
 248                   stm32f4xx_spdifrx.c \
 249                   stm32f4xx_cryp.c \
 250                   stm32f4xx_cryp_aes.c \
 251                   stm32f4xx_hash_md5.c \
 252                   stm32f4xx_cryp_des.c \
 253                   stm32f4xx_rtc.c \
 254                   stm32f4xx_hash.c \
 255                   stm32f4xx_dbgmcu.c \
 256                   stm32f4xx_cryp_tdes.c \
 257                   stm32f4xx_hash_sha1.c
 258
 259
 260 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 261 EXCLUDES += stm32f4xx_fsmc.c
 262 endif
 263
 264 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 265
 266 #USB
 267 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 268 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 269 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 270 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 271 EXCLUDES    = usb_bsp_template.c \
 272               usb_conf_template.c \
 273               usb_hcd_int.c \
 274               usb_hcd.c \
 275               usb_otg.c
 276
 277 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 278 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 279 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 280 EXCLUDES    = usbd_cdc_if_template.c
 281 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 282 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 283
 284 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 285                         $(USBOTG_SRC) \
 286                         $(USBCORE_SRC) \
 287                         $(USBCDC_SRC)
 288
 289 #CMSIS
 290 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 291 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 292                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 293 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 294                    $(STDPERIPH_DIR)/inc \
 295                    $(USBOTG_DIR)/inc \
 296                    $(USBCORE_DIR)/inc \
 297                    $(USBCDC_DIR)/inc \
 298                    $(USBFS_DIR)/inc \
 299                    $(CMSIS_DIR)/CM4/CoreSupport \
 300                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 301                    $(ROOT)/src/main/vcpf4
 302
 303 ifneq ($(filter SDCARD,$(FEATURES)),)
 304 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 305                    $(FATFS_DIR)
 306 VPATH           := $(VPATH):$(FATFS_DIR)
 307 endif
 308
 309 #Flags
 310 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 311
 312 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 313 DEVICE_FLAGS    = -DSTM32F411xE
 314 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 315 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 316 DEVICE_FLAGS    = -DSTM32F40_41xxx
 317 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 318 else
 319 $(error Unknown MCU for F4 target)
 320 endif
 321 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 322
 323 # End F4 targets
 324 #
 325 # Start F7 targets
 326 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 327
 328 #STDPERIPH
 329 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 330 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 331 EXCLUDES        = stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 332                                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 333                                   stm32f7xx_hal_timebase_tim_template.c
 334
 335 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 336
 337 #USB
 338 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 339 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 340 EXCLUDES    = usbd_conf_template.c
 341 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 342
 343 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 344 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 345 EXCLUDES   = usbd_cdc_if_template.c
 346 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 347
 348 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 349
 350 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 351                         $(USBCORE_SRC) \
 352                         $(USBCDC_SRC)
 353
 354 #CMSIS
 355 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 356 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 357 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 358                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 359 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 360                    $(STDPERIPH_DIR)/Inc \
 361                    $(USBCORE_DIR)/Inc \
 362                    $(USBCDC_DIR)/Inc \
 363                    $(CMSIS_DIR)/CM7/Include \
 364                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 365                    $(ROOT)/src/main/vcp_hal
 366
 367 ifneq ($(filter SDCARD,$(FEATURES)),)
 368 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 369                    $(FATFS_DIR)
 370 VPATH           := $(VPATH):$(FATFS_DIR)
 371 endif
 372
 373 #Flags
 374 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 375
 376 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 377 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 378 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 379 else
 380 $(error Unknown MCU for F7 target)
 381 endif
 382 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 383
 384 TARGET_FLAGS = -D$(TARGET)
 385
 386 # End F7 targets
 387 #
 388 # Start F1 targets
 389 else
 390
 391 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 392 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 393 EXCLUDES        = stm32f10x_crc.c \
 394                   stm32f10x_cec.c \
 395                   stm32f10x_can.c
 396
 397 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 398
 399 # Search path and source files for the CMSIS sources
 400 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 401 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 402                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 403
 404 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 405                    $(STDPERIPH_DIR)/inc \
 406                    $(CMSIS_DIR)/CM3/CoreSupport \
 407                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 408
 409 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 410
 411 ifneq ($(filter VCP, $(FEATURES)),)
 412 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 413                    $(USBFS_DIR)/inc \
 414                    $(ROOT)/src/main/vcp
 415
 416 VPATH           := $(VPATH):$(USBFS_DIR)/src
 417
 418 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 419                         $(USBPERIPH_SRC)
 420
 421 endif
 422
 423 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 424 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 425
 426 ifeq ($(DEVICE_FLAGS),)
 427 DEVICE_FLAGS    = -DSTM32F10X_MD
 428 endif
 429 DEVICE_FLAGS   += -DSTM32F10X
 430
 431 endif
 432 #
 433 # End F1 targets
 434 #
 435 ifneq ($(BASE_TARGET), $(TARGET))
 436 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 437 endif
 438
 439 ifneq ($(FLASH_SIZE),)
 440 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 441 endif
 442
 443 ifneq ($(HSE_VALUE),)
 444 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 445 endif
 446
 447 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 448 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 449
 450 ifeq ($(OPBL),yes)
 451 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 452 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 453 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 454 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 455 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 456 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 457 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 458 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 459 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 460 endif
 461 .DEFAULT_GOAL := binary
 462 else
 463 .DEFAULT_GOAL := hex
 464 endif
 465
 466 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 467                    $(ROOT)/lib/main/MAVLink
 468
 469 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 470                    $(TARGET_DIR)
 471
 472 VPATH           := $(VPATH):$(TARGET_DIR)
 473
 474 COMMON_SRC = \
 475             build/build_config.c \
 476             build/debug.c \
 477             build/version.c \
 478             $(TARGET_DIR_SRC) \
 479             main.c \
 480             common/encoding.c \
 481             common/filter.c \
 482             common/maths.c \
 483             common/printf.c \
 484             common/streambuf.c \
 485             common/typeconversion.c \
 486             config/config_eeprom.c \
 487             config/feature.c \
 488             config/parameter_group.c \
 489             drivers/adc.c \
 490             drivers/buf_writer.c \
 491             drivers/bus_i2c_soft.c \
 492             drivers/bus_spi.c \
 493             drivers/bus_spi_soft.c \
 494             drivers/display.c \
 495             drivers/exti.c \
 496             drivers/gyro_sync.c \
 497             drivers/io.c \
 498             drivers/light_led.c \
 499             drivers/resource.c \
 500             drivers/rx_nrf24l01.c \
 501             drivers/rx_spi.c \
 502             drivers/rx_xn297.c \
 503             drivers/pwm_output.c \
 504             drivers/pwm_rx.c \
 505             drivers/rcc.c \
 506             drivers/serial.c \
 507             drivers/serial_uart.c \
 508             drivers/sound_beeper.c \
 509             drivers/system.c \
 510             drivers/timer.c \
 511             fc/config.c \
 512             fc/fc_tasks.c \
 513             fc/fc_msp.c \
 514             fc/mw.c \
 515             fc/rc_controls.c \
 516             fc/rc_curves.c \
 517             fc/runtime_config.c \
 518             flight/altitudehold.c \
 519             flight/failsafe.c \
 520             flight/imu.c \
 521             flight/mixer.c \
 522             flight/pid.c \
 523             flight/servos.c \
 524             io/beeper.c \
 525             io/serial.c \
 526             io/serial_4way.c \
 527             io/serial_4way_avrootloader.c \
 528             io/serial_4way_stk500v2.c \
 529             io/serial_cli.c \
 530             io/statusindicator.c \
 531             msp/msp_serial.c \
 532             rx/ibus.c \
 533             rx/jetiexbus.c \
 534             rx/msp.c \
 535             rx/nrf24_cx10.c \
 536             rx/nrf24_inav.c \
 537             rx/nrf24_h8_3d.c \
 538             rx/nrf24_syma.c \
 539             rx/nrf24_v202.c \
 540             rx/pwm.c \
 541             rx/rx.c \
 542             rx/rx_spi.c \
 543             rx/crsf.c \
 544             rx/sbus.c \
 545             rx/spektrum.c \
 546             rx/sumd.c \
 547             rx/sumh.c \
 548             rx/xbus.c \
 549             scheduler/scheduler.c \
 550             sensors/acceleration.c \
 551             sensors/battery.c \
 552             sensors/boardalignment.c \
 553             sensors/compass.c \
 554             sensors/gyro.c \
 555             sensors/initialisation.c \
 556             $(CMSIS_SRC) \
 557             $(DEVICE_STDPERIPH_SRC)
 558
 559 HIGHEND_SRC = \
 560             blackbox/blackbox.c \
 561             blackbox/blackbox_io.c \
 562             cms/cms.c \
 563             cms/cms_menu_blackbox.c \
 564             cms/cms_menu_builtin.c \
 565             cms/cms_menu_imu.c \
 566             cms/cms_menu_ledstrip.c \
 567             cms/cms_menu_misc.c \
 568             cms/cms_menu_osd.c \
 569             cms/cms_menu_vtx.c \
 570             common/colorconversion.c \
 571             drivers/display_ug2864hsweg01.c \
 572             drivers/light_ws2811strip.c \
 573             drivers/serial_escserial.c \
 574             drivers/serial_softserial.c \
 575             drivers/sonar_hcsr04.c \
 576             flight/gtune.c \
 577             flight/navigation.c \
 578             flight/gps_conversion.c \
 579             io/dashboard.c \
 580             io/displayport_max7456.c \
 581             io/displayport_msp.c \
 582             io/displayport_oled.c \
 583             io/gps.c \
 584             io/ledstrip.c \
 585             io/osd.c \
 586             sensors/sonar.c \
 587             sensors/barometer.c \
 588             telemetry/telemetry.c \
 589             telemetry/crsf.c \
 590             telemetry/frsky.c \
 591             telemetry/hott.c \
 592             telemetry/smartport.c \
 593             telemetry/ltm.c \
 594             telemetry/mavlink.c \
 595             telemetry/esc_telemetry.c \
 596
 597 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 598 VCP_SRC = \
 599             vcpf4/stm32f4xx_it.c \
 600             vcpf4/usb_bsp.c \
 601             vcpf4/usbd_desc.c \
 602             vcpf4/usbd_usr.c \
 603             vcpf4/usbd_cdc_vcp.c \
 604             drivers/serial_usb_vcp.c
 605 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 606 VCP_SRC = \
 607             vcp_hal/usbd_desc.c \
 608             vcp_hal/usbd_conf.c \
 609             vcp_hal/usbd_cdc_interface.c \
 610             drivers/serial_usb_vcp_hal.c
 611 else
 612 VCP_SRC = \
 613             vcp/hw_config.c \
 614             vcp/stm32_it.c \
 615             vcp/usb_desc.c \
 616             vcp/usb_endp.c \
 617             vcp/usb_istr.c \
 618             vcp/usb_prop.c \
 619             vcp/usb_pwr.c \
 620             drivers/serial_usb_vcp.c \
 621             drivers/usb_io.c
 622 endif
 623
 624 STM32F10x_COMMON_SRC = \
 625             startup_stm32f10x_md_gcc.S \
 626             drivers/adc_stm32f10x.c \
 627             drivers/bus_i2c_stm32f10x.c \
 628             drivers/dma.c \
 629             drivers/gpio_stm32f10x.c \
 630             drivers/inverter.c \
 631             drivers/light_ws2811strip_stm32f10x.c \
 632             drivers/serial_uart_stm32f10x.c \
 633             drivers/system_stm32f10x.c \
 634             drivers/timer_stm32f10x.c
 635
 636 STM32F30x_COMMON_SRC = \
 637             startup_stm32f30x_md_gcc.S \
 638             target/system_stm32f30x.c \
 639             drivers/adc_stm32f30x.c \
 640             drivers/bus_i2c_stm32f30x.c \
 641             drivers/dma.c \
 642             drivers/gpio_stm32f30x.c \
 643             drivers/light_ws2811strip_stm32f30x.c \
 644             drivers/pwm_output_stm32f3xx.c \
 645             drivers/serial_uart_stm32f30x.c \
 646             drivers/system_stm32f30x.c \
 647             drivers/timer_stm32f30x.c
 648
 649 STM32F4xx_COMMON_SRC = \
 650             startup_stm32f40xx.s \
 651             target/system_stm32f4xx.c \
 652             drivers/accgyro_mpu.c \
 653             drivers/adc_stm32f4xx.c \
 654             drivers/bus_i2c_stm32f10x.c \
 655             drivers/dma_stm32f4xx.c \
 656             drivers/gpio_stm32f4xx.c \
 657             drivers/inverter.c \
 658             drivers/light_ws2811strip_stm32f4xx.c \
 659             drivers/pwm_output_stm32f4xx.c \
 660             drivers/serial_uart_stm32f4xx.c \
 661             drivers/system_stm32f4xx.c \
 662             drivers/timer_stm32f4xx.c
 663
 664 STM32F7xx_COMMON_SRC = \
 665             startup_stm32f745xx.s \
 666             target/system_stm32f7xx.c \
 667             drivers/accgyro_mpu.c \
 668             drivers/adc_stm32f7xx.c \
 669             drivers/bus_i2c_hal.c \
 670             drivers/dma_stm32f7xx.c \
 671             drivers/gpio_stm32f7xx.c \
 672             drivers/inverter.c \
 673             drivers/bus_spi_hal.c \
 674             drivers/pwm_output_stm32f7xx.c \
 675             drivers/timer_hal.c \
 676             drivers/timer_stm32f7xx.c \
 677             drivers/pwm_output_hal.c \
 678             drivers/system_stm32f7xx.c \
 679             drivers/serial_uart_stm32f7xx.c \
 680             drivers/serial_uart_hal.c
 681
 682 F7EXCLUDES = drivers/bus_spi.c \
 683             drivers/bus_i2c.c \
 684             drivers/timer.c \
 685             drivers/pwm_output.c \
 686             drivers/serial_uart.c
 687
 688 # check if target.mk supplied
 689 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 690 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 691 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 692 TARGET_SRC := $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
 693 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 694 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 695 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 696 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 697 endif
 698
 699 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 700 TARGET_SRC += \
 701             drivers/flash_m25p16.c \
 702             io/flashfs.c
 703 endif
 704
 705 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS) $(F4_TARGETS) $(F3_TARGETS)))
 706 TARGET_SRC += $(HIGHEND_SRC)
 707 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 708 TARGET_SRC += $(HIGHEND_SRC)
 709 endif
 710
 711 TARGET_SRC += $(COMMON_SRC)
 712 #excludes
 713 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 714 TARGET_SRC   := $(filter-out ${F7EXCLUDES}, $(TARGET_SRC))
 715 endif
 716
 717 ifneq ($(filter SDCARD,$(FEATURES)),)
 718 TARGET_SRC += \
 719             drivers/sdcard.c \
 720             drivers/sdcard_standard.c \
 721             io/asyncfatfs/asyncfatfs.c \
 722             io/asyncfatfs/fat_standard.c
 723 endif
 724
 725 ifneq ($(filter VCP,$(FEATURES)),)
 726 TARGET_SRC += $(VCP_SRC)
 727 endif
 728 # end target specific make file checks
 729
 730
 731 # Search path and source files for the ST stdperiph library
 732 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 733
 734 ###############################################################################
 735 # Things that might need changing to use different tools
 736 #
 737
 738 # Find out if ccache is installed on the system
 739 CCACHE := ccache
 740 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 741 ifneq ($(RESULT),0)
 742 CCACHE :=
 743 endif
 744
 745 # Tool names
 746 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 747 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 748 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 749 SIZE        := $(ARM_SDK_PREFIX)size
 750
 751 #
 752 # Tool options.
 753 #
 754
 755 ifeq ($(DEBUG),GDB)
 756 OPTIMIZE    = -O0
 757 LTO_FLAGS   = $(OPTIMIZE)
 758 else
 759 OPTIMIZE    = -Os
 760 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 761 endif
 762
 763 DEBUG_FLAGS = -ggdb3 -DDEBUG
 764
 765 CFLAGS      += $(ARCH_FLAGS) \
 766               $(LTO_FLAGS) \
 767               $(addprefix -D,$(OPTIONS)) \
 768               $(addprefix -I,$(INCLUDE_DIRS)) \
 769               $(DEBUG_FLAGS) \
 770               -std=gnu99 \
 771               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 772               -ffunction-sections \
 773               -fdata-sections \
 774               -pedantic \
 775               $(DEVICE_FLAGS) \
 776               -DUSE_STDPERIPH_DRIVER \
 777               -D$(TARGET) \
 778               $(TARGET_FLAGS) \
 779               -D'__FORKNAME__="$(FORKNAME)"' \
 780               -D'__TARGET__="$(TARGET)"' \
 781               -D'__REVISION__="$(REVISION)"' \
 782               -save-temps=obj \
 783               -MMD -MP
 784
 785 ASFLAGS     = $(ARCH_FLAGS) \
 786               -x assembler-with-cpp \
 787               $(addprefix -I,$(INCLUDE_DIRS)) \
 788               -MMD -MP
 789
 790 LDFLAGS     = -lm \
 791               -nostartfiles \
 792               --specs=nano.specs \
 793               -lc \
 794               -lnosys \
 795               $(ARCH_FLAGS) \
 796               $(LTO_FLAGS) \
 797               $(DEBUG_FLAGS) \
 798               -static \
 799               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 800               -Wl,-L$(LINKER_DIR) \
 801               -Wl,--cref \
 802               -Wl,--no-wchar-size-warning \
 803               -T$(LD_SCRIPT)
 804
 805 ###############################################################################
 806 # No user-serviceable parts below
 807 ###############################################################################
 808
 809 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 810                   --std=c99 --inline-suppr --quiet --force \
 811                   $(addprefix -I,$(INCLUDE_DIRS)) \
 812                   -I/usr/include -I/usr/include/linux
 813
 814 #
 815 # Things we will build
 816 #
 817 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 818 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 819 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 820 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 821 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 822 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 823
 824
 825 CLEAN_ARTIFACTS := $(TARGET_BIN)
 826 CLEAN_ARTIFACTS += $(TARGET_HEX)
 827 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 828
 829 # List of buildable ELF files and their object dependencies.
 830 # It would be nice to compute these lists, but that seems to be just beyond make.
 831
 832 $(TARGET_HEX): $(TARGET_ELF)
 833         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 834
 835 $(TARGET_BIN): $(TARGET_ELF)
 836         $(V0) $(OBJCOPY) -O binary $< $@
 837
 838 $(TARGET_ELF):  $(TARGET_OBJS)
 839         $(V1) echo Linking $(TARGET)
 840         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
 841         $(V0) $(SIZE) $(TARGET_ELF)
 842
 843 # Compile
 844 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 845         $(V1) mkdir -p $(dir $@)
 846         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
 847         $(V1) $(CROSS_CC) -c -o $@ $(CFLAGS) $<
 848
 849 # Assemble
 850 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 851         $(V1) mkdir -p $(dir $@)
 852         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
 853         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 854
 855 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 856         $(V1) mkdir -p $(dir $@)
 857         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
 858         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 859
 860 ## sample            : Build all sample (travis) targets
 861 sample: $(SAMPLE_TARGETS)
 862
 863 ## all               : Build all valid targets
 864 all: $(VALID_TARGETS)
 865
 866 $(VALID_TARGETS):
 867                 $(V0) echo "" && \
 868                 echo "Building $@" && \
 869                 $(MAKE) binary hex TARGET=$@ && \
 870                 echo "Building $@ succeeded."
 871
 872
 873
 874 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
 875 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 876
 877 ## clean             : clean up temporary / machine-generated files
 878 clean:
 879         $(V0) echo "Cleaning $(TARGET)"
 880         $(V0) rm -f $(CLEAN_ARTIFACTS)
 881         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 882         $(V0) echo "Cleaning $(TARGET) succeeded."
 883
 884 ## clean_test        : clean up temporary / machine-generated files (tests)
 885 clean_test:
 886         $(V0) cd src/test && $(MAKE) clean || true
 887
 888 ## clean_<TARGET>    : clean up one specific target
 889 $(CLEAN_TARGETS) :
 890         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 891
 892 ## <TARGET>_clean    : clean up one specific target (alias for above)
 893 $(TARGETS_CLEAN) :
 894         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 895
 896 ## clean_all         : clean all valid targets
 897 clean_all:$(CLEAN_TARGETS)
 898
 899 ## all_clean         : clean all valid targets (alias for above)
 900 all_clean:$(TARGETS_CLEAN)
 901
 902
 903 flash_$(TARGET): $(TARGET_HEX)
 904         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 905         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 906         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 907
 908 ## flash             : flash firmware (.hex) onto flight controller
 909 flash: flash_$(TARGET)
 910
 911 st-flash_$(TARGET): $(TARGET_BIN)
 912         $(V0) st-flash --reset write $< 0x08000000
 913
 914 ## st-flash          : flash firmware (.bin) onto flight controller
 915 st-flash: st-flash_$(TARGET)
 916
 917 binary:
 918         $(V0) $(MAKE) -j $(TARGET_BIN)
 919
 920 hex:
 921         $(V0) $(MAKE) -j $(TARGET_HEX)
 922
 923 unbrick_$(TARGET): $(TARGET_HEX)
 924         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 925         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 926
 927 ## unbrick           : unbrick flight controller
 928 unbrick: unbrick_$(TARGET)
 929
 930 ## cppcheck          : run static analysis on C source code
 931 cppcheck: $(CSOURCES)
 932         $(V0) $(CPPCHECK)
 933
 934 cppcheck-result.xml: $(CSOURCES)
 935         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 936
 937 # mkdirs
 938 $(DL_DIR):
 939         mkdir -p $@
 940
 941 $(TOOLS_DIR):
 942         mkdir -p $@
 943
 944 $(BUILD_DIR):
 945         mkdir -p $@
 946
 947 ## help              : print this help message and exit
 948 help: Makefile make/tools.mk
 949         $(V0) @echo ""
 950         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
 951         $(V0) @echo ""
 952         $(V0) @echo "Usage:"
 953         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 954         $(V0) @echo "Or:"
 955         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 956         $(V0) @echo ""
 957         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
 958         $(V0) @echo ""
 959         $(V0) @sed -n 's/^## //p' $?
 960
 961 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 962 targets:
 963         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
 964         $(V0) @echo "Target:        $(TARGET)"
 965         $(V0) @echo "Base target:   $(BASE_TARGET)"
 966
 967 ## test              : run the cleanflight test suite
 968 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
 969 test junittest:
 970         $(V0) cd src/test && $(MAKE) $@
 971
 972 # rebuild everything when makefile changes
 973 $(TARGET_OBJS) : Makefile
 974
 975 # include auto-generated dependencies
 976 -include $(TARGET_DEPS)