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
  41 ###############################################################################
  42 # Things that need to be maintained as the source changes
  43 #
  44
  45 FORKNAME      = betaflight
  46
  47 # Working directories
  48 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  49 SRC_DIR         = $(ROOT)/src/main
  50 OBJECT_DIR      = $(ROOT)/obj/main
  51 BIN_DIR         = $(ROOT)/obj
  52 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  53 INCLUDE_DIRS    = $(SRC_DIR) \
  54                   $(ROOT)/src/main/target
  55 LINKER_DIR      = $(ROOT)/src/main/target/link
  56
  57 ## V                 : Set verbosity level based on the V= parameter
  58 ##                     V=0 Low
  59 ##                     V=1 High
  60 include $(ROOT)/make/build_verbosity.mk
  61
  62 # Build tools, so we all share the same versions
  63 # import macros common to all supported build systems
  64 include $(ROOT)/make/system-id.mk
  65
  66 # developer preferences, edit these at will, they'll be gitignored
  67 -include $(ROOT)/make/local.mk
  68
  69 # configure some directories that are relative to wherever ROOT_DIR is located
  70 ifndef TOOLS_DIR
  71 TOOLS_DIR := $(ROOT)/tools
  72 endif
  73 BUILD_DIR := $(ROOT)/build
  74 DL_DIR    := $(ROOT)/downloads
  75
  76 export RM := rm
  77
  78 # import macros that are OS specific
  79 include $(ROOT)/make/$(OSFAMILY).mk
  80
  81 # include the tools makefile
  82 include $(ROOT)/make/tools.mk
  83
  84 # default xtal value for F4 targets
  85 HSE_VALUE       ?= 8000000
  86
  87 # used for turning on features like VCP and SDCARD
  88 FEATURES        =
  89
  90 OFFICIAL_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
  91 ALT_TARGETS       = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  92 OPBL_TARGETS      = $(filter %_OPBL, $(ALT_TARGETS))
  93 OSD_SLAVE_TARGETS = SPRACINGF3OSD
  94
  95 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  96 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  97 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  98 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  99
 100 GROUP_1_TARGETS := \
 101         AFROMINI \
 102         AIORACERF3 \
 103         AIR32 \
 104         AIRBOTF4 \
 105         AIRBOTF4SD \
 106         AIRHEROF3 \
 107         ALIENFLIGHTF1 \
 108         ALIENFLIGHTF3 \
 109         ALIENFLIGHTF4 \
 110         ALIENFLIGHTNGF7 \
 111         ANYFCF7 \
 112         BEEBRAIN \
 113         BEEROTORF4 \
 114         BETAFLIGHTF3 \
 115         BLUEJAYF4 \
 116         CC3D \
 117         CC3D_OPBL \
 118
 119 GROUP_2_TARGETS := \
 120         CHEBUZZF3 \
 121         CJMCU \
 122         CLRACINGF4 \
 123         COLIBRI \
 124         COLIBRI_OPBL \
 125         COLIBRI_RACE \
 126         DOGE \
 127         ELLE0 \
 128         F4BY \
 129         FISHDRONEF4 \
 130         FLIP32F3OSD \
 131         FF_ACROWHOOPSP \
 132         FF_FORTINIF4 \
 133         FF_KOMBINI \
 134         FF_PIKOBLX \
 135         FF_PIKOF4 \
 136         FF_RADIANCE \
 137         FRSKYF3 \
 138         FRSKYF4 \
 139         FURYF3 \
 140         FURYF4 \
 141         FURYF7 \
 142         IMPULSERCF3 \
 143         IRCFUSIONF3 \
 144         ISHAPEDF3 \
 145
 146 GROUP_3_TARGETS := \
 147         KAKUTEF4 \
 148         KISSCC \
 149         KIWIF4 \
 150         LUX_RACE \
 151         LUXV2_RACE \
 152         MICROSCISKY \
 153         MOTOLAB \
 154         MULTIFLITEPICO \
 155         NAZE \
 156         NERO \
 157         NUCLEOF7 \
 158         OMNIBUS \
 159         OMNIBUSF4 \
 160         OMNIBUSF4SD \
 161         PLUMF4 \
 162         PODIUMF4 \
 163
 164 GROUP_4_TARGETS := \
 165         RCEXPLORERF3 \
 166         REVO \
 167         REVO_OPBL \
 168         REVOLT \
 169         REVONANO \
 170         RMDO \
 171         SINGULARITY \
 172         SIRINFPV \
 173         SOULF4 \
 174         SPARKY \
 175         SPARKY2 \
 176         SPRACINGF3 \
 177         SPRACINGF3EVO \
 178         SPRACINGF3MINI \
 179         SPRACINGF3NEO \
 180         SPRACINGF3OSD \
 181         SPRACINGF4EVO \
 182         SPRACINGF4NEO \
 183         STM32F3DISCOVERY \
 184         TINYBEEF3 \
 185
 186 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
 187
 188
 189 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 190 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 191 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 192 else
 193 BASE_TARGET    := $(TARGET)
 194 endif
 195
 196 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 197 OPBL            = yes
 198 endif
 199
 200 ifeq ($(filter $(TARGET),$(OSD_SLAVE_TARGETS)), $(TARGET))
 201 # build an OSD SLAVE
 202 OSD_SLAVE       = yes
 203 else
 204 # build an FC
 205 FC              = yes
 206 endif
 207
 208
 209 # silently ignore if the file is not present. Allows for target specific.
 210 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 211
 212 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F446_TARGETS)
 213 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 214
 215 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 216 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 217 endif
 218
 219 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS) $(SITL_TARGETS)),)
 220 $(error Target '$(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?)
 221 endif
 222
 223 128K_TARGETS  = $(F1_TARGETS)
 224 256K_TARGETS  = $(F3_TARGETS)
 225 512K_TARGETS  = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 226 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 227 2048K_TARGETS = $(F7X5XI_TARGETS) $(SITL_TARGETS)
 228
 229 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 230 ifeq ($(FLASH_SIZE),)
 231 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 232 FLASH_SIZE = 2048
 233 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 234 FLASH_SIZE = 1024
 235 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 236 FLASH_SIZE = 512
 237 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 238 FLASH_SIZE = 256
 239 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 240 FLASH_SIZE = 128
 241 else
 242 $(error FLASH_SIZE not configured for target $(TARGET))
 243 endif
 244 endif
 245
 246 # note that there is no hardfault debugging startup file assembly handler for other platforms
 247 ifeq ($(DEBUG_HARDFAULTS),F3)
 248 CFLAGS               += -DDEBUG_HARDFAULTS
 249 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 250 else
 251 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 252 endif
 253
 254 ifeq ($(DEBUG_HARDFAULTS),F7)
 255 CFLAGS               += -DDEBUG_HARDFAULTS
 256 endif
 257
 258 REVISION := $(shell git log -1 --format="%h")
 259
 260 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 261 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 262 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 263
 264 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 265
 266 # Search path for sources
 267 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 268 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 269 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 270 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 271 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 272
 273 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 274
 275 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 276 # F3 TARGETS
 277
 278 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 279 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 280 EXCLUDES        = stm32f30x_crc.c \
 281                   stm32f30x_can.c
 282 STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 283
 284 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 285 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 286
 287 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F30x
 288 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 289                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F30x/*.c))
 290
 291 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 292                    $(STDPERIPH_DIR)/inc \
 293                    $(CMSIS_DIR)/CM4/CoreSupport \
 294                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F30x
 295
 296 ifneq ($(filter VCP, $(FEATURES)),)
 297 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 298                    $(USBFS_DIR)/inc \
 299                    $(ROOT)/src/main/vcp
 300
 301 VPATH           := $(VPATH):$(USBFS_DIR)/src
 302
 303 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 304                         $(USBPERIPH_SRC)
 305 endif
 306
 307 ifneq ($(filter SDCARD, $(FEATURES)),)
 308 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 309                    $(FATFS_DIR) \
 310
 311 VPATH           := $(VPATH):$(FATFS_DIR)
 312 endif
 313
 314 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 315
 316 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 317 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 318 # End F3 targets
 319 #
 320 # Start F4 targets
 321 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 322
 323 #STDPERIPH
 324 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 325 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 326 EXCLUDES        = stm32f4xx_crc.c \
 327                   stm32f4xx_can.c \
 328                   stm32f4xx_fmc.c \
 329                   stm32f4xx_sai.c \
 330                   stm32f4xx_cec.c \
 331                   stm32f4xx_dsi.c \
 332                   stm32f4xx_flash_ramfunc.c \
 333                   stm32f4xx_fmpi2c.c \
 334                   stm32f4xx_lptim.c \
 335                   stm32f4xx_qspi.c \
 336                   stm32f4xx_spdifrx.c \
 337                   stm32f4xx_cryp.c \
 338                   stm32f4xx_cryp_aes.c \
 339                   stm32f4xx_hash_md5.c \
 340                   stm32f4xx_cryp_des.c \
 341                   stm32f4xx_rtc.c \
 342                   stm32f4xx_hash.c \
 343                   stm32f4xx_dbgmcu.c \
 344                   stm32f4xx_cryp_tdes.c \
 345                   stm32f4xx_hash_sha1.c
 346
 347 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 348 EXCLUDES        += stm32f4xx_fsmc.c
 349 endif
 350
 351 ifeq ($(TARGET),$(filter $(TARGET), $(F446_TARGETS)))
 352 EXCLUDES        += stm32f4xx_fsmc.c
 353 endif
 354
 355 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 356
 357 #USB
 358 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 359 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 360 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 361 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 362 EXCLUDES    = usb_bsp_template.c \
 363               usb_conf_template.c \
 364               usb_hcd_int.c \
 365               usb_hcd.c \
 366               usb_otg.c
 367
 368 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 369 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 370 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 371 EXCLUDES    = usbd_cdc_if_template.c
 372 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 373 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 374
 375 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 376                         $(USBOTG_SRC) \
 377                         $(USBCORE_SRC) \
 378                         $(USBCDC_SRC)
 379
 380 #CMSIS
 381 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 382 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 383                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 384 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 385                    $(STDPERIPH_DIR)/inc \
 386                    $(USBOTG_DIR)/inc \
 387                    $(USBCORE_DIR)/inc \
 388                    $(USBCDC_DIR)/inc \
 389                    $(USBFS_DIR)/inc \
 390                    $(CMSIS_DIR)/CM4/CoreSupport \
 391                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 392                    $(ROOT)/src/main/vcpf4
 393
 394 ifneq ($(filter SDCARD,$(FEATURES)),)
 395 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 396                    $(FATFS_DIR)
 397 VPATH           := $(VPATH):$(FATFS_DIR)
 398 endif
 399
 400 #Flags
 401 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 402
 403 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 404 DEVICE_FLAGS    = -DSTM32F411xE
 405 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 406 STARTUP_SRC     = startup_stm32f411xe.s
 407 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 408 DEVICE_FLAGS    = -DSTM32F40_41xxx
 409 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 410 STARTUP_SRC     = startup_stm32f40xx.s
 411 else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
 412 DEVICE_FLAGS    = -DSTM32F446xx
 413 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f446.ld
 414 STARTUP_SRC     = startup_stm32f446xx.s
 415 else
 416 $(error Unknown MCU for F4 target)
 417 endif
 418 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 419
 420 # End F4 targets
 421 #
 422 # Start F7 targets
 423 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 424
 425 #STDPERIPH
 426 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 427 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 428 EXCLUDES        = stm32f7xx_hal_can.c \
 429                   stm32f7xx_hal_cec.c \
 430                   stm32f7xx_hal_crc.c \
 431                   stm32f7xx_hal_crc_ex.c \
 432                   stm32f7xx_hal_cryp.c \
 433                   stm32f7xx_hal_cryp_ex.c \
 434                   stm32f7xx_hal_dac.c \
 435                   stm32f7xx_hal_dac_ex.c \
 436                   stm32f7xx_hal_dcmi.c \
 437                   stm32f7xx_hal_dcmi_ex.c \
 438                   stm32f7xx_hal_dfsdm.c \
 439                   stm32f7xx_hal_dma2d.c \
 440                   stm32f7xx_hal_dsi.c \
 441                   stm32f7xx_hal_eth.c \
 442                   stm32f7xx_hal_hash.c \
 443                   stm32f7xx_hal_hash_ex.c \
 444                   stm32f7xx_hal_hcd.c \
 445                   stm32f7xx_hal_i2s.c \
 446                   stm32f7xx_hal_irda.c \
 447                   stm32f7xx_hal_iwdg.c \
 448                   stm32f7xx_hal_jpeg.c \
 449                   stm32f7xx_hal_lptim.c \
 450                   stm32f7xx_hal_ltdc.c \
 451                   stm32f7xx_hal_ltdc_ex.c \
 452                   stm32f7xx_hal_mdios.c \
 453                   stm32f7xx_hal_mmc.c \
 454                   stm32f7xx_hal_msp_template.c \
 455                   stm32f7xx_hal_nand.c \
 456                   stm32f7xx_hal_nor.c \
 457                   stm32f7xx_hal_qspi.c \
 458                   stm32f7xx_hal_rng.c \
 459                   stm32f7xx_hal_rtc.c \
 460                   stm32f7xx_hal_rtc_ex.c \
 461                   stm32f7xx_hal_sai.c \
 462                   stm32f7xx_hal_sai_ex.c \
 463                   stm32f7xx_hal_sd.c \
 464                   stm32f7xx_hal_sdram.c \
 465                   stm32f7xx_hal_smartcard.c \
 466                   stm32f7xx_hal_smartcard_ex.c \
 467                   stm32f7xx_hal_smbus.c \
 468                   stm32f7xx_hal_spdifrx.c \
 469                   stm32f7xx_hal_sram.c \
 470                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 471                   stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 472                   stm32f7xx_hal_timebase_tim_template.c \
 473                   stm32f7xx_hal_wwdg.c \
 474                   stm32f7xx_ll_adc.c \
 475                   stm32f7xx_ll_crc.c \
 476                   stm32f7xx_ll_dac.c \
 477                   stm32f7xx_ll_dma.c \
 478                   stm32f7xx_ll_dma2d.c \
 479                   stm32f7xx_ll_exti.c \
 480                   stm32f7xx_ll_fmc.c \
 481                   stm32f7xx_ll_gpio.c \
 482                   stm32f7xx_ll_i2c.c \
 483                   stm32f7xx_ll_lptim.c \
 484                   stm32f7xx_ll_pwr.c \
 485                   stm32f7xx_ll_rcc.c \
 486                   stm32f7xx_ll_rng.c \
 487                   stm32f7xx_ll_rtc.c \
 488                   stm32f7xx_ll_sdmmc.c \
 489                   stm32f7xx_ll_spi.c \
 490                   stm32f7xx_ll_tim.c \
 491                   stm32f7xx_ll_usart.c \
 492                   stm32f7xx_ll_utils.c
 493
 494 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 495
 496 #USB
 497 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 498 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 499 EXCLUDES    = usbd_conf_template.c
 500 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 501
 502 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 503 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 504 EXCLUDES   = usbd_cdc_if_template.c
 505 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 506
 507 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 508
 509 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 510                         $(USBCORE_SRC) \
 511                         $(USBCDC_SRC)
 512
 513 #CMSIS
 514 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 515 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 516 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 517                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 518 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 519                    $(STDPERIPH_DIR)/Inc \
 520                    $(USBCORE_DIR)/Inc \
 521                    $(USBCDC_DIR)/Inc \
 522                    $(CMSIS_DIR)/CM7/Include \
 523                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 524                    $(ROOT)/src/main/vcp_hal
 525
 526 ifneq ($(filter SDCARD,$(FEATURES)),)
 527 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 528                    $(FATFS_DIR)
 529 VPATH           := $(VPATH):$(FATFS_DIR)
 530 endif
 531
 532 #Flags
 533 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 534
 535 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 536 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 537 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 538 STARTUP_SRC     = startup_stm32f745xx.s
 539 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 540 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 541 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 542 STARTUP_SRC     = startup_stm32f746xx.s
 543 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 544 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 545 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 546 STARTUP_SRC     = startup_stm32f722xx.s
 547 else
 548 $(error Unknown MCU for F7 target)
 549 endif
 550 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 551
 552 TARGET_FLAGS    = -D$(TARGET)
 553
 554 # End F7 targets
 555 #
 556 # Start SITL targets
 557 else ifeq ($(TARGET),$(filter $(TARGET), $(SITL_TARGETS)))
 558
 559 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 560                    $(ROOT)/lib/main/dyad
 561
 562 SITL_SRC        := $(ROOT)/lib/main/dyad/dyad.c
 563
 564 #Flags
 565 ARCH_FLAGS      =
 566 DEVICE_FLAGS    =
 567 LD_SCRIPT       = src/main/target/SITL/parameter_group.ld
 568 STARTUP_SRC     =
 569
 570 TARGET_FLAGS    = -D$(TARGET)
 571
 572 ARM_SDK_PREFIX  =
 573
 574 # End SITL targets
 575 #
 576 # Start F1 targets
 577 else
 578
 579 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 580 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 581 EXCLUDES        = stm32f10x_crc.c \
 582                   stm32f10x_cec.c \
 583                   stm32f10x_can.c
 584 STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 585 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 586
 587 # Search path and source files for the CMSIS sources
 588 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 589 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 590                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 591
 592 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 593                    $(STDPERIPH_DIR)/inc \
 594                    $(CMSIS_DIR)/CM3/CoreSupport \
 595                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 596
 597 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 598
 599 ifneq ($(filter VCP, $(FEATURES)),)
 600 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 601                    $(USBFS_DIR)/inc \
 602                    $(ROOT)/src/main/vcp
 603
 604 VPATH           := $(VPATH):$(USBFS_DIR)/src
 605
 606 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 607                         $(USBPERIPH_SRC)
 608
 609 endif
 610
 611 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 612 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 613
 614 ifeq ($(DEVICE_FLAGS),)
 615 DEVICE_FLAGS    = -DSTM32F10X_MD
 616 endif
 617 DEVICE_FLAGS   += -DSTM32F10X
 618
 619 endif
 620 #
 621 # End F1 targets
 622 #
 623 ifneq ($(BASE_TARGET), $(TARGET))
 624 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 625 endif
 626
 627 ifneq ($(FLASH_SIZE),)
 628 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 629 endif
 630
 631 ifneq ($(HSE_VALUE),)
 632 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 633 endif
 634
 635 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 636 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 637
 638 ifeq ($(OPBL),yes)
 639 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 640 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 641 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 642 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 643 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 644 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 645 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 646 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 647 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 648 endif
 649 .DEFAULT_GOAL := binary
 650 else
 651 .DEFAULT_GOAL := hex
 652 endif
 653
 654 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 655                    $(ROOT)/lib/main/MAVLink
 656
 657 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 658                    $(TARGET_DIR)
 659
 660 VPATH           := $(VPATH):$(TARGET_DIR)
 661
 662 COMMON_SRC = \
 663             build/build_config.c \
 664             build/debug.c \
 665             build/version.c \
 666             $(TARGET_DIR_SRC) \
 667             main.c \
 668             common/bitarray.c \
 669             common/encoding.c \
 670             common/filter.c \
 671             common/maths.c \
 672             common/printf.c \
 673             common/streambuf.c \
 674             common/typeconversion.c \
 675             config/config_eeprom.c \
 676             config/feature.c \
 677             config/parameter_group.c \
 678             config/config_streamer.c \
 679             drivers/adc.c \
 680             drivers/buf_writer.c \
 681             drivers/bus_i2c_config.c \
 682             drivers/bus_i2c_soft.c \
 683             drivers/bus_spi.c \
 684             drivers/bus_spi_config.c \
 685             drivers/bus_spi_soft.c \
 686             drivers/buttons.c \
 687             drivers/display.c \
 688             drivers/exti.c \
 689             drivers/io.c \
 690             drivers/light_led.c \
 691             drivers/resource.c \
 692             drivers/rcc.c \
 693             drivers/serial.c \
 694             drivers/serial_pinconfig.c \
 695             drivers/serial_uart.c \
 696             drivers/serial_uart_pinconfig.c \
 697             drivers/sound_beeper.c \
 698             drivers/stack_check.c \
 699             drivers/system.c \
 700             drivers/timer.c \
 701             drivers/transponder_ir.c \
 702             drivers/transponder_ir_arcitimer.c \
 703             drivers/transponder_ir_ilap.c \
 704             drivers/transponder_ir_erlt.c \
 705             fc/config.c \
 706             fc/fc_dispatch.c \
 707             fc/fc_hardfaults.c \
 708             fc/fc_msp.c \
 709             fc/fc_tasks.c \
 710             fc/runtime_config.c \
 711             io/beeper.c \
 712             io/serial.c \
 713             io/statusindicator.c \
 714             io/transponder_ir.c \
 715             io/rcsplit.c \
 716             msp/msp_serial.c \
 717             scheduler/scheduler.c \
 718             sensors/battery.c \
 719             sensors/current.c \
 720             sensors/voltage.c \
 721
 722 OSD_SLAVE_SRC = \
 723             io/displayport_max7456.c \
 724             osd_slave/osd_slave_init.c \
 725             io/osd_slave.c
 726
 727 FC_SRC = \
 728             fc/fc_init.c \
 729             fc/controlrate_profile.c \
 730             drivers/gyro_sync.c \
 731             drivers/rx_nrf24l01.c \
 732             drivers/rx_spi.c \
 733             drivers/rx_xn297.c \
 734             drivers/pwm_esc_detect.c \
 735             drivers/pwm_output.c \
 736             drivers/rx_pwm.c \
 737             drivers/serial_softserial.c \
 738             fc/fc_core.c \
 739             fc/fc_rc.c \
 740             fc/rc_adjustments.c \
 741             fc/rc_controls.c \
 742             fc/rc_modes.c \
 743             fc/cli.c \
 744             fc/settings.c \
 745             flight/altitude.c \
 746             flight/failsafe.c \
 747             flight/imu.c \
 748             flight/mixer.c \
 749             flight/pid.c \
 750             flight/servos.c \
 751             io/serial_4way.c \
 752             io/serial_4way_avrootloader.c \
 753             io/serial_4way_stk500v2.c \
 754             rx/ibus.c \
 755             rx/jetiexbus.c \
 756             rx/msp.c \
 757             rx/nrf24_cx10.c \
 758             rx/nrf24_inav.c \
 759             rx/nrf24_h8_3d.c \
 760             rx/nrf24_syma.c \
 761             rx/nrf24_v202.c \
 762             rx/pwm.c \
 763             rx/rx.c \
 764             rx/rx_spi.c \
 765             rx/crsf.c \
 766             rx/sbus.c \
 767             rx/spektrum.c \
 768             rx/sumd.c \
 769             rx/sumh.c \
 770             rx/xbus.c \
 771             sensors/acceleration.c \
 772             sensors/boardalignment.c \
 773             sensors/compass.c \
 774             sensors/gyro.c \
 775             sensors/gyroanalyse.c \
 776             sensors/initialisation.c \
 777             blackbox/blackbox.c \
 778             blackbox/blackbox_encoding.c \
 779             blackbox/blackbox_io.c \
 780             cms/cms.c \
 781             cms/cms_menu_blackbox.c \
 782             cms/cms_menu_builtin.c \
 783             cms/cms_menu_imu.c \
 784             cms/cms_menu_ledstrip.c \
 785             cms/cms_menu_misc.c \
 786             cms/cms_menu_osd.c \
 787             common/colorconversion.c \
 788             common/gps_conversion.c \
 789             drivers/display_ug2864hsweg01.c \
 790             drivers/light_ws2811strip.c \
 791             drivers/serial_escserial.c \
 792             drivers/sonar_hcsr04.c \
 793             drivers/vtx_common.c \
 794             flight/navigation.c \
 795             io/dashboard.c \
 796             io/displayport_max7456.c \
 797             io/displayport_msp.c \
 798             io/displayport_oled.c \
 799             io/gps.c \
 800             io/ledstrip.c \
 801             io/osd.c \
 802             sensors/sonar.c \
 803             sensors/barometer.c \
 804             telemetry/telemetry.c \
 805             telemetry/crsf.c \
 806             telemetry/srxl.c \
 807             telemetry/frsky.c \
 808             telemetry/hott.c \
 809             telemetry/smartport.c \
 810             telemetry/ltm.c \
 811             telemetry/mavlink.c \
 812             telemetry/ibus.c \
 813             telemetry/ibus_shared.c \
 814             sensors/esc_sensor.c \
 815             io/vtx_string.c \
 816             io/vtx_rtc6705.c \
 817             io/vtx_smartaudio.c \
 818             io/vtx_tramp.c \
 819             io/vtx_control.c
 820
 821 COMMON_DEVICE_SRC = \
 822             $(CMSIS_SRC) \
 823             $(DEVICE_STDPERIPH_SRC)
 824
 825 ifeq ($(OSD_SLAVE),yes)
 826 TARGET_FLAGS := -DUSE_OSD_SLAVE $(TARGET_FLAGS)
 827 COMMON_SRC := $(COMMON_SRC) $(OSD_SLAVE_SRC) $(COMMON_DEVICE_SRC)
 828 else
 829 COMMON_SRC := $(COMMON_SRC) $(FC_SRC) $(COMMON_DEVICE_SRC)
 830 endif
 831
 832
 833 SPEED_OPTIMISED_SRC := ""
 834 SIZE_OPTIMISED_SRC  := ""
 835
 836 ifneq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 837 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 838             common/encoding.c \
 839             common/filter.c \
 840             common/maths.c \
 841             common/typeconversion.c \
 842             drivers/adc.c \
 843             drivers/buf_writer.c \
 844             drivers/bus_i2c_soft.c \
 845             drivers/bus_spi.c \
 846             drivers/bus_spi_soft.c \
 847             drivers/exti.c \
 848             drivers/gyro_sync.c \
 849             drivers/io.c \
 850             drivers/light_led.c \
 851             drivers/resource.c \
 852             drivers/rx_nrf24l01.c \
 853             drivers/rx_spi.c \
 854             drivers/rx_xn297.c \
 855             drivers/pwm_output.c \
 856             drivers/rcc.c \
 857             drivers/rx_pwm.c \
 858             drivers/serial.c \
 859             drivers/serial_uart.c \
 860             drivers/sound_beeper.c \
 861             drivers/system.c \
 862             drivers/timer.c \
 863             fc/fc_core.c \
 864             fc/fc_tasks.c \
 865             fc/fc_rc.c \
 866             fc/rc_controls.c \
 867             fc/runtime_config.c \
 868             flight/imu.c \
 869             flight/mixer.c \
 870             flight/pid.c \
 871             flight/servos.c \
 872             io/serial.c \
 873             rx/ibus.c \
 874             rx/jetiexbus.c \
 875             rx/nrf24_cx10.c \
 876             rx/nrf24_inav.c \
 877             rx/nrf24_h8_3d.c \
 878             rx/nrf24_syma.c \
 879             rx/nrf24_v202.c \
 880             rx/pwm.c \
 881             rx/rx.c \
 882             rx/rx_spi.c \
 883             rx/crsf.c \
 884             rx/sbus.c \
 885             rx/spektrum.c \
 886             rx/sumd.c \
 887             rx/sumh.c \
 888             rx/xbus.c \
 889             scheduler/scheduler.c \
 890             sensors/acceleration.c \
 891             sensors/boardalignment.c \
 892             sensors/gyro.c \
 893             sensors/gyroanalyse.c \
 894             $(CMSIS_SRC) \
 895             $(DEVICE_STDPERIPH_SRC) \
 896             drivers/display_ug2864hsweg01.c \
 897             drivers/light_ws2811strip.c \
 898             drivers/serial_softserial.c \
 899             io/displayport_max7456.c \
 900             io/osd.c \
 901             io/osd_slave.c
 902
 903 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 904             drivers/bus_i2c_config.c \
 905             drivers/bus_spi_config.c \
 906             drivers/serial_escserial.c \
 907             drivers/serial_pinconfig.c \
 908             drivers/serial_uart_init.c \
 909             drivers/serial_uart_pinconfig.c \
 910             drivers/vtx_rtc6705_soft_spi.c \
 911             drivers/vtx_rtc6705.c \
 912             drivers/vtx_common.c \
 913             fc/fc_init.c \
 914             fc/cli.c \
 915             fc/settings.c \
 916             config/config_eeprom.c \
 917             config/feature.c \
 918             config/parameter_group.c \
 919             config/config_streamer.c \
 920             io/serial_4way.c \
 921             io/serial_4way_avrootloader.c \
 922             io/serial_4way_stk500v2.c \
 923             io/dashboard.c \
 924             msp/msp_serial.c \
 925             cms/cms.c \
 926             cms/cms_menu_blackbox.c \
 927             cms/cms_menu_builtin.c \
 928             cms/cms_menu_imu.c \
 929             cms/cms_menu_ledstrip.c \
 930             cms/cms_menu_misc.c \
 931             cms/cms_menu_osd.c \
 932             io/vtx_string.c \
 933             io/vtx_rtc6705.c \
 934             io/vtx_smartaudio.c \
 935             io/vtx_tramp.c \
 936             io/vtx_control.c
 937 endif #!F1
 938
 939 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 940 VCP_SRC = \
 941             vcpf4/stm32f4xx_it.c \
 942             vcpf4/usb_bsp.c \
 943             vcpf4/usbd_desc.c \
 944             vcpf4/usbd_usr.c \
 945             vcpf4/usbd_cdc_vcp.c \
 946             drivers/serial_usb_vcp.c \
 947             drivers/usb_io.c
 948 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 949 VCP_SRC = \
 950             vcp_hal/usbd_desc.c \
 951             vcp_hal/usbd_conf.c \
 952             vcp_hal/usbd_cdc_interface.c \
 953             drivers/serial_usb_vcp.c \
 954             drivers/usb_io.c
 955 else
 956 VCP_SRC = \
 957             vcp/hw_config.c \
 958             vcp/stm32_it.c \
 959             vcp/usb_desc.c \
 960             vcp/usb_endp.c \
 961             vcp/usb_istr.c \
 962             vcp/usb_prop.c \
 963             vcp/usb_pwr.c \
 964             drivers/serial_usb_vcp.c \
 965             drivers/usb_io.c
 966 endif
 967
 968 STM32F10x_COMMON_SRC = \
 969             drivers/adc_stm32f10x.c \
 970             drivers/bus_i2c_stm32f10x.c \
 971             drivers/dma.c \
 972             drivers/gpio_stm32f10x.c \
 973             drivers/inverter.c \
 974             drivers/light_ws2811strip_stdperiph.c \
 975             drivers/serial_uart_init.c \
 976             drivers/serial_uart_stm32f10x.c \
 977             drivers/system_stm32f10x.c \
 978             drivers/timer_stm32f10x.c
 979
 980 STM32F30x_COMMON_SRC = \
 981             target/system_stm32f30x.c \
 982             drivers/adc_stm32f30x.c \
 983             drivers/bus_i2c_stm32f30x.c \
 984             drivers/dma.c \
 985             drivers/gpio_stm32f30x.c \
 986             drivers/light_ws2811strip_stdperiph.c \
 987             drivers/pwm_output_dshot.c \
 988             drivers/serial_uart_init.c \
 989             drivers/serial_uart_stm32f30x.c \
 990             drivers/system_stm32f30x.c \
 991             drivers/timer_stm32f30x.c
 992
 993 STM32F4xx_COMMON_SRC = \
 994             target/system_stm32f4xx.c \
 995             drivers/accgyro/accgyro_mpu.c \
 996             drivers/adc_stm32f4xx.c \
 997             drivers/bus_i2c_stm32f10x.c \
 998             drivers/dma_stm32f4xx.c \
 999             drivers/gpio_stm32f4xx.c \
1000             drivers/inverter.c \
1001             drivers/light_ws2811strip_stdperiph.c \
1002             drivers/pwm_output_dshot.c \
1003             drivers/serial_uart_init.c \
1004             drivers/serial_uart_stm32f4xx.c \
1005             drivers/system_stm32f4xx.c \
1006             drivers/timer_stm32f4xx.c
1007
1008 STM32F7xx_COMMON_SRC = \
1009             target/system_stm32f7xx.c \
1010             drivers/accgyro/accgyro_mpu.c \
1011             drivers/adc_stm32f7xx.c \
1012             drivers/bus_i2c_hal.c \
1013             drivers/dma_stm32f7xx.c \
1014             drivers/gpio_stm32f7xx.c \
1015             drivers/light_ws2811strip_hal.c \
1016             drivers/bus_spi_hal.c \
1017             drivers/pwm_output_dshot_hal.c \
1018             drivers/timer_hal.c \
1019             drivers/timer_stm32f7xx.c \
1020             drivers/system_stm32f7xx.c \
1021             drivers/serial_uart_stm32f7xx.c \
1022             drivers/serial_uart_hal.c
1023
1024 F7EXCLUDES = \
1025             drivers/bus_spi.c \
1026             drivers/bus_i2c.c \
1027             drivers/timer.c \
1028             drivers/serial_uart.c
1029
1030 SITLEXCLUDES = \
1031             drivers/adc.c \
1032             drivers/bus_i2c.c \
1033             drivers/bus_i2c_config.c \
1034             drivers/bus_spi.c \
1035             drivers/bus_spi_config.c \
1036             drivers/dma.c \
1037             drivers/pwm_output.c \
1038             drivers/timer.c \
1039             drivers/light_led.c \
1040             drivers/system.c \
1041             drivers/rcc.c \
1042             drivers/serial_pinconfig.c \
1043             drivers/serial_uart.c \
1044             drivers/serial_uart_init.c \
1045             drivers/serial_uart_pinconfig.c \
1046             drivers/rx_xn297.c \
1047             drivers/display_ug2864hsweg01.c \
1048             telemetry/crsf.c \
1049             telemetry/srxl.c \
1050             io/displayport_oled.c
1051
1052
1053 # check if target.mk supplied
1054 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
1055 SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1056 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
1057 SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1058 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
1059 SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1060 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
1061 SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1062 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1063 SRC := $(TARGET_SRC) $(SITL_SRC) $(VARIANT_SRC)
1064 endif
1065
1066 ifneq ($(filter $(TARGET),$(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
1067 DSPLIB := $(ROOT)/lib/main/DSP_Lib
1068 DEVICE_FLAGS += -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE
1069
1070 ifneq ($(filter $(TARGET),$(F3_TARGETS)) $(F4_TARGETS)),)
1071 DEVICE_FLAGS += -DARM_MATH_CM4
1072 endif
1073 ifneq ($(filter $(TARGET),$(F7_TARGETS)),)
1074 DEVICE_FLAGS += -DARM_MATH_CM7
1075 endif
1076
1077 INCLUDE_DIRS += $(DSPLIB)/Include
1078
1079 SRC += $(DSPLIB)/Source/BasicMathFunctions/arm_mult_f32.c
1080 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_f32.c
1081 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_f32.c
1082 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_init_f32.c
1083 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_radix8_f32.c
1084 SRC += $(DSPLIB)/Source/CommonTables/arm_common_tables.c
1085
1086 SRC += $(DSPLIB)/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
1087 SRC += $(DSPLIB)/Source/StatisticsFunctions/arm_max_f32.c
1088
1089 SRC += $(wildcard $(DSPLIB)/Source/*/*.S)
1090
1091 endif
1092
1093
1094 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
1095 SRC += \
1096             drivers/flash_m25p16.c \
1097             io/flashfs.c
1098 endif
1099
1100 SRC += $(COMMON_SRC)
1101
1102 #excludes
1103 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
1104 SRC   := $(filter-out ${F7EXCLUDES}, $(SRC))
1105 endif
1106
1107 #SITL excludes
1108 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1109 SRC   := $(filter-out ${SITLEXCLUDES}, $(SRC))
1110 endif
1111
1112 ifneq ($(filter SDCARD,$(FEATURES)),)
1113 SRC += \
1114             drivers/sdcard.c \
1115             drivers/sdcard_standard.c \
1116             io/asyncfatfs/asyncfatfs.c \
1117             io/asyncfatfs/fat_standard.c
1118 endif
1119
1120 ifneq ($(filter VCP,$(FEATURES)),)
1121 SRC += $(VCP_SRC)
1122 endif
1123 # end target specific make file checks
1124
1125
1126 # Search path and source files for the ST stdperiph library
1127 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
1128
1129 ###############################################################################
1130 # Things that might need changing to use different tools
1131 #
1132
1133 # Find out if ccache is installed on the system
1134 CCACHE := ccache
1135 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
1136 ifneq ($(RESULT),0)
1137 CCACHE :=
1138 endif
1139
1140 # Tool names
1141 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
1142 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
1143 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
1144 SIZE        := $(ARM_SDK_PREFIX)size
1145
1146 #
1147 # Tool options.
1148 #
1149
1150 ifneq ($(DEBUG),GDB)
1151 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
1152 OPTIMISE_SPEED      :=
1153 OPTIMISE_SIZE       :=
1154
1155 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
1156 OPTIMISE_DEFAULT    := -Os
1157
1158 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1159
1160 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1161 OPTIMISE_DEFAULT    := -Ofast
1162 OPTIMISE_SPEED      := -Ofast
1163 OPTIMISE_SIZE       := -Os
1164
1165 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1166
1167 else
1168 OPTIMISE_DEFAULT    := -O2
1169 OPTIMISE_SPEED      := -Ofast
1170 OPTIMISE_SIZE       := -Os
1171
1172 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1173
1174 endif #TARGETS
1175
1176 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1177 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1178 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
1179
1180 else #DEBUG
1181 OPTIMISE_DEFAULT    := -Og
1182
1183 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
1184
1185 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
1186 endif #DEBUG
1187
1188 DEBUG_FLAGS = -ggdb3 -DDEBUG
1189
1190 CFLAGS      += $(ARCH_FLAGS) \
1191               $(addprefix -D,$(OPTIONS)) \
1192               $(addprefix -I,$(INCLUDE_DIRS)) \
1193               $(DEBUG_FLAGS) \
1194               -std=gnu99 \
1195               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
1196               -ffunction-sections \
1197               -fdata-sections \
1198               -pedantic \
1199               $(DEVICE_FLAGS) \
1200               -DUSE_STDPERIPH_DRIVER \
1201               -D$(TARGET) \
1202               $(TARGET_FLAGS) \
1203               -D'__FORKNAME__="$(FORKNAME)"' \
1204               -D'__TARGET__="$(TARGET)"' \
1205               -D'__REVISION__="$(REVISION)"' \
1206               -save-temps=obj \
1207               -MMD -MP \
1208               $(EXTRA_FLAGS)
1209
1210
1211 ASFLAGS     = $(ARCH_FLAGS) \
1212               -x assembler-with-cpp \
1213               $(addprefix -I,$(INCLUDE_DIRS)) \
1214               -MMD -MP
1215
1216 LDFLAGS     = -lm \
1217               -nostartfiles \
1218               --specs=nano.specs \
1219               -lc \
1220               -lnosys \
1221               $(ARCH_FLAGS) \
1222               $(LTO_FLAGS) \
1223               $(DEBUG_FLAGS) \
1224               -static \
1225               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1226               -Wl,-L$(LINKER_DIR) \
1227               -Wl,--cref \
1228               -Wl,--no-wchar-size-warning \
1229               -T$(LD_SCRIPT)
1230
1231 #SITL compile
1232 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1233 LDFLAGS     = \
1234               -lm \
1235               -lpthread \
1236               -lc \
1237               -lrt \
1238               $(ARCH_FLAGS) \
1239               $(LTO_FLAGS) \
1240               $(DEBUG_FLAGS) \
1241               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1242               -Wl,-L$(LINKER_DIR) \
1243               -Wl,--cref \
1244               -T$(LD_SCRIPT)
1245
1246 ifneq ($(filter SITL_STATIC,$(OPTIONS)),)
1247 LDFLAGS     += \
1248               -static \
1249               -static-libgcc
1250 endif
1251 endif
1252
1253 ###############################################################################
1254 # No user-serviceable parts below
1255 ###############################################################################
1256
1257 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
1258                   --std=c99 --inline-suppr --quiet --force \
1259                   $(addprefix -I,$(INCLUDE_DIRS)) \
1260                   -I/usr/include -I/usr/include/linux
1261
1262 #
1263 # Things we will build
1264 #
1265 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
1266 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
1267 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
1268 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1269 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1270 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
1271
1272
1273 CLEAN_ARTIFACTS := $(TARGET_BIN)
1274 CLEAN_ARTIFACTS += $(TARGET_HEX)
1275 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
1276
1277 # Make sure build date and revision is updated on every incremental build
1278 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
1279
1280 # List of buildable ELF files and their object dependencies.
1281 # It would be nice to compute these lists, but that seems to be just beyond make.
1282
1283 $(TARGET_HEX): $(TARGET_ELF)
1284         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
1285
1286 $(TARGET_BIN): $(TARGET_ELF)
1287         $(V0) $(OBJCOPY) -O binary $< $@
1288
1289 $(TARGET_ELF):  $(TARGET_OBJS)
1290         $(V1) echo Linking $(TARGET)
1291         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
1292         $(V0) $(SIZE) $(TARGET_ELF)
1293
1294 # Compile
1295 ifneq ($(DEBUG),GDB)
1296 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1297         $(V1) mkdir -p $(dir $@)
1298         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
1299         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
1300         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
1301         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
1302         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1303         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
1304         echo "%% $(notdir $<)" "$(STDOUT)" && \
1305         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
1306 else
1307 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1308         $(V1) mkdir -p $(dir $@)
1309         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
1310         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1311 endif
1312
1313 # Assemble
1314 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1315         $(V1) mkdir -p $(dir $@)
1316         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1317         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1318
1319 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1320         $(V1) mkdir -p $(dir $@)
1321         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1322         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1323
1324
1325 ## all               : Build all valid targets
1326 all: $(VALID_TARGETS)
1327
1328 ## official          : Build all official (travis) targets
1329 official: $(OFFICIAL_TARGETS)
1330
1331 ## targets-group-1   : build some targets
1332 targets-group-1: $(GROUP_1_TARGETS)
1333
1334 ## targets-group-2   : build some targets
1335 targets-group-2: $(GROUP_2_TARGETS)
1336
1337 ## targets-group-3   : build some targets
1338 targets-group-3: $(GROUP_3_TARGETS)
1339
1340 ## targets-group-3   : build some targets
1341 targets-group-4: $(GROUP_4_TARGETS)
1342
1343 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
1344 targets-group-rest: $(GROUP_OTHER_TARGETS)
1345
1346
1347 $(VALID_TARGETS):
1348                 $(V0) echo "" && \
1349                 echo "Building $@" && \
1350                 time $(MAKE) binary hex TARGET=$@ && \
1351                 echo "Building $@ succeeded."
1352
1353
1354
1355 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1356 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1357
1358 ## clean             : clean up temporary / machine-generated files
1359 clean:
1360         $(V0) echo "Cleaning $(TARGET)"
1361         $(V0) rm -f $(CLEAN_ARTIFACTS)
1362         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1363         $(V0) echo "Cleaning $(TARGET) succeeded."
1364
1365 ## clean_test        : clean up temporary / machine-generated files (tests)
1366 clean_test:
1367         $(V0) cd src/test && $(MAKE) clean || true
1368
1369 ## clean_<TARGET>    : clean up one specific target
1370 $(CLEAN_TARGETS) :
1371         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1372
1373 ## <TARGET>_clean    : clean up one specific target (alias for above)
1374 $(TARGETS_CLEAN) :
1375         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1376
1377 ## clean_all         : clean all valid targets
1378 clean_all:$(CLEAN_TARGETS)
1379
1380 ## all_clean         : clean all valid targets (alias for above)
1381 all_clean:$(TARGETS_CLEAN)
1382
1383
1384 flash_$(TARGET): $(TARGET_HEX)
1385         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1386         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1387         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1388
1389 ## flash             : flash firmware (.hex) onto flight controller
1390 flash: flash_$(TARGET)
1391
1392 st-flash_$(TARGET): $(TARGET_BIN)
1393         $(V0) st-flash --reset write $< 0x08000000
1394
1395 ## st-flash          : flash firmware (.bin) onto flight controller
1396 st-flash: st-flash_$(TARGET)
1397
1398 binary:
1399         $(V0) $(MAKE) -j $(TARGET_BIN)
1400
1401 hex:
1402         $(V0) $(MAKE) -j $(TARGET_HEX)
1403
1404 unbrick_$(TARGET): $(TARGET_HEX)
1405         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1406         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1407
1408 ## unbrick           : unbrick flight controller
1409 unbrick: unbrick_$(TARGET)
1410
1411 ## cppcheck          : run static analysis on C source code
1412 cppcheck: $(CSOURCES)
1413         $(V0) $(CPPCHECK)
1414
1415 cppcheck-result.xml: $(CSOURCES)
1416         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1417
1418 # mkdirs
1419 $(DL_DIR):
1420         mkdir -p $@
1421
1422 $(TOOLS_DIR):
1423         mkdir -p $@
1424
1425 $(BUILD_DIR):
1426         mkdir -p $@
1427
1428 ## version           : print firmware version
1429 version:
1430         @echo $(FC_VER)
1431
1432 ## help              : print this help message and exit
1433 help: Makefile make/tools.mk
1434         $(V0) @echo ""
1435         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1436         $(V0) @echo ""
1437         $(V0) @echo "Usage:"
1438         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1439         $(V0) @echo "Or:"
1440         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1441         $(V0) @echo ""
1442         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1443         $(V0) @echo ""
1444         $(V0) @sed -n 's/^## //p' $?
1445
1446 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1447 targets:
1448         $(V0) @echo "Valid targets:      $(VALID_TARGETS)"
1449         $(V0) @echo "Target:             $(TARGET)"
1450         $(V0) @echo "Base target:        $(BASE_TARGET)"
1451         $(V0) @echo "targets-group-1:    $(GROUP_1_TARGETS)"
1452         $(V0) @echo "targets-group-2:    $(GROUP_2_TARGETS)"
1453         $(V0) @echo "targets-group-3:    $(GROUP_3_TARGETS)"
1454         $(V0) @echo "targets-group-4:    $(GROUP_4_TARGETS)"
1455         $(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
1456
1457 ## test              : run the cleanflight test suite
1458 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1459 test junittest:
1460         $(V0) cd src/test && $(MAKE) $@
1461
1462 # rebuild everything when makefile changes
1463 $(TARGET_OBJS) : Makefile
1464
1465 # include auto-generated dependencies
1466 -include $(TARGET_DEPS)