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    := $(AT)
  48 else ifeq ($(V), 0)
  49 export V0    := $(AT)
  50 export V1    := $(AT)
  51 else ifeq ($(V), 1)
  52 endif
  53
  54 ###############################################################################
  55 # Things that need to be maintained as the source changes
  56 #
  57
  58 FORKNAME      = betaflight
  59
  60 # Working directories
  61 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  62 SRC_DIR         = $(ROOT)/src/main
  63 OBJECT_DIR      = $(ROOT)/obj/main
  64 BIN_DIR         = $(ROOT)/obj
  65 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  66 INCLUDE_DIRS    = $(SRC_DIR) \
  67                   $(ROOT)/src/main/target
  68 LINKER_DIR      = $(ROOT)/src/main/target/link
  69
  70 # Build tools, so we all share the same versions
  71 # import macros common to all supported build systems
  72 include $(ROOT)/make/system-id.mk
  73 # developer preferences, edit these at will, they'll be gitignored
  74 include $(ROOT)/make/local.mk
  75
  76 # configure some directories that are relative to wherever ROOT_DIR is located
  77 TOOLS_DIR := $(ROOT)/tools
  78 BUILD_DIR := $(ROOT)/build
  79 DL_DIR := $(ROOT)/downloads
  80
  81 export RM := rm
  82
  83 # import macros that are OS specific
  84 include $(ROOT)/make/$(OSFAMILY).mk
  85
  86 # include the tools makefile
  87 include $(ROOT)/make/tools.mk
  88
  89 # default xtal value for F4 targets
  90 HSE_VALUE       = 8000000
  91
  92 # used for turning on features like VCP and SDCARD
  93 FEATURES        =
  94
  95 SAMPLE_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO STM32F3DISCOVERY
  96 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  97 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
  98
  99 #VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
 100 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 101 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 102 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 103 VALID_TARGETS  := $(sort $(VALID_TARGETS))
 104
 105 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 106 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 107 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 108 else
 109 BASE_TARGET    := $(TARGET)
 110 endif
 111
 112 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 113 OPBL            = yes
 114 endif
 115
 116 # silently ignore if the file is not present. Allows for target specific.
 117 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 118
 119 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
 120 F7_TARGETS      = $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS)
 121
 122 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 123 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 124 endif
 125
 126 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
 127 $(error Target '$(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?)
 128 endif
 129
 130 128K_TARGETS  = $(F1_TARGETS)
 131 256K_TARGETS  = $(F3_TARGETS)
 132 512K_TARGETS  = $(F411_TARGETS) $(F7X5XE_TARGETS)
 133 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS)
 134 2048K_TARGETS = $(F7X5XI_TARGETS)
 135
 136 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 137 ifeq ($(FLASH_SIZE),)
 138 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 139 FLASH_SIZE = 2048
 140 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 141 FLASH_SIZE = 1024
 142 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 143 FLASH_SIZE = 512
 144 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 145 FLASH_SIZE = 256
 146 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 147 FLASH_SIZE = 128
 148 else
 149 $(error FLASH_SIZE not configured for target $(TARGET))
 150 endif
 151 endif
 152
 153 # note that there is no hardfault debugging startup file assembly handler for other platforms
 154 ifeq ($(DEBUG_HARDFAULTS),F3)
 155 CFLAGS               += -DDEBUG_HARDFAULTS
 156 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 157 else
 158 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 159 endif
 160
 161 REVISION = $(shell git log -1 --format="%h")
 162
 163 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 164 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 165 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 166
 167 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 168
 169 # Search path for sources
 170 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 171 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 172 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 173 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 174 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 175
 176 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 177
 178 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 179 # F3 TARGETS
 180
 181 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 182 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 183 EXCLUDES        = stm32f30x_crc.c \
 184                   stm32f30x_can.c
 185
 186 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 187 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 188
 189 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 190 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 191                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 192
 193 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 194                    $(STDPERIPH_DIR)/inc \
 195                    $(CMSIS_DIR)/CM1/CoreSupport \
 196                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 197
 198 ifneq ($(filter VCP, $(FEATURES)),)
 199 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 200                    $(USBFS_DIR)/inc \
 201                    $(ROOT)/src/main/vcp
 202
 203 VPATH           := $(VPATH):$(USBFS_DIR)/src
 204
 205 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 206                         $(USBPERIPH_SRC)
 207 endif
 208
 209 ifneq ($(filter SDCARD, $(FEATURES)),)
 210 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 211                    $(FATFS_DIR) \
 212
 213 VPATH           := $(VPATH):$(FATFS_DIR)
 214 endif
 215
 216 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 217
 218 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 219 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 220 # End F3 targets
 221 #
 222 # Start F4 targets
 223 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 224
 225 #STDPERIPH
 226 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 227 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 228 EXCLUDES        = stm32f4xx_crc.c \
 229                   stm32f4xx_can.c \
 230                   stm32f4xx_fmc.c \
 231                   stm32f4xx_sai.c \
 232                   stm32f4xx_cec.c \
 233                   stm32f4xx_dsi.c \
 234                   stm32f4xx_flash_ramfunc.c \
 235                   stm32f4xx_fmpi2c.c \
 236                   stm32f4xx_lptim.c \
 237                   stm32f4xx_qspi.c \
 238                   stm32f4xx_spdifrx.c \
 239                   stm32f4xx_cryp.c \
 240                   stm32f4xx_cryp_aes.c \
 241                   stm32f4xx_hash_md5.c \
 242                   stm32f4xx_cryp_des.c \
 243                   stm32f4xx_rtc.c \
 244                   stm32f4xx_hash.c \
 245                   stm32f4xx_dbgmcu.c \
 246                   stm32f4xx_cryp_tdes.c \
 247                   stm32f4xx_hash_sha1.c
 248
 249
 250 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 251 EXCLUDES += stm32f4xx_fsmc.c
 252 endif
 253
 254 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 255
 256 #USB
 257 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 258 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 259 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 260 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 261 EXCLUDES    = usb_bsp_template.c \
 262               usb_conf_template.c \
 263               usb_hcd_int.c \
 264               usb_hcd.c \
 265               usb_otg.c
 266
 267 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 268 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 269 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 270 EXCLUDES    = usbd_cdc_if_template.c
 271 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 272 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 273
 274 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 275                         $(USBOTG_SRC) \
 276                         $(USBCORE_SRC) \
 277                         $(USBCDC_SRC)
 278
 279 #CMSIS
 280 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 281 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 282                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 283 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 284                    $(STDPERIPH_DIR)/inc \
 285                    $(USBOTG_DIR)/inc \
 286                    $(USBCORE_DIR)/inc \
 287                    $(USBCDC_DIR)/inc \
 288                    $(USBFS_DIR)/inc \
 289                    $(CMSIS_DIR)/CM4/CoreSupport \
 290                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 291                    $(ROOT)/src/main/vcpf4
 292
 293 ifneq ($(filter SDCARD,$(FEATURES)),)
 294 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 295                    $(FATFS_DIR)
 296 VPATH           := $(VPATH):$(FATFS_DIR)
 297 endif
 298
 299 #Flags
 300 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 301
 302 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 303 DEVICE_FLAGS    = -DSTM32F411xE
 304 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 305 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 306 DEVICE_FLAGS    = -DSTM32F40_41xxx
 307 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 308 else
 309 $(error Unknown MCU for F4 target)
 310 endif
 311 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 312
 313 # End F4 targets
 314 #
 315 # Start F7 targets
 316 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 317
 318 #STDPERIPH
 319 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 320 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 321 EXCLUDES        = stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 322                                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 323                                   stm32f7xx_hal_timebase_tim_template.c
 324
 325 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 326
 327 #USB
 328 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 329 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 330 EXCLUDES    = usbd_conf_template.c
 331 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 332
 333 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 334 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 335 EXCLUDES   = usbd_cdc_if_template.c
 336 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 337
 338 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 339
 340 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 341                         $(USBCORE_SRC) \
 342                         $(USBCDC_SRC)
 343
 344 #CMSIS
 345 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 346 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 347 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 348                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 349 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 350                    $(STDPERIPH_DIR)/Inc \
 351                    $(USBCORE_DIR)/Inc \
 352                    $(USBCDC_DIR)/Inc \
 353                    $(CMSIS_DIR)/CM7/Include \
 354                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 355                    $(ROOT)/src/main/vcp_hal
 356
 357 ifneq ($(filter SDCARD,$(FEATURES)),)
 358 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 359                    $(FATFS_DIR)
 360 VPATH           := $(VPATH):$(FATFS_DIR)
 361 endif
 362
 363 #Flags
 364 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 365
 366 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 367 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT -DDEBUG_HARDFAULTS
 368 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 369 else
 370 $(error Unknown MCU for F7 target)
 371 endif
 372 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 373
 374 TARGET_FLAGS = -D$(TARGET)
 375
 376 # End F7 targets
 377 #
 378 # Start F1 targets
 379 else
 380
 381 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 382 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 383 EXCLUDES        = stm32f10x_crc.c \
 384                   stm32f10x_cec.c \
 385                   stm32f10x_can.c
 386
 387 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 388
 389 # Search path and source files for the CMSIS sources
 390 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 391 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 392                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 393
 394 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 395                    $(STDPERIPH_DIR)/inc \
 396                    $(CMSIS_DIR)/CM3/CoreSupport \
 397                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 398
 399 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 400
 401 ifneq ($(filter VCP, $(FEATURES)),)
 402 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 403                    $(USBFS_DIR)/inc \
 404                    $(ROOT)/src/main/vcp
 405
 406 VPATH           := $(VPATH):$(USBFS_DIR)/src
 407
 408 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 409                         $(USBPERIPH_SRC)
 410
 411 endif
 412
 413 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 414 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 415
 416 ifeq ($(DEVICE_FLAGS),)
 417 DEVICE_FLAGS    = -DSTM32F10X_MD
 418 endif
 419 DEVICE_FLAGS   += -DSTM32F10X
 420
 421 endif
 422 #
 423 # End F1 targets
 424 #
 425 ifneq ($(BASE_TARGET), $(TARGET))
 426 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 427 endif
 428
 429 ifneq ($(FLASH_SIZE),)
 430 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 431 endif
 432
 433 ifneq ($(HSE_VALUE),)
 434 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 435 endif
 436
 437 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 438 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 439
 440 ifeq ($(OPBL),yes)
 441 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 442 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 443 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 444 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 445 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 446 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 447 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 448 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 449 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 450 endif
 451 .DEFAULT_GOAL := binary
 452 else
 453 .DEFAULT_GOAL := hex
 454 endif
 455
 456 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 457                    $(ROOT)/lib/main/MAVLink
 458
 459 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 460                    $(TARGET_DIR)
 461
 462 VPATH           := $(VPATH):$(TARGET_DIR)
 463
 464 COMMON_SRC = \
 465             build/build_config.c \
 466             build/debug.c \
 467             build/version.c \
 468             $(TARGET_DIR_SRC) \
 469             main.c \
 470             common/encoding.c \
 471             common/filter.c \
 472             common/maths.c \
 473             common/printf.c \
 474             common/streambuf.c \
 475             common/typeconversion.c \
 476             config/config_eeprom.c \
 477             config/feature.c \
 478             config/parameter_group.c \
 479             drivers/adc.c \
 480             drivers/buf_writer.c \
 481             drivers/bus_i2c_soft.c \
 482             drivers/bus_spi.c \
 483             drivers/bus_spi_soft.c \
 484             drivers/exti.c \
 485             drivers/gyro_sync.c \
 486             drivers/io.c \
 487             drivers/light_led.c \
 488             drivers/rx_nrf24l01.c \
 489             drivers/rx_spi.c \
 490             drivers/rx_xn297.c \
 491             drivers/pwm_output.c \
 492             drivers/pwm_rx.c \
 493             drivers/rcc.c \
 494             drivers/serial.c \
 495             drivers/serial_uart.c \
 496             drivers/sound_beeper.c \
 497             drivers/system.c \
 498             drivers/timer.c \
 499             fc/config.c \
 500             fc/fc_tasks.c \
 501             fc/fc_msp.c \
 502             fc/mw.c \
 503             fc/rc_controls.c \
 504             fc/rc_curves.c \
 505             fc/runtime_config.c \
 506             flight/altitudehold.c \
 507             flight/failsafe.c \
 508             flight/imu.c \
 509             flight/mixer.c \
 510             flight/pid.c \
 511             io/beeper.c \
 512             io/serial.c \
 513             io/serial_4way.c \
 514             io/serial_4way_avrootloader.c \
 515             io/serial_4way_stk500v2.c \
 516             io/serial_cli.c \
 517             io/statusindicator.c \
 518             msp/msp_serial.c \
 519             rx/ibus.c \
 520             rx/jetiexbus.c \
 521             rx/msp.c \
 522             rx/nrf24_cx10.c \
 523             rx/nrf24_inav.c \
 524             rx/nrf24_h8_3d.c \
 525             rx/nrf24_syma.c \
 526             rx/nrf24_v202.c \
 527             rx/pwm.c \
 528             rx/rx.c \
 529             rx/rx_spi.c \
 530             rx/sbus.c \
 531             rx/spektrum.c \
 532             rx/sumd.c \
 533             rx/sumh.c \
 534             rx/xbus.c \
 535             scheduler/scheduler.c \
 536             sensors/acceleration.c \
 537             sensors/battery.c \
 538             sensors/boardalignment.c \
 539             sensors/compass.c \
 540             sensors/gyro.c \
 541             sensors/initialisation.c \
 542             $(CMSIS_SRC) \
 543             $(DEVICE_STDPERIPH_SRC)
 544
 545 HIGHEND_SRC = \
 546             blackbox/blackbox.c \
 547             blackbox/blackbox_io.c \
 548             common/colorconversion.c \
 549             drivers/display_ug2864hsweg01.c \
 550             drivers/light_ws2811strip.c \
 551             drivers/serial_escserial.c \
 552             drivers/serial_softserial.c \
 553             drivers/sonar_hcsr04.c \
 554             flight/gtune.c \
 555             flight/navigation.c \
 556             flight/gps_conversion.c \
 557             io/gps.c \
 558             io/ledstrip.c \
 559             io/display.c \
 560             sensors/sonar.c \
 561             sensors/barometer.c \
 562             telemetry/telemetry.c \
 563             telemetry/frsky.c \
 564             telemetry/hott.c \
 565             telemetry/smartport.c \
 566             telemetry/ltm.c \
 567             telemetry/mavlink.c
 568
 569 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 570 VCP_SRC = \
 571             vcpf4/stm32f4xx_it.c \
 572             vcpf4/usb_bsp.c \
 573             vcpf4/usbd_desc.c \
 574             vcpf4/usbd_usr.c \
 575             vcpf4/usbd_cdc_vcp.c \
 576             drivers/serial_usb_vcp.c
 577 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 578 VCP_SRC = \
 579             vcp_hal/usbd_desc.c \
 580             vcp_hal/usbd_conf.c \
 581             vcp_hal/usbd_cdc_interface.c \
 582             drivers/serial_usb_vcp_hal.c
 583 else
 584 VCP_SRC = \
 585             vcp/hw_config.c \
 586             vcp/stm32_it.c \
 587             vcp/usb_desc.c \
 588             vcp/usb_endp.c \
 589             vcp/usb_istr.c \
 590             vcp/usb_prop.c \
 591             vcp/usb_pwr.c \
 592             drivers/serial_usb_vcp.c \
 593             drivers/usb_io.c
 594 endif
 595
 596 STM32F10x_COMMON_SRC = \
 597             startup_stm32f10x_md_gcc.S \
 598             drivers/adc_stm32f10x.c \
 599             drivers/bus_i2c_stm32f10x.c \
 600             drivers/dma.c \
 601             drivers/gpio_stm32f10x.c \
 602             drivers/inverter.c \
 603             drivers/light_ws2811strip_stm32f10x.c \
 604             drivers/serial_uart_stm32f10x.c \
 605             drivers/system_stm32f10x.c \
 606             drivers/timer_stm32f10x.c
 607
 608 STM32F30x_COMMON_SRC = \
 609             startup_stm32f30x_md_gcc.S \
 610             target/system_stm32f30x.c \
 611             drivers/adc_stm32f30x.c \
 612             drivers/bus_i2c_stm32f30x.c \
 613             drivers/dma.c \
 614             drivers/gpio_stm32f30x.c \
 615             drivers/light_ws2811strip_stm32f30x.c \
 616             drivers/pwm_output_stm32f3xx.c \
 617             drivers/serial_uart_stm32f30x.c \
 618             drivers/system_stm32f30x.c \
 619             drivers/timer_stm32f30x.c
 620
 621 STM32F4xx_COMMON_SRC = \
 622             startup_stm32f40xx.s \
 623             target/system_stm32f4xx.c \
 624             drivers/accgyro_mpu.c \
 625             drivers/adc_stm32f4xx.c \
 626             drivers/bus_i2c_stm32f10x.c \
 627             drivers/dma_stm32f4xx.c \
 628             drivers/gpio_stm32f4xx.c \
 629             drivers/inverter.c \
 630             drivers/light_ws2811strip_stm32f4xx.c \
 631             drivers/pwm_output_stm32f4xx.c \
 632             drivers/serial_uart_stm32f4xx.c \
 633             drivers/system_stm32f4xx.c \
 634             drivers/timer_stm32f4xx.c
 635
 636 STM32F7xx_COMMON_SRC = \
 637             startup_stm32f745xx.s \
 638             target/system_stm32f7xx.c \
 639             drivers/accgyro_mpu.c \
 640             drivers/adc_stm32f7xx.c \
 641             drivers/bus_i2c_hal.c \
 642             drivers/dma_stm32f7xx.c \
 643             drivers/gpio_stm32f7xx.c \
 644             drivers/inverter.c \
 645             drivers/bus_spi_hal.c \
 646             drivers/pwm_output_stm32f7xx.c \
 647             drivers/timer_hal.c \
 648             drivers/timer_stm32f7xx.c \
 649             drivers/pwm_output_hal.c \
 650             drivers/system_stm32f7xx.c \
 651             drivers/serial_uart_stm32f7xx.c \
 652             drivers/serial_uart_hal.c
 653
 654 F7EXCLUDES = drivers/bus_spi.c \
 655             drivers/bus_i2c.c \
 656             drivers/timer.c \
 657             drivers/pwm_output.c \
 658             drivers/serial_uart.c
 659
 660 # check if target.mk supplied
 661 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 662 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 663 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 664 TARGET_SRC := $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
 665 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 666 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 667 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 668 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 669 endif
 670
 671 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 672 TARGET_SRC += \
 673             drivers/flash_m25p16.c \
 674             io/flashfs.c
 675 endif
 676
 677 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS) $(F4_TARGETS) $(F3_TARGETS)))
 678 TARGET_SRC += $(HIGHEND_SRC)
 679 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 680 TARGET_SRC += $(HIGHEND_SRC)
 681 endif
 682
 683 TARGET_SRC += $(COMMON_SRC)
 684 #excludes
 685 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 686 TARGET_SRC   := $(filter-out ${F7EXCLUDES}, $(TARGET_SRC))
 687 endif
 688
 689 ifneq ($(filter SDCARD,$(FEATURES)),)
 690 TARGET_SRC += \
 691             drivers/sdcard.c \
 692             drivers/sdcard_standard.c \
 693             io/asyncfatfs/asyncfatfs.c \
 694             io/asyncfatfs/fat_standard.c
 695 endif
 696
 697 ifneq ($(filter VCP,$(FEATURES)),)
 698 TARGET_SRC += $(VCP_SRC)
 699 endif
 700 # end target specific make file checks
 701
 702
 703 # Search path and source files for the ST stdperiph library
 704 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 705
 706 ###############################################################################
 707 # Things that might need changing to use different tools
 708 #
 709
 710 # Find out if ccache is installed on the system
 711 CCACHE := ccache
 712 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 713 ifneq ($(RESULT),0)
 714 CCACHE :=
 715 endif
 716
 717 # Tool names
 718 CC          := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 719 CPP         := $(CCACHE) $(ARM_SDK_PREFIX)g++
 720 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 721 SIZE        := $(ARM_SDK_PREFIX)size
 722
 723 #
 724 # Tool options.
 725 #
 726
 727 ifeq ($(DEBUG),GDB)
 728 OPTIMIZE    = -O0
 729 LTO_FLAGS   = $(OPTIMIZE)
 730 else
 731 OPTIMIZE    = -Os
 732 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 733 endif
 734
 735 DEBUG_FLAGS = -ggdb3 -DDEBUG
 736
 737 CFLAGS      += $(ARCH_FLAGS) \
 738               $(LTO_FLAGS) \
 739               $(addprefix -D,$(OPTIONS)) \
 740               $(addprefix -I,$(INCLUDE_DIRS)) \
 741               $(DEBUG_FLAGS) \
 742               -std=gnu99 \
 743               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 744               -ffunction-sections \
 745               -fdata-sections \
 746               -pedantic \
 747               $(DEVICE_FLAGS) \
 748               -DUSE_STDPERIPH_DRIVER \
 749               -D$(TARGET) \
 750               $(TARGET_FLAGS) \
 751               -D'__FORKNAME__="$(FORKNAME)"' \
 752               -D'__TARGET__="$(TARGET)"' \
 753               -D'__REVISION__="$(REVISION)"' \
 754               -save-temps=obj \
 755               -MMD -MP
 756
 757 ASFLAGS     = $(ARCH_FLAGS) \
 758               -x assembler-with-cpp \
 759               $(addprefix -I,$(INCLUDE_DIRS)) \
 760               -MMD -MP
 761
 762 LDFLAGS     = -lm \
 763               -nostartfiles \
 764               --specs=nano.specs \
 765               -lc \
 766               -lnosys \
 767               $(ARCH_FLAGS) \
 768               $(LTO_FLAGS) \
 769               $(DEBUG_FLAGS) \
 770               -static \
 771               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 772               -Wl,-L$(LINKER_DIR) \
 773               -Wl,--cref \
 774               -Wl,--no-wchar-size-warning \
 775               -T$(LD_SCRIPT)
 776
 777 ###############################################################################
 778 # No user-serviceable parts below
 779 ###############################################################################
 780
 781 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 782                   --std=c99 --inline-suppr --quiet --force \
 783                   $(addprefix -I,$(INCLUDE_DIRS)) \
 784                   -I/usr/include -I/usr/include/linux
 785
 786 #
 787 # Things we will build
 788 #
 789 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 790 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 791 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 792 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 793 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 794 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 795
 796
 797 CLEAN_ARTIFACTS := $(TARGET_BIN)
 798 CLEAN_ARTIFACTS += $(TARGET_HEX)
 799 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 800
 801 # List of buildable ELF files and their object dependencies.
 802 # It would be nice to compute these lists, but that seems to be just beyond make.
 803
 804 $(TARGET_HEX): $(TARGET_ELF)
 805         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 806
 807 $(TARGET_BIN): $(TARGET_ELF)
 808         $(V0) $(OBJCOPY) -O binary $< $@
 809
 810 $(TARGET_ELF):  $(TARGET_OBJS)
 811         $(V1) echo LD $(notdir $@)
 812         $(V1) $(CC) -o $@ $^ $(LDFLAGS)
 813         $(V0) $(SIZE) $(TARGET_ELF)
 814
 815 # Compile
 816 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 817         $(V1) mkdir -p $(dir $@)
 818         $(V1) echo %% $(notdir $<)
 819         $(V1) $(CC) -c -o $@ $(CFLAGS) $<
 820
 821 # Assemble
 822 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 823         $(V1) mkdir -p $(dir $@)
 824         $(V1) echo %% $(notdir $<)
 825         $(V1) $(CC) -c -o $@ $(ASFLAGS) $<
 826
 827 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 828         $(V1) mkdir -p $(dir $@)
 829         $(V1) echo %% $(notdir $<)
 830         $(V1) $(CC) -c -o $@ $(ASFLAGS) $<
 831
 832 ## sample            : Build all sample (travis) targets
 833 sample: $(SAMPLE_TARGETS)
 834
 835 ## all               : Build all valid targets
 836 all: $(VALID_TARGETS)
 837
 838 $(VALID_TARGETS):
 839                 $(V0) echo "" && \
 840                 echo "Building $@" && \
 841                 $(MAKE) binary hex TARGET=$@ && \
 842                 echo "Building $@ succeeded."
 843
 844
 845
 846 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
 847 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 848
 849 ## clean             : clean up temporary / machine-generated files
 850 clean:
 851         $(V0) echo "Cleaning $(TARGET)"
 852         $(V0) rm -f $(CLEAN_ARTIFACTS)
 853         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 854         $(V0) echo "Cleaning $(TARGET) succeeded."
 855
 856 ## clean_test        : clean up temporary / machine-generated files (tests)
 857 clean_test:
 858         $(V0) cd src/test && $(MAKE) clean || true
 859
 860 ## clean_<TARGET>    : clean up one specific target
 861 $(CLEAN_TARGETS) :
 862         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 863
 864 ## <TARGET>_clean    : clean up one specific target (alias for above)
 865 $(TARGETS_CLEAN) :
 866         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 867
 868 ## clean_all         : clean all valid targets
 869 clean_all:$(CLEAN_TARGETS)
 870
 871 ## all_clean         : clean all valid targets (alias for above)
 872 all_clean:$(TARGETS_CLEAN)
 873
 874
 875 flash_$(TARGET): $(TARGET_HEX)
 876         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 877         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 878         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 879
 880 ## flash             : flash firmware (.hex) onto flight controller
 881 flash: flash_$(TARGET)
 882
 883 st-flash_$(TARGET): $(TARGET_BIN)
 884         $(V0) st-flash --reset write $< 0x08000000
 885
 886 ## st-flash          : flash firmware (.bin) onto flight controller
 887 st-flash: st-flash_$(TARGET)
 888
 889 binary:
 890         $(V0) $(MAKE) -j $(TARGET_BIN)
 891
 892 hex:
 893         $(V0) $(MAKE) -j $(TARGET_HEX)
 894
 895 unbrick_$(TARGET): $(TARGET_HEX)
 896         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 897         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 898
 899 ## unbrick           : unbrick flight controller
 900 unbrick: unbrick_$(TARGET)
 901
 902 ## cppcheck          : run static analysis on C source code
 903 cppcheck: $(CSOURCES)
 904         $(V0) $(CPPCHECK)
 905
 906 cppcheck-result.xml: $(CSOURCES)
 907         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 908
 909 # mkdirs
 910 $(DL_DIR):
 911         mkdir -p $@
 912
 913 $(TOOLS_DIR):
 914         mkdir -p $@
 915
 916 $(BUILD_DIR):
 917         mkdir -p $@
 918
 919 ## help              : print this help message and exit
 920 help: Makefile make/tools.mk
 921         $(V0) @echo ""
 922         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
 923         $(V0) @echo ""
 924         $(V0) @echo "Usage:"
 925         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 926         $(V0) @echo "Or:"
 927         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 928         $(V0) @echo ""
 929         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
 930         $(V0) @echo ""
 931         $(V0) @sed -n 's/^## //p' $?
 932
 933 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 934 targets:
 935         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
 936         $(V0) @echo "Target:        $(TARGET)"
 937         $(V0) @echo "Base target:   $(BASE_TARGET)"
 938
 939 ## test              : run the cleanflight test suite
 940 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
 941 test junittest:
 942         $(V0) cd src/test && $(MAKE) $@  || true
 943
 944 # rebuild everything when makefile changes
 945 $(TARGET_OBJS) : Makefile
 946
 947 # include auto-generated dependencies
 948 -include $(TARGET_DEPS)