Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the cleanflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12
  13 ###############################################################################
  14
  15
  16 # Things that the user might override on the commandline
  17 #
  18
  19 # The target to build, see VALID_TARGETS below
  20 TARGET          ?= NAZE
  21
  22 # Compile-time options
  23 OPTIONS         ?=
  24
  25 # compile for OpenPilot BootLoader support
  26 OPBL ?=no
  27
  28 # Debugger optons, must be empty or GDB
  29 DEBUG ?=
  30
  31 # Insert the debugging hardfault debugger
  32 # releases should not be built with this flag as it does not disable pwm output
  33 DEBUG_HARDFAULTS ?=
  34
  35 # Serial port/Device for flashing
  36 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  37
  38 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  39 FLASH_SIZE ?=
  40
  41 ###############################################################################
  42 # Things that need to be maintained as the source changes
  43 #
  44
  45 FORKNAME                         = betaflight
  46
  47 CC3D_TARGETS = CC3D CC3D_OPBL
  48
  49 VALID_TARGETS    = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI SPRACINGF3EVO DOGE
  50
  51 # Valid targets for OP VCP support
  52 VCP_VALID_TARGETS = $(CC3D_TARGETS)
  53
  54 # Valid targets for OP BootLoader support
  55 OPBL_VALID_TARGETS = CC3D_OPBL
  56
  57 64K_TARGETS  = CJMCU
  58 128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
  59 256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI SPRACINGF3EVO DOGE
  60
  61 F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO DOGE
  62
  63 # note that there is no hardfault debugging startup file assembly handler for other platforms
  64 ifeq ($(DEBUG_HARDFAULTS),F3)
  65 CFLAGS += -DDEBUG_HARDFAULTS
  66 STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
  67 else
  68 STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
  69 endif
  70
  71 # Configure default flash sizes for the targets
  72 ifeq ($(FLASH_SIZE),)
  73 ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
  74 FLASH_SIZE = 64
  75 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
  76 FLASH_SIZE = 128
  77 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
  78 FLASH_SIZE = 256
  79 else
  80 $(error FLASH_SIZE not configured for target $(TARGET))
  81 endif
  82 endif
  83
  84 REVISION = $(shell git log -1 --format="%h")
  85
  86 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
  87 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
  88 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
  89
  90 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
  91
  92 # Working directories
  93 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  94 SRC_DIR          = $(ROOT)/src/main
  95 OBJECT_DIR       = $(ROOT)/obj/main
  96 BIN_DIR          = $(ROOT)/obj
  97 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  98 INCLUDE_DIRS     = $(SRC_DIR)
  99 LINKER_DIR       = $(ROOT)/src/main/target
 100
 101 # Search path for sources
 102 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 103 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 104 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 105 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 106 FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 107
 108 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 109
 110 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 111
 112 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 113
 114 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 115
 116 EXCLUDES        = stm32f30x_crc.c \
 117                 stm32f30x_can.c
 118
 119 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 120
 121 DEVICE_STDPERIPH_SRC = \
 122                 $(STDPERIPH_SRC)
 123
 124
 125 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 126 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 127                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 128
 129 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 130                    $(STDPERIPH_DIR)/inc \
 131                    $(CMSIS_DIR)/CM1/CoreSupport \
 132                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 133
 134 ifneq ($(TARGET),$(filter $(TARGET),SPRACINGF3 IRCFUSIONF3))
 135 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 136                    $(USBFS_DIR)/inc \
 137                    $(ROOT)/src/main/vcp
 138
 139 VPATH := $(VPATH):$(USBFS_DIR)/src
 140
 141 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 142                    $(USBPERIPH_SRC)
 143
 144 endif
 145
 146 ifeq ($(TARGET),SPRACINGF3MINI)
 147 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 148                    $(FATFS_DIR) \
 149
 150 VPATH := $(VPATH):$(FATFS_DIR)
 151 endif
 152
 153 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 154
 155 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 156 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 157 TARGET_FLAGS = -D$(TARGET)
 158 ifeq ($(TARGET),CHEBUZZF3)
 159 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 160 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 161 endif
 162
 163 ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 164 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
 165 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 166 endif
 167
 168 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 169
 170
 171 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 172
 173 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 174
 175 EXCLUDES        = stm32f10x_crc.c \
 176                 stm32f10x_cec.c \
 177                 stm32f10x_can.c
 178
 179 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 180
 181 # Search path and source files for the CMSIS sources
 182 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 183 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 184                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 185
 186 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 187                    $(STDPERIPH_DIR)/inc \
 188                    $(CMSIS_DIR)/CM3/CoreSupport \
 189                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 190
 191 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 192
 193 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 194 TARGET_FLAGS = -D$(TARGET) -pedantic
 195 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 196
 197 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 198
 199 else
 200
 201 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 202
 203 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 204
 205 EXCLUDES        = stm32f10x_crc.c \
 206                 stm32f10x_cec.c \
 207                 stm32f10x_can.c
 208
 209 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 210
 211 # Search path and source files for the CMSIS sources
 212 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 213 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 214                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 215
 216 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 217                    $(STDPERIPH_DIR)/inc \
 218                    $(CMSIS_DIR)/CM3/CoreSupport \
 219                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 220
 221 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 222
 223 ifeq ($(TARGET),$(filter $(TARGET), $(VCP_VALID_TARGETS)))
 224 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 225                    $(USBFS_DIR)/inc \
 226                    $(ROOT)/src/main/vcp
 227
 228 VPATH := $(VPATH):$(USBFS_DIR)/src
 229
 230 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 231                    $(USBPERIPH_SRC)
 232
 233 endif
 234
 235 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 236
 237 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 238 TARGET_FLAGS = -D$(TARGET) -pedantic
 239 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 240
 241 endif
 242
 243 ifneq ($(FLASH_SIZE),)
 244 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 245 endif
 246
 247 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 248 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 249
 250 ifeq ($(TARGET),ALIENFLIGHTF1)
 251 # ALIENFLIGHTF1 is a VARIANT of NAZE
 252 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENFLIGHT
 253 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 254 endif
 255
 256 ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
 257 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
 258 ifeq ($(TARGET),CC3D_OPBL)
 259 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
 260 endif
 261 TARGET_DIR = $(ROOT)/src/main/target/CC3D
 262 endif
 263
 264 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 265 OPBL=yes
 266 endif
 267
 268 ifeq ($(OPBL),yes)
 269 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 270 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 271 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 272 .DEFAULT_GOAL := binary
 273 else
 274 $(error OPBL specified with a unsupported target)
 275 endif
 276 endif
 277
 278 ifeq ($(TARGET),AFROMINI)
 279 # AFROMINI is a VARIANT of NAZE being recognized as rev4, but needs to use rev5 config
 280 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DAFROMINI
 281 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 282 endif
 283
 284 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 285                     $(TARGET_DIR)
 286
 287 VPATH           := $(VPATH):$(TARGET_DIR)
 288
 289 COMMON_SRC = build_config.c \
 290                    debug.c \
 291                    version.c \
 292                    $(TARGET_SRC) \
 293                    config/config.c \
 294                    config/runtime_config.c \
 295                    common/maths.c \
 296                    common/printf.c \
 297                    common/typeconversion.c \
 298                    common/encoding.c \
 299                    common/filter.c \
 300                    scheduler.c \
 301                    scheduler_tasks.c \
 302                    main.c \
 303                    mw.c \
 304                    flight/altitudehold.c \
 305                    flight/failsafe.c \
 306                    flight/pid.c \
 307                    flight/imu.c \
 308                    flight/mixer.c \
 309                    drivers/bus_i2c_soft.c \
 310                    drivers/serial.c \
 311                    drivers/sound_beeper.c \
 312                    drivers/system.c \
 313                    drivers/gyro_sync.c \
 314                    drivers/dma.c \
 315                    drivers/buf_writer.c \
 316                    io/beeper.c \
 317                    io/rc_controls.c \
 318                    io/rc_curves.c \
 319                    io/serial.c \
 320                    io/serial_4way.c \
 321                    io/serial_4way_avrootloader.c \
 322                    io/serial_4way_stk500v2.c \
 323                    io/serial_cli.c \
 324                    io/serial_msp.c \
 325                    io/statusindicator.c \
 326                    rx/rx.c \
 327                    rx/pwm.c \
 328                    rx/msp.c \
 329                    rx/sbus.c \
 330                    rx/sumd.c \
 331                    rx/sumh.c \
 332                    rx/spektrum.c \
 333                    rx/xbus.c \
 334                    rx/ibus.c \
 335            rx/jetiexbus.c \
 336                    sensors/acceleration.c \
 337                    sensors/battery.c \
 338                    sensors/boardalignment.c \
 339                    sensors/compass.c \
 340                    sensors/gyro.c \
 341                    sensors/initialisation.c \
 342                    $(CMSIS_SRC) \
 343                    $(DEVICE_STDPERIPH_SRC)
 344
 345 HIGHEND_SRC = \
 346                    flight/gtune.c \
 347                    flight/navigation.c \
 348                    flight/gps_conversion.c \
 349                    common/colorconversion.c \
 350                    io/gps.c \
 351                    io/ledstrip.c \
 352                    io/display.c \
 353                    telemetry/telemetry.c \
 354                    telemetry/frsky.c \
 355                    telemetry/hott.c \
 356                    telemetry/smartport.c \
 357                    telemetry/ltm.c \
 358                    sensors/sonar.c \
 359                    sensors/barometer.c \
 360                    blackbox/blackbox.c \
 361                    blackbox/blackbox_io.c
 362
 363 VCP_SRC = \
 364                    vcp/hw_config.c \
 365                    vcp/stm32_it.c \
 366                    vcp/usb_desc.c \
 367                    vcp/usb_endp.c \
 368                    vcp/usb_istr.c \
 369                    vcp/usb_prop.c \
 370                    vcp/usb_pwr.c \
 371                    drivers/serial_usb_vcp.c \
 372                    drivers/usb_io.c
 373
 374 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 375                    drivers/accgyro_adxl345.c \
 376                    drivers/accgyro_bma280.c \
 377                    drivers/accgyro_l3g4200d.c \
 378                    drivers/accgyro_mma845x.c \
 379                    drivers/accgyro_mpu.c \
 380                    drivers/accgyro_mpu3050.c \
 381                    drivers/accgyro_mpu6050.c \
 382                    drivers/accgyro_mpu6500.c \
 383                    drivers/accgyro_spi_mpu6500.c \
 384                    drivers/adc.c \
 385                    drivers/adc_stm32f10x.c \
 386                    drivers/barometer_bmp085.c \
 387                    drivers/barometer_bmp280.c \
 388                    drivers/barometer_ms5611.c \
 389                    drivers/barometer_bmp280.c \
 390                    drivers/bus_spi.c \
 391                    drivers/bus_i2c_stm32f10x.c \
 392                    drivers/compass_hmc5883l.c \
 393                    drivers/display_ug2864hsweg01.h \
 394                    drivers/flash_m25p16.c \
 395                    drivers/gpio_stm32f10x.c \
 396                    drivers/inverter.c \
 397                    drivers/light_led_stm32f10x.c \
 398                    drivers/light_ws2811strip.c \
 399                    drivers/light_ws2811strip_stm32f10x.c \
 400                    drivers/sonar_hcsr04.c \
 401                    drivers/pwm_mapping.c \
 402                    drivers/pwm_output.c \
 403                    drivers/pwm_rx.c \
 404                    drivers/serial_softserial.c \
 405                    drivers/serial_uart.c \
 406                    drivers/serial_uart_stm32f10x.c \
 407                    drivers/sound_beeper_stm32f10x.c \
 408                    drivers/system_stm32f10x.c \
 409                    drivers/timer.c \
 410                    drivers/timer_stm32f10x.c \
 411                    io/flashfs.c \
 412                    hardware_revision.c \
 413                    $(HIGHEND_SRC) \
 414                    $(COMMON_SRC)
 415
 416 ALIENFLIGHTF1_SRC = $(NAZE_SRC)
 417
 418 AFROMINI_SRC = $(NAZE_SRC)
 419
 420 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 421                    drivers/accgyro_adxl345.c \
 422                    drivers/accgyro_bma280.c \
 423                    drivers/accgyro_l3g4200d.c \
 424                    drivers/accgyro_mma845x.c \
 425                    drivers/accgyro_mpu.c \
 426                    drivers/accgyro_mpu3050.c \
 427                    drivers/accgyro_mpu6050.c \
 428                    drivers/accgyro_spi_mpu6000.c \
 429                    drivers/accgyro_spi_mpu6500.c \
 430                    drivers/adc.c \
 431                    drivers/adc_stm32f10x.c \
 432                    drivers/barometer_bmp085.c \
 433                    drivers/barometer_bmp280.c \
 434                    drivers/barometer_ms5611.c \
 435                    drivers/bus_i2c_stm32f10x.c \
 436                    drivers/bus_spi.c \
 437                    drivers/compass_ak8975.c \
 438                    drivers/compass_hmc5883l.c \
 439                    drivers/display_ug2864hsweg01.c \
 440                    drivers/flash_m25p16.c \
 441                    drivers/gpio_stm32f10x.c \
 442                    drivers/inverter.c \
 443                    drivers/light_led_stm32f10x.c \
 444                    drivers/light_ws2811strip.c \
 445                    drivers/light_ws2811strip_stm32f10x.c \
 446                    drivers/pwm_mapping.c \
 447                    drivers/pwm_output.c \
 448                    drivers/pwm_rx.c \
 449                    drivers/serial_softserial.c \
 450                    drivers/serial_uart.c \
 451                    drivers/serial_uart_stm32f10x.c \
 452                    drivers/sonar_hcsr04.c \
 453                    drivers/sound_beeper_stm32f10x.c \
 454                    drivers/system_stm32f10x.c \
 455                    drivers/timer.c \
 456                    drivers/timer_stm32f10x.c \
 457                    io/flashfs.c \
 458                    $(HIGHEND_SRC) \
 459                    $(COMMON_SRC)
 460
 461 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 462
 463 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 464                    drivers/accgyro_mpu.c \
 465                    drivers/accgyro_mpu6050.c \
 466                    drivers/adc.c \
 467                    drivers/adc_stm32f10x.c \
 468                    drivers/barometer_bmp085.c \
 469                    drivers/barometer_bmp280.c \
 470                    drivers/bus_i2c_stm32f10x.c \
 471                    drivers/bus_spi.c \
 472                    drivers/compass_hmc5883l.c \
 473                    drivers/gpio_stm32f10x.c \
 474                    drivers/light_led_stm32f10x.c \
 475                    drivers/light_ws2811strip.c \
 476                    drivers/light_ws2811strip_stm32f10x.c \
 477                    drivers/pwm_mapping.c \
 478                    drivers/pwm_output.c \
 479                    drivers/pwm_rx.c \
 480                    drivers/serial_softserial.c \
 481                    drivers/serial_uart.c \
 482                    drivers/serial_uart_stm32f10x.c \
 483                    drivers/sonar_hcsr04.c \
 484                    drivers/sound_beeper_stm32f10x.c \
 485                    drivers/system_stm32f10x.c \
 486                    drivers/timer.c \
 487                    drivers/timer_stm32f10x.c \
 488                    $(HIGHEND_SRC) \
 489                    $(COMMON_SRC)
 490
 491 CJMCU_SRC = \
 492                    startup_stm32f10x_md_gcc.S \
 493                    drivers/adc.c \
 494                    drivers/adc_stm32f10x.c \
 495                    drivers/accgyro_mpu.c \
 496                    drivers/accgyro_mpu6050.c \
 497                    drivers/bus_i2c_stm32f10x.c \
 498                    drivers/compass_hmc5883l.c \
 499                    drivers/gpio_stm32f10x.c \
 500                    drivers/light_led_stm32f10x.c \
 501                    drivers/pwm_mapping.c \
 502                    drivers/pwm_output.c \
 503                    drivers/pwm_rx.c \
 504                    drivers/serial_uart.c \
 505                    drivers/serial_uart_stm32f10x.c \
 506                    drivers/sound_beeper_stm32f10x.c \
 507                    drivers/system_stm32f10x.c \
 508                    drivers/timer.c \
 509                    drivers/timer_stm32f10x.c \
 510                    hardware_revision.c \
 511                    flight/gtune.c \
 512                    blackbox/blackbox.c \
 513                    blackbox/blackbox_io.c \
 514                    $(COMMON_SRC)
 515
 516 CC3D_SRC = \
 517                    startup_stm32f10x_md_gcc.S \
 518                    drivers/accgyro_mpu.c \
 519                    drivers/accgyro_spi_mpu6000.c \
 520                    drivers/adc.c \
 521                    drivers/adc_stm32f10x.c \
 522                    drivers/barometer_bmp085.c \
 523                    drivers/barometer_bmp280.c \
 524                    drivers/barometer_ms5611.c \
 525                    drivers/bus_spi.c \
 526                    drivers/bus_i2c_stm32f10x.c \
 527                    drivers/compass_hmc5883l.c \
 528                    drivers/display_ug2864hsweg01.c \
 529                    drivers/flash_m25p16.c \
 530                    drivers/gpio_stm32f10x.c \
 531                    drivers/inverter.c \
 532                    drivers/light_led_stm32f10x.c \
 533                    drivers/light_ws2811strip.c \
 534                    drivers/light_ws2811strip_stm32f10x.c \
 535                    drivers/pwm_mapping.c \
 536                    drivers/pwm_output.c \
 537                    drivers/pwm_rx.c \
 538                    drivers/serial_softserial.c \
 539                    drivers/serial_uart.c \
 540                    drivers/serial_uart_stm32f10x.c \
 541                    drivers/sonar_hcsr04.c \
 542                    drivers/sound_beeper_stm32f10x.c \
 543                    drivers/system_stm32f10x.c \
 544                    drivers/timer.c \
 545                    drivers/timer_stm32f10x.c \
 546                    io/flashfs.c \
 547                    $(HIGHEND_SRC) \
 548                    $(COMMON_SRC) \
 549                    $(VCP_SRC)
 550
 551
 552 STM32F30x_COMMON_SRC += \
 553                    drivers/adc.c \
 554                    drivers/adc_stm32f30x.c \
 555                    drivers/bus_i2c_stm32f30x.c \
 556                    drivers/bus_spi.c \
 557                    drivers/display_ug2864hsweg01.h \
 558                    drivers/gpio_stm32f30x.c \
 559                    drivers/light_led_stm32f30x.c \
 560                    drivers/pwm_mapping.c \
 561                    drivers/pwm_output.c \
 562                    drivers/pwm_rx.c \
 563                    drivers/serial_uart.c \
 564                    drivers/serial_uart_stm32f30x.c \
 565                    drivers/sound_beeper_stm32f30x.c \
 566                    drivers/system_stm32f30x.c \
 567                    drivers/timer.c \
 568                    drivers/timer_stm32f30x.c
 569
 570 NAZE32PRO_SRC = \
 571                    $(STM32F30x_COMMON_SRC) \
 572                    $(HIGHEND_SRC) \
 573                    $(COMMON_SRC) \
 574                    $(VCP_SRC)
 575
 576 STM32F3DISCOVERY_COMMON_SRC = \
 577                    $(STM32F30x_COMMON_SRC) \
 578                    drivers/light_ws2811strip.c \
 579                    drivers/light_ws2811strip_stm32f30x.c \
 580                    drivers/accgyro_l3gd20.c \
 581                    drivers/accgyro_lsm303dlhc.c \
 582                    drivers/compass_hmc5883l.c \
 583                    $(VCP_SRC)
 584
 585 STM32F3DISCOVERY_SRC = \
 586                    $(STM32F3DISCOVERY_COMMON_SRC) \
 587                    drivers/accgyro_adxl345.c \
 588                    drivers/accgyro_bma280.c \
 589                    drivers/accgyro_mma845x.c \
 590                    drivers/accgyro_mpu.c \
 591                    drivers/accgyro_mpu3050.c \
 592                    drivers/accgyro_mpu6050.c \
 593                    drivers/accgyro_l3g4200d.c \
 594                    drivers/barometer_ms5611.c \
 595                    drivers/barometer_bmp280.c \
 596                    drivers/compass_ak8975.c \
 597                    drivers/sdcard.c \
 598                    drivers/sdcard_standard.c \
 599                    io/asyncfatfs/asyncfatfs.c \
 600                    io/asyncfatfs/fat_standard.c \
 601                    $(HIGHEND_SRC) \
 602                    $(COMMON_SRC)
 603
 604 CHEBUZZF3_SRC = \
 605                    $(STM32F3DISCOVERY_SRC) \
 606                    $(HIGHEND_SRC) \
 607                    $(COMMON_SRC)
 608
 609 COLIBRI_RACE_SRC = \
 610                    $(STM32F30x_COMMON_SRC) \
 611                    io/i2c_bst.c \
 612                    drivers/bus_bst_stm32f30x.c \
 613                    drivers/accgyro_mpu.c \
 614                    drivers/accgyro_mpu6500.c \
 615                    drivers/accgyro_spi_mpu6000.c \
 616                    drivers/accgyro_spi_mpu6500.c \
 617                    drivers/accgyro_mpu6500.c \
 618                    drivers/barometer_ms5611.c \
 619                    drivers/compass_ak8963.c \
 620                    drivers/compass_ak8975.c \
 621                    drivers/compass_hmc5883l.c \
 622                    drivers/display_ug2864hsweg01.c \
 623                    drivers/light_ws2811strip.c \
 624                    drivers/light_ws2811strip_stm32f30x.c \
 625                    drivers/serial_usb_vcp.c \
 626                    $(HIGHEND_SRC) \
 627                    $(COMMON_SRC) \
 628                    $(VCP_SRC)
 629
 630 LUX_RACE_SRC = \
 631                    $(STM32F30x_COMMON_SRC) \
 632                    drivers/accgyro_mpu.c \
 633                    drivers/accgyro_mpu6500.c \
 634                    drivers/accgyro_spi_mpu6500.c \
 635                    drivers/accgyro_mpu6500.c \
 636                    drivers/light_ws2811strip.c \
 637                    drivers/light_ws2811strip_stm32f30x.c \
 638                    drivers/serial_usb_vcp.c \
 639                    $(HIGHEND_SRC) \
 640                    $(COMMON_SRC) \
 641                    $(VCP_SRC)
 642
 643 DOGE_SRC = \
 644                    $(STM32F30x_COMMON_SRC) \
 645                    drivers/accgyro_mpu.c \
 646                    drivers/accgyro_mpu6500.c \
 647                    drivers/accgyro_spi_mpu6500.c \
 648                    drivers/barometer_bmp280.c \
 649                    drivers/barometer_spi_bmp280.c \
 650                    drivers/light_ws2811strip.c \
 651                    drivers/light_ws2811strip_stm32f30x.c \
 652                    drivers/serial_usb_vcp.c \
 653                    $(HIGHEND_SRC) \
 654                    $(COMMON_SRC) \
 655                    $(VCP_SRC)
 656
 657 SPARKY_SRC = \
 658                    $(STM32F30x_COMMON_SRC) \
 659                    drivers/display_ug2864hsweg01.c \
 660                    drivers/accgyro_mpu.c \
 661                    drivers/accgyro_mpu6050.c \
 662                    drivers/barometer_ms5611.c \
 663                    drivers/barometer_bmp280.c \
 664                    drivers/compass_ak8975.c \
 665                    drivers/light_ws2811strip.c \
 666                    drivers/light_ws2811strip_stm32f30x.c \
 667                    drivers/serial_usb_vcp.c \
 668                    $(HIGHEND_SRC) \
 669                    $(COMMON_SRC) \
 670                    $(VCP_SRC)
 671
 672 ALIENFLIGHTF3_SRC = \
 673                    $(STM32F30x_COMMON_SRC) \
 674                    drivers/accgyro_mpu.c \
 675                    drivers/accgyro_mpu6050.c \
 676                    drivers/accgyro_mpu.c \
 677                    drivers/accgyro_mpu6500.c \
 678                    drivers/accgyro_spi_mpu6500.c \
 679                    drivers/compass_ak8963.c \
 680                    hardware_revision.c \
 681                    drivers/serial_usb_vcp.c \
 682                    drivers/sonar_hcsr04.c \
 683                    $(HIGHEND_SRC) \
 684                    $(COMMON_SRC) \
 685                    $(VCP_SRC)
 686
 687 RMDO_SRC = \
 688                    $(STM32F30x_COMMON_SRC) \
 689                    drivers/accgyro_mpu.c \
 690                    drivers/accgyro_mpu6050.c \
 691                    drivers/barometer_bmp280.c \
 692                    drivers/display_ug2864hsweg01.h \
 693                    drivers/flash_m25p16.c \
 694                    drivers/light_ws2811strip.c \
 695                    drivers/light_ws2811strip_stm32f30x.c \
 696                    drivers/serial_softserial.c \
 697                    drivers/sonar_hcsr04.c \
 698                    io/flashfs.c \
 699                    $(HIGHEND_SRC) \
 700                    $(COMMON_SRC)
 701
 702 SPRACINGF3_SRC = \
 703                    $(STM32F30x_COMMON_SRC) \
 704                    drivers/accgyro_mpu.c \
 705                    drivers/accgyro_mpu6050.c \
 706                    drivers/barometer_ms5611.c \
 707                    drivers/compass_ak8975.c \
 708                    drivers/barometer_bmp085.c \
 709                    drivers/barometer_bmp280.c \
 710                    drivers/compass_hmc5883l.c \
 711                    drivers/display_ug2864hsweg01.h \
 712                    drivers/flash_m25p16.c \
 713                    drivers/light_ws2811strip.c \
 714                    drivers/light_ws2811strip_stm32f30x.c \
 715                    drivers/serial_softserial.c \
 716                    drivers/sonar_hcsr04.c \
 717                    io/flashfs.c \
 718                    $(HIGHEND_SRC) \
 719                    $(COMMON_SRC)
 720
 721 IRCFUSIONF3_SRC = \
 722                    $(STM32F30x_COMMON_SRC) \
 723                    drivers/accgyro_mpu.c \
 724                    drivers/accgyro_mpu6050.c \
 725                    drivers/barometer_bmp085.c \
 726                    drivers/flash_m25p16.c \
 727                    io/flashfs.c \
 728                    $(HIGHEND_SRC) \
 729                    $(COMMON_SRC)
 730
 731 SPRACINGF3EVO_SRC        = \
 732                    $(STM32F30x_COMMON_SRC) \
 733                    drivers/accgyro_mpu.c \
 734                    drivers/accgyro_mpu6500.c \
 735                    drivers/accgyro_spi_mpu6500.c \
 736                    drivers/barometer_bmp280.c \
 737                    drivers/compass_ak8963.c \
 738                    drivers/display_ug2864hsweg01.h \
 739                    drivers/light_ws2811strip.c \
 740                    drivers/light_ws2811strip_stm32f30x.c \
 741                    drivers/serial_usb_vcp.c \
 742                    drivers/sdcard.c \
 743                    drivers/sdcard_standard.c \
 744                    drivers/transponder_ir.c \
 745                    drivers/transponder_ir_stm32f30x.c \
 746                    io/asyncfatfs/asyncfatfs.c \
 747                    io/asyncfatfs/fat_standard.c \
 748                    io/transponder_ir.c \
 749                    $(HIGHEND_SRC) \
 750                    $(COMMON_SRC) \
 751                    $(VCP_SRC)
 752
 753 MOTOLAB_SRC = \
 754                    $(STM32F30x_COMMON_SRC) \
 755                    drivers/accgyro_mpu.c \
 756                    drivers/display_ug2864hsweg01.c \
 757                    drivers/accgyro_mpu6050.c \
 758                    drivers/accgyro_spi_mpu6000.c \
 759                    drivers/barometer_ms5611.c \
 760                    drivers/compass_hmc5883l.c \
 761                    drivers/light_ws2811strip.c \
 762                    drivers/light_ws2811strip_stm32f30x.c \
 763                    drivers/serial_softserial.c \
 764                    drivers/serial_usb_vcp.c \
 765                    drivers/flash_m25p16.c \
 766                    io/flashfs.c \
 767                    $(HIGHEND_SRC) \
 768                    $(COMMON_SRC) \
 769                    $(VCP_SRC)
 770
 771 SPRACINGF3MINI_SRC       = \
 772                    $(STM32F30x_COMMON_SRC) \
 773                    drivers/accgyro_mpu.c \
 774                    drivers/accgyro_mpu6500.c \
 775                    drivers/barometer_bmp280.c \
 776                    drivers/compass_ak8975.c \
 777                    drivers/compass_hmc5883l.c \
 778                    drivers/display_ug2864hsweg01.h \
 779                    drivers/flash_m25p16.c \
 780                    drivers/light_ws2811strip.c \
 781                    drivers/light_ws2811strip_stm32f30x.c \
 782                    drivers/serial_softserial.c \
 783                    drivers/serial_usb_vcp.c \
 784                    drivers/sonar_hcsr04.c \
 785                    drivers/sdcard.c \
 786                    drivers/sdcard_standard.c \
 787                    drivers/transponder_ir.c \
 788                    drivers/transponder_ir_stm32f30x.c \
 789                    io/asyncfatfs/asyncfatfs.c \
 790                    io/asyncfatfs/fat_standard.c \
 791                    io/transponder_ir.c \
 792                    $(HIGHEND_SRC) \
 793                    $(COMMON_SRC) \
 794                    $(VCP_SRC)
 795 #                  $(FATFS_SRC)
 796
 797 # Search path and source files for the ST stdperiph library
 798 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 799
 800 ###############################################################################
 801 # Things that might need changing to use different tools
 802 #
 803
 804 # Tool names
 805 CC               = arm-none-eabi-gcc
 806 OBJCOPY          = arm-none-eabi-objcopy
 807 SIZE             = arm-none-eabi-size
 808
 809 #
 810 # Tool options.
 811 #
 812
 813 ifeq ($(DEBUG),GDB)
 814 OPTIMIZE         = -O0
 815 LTO_FLAGS        = $(OPTIMIZE)
 816 else
 817 OPTIMIZE         = -Os
 818 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 819 endif
 820
 821 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 822
 823 CFLAGS           += $(ARCH_FLAGS) \
 824                    $(LTO_FLAGS) \
 825                    $(addprefix -D,$(OPTIONS)) \
 826                    $(addprefix -I,$(INCLUDE_DIRS)) \
 827                    $(DEBUG_FLAGS) \
 828                    -std=gnu99 \
 829                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 830                    -ffunction-sections \
 831                    -fdata-sections \
 832                    $(DEVICE_FLAGS) \
 833                    -DUSE_STDPERIPH_DRIVER \
 834                    $(TARGET_FLAGS) \
 835                    -D'__FORKNAME__="$(FORKNAME)"' \
 836                    -D'__TARGET__="$(TARGET)"' \
 837                    -D'__REVISION__="$(REVISION)"' \
 838                    -save-temps=obj \
 839                    -MMD -MP
 840
 841 ASFLAGS          = $(ARCH_FLAGS) \
 842                    -x assembler-with-cpp \
 843                    $(addprefix -I,$(INCLUDE_DIRS)) \
 844                   -MMD -MP
 845
 846 LDFLAGS          = -lm \
 847                    -nostartfiles \
 848                    --specs=nano.specs \
 849                    -lc \
 850                    -lnosys \
 851                    $(ARCH_FLAGS) \
 852                    $(LTO_FLAGS) \
 853                    $(DEBUG_FLAGS) \
 854                    -static \
 855                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 856                    -Wl,-L$(LINKER_DIR) \
 857            -Wl,--cref \
 858                    -T$(LD_SCRIPT)
 859
 860 ###############################################################################
 861 # No user-serviceable parts below
 862 ###############################################################################
 863
 864 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 865                    --std=c99 --inline-suppr --quiet --force \
 866                    $(addprefix -I,$(INCLUDE_DIRS)) \
 867                    -I/usr/include -I/usr/include/linux
 868
 869 #
 870 # Things we will build
 871 #
 872 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 873 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 874 endif
 875
 876 CC3D_OPBL_SRC     = $(CC3D_SRC)
 877
 878 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 879 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 880 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 881 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 882 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 883 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 884
 885
 886 CLEAN_ARTIFACTS := $(TARGET_BIN)
 887 CLEAN_ARTIFACTS += $(TARGET_HEX)
 888 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 889
 890 # List of buildable ELF files and their object dependencies.
 891 # It would be nice to compute these lists, but that seems to be just beyond make.
 892
 893 $(TARGET_HEX): $(TARGET_ELF)
 894         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 895
 896 $(TARGET_BIN): $(TARGET_ELF)
 897         $(OBJCOPY) -O binary $< $@
 898
 899 $(TARGET_ELF):  $(TARGET_OBJS)
 900         $(CC) -o $@ $^ $(LDFLAGS)
 901         $(SIZE) $(TARGET_ELF)
 902
 903 # Compile
 904 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 905         @mkdir -p $(dir $@)
 906         @echo %% $(notdir $<)
 907         @$(CC) -c -o $@ $(CFLAGS) $<
 908
 909 # Assemble
 910 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 911         @mkdir -p $(dir $@)
 912         @echo %% $(notdir $<)
 913         @$(CC) -c -o $@ $(ASFLAGS) $<
 914
 915 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 916         @mkdir -p $(dir $@)
 917         @echo %% $(notdir $<)
 918         @$(CC) -c -o $@ $(ASFLAGS) $<
 919
 920
 921 ## all         : default task; compile C code, build firmware
 922 all: binary
 923
 924 ## clean       : clean up all temporary / machine-generated files
 925 clean:
 926         rm -f $(CLEAN_ARTIFACTS)
 927         rm -rf $(OBJECT_DIR)/$(TARGET)
 928         cd src/test && $(MAKE) clean || true
 929
 930 flash_$(TARGET): $(TARGET_HEX)
 931         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 932         echo -n 'R' >$(SERIAL_DEVICE)
 933         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 934
 935 ## flash       : flash firmware (.hex) onto flight controller
 936 flash: flash_$(TARGET)
 937
 938 st-flash_$(TARGET): $(TARGET_BIN)
 939         st-flash --reset write $< 0x08000000
 940
 941 ## st-flash    : flash firmware (.bin) onto flight controller
 942 st-flash: st-flash_$(TARGET)
 943
 944 binary: $(TARGET_BIN)
 945 hex:    $(TARGET_HEX)
 946
 947 unbrick_$(TARGET): $(TARGET_HEX)
 948         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 949         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 950
 951 ## unbrick     : unbrick flight controller
 952 unbrick: unbrick_$(TARGET)
 953
 954 ## cppcheck    : run static analysis on C source code
 955 cppcheck: $(CSOURCES)
 956         $(CPPCHECK)
 957
 958 cppcheck-result.xml: $(CSOURCES)
 959         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 960
 961 ## help        : print this help message and exit
 962 help: Makefile
 963         @echo ""
 964         @echo "Makefile for the $(FORKNAME) firmware"
 965         @echo ""
 966         @echo "Usage:"
 967         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 968         @echo ""
 969         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 970         @echo ""
 971         @sed -n 's/^## //p' $<
 972
 973 ## test        : run the cleanflight test suite
 974 test:
 975         cd src/test && $(MAKE) test || true
 976
 977 # rebuild everything when makefile changes
 978 $(TARGET_OBJS) : Makefile
 979
 980 # include auto-generated dependencies
 981 -include $(TARGET_DEPS)