Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the betaflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12 ###############################################################################
  13
  14
  15 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= NAZE
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40 ## V                 : Set verbosity level based on the V= parameter
  41 ##                     V=0 Low
  42 ##                     V=1 High
  43 export AT := @
  44
  45 ifndef V
  46 export V0    :=
  47 export V1    := $(AT)
  48 export STDOUT   :=
  49 else ifeq ($(V), 0)
  50 export V0    := $(AT)
  51 export V1    := $(AT)
  52 export STDOUT:= "> /dev/null"
  53 export MAKE  := $(MAKE) --no-print-directory
  54 else ifeq ($(V), 1)
  55 export V0    :=
  56 export V1    :=
  57 export STDOUT   :=
  58 endif
  59
  60 ###############################################################################
  61 # Things that need to be maintained as the source changes
  62 #
  63
  64 FORKNAME      = betaflight
  65
  66 # Working directories
  67 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  68 SRC_DIR         = $(ROOT)/src/main
  69 OBJECT_DIR      = $(ROOT)/obj/main
  70 BIN_DIR         = $(ROOT)/obj
  71 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  72 INCLUDE_DIRS    = $(SRC_DIR) \
  73                   $(ROOT)/src/main/target
  74 LINKER_DIR      = $(ROOT)/src/main/target/link
  75
  76 # Build tools, so we all share the same versions
  77 # import macros common to all supported build systems
  78 include $(ROOT)/make/system-id.mk
  79 # developer preferences, edit these at will, they'll be gitignored
  80 include $(ROOT)/make/local.mk
  81
  82 # configure some directories that are relative to wherever ROOT_DIR is located
  83 TOOLS_DIR := $(ROOT)/tools
  84 BUILD_DIR := $(ROOT)/build
  85 DL_DIR := $(ROOT)/downloads
  86
  87 export RM := rm
  88
  89 # import macros that are OS specific
  90 include $(ROOT)/make/$(OSFAMILY).mk
  91
  92 # include the tools makefile
  93 include $(ROOT)/make/tools.mk
  94
  95 # default xtal value for F4 targets
  96 HSE_VALUE       = 8000000
  97
  98 # used for turning on features like VCP and SDCARD
  99 FEATURES        =
 100
 101 SAMPLE_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO STM32F3DISCOVERY
 102 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
 103 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
 104
 105 #VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
 106 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 107 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 108 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 109 VALID_TARGETS  := $(sort $(VALID_TARGETS))
 110
 111 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 112 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 113 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 114 else
 115 BASE_TARGET    := $(TARGET)
 116 endif
 117
 118 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 119 OPBL            = yes
 120 endif
 121
 122 # silently ignore if the file is not present. Allows for target specific.
 123 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 124
 125 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
 126 F7_TARGETS      = $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 127
 128 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 129 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 130 endif
 131
 132 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
 133 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411 or F7x5. Have you prepared a valid target.mk?)
 134 endif
 135
 136 128K_TARGETS  = $(F1_TARGETS)
 137 256K_TARGETS  = $(F3_TARGETS)
 138 512K_TARGETS  = $(F411_TARGETS) $(F7X5XE_TARGETS)
 139 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 140 2048K_TARGETS = $(F7X5XI_TARGETS)
 141
 142 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 143 ifeq ($(FLASH_SIZE),)
 144 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 145 FLASH_SIZE = 2048
 146 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 147 FLASH_SIZE = 1024
 148 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 149 FLASH_SIZE = 512
 150 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 151 FLASH_SIZE = 256
 152 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 153 FLASH_SIZE = 128
 154 else
 155 $(error FLASH_SIZE not configured for target $(TARGET))
 156 endif
 157 endif
 158
 159 # note that there is no hardfault debugging startup file assembly handler for other platforms
 160 ifeq ($(DEBUG_HARDFAULTS),F3)
 161 CFLAGS               += -DDEBUG_HARDFAULTS
 162 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 163 else
 164 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 165 endif
 166
 167 ifeq ($(DEBUG_HARDFAULTS),F7)
 168 CFLAGS               += -DDEBUG_HARDFAULTS
 169 endif
 170
 171 REVISION := $(shell git log -1 --format="%h")
 172
 173 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 174 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 175 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 176
 177 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 178
 179 # Search path for sources
 180 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 181 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 182 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 183 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 184 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 185
 186 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 187
 188 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 189 # F3 TARGETS
 190
 191 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 192 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 193 EXCLUDES        = stm32f30x_crc.c \
 194                   stm32f30x_can.c
 195
 196 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 197 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 198
 199 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 200 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 201                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 202
 203 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 204                    $(STDPERIPH_DIR)/inc \
 205                    $(CMSIS_DIR)/CM1/CoreSupport \
 206                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 207
 208 ifneq ($(filter VCP, $(FEATURES)),)
 209 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 210                    $(USBFS_DIR)/inc \
 211                    $(ROOT)/src/main/vcp
 212
 213 VPATH           := $(VPATH):$(USBFS_DIR)/src
 214
 215 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 216                         $(USBPERIPH_SRC)
 217 endif
 218
 219 ifneq ($(filter SDCARD, $(FEATURES)),)
 220 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 221                    $(FATFS_DIR) \
 222
 223 VPATH           := $(VPATH):$(FATFS_DIR)
 224 endif
 225
 226 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 227
 228 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 229 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 230 # End F3 targets
 231 #
 232 # Start F4 targets
 233 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 234
 235 #STDPERIPH
 236 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 237 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 238 EXCLUDES        = stm32f4xx_crc.c \
 239                   stm32f4xx_can.c \
 240                   stm32f4xx_fmc.c \
 241                   stm32f4xx_sai.c \
 242                   stm32f4xx_cec.c \
 243                   stm32f4xx_dsi.c \
 244                   stm32f4xx_flash_ramfunc.c \
 245                   stm32f4xx_fmpi2c.c \
 246                   stm32f4xx_lptim.c \
 247                   stm32f4xx_qspi.c \
 248                   stm32f4xx_spdifrx.c \
 249                   stm32f4xx_cryp.c \
 250                   stm32f4xx_cryp_aes.c \
 251                   stm32f4xx_hash_md5.c \
 252                   stm32f4xx_cryp_des.c \
 253                   stm32f4xx_rtc.c \
 254                   stm32f4xx_hash.c \
 255                   stm32f4xx_dbgmcu.c \
 256                   stm32f4xx_cryp_tdes.c \
 257                   stm32f4xx_hash_sha1.c
 258
 259
 260 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 261 EXCLUDES += stm32f4xx_fsmc.c
 262 endif
 263
 264 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 265
 266 #USB
 267 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 268 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 269 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 270 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 271 EXCLUDES    = usb_bsp_template.c \
 272               usb_conf_template.c \
 273               usb_hcd_int.c \
 274               usb_hcd.c \
 275               usb_otg.c
 276
 277 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 278 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 279 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 280 EXCLUDES    = usbd_cdc_if_template.c
 281 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 282 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 283
 284 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 285                         $(USBOTG_SRC) \
 286                         $(USBCORE_SRC) \
 287                         $(USBCDC_SRC)
 288
 289 #CMSIS
 290 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 291 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 292                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 293 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 294                    $(STDPERIPH_DIR)/inc \
 295                    $(USBOTG_DIR)/inc \
 296                    $(USBCORE_DIR)/inc \
 297                    $(USBCDC_DIR)/inc \
 298                    $(USBFS_DIR)/inc \
 299                    $(CMSIS_DIR)/CM4/CoreSupport \
 300                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 301                    $(ROOT)/src/main/vcpf4
 302
 303 ifneq ($(filter SDCARD,$(FEATURES)),)
 304 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 305                    $(FATFS_DIR)
 306 VPATH           := $(VPATH):$(FATFS_DIR)
 307 endif
 308
 309 #Flags
 310 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 311
 312 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 313 DEVICE_FLAGS    = -DSTM32F411xE
 314 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 315 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 316 DEVICE_FLAGS    = -DSTM32F40_41xxx
 317 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 318 else
 319 $(error Unknown MCU for F4 target)
 320 endif
 321 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 322
 323 # End F4 targets
 324 #
 325 # Start F7 targets
 326 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 327
 328 #STDPERIPH
 329 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 330 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 331 EXCLUDES        = stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 332                                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 333                                   stm32f7xx_hal_timebase_tim_template.c
 334
 335 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 336
 337 #USB
 338 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 339 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 340 EXCLUDES    = usbd_conf_template.c
 341 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 342
 343 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 344 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 345 EXCLUDES   = usbd_cdc_if_template.c
 346 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 347
 348 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 349
 350 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 351                         $(USBCORE_SRC) \
 352                         $(USBCDC_SRC)
 353
 354 #CMSIS
 355 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 356 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 357 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 358                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 359 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 360                    $(STDPERIPH_DIR)/Inc \
 361                    $(USBCORE_DIR)/Inc \
 362                    $(USBCDC_DIR)/Inc \
 363                    $(CMSIS_DIR)/CM7/Include \
 364                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 365                    $(ROOT)/src/main/vcp_hal
 366
 367 ifneq ($(filter SDCARD,$(FEATURES)),)
 368 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 369                    $(FATFS_DIR)
 370 VPATH           := $(VPATH):$(FATFS_DIR)
 371 endif
 372
 373 #Flags
 374 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 375
 376 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 377 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 378 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 379 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 380 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 381 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 382 else
 383 $(error Unknown MCU for F7 target)
 384 endif
 385 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 386
 387 TARGET_FLAGS = -D$(TARGET)
 388
 389 # End F7 targets
 390 #
 391 # Start F1 targets
 392 else
 393
 394 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 395 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 396 EXCLUDES        = stm32f10x_crc.c \
 397                   stm32f10x_cec.c \
 398                   stm32f10x_can.c
 399
 400 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 401
 402 # Search path and source files for the CMSIS sources
 403 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 404 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 405                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 406
 407 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 408                    $(STDPERIPH_DIR)/inc \
 409                    $(CMSIS_DIR)/CM3/CoreSupport \
 410                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 411
 412 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 413
 414 ifneq ($(filter VCP, $(FEATURES)),)
 415 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 416                    $(USBFS_DIR)/inc \
 417                    $(ROOT)/src/main/vcp
 418
 419 VPATH           := $(VPATH):$(USBFS_DIR)/src
 420
 421 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 422                         $(USBPERIPH_SRC)
 423
 424 endif
 425
 426 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 427 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 428
 429 ifeq ($(DEVICE_FLAGS),)
 430 DEVICE_FLAGS    = -DSTM32F10X_MD
 431 endif
 432 DEVICE_FLAGS   += -DSTM32F10X
 433
 434 endif
 435 #
 436 # End F1 targets
 437 #
 438 ifneq ($(BASE_TARGET), $(TARGET))
 439 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 440 endif
 441
 442 ifneq ($(FLASH_SIZE),)
 443 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 444 endif
 445
 446 ifneq ($(HSE_VALUE),)
 447 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 448 endif
 449
 450 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 451 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 452
 453 ifeq ($(OPBL),yes)
 454 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 455 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 456 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 457 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 458 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 459 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 460 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 461 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 462 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 463 endif
 464 .DEFAULT_GOAL := binary
 465 else
 466 .DEFAULT_GOAL := hex
 467 endif
 468
 469 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 470                    $(ROOT)/lib/main/MAVLink
 471
 472 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 473                    $(TARGET_DIR)
 474
 475 VPATH           := $(VPATH):$(TARGET_DIR)
 476
 477 COMMON_SRC = \
 478             build/build_config.c \
 479             build/debug.c \
 480             build/version.c \
 481             $(TARGET_DIR_SRC) \
 482             main.c \
 483             common/encoding.c \
 484             common/filter.c \
 485             common/maths.c \
 486             common/printf.c \
 487             common/streambuf.c \
 488             common/typeconversion.c \
 489             config/config_eeprom.c \
 490             config/feature.c \
 491             config/parameter_group.c \
 492             drivers/adc.c \
 493             drivers/buf_writer.c \
 494             drivers/bus_i2c_soft.c \
 495             drivers/bus_spi.c \
 496             drivers/bus_spi_soft.c \
 497             drivers/display.c \
 498             drivers/exti.c \
 499             drivers/gyro_sync.c \
 500             drivers/io.c \
 501             drivers/light_led.c \
 502             drivers/resource.c \
 503             drivers/rx_nrf24l01.c \
 504             drivers/rx_spi.c \
 505             drivers/rx_xn297.c \
 506             drivers/pwm_esc_detect.c \
 507             drivers/pwm_output.c \
 508             drivers/pwm_rx.c \
 509             drivers/rcc.c \
 510             drivers/serial.c \
 511             drivers/serial_uart.c \
 512             drivers/sound_beeper.c \
 513             drivers/stack_check.c \
 514             drivers/system.c \
 515             drivers/timer.c \
 516             fc/config.c \
 517             fc/fc_tasks.c \
 518             fc/fc_msp.c \
 519             fc/mw.c \
 520             fc/rc_controls.c \
 521             fc/rc_curves.c \
 522             fc/runtime_config.c \
 523             flight/altitudehold.c \
 524             flight/failsafe.c \
 525             flight/imu.c \
 526             flight/mixer.c \
 527             flight/pid.c \
 528             flight/servos.c \
 529             io/beeper.c \
 530             io/serial.c \
 531             io/serial_4way.c \
 532             io/serial_4way_avrootloader.c \
 533             io/serial_4way_stk500v2.c \
 534             io/serial_cli.c \
 535             io/statusindicator.c \
 536             msp/msp_serial.c \
 537             rx/ibus.c \
 538             rx/jetiexbus.c \
 539             rx/msp.c \
 540             rx/nrf24_cx10.c \
 541             rx/nrf24_inav.c \
 542             rx/nrf24_h8_3d.c \
 543             rx/nrf24_syma.c \
 544             rx/nrf24_v202.c \
 545             rx/pwm.c \
 546             rx/rx.c \
 547             rx/rx_spi.c \
 548             rx/crsf.c \
 549             rx/sbus.c \
 550             rx/spektrum.c \
 551             rx/sumd.c \
 552             rx/sumh.c \
 553             rx/xbus.c \
 554             scheduler/scheduler.c \
 555             sensors/acceleration.c \
 556             sensors/battery.c \
 557             sensors/boardalignment.c \
 558             sensors/compass.c \
 559             sensors/gyro.c \
 560             sensors/initialisation.c \
 561             $(CMSIS_SRC) \
 562             $(DEVICE_STDPERIPH_SRC)
 563
 564 HIGHEND_SRC = \
 565             blackbox/blackbox.c \
 566             blackbox/blackbox_io.c \
 567             cms/cms.c \
 568             cms/cms_menu_blackbox.c \
 569             cms/cms_menu_builtin.c \
 570             cms/cms_menu_imu.c \
 571             cms/cms_menu_ledstrip.c \
 572             cms/cms_menu_misc.c \
 573             cms/cms_menu_osd.c \
 574             cms/cms_menu_vtx.c \
 575             common/colorconversion.c \
 576             drivers/display_ug2864hsweg01.c \
 577             drivers/light_ws2811strip.c \
 578             drivers/serial_escserial.c \
 579             drivers/serial_softserial.c \
 580             drivers/sonar_hcsr04.c \
 581             flight/gtune.c \
 582             flight/navigation.c \
 583             flight/gps_conversion.c \
 584             io/dashboard.c \
 585             io/displayport_max7456.c \
 586             io/displayport_msp.c \
 587             io/displayport_oled.c \
 588             io/gps.c \
 589             io/ledstrip.c \
 590             io/osd.c \
 591             sensors/sonar.c \
 592             sensors/barometer.c \
 593             telemetry/telemetry.c \
 594             telemetry/crsf.c \
 595             telemetry/frsky.c \
 596             telemetry/hott.c \
 597             telemetry/smartport.c \
 598             telemetry/ltm.c \
 599             telemetry/mavlink.c \
 600             sensors/esc_sensor.c \
 601
 602 SPEED_OPTIMISED_SRC := ""
 603 SIZE_OPTIMISED_SRC  := ""
 604
 605 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 606 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 607             common/encoding.c \
 608             common/filter.c \
 609             common/maths.c \
 610             common/typeconversion.c \
 611             drivers/adc.c \
 612             drivers/buf_writer.c \
 613             drivers/bus_i2c_soft.c \
 614             drivers/bus_spi.c \
 615             drivers/bus_spi_soft.c \
 616             drivers/exti.c \
 617             drivers/gyro_sync.c \
 618             drivers/io.c \
 619             drivers/light_led.c \
 620             drivers/resource.c \
 621             drivers/rx_nrf24l01.c \
 622             drivers/rx_spi.c \
 623             drivers/rx_xn297.c \
 624             drivers/pwm_output.c \
 625             drivers/pwm_rx.c \
 626             drivers/rcc.c \
 627             drivers/serial.c \
 628             drivers/serial_uart.c \
 629             drivers/sound_beeper.c \
 630             drivers/stack_check.c \
 631             drivers/system.c \
 632             drivers/timer.c \
 633             fc/fc_tasks.c \
 634             fc/mw.c \
 635             fc/rc_controls.c \
 636             fc/rc_curves.c \
 637             fc/runtime_config.c \
 638             flight/altitudehold.c \
 639             flight/failsafe.c \
 640             flight/imu.c \
 641             flight/mixer.c \
 642             flight/pid.c \
 643             flight/servos.c \
 644             io/beeper.c \
 645             io/serial.c \
 646             io/statusindicator.c \
 647             rx/ibus.c \
 648             rx/jetiexbus.c \
 649             rx/msp.c \
 650             rx/nrf24_cx10.c \
 651             rx/nrf24_inav.c \
 652             rx/nrf24_h8_3d.c \
 653             rx/nrf24_syma.c \
 654             rx/nrf24_v202.c \
 655             rx/pwm.c \
 656             rx/rx.c \
 657             rx/rx_spi.c \
 658             rx/crsf.c \
 659             rx/sbus.c \
 660             rx/spektrum.c \
 661             rx/sumd.c \
 662             rx/sumh.c \
 663             rx/xbus.c \
 664             scheduler/scheduler.c \
 665             sensors/acceleration.c \
 666             sensors/boardalignment.c \
 667             sensors/gyro.c \
 668             $(CMSIS_SRC) \
 669             $(DEVICE_STDPERIPH_SRC) \
 670             blackbox/blackbox.c \
 671             blackbox/blackbox_io.c \
 672             drivers/display_ug2864hsweg01.c \
 673             drivers/light_ws2811strip.c \
 674             drivers/serial_softserial.c \
 675             io/dashboard.c \
 676             io/displayport_max7456.c \
 677             io/displayport_msp.c \
 678             io/displayport_oled.c \
 679             io/ledstrip.c \
 680             io/osd.c \
 681             telemetry/telemetry.c \
 682             telemetry/crsf.c \
 683             telemetry/frsky.c \
 684             telemetry/hott.c \
 685             telemetry/smartport.c \
 686             telemetry/ltm.c \
 687             telemetry/mavlink.c \
 688             telemetry/esc_telemetry.c \
 689
 690 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 691             drivers/serial_escserial.c \
 692             io/serial_cli.c \
 693             io/serial_4way.c \
 694             io/serial_4way_avrootloader.c \
 695             io/serial_4way_stk500v2.c \
 696             msp/msp_serial.c \
 697             cms/cms.c \
 698             cms/cms_menu_blackbox.c \
 699             cms/cms_menu_builtin.c \
 700             cms/cms_menu_imu.c \
 701             cms/cms_menu_ledstrip.c \
 702             cms/cms_menu_misc.c \
 703             cms/cms_menu_osd.c \
 704             cms/cms_menu_vtx.c
 705 endif #F3
 706
 707 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 708 VCP_SRC = \
 709             vcpf4/stm32f4xx_it.c \
 710             vcpf4/usb_bsp.c \
 711             vcpf4/usbd_desc.c \
 712             vcpf4/usbd_usr.c \
 713             vcpf4/usbd_cdc_vcp.c \
 714             drivers/serial_usb_vcp.c
 715 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 716 VCP_SRC = \
 717             vcp_hal/usbd_desc.c \
 718             vcp_hal/usbd_conf.c \
 719             vcp_hal/usbd_cdc_interface.c \
 720             drivers/serial_usb_vcp_hal.c
 721 else
 722 VCP_SRC = \
 723             vcp/hw_config.c \
 724             vcp/stm32_it.c \
 725             vcp/usb_desc.c \
 726             vcp/usb_endp.c \
 727             vcp/usb_istr.c \
 728             vcp/usb_prop.c \
 729             vcp/usb_pwr.c \
 730             drivers/serial_usb_vcp.c \
 731             drivers/usb_io.c
 732 endif
 733
 734 STM32F10x_COMMON_SRC = \
 735             startup_stm32f10x_md_gcc.S \
 736             drivers/adc_stm32f10x.c \
 737             drivers/bus_i2c_stm32f10x.c \
 738             drivers/dma.c \
 739             drivers/gpio_stm32f10x.c \
 740             drivers/inverter.c \
 741             drivers/light_ws2811strip_stm32f10x.c \
 742             drivers/serial_uart_stm32f10x.c \
 743             drivers/system_stm32f10x.c \
 744             drivers/timer_stm32f10x.c
 745
 746 STM32F30x_COMMON_SRC = \
 747             startup_stm32f30x_md_gcc.S \
 748             target/system_stm32f30x.c \
 749             drivers/adc_stm32f30x.c \
 750             drivers/bus_i2c_stm32f30x.c \
 751             drivers/dma.c \
 752             drivers/gpio_stm32f30x.c \
 753             drivers/light_ws2811strip_stm32f30x.c \
 754             drivers/pwm_output_stm32f3xx.c \
 755             drivers/serial_uart_stm32f30x.c \
 756             drivers/system_stm32f30x.c \
 757             drivers/timer_stm32f30x.c
 758
 759 STM32F4xx_COMMON_SRC = \
 760             startup_stm32f40xx.s \
 761             target/system_stm32f4xx.c \
 762             drivers/accgyro_mpu.c \
 763             drivers/adc_stm32f4xx.c \
 764             drivers/bus_i2c_stm32f10x.c \
 765             drivers/dma_stm32f4xx.c \
 766             drivers/gpio_stm32f4xx.c \
 767             drivers/inverter.c \
 768             drivers/light_ws2811strip_stm32f4xx.c \
 769             drivers/pwm_output_stm32f4xx.c \
 770             drivers/serial_uart_stm32f4xx.c \
 771             drivers/system_stm32f4xx.c \
 772             drivers/timer_stm32f4xx.c
 773
 774 STM32F7xx_COMMON_SRC = \
 775             startup_stm32f745xx.s \
 776             target/system_stm32f7xx.c \
 777             drivers/accgyro_mpu.c \
 778             drivers/adc_stm32f7xx.c \
 779             drivers/bus_i2c_hal.c \
 780             drivers/dma_stm32f7xx.c \
 781             drivers/gpio_stm32f7xx.c \
 782             drivers/inverter.c \
 783             drivers/bus_spi_hal.c \
 784             drivers/pwm_output_stm32f7xx.c \
 785             drivers/timer_hal.c \
 786             drivers/timer_stm32f7xx.c \
 787             drivers/pwm_output_hal.c \
 788             drivers/system_stm32f7xx.c \
 789             drivers/serial_uart_stm32f7xx.c \
 790             drivers/serial_uart_hal.c
 791
 792 F7EXCLUDES = drivers/bus_spi.c \
 793             drivers/bus_i2c.c \
 794             drivers/timer.c \
 795             drivers/pwm_output.c \
 796             drivers/serial_uart.c
 797
 798 # check if target.mk supplied
 799 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 800 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 801 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 802 TARGET_SRC := $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
 803 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 804 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 805 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 806 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 807 endif
 808
 809 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 810 TARGET_SRC += \
 811             drivers/flash_m25p16.c \
 812             io/flashfs.c
 813 endif
 814
 815 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS) $(F4_TARGETS) $(F3_TARGETS)))
 816 TARGET_SRC += $(HIGHEND_SRC)
 817 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 818 TARGET_SRC += $(HIGHEND_SRC)
 819 endif
 820
 821 TARGET_SRC += $(COMMON_SRC)
 822 #excludes
 823 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 824 TARGET_SRC   := $(filter-out ${F7EXCLUDES}, $(TARGET_SRC))
 825 endif
 826
 827 ifneq ($(filter SDCARD,$(FEATURES)),)
 828 TARGET_SRC += \
 829             drivers/sdcard.c \
 830             drivers/sdcard_standard.c \
 831             io/asyncfatfs/asyncfatfs.c \
 832             io/asyncfatfs/fat_standard.c
 833 endif
 834
 835 ifneq ($(filter VCP,$(FEATURES)),)
 836 TARGET_SRC += $(VCP_SRC)
 837 endif
 838 # end target specific make file checks
 839
 840
 841 # Search path and source files for the ST stdperiph library
 842 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 843
 844 ###############################################################################
 845 # Things that might need changing to use different tools
 846 #
 847
 848 # Find out if ccache is installed on the system
 849 CCACHE := ccache
 850 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 851 ifneq ($(RESULT),0)
 852 CCACHE :=
 853 endif
 854
 855 # Tool names
 856 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 857 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 858 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 859 SIZE        := $(ARM_SDK_PREFIX)size
 860
 861 #
 862 # Tool options.
 863 #
 864
 865 ifneq ($(DEBUG),GDB)
 866 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
 867 OPTIMISE_SPEED      := ""
 868 OPTIMISE_SIZE       := ""
 869
 870 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 871 OPTIMISE_DEFAULT    := -Os
 872
 873 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 874
 875 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 876 OPTIMISE_DEFAULT    := -O2
 877 OPTIMISE_SPEED      := -Ofast
 878 OPTIMISE_SIZE       := -Os
 879
 880 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 881
 882 else
 883 OPTIMISE_DEFAULT    := -Ofast
 884
 885 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 886
 887 endif #TARGETS
 888
 889 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 890 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 891 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 892
 893 else #DEBUG
 894 OPTIMISE_DEFAULT    := -O0
 895
 896 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
 897
 898 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
 899 endif #DEBUG
 900
 901 DEBUG_FLAGS = -ggdb3 -DDEBUG
 902
 903 CFLAGS      += $(ARCH_FLAGS) \
 904               $(addprefix -D,$(OPTIONS)) \
 905               $(addprefix -I,$(INCLUDE_DIRS)) \
 906               $(DEBUG_FLAGS) \
 907               -std=gnu99 \
 908               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 909               -ffunction-sections \
 910               -fdata-sections \
 911               -pedantic \
 912               $(DEVICE_FLAGS) \
 913               -DUSE_STDPERIPH_DRIVER \
 914               -D$(TARGET) \
 915               $(TARGET_FLAGS) \
 916               -D'__FORKNAME__="$(FORKNAME)"' \
 917               -D'__TARGET__="$(TARGET)"' \
 918               -D'__REVISION__="$(REVISION)"' \
 919               -save-temps=obj \
 920               -MMD -MP
 921
 922 ASFLAGS     = $(ARCH_FLAGS) \
 923               -x assembler-with-cpp \
 924               $(addprefix -I,$(INCLUDE_DIRS)) \
 925               -MMD -MP
 926
 927 LDFLAGS     = -lm \
 928               -nostartfiles \
 929               --specs=nano.specs \
 930               -lc \
 931               -lnosys \
 932               $(ARCH_FLAGS) \
 933               $(LTO_FLAGS) \
 934               $(DEBUG_FLAGS) \
 935               -static \
 936               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 937               -Wl,-L$(LINKER_DIR) \
 938               -Wl,--cref \
 939               -Wl,--no-wchar-size-warning \
 940               -T$(LD_SCRIPT)
 941
 942 ###############################################################################
 943 # No user-serviceable parts below
 944 ###############################################################################
 945
 946 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 947                   --std=c99 --inline-suppr --quiet --force \
 948                   $(addprefix -I,$(INCLUDE_DIRS)) \
 949                   -I/usr/include -I/usr/include/linux
 950
 951 #
 952 # Things we will build
 953 #
 954 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 955 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 956 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 957 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 958 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 959 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 960
 961
 962 CLEAN_ARTIFACTS := $(TARGET_BIN)
 963 CLEAN_ARTIFACTS += $(TARGET_HEX)
 964 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 965
 966 # Make sure build date and revision is updated on every incremental build
 967 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(TARGET_SRC)
 968
 969 # List of buildable ELF files and their object dependencies.
 970 # It would be nice to compute these lists, but that seems to be just beyond make.
 971
 972 $(TARGET_HEX): $(TARGET_ELF)
 973         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 974
 975 $(TARGET_BIN): $(TARGET_ELF)
 976         $(V0) $(OBJCOPY) -O binary $< $@
 977
 978 $(TARGET_ELF):  $(TARGET_OBJS)
 979         $(V1) echo Linking $(TARGET)
 980         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
 981         $(V0) $(SIZE) $(TARGET_ELF)
 982
 983 # Compile
 984 ifneq ($(DEBUG),GDB)
 985 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 986         $(V1) mkdir -p $(dir $@)
 987         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 988         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
 989         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
 990         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 991         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
 992         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
 993         echo "%% $(notdir $<)" "$(STDOUT)" && \
 994         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
 995 else
 996 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 997         $(V1) mkdir -p $(dir $@)
 998         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
 999         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1000 endif
1001
1002 # Assemble
1003 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1004         $(V1) mkdir -p $(dir $@)
1005         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1006         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1007
1008 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1009         $(V1) mkdir -p $(dir $@)
1010         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1011         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1012
1013 ## sample            : Build all sample (travis) targets
1014 sample: $(SAMPLE_TARGETS)
1015
1016 ## all               : Build all valid targets
1017 all: $(VALID_TARGETS)
1018
1019 $(VALID_TARGETS):
1020                 $(V0) echo "" && \
1021                 echo "Building $@" && \
1022                 $(MAKE) binary hex TARGET=$@ && \
1023                 echo "Building $@ succeeded."
1024
1025
1026
1027 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1028 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1029
1030 ## clean             : clean up temporary / machine-generated files
1031 clean:
1032         $(V0) echo "Cleaning $(TARGET)"
1033         $(V0) rm -f $(CLEAN_ARTIFACTS)
1034         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1035         $(V0) echo "Cleaning $(TARGET) succeeded."
1036
1037 ## clean_test        : clean up temporary / machine-generated files (tests)
1038 clean_test:
1039         $(V0) cd src/test && $(MAKE) clean || true
1040
1041 ## clean_<TARGET>    : clean up one specific target
1042 $(CLEAN_TARGETS) :
1043         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1044
1045 ## <TARGET>_clean    : clean up one specific target (alias for above)
1046 $(TARGETS_CLEAN) :
1047         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1048
1049 ## clean_all         : clean all valid targets
1050 clean_all:$(CLEAN_TARGETS)
1051
1052 ## all_clean         : clean all valid targets (alias for above)
1053 all_clean:$(TARGETS_CLEAN)
1054
1055
1056 flash_$(TARGET): $(TARGET_HEX)
1057         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1058         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1059         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1060
1061 ## flash             : flash firmware (.hex) onto flight controller
1062 flash: flash_$(TARGET)
1063
1064 st-flash_$(TARGET): $(TARGET_BIN)
1065         $(V0) st-flash --reset write $< 0x08000000
1066
1067 ## st-flash          : flash firmware (.bin) onto flight controller
1068 st-flash: st-flash_$(TARGET)
1069
1070 binary:
1071         $(V0) $(MAKE) -j $(TARGET_BIN)
1072
1073 hex:
1074         $(V0) $(MAKE) -j $(TARGET_HEX)
1075
1076 unbrick_$(TARGET): $(TARGET_HEX)
1077         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1078         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1079
1080 ## unbrick           : unbrick flight controller
1081 unbrick: unbrick_$(TARGET)
1082
1083 ## cppcheck          : run static analysis on C source code
1084 cppcheck: $(CSOURCES)
1085         $(V0) $(CPPCHECK)
1086
1087 cppcheck-result.xml: $(CSOURCES)
1088         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1089
1090 # mkdirs
1091 $(DL_DIR):
1092         mkdir -p $@
1093
1094 $(TOOLS_DIR):
1095         mkdir -p $@
1096
1097 $(BUILD_DIR):
1098         mkdir -p $@
1099
1100 ## help              : print this help message and exit
1101 help: Makefile make/tools.mk
1102         $(V0) @echo ""
1103         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1104         $(V0) @echo ""
1105         $(V0) @echo "Usage:"
1106         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1107         $(V0) @echo "Or:"
1108         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1109         $(V0) @echo ""
1110         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1111         $(V0) @echo ""
1112         $(V0) @sed -n 's/^## //p' $?
1113
1114 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1115 targets:
1116         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
1117         $(V0) @echo "Target:        $(TARGET)"
1118         $(V0) @echo "Base target:   $(BASE_TARGET)"
1119
1120 ## test              : run the cleanflight test suite
1121 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1122 test junittest:
1123         $(V0) cd src/test && $(MAKE) $@
1124
1125 # rebuild everything when makefile changes
1126 $(TARGET_OBJS) : Makefile
1127
1128 # include auto-generated dependencies
1129 -include $(TARGET_DEPS)