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
  80 # developer preferences, edit these at will, they'll be gitignored
  81 -include $(ROOT)/make/local.mk
  82
  83 # configure some directories that are relative to wherever ROOT_DIR is located
  84 TOOLS_DIR := $(ROOT)/tools
  85 BUILD_DIR := $(ROOT)/build
  86 DL_DIR    := $(ROOT)/downloads
  87
  88 export RM := rm
  89
  90 # import macros that are OS specific
  91 include $(ROOT)/make/$(OSFAMILY).mk
  92
  93 # include the tools makefile
  94 include $(ROOT)/make/tools.mk
  95
  96 # default xtal value for F4 targets
  97 HSE_VALUE       = 8000000
  98
  99 # used for turning on features like VCP and SDCARD
 100 FEATURES        =
 101
 102 SAMPLE_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO STM32F3DISCOVERY
 103 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
 104 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
 105
 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      = $(F7X2RE_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) $(F7X2RE_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 STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 196
 197 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 198 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 199
 200 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 201 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 202                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 203
 204 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 205                    $(STDPERIPH_DIR)/inc \
 206                    $(CMSIS_DIR)/CM1/CoreSupport \
 207                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 208
 209 ifneq ($(filter VCP, $(FEATURES)),)
 210 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 211                    $(USBFS_DIR)/inc \
 212                    $(ROOT)/src/main/vcp
 213
 214 VPATH           := $(VPATH):$(USBFS_DIR)/src
 215
 216 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 217                         $(USBPERIPH_SRC)
 218 endif
 219
 220 ifneq ($(filter SDCARD, $(FEATURES)),)
 221 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 222                    $(FATFS_DIR) \
 223
 224 VPATH           := $(VPATH):$(FATFS_DIR)
 225 endif
 226
 227 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 228
 229 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 230 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 231 # End F3 targets
 232 #
 233 # Start F4 targets
 234 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 235
 236 #STDPERIPH
 237 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 238 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 239 EXCLUDES        = stm32f4xx_crc.c \
 240                   stm32f4xx_can.c \
 241                   stm32f4xx_fmc.c \
 242                   stm32f4xx_sai.c \
 243                   stm32f4xx_cec.c \
 244                   stm32f4xx_dsi.c \
 245                   stm32f4xx_flash_ramfunc.c \
 246                   stm32f4xx_fmpi2c.c \
 247                   stm32f4xx_lptim.c \
 248                   stm32f4xx_qspi.c \
 249                   stm32f4xx_spdifrx.c \
 250                   stm32f4xx_cryp.c \
 251                   stm32f4xx_cryp_aes.c \
 252                   stm32f4xx_hash_md5.c \
 253                   stm32f4xx_cryp_des.c \
 254                   stm32f4xx_rtc.c \
 255                   stm32f4xx_hash.c \
 256                   stm32f4xx_dbgmcu.c \
 257                   stm32f4xx_cryp_tdes.c \
 258                   stm32f4xx_hash_sha1.c
 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 STARTUP_SRC     = startup_stm32f411xe.s
 316 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 317 DEVICE_FLAGS    = -DSTM32F40_41xxx
 318 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 319 STARTUP_SRC     = startup_stm32f40xx.s
 320 else
 321 $(error Unknown MCU for F4 target)
 322 endif
 323 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 324
 325 # End F4 targets
 326 #
 327 # Start F7 targets
 328 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 329
 330 #STDPERIPH
 331 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 332 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 333 EXCLUDES        = stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 334                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 335                   stm32f7xx_hal_timebase_tim_template.c
 336
 337 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 338
 339 #USB
 340 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 341 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 342 EXCLUDES    = usbd_conf_template.c
 343 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 344
 345 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 346 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 347 EXCLUDES   = usbd_cdc_if_template.c
 348 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 349
 350 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 351
 352 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 353                         $(USBCORE_SRC) \
 354                         $(USBCDC_SRC)
 355
 356 #CMSIS
 357 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 358 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 359 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 360                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 361 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 362                    $(STDPERIPH_DIR)/Inc \
 363                    $(USBCORE_DIR)/Inc \
 364                    $(USBCDC_DIR)/Inc \
 365                    $(CMSIS_DIR)/CM7/Include \
 366                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 367                    $(ROOT)/src/main/vcp_hal
 368
 369 ifneq ($(filter SDCARD,$(FEATURES)),)
 370 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 371                    $(FATFS_DIR)
 372 VPATH           := $(VPATH):$(FATFS_DIR)
 373 endif
 374
 375 #Flags
 376 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 377
 378 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 379 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 380 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 381 STARTUP_SRC     = startup_stm32f745xx.s
 382 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 383 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 384 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 385 STARTUP_SRC     = startup_stm32f746xx.s
 386 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 387 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 388 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 389 STARTUP_SRC     = startup_stm32f722xx.s
 390 else
 391 $(error Unknown MCU for F7 target)
 392 endif
 393 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 394
 395 TARGET_FLAGS    = -D$(TARGET)
 396
 397 # End F7 targets
 398 #
 399 # Start F1 targets
 400 else
 401
 402 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 403 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 404 EXCLUDES        = stm32f10x_crc.c \
 405                   stm32f10x_cec.c \
 406                   stm32f10x_can.c
 407 STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 408 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 409
 410 # Search path and source files for the CMSIS sources
 411 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 412 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 413                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 414
 415 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 416                    $(STDPERIPH_DIR)/inc \
 417                    $(CMSIS_DIR)/CM3/CoreSupport \
 418                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 419
 420 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 421
 422 ifneq ($(filter VCP, $(FEATURES)),)
 423 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 424                    $(USBFS_DIR)/inc \
 425                    $(ROOT)/src/main/vcp
 426
 427 VPATH           := $(VPATH):$(USBFS_DIR)/src
 428
 429 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 430                         $(USBPERIPH_SRC)
 431
 432 endif
 433
 434 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 435 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 436
 437 ifeq ($(DEVICE_FLAGS),)
 438 DEVICE_FLAGS    = -DSTM32F10X_MD
 439 endif
 440 DEVICE_FLAGS   += -DSTM32F10X
 441
 442 endif
 443 #
 444 # End F1 targets
 445 #
 446 ifneq ($(BASE_TARGET), $(TARGET))
 447 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 448 endif
 449
 450 ifneq ($(FLASH_SIZE),)
 451 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 452 endif
 453
 454 ifneq ($(HSE_VALUE),)
 455 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 456 endif
 457
 458 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 459 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 460
 461 ifeq ($(OPBL),yes)
 462 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 463 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 464 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 465 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 466 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 467 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 468 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 469 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 470 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 471 endif
 472 .DEFAULT_GOAL := binary
 473 else
 474 .DEFAULT_GOAL := hex
 475 endif
 476
 477 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 478                    $(ROOT)/lib/main/MAVLink
 479
 480 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 481                    $(TARGET_DIR)
 482
 483 VPATH           := $(VPATH):$(TARGET_DIR)
 484
 485 COMMON_SRC = \
 486             build/build_config.c \
 487             build/debug.c \
 488             build/version.c \
 489             $(TARGET_DIR_SRC) \
 490             main.c \
 491             common/encoding.c \
 492             common/filter.c \
 493             common/maths.c \
 494             common/printf.c \
 495             common/streambuf.c \
 496             common/typeconversion.c \
 497             config/config_eeprom.c \
 498             config/feature.c \
 499             config/parameter_group.c \
 500             drivers/adc.c \
 501             drivers/buf_writer.c \
 502             drivers/bus_i2c_soft.c \
 503             drivers/bus_spi.c \
 504             drivers/bus_spi_soft.c \
 505             drivers/display.c \
 506             drivers/exti.c \
 507             drivers/gyro_sync.c \
 508             drivers/io.c \
 509             drivers/light_led.c \
 510             drivers/resource.c \
 511             drivers/rx_nrf24l01.c \
 512             drivers/rx_spi.c \
 513             drivers/rx_xn297.c \
 514             drivers/pwm_esc_detect.c \
 515             drivers/pwm_output.c \
 516             drivers/rcc.c \
 517             drivers/rx_pwm.c \
 518             drivers/serial.c \
 519             drivers/serial_uart.c \
 520             drivers/sound_beeper.c \
 521             drivers/stack_check.c \
 522             drivers/system.c \
 523             drivers/timer.c \
 524             fc/config.c \
 525             fc/fc_init.c \
 526             fc/fc_dispatch.c \
 527             fc/fc_hardfaults.c \
 528             fc/fc_main.c \
 529             fc/fc_msp.c \
 530             fc/fc_tasks.c \
 531             fc/rc_controls.c \
 532             fc/rc_curves.c \
 533             fc/runtime_config.c \
 534             fc/serial_cli.c \
 535             flight/altitudehold.c \
 536             flight/failsafe.c \
 537             flight/imu.c \
 538             flight/mixer.c \
 539             flight/pid.c \
 540             flight/servos.c \
 541             io/beeper.c \
 542             io/serial.c \
 543             io/serial_4way.c \
 544             io/serial_4way_avrootloader.c \
 545             io/serial_4way_stk500v2.c \
 546             io/statusindicator.c \
 547             msp/msp_serial.c \
 548             rx/ibus.c \
 549             rx/jetiexbus.c \
 550             rx/msp.c \
 551             rx/nrf24_cx10.c \
 552             rx/nrf24_inav.c \
 553             rx/nrf24_h8_3d.c \
 554             rx/nrf24_syma.c \
 555             rx/nrf24_v202.c \
 556             rx/pwm.c \
 557             rx/rx.c \
 558             rx/rx_spi.c \
 559             rx/crsf.c \
 560             rx/sbus.c \
 561             rx/spektrum.c \
 562             rx/sumd.c \
 563             rx/sumh.c \
 564             rx/xbus.c \
 565             scheduler/scheduler.c \
 566             sensors/acceleration.c \
 567             sensors/battery.c \
 568             sensors/boardalignment.c \
 569             sensors/compass.c \
 570             sensors/gyro.c \
 571             sensors/initialisation.c \
 572             $(CMSIS_SRC) \
 573             $(DEVICE_STDPERIPH_SRC)
 574
 575 HIGHEND_SRC = \
 576             blackbox/blackbox.c \
 577             blackbox/blackbox_io.c \
 578             cms/cms.c \
 579             cms/cms_menu_blackbox.c \
 580             cms/cms_menu_builtin.c \
 581             cms/cms_menu_imu.c \
 582             cms/cms_menu_ledstrip.c \
 583             cms/cms_menu_misc.c \
 584             cms/cms_menu_osd.c \
 585             cms/cms_menu_vtx.c \
 586             common/colorconversion.c \
 587             drivers/display_ug2864hsweg01.c \
 588             drivers/light_ws2811strip.c \
 589             drivers/serial_escserial.c \
 590             drivers/serial_softserial.c \
 591             drivers/sonar_hcsr04.c \
 592             flight/navigation.c \
 593             flight/gps_conversion.c \
 594             io/dashboard.c \
 595             io/displayport_max7456.c \
 596             io/displayport_msp.c \
 597             io/displayport_oled.c \
 598             io/gps.c \
 599             io/ledstrip.c \
 600             io/osd.c \
 601             sensors/sonar.c \
 602             sensors/barometer.c \
 603             telemetry/telemetry.c \
 604             telemetry/crsf.c \
 605             telemetry/srxl.c \
 606             telemetry/frsky.c \
 607             telemetry/hott.c \
 608             telemetry/smartport.c \
 609             telemetry/ltm.c \
 610             telemetry/mavlink.c \
 611             telemetry/ibus.c \
 612             sensors/esc_sensor.c \
 613             io/vtx_smartaudio.c
 614
 615 SPEED_OPTIMISED_SRC := ""
 616 SIZE_OPTIMISED_SRC  := ""
 617
 618 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 619 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 620             common/encoding.c \
 621             common/filter.c \
 622             common/maths.c \
 623             common/typeconversion.c \
 624             drivers/adc.c \
 625             drivers/buf_writer.c \
 626             drivers/bus_i2c_soft.c \
 627             drivers/bus_spi.c \
 628             drivers/bus_spi_soft.c \
 629             drivers/exti.c \
 630             drivers/gyro_sync.c \
 631             drivers/io.c \
 632             drivers/light_led.c \
 633             drivers/resource.c \
 634             drivers/rx_nrf24l01.c \
 635             drivers/rx_spi.c \
 636             drivers/rx_xn297.c \
 637             drivers/pwm_output.c \
 638             drivers/rcc.c \
 639             drivers/rx_pwm.c \
 640             drivers/serial.c \
 641             drivers/serial_uart.c \
 642             drivers/sound_beeper.c \
 643             drivers/stack_check.c \
 644             drivers/system.c \
 645             drivers/timer.c \
 646             fc/fc_tasks.c \
 647             fc/mw.c \
 648             fc/rc_controls.c \
 649             fc/rc_curves.c \
 650             fc/runtime_config.c \
 651             flight/altitudehold.c \
 652             flight/failsafe.c \
 653             flight/imu.c \
 654             flight/mixer.c \
 655             flight/pid.c \
 656             flight/servos.c \
 657             io/beeper.c \
 658             io/serial.c \
 659             io/statusindicator.c \
 660             rx/ibus.c \
 661             rx/jetiexbus.c \
 662             rx/msp.c \
 663             rx/nrf24_cx10.c \
 664             rx/nrf24_inav.c \
 665             rx/nrf24_h8_3d.c \
 666             rx/nrf24_syma.c \
 667             rx/nrf24_v202.c \
 668             rx/pwm.c \
 669             rx/rx.c \
 670             rx/rx_spi.c \
 671             rx/crsf.c \
 672             rx/sbus.c \
 673             rx/spektrum.c \
 674             rx/sumd.c \
 675             rx/sumh.c \
 676             rx/xbus.c \
 677             scheduler/scheduler.c \
 678             sensors/acceleration.c \
 679             sensors/boardalignment.c \
 680             sensors/gyro.c \
 681             $(CMSIS_SRC) \
 682             $(DEVICE_STDPERIPH_SRC) \
 683             blackbox/blackbox.c \
 684             blackbox/blackbox_io.c \
 685             drivers/display_ug2864hsweg01.c \
 686             drivers/light_ws2811strip.c \
 687             drivers/serial_softserial.c \
 688             io/dashboard.c \
 689             io/displayport_max7456.c \
 690             io/displayport_msp.c \
 691             io/displayport_oled.c \
 692             io/ledstrip.c \
 693             io/osd.c \
 694             telemetry/telemetry.c \
 695             telemetry/crsf.c \
 696             telemetry/frsky.c \
 697             telemetry/hott.c \
 698             telemetry/smartport.c \
 699             telemetry/ltm.c \
 700             telemetry/mavlink.c \
 701             telemetry/esc_telemetry.c \
 702
 703 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 704             drivers/serial_escserial.c \
 705             io/serial_cli.c \
 706             io/serial_4way.c \
 707             io/serial_4way_avrootloader.c \
 708             io/serial_4way_stk500v2.c \
 709             msp/msp_serial.c \
 710             cms/cms.c \
 711             cms/cms_menu_blackbox.c \
 712             cms/cms_menu_builtin.c \
 713             cms/cms_menu_imu.c \
 714             cms/cms_menu_ledstrip.c \
 715             cms/cms_menu_misc.c \
 716             cms/cms_menu_osd.c \
 717             cms/cms_menu_vtx.c \
 718             io/vtx_smartaudio.c
 719 endif #F3
 720
 721 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 722 VCP_SRC = \
 723             vcpf4/stm32f4xx_it.c \
 724             vcpf4/usb_bsp.c \
 725             vcpf4/usbd_desc.c \
 726             vcpf4/usbd_usr.c \
 727             vcpf4/usbd_cdc_vcp.c \
 728             drivers/serial_usb_vcp.c
 729 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 730 VCP_SRC = \
 731             vcp_hal/usbd_desc.c \
 732             vcp_hal/usbd_conf.c \
 733             vcp_hal/usbd_cdc_interface.c \
 734             drivers/serial_usb_vcp.c
 735 else
 736 VCP_SRC = \
 737             vcp/hw_config.c \
 738             vcp/stm32_it.c \
 739             vcp/usb_desc.c \
 740             vcp/usb_endp.c \
 741             vcp/usb_istr.c \
 742             vcp/usb_prop.c \
 743             vcp/usb_pwr.c \
 744             drivers/serial_usb_vcp.c \
 745             drivers/usb_io.c
 746 endif
 747
 748 STM32F10x_COMMON_SRC = \
 749             drivers/adc_stm32f10x.c \
 750             drivers/bus_i2c_stm32f10x.c \
 751             drivers/dma.c \
 752             drivers/gpio_stm32f10x.c \
 753             drivers/inverter.c \
 754             drivers/light_ws2811strip_stm32f10x.c \
 755             drivers/serial_uart_stm32f10x.c \
 756             drivers/system_stm32f10x.c \
 757             drivers/timer_stm32f10x.c
 758
 759 STM32F30x_COMMON_SRC = \
 760             target/system_stm32f30x.c \
 761             drivers/adc_stm32f30x.c \
 762             drivers/bus_i2c_stm32f30x.c \
 763             drivers/dma.c \
 764             drivers/gpio_stm32f30x.c \
 765             drivers/light_ws2811strip_stm32f30x.c \
 766             drivers/pwm_output_stm32f3xx.c \
 767             drivers/serial_uart_stm32f30x.c \
 768             drivers/system_stm32f30x.c \
 769             drivers/timer_stm32f30x.c
 770
 771 STM32F4xx_COMMON_SRC = \
 772             target/system_stm32f4xx.c \
 773             drivers/accgyro_mpu.c \
 774             drivers/adc_stm32f4xx.c \
 775             drivers/bus_i2c_stm32f10x.c \
 776             drivers/dma_stm32f4xx.c \
 777             drivers/gpio_stm32f4xx.c \
 778             drivers/inverter.c \
 779             drivers/light_ws2811strip_stm32f4xx.c \
 780             drivers/pwm_output_stm32f4xx.c \
 781             drivers/serial_uart_stm32f4xx.c \
 782             drivers/system_stm32f4xx.c \
 783             drivers/timer_stm32f4xx.c
 784
 785 STM32F7xx_COMMON_SRC = \
 786             target/system_stm32f7xx.c \
 787             drivers/accgyro_mpu.c \
 788             drivers/adc_stm32f7xx.c \
 789             drivers/bus_i2c_hal.c \
 790             drivers/dma_stm32f7xx.c \
 791             drivers/gpio_stm32f7xx.c \
 792             drivers/inverter.c \
 793             drivers/bus_spi_hal.c \
 794             drivers/pwm_output_stm32f7xx.c \
 795             drivers/timer_hal.c \
 796             drivers/timer_stm32f7xx.c \
 797             drivers/system_stm32f7xx.c \
 798             drivers/serial_uart_stm32f7xx.c \
 799             drivers/serial_uart_hal.c
 800
 801 F7EXCLUDES = drivers/bus_spi.c \
 802             drivers/bus_i2c.c \
 803             drivers/timer.c \
 804             drivers/serial_uart.c
 805
 806 # check if target.mk supplied
 807 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 808 TARGET_SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 809 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 810 TARGET_SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
 811 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 812 TARGET_SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 813 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 814 TARGET_SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 815 endif
 816
 817 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 818 TARGET_SRC += \
 819             drivers/flash_m25p16.c \
 820             io/flashfs.c
 821 endif
 822
 823 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS) $(F4_TARGETS) $(F3_TARGETS)))
 824 TARGET_SRC += $(HIGHEND_SRC)
 825 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 826 TARGET_SRC += $(HIGHEND_SRC)
 827 endif
 828
 829 TARGET_SRC += $(COMMON_SRC)
 830 #excludes
 831 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 832 TARGET_SRC   := $(filter-out ${F7EXCLUDES}, $(TARGET_SRC))
 833 endif
 834
 835 ifneq ($(filter SDCARD,$(FEATURES)),)
 836 TARGET_SRC += \
 837             drivers/sdcard.c \
 838             drivers/sdcard_standard.c \
 839             io/asyncfatfs/asyncfatfs.c \
 840             io/asyncfatfs/fat_standard.c
 841 endif
 842
 843 ifneq ($(filter VCP,$(FEATURES)),)
 844 TARGET_SRC += $(VCP_SRC)
 845 endif
 846 # end target specific make file checks
 847
 848
 849 # Search path and source files for the ST stdperiph library
 850 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 851
 852 ###############################################################################
 853 # Things that might need changing to use different tools
 854 #
 855
 856 # Find out if ccache is installed on the system
 857 CCACHE := ccache
 858 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 859 ifneq ($(RESULT),0)
 860 CCACHE :=
 861 endif
 862
 863 # Tool names
 864 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 865 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 866 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 867 SIZE        := $(ARM_SDK_PREFIX)size
 868
 869 #
 870 # Tool options.
 871 #
 872
 873 ifneq ($(DEBUG),GDB)
 874 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
 875 OPTIMISE_SPEED      := ""
 876 OPTIMISE_SIZE       := ""
 877
 878 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 879 OPTIMISE_DEFAULT    := -Os
 880
 881 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 882
 883 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 884 OPTIMISE_DEFAULT    := -O2
 885 OPTIMISE_SPEED      := -Ofast
 886 OPTIMISE_SIZE       := -Os
 887
 888 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 889
 890 else
 891 OPTIMISE_DEFAULT    := -Ofast
 892
 893 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 894
 895 endif #TARGETS
 896
 897 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 898 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 899 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 900
 901 else #DEBUG
 902 OPTIMISE_DEFAULT    := -O0
 903
 904 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
 905
 906 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
 907 endif #DEBUG
 908
 909 DEBUG_FLAGS = -ggdb3 -DDEBUG
 910
 911 CFLAGS      += $(ARCH_FLAGS) \
 912               $(addprefix -D,$(OPTIONS)) \
 913               $(addprefix -I,$(INCLUDE_DIRS)) \
 914               $(DEBUG_FLAGS) \
 915               -std=gnu99 \
 916               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 917               -ffunction-sections \
 918               -fdata-sections \
 919               -pedantic \
 920               $(DEVICE_FLAGS) \
 921               -DUSE_STDPERIPH_DRIVER \
 922               -D$(TARGET) \
 923               $(TARGET_FLAGS) \
 924               -D'__FORKNAME__="$(FORKNAME)"' \
 925               -D'__TARGET__="$(TARGET)"' \
 926               -D'__REVISION__="$(REVISION)"' \
 927               -save-temps=obj \
 928               -MMD -MP
 929
 930 ASFLAGS     = $(ARCH_FLAGS) \
 931               -x assembler-with-cpp \
 932               $(addprefix -I,$(INCLUDE_DIRS)) \
 933               -MMD -MP
 934
 935 LDFLAGS     = -lm \
 936               -nostartfiles \
 937               --specs=nano.specs \
 938               -lc \
 939               -lnosys \
 940               $(ARCH_FLAGS) \
 941               $(LTO_FLAGS) \
 942               $(DEBUG_FLAGS) \
 943               -static \
 944               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 945               -Wl,-L$(LINKER_DIR) \
 946               -Wl,--cref \
 947               -Wl,--no-wchar-size-warning \
 948               -T$(LD_SCRIPT)
 949
 950 ###############################################################################
 951 # No user-serviceable parts below
 952 ###############################################################################
 953
 954 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 955                   --std=c99 --inline-suppr --quiet --force \
 956                   $(addprefix -I,$(INCLUDE_DIRS)) \
 957                   -I/usr/include -I/usr/include/linux
 958
 959 #
 960 # Things we will build
 961 #
 962 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 963 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 964 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 965 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 966 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 967 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 968
 969
 970 CLEAN_ARTIFACTS := $(TARGET_BIN)
 971 CLEAN_ARTIFACTS += $(TARGET_HEX)
 972 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 973
 974 # Make sure build date and revision is updated on every incremental build
 975 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(TARGET_SRC)
 976
 977 # List of buildable ELF files and their object dependencies.
 978 # It would be nice to compute these lists, but that seems to be just beyond make.
 979
 980 $(TARGET_HEX): $(TARGET_ELF)
 981         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 982
 983 $(TARGET_BIN): $(TARGET_ELF)
 984         $(V0) $(OBJCOPY) -O binary $< $@
 985
 986 $(TARGET_ELF):  $(TARGET_OBJS)
 987         $(V1) echo Linking $(TARGET)
 988         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
 989         $(V0) $(SIZE) $(TARGET_ELF)
 990
 991 # Compile
 992 ifneq ($(DEBUG),GDB)
 993 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 994         $(V1) mkdir -p $(dir $@)
 995         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 996         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
 997         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
 998         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 999         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1000         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
1001         echo "%% $(notdir $<)" "$(STDOUT)" && \
1002         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
1003 else
1004 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1005         $(V1) mkdir -p $(dir $@)
1006         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
1007         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1008 endif
1009
1010 # Assemble
1011 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1012         $(V1) mkdir -p $(dir $@)
1013         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1014         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1015
1016 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1017         $(V1) mkdir -p $(dir $@)
1018         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1019         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1020
1021 ## sample            : Build all sample (travis) targets
1022 sample: $(SAMPLE_TARGETS)
1023
1024 ## all               : Build all valid targets
1025 all: $(VALID_TARGETS)
1026
1027 $(VALID_TARGETS):
1028                 $(V0) echo "" && \
1029                 echo "Building $@" && \
1030                 $(MAKE) binary hex TARGET=$@ && \
1031                 echo "Building $@ succeeded."
1032
1033
1034
1035 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1036 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1037
1038 ## clean             : clean up temporary / machine-generated files
1039 clean:
1040         $(V0) echo "Cleaning $(TARGET)"
1041         $(V0) rm -f $(CLEAN_ARTIFACTS)
1042         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1043         $(V0) echo "Cleaning $(TARGET) succeeded."
1044
1045 ## clean_test        : clean up temporary / machine-generated files (tests)
1046 clean_test:
1047         $(V0) cd src/test && $(MAKE) clean || true
1048
1049 ## clean_<TARGET>    : clean up one specific target
1050 $(CLEAN_TARGETS) :
1051         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1052
1053 ## <TARGET>_clean    : clean up one specific target (alias for above)
1054 $(TARGETS_CLEAN) :
1055         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1056
1057 ## clean_all         : clean all valid targets
1058 clean_all:$(CLEAN_TARGETS)
1059
1060 ## all_clean         : clean all valid targets (alias for above)
1061 all_clean:$(TARGETS_CLEAN)
1062
1063
1064 flash_$(TARGET): $(TARGET_HEX)
1065         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1066         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1067         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1068
1069 ## flash             : flash firmware (.hex) onto flight controller
1070 flash: flash_$(TARGET)
1071
1072 st-flash_$(TARGET): $(TARGET_BIN)
1073         $(V0) st-flash --reset write $< 0x08000000
1074
1075 ## st-flash          : flash firmware (.bin) onto flight controller
1076 st-flash: st-flash_$(TARGET)
1077
1078 binary:
1079         $(V0) $(MAKE) -j $(TARGET_BIN)
1080
1081 hex:
1082         $(V0) $(MAKE) -j $(TARGET_HEX)
1083
1084 unbrick_$(TARGET): $(TARGET_HEX)
1085         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1086         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1087
1088 ## unbrick           : unbrick flight controller
1089 unbrick: unbrick_$(TARGET)
1090
1091 ## cppcheck          : run static analysis on C source code
1092 cppcheck: $(CSOURCES)
1093         $(V0) $(CPPCHECK)
1094
1095 cppcheck-result.xml: $(CSOURCES)
1096         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1097
1098 # mkdirs
1099 $(DL_DIR):
1100         mkdir -p $@
1101
1102 $(TOOLS_DIR):
1103         mkdir -p $@
1104
1105 $(BUILD_DIR):
1106         mkdir -p $@
1107
1108 ## help              : print this help message and exit
1109 help: Makefile make/tools.mk
1110         $(V0) @echo ""
1111         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1112         $(V0) @echo ""
1113         $(V0) @echo "Usage:"
1114         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1115         $(V0) @echo "Or:"
1116         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1117         $(V0) @echo ""
1118         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1119         $(V0) @echo ""
1120         $(V0) @sed -n 's/^## //p' $?
1121
1122 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1123 targets:
1124         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
1125         $(V0) @echo "Target:        $(TARGET)"
1126         $(V0) @echo "Base target:   $(BASE_TARGET)"
1127
1128 ## test              : run the cleanflight test suite
1129 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1130 test junittest:
1131         $(V0) cd src/test && $(MAKE) $@
1132
1133 # rebuild everything when makefile changes
1134 $(TARGET_OBJS) : Makefile
1135
1136 # include auto-generated dependencies
1137 -include $(TARGET_DEPS)