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 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= SPRACINGF3NEO
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40
  41 ###############################################################################
  42 # Things that need to be maintained as the source changes
  43 #
  44
  45 FORKNAME      = cleanflight
  46
  47 # Working directories
  48 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  49 SRC_DIR         = $(ROOT)/src/main
  50 OBJECT_DIR      = $(ROOT)/obj/main
  51 BIN_DIR         = $(ROOT)/obj
  52 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  53 INCLUDE_DIRS    = $(SRC_DIR) \
  54                   $(ROOT)/src/main/target
  55 LINKER_DIR      = $(ROOT)/src/main/target/link
  56
  57 ## V                 : Set verbosity level based on the V= parameter
  58 ##                     V=0 Low
  59 ##                     V=1 High
  60 include $(ROOT)/make/build_verbosity.mk
  61
  62 # Build tools, so we all share the same versions
  63 # import macros common to all supported build systems
  64 include $(ROOT)/make/system-id.mk
  65
  66 # developer preferences, edit these at will, they'll be gitignored
  67 -include $(ROOT)/make/local.mk
  68
  69 # configure some directories that are relative to wherever ROOT_DIR is located
  70 ifndef TOOLS_DIR
  71 TOOLS_DIR := $(ROOT)/tools
  72 endif
  73 BUILD_DIR := $(ROOT)/build
  74 DL_DIR    := $(ROOT)/downloads
  75
  76 export RM := rm
  77
  78 # import macros that are OS specific
  79 include $(ROOT)/make/$(OSFAMILY).mk
  80
  81 # include the tools makefile
  82 include $(ROOT)/make/tools.mk
  83
  84 # default xtal value for F4 targets
  85 HSE_VALUE       ?= 8000000
  86
  87 # used for turning on features like VCP and SDCARD
  88 FEATURES        =
  89
  90 OFFICIAL_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF4EVO
  91 ALT_TARGETS       = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  92 OPBL_TARGETS      = $(filter %_OPBL, $(ALT_TARGETS))
  93
  94 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  95 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  96 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  97 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  98
  99 GROUP_1_TARGETS := \
 100         AFROMINI \
 101         AIORACERF3 \
 102         AIR32 \
 103         AIRBOTF4 \
 104         AIRBOTF4SD \
 105         AIRHEROF3 \
 106         ALIENFLIGHTF1 \
 107         ALIENFLIGHTF3 \
 108         ALIENFLIGHTF4 \
 109         ALIENFLIGHTNGF7 \
 110         ANYFCF7 \
 111         BEEBRAIN \
 112         BEEROTORF4 \
 113         BETAFLIGHTF3 \
 114         BLUEJAYF4 \
 115         CC3D \
 116         CC3D_OPBL \
 117
 118 GROUP_2_TARGETS := \
 119         CHEBUZZF3 \
 120         CJMCU \
 121         CL_RACINGF4 \
 122         COLIBRI \
 123         COLIBRI_OPBL \
 124         COLIBRI_RACE \
 125         DOGE \
 126         ELLE0 \
 127         F4BY \
 128         FISHDRONEF4 \
 129         FLIP32F3OSD \
 130         FURYF3 \
 131         FURYF4 \
 132         FURYF7 \
 133         IMPULSERCF3 \
 134         IRCFUSIONF3 \
 135         ISHAPEDF3 \
 136
 137 GROUP_3_TARGETS := \
 138         KAKUTEF4 \
 139         KISSCC \
 140         KIWIF4 \
 141         LUX_RACE \
 142         LUXV2_RACE \
 143         MICROSCISKY \
 144         MOTOLAB \
 145         MULTIFLITEPICO \
 146         NAZE \
 147         NERO \
 148         NUCLEOF7 \
 149         OMNIBUS \
 150         OMNIBUSF4 \
 151         OMNIBUSF4SD \
 152         PIKOBLX \
 153         PLUMF4 \
 154         PODIUMF4 \
 155
 156 GROUP_4_TARGETS := \
 157         RCEXPLORERF3 \
 158         REVO \
 159         REVO_OPBL \
 160         REVOLT \
 161         REVONANO \
 162         RMDO \
 163         SINGULARITY \
 164         SIRINFPV \
 165         SOULF4 \
 166         SPARKY \
 167         SPARKY2 \
 168         SPRACINGF3 \
 169         SPRACINGF3EVO \
 170         SPRACINGF3MINI \
 171         SPRACINGF3NEO \
 172         SPRACINGF4EVO \
 173         STM32F3DISCOVERY \
 174         TINYBEEF3 \
 175
 176 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
 177
 178
 179 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 180 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 181 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 182 else
 183 BASE_TARGET    := $(TARGET)
 184 endif
 185
 186 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 187 OPBL            = yes
 188 endif
 189
 190 # silently ignore if the file is not present. Allows for target specific.
 191 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 192
 193 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F446_TARGETS)
 194 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 195
 196 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 197 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 198 endif
 199
 200 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS) $(SITL_TARGETS)),)
 201 $(error Target '$(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?)
 202 endif
 203
 204 128K_TARGETS  = $(F1_TARGETS)
 205 256K_TARGETS  = $(F3_TARGETS)
 206 512K_TARGETS  = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 207 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 208 2048K_TARGETS = $(F7X5XI_TARGETS) $(SITL_TARGETS)
 209
 210 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 211 ifeq ($(FLASH_SIZE),)
 212 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 213 FLASH_SIZE = 2048
 214 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 215 FLASH_SIZE = 1024
 216 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 217 FLASH_SIZE = 512
 218 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 219 FLASH_SIZE = 256
 220 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 221 FLASH_SIZE = 128
 222 else
 223 $(error FLASH_SIZE not configured for target $(TARGET))
 224 endif
 225 endif
 226
 227 # note that there is no hardfault debugging startup file assembly handler for other platforms
 228 ifeq ($(DEBUG_HARDFAULTS),F3)
 229 CFLAGS               += -DDEBUG_HARDFAULTS
 230 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 231 else
 232 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 233 endif
 234
 235 ifeq ($(DEBUG_HARDFAULTS),F7)
 236 CFLAGS               += -DDEBUG_HARDFAULTS
 237 endif
 238
 239 REVISION := $(shell git log -1 --format="%h")
 240
 241 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 242 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 243 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 244
 245 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 246
 247 # Search path for sources
 248 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 249 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 250 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 251 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 252 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 253
 254 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 255
 256 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 257 # F3 TARGETS
 258
 259 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 260 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 261 EXCLUDES        = stm32f30x_crc.c \
 262                   stm32f30x_can.c
 263 STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 264
 265 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 266 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 267
 268 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 269 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 270                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 271
 272 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 273                    $(STDPERIPH_DIR)/inc \
 274                    $(CMSIS_DIR)/CM1/CoreSupport \
 275                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 276
 277 ifneq ($(filter VCP, $(FEATURES)),)
 278 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 279                    $(USBFS_DIR)/inc \
 280                    $(ROOT)/src/main/vcp
 281
 282 VPATH           := $(VPATH):$(USBFS_DIR)/src
 283
 284 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 285                         $(USBPERIPH_SRC)
 286 endif
 287
 288 ifneq ($(filter SDCARD, $(FEATURES)),)
 289 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 290                    $(FATFS_DIR) \
 291
 292 VPATH           := $(VPATH):$(FATFS_DIR)
 293 endif
 294
 295 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 296
 297 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 298 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 299 # End F3 targets
 300 #
 301 # Start F4 targets
 302 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 303
 304 #STDPERIPH
 305 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 306 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 307 EXCLUDES        = stm32f4xx_crc.c \
 308                   stm32f4xx_can.c \
 309                   stm32f4xx_fmc.c \
 310                   stm32f4xx_sai.c \
 311                   stm32f4xx_cec.c \
 312                   stm32f4xx_dsi.c \
 313                   stm32f4xx_flash_ramfunc.c \
 314                   stm32f4xx_fmpi2c.c \
 315                   stm32f4xx_lptim.c \
 316                   stm32f4xx_qspi.c \
 317                   stm32f4xx_spdifrx.c \
 318                   stm32f4xx_cryp.c \
 319                   stm32f4xx_cryp_aes.c \
 320                   stm32f4xx_hash_md5.c \
 321                   stm32f4xx_cryp_des.c \
 322                   stm32f4xx_rtc.c \
 323                   stm32f4xx_hash.c \
 324                   stm32f4xx_dbgmcu.c \
 325                   stm32f4xx_cryp_tdes.c \
 326                   stm32f4xx_hash_sha1.c
 327
 328 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 329 EXCLUDES        += stm32f4xx_fsmc.c
 330 endif
 331
 332 ifeq ($(TARGET),$(filter $(TARGET), $(F446_TARGETS)))
 333 EXCLUDES        += stm32f4xx_fsmc.c
 334 endif
 335
 336 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 337
 338 #USB
 339 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 340 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 341 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 342 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 343 EXCLUDES    = usb_bsp_template.c \
 344               usb_conf_template.c \
 345               usb_hcd_int.c \
 346               usb_hcd.c \
 347               usb_otg.c
 348
 349 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 350 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 351 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 352 EXCLUDES    = usbd_cdc_if_template.c
 353 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 354 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 355
 356 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 357                         $(USBOTG_SRC) \
 358                         $(USBCORE_SRC) \
 359                         $(USBCDC_SRC)
 360
 361 #CMSIS
 362 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 363 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 364                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 365 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 366                    $(STDPERIPH_DIR)/inc \
 367                    $(USBOTG_DIR)/inc \
 368                    $(USBCORE_DIR)/inc \
 369                    $(USBCDC_DIR)/inc \
 370                    $(USBFS_DIR)/inc \
 371                    $(CMSIS_DIR)/CM4/CoreSupport \
 372                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 373                    $(ROOT)/src/main/vcpf4
 374
 375 ifneq ($(filter SDCARD,$(FEATURES)),)
 376 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 377                    $(FATFS_DIR)
 378 VPATH           := $(VPATH):$(FATFS_DIR)
 379 endif
 380
 381 #Flags
 382 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 383
 384 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 385 DEVICE_FLAGS    = -DSTM32F411xE
 386 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 387 STARTUP_SRC     = startup_stm32f411xe.s
 388 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 389 DEVICE_FLAGS    = -DSTM32F40_41xxx
 390 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 391 STARTUP_SRC     = startup_stm32f40xx.s
 392 else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
 393 DEVICE_FLAGS    = -DSTM32F446xx
 394 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f446.ld
 395 STARTUP_SRC     = startup_stm32f446xx.s
 396 else
 397 $(error Unknown MCU for F4 target)
 398 endif
 399 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 400
 401 # End F4 targets
 402 #
 403 # Start F7 targets
 404 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 405
 406 #STDPERIPH
 407 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 408 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 409 EXCLUDES        = stm32f7xx_hal_can.c \
 410                   stm32f7xx_hal_cec.c \
 411                   stm32f7xx_hal_crc.c \
 412                   stm32f7xx_hal_crc_ex.c \
 413                   stm32f7xx_hal_cryp.c \
 414                   stm32f7xx_hal_cryp_ex.c \
 415                   stm32f7xx_hal_dac.c \
 416                   stm32f7xx_hal_dac_ex.c \
 417                   stm32f7xx_hal_dcmi.c \
 418                   stm32f7xx_hal_dcmi_ex.c \
 419                   stm32f7xx_hal_dfsdm.c \
 420                   stm32f7xx_hal_dma2d.c \
 421                   stm32f7xx_hal_dsi.c \
 422                   stm32f7xx_hal_eth.c \
 423                   stm32f7xx_hal_hash.c \
 424                   stm32f7xx_hal_hash_ex.c \
 425                   stm32f7xx_hal_hcd.c \
 426                   stm32f7xx_hal_i2s.c \
 427                   stm32f7xx_hal_irda.c \
 428                   stm32f7xx_hal_iwdg.c \
 429                   stm32f7xx_hal_jpeg.c \
 430                   stm32f7xx_hal_lptim.c \
 431                   stm32f7xx_hal_ltdc.c \
 432                   stm32f7xx_hal_ltdc_ex.c \
 433                   stm32f7xx_hal_mdios.c \
 434                   stm32f7xx_hal_mmc.c \
 435                   stm32f7xx_hal_msp_template.c \
 436                   stm32f7xx_hal_nand.c \
 437                   stm32f7xx_hal_nor.c \
 438                   stm32f7xx_hal_qspi.c \
 439                   stm32f7xx_hal_rng.c \
 440                   stm32f7xx_hal_rtc.c \
 441                   stm32f7xx_hal_rtc_ex.c \
 442                   stm32f7xx_hal_sai.c \
 443                   stm32f7xx_hal_sai_ex.c \
 444                   stm32f7xx_hal_sd.c \
 445                   stm32f7xx_hal_sdram.c \
 446                   stm32f7xx_hal_smartcard.c \
 447                   stm32f7xx_hal_smartcard_ex.c \
 448                   stm32f7xx_hal_smbus.c \
 449                   stm32f7xx_hal_spdifrx.c \
 450                   stm32f7xx_hal_sram.c \
 451                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 452                   stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 453                   stm32f7xx_hal_timebase_tim_template.c \
 454                   stm32f7xx_hal_wwdg.c \
 455                   stm32f7xx_ll_adc.c \
 456                   stm32f7xx_ll_crc.c \
 457                   stm32f7xx_ll_dac.c \
 458                   stm32f7xx_ll_dma.c \
 459                   stm32f7xx_ll_dma2d.c \
 460                   stm32f7xx_ll_exti.c \
 461                   stm32f7xx_ll_fmc.c \
 462                   stm32f7xx_ll_gpio.c \
 463                   stm32f7xx_ll_i2c.c \
 464                   stm32f7xx_ll_lptim.c \
 465                   stm32f7xx_ll_pwr.c \
 466                   stm32f7xx_ll_rcc.c \
 467                   stm32f7xx_ll_rng.c \
 468                   stm32f7xx_ll_rtc.c \
 469                   stm32f7xx_ll_sdmmc.c \
 470                   stm32f7xx_ll_spi.c \
 471                   stm32f7xx_ll_tim.c \
 472                   stm32f7xx_ll_usart.c \
 473                   stm32f7xx_ll_utils.c
 474
 475 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 476
 477 #USB
 478 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 479 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 480 EXCLUDES    = usbd_conf_template.c
 481 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 482
 483 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 484 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 485 EXCLUDES   = usbd_cdc_if_template.c
 486 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 487
 488 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 489
 490 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 491                         $(USBCORE_SRC) \
 492                         $(USBCDC_SRC)
 493
 494 #CMSIS
 495 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 496 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 497 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 498                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 499 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 500                    $(STDPERIPH_DIR)/Inc \
 501                    $(USBCORE_DIR)/Inc \
 502                    $(USBCDC_DIR)/Inc \
 503                    $(CMSIS_DIR)/CM7/Include \
 504                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 505                    $(ROOT)/src/main/vcp_hal
 506
 507 ifneq ($(filter SDCARD,$(FEATURES)),)
 508 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 509                    $(FATFS_DIR)
 510 VPATH           := $(VPATH):$(FATFS_DIR)
 511 endif
 512
 513 #Flags
 514 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 515
 516 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 517 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 518 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 519 STARTUP_SRC     = startup_stm32f745xx.s
 520 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 521 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 522 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 523 STARTUP_SRC     = startup_stm32f746xx.s
 524 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 525 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 526 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 527 STARTUP_SRC     = startup_stm32f722xx.s
 528 else
 529 $(error Unknown MCU for F7 target)
 530 endif
 531 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 532
 533 TARGET_FLAGS    = -D$(TARGET)
 534
 535 # End F7 targets
 536 #
 537 # Start SITL targets
 538 else ifeq ($(TARGET),$(filter $(TARGET), $(SITL_TARGETS)))
 539
 540 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 541                    $(ROOT)/lib/main/dyad
 542
 543 SITL_SRC        := $(ROOT)/lib/main/dyad/dyad.c
 544
 545 #Flags
 546 ARCH_FLAGS      =
 547 DEVICE_FLAGS    =
 548 LD_SCRIPT       = src/main/target/SITL/parameter_group.ld
 549 STARTUP_SRC     =
 550
 551 TARGET_FLAGS    = -D$(TARGET)
 552
 553 ARM_SDK_PREFIX  =
 554
 555 # End SITL targets
 556 #
 557 # Start F1 targets
 558 else
 559
 560 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 561 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 562 EXCLUDES        = stm32f10x_crc.c \
 563                   stm32f10x_cec.c \
 564                   stm32f10x_can.c
 565 STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 566 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 567
 568 # Search path and source files for the CMSIS sources
 569 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 570 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 571                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 572
 573 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 574                    $(STDPERIPH_DIR)/inc \
 575                    $(CMSIS_DIR)/CM3/CoreSupport \
 576                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 577
 578 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 579
 580 ifneq ($(filter VCP, $(FEATURES)),)
 581 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 582                    $(USBFS_DIR)/inc \
 583                    $(ROOT)/src/main/vcp
 584
 585 VPATH           := $(VPATH):$(USBFS_DIR)/src
 586
 587 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 588                         $(USBPERIPH_SRC)
 589
 590 endif
 591
 592 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 593 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 594
 595 ifeq ($(DEVICE_FLAGS),)
 596 DEVICE_FLAGS    = -DSTM32F10X_MD
 597 endif
 598 DEVICE_FLAGS   += -DSTM32F10X
 599
 600 endif
 601 #
 602 # End F1 targets
 603 #
 604 ifneq ($(BASE_TARGET), $(TARGET))
 605 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 606 endif
 607
 608 ifneq ($(FLASH_SIZE),)
 609 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 610 endif
 611
 612 ifneq ($(HSE_VALUE),)
 613 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 614 endif
 615
 616 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 617 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 618
 619 ifeq ($(OPBL),yes)
 620 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 621 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 622 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 623 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 624 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 625 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 626 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 627 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 628 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 629 endif
 630 .DEFAULT_GOAL := binary
 631 else
 632 .DEFAULT_GOAL := hex
 633 endif
 634
 635 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 636                    $(ROOT)/lib/main/MAVLink
 637
 638 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 639                    $(TARGET_DIR)
 640
 641 VPATH           := $(VPATH):$(TARGET_DIR)
 642
 643 COMMON_SRC = \
 644             build/build_config.c \
 645             build/debug.c \
 646             build/version.c \
 647             $(TARGET_DIR_SRC) \
 648             main.c \
 649             common/encoding.c \
 650             common/filter.c \
 651             common/maths.c \
 652             common/printf.c \
 653             common/streambuf.c \
 654             common/typeconversion.c \
 655             config/config_eeprom.c \
 656             config/feature.c \
 657             config/parameter_group.c \
 658             config/config_streamer.c \
 659             drivers/adc.c \
 660             drivers/buf_writer.c \
 661             drivers/bus_i2c_soft.c \
 662             drivers/bus_spi.c \
 663             drivers/bus_spi_soft.c \
 664             drivers/display.c \
 665             drivers/exti.c \
 666             drivers/gyro_sync.c \
 667             drivers/io.c \
 668             drivers/light_led.c \
 669             drivers/resource.c \
 670             drivers/rx_nrf24l01.c \
 671             drivers/rx_spi.c \
 672             drivers/rx_xn297.c \
 673             drivers/pwm_esc_detect.c \
 674             drivers/pwm_output.c \
 675             drivers/rcc.c \
 676             drivers/rx_pwm.c \
 677             drivers/serial.c \
 678             drivers/serial_uart.c \
 679             drivers/serial_softserial.c \
 680             drivers/sound_beeper.c \
 681             drivers/stack_check.c \
 682             drivers/system.c \
 683             drivers/timer.c \
 684             fc/config.c \
 685             fc/controlrate_profile.c \
 686             fc/fc_init.c \
 687             fc/fc_dispatch.c \
 688             fc/fc_hardfaults.c \
 689             fc/fc_core.c \
 690             fc/fc_rc.c \
 691             fc/fc_msp.c \
 692             fc/fc_tasks.c \
 693             fc/rc_adjustments.c \
 694             fc/rc_controls.c \
 695             fc/runtime_config.c \
 696             fc/cli.c \
 697             flight/altitudehold.c \
 698             flight/failsafe.c \
 699             flight/imu.c \
 700             flight/mixer.c \
 701             flight/pid.c \
 702             flight/servos.c \
 703             io/beeper.c \
 704             io/serial.c \
 705             io/serial_4way.c \
 706             io/serial_4way_avrootloader.c \
 707             io/serial_4way_stk500v2.c \
 708             io/statusindicator.c \
 709             msp/msp_serial.c \
 710             rx/ibus.c \
 711             rx/jetiexbus.c \
 712             rx/msp.c \
 713             rx/nrf24_cx10.c \
 714             rx/nrf24_inav.c \
 715             rx/nrf24_h8_3d.c \
 716             rx/nrf24_syma.c \
 717             rx/nrf24_v202.c \
 718             rx/pwm.c \
 719             rx/rx.c \
 720             rx/rx_spi.c \
 721             rx/crsf.c \
 722             rx/sbus.c \
 723             rx/spektrum.c \
 724             rx/sumd.c \
 725             rx/sumh.c \
 726             rx/xbus.c \
 727             scheduler/scheduler.c \
 728             sensors/acceleration.c \
 729             sensors/battery.c \
 730             sensors/current.c \
 731             sensors/voltage.c \
 732             sensors/boardalignment.c \
 733             sensors/compass.c \
 734             sensors/gyro.c \
 735             sensors/gyroanalyse.c \
 736             sensors/initialisation.c \
 737             blackbox/blackbox.c \
 738             blackbox/blackbox_io.c \
 739             cms/cms.c \
 740             cms/cms_menu_blackbox.c \
 741             cms/cms_menu_builtin.c \
 742             cms/cms_menu_imu.c \
 743             cms/cms_menu_ledstrip.c \
 744             cms/cms_menu_misc.c \
 745             cms/cms_menu_osd.c \
 746             cms/cms_menu_vtx.c \
 747             common/colorconversion.c \
 748             common/gps_conversion.c \
 749             drivers/display_ug2864hsweg01.c \
 750             drivers/light_ws2811strip.c \
 751             drivers/serial_escserial.c \
 752             drivers/sonar_hcsr04.c \
 753             drivers/vtx_common.c \
 754             drivers/transponder_ir.c \
 755             drivers/transponder_ir_arcitimer.c \
 756             drivers/transponder_ir_ilap.c \
 757             flight/navigation.c \
 758             io/dashboard.c \
 759             io/displayport_max7456.c \
 760             io/displayport_msp.c \
 761             io/displayport_oled.c \
 762             io/gps.c \
 763             io/ledstrip.c \
 764             io/osd.c \
 765             io/transponder_ir.c \
 766             sensors/sonar.c \
 767             sensors/barometer.c \
 768             telemetry/telemetry.c \
 769             telemetry/crsf.c \
 770             telemetry/srxl.c \
 771             telemetry/frsky.c \
 772             telemetry/hott.c \
 773             telemetry/smartport.c \
 774             telemetry/ltm.c \
 775             telemetry/mavlink.c \
 776             telemetry/ibus.c \
 777             telemetry/ibus_shared.c \
 778             sensors/esc_sensor.c \
 779             io/vtx_string.c \
 780             io/vtx_smartaudio.c \
 781             io/vtx_tramp.c \
 782             io/vtx.c \
 783             $(CMSIS_SRC) \
 784             $(DEVICE_STDPERIPH_SRC)
 785
 786
 787 SPEED_OPTIMISED_SRC := ""
 788 SIZE_OPTIMISED_SRC  := ""
 789
 790 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 791 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 792             common/encoding.c \
 793             common/filter.c \
 794             common/maths.c \
 795             common/typeconversion.c \
 796             drivers/adc.c \
 797             drivers/buf_writer.c \
 798             drivers/bus_i2c_soft.c \
 799             drivers/bus_spi.c \
 800             drivers/bus_spi_soft.c \
 801             drivers/exti.c \
 802             drivers/gyro_sync.c \
 803             drivers/io.c \
 804             drivers/light_led.c \
 805             drivers/resource.c \
 806             drivers/rx_nrf24l01.c \
 807             drivers/rx_spi.c \
 808             drivers/rx_xn297.c \
 809             drivers/pwm_output.c \
 810             drivers/rcc.c \
 811             drivers/rx_pwm.c \
 812             drivers/serial.c \
 813             drivers/serial_uart.c \
 814             drivers/sound_beeper.c \
 815             drivers/system.c \
 816             drivers/timer.c \
 817             fc/fc_core.c \
 818             fc/fc_tasks.c \
 819             fc/fc_rc.c \
 820             fc/rc_controls.c \
 821             fc/runtime_config.c \
 822             flight/imu.c \
 823             flight/mixer.c \
 824             flight/pid.c \
 825             flight/servos.c \
 826             io/serial.c \
 827             rx/ibus.c \
 828             rx/jetiexbus.c \
 829             rx/nrf24_cx10.c \
 830             rx/nrf24_inav.c \
 831             rx/nrf24_h8_3d.c \
 832             rx/nrf24_syma.c \
 833             rx/nrf24_v202.c \
 834             rx/pwm.c \
 835             rx/rx.c \
 836             rx/rx_spi.c \
 837             rx/crsf.c \
 838             rx/sbus.c \
 839             rx/spektrum.c \
 840             rx/sumd.c \
 841             rx/sumh.c \
 842             rx/xbus.c \
 843             scheduler/scheduler.c \
 844             sensors/acceleration.c \
 845             sensors/boardalignment.c \
 846             sensors/gyro.c \
 847             sensors/gyroanalyse.c \
 848             $(CMSIS_SRC) \
 849             $(DEVICE_STDPERIPH_SRC) \
 850             drivers/display_ug2864hsweg01.c \
 851             drivers/light_ws2811strip.c \
 852             drivers/serial_softserial.c \
 853             io/dashboard.c \
 854             io/displayport_max7456.c \
 855             io/osd.c \
 856
 857 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 858             drivers/serial_escserial.c \
 859             drivers/vtx_common.c \
 860             io/cli.c \
 861             io/serial_4way.c \
 862             io/serial_4way_avrootloader.c \
 863             io/serial_4way_stk500v2.c \
 864             msp/msp_serial.c \
 865             cms/cms.c \
 866             cms/cms_menu_blackbox.c \
 867             cms/cms_menu_builtin.c \
 868             cms/cms_menu_imu.c \
 869             cms/cms_menu_ledstrip.c \
 870             cms/cms_menu_misc.c \
 871             cms/cms_menu_osd.c \
 872             cms/cms_menu_vtx.c \
 873             io/vtx_smartaudio.c \
 874             io/vtx_tramp.c
 875 endif #F3
 876
 877 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 878 VCP_SRC = \
 879             vcpf4/stm32f4xx_it.c \
 880             vcpf4/usb_bsp.c \
 881             vcpf4/usbd_desc.c \
 882             vcpf4/usbd_usr.c \
 883             vcpf4/usbd_cdc_vcp.c \
 884             drivers/serial_usb_vcp.c \
 885             drivers/usb_io.c
 886 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 887 VCP_SRC = \
 888             vcp_hal/usbd_desc.c \
 889             vcp_hal/usbd_conf.c \
 890             vcp_hal/usbd_cdc_interface.c \
 891             drivers/serial_usb_vcp.c \
 892             drivers/usb_io.c
 893 else
 894 VCP_SRC = \
 895             vcp/hw_config.c \
 896             vcp/stm32_it.c \
 897             vcp/usb_desc.c \
 898             vcp/usb_endp.c \
 899             vcp/usb_istr.c \
 900             vcp/usb_prop.c \
 901             vcp/usb_pwr.c \
 902             drivers/serial_usb_vcp.c \
 903             drivers/usb_io.c
 904 endif
 905
 906 STM32F10x_COMMON_SRC = \
 907             drivers/adc_stm32f10x.c \
 908             drivers/bus_i2c_stm32f10x.c \
 909             drivers/dma.c \
 910             drivers/gpio_stm32f10x.c \
 911             drivers/inverter.c \
 912             drivers/light_ws2811strip_stdperiph.c \
 913             drivers/serial_uart_stm32f10x.c \
 914             drivers/system_stm32f10x.c \
 915             drivers/timer_stm32f10x.c
 916
 917 STM32F30x_COMMON_SRC = \
 918             target/system_stm32f30x.c \
 919             drivers/adc_stm32f30x.c \
 920             drivers/bus_i2c_stm32f30x.c \
 921             drivers/dma.c \
 922             drivers/gpio_stm32f30x.c \
 923             drivers/light_ws2811strip_stdperiph.c \
 924             drivers/pwm_output_dshot.c \
 925             drivers/serial_uart_stm32f30x.c \
 926             drivers/system_stm32f30x.c \
 927             drivers/timer_stm32f30x.c
 928
 929 STM32F4xx_COMMON_SRC = \
 930             target/system_stm32f4xx.c \
 931             drivers/accgyro_mpu.c \
 932             drivers/adc_stm32f4xx.c \
 933             drivers/bus_i2c_stm32f10x.c \
 934             drivers/dma_stm32f4xx.c \
 935             drivers/gpio_stm32f4xx.c \
 936             drivers/inverter.c \
 937             drivers/light_ws2811strip_stdperiph.c \
 938             drivers/pwm_output_dshot.c \
 939             drivers/serial_uart_stm32f4xx.c \
 940             drivers/system_stm32f4xx.c \
 941             drivers/timer_stm32f4xx.c
 942
 943 STM32F7xx_COMMON_SRC = \
 944             target/system_stm32f7xx.c \
 945             drivers/accgyro_mpu.c \
 946             drivers/adc_stm32f7xx.c \
 947             drivers/bus_i2c_hal.c \
 948             drivers/dma_stm32f7xx.c \
 949             drivers/gpio_stm32f7xx.c \
 950             drivers/inverter.c \
 951             drivers/bus_spi_hal.c \
 952             drivers/pwm_output_stm32f7xx.c \
 953             drivers/timer_hal.c \
 954             drivers/timer_stm32f7xx.c \
 955             drivers/system_stm32f7xx.c \
 956             drivers/serial_uart_stm32f7xx.c \
 957             drivers/serial_uart_hal.c
 958
 959 F7EXCLUDES = drivers/bus_spi.c \
 960             drivers/bus_i2c.c \
 961             drivers/timer.c \
 962             drivers/serial_uart.c
 963
 964 SITLEXCLUDES = \
 965             drivers/adc.c \
 966             drivers/bus_spi.c \
 967             drivers/bus_i2c.c \
 968             drivers/dma.c \
 969             drivers/pwm_output.c \
 970             drivers/timer.c \
 971             drivers/light_led.c \
 972             drivers/system.c \
 973             drivers/rcc.c \
 974             drivers/serial_uart.c \
 975
 976
 977 # check if target.mk supplied
 978 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 979 SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 980 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 981 SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 982 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 983 SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 984 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 985 SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 986 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
 987 SRC := $(TARGET_SRC) $(SITL_SRC) $(VARIANT_SRC)
 988 endif
 989
 990 ifneq ($(filter $(TARGET),$(F4_TARGETS) $(F7_TARGETS)),)
 991 DSPLIB := $(ROOT)/lib/main/DSP_Lib
 992 DEVICE_FLAGS += -DARM_MATH_CM4 -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE
 993
 994 INCLUDE_DIRS += $(DSPLIB)/Include
 995
 996 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_f32.c
 997 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_f32.c
 998 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_init_f32.c
 999 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_radix8_f32.c
1000 SRC += $(DSPLIB)/Source/CommonTables/arm_common_tables.c
1001
1002 SRC += $(DSPLIB)/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
1003 SRC += $(DSPLIB)/Source/StatisticsFunctions/arm_max_f32.c
1004
1005 SRC += $(wildcard $(DSPLIB)/Source/*/*.S)
1006 endif
1007
1008
1009 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
1010 SRC += \
1011             drivers/flash_m25p16.c \
1012             io/flashfs.c
1013 endif
1014
1015 SRC += $(COMMON_SRC)
1016
1017 #excludes
1018 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
1019 SRC   := $(filter-out ${F7EXCLUDES}, $(SRC))
1020 endif
1021
1022 #SITL excludes
1023 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1024 SRC   := $(filter-out ${SITLEXCLUDES}, $(SRC))
1025 endif
1026
1027 ifneq ($(filter SDCARD,$(FEATURES)),)
1028 SRC += \
1029             drivers/sdcard.c \
1030             drivers/sdcard_standard.c \
1031             io/asyncfatfs/asyncfatfs.c \
1032             io/asyncfatfs/fat_standard.c
1033 endif
1034
1035 ifneq ($(filter VCP,$(FEATURES)),)
1036 SRC += $(VCP_SRC)
1037 endif
1038 # end target specific make file checks
1039
1040
1041 # Search path and source files for the ST stdperiph library
1042 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
1043
1044 ###############################################################################
1045 # Things that might need changing to use different tools
1046 #
1047
1048 # Find out if ccache is installed on the system
1049 CCACHE := ccache
1050 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
1051 ifneq ($(RESULT),0)
1052 CCACHE :=
1053 endif
1054
1055 # Tool names
1056 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
1057 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
1058 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
1059 SIZE        := $(ARM_SDK_PREFIX)size
1060
1061 #
1062 # Tool options.
1063 #
1064
1065 ifneq ($(DEBUG),GDB)
1066 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
1067 OPTIMISE_SPEED      := ""
1068 OPTIMISE_SIZE       := ""
1069
1070 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
1071 OPTIMISE_DEFAULT    := -Os
1072
1073 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1074
1075 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
1076 OPTIMISE_DEFAULT    := -O2
1077 OPTIMISE_SPEED      := -Ofast
1078 OPTIMISE_SIZE       := -Os
1079
1080 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1081
1082 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1083 OPTIMISE_DEFAULT    := -Ofast
1084 OPTIMISE_SPEED      := -Ofast
1085 OPTIMISE_SIZE       := -Os
1086
1087 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1088
1089 else
1090 OPTIMISE_DEFAULT    := -Ofast
1091
1092 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1093
1094 endif #TARGETS
1095
1096 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1097 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1098 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
1099
1100 else #DEBUG
1101 OPTIMISE_DEFAULT    := -O0
1102
1103 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
1104
1105 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
1106 endif #DEBUG
1107
1108 DEBUG_FLAGS = -ggdb3 -DDEBUG
1109
1110 CFLAGS      += $(ARCH_FLAGS) \
1111               $(addprefix -D,$(OPTIONS)) \
1112               $(addprefix -I,$(INCLUDE_DIRS)) \
1113               $(DEBUG_FLAGS) \
1114               -std=gnu99 \
1115               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
1116               -ffunction-sections \
1117               -fdata-sections \
1118               -pedantic \
1119               $(DEVICE_FLAGS) \
1120               -DUSE_STDPERIPH_DRIVER \
1121               -D$(TARGET) \
1122               $(TARGET_FLAGS) \
1123               -D'__FORKNAME__="$(FORKNAME)"' \
1124               -D'__TARGET__="$(TARGET)"' \
1125               -D'__REVISION__="$(REVISION)"' \
1126               -save-temps=obj \
1127               -MMD -MP
1128
1129 ASFLAGS     = $(ARCH_FLAGS) \
1130               -x assembler-with-cpp \
1131               $(addprefix -I,$(INCLUDE_DIRS)) \
1132               -MMD -MP
1133
1134 LDFLAGS     = -lm \
1135               -nostartfiles \
1136               --specs=nano.specs \
1137               -lc \
1138               -lnosys \
1139               $(ARCH_FLAGS) \
1140               $(LTO_FLAGS) \
1141               $(DEBUG_FLAGS) \
1142               -static \
1143               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1144               -Wl,-L$(LINKER_DIR) \
1145               -Wl,--cref \
1146               -Wl,--no-wchar-size-warning \
1147               -T$(LD_SCRIPT)
1148
1149 #SITL compile
1150 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1151 LDFLAGS     = \
1152               -lm \
1153               -lpthread \
1154               -lc \
1155               -lrt \
1156               $(ARCH_FLAGS) \
1157               $(LTO_FLAGS) \
1158               $(DEBUG_FLAGS) \
1159               -static \
1160               -static-libgcc \
1161               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1162               -Wl,-L$(LINKER_DIR) \
1163               -Wl,--cref \
1164               -T$(LD_SCRIPT)
1165 endif
1166
1167 ###############################################################################
1168 # No user-serviceable parts below
1169 ###############################################################################
1170
1171 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
1172                   --std=c99 --inline-suppr --quiet --force \
1173                   $(addprefix -I,$(INCLUDE_DIRS)) \
1174                   -I/usr/include -I/usr/include/linux
1175
1176 #
1177 # Things we will build
1178 #
1179 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
1180 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
1181 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
1182 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1183 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1184 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
1185
1186
1187 CLEAN_ARTIFACTS := $(TARGET_BIN)
1188 CLEAN_ARTIFACTS += $(TARGET_HEX)
1189 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
1190
1191 # Make sure build date and revision is updated on every incremental build
1192 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
1193
1194 # List of buildable ELF files and their object dependencies.
1195 # It would be nice to compute these lists, but that seems to be just beyond make.
1196
1197 $(TARGET_HEX): $(TARGET_ELF)
1198         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
1199
1200 $(TARGET_BIN): $(TARGET_ELF)
1201         $(V0) $(OBJCOPY) -O binary $< $@
1202
1203 $(TARGET_ELF):  $(TARGET_OBJS)
1204         $(V1) echo Linking $(TARGET)
1205         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
1206         $(V0) $(SIZE) $(TARGET_ELF)
1207
1208 # Compile
1209 ifneq ($(DEBUG),GDB)
1210 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1211         $(V1) mkdir -p $(dir $@)
1212         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
1213         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
1214         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
1215         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
1216         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1217         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
1218         echo "%% $(notdir $<)" "$(STDOUT)" && \
1219         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
1220 else
1221 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1222         $(V1) mkdir -p $(dir $@)
1223         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
1224         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1225 endif
1226
1227 # Assemble
1228 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1229         $(V1) mkdir -p $(dir $@)
1230         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1231         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1232
1233 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1234         $(V1) mkdir -p $(dir $@)
1235         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1236         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1237
1238
1239 ## all               : Build all valid targets
1240 all: $(VALID_TARGETS)
1241
1242 ## official          : Build all official (travis) targets
1243 official: $(OFFICIAL_TARGETS)
1244
1245 ## targets-group-1   : build some targets
1246 targets-group-1: $(GROUP_1_TARGETS)
1247
1248 ## targets-group-2   : build some targets
1249 targets-group-2: $(GROUP_2_TARGETS)
1250
1251 ## targets-group-3   : build some targets
1252 targets-group-3: $(GROUP_3_TARGETS)
1253
1254 ## targets-group-3   : build some targets
1255 targets-group-4: $(GROUP_4_TARGETS)
1256
1257 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
1258 targets-group-rest: $(GROUP_OTHER_TARGETS)
1259
1260
1261 $(VALID_TARGETS):
1262                 $(V0) echo "" && \
1263                 echo "Building $@" && \
1264                 time $(MAKE) binary hex TARGET=$@ && \
1265                 echo "Building $@ succeeded."
1266
1267
1268
1269 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1270 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1271
1272 ## clean             : clean up temporary / machine-generated files
1273 clean:
1274         $(V0) echo "Cleaning $(TARGET)"
1275         $(V0) rm -f $(CLEAN_ARTIFACTS)
1276         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1277         $(V0) echo "Cleaning $(TARGET) succeeded."
1278
1279 ## clean_test        : clean up temporary / machine-generated files (tests)
1280 clean_test:
1281         $(V0) cd src/test && $(MAKE) clean || true
1282
1283 ## clean_<TARGET>    : clean up one specific target
1284 $(CLEAN_TARGETS) :
1285         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1286
1287 ## <TARGET>_clean    : clean up one specific target (alias for above)
1288 $(TARGETS_CLEAN) :
1289         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1290
1291 ## clean_all         : clean all valid targets
1292 clean_all:$(CLEAN_TARGETS)
1293
1294 ## all_clean         : clean all valid targets (alias for above)
1295 all_clean:$(TARGETS_CLEAN)
1296
1297
1298 flash_$(TARGET): $(TARGET_HEX)
1299         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1300         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1301         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1302
1303 ## flash             : flash firmware (.hex) onto flight controller
1304 flash: flash_$(TARGET)
1305
1306 st-flash_$(TARGET): $(TARGET_BIN)
1307         $(V0) st-flash --reset write $< 0x08000000
1308
1309 ## st-flash          : flash firmware (.bin) onto flight controller
1310 st-flash: st-flash_$(TARGET)
1311
1312 binary:
1313         $(V0) $(MAKE) -j $(TARGET_BIN)
1314
1315 hex:
1316         $(V0) $(MAKE) -j $(TARGET_HEX)
1317
1318 unbrick_$(TARGET): $(TARGET_HEX)
1319         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1320         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1321
1322 ## unbrick           : unbrick flight controller
1323 unbrick: unbrick_$(TARGET)
1324
1325 ## cppcheck          : run static analysis on C source code
1326 cppcheck: $(CSOURCES)
1327         $(V0) $(CPPCHECK)
1328
1329 cppcheck-result.xml: $(CSOURCES)
1330         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1331
1332 # mkdirs
1333 $(DL_DIR):
1334         mkdir -p $@
1335
1336 $(TOOLS_DIR):
1337         mkdir -p $@
1338
1339 $(BUILD_DIR):
1340         mkdir -p $@
1341
1342 ## version           : print firmware version
1343 version:
1344         @echo $(FC_VER)
1345
1346 ## help              : print this help message and exit
1347 help: Makefile make/tools.mk
1348         $(V0) @echo ""
1349         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1350         $(V0) @echo ""
1351         $(V0) @echo "Usage:"
1352         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1353         $(V0) @echo "Or:"
1354         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1355         $(V0) @echo ""
1356         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1357         $(V0) @echo ""
1358         $(V0) @sed -n 's/^## //p' $?
1359
1360 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1361 targets:
1362         $(V0) @echo "Valid targets:      $(VALID_TARGETS)"
1363         $(V0) @echo "Target:             $(TARGET)"
1364         $(V0) @echo "Base target:        $(BASE_TARGET)"
1365         $(V0) @echo "Official targets:   $(OFFICIAL_TARGETS)"
1366         $(V0) @echo "targets-group-1:    $(GROUP_1_TARGETS)"
1367         $(V0) @echo "targets-group-2:    $(GROUP_2_TARGETS)"
1368         $(V0) @echo "targets-group-3:    $(GROUP_3_TARGETS)"
1369         $(V0) @echo "targets-group-4:    $(GROUP_4_TARGETS)"
1370         $(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
1371
1372 ## test              : run the cleanflight test suite
1373 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1374 test junittest:
1375         $(V0) cd src/test && $(MAKE) $@
1376
1377 # rebuild everything when makefile changes
1378 $(TARGET_OBJS) : Makefile
1379
1380 # include auto-generated dependencies
1381 -include $(TARGET_DEPS)