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 # Things that the user might override on the commandline
  15 #
  16
  17 # The target to build, see VALID_TARGETS below
  18 TARGET          ?= NAZE
  19
  20 # Compile-time options
  21 OPTIONS         ?=
  22 export OPTIONS
  23
  24 # Debugger optons, must be empty or GDB
  25 DEBUG ?=
  26
  27 # Serial port/Device for flashing
  28 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  29
  30 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  31 FLASH_SIZE ?=
  32
  33 ###############################################################################
  34 # Things that need to be maintained as the source changes
  35 #
  36
  37 FORKNAME                         = cleanflight
  38
  39 64K_TARGETS  = CJMCU
  40 128K_TARGETS = ALIENFLIGHTF1 CC3D NAZE OLIMEXINO RMDO SPRACINGF1OSD
  41 256K_TARGETS = ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE EUSTM32F103RC IRCFUSIONF3 LUX_RACE MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF3OSD
  42
  43 F3_TARGETS = ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE IRCFUSIONF3 LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF3OSD
  44
  45 VALID_TARGETS = $(64K_TARGETS) $(128K_TARGETS) $(256K_TARGETS)
  46
  47 VCP_TARGETS = CC3D ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO SPARKY SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF1OSD SPRACINGF3OSD
  48 OSD_TARGETS = SPRACINGF1OSD SPRACINGF3OSD
  49
  50 # Configure default flash sizes for the targets
  51 ifeq ($(FLASH_SIZE),)
  52 ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
  53 FLASH_SIZE = 64
  54 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
  55 FLASH_SIZE = 128
  56 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
  57 FLASH_SIZE = 256
  58 else
  59 $(error FLASH_SIZE not configured for target $(TARGET))
  60 endif
  61 endif
  62
  63 REVISION := $(shell git log -1 --format="%h")
  64
  65 # Working directories
  66 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  67 SRC_DIR          = $(ROOT)/src/main
  68 OBJECT_DIR       = $(ROOT)/obj/main
  69 BIN_DIR          = $(ROOT)/obj
  70 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  71 INCLUDE_DIRS     = $(SRC_DIR)
  72 LINKER_DIR       = $(ROOT)/src/main/target
  73
  74 # Search path for sources
  75 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  76 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  77 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  78
  79 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
  80
  81 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
  82 # F3 TARGETS
  83
  84 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  85
  86 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  87
  88 EXCLUDES        = stm32f30x_crc.c \
  89                 stm32f30x_can.c
  90
  91 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  92
  93 DEVICE_STDPERIPH_SRC = \
  94                 $(STDPERIPH_SRC)
  95
  96
  97 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  98 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  99                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 100
 101 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 102                    $(STDPERIPH_DIR)/inc \
 103                    $(CMSIS_DIR)/CM1/CoreSupport \
 104                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 105
 106 ifeq ($(TARGET),$(filter $(TARGET),$(VCP_TARGETS)))
 107 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 108                    $(USBFS_DIR)/inc \
 109                    $(ROOT)/src/main/vcp
 110
 111 VPATH := $(VPATH):$(USBFS_DIR)/src
 112
 113 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 114                    $(USBPERIPH_SRC)
 115
 116 endif
 117
 118 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 119
 120 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 121 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 122 TARGET_FLAGS = -D$(TARGET)
 123
 124 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 125 # TARGETS: EUSTM32F103RC PORT103R
 126
 127
 128 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 129
 130 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 131
 132 EXCLUDES        = stm32f10x_crc.c \
 133                 stm32f10x_cec.c \
 134                 stm32f10x_can.c
 135
 136 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 137
 138 # Search path and source files for the CMSIS sources
 139 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 140 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 141                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 142
 143 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 144                    $(STDPERIPH_DIR)/inc \
 145                    $(CMSIS_DIR)/CM3/CoreSupport \
 146                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 147
 148 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 149
 150 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 151 TARGET_FLAGS = -D$(TARGET) -pedantic
 152 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 153
 154 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 155
 156 else
 157 # F1 TARGETS
 158
 159 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 160
 161 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 162
 163 EXCLUDES        = stm32f10x_crc.c \
 164                 stm32f10x_cec.c \
 165                 stm32f10x_can.c
 166
 167 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 168
 169 # Search path and source files for the CMSIS sources
 170 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 171 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 172                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 173
 174 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 175                    $(STDPERIPH_DIR)/inc \
 176                    $(CMSIS_DIR)/CM3/CoreSupport \
 177                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 178
 179 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 180
 181 ifeq ($(TARGET),$(filter $(TARGET),$(VCP_TARGETS)))
 182 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 183                    $(USBFS_DIR)/inc \
 184                    $(ROOT)/src/main/vcp
 185
 186 VPATH := $(VPATH):$(USBFS_DIR)/src
 187
 188 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 189                    $(USBPERIPH_SRC)
 190
 191 endif
 192
 193 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 194
 195 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 196 TARGET_FLAGS = -D$(TARGET) -pedantic
 197 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 198
 199 endif #TARGETS
 200
 201 ifneq ($(FLASH_SIZE),)
 202 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 203 endif
 204
 205 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 206 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 207
 208 # VARIANTS
 209 ifeq ($(TARGET),ALIENFLIGHTF1)
 210 # ALIENFLIGHTF1 is a VARIANT of NAZE
 211 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENFLIGHT
 212 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 213 endif
 214 ifeq ($(TARGET),CHEBUZZF3)
 215 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 216 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 217 endif
 218 ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 219 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
 220 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 221 endif
 222
 223 # OSDs
 224 ifeq ($(TARGET),$(filter $(TARGET),$(OSD_TARGETS)))
 225 TARGET_FLAGS := $(TARGET_FLAGS) -DOSD
 226 endif
 227
 228
 229
 230 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 231                     $(TARGET_DIR)
 232
 233 VPATH           := $(VPATH):$(TARGET_DIR)
 234
 235 SYSTEM_SRC = \
 236                    build_config.c \
 237                    debug.c \
 238                    version.c \
 239                    config/config_streamer.c \
 240                    config/parameter_group.c \
 241                    config/config_eeprom.c \
 242                    common/encoding.c \
 243                    common/filter.c \
 244                    common/maths.c \
 245                    common/printf.c \
 246                    common/streambuf.c \
 247                    common/typeconversion.c \
 248                    drivers/buf_writer.c \
 249                    drivers/dma.c \
 250                    drivers/serial.c \
 251                    drivers/system.c \
 252                    scheduler.c \
 253                    io/serial.c \
 254                    io/statusindicator.c \
 255                    msp/msp.c \
 256                    msp/msp_serial.c \
 257                    $(TARGET_SRC) \
 258                    $(CMSIS_SRC) \
 259                    $(DEVICE_STDPERIPH_SRC)
 260
 261 FC_COMMON_SRC = \
 262                    config/feature.c \
 263                    config/profile.c \
 264                    fc/boot.c \
 265                    fc/cleanflight_fc.c \
 266                    fc/fc_tasks.c \
 267                    fc/rate_profile.c \
 268                    fc/rc_adjustments.c \
 269                    fc/rc_controls.c \
 270                    fc/rc_curves.c \
 271                    fc/fc_serial.c \
 272                    fc/config.c \
 273                    fc/runtime_config.c \
 274                    fc/msp_server_fc.c \
 275                    flight/altitudehold.c \
 276                    flight/failsafe.c \
 277                    flight/pid.c \
 278                    flight/pid_luxfloat.c \
 279                    flight/pid_mwrewrite.c \
 280                    flight/pid_mw23.c \
 281                    flight/imu.c \
 282                    flight/mixer.c \
 283                    flight/servos.c \
 284                    drivers/bus_i2c_soft.c \
 285                    drivers/sound_beeper.c \
 286                    drivers/gyro_sync.c \
 287                    io/beeper.c \
 288                    io/gimbal.c \
 289                    io/motor_and_servo.c \
 290                    io/serial_4way.c \
 291                    io/serial_4way_avrootloader.c \
 292                    io/serial_4way_stk500v2.c \
 293                    io/serial_cli.c \
 294                    io/statusindicator.c \
 295                    rx/rx.c \
 296                    rx/pwm.c \
 297                    rx/msp.c \
 298                    rx/sbus.c \
 299                    rx/sumd.c \
 300                    rx/sumh.c \
 301                    rx/spektrum.c \
 302                    rx/xbus.c \
 303                    rx/ibus.c \
 304                    sensors/sensors.c \
 305                    sensors/acceleration.c \
 306                    sensors/battery.c \
 307                    sensors/boardalignment.c \
 308                    sensors/compass.c \
 309                    sensors/gyro.c \
 310                    sensors/initialisation.c
 311
 312 OSD_COMMON_SRC = \
 313                    osd/boot.c \
 314                    osd/cleanflight_osd.c \
 315                    osd/fc_state.c \
 316                    osd/config.c \
 317                    osd/osd.c \
 318                    osd/osd_serial.c \
 319                    osd/msp_server_osd.c \
 320                    osd/msp_client_osd.c \
 321                    osd/osd_tasks.c \
 322                    sensors/battery.c \
 323                    io/beeper.c
 324
 325 HIGHEND_SRC = \
 326                    flight/gtune.c \
 327                    flight/navigation.c \
 328                    flight/gps_conversion.c \
 329                    common/colorconversion.c \
 330                    io/gps.c \
 331                    io/ledstrip.c \
 332                    io/display.c \
 333                    telemetry/telemetry.c \
 334                    telemetry/frsky.c \
 335                    telemetry/hott.c \
 336                    telemetry/smartport.c \
 337                    telemetry/ltm.c \
 338                    telemetry/mavlink.c \
 339                    sensors/sonar.c \
 340                    sensors/barometer.c \
 341                    blackbox/blackbox.c \
 342                    blackbox/blackbox_io.c
 343
 344 VCP_SRC = \
 345                    vcp/hw_config.c \
 346                    vcp/stm32_it.c \
 347                    vcp/usb_desc.c \
 348                    vcp/usb_endp.c \
 349                    vcp/usb_istr.c \
 350                    vcp/usb_prop.c \
 351                    vcp/usb_pwr.c \
 352                    drivers/serial_usb_vcp.c \
 353                    drivers/usb_io.c
 354
 355 STM32F10x_COMMON_SRC = \
 356                    drivers/adc.c \
 357                    drivers/adc_stm32f10x.c \
 358                    drivers/bus_i2c_stm32f10x.c \
 359                    drivers/gpio_stm32f10x.c \
 360                    drivers/light_led_stm32f10x.c \
 361                    drivers/serial_uart.c \
 362                    drivers/serial_uart_stm32f10x.c \
 363                    drivers/system_stm32f10x.c
 364
 365 NAZE_SRC = \
 366                    startup_stm32f10x_md_gcc.S \
 367                    $(STM32F10x_COMMON_SRC) \
 368                    drivers/accgyro_adxl345.c \
 369                    drivers/accgyro_bma280.c \
 370                    drivers/accgyro_l3g4200d.c \
 371                    drivers/accgyro_mma845x.c \
 372                    drivers/accgyro_mpu.c \
 373                    drivers/accgyro_mpu3050.c \
 374                    drivers/accgyro_mpu6050.c \
 375                    drivers/accgyro_mpu6500.c \
 376                    drivers/accgyro_spi_mpu6500.c \
 377                    drivers/barometer_bmp085.c \
 378                    drivers/barometer_ms5611.c \
 379                    drivers/barometer_bmp280.c \
 380                    drivers/bus_spi.c \
 381                    drivers/compass_hmc5883l.c \
 382                    drivers/display_ug2864hsweg01.h \
 383                    drivers/flash_m25p16.c \
 384                    drivers/inverter.c \
 385                    drivers/light_ws2811strip.c \
 386                    drivers/light_ws2811strip_stm32f10x.c \
 387                    drivers/sonar_hcsr04.c \
 388                    drivers/pwm_mapping.c \
 389                    drivers/pwm_output.c \
 390                    drivers/pwm_rx.c \
 391                    drivers/serial_softserial.c \
 392                    drivers/sound_beeper_stm32f10x.c \
 393                    drivers/timer.c \
 394                    drivers/timer_stm32f10x.c \
 395                    io/flashfs.c \
 396                    hardware_revision.c \
 397                    $(HIGHEND_SRC) \
 398                    $(FC_COMMON_SRC) \
 399                    $(SYSTEM_SRC)
 400
 401 ALIENFLIGHTF1_SRC = $(NAZE_SRC)
 402
 403 EUSTM32F103RC_SRC = \
 404                    startup_stm32f10x_hd_gcc.S \
 405                    $(STM32F10x_COMMON_SRC) \
 406                    drivers/accgyro_adxl345.c \
 407                    drivers/accgyro_bma280.c \
 408                    drivers/accgyro_l3g4200d.c \
 409                    drivers/accgyro_mma845x.c \
 410                    drivers/accgyro_mpu.c \
 411                    drivers/accgyro_mpu3050.c \
 412                    drivers/accgyro_mpu6050.c \
 413                    drivers/accgyro_mpu6500.c \
 414                    drivers/accgyro_spi_mpu6000.c \
 415                    drivers/accgyro_spi_mpu6500.c \
 416                    drivers/barometer_bmp085.c \
 417                    drivers/barometer_ms5611.c \
 418                    drivers/bus_spi.c \
 419                    drivers/compass_ak8975.c \
 420                    drivers/compass_hmc5883l.c \
 421                    drivers/display_ug2864hsweg01.c \
 422                    drivers/flash_m25p16.c \
 423                    drivers/inverter.c \
 424                    drivers/light_ws2811strip.c \
 425                    drivers/light_ws2811strip_stm32f10x.c \
 426                    drivers/pwm_mapping.c \
 427                    drivers/pwm_output.c \
 428                    drivers/pwm_rx.c \
 429                    drivers/serial_softserial.c \
 430                    drivers/sonar_hcsr04.c \
 431                    drivers/sound_beeper_stm32f10x.c \
 432                    drivers/timer.c \
 433                    drivers/timer_stm32f10x.c \
 434                    io/flashfs.c \
 435                    $(HIGHEND_SRC) \
 436                    $(FC_COMMON_SRC) \
 437                    $(SYSTEM_SRC)
 438
 439 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 440
 441 OLIMEXINO_SRC = \
 442                    startup_stm32f10x_md_gcc.S \
 443                    $(STM32F10x_COMMON_SRC) \
 444                    drivers/accgyro_mpu.c \
 445                    drivers/accgyro_mpu6050.c \
 446                    drivers/barometer_bmp085.c \
 447                    drivers/bus_spi.c \
 448                    drivers/compass_hmc5883l.c \
 449                    drivers/light_ws2811strip.c \
 450                    drivers/light_ws2811strip_stm32f10x.c \
 451                    drivers/pwm_mapping.c \
 452                    drivers/pwm_output.c \
 453                    drivers/pwm_rx.c \
 454                    drivers/serial_softserial.c \
 455                    drivers/sonar_hcsr04.c \
 456                    drivers/sound_beeper_stm32f10x.c \
 457                    drivers/timer.c \
 458                    drivers/timer_stm32f10x.c \
 459                    $(HIGHEND_SRC) \
 460                    $(FC_COMMON_SRC) \
 461                    $(SYSTEM_SRC)
 462
 463 CJMCU_SRC = \
 464                    startup_stm32f10x_md_gcc.S \
 465                    $(STM32F10x_COMMON_SRC) \
 466                    drivers/accgyro_mpu.c \
 467                    drivers/accgyro_mpu6050.c \
 468                    drivers/compass_hmc5883l.c \
 469                    drivers/pwm_mapping.c \
 470                    drivers/pwm_output.c \
 471                    drivers/pwm_rx.c \
 472                    drivers/sound_beeper_stm32f10x.c \
 473                    drivers/timer.c \
 474                    drivers/timer_stm32f10x.c \
 475                    hardware_revision.c \
 476                    flight/gtune.c \
 477                    blackbox/blackbox.c \
 478                    blackbox/blackbox_io.c \
 479                    $(FC_COMMON_SRC) \
 480                    $(SYSTEM_SRC)
 481
 482 CC3D_SRC = \
 483                    startup_stm32f10x_md_gcc.S \
 484                    $(STM32F10x_COMMON_SRC) \
 485                    drivers/accgyro_mpu.c \
 486                    drivers/accgyro_spi_mpu6000.c \
 487                    drivers/barometer_bmp085.c \
 488                    drivers/barometer_ms5611.c \
 489                    drivers/compass_hmc5883l.c \
 490                    drivers/display_ug2864hsweg01.c \
 491                    drivers/flash_m25p16.c \
 492                    drivers/inverter.c \
 493                    drivers/light_ws2811strip.c \
 494                    drivers/light_ws2811strip_stm32f10x.c \
 495                    drivers/pwm_mapping.c \
 496                    drivers/pwm_output.c \
 497                    drivers/pwm_rx.c \
 498                    drivers/serial_softserial.c \
 499                    drivers/sonar_hcsr04.c \
 500                    drivers/sound_beeper_stm32f10x.c \
 501                    drivers/timer.c \
 502                    drivers/timer_stm32f10x.c \
 503                    io/flashfs.c \
 504                    $(HIGHEND_SRC) \
 505                    $(FC_COMMON_SRC) \
 506                    $(SYSTEM_SRC) \
 507                    $(VCP_SRC)
 508
 509 STM32F30x_COMMON_SRC = \
 510                    startup_stm32f30x_md_gcc.S \
 511                    drivers/adc.c \
 512                    drivers/adc_stm32f30x.c \
 513                    drivers/bus_i2c_stm32f30x.c \
 514                    drivers/bus_spi.c \
 515                    drivers/gpio_stm32f30x.c \
 516                    drivers/light_led_stm32f30x.c \
 517                    drivers/serial_uart.c \
 518                    drivers/serial_uart_stm32f30x.c \
 519                    drivers/sound_beeper_stm32f30x.c \
 520                    drivers/system_stm32f30x.c
 521
 522 STM32F30x_FC_COMMON_SRC = \
 523                    drivers/display_ug2864hsweg01.h \
 524                    drivers/timer.c \
 525                    drivers/timer_stm32f30x.c \
 526                    drivers/pwm_mapping.c \
 527                    drivers/pwm_output.c \
 528                    drivers/pwm_rx.c
 529
 530 NAZE32PRO_SRC = \
 531                    $(STM32F30x_COMMON_SRC) \
 532                    $(STM32F30x_FC_COMMON_SRC) \
 533                    $(HIGHEND_SRC) \
 534                    $(FC_COMMON_SRC) \
 535                    $(SYSTEM_SRC) \
 536                    $(VCP_SRC)
 537
 538 STM32F3DISCOVERY_COMMON_SRC = \
 539                    $(STM32F30x_COMMON_SRC) \
 540                    drivers/accgyro_l3gd20.c \
 541                    drivers/accgyro_l3gd20.c \
 542                    drivers/accgyro_lsm303dlhc.c \
 543                    drivers/compass_hmc5883l.c \
 544                    $(VCP_SRC)
 545
 546 STM32F3DISCOVERY_SRC = \
 547                    $(STM32F3DISCOVERY_COMMON_SRC) \
 548                    $(STM32F30x_FC_COMMON_SRC) \
 549                    drivers/accgyro_adxl345.c \
 550                    drivers/accgyro_bma280.c \
 551                    drivers/accgyro_mma845x.c \
 552                    drivers/accgyro_mpu.c \
 553                    drivers/accgyro_mpu3050.c \
 554                    drivers/accgyro_mpu6050.c \
 555                    drivers/accgyro_l3g4200d.c \
 556                    drivers/barometer_ms5611.c \
 557                    drivers/compass_ak8975.c \
 558                    drivers/light_ws2811strip.c \
 559                    drivers/light_ws2811strip_stm32f30x.c \
 560                    drivers/sdcard.c \
 561                    drivers/sdcard_standard.c \
 562                    io/asyncfatfs/asyncfatfs.c \
 563                    io/asyncfatfs/fat_standard.c \
 564                    $(HIGHEND_SRC) \
 565                    $(FC_COMMON_SRC) \
 566                    $(SYSTEM_SRC)
 567
 568 CHEBUZZF3_SRC = \
 569                    $(STM32F3DISCOVERY_SRC) \
 570                    $(HIGHEND_SRC) \
 571                    $(FC_COMMON_SRC) \
 572                    $(SYSTEM_SRC)
 573
 574 COLIBRI_RACE_SRC = \
 575                    $(STM32F30x_COMMON_SRC) \
 576                    $(STM32F30x_FC_COMMON_SRC) \
 577                    drivers/accgyro_mpu.c \
 578                    drivers/accgyro_mpu6500.c \
 579                    drivers/accgyro_spi_mpu6500.c \
 580                    drivers/barometer_ms5611.c \
 581                    drivers/compass_ak8963.c \
 582                    drivers/compass_ak8975.c \
 583                    drivers/compass_hmc5883l.c \
 584                    drivers/display_ug2864hsweg01.c \
 585                    drivers/light_ws2811strip.c \
 586                    drivers/light_ws2811strip_stm32f30x.c \
 587                    drivers/serial_usb_vcp.c \
 588                    $(HIGHEND_SRC) \
 589                    $(FC_COMMON_SRC) \
 590                    $(SYSTEM_SRC) \
 591                    $(VCP_SRC)
 592
 593 LUX_RACE_SRC = \
 594                    $(STM32F30x_COMMON_SRC) \
 595                    $(STM32F30x_FC_COMMON_SRC) \
 596                    drivers/accgyro_mpu.c \
 597                    drivers/accgyro_mpu6500.c \
 598                    drivers/accgyro_spi_mpu6500.c \
 599                    drivers/light_ws2811strip.c \
 600                    drivers/light_ws2811strip_stm32f30x.c \
 601                    drivers/serial_usb_vcp.c \
 602                    $(HIGHEND_SRC) \
 603                    $(FC_COMMON_SRC) \
 604                    $(SYSTEM_SRC) \
 605                    $(VCP_SRC)
 606
 607 SPARKY_SRC = \
 608                    $(STM32F30x_COMMON_SRC) \
 609                    $(STM32F30x_FC_COMMON_SRC) \
 610                    drivers/display_ug2864hsweg01.c \
 611                    drivers/accgyro_mpu.c \
 612                    drivers/accgyro_mpu6050.c \
 613                    drivers/barometer_ms5611.c \
 614                    drivers/compass_ak8975.c \
 615                    drivers/light_ws2811strip.c \
 616                    drivers/light_ws2811strip_stm32f30x.c \
 617                    drivers/serial_usb_vcp.c \
 618                    drivers/sonar_hcsr04.c \
 619                    $(HIGHEND_SRC) \
 620                    $(FC_COMMON_SRC) \
 621                    $(SYSTEM_SRC) \
 622                    $(VCP_SRC)
 623
 624 ALIENFLIGHTF3_SRC = \
 625                    $(STM32F30x_COMMON_SRC) \
 626                    $(STM32F30x_FC_COMMON_SRC) \
 627                    drivers/display_ug2864hsweg01.c \
 628                    drivers/accgyro_mpu.c \
 629                    drivers/accgyro_mpu6050.c \
 630                    drivers/accgyro_mpu6500.c \
 631                    drivers/accgyro_spi_mpu6500.c \
 632                    drivers/compass_ak8963.c \
 633                    drivers/serial_usb_vcp.c \
 634                    drivers/sonar_hcsr04.c \
 635                    $(HIGHEND_SRC) \
 636                    $(FC_COMMON_SRC) \
 637                    $(SYSTEM_SRC) \
 638                    $(VCP_SRC)
 639
 640 RMDO_SRC = \
 641                    $(STM32F30x_COMMON_SRC) \
 642                    $(STM32F30x_FC_COMMON_SRC) \
 643                    drivers/accgyro_mpu.c \
 644                    drivers/accgyro_mpu6050.c \
 645                    drivers/barometer_bmp280.c \
 646                    drivers/display_ug2864hsweg01.h \
 647                    drivers/flash_m25p16.c \
 648                    drivers/light_ws2811strip.c \
 649                    drivers/light_ws2811strip_stm32f30x.c \
 650                    drivers/serial_softserial.c \
 651                    drivers/sonar_hcsr04.c \
 652                    io/flashfs.c \
 653                    $(HIGHEND_SRC) \
 654                    $(FC_COMMON_SRC) \
 655                    $(SYSTEM_SRC)
 656
 657 SPRACINGF3_SRC = \
 658                    $(STM32F30x_COMMON_SRC) \
 659                    $(STM32F30x_FC_COMMON_SRC) \
 660                    drivers/accgyro_mpu.c \
 661                    drivers/accgyro_mpu6050.c \
 662                    drivers/barometer_ms5611.c \
 663                    drivers/compass_ak8975.c \
 664                    drivers/compass_hmc5883l.c \
 665                    drivers/display_ug2864hsweg01.h \
 666                    drivers/flash_m25p16.c \
 667                    drivers/light_ws2811strip.c \
 668                    drivers/light_ws2811strip_stm32f30x.c \
 669                    drivers/serial_softserial.c \
 670                    drivers/sonar_hcsr04.c \
 671                    io/flashfs.c \
 672                    $(HIGHEND_SRC) \
 673                    $(FC_COMMON_SRC) \
 674                    $(SYSTEM_SRC)
 675
 676 SPRACINGF3EVO_SRC        = \
 677                    $(STM32F30x_COMMON_SRC) \
 678                    $(STM32F30x_FC_COMMON_SRC) \
 679                    drivers/accgyro_mpu.c \
 680                    drivers/accgyro_mpu6500.c \
 681                    drivers/accgyro_spi_mpu6500.c \
 682                    drivers/barometer_bmp280.c \
 683                    drivers/compass_ak8963.c \
 684                    drivers/display_ug2864hsweg01.h \
 685                    drivers/light_ws2811strip.c \
 686                    drivers/light_ws2811strip_stm32f30x.c \
 687                    drivers/serial_usb_vcp.c \
 688                    drivers/sdcard.c \
 689                    drivers/sdcard_standard.c \
 690                    drivers/transponder_ir.c \
 691                    drivers/transponder_ir_stm32f30x.c \
 692                    io/asyncfatfs/asyncfatfs.c \
 693                    io/asyncfatfs/fat_standard.c \
 694                    io/transponder_ir.c \
 695                    $(HIGHEND_SRC) \
 696                    $(FC_COMMON_SRC) \
 697                    $(SYSTEM_SRC) \
 698                    $(VCP_SRC)
 699
 700 MOTOLAB_SRC = \
 701                    $(STM32F30x_COMMON_SRC) \
 702                    $(STM32F30x_FC_COMMON_SRC) \
 703                    drivers/accgyro_mpu.c \
 704                    drivers/accgyro_spi_mpu6000.c \
 705                    drivers/accgyro_mpu6050.c \
 706                    drivers/barometer_ms5611.c \
 707                    drivers/compass_hmc5883l.c \
 708                    drivers/display_ug2864hsweg01.c \
 709                    drivers/light_ws2811strip.c \
 710                    drivers/light_ws2811strip_stm32f30x.c \
 711                    drivers/serial_usb_vcp.c \
 712                    drivers/flash_m25p16.c \
 713                    io/flashfs.c \
 714                    $(HIGHEND_SRC) \
 715                    $(FC_COMMON_SRC) \
 716                    $(SYSTEM_SRC) \
 717                    $(VCP_SRC)
 718
 719 SPRACINGF3MINI_SRC       = \
 720                    $(STM32F30x_COMMON_SRC) \
 721                    $(STM32F30x_FC_COMMON_SRC) \
 722                    drivers/accgyro_mpu.c \
 723                    drivers/accgyro_mpu6500.c \
 724                    drivers/barometer_bmp280.c \
 725                    drivers/compass_ak8963.c \
 726                    drivers/compass_hmc5883l.c \
 727                    drivers/display_ug2864hsweg01.h \
 728                    drivers/flash_m25p16.c \
 729                    drivers/light_ws2811strip.c \
 730                    drivers/light_ws2811strip_stm32f30x.c \
 731                    drivers/serial_softserial.c \
 732                    drivers/serial_usb_vcp.c \
 733                    drivers/sonar_hcsr04.c \
 734                    drivers/sdcard.c \
 735                    drivers/sdcard_standard.c \
 736                    drivers/transponder_ir.c \
 737                    drivers/transponder_ir_stm32f30x.c \
 738                    io/asyncfatfs/asyncfatfs.c \
 739                    io/asyncfatfs/fat_standard.c \
 740                    io/transponder_ir.c \
 741                    $(HIGHEND_SRC) \
 742                    $(FC_COMMON_SRC) \
 743                    $(SYSTEM_SRC) \
 744                    $(VCP_SRC)
 745
 746 IRCFUSIONF3_SRC = \
 747                    $(STM32F30x_COMMON_SRC) \
 748                    $(STM32F30x_FC_COMMON_SRC) \
 749                    drivers/accgyro_mpu.c \
 750                    drivers/accgyro_mpu6050.c \
 751                    drivers/barometer_bmp085.c \
 752                    drivers/flash_m25p16.c \
 753                    io/flashfs.c \
 754                    $(HIGHEND_SRC) \
 755                    $(FC_COMMON_SRC) \
 756                    $(SYSTEM_SRC)
 757
 758 SPRACINGF1OSD_SRC = \
 759                    startup_stm32f10x_md_gcc.S \
 760                    $(STM32F10x_COMMON_SRC) \
 761                    drivers/bus_spi.c \
 762                    drivers/video_max7456.c \
 763                    drivers/flash_m25p16.c \
 764                    io/flashfs.c \
 765                    osd/fonts/font_max7456_12x18.c \
 766                    osd/osd_max7456.c \
 767                    $(OSD_COMMON_SRC) \
 768                    $(SYSTEM_SRC) \
 769                    $(VCP_SRC)
 770
 771 SPRACINGF3OSD_SRC = \
 772                    $(STM32F30x_COMMON_SRC) \
 773                    drivers/video_max7456.c \
 774                    drivers/flash_m25p16.c \
 775                    io/flashfs.c \
 776                    osd/fonts/font_max7456_12x18.c \
 777                    osd/osd_max7456.c \
 778                    $(OSD_COMMON_SRC) \
 779                    $(SYSTEM_SRC) \
 780                    $(VCP_SRC)
 781
 782 # Search path and source files for the ST stdperiph library
 783 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 784
 785 ###############################################################################
 786 # Things that might need changing to use different tools
 787 #
 788
 789 # Tool names
 790 CC               = arm-none-eabi-gcc
 791 OBJCOPY          = arm-none-eabi-objcopy
 792 SIZE             = arm-none-eabi-size
 793
 794 #
 795 # Tool options.
 796 #
 797
 798 ifeq ($(DEBUG),GDB)
 799 OPTIMIZE         = -O0
 800 LTO_FLAGS        = $(OPTIMIZE)
 801 else
 802 OPTIMIZE         = -Os
 803 LTO_FLAGS        =  -flto -fuse-linker-plugin $(OPTIMIZE)
 804 endif
 805
 806 ifneq ($(filter $(OPTIONS),FAIL_ON_WARNINGS),)
 807 WARN_FLAGS      += -Werror
 808 endif
 809
 810 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 811
 812 CFLAGS           = $(ARCH_FLAGS) \
 813                    $(LTO_FLAGS) \
 814                    $(WARN_FLAGS) \
 815                    $(addprefix -D,$(OPTIONS)) \
 816                    $(addprefix -I,$(INCLUDE_DIRS)) \
 817                    $(DEBUG_FLAGS) \
 818                    -std=gnu99 \
 819                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion -Wundef \
 820                    -ffunction-sections \
 821                    -fdata-sections \
 822                    $(DEVICE_FLAGS) \
 823                    -DUSE_STDPERIPH_DRIVER \
 824                    $(TARGET_FLAGS) \
 825                    -D'__FORKNAME__="$(FORKNAME)"' \
 826                    -D'__TARGET__="$(TARGET)"' \
 827                    -D'__REVISION__="$(REVISION)"' \
 828                    -fverbose-asm -ffat-lto-objects \
 829                    -save-temps=obj \
 830                    -MMD -MP
 831
 832 ASFLAGS          = $(ARCH_FLAGS) \
 833                    $(WARN_FLAGS) \
 834                    -x assembler-with-cpp \
 835                    $(addprefix -I,$(INCLUDE_DIRS)) \
 836                   -MMD -MP
 837
 838 LDFLAGS          = -lm \
 839                    -nostartfiles \
 840                    --specs=nano.specs \
 841                    -lc \
 842                    -lnosys \
 843                    $(ARCH_FLAGS) \
 844                    $(LTO_FLAGS) \
 845                    $(WARN_FLAGS) \
 846                    $(DEBUG_FLAGS) \
 847                    -static \
 848                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 849                    -Wl,-L$(LINKER_DIR) \
 850                    -Wl,--cref \
 851                    -T$(LD_SCRIPT)
 852
 853 ###############################################################################
 854 # No user-serviceable parts below
 855 ###############################################################################
 856
 857 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 858                    --std=c99 --inline-suppr --quiet --force \
 859                    $(addprefix -I,$(INCLUDE_DIRS)) \
 860                    -I/usr/include -I/usr/include/linux
 861
 862 #
 863 # Things we will build
 864 #
 865 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 866 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 867 endif
 868
 869 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 870 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 871 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 872 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 873 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 874 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 875
 876
 877 ## Default make goal:
 878 ## hex         : Make filetype hex only
 879 .DEFAULT_GOAL := hex
 880
 881 ## Optional make goals:
 882 ## all         : Make all filetypes, binary and hex
 883 all: hex bin
 884
 885 ## binary      : Make binary filetype
 886 ## bin         : Alias of 'binary'
 887 ## hex         : Make hex filetype
 888 bin:    $(TARGET_BIN)
 889 binary: $(TARGET_BIN)
 890 hex:    $(TARGET_HEX)
 891
 892 # rule to reinvoke make with TARGET= parameter
 893 # rules that should be handled in toplevel Makefile, not dependent on TARGET
 894 GLOBAL_GOALS    = all_targets cppcheck test
 895
 896 .PHONY: $(VALID_TARGETS)
 897 $(VALID_TARGETS):
 898         $(MAKE) TARGET=$@ $(filter-out $(VALID_TARGETS) $(GLOBAL_GOALS), $(MAKECMDGOALS))
 899
 900 ## all_targets : Make all TARGETs
 901 .PHONY: all_targets
 902 all_targets : $(VALID_TARGETS)
 903
 904 ## clean       : clean up all temporary / machine-generated files
 905 clean:
 906         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 907         rm -rf $(OBJECT_DIR)/$(TARGET)
 908         cd src/test && $(MAKE) clean || true
 909
 910 flash_$(TARGET): $(TARGET_HEX)
 911         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 912         echo -n 'R' >$(SERIAL_DEVICE)
 913         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 914
 915 ## flash       : flash firmware (.hex) onto flight controller
 916 flash: flash_$(TARGET)
 917
 918 st-flash_$(TARGET): $(TARGET_BIN)
 919         st-flash --reset write $< 0x08000000
 920
 921 ## st-flash    : flash firmware (.bin) onto flight controller
 922 st-flash: st-flash_$(TARGET)
 923
 924 unbrick_$(TARGET): $(TARGET_HEX)
 925         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 926         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 927
 928 ## unbrick     : unbrick flight controller
 929 unbrick: unbrick_$(TARGET)
 930
 931 ## cppcheck    : run static analysis on C source code
 932 cppcheck: $(CSOURCES)
 933         $(CPPCHECK)
 934
 935 cppcheck-result.xml: $(CSOURCES)
 936         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 937
 938 ## help        : print this help message and exit
 939 help: Makefile
 940         @echo ""
 941         @echo "Makefile for the $(FORKNAME) firmware"
 942         @echo ""
 943         @echo "Usage:"
 944         @echo "        make [goal] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 945         @echo ""
 946         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 947         @echo ""
 948         @sed -n 's/^## //p' $<
 949
 950 ## test        : run the cleanflight test suite
 951 ## junittest   : run the cleanflight test suite, producing Junit XML result files.
 952 test junittest:
 953         cd src/test && $(MAKE) $@
 954
 955 # rebuild everything when makefile changes
 956 $(TARGET_OBJS) : Makefile
 957
 958 # List of buildable ELF files and their object dependencies.
 959 # It would be nice to compute these lists, but that seems to be just beyond make.
 960
 961 $(TARGET_HEX): $(TARGET_ELF)
 962         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 963
 964 $(TARGET_BIN): $(TARGET_ELF)
 965         $(OBJCOPY) -O binary $< $@
 966
 967 $(TARGET_ELF):  $(TARGET_OBJS)
 968         $(CC) -o $@ $^ $(LDFLAGS)
 969         $(SIZE) $(TARGET_ELF)
 970
 971 # Compile
 972 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 973         @mkdir -p $(dir $@)
 974         @echo %% $(notdir $<)
 975         @$(CC) -c -o $@ $(CFLAGS) $<
 976
 977 # Assemble
 978 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 979         @mkdir -p $(dir $@)
 980         @echo %% $(notdir $<)
 981         @$(CC) -c -o $@ $(ASFLAGS) $<
 982
 983 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 984         @mkdir -p $(dir $@)
 985         @echo %% $(notdir $<)
 986         @$(CC) -c -o $@ $(ASFLAGS) $<
 987
 988
 989
 990 # include auto-generated dependencies
 991 -include $(TARGET_DEPS)