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
  23 # compile for OpenPilot BootLoader support
  24 OPBL ?=no
  25
  26 # Debugger optons, must be empty or GDB
  27 DEBUG ?=
  28
  29 # Serial port/Device for flashing
  30 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  31
  32 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  33 FLASH_SIZE ?=
  34
  35 ###############################################################################
  36 # Things that need to be maintained as the source changes
  37 #
  38
  39 FORKNAME                         = inav
  40
  41 CC3D_TARGETS = CC3D CC3D_OPBL CC3D_PPM1
  42
  43 64K_TARGETS  = CJMCU
  44 128K_TARGETS = ALIENWIIF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO
  45 256K_TARGETS = ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE EUSTM32F103RC LUX_RACE MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 STM32F3DISCOVERY
  46
  47 F3_TARGETS = ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY
  48
  49 VALID_TARGETS = $(64K_TARGETS) $(128K_TARGETS) $(256K_TARGETS)
  50
  51 VCP_TARGETS = $(CC3D_TARGETS) ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO SPARKY STM32F3DISCOVERY
  52
  53 # Valid targets for OP BootLoader support
  54 OPBL_TARGETS = CC3D_OPBL
  55 ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
  56 OPBL=yes
  57 endif
  58
  59 # Configure default flash sizes for the targets
  60 ifeq ($(FLASH_SIZE),)
  61 ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
  62 FLASH_SIZE = 64
  63 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
  64 FLASH_SIZE = 128
  65 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
  66 FLASH_SIZE = 256
  67 else
  68 $(error FLASH_SIZE not configured for target $(TARGET))
  69 endif
  70 endif
  71
  72 REVISION := $(shell git log -1 --format="%h")
  73
  74 # Working directories
  75 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  76 SRC_DIR          = $(ROOT)/src/main
  77 OBJECT_DIR       = $(ROOT)/obj/main
  78 BIN_DIR          = $(ROOT)/obj
  79 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  80 INCLUDE_DIRS     = $(SRC_DIR)
  81 LINKER_DIR       = $(ROOT)/src/main/target
  82
  83 # Search path for sources
  84 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  85 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  86 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  87
  88 CSOURCES                := $(shell find $(SRC_DIR) -name '*.c')
  89
  90 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
  91 # F3 TARGETS
  92
  93 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  94
  95 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  96
  97 EXCLUDES        = stm32f30x_crc.c \
  98                 stm32f30x_can.c
  99
 100 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 101
 102 DEVICE_STDPERIPH_SRC = \
 103                 $(STDPERIPH_SRC)
 104
 105
 106 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 107 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 108                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 109
 110 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 111                    $(STDPERIPH_DIR)/inc \
 112                    $(CMSIS_DIR)/CM1/CoreSupport \
 113                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 114
 115 ifeq ($(TARGET),$(filter $(TARGET),$(VCP_TARGETS)))
 116 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 117                    $(USBFS_DIR)/inc \
 118                    $(ROOT)/src/main/vcp
 119
 120 VPATH := $(VPATH):$(USBFS_DIR)/src
 121
 122 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 123                    $(USBPERIPH_SRC)
 124
 125 endif
 126
 127 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 128
 129 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 130 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 131 TARGET_FLAGS = -D$(TARGET)
 132 ifeq ($(TARGET),CHEBUZZF3)
 133 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 134 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 135 endif
 136
 137 ifeq ($(TARGET),RMDO)
 138 # RMDO is a VARIANT of SPRACINGF3
 139 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 140 endif
 141
 142 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 143 # TARGETS: EUSTM32F103RC PORT103R
 144
 145
 146 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 147
 148 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 149
 150 EXCLUDES        = stm32f10x_crc.c \
 151                 stm32f10x_cec.c \
 152                 stm32f10x_can.c
 153
 154 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 155
 156 # Search path and source files for the CMSIS sources
 157 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 158 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 159                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 160
 161 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 162                    $(STDPERIPH_DIR)/inc \
 163                    $(CMSIS_DIR)/CM3/CoreSupport \
 164                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 165
 166 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 167
 168 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 169 TARGET_FLAGS = -D$(TARGET) -pedantic
 170 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 171
 172 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 173
 174 else
 175 # F1 TARGETS
 176
 177 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 178
 179 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 180
 181 EXCLUDES        = stm32f10x_crc.c \
 182                 stm32f10x_cec.c \
 183                 stm32f10x_can.c
 184
 185 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 186
 187 # Search path and source files for the CMSIS sources
 188 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 189 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 190                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 191
 192 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 193                    $(STDPERIPH_DIR)/inc \
 194                    $(CMSIS_DIR)/CM3/CoreSupport \
 195                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 196
 197 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 198
 199 ifeq ($(TARGET),$(filter $(TARGET),$(VCP_TARGETS)))
 200 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 201                    $(USBFS_DIR)/inc \
 202                    $(ROOT)/src/main/vcp
 203
 204 VPATH := $(VPATH):$(USBFS_DIR)/src
 205
 206 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 207                    $(USBPERIPH_SRC)
 208
 209 endif
 210
 211 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 212
 213 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 214 TARGET_FLAGS = -D$(TARGET) -pedantic
 215 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 216
 217 endif
 218
 219 ifneq ($(FLASH_SIZE),)
 220 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 221 endif
 222
 223 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 224 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 225
 226 # VARIANTS
 227 ifeq ($(TARGET),ALIENWIIF1)
 228 # ALIENWIIF1 is a VARIANT of NAZE
 229 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 230 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 231 endif
 232 ifeq ($(TARGET),CHEBUZZF3)
 233 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 234 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 235 endif
 236 ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 237 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
 238 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 239 endif
 240
 241 ifeq ($(TARGET),$(filter $(TARGET),$(CC3D_TARGETS)))
 242 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
 243 ifeq ($(TARGET),CC3D_OPBL)
 244 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
 245 CC3D_OPBL_SRC = $(CC3D_SRC)
 246 endif
 247 ifeq ($(TARGET),CC3D_PPM1)
 248 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_PPM1
 249 CC3D_PPM1_SRC = $(CC3D_SRC)
 250 endif
 251 TARGET_DIR = $(ROOT)/src/main/target/CC3D
 252 endif
 253
 254 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 255                         $(TARGET_DIR)
 256
 257 VPATH           := $(VPATH):$(TARGET_DIR)
 258
 259 COMMON_SRC = build_config.c \
 260                    debug.c \
 261                    version.c \
 262                    $(TARGET_SRC) \
 263                    config/config.c \
 264                    config/runtime_config.c \
 265                    common/maths.c \
 266                    common/printf.c \
 267                    common/typeconversion.c \
 268                    common/encoding.c \
 269                    common/filter.c \
 270                    scheduler/scheduler.c \
 271                    scheduler/scheduler_tasks.c \
 272                    main.c \
 273                    mw.c \
 274                    flight/failsafe.c \
 275                    flight/pid.c \
 276                    flight/imu.c \
 277                    flight/hil.c \
 278                    flight/mixer.c \
 279                    drivers/bus_i2c_soft.c \
 280                    drivers/serial.c \
 281                    drivers/sound_beeper.c \
 282                    drivers/system.c \
 283                    drivers/gps_i2cnav.c \
 284                    drivers/gyro_sync.c \
 285                    drivers/buf_writer.c \
 286                    io/beeper.c \
 287                    io/rc_controls.c \
 288                    io/rc_curves.c \
 289                    io/serial.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/serial_msp.c \
 295                    io/statusindicator.c \
 296                    rx/rx.c \
 297                    rx/pwm.c \
 298                    rx/msp.c \
 299                    rx/sbus.c \
 300                    rx/sumd.c \
 301                    rx/sumh.c \
 302                    rx/spektrum.c \
 303                    rx/xbus.c \
 304                    rx/ibus.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                    $(CMSIS_SRC) \
 312                    $(DEVICE_STDPERIPH_SRC)
 313
 314 HIGHEND_SRC = \
 315            flight/navigation_rewrite.c \
 316            flight/navigation_rewrite_multicopter.c \
 317            flight/navigation_rewrite_fixedwing.c \
 318            flight/navigation_rewrite_pos_estimator.c \
 319            flight/navigation_rewrite_geo.c \
 320                    flight/gps_conversion.c \
 321                    common/colorconversion.c \
 322                    io/gps.c \
 323                    io/gps_ublox.c \
 324                    io/gps_nmea.c \
 325                    io/gps_naza.c \
 326                    io/gps_i2cnav.c \
 327                    io/ledstrip.c \
 328                    io/display.c \
 329                    telemetry/telemetry.c \
 330                    telemetry/frsky.c \
 331                    telemetry/hott.c \
 332                    telemetry/smartport.c \
 333                    telemetry/ltm.c \
 334                    sensors/sonar.c \
 335                    sensors/barometer.c \
 336                    blackbox/blackbox.c \
 337                    blackbox/blackbox_io.c
 338
 339 VCP_SRC = \
 340                    vcp/hw_config.c \
 341                    vcp/stm32_it.c \
 342                    vcp/usb_desc.c \
 343                    vcp/usb_endp.c \
 344                    vcp/usb_istr.c \
 345                    vcp/usb_prop.c \
 346                    vcp/usb_pwr.c \
 347                    drivers/serial_usb_vcp.c
 348
 349 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 350                    drivers/accgyro_adxl345.c \
 351                    drivers/accgyro_bma280.c \
 352                    drivers/accgyro_l3g4200d.c \
 353                    drivers/accgyro_mma845x.c \
 354                    drivers/accgyro_mpu.c \
 355                    drivers/accgyro_mpu3050.c \
 356                    drivers/accgyro_mpu6050.c \
 357                    drivers/accgyro_mpu6500.c \
 358                    drivers/accgyro_spi_mpu6500.c \
 359                    drivers/adc.c \
 360                    drivers/adc_stm32f10x.c \
 361                    drivers/barometer_bmp085.c \
 362                    drivers/barometer_ms5611.c \
 363                    drivers/barometer_bmp280.c \
 364                    drivers/bus_spi.c \
 365                    drivers/bus_i2c_stm32f10x.c \
 366                    drivers/compass_hmc5883l.c \
 367                    drivers/compass_mag3110.c \
 368                    drivers/compass_ak8975.c \
 369                    drivers/display_ug2864hsweg01.h \
 370                    drivers/flash_m25p16.c \
 371                    drivers/gpio_stm32f10x.c \
 372                    drivers/inverter.c \
 373                    drivers/light_led_stm32f10x.c \
 374                    drivers/light_ws2811strip.c \
 375                    drivers/light_ws2811strip_stm32f10x.c \
 376                    drivers/sonar_hcsr04.c \
 377                    drivers/sonar_srf10.c \
 378                    drivers/pwm_mapping.c \
 379                    drivers/pwm_output.c \
 380                    drivers/pwm_rx.c \
 381                    drivers/serial_softserial.c \
 382                    drivers/serial_uart.c \
 383                    drivers/serial_uart_stm32f10x.c \
 384                    drivers/sound_beeper_stm32f10x.c \
 385                    drivers/system_stm32f10x.c \
 386                    drivers/timer.c \
 387                    drivers/timer_stm32f10x.c \
 388                    io/flashfs.c \
 389                    hardware_revision.c \
 390                    $(HIGHEND_SRC) \
 391                    $(COMMON_SRC)
 392
 393 ALIENWIIF1_SRC = $(NAZE_SRC)
 394
 395 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 396                    drivers/accgyro_adxl345.c \
 397                    drivers/accgyro_bma280.c \
 398                    drivers/accgyro_l3g4200d.c \
 399                    drivers/accgyro_mma845x.c \
 400                    drivers/accgyro_mpu.c \
 401                    drivers/accgyro_mpu3050.c \
 402                    drivers/accgyro_mpu6050.c \
 403                    drivers/accgyro_spi_mpu6000.c \
 404                    drivers/accgyro_spi_mpu6500.c \
 405                    drivers/adc.c \
 406                    drivers/adc_stm32f10x.c \
 407                    drivers/barometer_bmp085.c \
 408                    drivers/barometer_ms5611.c \
 409                    drivers/bus_i2c_stm32f10x.c \
 410                    drivers/bus_spi.c \
 411                    drivers/compass_ak8975.c \
 412                    drivers/compass_mag3110.c \
 413                    drivers/compass_hmc5883l.c \
 414                    drivers/display_ug2864hsweg01.c \
 415                    drivers/flash_m25p16.c \
 416                    drivers/gpio_stm32f10x.c \
 417                    drivers/inverter.c \
 418                    drivers/light_led_stm32f10x.c \
 419                    drivers/light_ws2811strip.c \
 420                    drivers/light_ws2811strip_stm32f10x.c \
 421                    drivers/pwm_mapping.c \
 422                    drivers/pwm_output.c \
 423                    drivers/pwm_rx.c \
 424                    drivers/serial_softserial.c \
 425                    drivers/serial_uart.c \
 426                    drivers/serial_uart_stm32f10x.c \
 427                    drivers/sonar_hcsr04.c \
 428                    drivers/sonar_srf10.c \
 429                    drivers/sound_beeper_stm32f10x.c \
 430                    drivers/system_stm32f10x.c \
 431                    drivers/timer.c \
 432                    drivers/timer_stm32f10x.c \
 433                    io/flashfs.c \
 434                    $(HIGHEND_SRC) \
 435                    $(COMMON_SRC)
 436
 437 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 438
 439 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 440                    drivers/accgyro_mpu.c \
 441                    drivers/accgyro_mpu6050.c \
 442                    drivers/adc.c \
 443                    drivers/adc_stm32f10x.c \
 444                    drivers/barometer_bmp085.c \
 445                    drivers/bus_i2c_stm32f10x.c \
 446                    drivers/bus_spi.c \
 447                    drivers/compass_hmc5883l.c \
 448                    drivers/compass_mag3110.c \
 449                    drivers/compass_ak8975.c \
 450                    drivers/gpio_stm32f10x.c \
 451                    drivers/light_led_stm32f10x.c \
 452                    drivers/light_ws2811strip.c \
 453                    drivers/light_ws2811strip_stm32f10x.c \
 454                    drivers/pwm_mapping.c \
 455                    drivers/pwm_output.c \
 456                    drivers/pwm_rx.c \
 457                    drivers/serial_softserial.c \
 458                    drivers/serial_uart.c \
 459                    drivers/serial_uart_stm32f10x.c \
 460                    drivers/sonar_hcsr04.c \
 461                    drivers/sonar_srf10.c \
 462                    drivers/sound_beeper_stm32f10x.c \
 463                    drivers/system_stm32f10x.c \
 464                    drivers/timer.c \
 465                    drivers/timer_stm32f10x.c \
 466                    $(HIGHEND_SRC) \
 467                    $(COMMON_SRC)
 468
 469 CJMCU_SRC = \
 470                    startup_stm32f10x_md_gcc.S \
 471                    drivers/adc.c \
 472                    drivers/adc_stm32f10x.c \
 473                    drivers/accgyro_mpu.c \
 474                    drivers/accgyro_mpu6050.c \
 475                    drivers/bus_i2c_stm32f10x.c \
 476                    drivers/compass_mag3110.c \
 477                    drivers/compass_hmc5883l.c \
 478                    drivers/compass_ak8975.c \
 479                    drivers/gpio_stm32f10x.c \
 480                    drivers/light_led_stm32f10x.c \
 481                    drivers/pwm_mapping.c \
 482                    drivers/pwm_output.c \
 483                    drivers/pwm_rx.c \
 484                    drivers/serial_uart.c \
 485                    drivers/serial_uart_stm32f10x.c \
 486                    drivers/sound_beeper_stm32f10x.c \
 487                    drivers/system_stm32f10x.c \
 488                    drivers/timer.c \
 489                    drivers/timer_stm32f10x.c \
 490                    hardware_revision.c \
 491                    blackbox/blackbox.c \
 492                    blackbox/blackbox_io.c \
 493                    $(COMMON_SRC)
 494
 495 CC3D_SRC = \
 496                    startup_stm32f10x_md_gcc.S \
 497                    drivers/accgyro_mpu.c \
 498                    drivers/accgyro_spi_mpu6000.c \
 499                    drivers/adc.c \
 500                    drivers/adc_stm32f10x.c \
 501                    drivers/barometer_bmp085.c \
 502                    drivers/barometer_ms5611.c \
 503                    drivers/barometer_bmp280.c \
 504                    drivers/bus_spi.c \
 505                    drivers/bus_i2c_stm32f10x.c \
 506                    drivers/compass_mag3110.c \
 507                    drivers/compass_hmc5883l.c \
 508                    drivers/compass_ak8975.c \
 509                    drivers/display_ug2864hsweg01.c \
 510                    drivers/flash_m25p16.c \
 511                    drivers/gpio_stm32f10x.c \
 512                    drivers/inverter.c \
 513                    drivers/light_led_stm32f10x.c \
 514                    drivers/light_ws2811strip.c \
 515                    drivers/light_ws2811strip_stm32f10x.c \
 516                    drivers/pwm_mapping.c \
 517                    drivers/pwm_output.c \
 518                    drivers/pwm_rx.c \
 519                    drivers/serial_softserial.c \
 520                    drivers/serial_uart.c \
 521                    drivers/serial_uart_stm32f10x.c \
 522                    drivers/sonar_hcsr04.c \
 523                    drivers/sonar_srf10.c \
 524                    drivers/sound_beeper_stm32f10x.c \
 525                    drivers/system_stm32f10x.c \
 526                    drivers/timer.c \
 527                    drivers/timer_stm32f10x.c \
 528                    io/flashfs.c \
 529                    $(HIGHEND_SRC) \
 530                    $(COMMON_SRC) \
 531                    $(VCP_SRC)
 532
 533 STM32F30x_COMMON_SRC = \
 534                    startup_stm32f30x_md_gcc.S \
 535                    drivers/adc.c \
 536                    drivers/adc_stm32f30x.c \
 537                    drivers/bus_i2c_stm32f30x.c \
 538                    drivers/bus_spi.c \
 539                    drivers/display_ug2864hsweg01.h \
 540                    drivers/gpio_stm32f30x.c \
 541                    drivers/light_led_stm32f30x.c \
 542                    drivers/light_ws2811strip.c \
 543                    drivers/light_ws2811strip_stm32f30x.c \
 544                    drivers/pwm_mapping.c \
 545                    drivers/pwm_output.c \
 546                    drivers/pwm_rx.c \
 547                    drivers/serial_uart.c \
 548                    drivers/serial_uart_stm32f30x.c \
 549                    drivers/sound_beeper_stm32f30x.c \
 550                    drivers/system_stm32f30x.c \
 551                    drivers/timer.c \
 552                    drivers/timer_stm32f30x.c
 553
 554 NAZE32PRO_SRC = \
 555                    $(STM32F30x_COMMON_SRC) \
 556                    $(HIGHEND_SRC) \
 557                    $(COMMON_SRC) \
 558                    $(VCP_SRC)
 559
 560 STM32F3DISCOVERY_COMMON_SRC = \
 561                    $(STM32F30x_COMMON_SRC) \
 562                    drivers/accgyro_l3gd20.c \
 563                    drivers/accgyro_l3gd20.c \
 564                    drivers/accgyro_lsm303dlhc.c \
 565                    drivers/compass_mag3110.c \
 566                    drivers/compass_hmc5883l.c \
 567                    drivers/compass_ak8975.c \
 568                    $(VCP_SRC)
 569
 570 STM32F3DISCOVERY_SRC = \
 571                    $(STM32F3DISCOVERY_COMMON_SRC) \
 572                    drivers/accgyro_adxl345.c \
 573                    drivers/accgyro_bma280.c \
 574                    drivers/accgyro_mma845x.c \
 575                    drivers/accgyro_mpu.c \
 576                    drivers/accgyro_mpu3050.c \
 577                    drivers/accgyro_mpu6050.c \
 578                    drivers/accgyro_l3g4200d.c \
 579                    drivers/barometer_ms5611.c \
 580                    drivers/compass_mag3110.c \
 581                    drivers/compass_hmc5883l.c \
 582                    drivers/compass_ak8975.c \
 583                    $(HIGHEND_SRC) \
 584                    $(COMMON_SRC)
 585
 586 CHEBUZZF3_SRC = \
 587                    $(STM32F3DISCOVERY_SRC) \
 588                    $(HIGHEND_SRC) \
 589                    $(COMMON_SRC)
 590
 591 COLIBRI_RACE_SRC = \
 592                    $(STM32F30x_COMMON_SRC) \
 593                    drivers/display_ug2864hsweg01.c \
 594                    drivers/accgyro_mpu.c \
 595                    drivers/accgyro_mpu6500.c \
 596                    drivers/accgyro_spi_mpu6500.c \
 597                    drivers/accgyro_mpu6500.c \
 598                    drivers/barometer_ms5611.c \
 599                    drivers/compass_mag3110.c \
 600                    drivers/compass_ak8975.c \
 601                    drivers/compass_hmc5883l.c \
 602                    drivers/serial_usb_vcp.c \
 603                    $(HIGHEND_SRC) \
 604                    $(COMMON_SRC) \
 605                    $(VCP_SRC)
 606
 607 LUX_RACE_SRC = \
 608                    $(STM32F30x_COMMON_SRC) \
 609                    drivers/accgyro_mpu.c \
 610                    drivers/accgyro_mpu6500.c \
 611                    drivers/accgyro_spi_mpu6500.c \
 612                    drivers/accgyro_mpu6500.c \
 613                    drivers/light_ws2811strip.c \
 614                    drivers/light_ws2811strip_stm32f30x.c \
 615                    drivers/serial_usb_vcp.c \
 616                    $(HIGHEND_SRC) \
 617                    $(COMMON_SRC) \
 618                    $(VCP_SRC)
 619
 620 SPARKY_SRC = \
 621                    $(STM32F30x_COMMON_SRC) \
 622                    drivers/display_ug2864hsweg01.c \
 623                    drivers/accgyro_mpu.c \
 624                    drivers/accgyro_mpu6050.c \
 625                    drivers/barometer_bmp085.c \
 626                    drivers/barometer_ms5611.c \
 627                    drivers/barometer_bmp280.c \
 628                    drivers/compass_mag3110.c \
 629                    drivers/compass_ak8975.c \
 630                    drivers/compass_hmc5883l.c \
 631                    drivers/serial_usb_vcp.c \
 632                    drivers/sonar_hcsr04.c \
 633                    drivers/sonar_srf10.c \
 634                    $(HIGHEND_SRC) \
 635                    $(COMMON_SRC) \
 636                    $(VCP_SRC)
 637
 638 ALIENWIIF3_SRC = \
 639                    $(SPARKY_SRC)
 640
 641 RMDO_SRC = \
 642                    $(STM32F30x_COMMON_SRC) \
 643                    drivers/accgyro_mpu.c \
 644                    drivers/accgyro_mpu6050.c \
 645                    drivers/barometer_bmp085.c \
 646                    drivers/barometer_ms5611.c \
 647                    drivers/barometer_bmp280.c \
 648                    drivers/compass_mag3110.c \
 649                    drivers/compass_ak8975.c \
 650                    drivers/compass_hmc5883l.c \
 651                    drivers/display_ug2864hsweg01.h \
 652                    drivers/flash_m25p16.c \
 653                    drivers/serial_softserial.c \
 654                    drivers/sonar_hcsr04.c \
 655                    drivers/sonar_srf10.c \
 656                    io/flashfs.c \
 657                    $(HIGHEND_SRC) \
 658                    $(COMMON_SRC)
 659
 660 SPRACINGF3_SRC = \
 661                    $(STM32F30x_COMMON_SRC) \
 662                    drivers/accgyro_mpu.c \
 663                    drivers/accgyro_mpu6050.c \
 664                    drivers/barometer_bmp085.c \
 665                    drivers/barometer_ms5611.c \
 666                    drivers/barometer_bmp280.c \
 667                    drivers/compass_mag3110.c \
 668                    drivers/compass_ak8975.c \
 669                    drivers/compass_hmc5883l.c \
 670                    drivers/display_ug2864hsweg01.h \
 671                    drivers/flash_m25p16.c \
 672                    drivers/serial_softserial.c \
 673                    drivers/sonar_hcsr04.c \
 674                    drivers/sonar_srf10.c \
 675                    io/flashfs.c \
 676                    $(HIGHEND_SRC) \
 677                    $(COMMON_SRC)
 678
 679 MOTOLAB_SRC = \
 680                    $(STM32F30x_COMMON_SRC) \
 681                    drivers/accgyro_mpu.c \
 682                    drivers/accgyro_mpu6050.c \
 683                    drivers/barometer_ms5611.c \
 684                    drivers/compass_mag3110.c \
 685                    drivers/compass_ak8975.c \
 686                    drivers/compass_hmc5883l.c \
 687                    drivers/display_ug2864hsweg01.c \
 688                    drivers/serial_usb_vcp.c \
 689                    drivers/flash_m25p16.c \
 690                    io/flashfs.c \
 691                    $(HIGHEND_SRC) \
 692                    $(COMMON_SRC) \
 693                    $(VCP_SRC)
 694
 695 # Search path and source files for the ST stdperiph library
 696 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 697
 698 ###############################################################################
 699 # Things that might need changing to use different tools
 700 #
 701
 702 # Tool names
 703 CC               = arm-none-eabi-gcc
 704 OBJCOPY          = arm-none-eabi-objcopy
 705 SIZE             = arm-none-eabi-size
 706
 707 #
 708 # Tool options.
 709 #
 710
 711 ifeq ($(DEBUG),GDB)
 712 OPTIMIZE         = -O0
 713 LTO_FLAGS        = $(OPTIMIZE)
 714 else
 715 OPTIMIZE         = -Os
 716 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 717 endif
 718
 719 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 720
 721 CFLAGS           = $(ARCH_FLAGS) \
 722                    $(LTO_FLAGS) \
 723                    $(addprefix -D,$(OPTIONS)) \
 724                    $(addprefix -I,$(INCLUDE_DIRS)) \
 725                    $(DEBUG_FLAGS) \
 726                    -std=gnu99 \
 727                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 728                    -ffunction-sections \
 729                    -fdata-sections \
 730                    $(DEVICE_FLAGS) \
 731                    -DUSE_STDPERIPH_DRIVER \
 732                    $(TARGET_FLAGS) \
 733                    -D'__FORKNAME__="$(FORKNAME)"' \
 734                    -D'__TARGET__="$(TARGET)"' \
 735                    -D'__REVISION__="$(REVISION)"' \
 736                    -save-temps=obj \
 737                    -MMD -MP
 738
 739 ASFLAGS          = $(ARCH_FLAGS) \
 740                    -x assembler-with-cpp \
 741                    $(addprefix -I,$(INCLUDE_DIRS)) \
 742                   -MMD -MP
 743
 744 LDFLAGS          = -lm \
 745                    -nostartfiles \
 746                    --specs=nano.specs \
 747                    -lc \
 748                    -lnosys \
 749                    $(ARCH_FLAGS) \
 750                    $(LTO_FLAGS) \
 751                    $(DEBUG_FLAGS) \
 752                    -static \
 753                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 754                    -Wl,-L$(LINKER_DIR) \
 755                    -Wl,--cref \
 756                    -T$(LD_SCRIPT)
 757
 758 ###############################################################################
 759 # No user-serviceable parts below
 760 ###############################################################################
 761
 762 CPPCHECK                 = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 763                    --std=c99 --inline-suppr --quiet --force \
 764                    $(addprefix -I,$(INCLUDE_DIRS)) \
 765                    -I/usr/include -I/usr/include/linux
 766
 767 #
 768 # Things we will build
 769 #
 770 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 771 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 772 endif
 773
 774 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 775 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 776 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 777 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 778 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 779 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 780
 781
 782 ## Default make goal:
 783 ## hex           : Make filetype hex only
 784 .DEFAULT_GOAL := hex
 785
 786 ifeq ($(OPBL),yes)
 787 ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
 788 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 789 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 790 .DEFAULT_GOAL := binary
 791 else
 792 $(error OPBL specified with an unsupported target)
 793 endif
 794 endif
 795
 796 ## Optional make goals:
 797 ## all           : Make all filetypes, binary and hex
 798 all: hex bin
 799
 800 ## binary         : Make binary filetype
 801 ## bin           : Alias of 'binary'
 802 ## hex           : Make hex filetype
 803 bin:    $(TARGET_BIN)
 804 binary: $(TARGET_BIN)
 805 hex:    $(TARGET_HEX)
 806
 807 # rule to reinvoke make with TARGET= parameter
 808 # rules that should be handled in toplevel Makefile, not dependent on TARGET
 809 GLOBAL_GOALS    = all_targets cppcheck test
 810
 811 .PHONY: $(VALID_TARGETS)
 812 $(VALID_TARGETS):
 813         $(MAKE) TARGET=$@ $(filter-out $(VALID_TARGETS) $(GLOBAL_GOALS), $(MAKECMDGOALS))
 814
 815 ## all_targets : Make all TARGETs
 816 .PHONY: all_targets
 817 all_targets : $(VALID_TARGETS)
 818
 819 ## clean           : clean up all temporary / machine-generated files
 820 clean:
 821         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 822         rm -rf $(OBJECT_DIR)/$(TARGET)
 823         cd src/test && $(MAKE) clean || true
 824
 825 flash_$(TARGET): $(TARGET_HEX)
 826         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 827         echo -n 'R' >$(SERIAL_DEVICE)
 828         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 829
 830 ## flash           : flash firmware (.hex) onto flight controller
 831 flash: flash_$(TARGET)
 832
 833 st-flash_$(TARGET): $(TARGET_BIN)
 834         st-flash --reset write $< 0x08000000
 835
 836 ## st-flash     : flash firmware (.bin) onto flight controller
 837 st-flash: st-flash_$(TARGET)
 838
 839 unbrick_$(TARGET): $(TARGET_HEX)
 840         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 841         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 842
 843 ## unbrick       : unbrick flight controller
 844 unbrick: unbrick_$(TARGET)
 845
 846 ## cppcheck     : run static analysis on C source code
 847 cppcheck: $(CSOURCES)
 848         $(CPPCHECK)
 849
 850 cppcheck-result.xml: $(CSOURCES)
 851         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 852
 853 ## help         : print this help message and exit
 854 help: Makefile
 855         @echo ""
 856         @echo "Makefile for the $(FORKNAME) firmware"
 857         @echo ""
 858         @echo "Usage:"
 859         @echo "         make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 860         @echo ""
 861         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 862         @echo ""
 863         @sed -n 's/^## //p' $<
 864
 865 ## test         : run the cleanflight test suite
 866 test:
 867         cd src/test && $(MAKE) test || true
 868
 869 # rebuild everything when makefile changes
 870 $(TARGET_OBJS) : Makefile
 871
 872 # List of buildable ELF files and their object dependencies.
 873 # It would be nice to compute these lists, but that seems to be just beyond make.
 874
 875 $(TARGET_HEX): $(TARGET_ELF)
 876         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 877
 878 $(TARGET_BIN): $(TARGET_ELF)
 879         $(OBJCOPY) -O binary $< $@
 880
 881 $(TARGET_ELF):  $(TARGET_OBJS)
 882         $(CC) -o $@ $^ $(LDFLAGS)
 883         $(SIZE) $(TARGET_ELF)
 884
 885 # Compile
 886 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 887         @mkdir -p $(dir $@)
 888         @echo %% $(notdir $<)
 889         @$(CC) -c -o $@ $(CFLAGS) $<
 890
 891 # Assemble
 892 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 893         @mkdir -p $(dir $@)
 894         @echo %% $(notdir $<)
 895         @$(CC) -c -o $@ $(ASFLAGS) $<
 896
 897 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 898         @mkdir -p $(dir $@)
 899         @echo %% $(notdir $<)
 900         @$(CC) -c -o $@ $(ASFLAGS) $<
 901
 902
 903 # include auto-generated dependencies
 904 -include $(TARGET_DEPS)