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 ###############################################################################
8 # Makefile for building the cleanflight firmware.
10 # Invoke this with 'make help' to see the list of supported targets.
13 ###############################################################################
14 # Things that the user might override on the commandline
17 # The target to build, see VALID_TARGETS below
20 # Compile-time options
23 # compile for OpenPilot BootLoader support
26 # Debugger optons, must be empty or GDB
29 # Serial port/Device for flashing
30 SERIAL_DEVICE ?
= /dev
/ttyUSB0
32 ###############################################################################
33 # Things that need to be maintained as the source changes
36 FORKNAME
= cleanflight
38 VALID_TARGETS
= NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1
40 # Valid targets for OP BootLoader support
41 OPBL_VALID_TARGETS
= CC3D
43 REVISION
= $(shell git log
-1 --format
="%h")
46 ROOT
:= $(patsubst %/,%,$(dir $(lastword
$(MAKEFILE_LIST
))))
47 SRC_DIR
= $(ROOT
)/src
/main
48 OBJECT_DIR
= $(ROOT
)/obj
/main
50 CMSIS_DIR
= $(ROOT
)/lib
/main
/CMSIS
51 INCLUDE_DIRS
= $(SRC_DIR
)
52 LINKER_DIR
= $(ROOT
)/src
/main
/target
54 # Search path for sources
55 VPATH
:= $(SRC_DIR
):$(SRC_DIR
)/startup
57 ifeq ($(TARGET
),$(filter $(TARGET
),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 SPARKY
))
59 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
60 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
62 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
63 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
65 EXCLUDES
= stm32f30x_crc.c \
68 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
70 DEVICE_STDPERIPH_SRC
= \
74 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
75 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
76 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
78 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
79 $(STDPERIPH_DIR
)/inc \
80 $(CMSIS_DIR
)/CM1
/CoreSupport \
81 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
83 ifneq ($(TARGET
),SPRACINGF3
)
84 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
88 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
90 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
95 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_256k.
ld
97 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
98 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
99 TARGET_FLAGS
= -D
$(TARGET
)
100 ifeq ($(TARGET
),CHEBUZZF3
)
101 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
102 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSTM32F3DISCOVERY
105 else ifeq ($(TARGET
),$(filter $(TARGET
),EUSTM32F103RC PORT103R
))
108 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
110 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
112 EXCLUDES
= stm32f10x_crc.c \
116 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
118 # Search path and source files for the CMSIS sources
119 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
120 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
121 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
123 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
124 $(STDPERIPH_DIR
)/inc \
125 $(CMSIS_DIR
)/CM3
/CoreSupport \
126 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
128 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_256k.
ld
130 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
131 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
132 DEVICE_FLAGS
= -DSTM32F10X_HD
-DSTM32F10X
134 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
138 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
140 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
142 EXCLUDES
= stm32f10x_crc.c \
146 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
148 # Search path and source files for the CMSIS sources
149 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
150 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
151 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
153 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
154 $(STDPERIPH_DIR
)/inc \
155 $(CMSIS_DIR
)/CM3
/CoreSupport \
156 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
158 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_128k.
ld
160 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
161 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
162 DEVICE_FLAGS
= -DSTM32F10X_MD
-DSTM32F10X
164 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
168 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(TARGET
)
169 TARGET_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
171 ifeq ($(TARGET
),ALIENWIIF1
)
172 # ALIENWIIF1 is a VARIANT of NAZE
173 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DNAZE
-DALIENWII32
174 TARGET_DIR
= $(ROOT
)/src
/main
/target
/NAZE
177 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
180 VPATH
:= $(VPATH
):$(TARGET_DIR
)
182 COMMON_SRC
= build_config.c \
186 config
/runtime_config.c \
189 common
/typeconversion.c \
192 flight
/altitudehold.c \
197 drivers
/bus_i2c_soft.c \
199 drivers
/sound_beeper.c \
207 io
/statusindicator.c \
216 sensors
/acceleration.c \
218 sensors
/boardalignment.c \
221 sensors
/initialisation.c \
223 $(DEVICE_STDPERIPH_SRC
)
225 HIGHEND_SRC
= flight
/autotune.c \
226 flight
/navigation.c \
227 flight
/gps_conversion.c \
228 common
/colorconversion.c \
232 telemetry
/telemetry.c \
236 telemetry
/smartport.c \
238 sensors
/barometer.c \
241 NAZE_SRC
= startup_stm32f10x_md_gcc.S \
242 drivers
/accgyro_adxl345.c \
243 drivers
/accgyro_bma280.c \
244 drivers
/accgyro_l3g4200d.c \
245 drivers
/accgyro_mma845x.c \
246 drivers
/accgyro_mpu3050.c \
247 drivers
/accgyro_mpu6050.c \
248 drivers
/accgyro_spi_mpu6500.c \
250 drivers
/adc_stm32f10x.c \
251 drivers
/barometer_bmp085.c \
252 drivers
/barometer_ms5611.c \
254 drivers
/bus_i2c_stm32f10x.c \
255 drivers
/compass_hmc5883l.c \
256 drivers
/display_ug2864hsweg01.h \
257 drivers
/gpio_stm32f10x.c \
259 drivers
/light_led_stm32f10x.c \
260 drivers
/light_ws2811strip.c \
261 drivers
/light_ws2811strip_stm32f10x.c \
262 drivers
/sonar_hcsr04.c \
263 drivers
/pwm_mapping.c \
264 drivers
/pwm_output.c \
266 drivers
/serial_softserial.c \
267 drivers
/serial_uart.c \
268 drivers
/serial_uart_stm32f10x.c \
269 drivers
/sound_beeper_stm32f10x.c \
270 drivers
/system_stm32f10x.c \
272 drivers
/timer_stm32f10x.c \
273 hardware_revision.c \
277 ALIENWIIF1_SRC
= $(NAZE_SRC
)
279 EUSTM32F103RC_SRC
= startup_stm32f10x_hd_gcc.S \
280 drivers
/accgyro_adxl345.c \
281 drivers
/accgyro_bma280.c \
282 drivers
/accgyro_l3g4200d.c \
283 drivers
/accgyro_mma845x.c \
284 drivers
/accgyro_mpu3050.c \
285 drivers
/accgyro_mpu6050.c \
286 drivers
/accgyro_spi_mpu6000.c \
287 drivers
/accgyro_spi_mpu6500.c \
289 drivers
/adc_stm32f10x.c \
290 drivers
/barometer_bmp085.c \
291 drivers
/barometer_ms5611.c \
292 drivers
/bus_i2c_stm32f10x.c \
294 drivers
/compass_ak8975.c \
295 drivers
/compass_hmc5883l.c \
296 drivers
/display_ug2864hsweg01.c \
297 drivers
/gpio_stm32f10x.c \
299 drivers
/light_led_stm32f10x.c \
300 drivers
/light_ws2811strip.c \
301 drivers
/light_ws2811strip_stm32f10x.c \
302 drivers
/pwm_mapping.c \
303 drivers
/pwm_output.c \
305 drivers
/serial_softserial.c \
306 drivers
/serial_uart.c \
307 drivers
/serial_uart_stm32f10x.c \
308 drivers
/sonar_hcsr04.c \
309 drivers
/sound_beeper_stm32f10x.c \
310 drivers
/system_stm32f10x.c \
312 drivers
/timer_stm32f10x.c \
316 PORT103R_SRC
= $(EUSTM32F103RC_SRC
)
318 OLIMEXINO_SRC
= startup_stm32f10x_md_gcc.S \
319 drivers
/accgyro_mpu6050.c \
321 drivers
/adc_stm32f10x.c \
322 drivers
/barometer_bmp085.c \
323 drivers
/bus_i2c_stm32f10x.c \
325 drivers
/compass_hmc5883l.c \
326 drivers
/gpio_stm32f10x.c \
327 drivers
/light_led_stm32f10x.c \
328 drivers
/light_ws2811strip.c \
329 drivers
/light_ws2811strip_stm32f10x.c \
330 drivers
/pwm_mapping.c \
331 drivers
/pwm_output.c \
333 drivers
/serial_softserial.c \
334 drivers
/serial_uart.c \
335 drivers
/serial_uart_stm32f10x.c \
336 drivers
/sonar_hcsr04.c \
337 drivers
/sound_beeper_stm32f10x.c \
338 drivers
/system_stm32f10x.c \
340 drivers
/timer_stm32f10x.c \
344 ifeq ($(TARGET
),CJMCU
)
345 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_64k.
ld
349 ifneq ($(filter $(TARGET
),$(OPBL_VALID_TARGETS
)),)
350 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_128k_opbl.
ld
351 .DEFAULT_GOAL
:= binary
353 $(error OPBL specified with a unsupported target
)
358 startup_stm32f10x_md_gcc.S \
360 drivers
/adc_stm32f10x.c \
361 drivers
/accgyro_mpu6050.c \
362 drivers
/bus_i2c_stm32f10x.c \
363 drivers
/compass_hmc5883l.c \
364 drivers
/gpio_stm32f10x.c \
365 drivers
/light_led_stm32f10x.c \
366 drivers
/pwm_mapping.c \
367 drivers
/pwm_output.c \
369 drivers
/serial_uart.c \
370 drivers
/serial_uart_stm32f10x.c \
371 drivers
/sound_beeper_stm32f10x.c \
372 drivers
/system_stm32f10x.c \
374 drivers
/timer_stm32f10x.c \
375 blackbox
/blackbox.c \
376 hardware_revision.c \
380 startup_stm32f10x_md_gcc.S \
381 drivers
/accgyro_spi_mpu6000.c \
383 drivers
/adc_stm32f10x.c \
384 drivers
/barometer_bmp085.c \
385 drivers
/barometer_ms5611.c \
387 drivers
/bus_i2c_stm32f10x.c \
388 drivers
/compass_hmc5883l.c \
389 drivers
/display_ug2864hsweg01.c \
390 drivers
/gpio_stm32f10x.c \
392 drivers
/light_led_stm32f10x.c \
393 drivers
/light_ws2811strip.c \
394 drivers
/light_ws2811strip_stm32f10x.c \
395 drivers
/pwm_mapping.c \
396 drivers
/pwm_output.c \
398 drivers
/serial_softserial.c \
399 drivers
/serial_uart.c \
400 drivers
/serial_uart_stm32f10x.c \
401 drivers
/sound_beeper_stm32f10x.c \
402 drivers
/system_stm32f10x.c \
404 drivers
/timer_stm32f10x.c \
408 STM32F30x_COMMON_SRC
= \
409 startup_stm32f30x_md_gcc.S \
411 drivers
/adc_stm32f30x.c \
412 drivers
/bus_i2c_stm32f30x.c \
414 drivers
/gpio_stm32f30x.c \
415 drivers
/light_led_stm32f30x.c \
416 drivers
/light_ws2811strip.c \
417 drivers
/light_ws2811strip_stm32f30x.c \
418 drivers
/pwm_mapping.c \
419 drivers
/pwm_output.c \
421 drivers
/serial_uart.c \
422 drivers
/serial_uart_stm32f30x.c \
423 drivers
/sound_beeper_stm32f30x.c \
424 drivers
/system_stm32f30x.c \
426 drivers
/timer_stm32f30x.c
436 drivers
/serial_usb_vcp.c
439 $(STM32F30x_COMMON_SRC
) \
444 STM32F3DISCOVERY_COMMON_SRC
= \
445 $(STM32F30x_COMMON_SRC
) \
446 drivers
/accgyro_l3gd20.c \
447 drivers
/accgyro_l3gd20.c \
448 drivers
/accgyro_lsm303dlhc.c \
449 drivers
/compass_hmc5883l.c \
452 STM32F3DISCOVERY_SRC
= \
453 $(STM32F3DISCOVERY_COMMON_SRC
) \
454 drivers
/accgyro_adxl345.c \
455 drivers
/accgyro_bma280.c \
456 drivers
/accgyro_mma845x.c \
457 drivers
/accgyro_mpu3050.c \
458 drivers
/accgyro_mpu6050.c \
459 drivers
/accgyro_l3g4200d.c \
460 drivers
/barometer_ms5611.c \
461 drivers
/compass_ak8975.c \
466 $(STM32F3DISCOVERY_SRC
) \
471 $(STM32F30x_COMMON_SRC
) \
472 drivers
/display_ug2864hsweg01.c \
473 drivers
/accgyro_mpu6050.c \
474 drivers
/barometer_ms5611.c \
475 drivers
/compass_ak8975.c \
476 drivers
/serial_usb_vcp.c \
482 $(STM32F30x_COMMON_SRC
) \
483 drivers
/accgyro_mpu6050.c \
484 drivers
/barometer_ms5611.c \
485 drivers
/compass_hmc5883l.c \
489 ifeq ($(TARGET
),SPRACINGF3
)
490 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_128k.
ld
493 # Search path and source files for the ST stdperiph library
494 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
496 ###############################################################################
497 # Things that might need changing to use different tools
501 CC
= arm-none-eabi-gcc
502 OBJCOPY
= arm-none-eabi-objcopy
503 SIZE
= arm-none-eabi-size
511 LTO_FLAGS
= $(OPTIMIZE
)
514 LTO_FLAGS
= -flto
-fuse-linker-plugin
$(OPTIMIZE
)
519 CFLAGS
= $(ARCH_FLAGS
) \
521 $(addprefix -D
,$(OPTIONS
)) \
522 $(addprefix -I
,$(INCLUDE_DIRS
)) \
525 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
526 -ffunction-sections \
529 -DUSE_STDPERIPH_DRIVER \
531 -D
'__FORKNAME__="$(FORKNAME)"' \
532 -D
'__TARGET__="$(TARGET)"' \
533 -D
'__REVISION__="$(REVISION)"' \
537 ASFLAGS
= $(ARCH_FLAGS
) \
538 -x assembler-with-cpp \
539 $(addprefix -I
,$(INCLUDE_DIRS
)) \
551 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
554 ###############################################################################
555 # No user-serviceable parts below
556 ###############################################################################
559 # Things we will build
561 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
562 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
))
565 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).bin
566 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).hex
567 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
568 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
569 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
570 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
572 # List of buildable ELF files and their object dependencies.
573 # It would be nice to compute these lists, but that seems to be just beyond make.
575 $(TARGET_HEX
): $(TARGET_ELF
)
576 $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
578 $(TARGET_BIN
): $(TARGET_ELF
)
579 $(OBJCOPY
) -O binary
$< $@
581 $(TARGET_ELF
): $(TARGET_OBJS
)
582 $(CC
) -o
$@
$^
$(LDFLAGS
)
583 $(SIZE
) $(TARGET_ELF
)
586 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
588 @echo
%% $(notdir $<)
589 @
$(CC
) -c
-o
$@
$(CFLAGS
) $<
592 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
594 @echo
%% $(notdir $<)
595 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
597 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
599 @echo
%% $(notdir $<)
600 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
603 rm -f
$(TARGET_BIN
) $(TARGET_HEX
) $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
604 rm -rf
$(OBJECT_DIR
)/$(TARGET
)
606 flash_
$(TARGET
): $(TARGET_HEX
)
607 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
608 echo
-n
'R' >$(SERIAL_DEVICE
)
609 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
611 flash
: flash_
$(TARGET
)
613 binary
: $(TARGET_BIN
)
615 unbrick_
$(TARGET
): $(TARGET_HEX
)
616 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
617 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
619 unbrick
: unbrick_
$(TARGET
)
623 @echo
"Makefile for the $(FORKNAME) firmware"
626 @echo
" make [TARGET=<target>] [OPTIONS=\"<options>\"]"
628 @echo
"Valid TARGET values are: $(VALID_TARGETS)"
631 # rebuild everything when makefile changes
632 $(TARGET_OBJS
) : Makefile
634 # include auto-generated dependencies
635 -include $(TARGET_DEPS
)