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 $(wildcard /dev/ttyUSB*) no-port-found)
  31
  32 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  33 FLASH_SIZE ?=
  34
  35 ###############################################################################
  36 # Things that need to be maintained as the source changes
  37 #
  38
  39 FORKNAME                         = cleanflight
  40
  41 VALID_TARGETS    = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1 ALIENWIIF3 COLIBRI_RACE
  42
  43 # Valid targets for OP BootLoader support
  44 OPBL_VALID_TARGETS = CC3D
  45
  46 # Configure default flash sizes for the targets
  47 ifeq ($(FLASH_SIZE),)
  48 ifeq ($(TARGET),$(filter $(TARGET),CJMCU))
  49 FLASH_SIZE = 64
  50 else ifeq ($(TARGET),$(filter $(TARGET),NAZE CC3D ALIENWIIF1 OLIMEXINO))
  51 FLASH_SIZE = 128
  52 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 SPARKY ALIENWIIF3 COLIBRI_RACE))
  53 FLASH_SIZE = 256
  54 else
  55 $(error FLASH_SIZE not configured for target)
  56 endif
  57 endif
  58
  59 REVISION = $(shell git log -1 --format="%h")
  60
  61 # Working directories
  62 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  63 SRC_DIR          = $(ROOT)/src/main
  64 OBJECT_DIR       = $(ROOT)/obj/main
  65 BIN_DIR          = $(ROOT)/obj
  66 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  67 INCLUDE_DIRS     = $(SRC_DIR)
  68 LINKER_DIR       = $(ROOT)/src/main/target
  69
  70 # Search path for sources
  71 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  72 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  73 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  74
  75 ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 SPARKY ALIENWIIF3 COLIBRI_RACE))
  76
  77 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  78
  79 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  80
  81 EXCLUDES        = stm32f30x_crc.c \
  82                 stm32f30x_can.c
  83
  84 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  85
  86 DEVICE_STDPERIPH_SRC = \
  87                 $(STDPERIPH_SRC)
  88
  89
  90 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  91 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  92                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
  93
  94 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  95                    $(STDPERIPH_DIR)/inc \
  96                    $(CMSIS_DIR)/CM1/CoreSupport \
  97                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  98
  99 ifneq ($(TARGET),SPRACINGF3)
 100 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 101                    $(USBFS_DIR)/inc \
 102                    $(ROOT)/src/main/vcp
 103
 104 VPATH := $(VPATH):$(USBFS_DIR)/src
 105
 106 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 107                    $(USBPERIPH_SRC)
 108
 109 endif
 110
 111 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 112
 113 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 114 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 115 TARGET_FLAGS = -D$(TARGET)
 116 ifeq ($(TARGET),CHEBUZZF3)
 117 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 118 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 119 endif
 120
 121 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 122
 123
 124 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 125
 126 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 127
 128 EXCLUDES        = stm32f10x_crc.c \
 129                 stm32f10x_cec.c \
 130                 stm32f10x_can.c
 131
 132 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 133
 134 # Search path and source files for the CMSIS sources
 135 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 136 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 137                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 138
 139 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 140                    $(STDPERIPH_DIR)/inc \
 141                    $(CMSIS_DIR)/CM3/CoreSupport \
 142                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 143
 144 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 145
 146 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 147 TARGET_FLAGS = -D$(TARGET) -pedantic
 148 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 149
 150 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 151
 152 else
 153
 154 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 155
 156 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 157
 158 EXCLUDES        = stm32f10x_crc.c \
 159                 stm32f10x_cec.c \
 160                 stm32f10x_can.c
 161
 162 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 163
 164 # Search path and source files for the CMSIS sources
 165 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 166 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 167                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 168
 169 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 170                    $(STDPERIPH_DIR)/inc \
 171                    $(CMSIS_DIR)/CM3/CoreSupport \
 172                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 173
 174 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 175
 176 ifeq ($(TARGET),CC3D)
 177 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 178                    $(USBFS_DIR)/inc \
 179                    $(ROOT)/src/main/vcp
 180
 181 VPATH := $(VPATH):$(USBFS_DIR)/src
 182
 183 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 184                    $(USBPERIPH_SRC)
 185
 186 endif
 187
 188 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 189
 190 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 191 TARGET_FLAGS = -D$(TARGET) -pedantic
 192 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 193
 194 endif
 195
 196 ifneq ($(FLASH_SIZE),)
 197 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 198 endif
 199
 200 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 201 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 202
 203 ifeq ($(TARGET),ALIENWIIF1)
 204 # ALIENWIIF1 is a VARIANT of NAZE
 205 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 206 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 207 endif
 208
 209 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 210                     $(TARGET_DIR)
 211
 212 VPATH           := $(VPATH):$(TARGET_DIR)
 213
 214 COMMON_SRC       = build_config.c \
 215                    debug.c \
 216                    version.c \
 217                    $(TARGET_SRC) \
 218                    config/config.c \
 219                    config/runtime_config.c \
 220                    common/maths.c \
 221                    common/printf.c \
 222                    common/typeconversion.c \
 223                    common/encoding.c \
 224                    main.c \
 225                    mw.c \
 226                    flight/altitudehold.c \
 227                    flight/failsafe.c \
 228                    flight/pid.c \
 229                    flight/imu.c \
 230                    flight/mixer.c \
 231                    flight/lowpass.c \
 232                    flight/filter.c \
 233                    drivers/bus_i2c_soft.c \
 234                    drivers/serial.c \
 235                    drivers/sound_beeper.c \
 236                    drivers/system.c \
 237                    io/beeper.c \
 238                    io/rc_controls.c \
 239                    io/rc_curves.c \
 240                    io/serial.c \
 241                    io/serial_cli.c \
 242                    io/serial_msp.c \
 243                    io/statusindicator.c \
 244                    rx/rx.c \
 245                    rx/pwm.c \
 246                    rx/msp.c \
 247                    rx/sbus.c \
 248                    rx/sumd.c \
 249                    rx/sumh.c \
 250                    rx/spektrum.c \
 251                    rx/xbus.c \
 252                    sensors/acceleration.c \
 253                    sensors/battery.c \
 254                    sensors/boardalignment.c \
 255                    sensors/compass.c \
 256                    sensors/gyro.c \
 257                    sensors/initialisation.c \
 258                    $(CMSIS_SRC) \
 259                    $(DEVICE_STDPERIPH_SRC)
 260
 261 HIGHEND_SRC  = flight/autotune.c \
 262                    flight/navigation.c \
 263                    flight/gps_conversion.c \
 264                    common/colorconversion.c \
 265                    io/gps.c \
 266                    io/ledstrip.c \
 267                    io/display.c \
 268                    telemetry/telemetry.c \
 269                    telemetry/frsky.c \
 270                    telemetry/hott.c \
 271                    telemetry/msp.c \
 272                    telemetry/smartport.c \
 273                    sensors/sonar.c \
 274                    sensors/barometer.c \
 275                    blackbox/blackbox.c \
 276                    blackbox/blackbox_io.c
 277
 278 VCP_SRC  = \
 279                    vcp/hw_config.c \
 280                    vcp/stm32_it.c \
 281                    vcp/usb_desc.c \
 282                    vcp/usb_endp.c \
 283                    vcp/usb_istr.c \
 284                    vcp/usb_prop.c \
 285                    vcp/usb_pwr.c \
 286                    drivers/serial_usb_vcp.c
 287
 288 NAZE_SRC         = startup_stm32f10x_md_gcc.S \
 289                    drivers/accgyro_adxl345.c \
 290                    drivers/accgyro_bma280.c \
 291                    drivers/accgyro_l3g4200d.c \
 292                    drivers/accgyro_mma845x.c \
 293                    drivers/accgyro_mpu3050.c \
 294                    drivers/accgyro_mpu6050.c \
 295                    drivers/accgyro_spi_mpu6500.c \
 296                    drivers/adc.c \
 297                    drivers/adc_stm32f10x.c \
 298                    drivers/barometer_bmp085.c \
 299                    drivers/barometer_ms5611.c \
 300                    drivers/bus_spi.c \
 301                    drivers/bus_i2c_stm32f10x.c \
 302                    drivers/compass_hmc5883l.c \
 303                    drivers/display_ug2864hsweg01.h \
 304                    drivers/flash_m25p16.c \
 305                    drivers/gpio_stm32f10x.c \
 306                    drivers/inverter.c \
 307                    drivers/light_led_stm32f10x.c \
 308                    drivers/light_ws2811strip.c \
 309                    drivers/light_ws2811strip_stm32f10x.c \
 310                    drivers/sonar_hcsr04.c \
 311                    drivers/pwm_mapping.c \
 312                    drivers/pwm_output.c \
 313                    drivers/pwm_rx.c \
 314                    drivers/serial_softserial.c \
 315                    drivers/serial_uart.c \
 316                    drivers/serial_uart_stm32f10x.c \
 317                    drivers/sound_beeper_stm32f10x.c \
 318                    drivers/system_stm32f10x.c \
 319                    drivers/timer.c \
 320                    drivers/timer_stm32f10x.c \
 321                    io/flashfs.c \
 322                    hardware_revision.c \
 323                    $(HIGHEND_SRC) \
 324                    $(COMMON_SRC)
 325
 326 ALIENWIIF1_SRC   = $(NAZE_SRC)
 327
 328 EUSTM32F103RC_SRC        = startup_stm32f10x_hd_gcc.S \
 329                    drivers/accgyro_adxl345.c \
 330                    drivers/accgyro_bma280.c \
 331                    drivers/accgyro_l3g4200d.c \
 332                    drivers/accgyro_mma845x.c \
 333                    drivers/accgyro_mpu3050.c \
 334                    drivers/accgyro_mpu6050.c \
 335                    drivers/accgyro_spi_mpu6000.c \
 336                    drivers/accgyro_spi_mpu6500.c \
 337                    drivers/adc.c \
 338                    drivers/adc_stm32f10x.c \
 339                    drivers/barometer_bmp085.c \
 340                    drivers/barometer_ms5611.c \
 341                    drivers/bus_i2c_stm32f10x.c \
 342                    drivers/bus_spi.c \
 343                    drivers/compass_ak8975.c \
 344                    drivers/compass_hmc5883l.c \
 345                    drivers/display_ug2864hsweg01.c \
 346                    drivers/flash_m25p16.c \
 347                    drivers/gpio_stm32f10x.c \
 348                    drivers/inverter.c \
 349                    drivers/light_led_stm32f10x.c \
 350                    drivers/light_ws2811strip.c \
 351                    drivers/light_ws2811strip_stm32f10x.c \
 352                    drivers/pwm_mapping.c \
 353                    drivers/pwm_output.c \
 354                    drivers/pwm_rx.c \
 355                    drivers/serial_softserial.c \
 356                    drivers/serial_uart.c \
 357                    drivers/serial_uart_stm32f10x.c \
 358                    drivers/sonar_hcsr04.c \
 359                    drivers/sound_beeper_stm32f10x.c \
 360                    drivers/system_stm32f10x.c \
 361                    drivers/timer.c \
 362                    drivers/timer_stm32f10x.c \
 363                    io/flashfs.c \
 364                    $(HIGHEND_SRC) \
 365                    $(COMMON_SRC)
 366
 367 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 368
 369 OLIMEXINO_SRC    = startup_stm32f10x_md_gcc.S \
 370                    drivers/accgyro_mpu6050.c \
 371                    drivers/adc.c \
 372                    drivers/adc_stm32f10x.c \
 373                    drivers/barometer_bmp085.c \
 374                    drivers/bus_i2c_stm32f10x.c \
 375                    drivers/bus_spi.c \
 376                    drivers/compass_hmc5883l.c \
 377                    drivers/gpio_stm32f10x.c \
 378                    drivers/light_led_stm32f10x.c \
 379                    drivers/light_ws2811strip.c \
 380                    drivers/light_ws2811strip_stm32f10x.c \
 381                    drivers/pwm_mapping.c \
 382                    drivers/pwm_output.c \
 383                    drivers/pwm_rx.c \
 384                    drivers/serial_softserial.c \
 385                    drivers/serial_uart.c \
 386                    drivers/serial_uart_stm32f10x.c \
 387                    drivers/sonar_hcsr04.c \
 388                    drivers/sound_beeper_stm32f10x.c \
 389                    drivers/system_stm32f10x.c \
 390                    drivers/timer.c \
 391                    drivers/timer_stm32f10x.c \
 392                    $(HIGHEND_SRC) \
 393                    $(COMMON_SRC)
 394
 395 ifeq ($(OPBL),yes)
 396 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 397 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 398 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 399 .DEFAULT_GOAL := binary
 400 else
 401 $(error OPBL specified with a unsupported target)
 402 endif
 403 endif
 404
 405 CJMCU_SRC        = \
 406                    startup_stm32f10x_md_gcc.S \
 407                    drivers/adc.c \
 408                    drivers/adc_stm32f10x.c \
 409                    drivers/accgyro_mpu6050.c \
 410                    drivers/bus_i2c_stm32f10x.c \
 411                    drivers/compass_hmc5883l.c \
 412                    drivers/gpio_stm32f10x.c \
 413                    drivers/light_led_stm32f10x.c \
 414                    drivers/pwm_mapping.c \
 415                    drivers/pwm_output.c \
 416                    drivers/pwm_rx.c \
 417                    drivers/serial_uart.c \
 418                    drivers/serial_uart_stm32f10x.c \
 419                    drivers/sound_beeper_stm32f10x.c \
 420                    drivers/system_stm32f10x.c \
 421                    drivers/timer.c \
 422                    drivers/timer_stm32f10x.c \
 423                    hardware_revision.c \
 424                    blackbox/blackbox.c \
 425                    blackbox/blackbox_io.c \
 426                    $(COMMON_SRC)
 427
 428 CC3D_SRC         = \
 429                    startup_stm32f10x_md_gcc.S \
 430                    drivers/accgyro_spi_mpu6000.c \
 431                    drivers/adc.c \
 432                    drivers/adc_stm32f10x.c \
 433                    drivers/barometer_bmp085.c \
 434                    drivers/barometer_ms5611.c \
 435                    drivers/bus_spi.c \
 436                    drivers/bus_i2c_stm32f10x.c \
 437                    drivers/compass_hmc5883l.c \
 438                    drivers/display_ug2864hsweg01.c \
 439                    drivers/flash_m25p16.c \
 440                    drivers/gpio_stm32f10x.c \
 441                    drivers/inverter.c \
 442                    drivers/light_led_stm32f10x.c \
 443                    drivers/light_ws2811strip.c \
 444                    drivers/light_ws2811strip_stm32f10x.c \
 445                    drivers/pwm_mapping.c \
 446                    drivers/pwm_output.c \
 447                    drivers/pwm_rx.c \
 448                    drivers/serial_softserial.c \
 449                    drivers/serial_uart.c \
 450                    drivers/serial_uart_stm32f10x.c \
 451                    drivers/sonar_hcsr04.c \
 452                    drivers/sound_beeper_stm32f10x.c \
 453                    drivers/system_stm32f10x.c \
 454                    drivers/timer.c \
 455                    drivers/timer_stm32f10x.c \
 456                    io/flashfs.c \
 457                    $(HIGHEND_SRC) \
 458                    $(COMMON_SRC) \
 459                    $(VCP_SRC)
 460
 461 STM32F30x_COMMON_SRC     = \
 462                    startup_stm32f30x_md_gcc.S \
 463                    drivers/adc.c \
 464                    drivers/adc_stm32f30x.c \
 465                    drivers/bus_i2c_stm32f30x.c \
 466                    drivers/bus_spi.c \
 467                    drivers/gpio_stm32f30x.c \
 468                    drivers/light_led_stm32f30x.c \
 469                    drivers/light_ws2811strip.c \
 470                    drivers/light_ws2811strip_stm32f30x.c \
 471                    drivers/pwm_mapping.c \
 472                    drivers/pwm_output.c \
 473                    drivers/pwm_rx.c \
 474                    drivers/serial_uart.c \
 475                    drivers/serial_uart_stm32f30x.c \
 476                    drivers/sound_beeper_stm32f30x.c \
 477                    drivers/system_stm32f30x.c \
 478                    drivers/timer.c \
 479                    drivers/timer_stm32f30x.c
 480
 481 NAZE32PRO_SRC    = \
 482                    $(STM32F30x_COMMON_SRC) \
 483                    $(HIGHEND_SRC) \
 484                    $(COMMON_SRC) \
 485                    $(VCP_SRC)
 486
 487 STM32F3DISCOVERY_COMMON_SRC      = \
 488                    $(STM32F30x_COMMON_SRC) \
 489                    drivers/accgyro_l3gd20.c \
 490                    drivers/accgyro_l3gd20.c \
 491                    drivers/accgyro_lsm303dlhc.c \
 492                    drivers/compass_hmc5883l.c \
 493                    $(VCP_SRC)
 494
 495 STM32F3DISCOVERY_SRC     = \
 496                    $(STM32F3DISCOVERY_COMMON_SRC) \
 497                    drivers/accgyro_adxl345.c \
 498                    drivers/accgyro_bma280.c \
 499                    drivers/accgyro_mma845x.c \
 500                    drivers/accgyro_mpu3050.c \
 501                    drivers/accgyro_mpu6050.c \
 502                    drivers/accgyro_l3g4200d.c \
 503                    drivers/barometer_ms5611.c \
 504                    drivers/compass_ak8975.c \
 505                    $(HIGHEND_SRC) \
 506                    $(COMMON_SRC)
 507
 508 CHEBUZZF3_SRC    = \
 509                    $(STM32F3DISCOVERY_SRC) \
 510                    $(HIGHEND_SRC) \
 511                    $(COMMON_SRC)
 512
 513 COLIBRI_RACE_SRC        = \
 514                    $(STM32F30x_COMMON_SRC) \
 515                    drivers/display_ug2864hsweg01.c \
 516                    drivers/accgyro_spi_mpu6500.c \
 517                    drivers/barometer_ms5611.c \
 518                    drivers/compass_ak8975.c \
 519                    drivers/compass_hmc5883l.c \
 520                    drivers/serial_usb_vcp.c \
 521                    $(HIGHEND_SRC) \
 522                    $(COMMON_SRC) \
 523                    $(VCP_SRC)
 524
 525 SPARKY_SRC       = \
 526                    $(STM32F30x_COMMON_SRC) \
 527                    drivers/display_ug2864hsweg01.c \
 528                    drivers/accgyro_mpu6050.c \
 529                    drivers/barometer_ms5611.c \
 530                    drivers/compass_ak8975.c \
 531                    drivers/serial_usb_vcp.c \
 532                    $(HIGHEND_SRC) \
 533                    $(COMMON_SRC) \
 534                    $(VCP_SRC)
 535
 536 ALIENWIIF3_SRC   = $(SPARKY_SRC)
 537
 538 SPRACINGF3_SRC   = \
 539                    $(STM32F30x_COMMON_SRC) \
 540                    drivers/accgyro_mpu6050.c \
 541                    drivers/barometer_ms5611.c \
 542                    drivers/compass_ak8975.c \
 543                    drivers/compass_hmc5883l.c \
 544                    drivers/display_ug2864hsweg01.h \
 545                    drivers/flash_m25p16.c \
 546                    drivers/serial_softserial.c \
 547                    drivers/sonar_hcsr04.c \
 548                    io/flashfs.c \
 549                    $(HIGHEND_SRC) \
 550                    $(COMMON_SRC)
 551
 552 # Search path and source files for the ST stdperiph library
 553 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 554
 555 ###############################################################################
 556 # Things that might need changing to use different tools
 557 #
 558
 559 # Tool names
 560 CC               = arm-none-eabi-gcc
 561 OBJCOPY          = arm-none-eabi-objcopy
 562 SIZE             = arm-none-eabi-size
 563
 564 #
 565 # Tool options.
 566 #
 567
 568 ifeq ($(DEBUG),GDB)
 569 OPTIMIZE         = -O0
 570 LTO_FLAGS        = $(OPTIMIZE)
 571 else
 572 OPTIMIZE         = -Os
 573 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 574 endif
 575
 576 DEBUG_FLAGS      = -ggdb3
 577
 578 CFLAGS           = $(ARCH_FLAGS) \
 579                    $(LTO_FLAGS) \
 580                    $(addprefix -D,$(OPTIONS)) \
 581                    $(addprefix -I,$(INCLUDE_DIRS)) \
 582                    $(DEBUG_FLAGS) \
 583                    -std=gnu99 \
 584                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 585                    -ffunction-sections \
 586                    -fdata-sections \
 587                    $(DEVICE_FLAGS) \
 588                    -DUSE_STDPERIPH_DRIVER \
 589                    $(TARGET_FLAGS) \
 590                    -D'__FORKNAME__="$(FORKNAME)"' \
 591                    -D'__TARGET__="$(TARGET)"' \
 592                    -D'__REVISION__="$(REVISION)"' \
 593                    -save-temps=obj \
 594                    -MMD -MP
 595
 596 ASFLAGS          = $(ARCH_FLAGS) \
 597                    -x assembler-with-cpp \
 598                    $(addprefix -I,$(INCLUDE_DIRS)) \
 599                   -MMD -MP
 600
 601 LDFLAGS          = -lm \
 602                    -nostartfiles \
 603                    --specs=nano.specs \
 604                    -lc \
 605                    -lnosys \
 606                    $(ARCH_FLAGS) \
 607                    $(LTO_FLAGS) \
 608                    $(DEBUG_FLAGS) \
 609                    -static \
 610                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 611                    -Wl,-L$(LINKER_DIR) \
 612                    -T$(LD_SCRIPT)
 613
 614 ###############################################################################
 615 # No user-serviceable parts below
 616 ###############################################################################
 617
 618 #
 619 # Things we will build
 620 #
 621 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 622 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 623 endif
 624
 625 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 626 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 627 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 628 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 629 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 630 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 631
 632 # List of buildable ELF files and their object dependencies.
 633 # It would be nice to compute these lists, but that seems to be just beyond make.
 634
 635 $(TARGET_HEX): $(TARGET_ELF)
 636         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 637
 638 $(TARGET_BIN): $(TARGET_ELF)
 639         $(OBJCOPY) -O binary $< $@
 640
 641 $(TARGET_ELF):  $(TARGET_OBJS)
 642         $(CC) -o $@ $^ $(LDFLAGS)
 643         $(SIZE) $(TARGET_ELF)
 644
 645 # Compile
 646 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 647         @mkdir -p $(dir $@)
 648         @echo %% $(notdir $<)
 649         @$(CC) -c -o $@ $(CFLAGS) $<
 650
 651 # Assemble
 652 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 653         @mkdir -p $(dir $@)
 654         @echo %% $(notdir $<)
 655         @$(CC) -c -o $@ $(ASFLAGS) $<
 656
 657 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 658         @mkdir -p $(dir $@)
 659         @echo %% $(notdir $<)
 660         @$(CC) -c -o $@ $(ASFLAGS) $<
 661
 662 clean:
 663         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 664         rm -rf $(OBJECT_DIR)/$(TARGET)
 665         cd src/test && $(MAKE) clean || true
 666
 667 flash_$(TARGET): $(TARGET_HEX)
 668         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 669         echo -n 'R' >$(SERIAL_DEVICE)
 670         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 671
 672 flash: flash_$(TARGET)
 673
 674 st-flash_$(TARGET): $(TARGET_BIN)
 675         st-flash --reset write $< 0x08000000
 676
 677 st-flash: st-flash_$(TARGET)
 678
 679 binary: $(TARGET_BIN)
 680
 681 unbrick_$(TARGET): $(TARGET_HEX)
 682         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 683         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 684
 685 unbrick: unbrick_$(TARGET)
 686
 687 help:
 688         @echo ""
 689         @echo "Makefile for the $(FORKNAME) firmware"
 690         @echo ""
 691         @echo "Usage:"
 692         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 693         @echo ""
 694         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 695         @echo ""
 696
 697 ## test        : run the cleanflight test suite
 698 test:
 699         cd src/test && $(MAKE) test || true
 700
 701 # rebuild everything when makefile changes
 702 $(TARGET_OBJS) : Makefile
 703
 704 # include auto-generated dependencies
 705 -include $(TARGET_DEPS)