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 betaflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12 ###############################################################################
  13
  14
  15 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= NAZE
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40 ## V                 : Set verbosity level based on the V= parameter
  41 ##                     V=0 Low
  42 ##                     V=1 High
  43 export AT := @
  44
  45 ifndef V
  46 export V0    :=
  47 export V1    := $(AT)
  48 else ifeq ($(V), 0)
  49 export V0    := $(AT)
  50 export V1    := $(AT)
  51 else ifeq ($(V), 1)
  52 endif
  53
  54 ###############################################################################
  55 # Things that need to be maintained as the source changes
  56 #
  57
  58 FORKNAME      = betaflight
  59
  60 # Working directories
  61 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  62 SRC_DIR         = $(ROOT)/src/main
  63 OBJECT_DIR      = $(ROOT)/obj/main
  64 BIN_DIR         = $(ROOT)/obj
  65 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  66 INCLUDE_DIRS    = $(SRC_DIR) \
  67                   $(ROOT)/src/main/target
  68 LINKER_DIR      = $(ROOT)/src/main/target/link
  69
  70 # Build tools, so we all share the same versions
  71 # import macros common to all supported build systems
  72 include $(ROOT)/make/system-id.mk
  73 # developer preferences, edit these at will, they'll be gitignored
  74 include $(ROOT)/make/local.mk
  75
  76 # configure some directories that are relative to wherever ROOT_DIR is located
  77 TOOLS_DIR := $(ROOT)/tools
  78 BUILD_DIR := $(ROOT)/build
  79 DL_DIR := $(ROOT)/downloads
  80
  81 export RM := rm
  82
  83 # import macros that are OS specific
  84 include $(ROOT)/make/$(OSFAMILY).mk
  85
  86 # include the tools makefile
  87 include $(ROOT)/make/tools.mk
  88
  89 # default xtal value for F4 targets
  90 HSE_VALUE       = 8000000
  91
  92 # used for turning on features like VCP and SDCARD
  93 FEATURES        =
  94
  95 SAMPLE_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO STM32F3DISCOVERY
  96 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  97 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
  98
  99 #VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
 100 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 101 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 102 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 103 VALID_TARGETS  := $(sort $(VALID_TARGETS))
 104
 105 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 106 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 107 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 108 else
 109 BASE_TARGET    := $(TARGET)
 110 endif
 111
 112 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 113 OPBL            = yes
 114 endif
 115
 116 # silently ignore if the file is not present. Allows for target specific.
 117 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 118
 119 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
 120 F7_TARGETS      = $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS)
 121
 122 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 123 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 124 endif
 125
 126 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
 127 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411 or F7x5. Have you prepared a valid target.mk?)
 128 endif
 129
 130 128K_TARGETS  = $(F1_TARGETS)
 131 256K_TARGETS  = $(F3_TARGETS)
 132 512K_TARGETS  = $(F411_TARGETS) $(F7X5XE_TARGETS)
 133 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS)
 134 2048K_TARGETS = $(F7X5XI_TARGETS)
 135
 136 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 137 ifeq ($(FLASH_SIZE),)
 138 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 139 FLASH_SIZE = 2048
 140 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 141 FLASH_SIZE = 1024
 142 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 143 FLASH_SIZE = 512
 144 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 145 FLASH_SIZE = 256
 146 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 147 FLASH_SIZE = 128
 148 else
 149 $(error FLASH_SIZE not configured for target $(TARGET))
 150 endif
 151 endif
 152
 153 # note that there is no hardfault debugging startup file assembly handler for other platforms
 154 ifeq ($(DEBUG_HARDFAULTS),F3)
 155 CFLAGS               += -DDEBUG_HARDFAULTS
 156 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 157 else
 158 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 159 endif
 160
 161 ifeq ($(DEBUG_HARDFAULTS),F7)
 162 CFLAGS               += -DDEBUG_HARDFAULTS
 163 endif
 164
 165 REVISION = $(shell git log -1 --format="%h")
 166
 167 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 168 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 169 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 170
 171 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 172
 173 # Search path for sources
 174 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 175 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 176 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 177 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 178 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 179
 180 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 181
 182 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 183 # F3 TARGETS
 184
 185 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 186 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 187 EXCLUDES        = stm32f30x_crc.c \
 188                   stm32f30x_can.c
 189
 190 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 191 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 192
 193 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 194 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 195                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 196
 197 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 198                    $(STDPERIPH_DIR)/inc \
 199                    $(CMSIS_DIR)/CM1/CoreSupport \
 200                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 201
 202 ifneq ($(filter VCP, $(FEATURES)),)
 203 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 204                    $(USBFS_DIR)/inc \
 205                    $(ROOT)/src/main/vcp
 206
 207 VPATH           := $(VPATH):$(USBFS_DIR)/src
 208
 209 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 210                         $(USBPERIPH_SRC)
 211 endif
 212
 213 ifneq ($(filter SDCARD, $(FEATURES)),)
 214 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 215                    $(FATFS_DIR) \
 216
 217 VPATH           := $(VPATH):$(FATFS_DIR)
 218 endif
 219
 220 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 221
 222 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 223 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 224 # End F3 targets
 225 #
 226 # Start F4 targets
 227 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 228
 229 #STDPERIPH
 230 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 231 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 232 EXCLUDES        = stm32f4xx_crc.c \
 233                   stm32f4xx_can.c \
 234                   stm32f4xx_fmc.c \
 235                   stm32f4xx_sai.c \
 236                   stm32f4xx_cec.c \
 237                   stm32f4xx_dsi.c \
 238                   stm32f4xx_flash_ramfunc.c \
 239                   stm32f4xx_fmpi2c.c \
 240                   stm32f4xx_lptim.c \
 241                   stm32f4xx_qspi.c \
 242                   stm32f4xx_spdifrx.c \
 243                   stm32f4xx_cryp.c \
 244                   stm32f4xx_cryp_aes.c \
 245                   stm32f4xx_hash_md5.c \
 246                   stm32f4xx_cryp_des.c \
 247                   stm32f4xx_rtc.c \
 248                   stm32f4xx_hash.c \
 249                   stm32f4xx_dbgmcu.c \
 250                   stm32f4xx_cryp_tdes.c \
 251                   stm32f4xx_hash_sha1.c
 252
 253
 254 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 255 EXCLUDES += stm32f4xx_fsmc.c
 256 endif
 257
 258 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 259
 260 #USB
 261 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 262 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 263 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 264 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 265 EXCLUDES    = usb_bsp_template.c \
 266               usb_conf_template.c \
 267               usb_hcd_int.c \
 268               usb_hcd.c \
 269               usb_otg.c
 270
 271 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 272 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 273 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 274 EXCLUDES    = usbd_cdc_if_template.c
 275 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 276 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 277
 278 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 279                         $(USBOTG_SRC) \
 280                         $(USBCORE_SRC) \
 281                         $(USBCDC_SRC)
 282
 283 #CMSIS
 284 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 285 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 286                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 287 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 288                    $(STDPERIPH_DIR)/inc \
 289                    $(USBOTG_DIR)/inc \
 290                    $(USBCORE_DIR)/inc \
 291                    $(USBCDC_DIR)/inc \
 292                    $(USBFS_DIR)/inc \
 293                    $(CMSIS_DIR)/CM4/CoreSupport \
 294                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 295                    $(ROOT)/src/main/vcpf4
 296
 297 ifneq ($(filter SDCARD,$(FEATURES)),)
 298 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 299                    $(FATFS_DIR)
 300 VPATH           := $(VPATH):$(FATFS_DIR)
 301 endif
 302
 303 #Flags
 304 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 305
 306 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 307 DEVICE_FLAGS    = -DSTM32F411xE
 308 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 309 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 310 DEVICE_FLAGS    = -DSTM32F40_41xxx
 311 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 312 else
 313 $(error Unknown MCU for F4 target)
 314 endif
 315 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 316
 317 # End F4 targets
 318 #
 319 # Start F7 targets
 320 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 321
 322 #STDPERIPH
 323 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 324 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 325 EXCLUDES        = stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 326                                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 327                                   stm32f7xx_hal_timebase_tim_template.c
 328
 329 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 330
 331 #USB
 332 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 333 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 334 EXCLUDES    = usbd_conf_template.c
 335 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 336
 337 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 338 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 339 EXCLUDES   = usbd_cdc_if_template.c
 340 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 341
 342 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 343
 344 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 345                         $(USBCORE_SRC) \
 346                         $(USBCDC_SRC)
 347
 348 #CMSIS
 349 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 350 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 351 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 352                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 353 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 354                    $(STDPERIPH_DIR)/Inc \
 355                    $(USBCORE_DIR)/Inc \
 356                    $(USBCDC_DIR)/Inc \
 357                    $(CMSIS_DIR)/CM7/Include \
 358                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 359                    $(ROOT)/src/main/vcp_hal
 360
 361 ifneq ($(filter SDCARD,$(FEATURES)),)
 362 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 363                    $(FATFS_DIR)
 364 VPATH           := $(VPATH):$(FATFS_DIR)
 365 endif
 366
 367 #Flags
 368 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 369
 370 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 371 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 372 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 373 else
 374 $(error Unknown MCU for F7 target)
 375 endif
 376 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 377
 378 TARGET_FLAGS = -D$(TARGET)
 379
 380 # End F7 targets
 381 #
 382 # Start F1 targets
 383 else
 384
 385 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 386 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 387 EXCLUDES        = stm32f10x_crc.c \
 388                   stm32f10x_cec.c \
 389                   stm32f10x_can.c
 390
 391 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 392
 393 # Search path and source files for the CMSIS sources
 394 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 395 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 396                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 397
 398 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 399                    $(STDPERIPH_DIR)/inc \
 400                    $(CMSIS_DIR)/CM3/CoreSupport \
 401                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 402
 403 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 404
 405 ifneq ($(filter VCP, $(FEATURES)),)
 406 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 407                    $(USBFS_DIR)/inc \
 408                    $(ROOT)/src/main/vcp
 409
 410 VPATH           := $(VPATH):$(USBFS_DIR)/src
 411
 412 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 413                         $(USBPERIPH_SRC)
 414
 415 endif
 416
 417 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 418 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 419
 420 ifeq ($(DEVICE_FLAGS),)
 421 DEVICE_FLAGS    = -DSTM32F10X_MD
 422 endif
 423 DEVICE_FLAGS   += -DSTM32F10X
 424
 425 endif
 426 #
 427 # End F1 targets
 428 #
 429 ifneq ($(BASE_TARGET), $(TARGET))
 430 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 431 endif
 432
 433 ifneq ($(FLASH_SIZE),)
 434 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 435 endif
 436
 437 ifneq ($(HSE_VALUE),)
 438 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 439 endif
 440
 441 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 442 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 443
 444 ifeq ($(OPBL),yes)
 445 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 446 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 447 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 448 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 449 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 450 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 451 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 452 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 453 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 454 endif
 455 .DEFAULT_GOAL := binary
 456 else
 457 .DEFAULT_GOAL := hex
 458 endif
 459
 460 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 461                    $(ROOT)/lib/main/MAVLink
 462
 463 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 464                    $(TARGET_DIR)
 465
 466 VPATH           := $(VPATH):$(TARGET_DIR)
 467
 468 COMMON_SRC = \
 469             build/build_config.c \
 470             build/debug.c \
 471             build/version.c \
 472             $(TARGET_DIR_SRC) \
 473             main.c \
 474             common/encoding.c \
 475             common/filter.c \
 476             common/maths.c \
 477             common/printf.c \
 478             common/streambuf.c \
 479             common/typeconversion.c \
 480             config/config_eeprom.c \
 481             config/feature.c \
 482             config/parameter_group.c \
 483             drivers/adc.c \
 484             drivers/buf_writer.c \
 485             drivers/bus_i2c_soft.c \
 486             drivers/bus_spi.c \
 487             drivers/bus_spi_soft.c \
 488             drivers/exti.c \
 489             drivers/gyro_sync.c \
 490             drivers/io.c \
 491             drivers/light_led.c \
 492             drivers/rx_nrf24l01.c \
 493             drivers/rx_spi.c \
 494             drivers/rx_xn297.c \
 495             drivers/pwm_output.c \
 496             drivers/pwm_rx.c \
 497             drivers/rcc.c \
 498             drivers/serial.c \
 499             drivers/serial_uart.c \
 500             drivers/sound_beeper.c \
 501             drivers/system.c \
 502             drivers/timer.c \
 503             fc/config.c \
 504             fc/fc_tasks.c \
 505             fc/fc_msp.c \
 506             fc/mw.c \
 507             fc/rc_controls.c \
 508             fc/rc_curves.c \
 509             fc/runtime_config.c \
 510             flight/altitudehold.c \
 511             flight/failsafe.c \
 512             flight/imu.c \
 513             flight/mixer.c \
 514             flight/pid.c \
 515             flight/servos.c \
 516             io/beeper.c \
 517             io/serial.c \
 518             io/serial_4way.c \
 519             io/serial_4way_avrootloader.c \
 520             io/serial_4way_stk500v2.c \
 521             io/serial_cli.c \
 522             io/statusindicator.c \
 523             msp/msp_serial.c \
 524             rx/ibus.c \
 525             rx/jetiexbus.c \
 526             rx/msp.c \
 527             rx/nrf24_cx10.c \
 528             rx/nrf24_inav.c \
 529             rx/nrf24_h8_3d.c \
 530             rx/nrf24_syma.c \
 531             rx/nrf24_v202.c \
 532             rx/pwm.c \
 533             rx/rx.c \
 534             rx/rx_spi.c \
 535             rx/sbus.c \
 536             rx/spektrum.c \
 537             rx/sumd.c \
 538             rx/sumh.c \
 539             rx/xbus.c \
 540             scheduler/scheduler.c \
 541             sensors/acceleration.c \
 542             sensors/battery.c \
 543             sensors/boardalignment.c \
 544             sensors/compass.c \
 545             sensors/gyro.c \
 546             sensors/initialisation.c \
 547             $(CMSIS_SRC) \
 548             $(DEVICE_STDPERIPH_SRC)
 549
 550 HIGHEND_SRC = \
 551             blackbox/blackbox.c \
 552             blackbox/blackbox_io.c \
 553             common/colorconversion.c \
 554             drivers/display_ug2864hsweg01.c \
 555             drivers/light_ws2811strip.c \
 556             drivers/serial_escserial.c \
 557             drivers/serial_softserial.c \
 558             drivers/sonar_hcsr04.c \
 559             flight/gtune.c \
 560             flight/navigation.c \
 561             flight/gps_conversion.c \
 562             io/gps.c \
 563             io/ledstrip.c \
 564             io/display.c \
 565             sensors/sonar.c \
 566             sensors/barometer.c \
 567             telemetry/telemetry.c \
 568             telemetry/frsky.c \
 569             telemetry/hott.c \
 570             telemetry/smartport.c \
 571             telemetry/ltm.c \
 572             telemetry/mavlink.c
 573
 574 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 575 VCP_SRC = \
 576             vcpf4/stm32f4xx_it.c \
 577             vcpf4/usb_bsp.c \
 578             vcpf4/usbd_desc.c \
 579             vcpf4/usbd_usr.c \
 580             vcpf4/usbd_cdc_vcp.c \
 581             drivers/serial_usb_vcp.c
 582 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 583 VCP_SRC = \
 584             vcp_hal/usbd_desc.c \
 585             vcp_hal/usbd_conf.c \
 586             vcp_hal/usbd_cdc_interface.c \
 587             drivers/serial_usb_vcp_hal.c
 588 else
 589 VCP_SRC = \
 590             vcp/hw_config.c \
 591             vcp/stm32_it.c \
 592             vcp/usb_desc.c \
 593             vcp/usb_endp.c \
 594             vcp/usb_istr.c \
 595             vcp/usb_prop.c \
 596             vcp/usb_pwr.c \
 597             drivers/serial_usb_vcp.c \
 598             drivers/usb_io.c
 599 endif
 600
 601 STM32F10x_COMMON_SRC = \
 602             startup_stm32f10x_md_gcc.S \
 603             drivers/adc_stm32f10x.c \
 604             drivers/bus_i2c_stm32f10x.c \
 605             drivers/dma.c \
 606             drivers/gpio_stm32f10x.c \
 607             drivers/inverter.c \
 608             drivers/light_ws2811strip_stm32f10x.c \
 609             drivers/serial_uart_stm32f10x.c \
 610             drivers/system_stm32f10x.c \
 611             drivers/timer_stm32f10x.c
 612
 613 STM32F30x_COMMON_SRC = \
 614             startup_stm32f30x_md_gcc.S \
 615             target/system_stm32f30x.c \
 616             drivers/adc_stm32f30x.c \
 617             drivers/bus_i2c_stm32f30x.c \
 618             drivers/dma.c \
 619             drivers/gpio_stm32f30x.c \
 620             drivers/light_ws2811strip_stm32f30x.c \
 621             drivers/pwm_output_stm32f3xx.c \
 622             drivers/serial_uart_stm32f30x.c \
 623             drivers/system_stm32f30x.c \
 624             drivers/timer_stm32f30x.c
 625
 626 STM32F4xx_COMMON_SRC = \
 627             startup_stm32f40xx.s \
 628             target/system_stm32f4xx.c \
 629             drivers/accgyro_mpu.c \
 630             drivers/adc_stm32f4xx.c \
 631             drivers/bus_i2c_stm32f10x.c \
 632             drivers/dma_stm32f4xx.c \
 633             drivers/gpio_stm32f4xx.c \
 634             drivers/inverter.c \
 635             drivers/light_ws2811strip_stm32f4xx.c \
 636             drivers/pwm_output_stm32f4xx.c \
 637             drivers/serial_uart_stm32f4xx.c \
 638             drivers/system_stm32f4xx.c \
 639             drivers/timer_stm32f4xx.c
 640
 641 STM32F7xx_COMMON_SRC = \
 642             startup_stm32f745xx.s \
 643             target/system_stm32f7xx.c \
 644             drivers/accgyro_mpu.c \
 645             drivers/adc_stm32f7xx.c \
 646             drivers/bus_i2c_hal.c \
 647             drivers/dma_stm32f7xx.c \
 648             drivers/gpio_stm32f7xx.c \
 649             drivers/inverter.c \
 650             drivers/bus_spi_hal.c \
 651             drivers/pwm_output_stm32f7xx.c \
 652             drivers/timer_hal.c \
 653             drivers/timer_stm32f7xx.c \
 654             drivers/pwm_output_hal.c \
 655             drivers/system_stm32f7xx.c \
 656             drivers/serial_uart_stm32f7xx.c \
 657             drivers/serial_uart_hal.c
 658
 659 F7EXCLUDES = drivers/bus_spi.c \
 660             drivers/bus_i2c.c \
 661             drivers/timer.c \
 662             drivers/pwm_output.c \
 663             drivers/serial_uart.c
 664
 665 # check if target.mk supplied
 666 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 667 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 668 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 669 TARGET_SRC := $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
 670 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 671 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 672 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 673 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 674 endif
 675
 676 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 677 TARGET_SRC += \
 678             drivers/flash_m25p16.c \
 679             io/flashfs.c
 680 endif
 681
 682 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS) $(F4_TARGETS) $(F3_TARGETS)))
 683 TARGET_SRC += $(HIGHEND_SRC)
 684 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 685 TARGET_SRC += $(HIGHEND_SRC)
 686 endif
 687
 688 TARGET_SRC += $(COMMON_SRC)
 689 #excludes
 690 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 691 TARGET_SRC   := $(filter-out ${F7EXCLUDES}, $(TARGET_SRC))
 692 endif
 693
 694 ifneq ($(filter SDCARD,$(FEATURES)),)
 695 TARGET_SRC += \
 696             drivers/sdcard.c \
 697             drivers/sdcard_standard.c \
 698             io/asyncfatfs/asyncfatfs.c \
 699             io/asyncfatfs/fat_standard.c
 700 endif
 701
 702 ifneq ($(filter VCP,$(FEATURES)),)
 703 TARGET_SRC += $(VCP_SRC)
 704 endif
 705 # end target specific make file checks
 706
 707
 708 # Search path and source files for the ST stdperiph library
 709 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 710
 711 ###############################################################################
 712 # Things that might need changing to use different tools
 713 #
 714
 715 # Find out if ccache is installed on the system
 716 CCACHE := ccache
 717 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 718 ifneq ($(RESULT),0)
 719 CCACHE :=
 720 endif
 721
 722 # Tool names
 723 CC          := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 724 CPP         := $(CCACHE) $(ARM_SDK_PREFIX)g++
 725 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 726 SIZE        := $(ARM_SDK_PREFIX)size
 727
 728 #
 729 # Tool options.
 730 #
 731
 732 ifeq ($(DEBUG),GDB)
 733 OPTIMIZE    = -O0
 734 LTO_FLAGS   = $(OPTIMIZE)
 735 else
 736 OPTIMIZE    = -Os
 737 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 738 endif
 739
 740 DEBUG_FLAGS = -ggdb3 -DDEBUG
 741
 742 CFLAGS      += $(ARCH_FLAGS) \
 743               $(LTO_FLAGS) \
 744               $(addprefix -D,$(OPTIONS)) \
 745               $(addprefix -I,$(INCLUDE_DIRS)) \
 746               $(DEBUG_FLAGS) \
 747               -std=gnu99 \
 748               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 749               -ffunction-sections \
 750               -fdata-sections \
 751               -pedantic \
 752               $(DEVICE_FLAGS) \
 753               -DUSE_STDPERIPH_DRIVER \
 754               -D$(TARGET) \
 755               $(TARGET_FLAGS) \
 756               -D'__FORKNAME__="$(FORKNAME)"' \
 757               -D'__TARGET__="$(TARGET)"' \
 758               -D'__REVISION__="$(REVISION)"' \
 759               -save-temps=obj \
 760               -MMD -MP
 761
 762 ASFLAGS     = $(ARCH_FLAGS) \
 763               -x assembler-with-cpp \
 764               $(addprefix -I,$(INCLUDE_DIRS)) \
 765               -MMD -MP
 766
 767 LDFLAGS     = -lm \
 768               -nostartfiles \
 769               --specs=nano.specs \
 770               -lc \
 771               -lnosys \
 772               $(ARCH_FLAGS) \
 773               $(LTO_FLAGS) \
 774               $(DEBUG_FLAGS) \
 775               -static \
 776               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 777               -Wl,-L$(LINKER_DIR) \
 778               -Wl,--cref \
 779               -Wl,--no-wchar-size-warning \
 780               -T$(LD_SCRIPT)
 781
 782 ###############################################################################
 783 # No user-serviceable parts below
 784 ###############################################################################
 785
 786 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 787                   --std=c99 --inline-suppr --quiet --force \
 788                   $(addprefix -I,$(INCLUDE_DIRS)) \
 789                   -I/usr/include -I/usr/include/linux
 790
 791 #
 792 # Things we will build
 793 #
 794 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 795 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 796 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 797 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 798 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 799 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 800
 801
 802 CLEAN_ARTIFACTS := $(TARGET_BIN)
 803 CLEAN_ARTIFACTS += $(TARGET_HEX)
 804 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 805
 806 # List of buildable ELF files and their object dependencies.
 807 # It would be nice to compute these lists, but that seems to be just beyond make.
 808
 809 $(TARGET_HEX): $(TARGET_ELF)
 810         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 811
 812 $(TARGET_BIN): $(TARGET_ELF)
 813         $(V0) $(OBJCOPY) -O binary $< $@
 814
 815 $(TARGET_ELF):  $(TARGET_OBJS)
 816         $(V1) echo LD $(notdir $@)
 817         $(V1) $(CC) -o $@ $^ $(LDFLAGS)
 818         $(V0) $(SIZE) $(TARGET_ELF)
 819
 820 # Compile
 821 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 822         $(V1) mkdir -p $(dir $@)
 823         $(V1) echo %% $(notdir $<)
 824         $(V1) $(CC) -c -o $@ $(CFLAGS) $<
 825
 826 # Assemble
 827 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 828         $(V1) mkdir -p $(dir $@)
 829         $(V1) echo %% $(notdir $<)
 830         $(V1) $(CC) -c -o $@ $(ASFLAGS) $<
 831
 832 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 833         $(V1) mkdir -p $(dir $@)
 834         $(V1) echo %% $(notdir $<)
 835         $(V1) $(CC) -c -o $@ $(ASFLAGS) $<
 836
 837 ## sample            : Build all sample (travis) targets
 838 sample: $(SAMPLE_TARGETS)
 839
 840 ## all               : Build all valid targets
 841 all: $(VALID_TARGETS)
 842
 843 $(VALID_TARGETS):
 844                 $(V0) echo "" && \
 845                 echo "Building $@" && \
 846                 $(MAKE) binary hex TARGET=$@ && \
 847                 echo "Building $@ succeeded."
 848
 849
 850
 851 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
 852 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 853
 854 ## clean             : clean up temporary / machine-generated files
 855 clean:
 856         $(V0) echo "Cleaning $(TARGET)"
 857         $(V0) rm -f $(CLEAN_ARTIFACTS)
 858         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 859         $(V0) echo "Cleaning $(TARGET) succeeded."
 860
 861 ## clean_test        : clean up temporary / machine-generated files (tests)
 862 clean_test:
 863         $(V0) cd src/test && $(MAKE) clean || true
 864
 865 ## clean_<TARGET>    : clean up one specific target
 866 $(CLEAN_TARGETS) :
 867         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 868
 869 ## <TARGET>_clean    : clean up one specific target (alias for above)
 870 $(TARGETS_CLEAN) :
 871         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 872
 873 ## clean_all         : clean all valid targets
 874 clean_all:$(CLEAN_TARGETS)
 875
 876 ## all_clean         : clean all valid targets (alias for above)
 877 all_clean:$(TARGETS_CLEAN)
 878
 879
 880 flash_$(TARGET): $(TARGET_HEX)
 881         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 882         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 883         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 884
 885 ## flash             : flash firmware (.hex) onto flight controller
 886 flash: flash_$(TARGET)
 887
 888 st-flash_$(TARGET): $(TARGET_BIN)
 889         $(V0) st-flash --reset write $< 0x08000000
 890
 891 ## st-flash          : flash firmware (.bin) onto flight controller
 892 st-flash: st-flash_$(TARGET)
 893
 894 binary:
 895         $(V0) $(MAKE) -j $(TARGET_BIN)
 896
 897 hex:
 898         $(V0) $(MAKE) -j $(TARGET_HEX)
 899
 900 unbrick_$(TARGET): $(TARGET_HEX)
 901         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 902         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 903
 904 ## unbrick           : unbrick flight controller
 905 unbrick: unbrick_$(TARGET)
 906
 907 ## cppcheck          : run static analysis on C source code
 908 cppcheck: $(CSOURCES)
 909         $(V0) $(CPPCHECK)
 910
 911 cppcheck-result.xml: $(CSOURCES)
 912         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 913
 914 # mkdirs
 915 $(DL_DIR):
 916         mkdir -p $@
 917
 918 $(TOOLS_DIR):
 919         mkdir -p $@
 920
 921 $(BUILD_DIR):
 922         mkdir -p $@
 923
 924 ## help              : print this help message and exit
 925 help: Makefile make/tools.mk
 926         $(V0) @echo ""
 927         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
 928         $(V0) @echo ""
 929         $(V0) @echo "Usage:"
 930         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 931         $(V0) @echo "Or:"
 932         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 933         $(V0) @echo ""
 934         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
 935         $(V0) @echo ""
 936         $(V0) @sed -n 's/^## //p' $?
 937
 938 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 939 targets:
 940         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
 941         $(V0) @echo "Target:        $(TARGET)"
 942         $(V0) @echo "Base target:   $(BASE_TARGET)"
 943
 944 ## test              : run the cleanflight test suite
 945 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
 946 test junittest:
 947         $(V0) cd src/test && $(MAKE) $@  || true
 948
 949 # rebuild everything when makefile changes
 950 $(TARGET_OBJS) : Makefile
 951
 952 # include auto-generated dependencies
 953 -include $(TARGET_DEPS)