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 ## 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 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  96 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
  97
  98 #VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
  99 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 100 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 101 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 102 VALID_TARGETS  := $(sort $(VALID_TARGETS))
 103
 104 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 105 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 106 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 107 else
 108 BASE_TARGET    := $(TARGET)
 109 endif
 110
 111 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 112 OPBL            = yes
 113 endif
 114
 115 # silently ignore if the file is not present. Allows for target specific.
 116 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 117
 118 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
 119
 120 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 121 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 122 endif
 123
 124 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)),)
 125 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, or F411. Have you prepared a valid target.mk?)
 126 endif
 127
 128 128K_TARGETS  = $(F1_TARGETS)
 129 256K_TARGETS  = $(F3_TARGETS)
 130 512K_TARGETS  = $(F411_TARGETS)
 131 1024K_TARGETS = $(F405_TARGETS)
 132
 133 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 134 ifeq ($(FLASH_SIZE),)
 135 ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 136 FLASH_SIZE = 1024
 137 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 138 FLASH_SIZE = 512
 139 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 140 FLASH_SIZE = 256
 141 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 142 FLASH_SIZE = 128
 143 else
 144 $(error FLASH_SIZE not configured for target $(TARGET))
 145 endif
 146 endif
 147
 148 # note that there is no hardfault debugging startup file assembly handler for other platforms
 149 ifeq ($(DEBUG_HARDFAULTS),F3)
 150 CFLAGS               += -DDEBUG_HARDFAULTS
 151 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 152 else
 153 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 154 endif
 155
 156 REVISION = $(shell git log -1 --format="%h")
 157
 158 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 159 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 160 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 161
 162 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 163
 164 # Search path for sources
 165 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 166 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 167 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 168 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 169 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 170
 171 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 172
 173 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 174 # F3 TARGETS
 175
 176 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 177 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 178 EXCLUDES        = stm32f30x_crc.c \
 179                   stm32f30x_can.c
 180
 181 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 182 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 183
 184 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 185 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 186                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 187
 188 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 189                    $(STDPERIPH_DIR)/inc \
 190                    $(CMSIS_DIR)/CM1/CoreSupport \
 191                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 192
 193 ifneq ($(filter VCP, $(FEATURES)),)
 194 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 195                    $(USBFS_DIR)/inc \
 196                    $(ROOT)/src/main/vcp
 197
 198 VPATH           := $(VPATH):$(USBFS_DIR)/src
 199
 200 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 201                         $(USBPERIPH_SRC)
 202 endif
 203
 204 ifneq ($(filter SDCARD, $(FEATURES)),)
 205 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 206                    $(FATFS_DIR) \
 207
 208 VPATH           := $(VPATH):$(FATFS_DIR)
 209 endif
 210
 211 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 212
 213 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 214 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 215 # End F3 targets
 216 #
 217 # Start F4 targets
 218 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 219
 220 #STDPERIPH
 221 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 222 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 223 EXCLUDES        = stm32f4xx_crc.c \
 224                   stm32f4xx_can.c \
 225                   stm32f4xx_fmc.c \
 226                   stm32f4xx_sai.c \
 227                   stm32f4xx_cec.c \
 228                   stm32f4xx_dsi.c \
 229                   stm32f4xx_flash_ramfunc.c \
 230                   stm32f4xx_fmpi2c.c \
 231                   stm32f4xx_lptim.c \
 232                   stm32f4xx_qspi.c \
 233                   stm32f4xx_spdifrx.c \
 234                   stm32f4xx_cryp.c \
 235                   stm32f4xx_cryp_aes.c \
 236                   stm32f4xx_hash_md5.c \
 237                   stm32f4xx_cryp_des.c \
 238                   stm32f4xx_rtc.c \
 239                   stm32f4xx_hash.c \
 240                   stm32f4xx_dbgmcu.c \
 241                   stm32f4xx_cryp_tdes.c \
 242                   stm32f4xx_hash_sha1.c
 243
 244
 245 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 246 EXCLUDES += stm32f4xx_fsmc.c
 247 endif
 248
 249 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 250
 251 #USB
 252 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 253 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 254 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 255 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 256 EXCLUDES    = usb_bsp_template.c \
 257               usb_conf_template.c \
 258               usb_hcd_int.c \
 259               usb_hcd.c \
 260               usb_otg.c
 261
 262 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 263 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 264 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 265 EXCLUDES    = usbd_cdc_if_template.c
 266 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 267 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 268
 269 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 270                         $(USBOTG_SRC) \
 271                         $(USBCORE_SRC) \
 272                         $(USBCDC_SRC)
 273
 274 #CMSIS
 275 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 276 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 277                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 278 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 279                    $(STDPERIPH_DIR)/inc \
 280                    $(USBOTG_DIR)/inc \
 281                    $(USBCORE_DIR)/inc \
 282                    $(USBCDC_DIR)/inc \
 283                    $(USBFS_DIR)/inc \
 284                    $(CMSIS_DIR)/CM4/CoreSupport \
 285                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 286                    $(ROOT)/src/main/vcpf4
 287
 288 ifneq ($(filter SDCARD,$(FEATURES)),)
 289 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 290                    $(FATFS_DIR)
 291 VPATH           := $(VPATH):$(FATFS_DIR)
 292 endif
 293
 294 #Flags
 295 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 296
 297 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 298 DEVICE_FLAGS    = -DSTM32F411xE
 299 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 300 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 301 DEVICE_FLAGS    = -DSTM32F40_41xxx
 302 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 303 else
 304 $(error Unknown MCU for F4 target)
 305 endif
 306 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 307
 308 # End F4 targets
 309 #
 310 # Start F1 targets
 311 else
 312
 313 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 314 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 315 EXCLUDES        = stm32f10x_crc.c \
 316                   stm32f10x_cec.c \
 317                   stm32f10x_can.c
 318
 319 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 320
 321 # Search path and source files for the CMSIS sources
 322 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 323 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 324                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 325
 326 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 327                    $(STDPERIPH_DIR)/inc \
 328                    $(CMSIS_DIR)/CM3/CoreSupport \
 329                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 330
 331 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 332
 333 ifneq ($(filter VCP, $(FEATURES)),)
 334 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 335                    $(USBFS_DIR)/inc \
 336                    $(ROOT)/src/main/vcp
 337
 338 VPATH           := $(VPATH):$(USBFS_DIR)/src
 339
 340 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 341                         $(USBPERIPH_SRC)
 342
 343 endif
 344
 345 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 346 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 347
 348 ifeq ($(DEVICE_FLAGS),)
 349 DEVICE_FLAGS    = -DSTM32F10X_MD
 350 endif
 351 DEVICE_FLAGS   += -DSTM32F10X
 352
 353 endif
 354 #
 355 # End F1 targets
 356 #
 357 ifneq ($(BASE_TARGET), $(TARGET))
 358 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 359 endif
 360
 361 ifneq ($(FLASH_SIZE),)
 362 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 363 endif
 364
 365 ifneq ($(HSE_VALUE),)
 366 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 367 endif
 368
 369 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 370 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 371
 372 ifeq ($(OPBL),yes)
 373 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 374 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 375 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 376 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 377 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 378 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 379 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 380 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 381 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 382 endif
 383 .DEFAULT_GOAL := binary
 384 else
 385 .DEFAULT_GOAL := hex
 386 endif
 387
 388 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 389                    $(TARGET_DIR)
 390
 391 VPATH           := $(VPATH):$(TARGET_DIR)
 392
 393 COMMON_SRC = \
 394             build/build_config.c \
 395             build/debug.c \
 396             build/version.c \
 397             $(TARGET_DIR_SRC) \
 398             main.c \
 399             fc/mw.c \
 400             fc/fc_tasks.c \
 401             common/encoding.c \
 402             common/filter.c \
 403             common/maths.c \
 404             common/printf.c \
 405             common/streambuf.c \
 406             common/typeconversion.c \
 407             config/config.c \
 408             config/config_eeprom.c \
 409             config/feature.c \
 410             config/parameter_group.c \
 411             fc/runtime_config.c \
 412             drivers/adc.c \
 413             drivers/buf_writer.c \
 414             drivers/bus_i2c_soft.c \
 415             drivers/bus_spi.c \
 416             drivers/bus_spi_soft.c \
 417             drivers/exti.c \
 418             drivers/gyro_sync.c \
 419             drivers/io.c \
 420             drivers/light_led.c \
 421             drivers/rx_nrf24l01.c \
 422             drivers/rx_spi.c \
 423             drivers/rx_xn297.c \
 424             drivers/pwm_output.c \
 425             drivers/pwm_rx.c \
 426             drivers/rcc.c \
 427             drivers/serial.c \
 428             drivers/serial_uart.c \
 429             drivers/sound_beeper.c \
 430             drivers/system.c \
 431             drivers/timer.c \
 432             flight/altitudehold.c \
 433             flight/failsafe.c \
 434             flight/imu.c \
 435             flight/mixer.c \
 436             flight/pid.c \
 437             flight/pid_legacy.c \
 438             flight/pid_betaflight.c \
 439             io/beeper.c \
 440             fc/rc_controls.c \
 441             fc/rc_curves.c \
 442             io/serial.c \
 443             io/serial_4way.c \
 444             io/serial_4way_avrootloader.c \
 445             io/serial_4way_stk500v2.c \
 446             io/serial_cli.c \
 447             io/serial_msp.c \
 448             io/statusindicator.c \
 449             msp/msp_server_fc.c \
 450             rx/ibus.c \
 451             rx/jetiexbus.c \
 452             rx/msp.c \
 453             rx/nrf24_cx10.c \
 454             rx/nrf24_inav.c \
 455             rx/nrf24_h8_3d.c \
 456             rx/nrf24_syma.c \
 457             rx/nrf24_v202.c \
 458             rx/pwm.c \
 459             rx/rx.c \
 460             rx/rx_spi.c \
 461             rx/sbus.c \
 462             rx/spektrum.c \
 463             rx/sumd.c \
 464             rx/sumh.c \
 465             rx/xbus.c \
 466             scheduler/scheduler.c \
 467             sensors/acceleration.c \
 468             sensors/battery.c \
 469             sensors/boardalignment.c \
 470             sensors/compass.c \
 471             sensors/gyro.c \
 472             sensors/initialisation.c \
 473             $(CMSIS_SRC) \
 474             $(DEVICE_STDPERIPH_SRC)
 475
 476 HIGHEND_SRC = \
 477             blackbox/blackbox.c \
 478             blackbox/blackbox_io.c \
 479             common/colorconversion.c \
 480             drivers/display_ug2864hsweg01.c \
 481             flight/gtune.c \
 482             flight/navigation.c \
 483             flight/gps_conversion.c \
 484             io/gps.c \
 485             io/ledstrip.c \
 486             io/display.c \
 487             sensors/sonar.c \
 488             sensors/barometer.c \
 489             telemetry/telemetry.c \
 490             telemetry/frsky.c \
 491             telemetry/hott.c \
 492             telemetry/smartport.c \
 493             telemetry/ltm.c
 494
 495 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 496 VCP_SRC = \
 497             vcpf4/stm32f4xx_it.c \
 498             vcpf4/usb_bsp.c \
 499             vcpf4/usbd_desc.c \
 500             vcpf4/usbd_usr.c \
 501             vcpf4/usbd_cdc_vcp.c \
 502             drivers/serial_usb_vcp.c
 503 else
 504 VCP_SRC = \
 505             vcp/hw_config.c \
 506             vcp/stm32_it.c \
 507             vcp/usb_desc.c \
 508             vcp/usb_endp.c \
 509             vcp/usb_istr.c \
 510             vcp/usb_prop.c \
 511             vcp/usb_pwr.c \
 512             drivers/serial_usb_vcp.c \
 513             drivers/usb_io.c
 514 endif
 515
 516 STM32F10x_COMMON_SRC = \
 517             startup_stm32f10x_md_gcc.S \
 518             drivers/adc_stm32f10x.c \
 519             drivers/bus_i2c_stm32f10x.c \
 520             drivers/dma.c \
 521             drivers/gpio_stm32f10x.c \
 522             drivers/inverter.c \
 523             drivers/serial_softserial.c \
 524             drivers/serial_uart_stm32f10x.c \
 525             drivers/system_stm32f10x.c \
 526             drivers/timer_stm32f10x.c
 527
 528 STM32F30x_COMMON_SRC = \
 529             startup_stm32f30x_md_gcc.S \
 530             target/system_stm32f30x.c \
 531             drivers/adc_stm32f30x.c \
 532             drivers/bus_i2c_stm32f30x.c \
 533             drivers/dma.c \
 534             drivers/gpio_stm32f30x.c \
 535             drivers/light_ws2811strip_stm32f30x.c \
 536             drivers/serial_uart_stm32f30x.c \
 537             drivers/system_stm32f30x.c \
 538             drivers/timer_stm32f30x.c
 539
 540 STM32F4xx_COMMON_SRC = \
 541             startup_stm32f40xx.s \
 542             target/system_stm32f4xx.c \
 543             drivers/accgyro_mpu.c \
 544             drivers/adc_stm32f4xx.c \
 545             drivers/adc_stm32f4xx.c \
 546             drivers/bus_i2c_stm32f10x.c \
 547             drivers/gpio_stm32f4xx.c \
 548             drivers/inverter.c \
 549             drivers/serial_softserial.c \
 550             drivers/serial_uart_stm32f4xx.c \
 551             drivers/system_stm32f4xx.c \
 552             drivers/timer_stm32f4xx.c \
 553             drivers/dma_stm32f4xx.c
 554
 555 # check if target.mk supplied
 556 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 557 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 558 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 559 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 560 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 561 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 562 endif
 563
 564 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 565 TARGET_SRC += \
 566             drivers/flash_m25p16.c \
 567             io/flashfs.c
 568 endif
 569
 570 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS) $(F3_TARGETS)))
 571 TARGET_SRC += $(HIGHEND_SRC)
 572 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 573 TARGET_SRC += $(HIGHEND_SRC)
 574 endif
 575
 576 TARGET_SRC += $(COMMON_SRC)
 577
 578 ifneq ($(filter SDCARD,$(FEATURES)),)
 579 TARGET_SRC += \
 580             drivers/sdcard.c \
 581             drivers/sdcard_standard.c \
 582             io/asyncfatfs/asyncfatfs.c \
 583             io/asyncfatfs/fat_standard.c
 584 endif
 585
 586 ifneq ($(filter VCP,$(FEATURES)),)
 587 TARGET_SRC += $(VCP_SRC)
 588 endif
 589 # end target specific make file checks
 590
 591
 592 # Search path and source files for the ST stdperiph library
 593 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 594
 595 ###############################################################################
 596 # Things that might need changing to use different tools
 597 #
 598
 599 # Find out if ccache is installed on the system
 600 CCACHE := ccache
 601 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 602 ifneq ($(RESULT),0)
 603 CCACHE :=
 604 endif
 605
 606 # Tool names
 607 CC          := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 608 CPP         := $(CCACHE) $(ARM_SDK_PREFIX)g++
 609 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 610 SIZE        := $(ARM_SDK_PREFIX)size
 611
 612 #
 613 # Tool options.
 614 #
 615
 616 ifeq ($(DEBUG),GDB)
 617 OPTIMIZE    = -O0
 618 LTO_FLAGS   = $(OPTIMIZE)
 619 else
 620 OPTIMIZE    = -Os
 621 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 622 endif
 623
 624 DEBUG_FLAGS = -ggdb3 -DDEBUG
 625
 626 CFLAGS      += $(ARCH_FLAGS) \
 627               $(LTO_FLAGS) \
 628               $(addprefix -D,$(OPTIONS)) \
 629               $(addprefix -I,$(INCLUDE_DIRS)) \
 630               $(DEBUG_FLAGS) \
 631               -std=gnu99 \
 632               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 633               -ffunction-sections \
 634               -fdata-sections \
 635               -pedantic \
 636               $(DEVICE_FLAGS) \
 637               -DUSE_STDPERIPH_DRIVER \
 638               -D$(TARGET) \
 639               $(TARGET_FLAGS) \
 640               -D'__FORKNAME__="$(FORKNAME)"' \
 641               -D'__TARGET__="$(TARGET)"' \
 642               -D'__REVISION__="$(REVISION)"' \
 643               -save-temps=obj \
 644               -MMD -MP
 645
 646 ASFLAGS     = $(ARCH_FLAGS) \
 647               -x assembler-with-cpp \
 648               $(addprefix -I,$(INCLUDE_DIRS)) \
 649               -MMD -MP
 650
 651 LDFLAGS     = -lm \
 652               -nostartfiles \
 653               --specs=nano.specs \
 654               -lc \
 655               -lnosys \
 656               $(ARCH_FLAGS) \
 657               $(LTO_FLAGS) \
 658               $(DEBUG_FLAGS) \
 659               -static \
 660               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 661               -Wl,-L$(LINKER_DIR) \
 662               -Wl,--cref \
 663               -Wl,--no-wchar-size-warning \
 664               -T$(LD_SCRIPT)
 665
 666 ###############################################################################
 667 # No user-serviceable parts below
 668 ###############################################################################
 669
 670 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 671                   --std=c99 --inline-suppr --quiet --force \
 672                   $(addprefix -I,$(INCLUDE_DIRS)) \
 673                   -I/usr/include -I/usr/include/linux
 674
 675 #
 676 # Things we will build
 677 #
 678 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 679 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 680 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 681 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 682 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 683 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 684
 685
 686 CLEAN_ARTIFACTS := $(TARGET_BIN)
 687 CLEAN_ARTIFACTS += $(TARGET_HEX)
 688 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 689
 690 # List of buildable ELF files and their object dependencies.
 691 # It would be nice to compute these lists, but that seems to be just beyond make.
 692
 693 $(TARGET_HEX): $(TARGET_ELF)
 694         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 695
 696 $(TARGET_BIN): $(TARGET_ELF)
 697         $(V0) $(OBJCOPY) -O binary $< $@
 698
 699 $(TARGET_ELF):  $(TARGET_OBJS)
 700         $(V1) echo LD $(notdir $@)
 701         $(V1) $(CC) -o $@ $^ $(LDFLAGS)
 702         $(V0) $(SIZE) $(TARGET_ELF)
 703
 704 # Compile
 705 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 706         $(V1) mkdir -p $(dir $@)
 707         $(V1) echo %% $(notdir $<)
 708         $(V1) $(CC) -c -o $@ $(CFLAGS) $<
 709
 710 # Assemble
 711 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 712         $(V1) mkdir -p $(dir $@)
 713         $(V1) echo %% $(notdir $<)
 714         $(V1) $(CC) -c -o $@ $(ASFLAGS) $<
 715
 716 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 717         $(V1) mkdir -p $(dir $@)
 718         $(V1) echo %% $(notdir $<)
 719         $(V1) $(CC) -c -o $@ $(ASFLAGS) $<
 720
 721
 722 ## all               : Build all valid targets
 723 all: $(VALID_TARGETS)
 724
 725 $(VALID_TARGETS):
 726                 $(V0) echo "" && \
 727                 echo "Building $@" && \
 728                 $(MAKE) binary hex TARGET=$@ && \
 729                 echo "Building $@ succeeded."
 730
 731
 732
 733 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
 734 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 735
 736 ## clean             : clean up temporary / machine-generated files
 737 clean:
 738         $(V0) echo "Cleaning $(TARGET)"
 739         $(V0) rm -f $(CLEAN_ARTIFACTS)
 740         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 741         $(V0) echo "Cleaning $(TARGET) succeeded."
 742
 743 ## clean_test        : clean up temporary / machine-generated files (tests)
 744 clean_test:
 745         $(V0) cd src/test && $(MAKE) clean || true
 746
 747 ## clean_<TARGET>    : clean up one specific target
 748 $(CLEAN_TARGETS) :
 749         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 750
 751 ## <TARGET>_clean    : clean up one specific target (alias for above)
 752 $(TARGETS_CLEAN) :
 753         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 754
 755 ## clean_all         : clean all valid targets
 756 clean_all:$(CLEAN_TARGETS)
 757
 758 ## all_clean         : clean all valid targets (alias for above)
 759 all_clean:$(TARGETS_CLEAN)
 760
 761
 762 flash_$(TARGET): $(TARGET_HEX)
 763         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 764         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 765         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 766
 767 ## flash             : flash firmware (.hex) onto flight controller
 768 flash: flash_$(TARGET)
 769
 770 st-flash_$(TARGET): $(TARGET_BIN)
 771         $(V0) st-flash --reset write $< 0x08000000
 772
 773 ## st-flash          : flash firmware (.bin) onto flight controller
 774 st-flash: st-flash_$(TARGET)
 775
 776 binary:
 777         $(V0) $(MAKE) -j $(TARGET_BIN)
 778
 779 hex:
 780         $(V0) $(MAKE) -j $(TARGET_HEX)
 781
 782 unbrick_$(TARGET): $(TARGET_HEX)
 783         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 784         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 785
 786 ## unbrick           : unbrick flight controller
 787 unbrick: unbrick_$(TARGET)
 788
 789 ## cppcheck          : run static analysis on C source code
 790 cppcheck: $(CSOURCES)
 791         $(V0) $(CPPCHECK)
 792
 793 cppcheck-result.xml: $(CSOURCES)
 794         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 795
 796 ## mkdirs
 797 $(DL_DIR):
 798         mkdir -p $@
 799
 800 $(TOOLS_DIR):
 801         mkdir -p $@
 802
 803 $(BUILD_DIR):
 804         mkdir -p $@
 805
 806 ## help              : print this help message and exit
 807 help: Makefile
 808         $(V0) @echo ""
 809         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
 810         $(V0) @echo ""
 811         $(V0) @echo "Usage:"
 812         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 813         $(V0) @echo "Or:"
 814         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 815         $(V0) @echo ""
 816         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
 817         $(V0) @echo ""
 818         $(V0) @sed -n 's/^## //p' $<
 819
 820 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 821 targets:
 822         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
 823         $(V0) @echo "Target:        $(TARGET)"
 824         $(V0) @echo "Base target:   $(BASE_TARGET)"
 825
 826 ## test              : run the cleanflight test suite
 827 test:
 828         $(V0) cd src/test && $(MAKE) test || true
 829
 830 # rebuild everything when makefile changes
 831 $(TARGET_OBJS) : Makefile
 832
 833 # include auto-generated dependencies
 834 -include $(TARGET_DEPS)