1 ###############################################################################
2 # "THE BEER-WARE LICENSE" (Revision 42):
3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
4 # can do whatever you want with this stuff. If we meet some day, and you think
5 # this stuff is worth it, you can buy me a beer in return
6 ###############################################################################
8 # Makefile for building the betaflight firmware.
10 # Invoke this with 'make help' to see the list of supported targets.
12 ###############################################################################
15 # Things that the user might override on the commandline
18 # The target to build, see VALID_TARGETS below
21 # Compile-time options
24 # compile for OpenPilot BootLoader support
27 # Debugger optons, must be empty or GDB
30 # Insert the debugging hardfault debugger
31 # releases should not be built with this flag as it does not disable pwm output
34 # Serial port/Device for flashing
35 SERIAL_DEVICE ?
= $(firstword $(wildcard /dev
/ttyUSB
*) no-port-found
)
37 # Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
40 ## V : Set verbosity level based on the V= parameter
52 export STDOUT
:= "> /dev/null"
53 export MAKE
:= $(MAKE
) --no-print-directory
60 ###############################################################################
61 # Things that need to be maintained as the source changes
67 ROOT
:= $(patsubst %/,%,$(dir $(lastword
$(MAKEFILE_LIST
))))
68 SRC_DIR
= $(ROOT
)/src
/main
69 OBJECT_DIR
= $(ROOT
)/obj
/main
71 CMSIS_DIR
= $(ROOT
)/lib
/main
/CMSIS
72 INCLUDE_DIRS
= $(SRC_DIR
) \
73 $(ROOT
)/src
/main
/target
74 LINKER_DIR
= $(ROOT
)/src
/main
/target
/link
76 # Build tools, so we all share the same versions
77 # import macros common to all supported build systems
78 include $(ROOT
)/make
/system-id.mk
80 # developer preferences, edit these at will, they'll be gitignored
81 -include $(ROOT
)/make
/local.mk
83 # configure some directories that are relative to wherever ROOT_DIR is located
85 TOOLS_DIR
:= $(ROOT
)/tools
87 BUILD_DIR
:= $(ROOT
)/build
88 DL_DIR
:= $(ROOT
)/downloads
92 # import macros that are OS specific
93 include $(ROOT
)/make
/$(OSFAMILY
).mk
95 # include the tools makefile
96 include $(ROOT
)/make
/tools.mk
98 # default xtal value for F4 targets
101 # used for turning on features like VCP and SDCARD
104 SAMPLE_TARGETS
= ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO STM32F3DISCOVERY
105 ALT_TARGETS
= $(sort $(filter-out target
, $(basename $(notdir $(wildcard $(ROOT
)/src
/main
/target
/*/*.mk
)))))
106 OPBL_TARGETS
= $(filter %_OPBL
, $(ALT_TARGETS
))
108 VALID_TARGETS
= $(dir $(wildcard $(ROOT
)/src
/main
/target
/*/target.mk
))
109 VALID_TARGETS
:= $(subst /,, $(subst .
/src
/main
/target
/,, $(VALID_TARGETS
)))
110 VALID_TARGETS
:= $(VALID_TARGETS
) $(ALT_TARGETS
)
111 VALID_TARGETS
:= $(sort $(VALID_TARGETS
))
113 ifeq ($(filter $(TARGET
),$(ALT_TARGETS
)), $(TARGET
))
114 BASE_TARGET
:= $(firstword $(subst /,, $(subst .
/src
/main
/target
/,, $(dir $(wildcard $(ROOT
)/src
/main
/target
/*/$(TARGET
).mk
)))))
115 -include $(ROOT
)/src
/main
/target
/$(BASE_TARGET
)/$(TARGET
).mk
117 BASE_TARGET
:= $(TARGET
)
120 ifeq ($(filter $(TARGET
),$(OPBL_TARGETS
)), $(TARGET
))
124 # silently ignore if the file is not present. Allows for target specific.
125 -include $(ROOT
)/src
/main
/target
/$(BASE_TARGET
)/target.mk
127 F4_TARGETS
= $(F405_TARGETS
) $(F411_TARGETS
)
128 F7_TARGETS
= $(F7X2RE_TARGETS
) $(F7X5XE_TARGETS
) $(F7X5XG_TARGETS
) $(F7X5XI_TARGETS
) $(F7X6XG_TARGETS
)
130 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
131 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
). Have you prepared a valid target.mk?
)
134 ifeq ($(filter $(TARGET
),$(F1_TARGETS
) $(F3_TARGETS
) $(F4_TARGETS
) $(F7_TARGETS
)),)
135 $(error Target
'$(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?
)
138 128K_TARGETS
= $(F1_TARGETS
)
139 256K_TARGETS
= $(F3_TARGETS
)
140 512K_TARGETS
= $(F411_TARGETS
) $(F7X2RE_TARGETS
) $(F7X5XE_TARGETS
)
141 1024K_TARGETS
= $(F405_TARGETS
) $(F7X5XG_TARGETS
) $(F7X6XG_TARGETS
)
142 2048K_TARGETS
= $(F7X5XI_TARGETS
)
144 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
145 ifeq ($(FLASH_SIZE
),)
146 ifeq ($(TARGET
),$(filter $(TARGET
),$(2048K_TARGETS
)))
148 else ifeq ($(TARGET
),$(filter $(TARGET
),$(1024K_TARGETS
)))
150 else ifeq ($(TARGET
),$(filter $(TARGET
),$(512K_TARGETS
)))
152 else ifeq ($(TARGET
),$(filter $(TARGET
),$(256K_TARGETS
)))
154 else ifeq ($(TARGET
),$(filter $(TARGET
),$(128K_TARGETS
)))
157 $(error FLASH_SIZE not configured for target
$(TARGET
))
161 # note that there is no hardfault debugging startup file assembly handler for other platforms
162 ifeq ($(DEBUG_HARDFAULTS
),F3
)
163 CFLAGS
+= -DDEBUG_HARDFAULTS
164 STM32F30x_COMMON_SRC
= startup_stm32f3_debug_hardfault_handler.S
166 STM32F30x_COMMON_SRC
= startup_stm32f30x_md_gcc.S
169 ifeq ($(DEBUG_HARDFAULTS
),F7
)
170 CFLAGS
+= -DDEBUG_HARDFAULTS
173 REVISION
:= $(shell git log
-1 --format
="%h")
175 FC_VER_MAJOR
:= $(shell grep
" FC_VERSION_MAJOR" src
/main
/build
/version.h | awk
'{print $$3}' )
176 FC_VER_MINOR
:= $(shell grep
" FC_VERSION_MINOR" src
/main
/build
/version.h | awk
'{print $$3}' )
177 FC_VER_PATCH
:= $(shell grep
" FC_VERSION_PATCH" src
/main
/build
/version.h | awk
'{print $$3}' )
179 FC_VER
:= $(FC_VER_MAJOR
).
$(FC_VER_MINOR
).
$(FC_VER_PATCH
)
181 # Search path for sources
182 VPATH
:= $(SRC_DIR
):$(SRC_DIR
)/startup
183 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
184 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
185 FATFS_DIR
= $(ROOT
)/lib
/main
/FatFS
186 FATFS_SRC
= $(notdir $(wildcard $(FATFS_DIR
)/*.c
))
188 CSOURCES
:= $(shell find
$(SRC_DIR
) -name
'*.c')
190 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
193 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
194 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
195 EXCLUDES
= stm32f30x_crc.c \
197 STARTUP_SRC
= startup_stm32f30x_md_gcc.S
199 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
200 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
202 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
203 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
204 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
206 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
207 $(STDPERIPH_DIR
)/inc \
208 $(CMSIS_DIR
)/CM1
/CoreSupport \
209 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
211 ifneq ($(filter VCP
, $(FEATURES
)),)
212 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
216 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
218 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
222 ifneq ($(filter SDCARD
, $(FEATURES
)),)
223 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
226 VPATH
:= $(VPATH
):$(FATFS_DIR
)
229 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k.
ld
231 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
232 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
236 else ifeq ($(TARGET
),$(filter $(TARGET
), $(F4_TARGETS
)))
239 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F4xx_StdPeriph_Driver
240 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
241 EXCLUDES
= stm32f4xx_crc.c \
247 stm32f4xx_flash_ramfunc.c \
251 stm32f4xx_spdifrx.c \
253 stm32f4xx_cryp_aes.c \
254 stm32f4xx_hash_md5.c \
255 stm32f4xx_cryp_des.c \
259 stm32f4xx_cryp_tdes.c \
260 stm32f4xx_hash_sha1.c
262 ifeq ($(TARGET
),$(filter $(TARGET
), $(F411_TARGETS
)))
263 EXCLUDES
+= stm32f4xx_fsmc.c
266 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
269 USBCORE_DIR
= $(ROOT
)/lib
/main
/STM32_USB_Device_Library
/Core
270 USBCORE_SRC
= $(notdir $(wildcard $(USBCORE_DIR
)/src
/*.c
))
271 USBOTG_DIR
= $(ROOT
)/lib
/main
/STM32_USB_OTG_Driver
272 USBOTG_SRC
= $(notdir $(wildcard $(USBOTG_DIR
)/src
/*.c
))
273 EXCLUDES
= usb_bsp_template.c \
274 usb_conf_template.c \
279 USBOTG_SRC
:= $(filter-out ${EXCLUDES}, $(USBOTG_SRC
))
280 USBCDC_DIR
= $(ROOT
)/lib
/main
/STM32_USB_Device_Library
/Class
/cdc
281 USBCDC_SRC
= $(notdir $(wildcard $(USBCDC_DIR
)/src
/*.c
))
282 EXCLUDES
= usbd_cdc_if_template.c
283 USBCDC_SRC
:= $(filter-out ${EXCLUDES}, $(USBCDC_SRC
))
284 VPATH
:= $(VPATH
):$(USBOTG_DIR
)/src
:$(USBCORE_DIR
)/src
:$(USBCDC_DIR
)/src
286 DEVICE_STDPERIPH_SRC
:= $(STDPERIPH_SRC
) \
292 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM4
/CoreSupport
:$(CMSIS_DIR
)/CM4
/DeviceSupport
/ST
/STM32F4xx
293 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM4
/CoreSupport
/*.c \
294 $(CMSIS_DIR
)/CM4
/DeviceSupport
/ST
/STM32F4xx
/*.c
))
295 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
296 $(STDPERIPH_DIR
)/inc \
301 $(CMSIS_DIR
)/CM4
/CoreSupport \
302 $(CMSIS_DIR
)/CM4
/DeviceSupport
/ST
/STM32F4xx \
303 $(ROOT
)/src
/main
/vcpf4
305 ifneq ($(filter SDCARD
,$(FEATURES
)),)
306 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
308 VPATH
:= $(VPATH
):$(FATFS_DIR
)
312 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-march
=armv7e-m
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
314 ifeq ($(TARGET
),$(filter $(TARGET
),$(F411_TARGETS
)))
315 DEVICE_FLAGS
= -DSTM32F411xE
316 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f411.
ld
317 STARTUP_SRC
= startup_stm32f411xe.s
318 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F405_TARGETS
)))
319 DEVICE_FLAGS
= -DSTM32F40_41xxx
320 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f405.
ld
321 STARTUP_SRC
= startup_stm32f40xx.s
323 $(error Unknown MCU for F4 target
)
325 DEVICE_FLAGS
+= -DHSE_VALUE
=$(HSE_VALUE
)
330 else ifeq ($(TARGET
),$(filter $(TARGET
), $(F7_TARGETS
)))
333 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F7xx_HAL_Driver
334 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/Src
/*.c
))
335 EXCLUDES
= stm32f7xx_hal_timebase_rtc_wakeup_template.c \
336 stm32f7xx_hal_timebase_rtc_alarm_template.c \
337 stm32f7xx_hal_timebase_tim_template.c
339 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
342 USBCORE_DIR
= $(ROOT
)/lib
/main
/Middlewares
/ST
/STM32_USB_Device_Library
/Core
343 USBCORE_SRC
= $(notdir $(wildcard $(USBCORE_DIR
)/Src
/*.c
))
344 EXCLUDES
= usbd_conf_template.c
345 USBCORE_SRC
:= $(filter-out ${EXCLUDES}, $(USBCORE_SRC
))
347 USBCDC_DIR
= $(ROOT
)/lib
/main
/Middlewares
/ST
/STM32_USB_Device_Library
/Class
/CDC
348 USBCDC_SRC
= $(notdir $(wildcard $(USBCDC_DIR
)/Src
/*.c
))
349 EXCLUDES
= usbd_cdc_if_template.c
350 USBCDC_SRC
:= $(filter-out ${EXCLUDES}, $(USBCDC_SRC
))
352 VPATH
:= $(VPATH
):$(USBCDC_DIR
)/Src
:$(USBCORE_DIR
)/Src
354 DEVICE_STDPERIPH_SRC
:= $(STDPERIPH_SRC
) \
359 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM7
/Include
:$(CMSIS_DIR
)/CM7
/Device
/ST
/STM32F7xx
360 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/Src
361 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM7
/Include
/*.c \
362 $(CMSIS_DIR
)/CM7
/Device
/ST
/STM32F7xx
/*.c
))
363 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
364 $(STDPERIPH_DIR
)/Inc \
367 $(CMSIS_DIR
)/CM7
/Include \
368 $(CMSIS_DIR
)/CM7
/Device
/ST
/STM32F7xx
/Include \
369 $(ROOT
)/src
/main
/vcp_hal
371 ifneq ($(filter SDCARD
,$(FEATURES
)),)
372 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
374 VPATH
:= $(VPATH
):$(FATFS_DIR
)
378 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m7
-mfloat-abi
=hard
-mfpu
=fpv5-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
380 ifeq ($(TARGET
),$(filter $(TARGET
),$(F7X5XG_TARGETS
)))
381 DEVICE_FLAGS
= -DSTM32F745xx
-DUSE_HAL_DRIVER
-D__FPU_PRESENT
382 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f745.
ld
383 STARTUP_SRC
= startup_stm32f745xx.s
384 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7X6XG_TARGETS
)))
385 DEVICE_FLAGS
= -DSTM32F746xx
-DUSE_HAL_DRIVER
-D__FPU_PRESENT
386 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f746.
ld
387 STARTUP_SRC
= startup_stm32f746xx.s
388 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7X2RE_TARGETS
)))
389 DEVICE_FLAGS
= -DSTM32F722xx
-DUSE_HAL_DRIVER
-D__FPU_PRESENT
390 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f722.
ld
391 STARTUP_SRC
= startup_stm32f722xx.s
393 $(error Unknown MCU for F7 target
)
395 DEVICE_FLAGS
+= -DHSE_VALUE
=$(HSE_VALUE
)
397 TARGET_FLAGS
= -D
$(TARGET
)
404 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
405 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
406 EXCLUDES
= stm32f10x_crc.c \
409 STARTUP_SRC
= startup_stm32f10x_md_gcc.S
410 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
412 # Search path and source files for the CMSIS sources
413 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
414 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
415 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
417 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
418 $(STDPERIPH_DIR
)/inc \
419 $(CMSIS_DIR
)/CM3
/CoreSupport \
420 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
422 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
424 ifneq ($(filter VCP
, $(FEATURES
)),)
425 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
429 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
431 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
) \
436 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
437 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
439 ifeq ($(DEVICE_FLAGS
),)
440 DEVICE_FLAGS
= -DSTM32F10X_MD
442 DEVICE_FLAGS
+= -DSTM32F10X
448 ifneq ($(BASE_TARGET
), $(TARGET
))
449 TARGET_FLAGS
:= $(TARGET_FLAGS
) -D
$(BASE_TARGET
)
452 ifneq ($(FLASH_SIZE
),)
453 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DFLASH_SIZE
=$(FLASH_SIZE
)
456 ifneq ($(HSE_VALUE
),)
457 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DHSE_VALUE
=$(HSE_VALUE
)
460 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(BASE_TARGET
)
461 TARGET_DIR_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
464 TARGET_FLAGS
:= -DOPBL
$(TARGET_FLAGS
)
465 ifeq ($(TARGET
), $(filter $(TARGET
),$(F405_TARGETS
)))
466 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f405_opbl.
ld
467 else ifeq ($(TARGET
), $(filter $(TARGET
),$(F411_TARGETS
)))
468 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f411_opbl.
ld
469 else ifeq ($(TARGET
), $(filter $(TARGET
),$(F3_TARGETS
)))
470 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k_opbl.
ld
471 else ifeq ($(TARGET
), $(filter $(TARGET
),$(F1_TARGETS
)))
472 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k_opbl.
ld
474 .DEFAULT_GOAL
:= binary
479 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
480 $(ROOT
)/lib
/main
/MAVLink
482 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
485 VPATH
:= $(VPATH
):$(TARGET_DIR
)
488 build
/build_config.c \
498 common
/typeconversion.c \
499 config
/config_eeprom.c \
501 config
/parameter_group.c \
503 drivers
/buf_writer.c \
504 drivers
/bus_i2c_soft.c \
506 drivers
/bus_spi_soft.c \
509 drivers
/gyro_sync.c \
511 drivers
/light_led.c \
513 drivers
/rx_nrf24l01.c \
516 drivers
/pwm_esc_detect.c \
517 drivers
/pwm_output.c \
521 drivers
/serial_uart.c \
522 drivers
/sound_beeper.c \
523 drivers
/stack_check.c \
535 fc/runtime_config.c \
537 flight
/altitudehold.c \
546 io
/serial_4way_avrootloader.c \
547 io
/serial_4way_stk500v2.c \
548 io
/statusindicator.c \
567 scheduler
/scheduler.c \
568 sensors
/acceleration.c \
570 sensors
/boardalignment.c \
573 sensors
/initialisation.c \
575 $(DEVICE_STDPERIPH_SRC
)
578 blackbox
/blackbox.c \
579 blackbox
/blackbox_io.c \
581 cms
/cms_menu_blackbox.c \
582 cms
/cms_menu_builtin.c \
584 cms
/cms_menu_ledstrip.c \
585 cms
/cms_menu_misc.c \
588 common
/colorconversion.c \
589 drivers
/display_ug2864hsweg01.c \
590 drivers
/light_ws2811strip.c \
591 drivers
/serial_escserial.c \
592 drivers
/serial_softserial.c \
593 drivers
/sonar_hcsr04.c \
594 drivers
/vtx_common.c \
595 flight
/navigation.c \
596 flight
/gps_conversion.c \
598 io
/displayport_max7456.c \
599 io
/displayport_msp.c \
600 io
/displayport_oled.c \
605 sensors
/barometer.c \
606 telemetry
/telemetry.c \
611 telemetry
/smartport.c \
613 telemetry
/mavlink.c \
615 sensors
/esc_sensor.c \
617 io
/vtx_smartaudio.c \
620 SPEED_OPTIMISED_SRC
:= ""
621 SIZE_OPTIMISED_SRC
:= ""
623 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
624 SPEED_OPTIMISED_SRC
:= $(SPEED_OPTIMISED_SRC
) \
628 common
/typeconversion.c \
630 drivers
/buf_writer.c \
631 drivers
/bus_i2c_soft.c \
633 drivers
/bus_spi_soft.c \
635 drivers
/gyro_sync.c \
637 drivers
/light_led.c \
639 drivers
/rx_nrf24l01.c \
642 drivers
/pwm_output.c \
646 drivers
/serial_uart.c \
647 drivers
/sound_beeper.c \
648 drivers
/stack_check.c \
655 fc/runtime_config.c \
656 flight
/altitudehold.c \
664 io
/statusindicator.c \
682 scheduler
/scheduler.c \
683 sensors
/acceleration.c \
684 sensors
/boardalignment.c \
687 $(DEVICE_STDPERIPH_SRC
) \
688 blackbox
/blackbox.c \
689 blackbox
/blackbox_io.c \
690 drivers
/display_ug2864hsweg01.c \
691 drivers
/light_ws2811strip.c \
692 drivers
/serial_softserial.c \
694 io
/displayport_max7456.c \
695 io
/displayport_msp.c \
696 io
/displayport_oled.c \
699 telemetry
/telemetry.c \
703 telemetry
/smartport.c \
705 telemetry
/mavlink.c \
706 telemetry
/esc_telemetry.c \
708 SIZE_OPTIMISED_SRC
:= $(SIZE_OPTIMISED_SRC
) \
709 drivers
/serial_escserial.c \
710 drivers
/vtx_common.c \
713 io
/serial_4way_avrootloader.c \
714 io
/serial_4way_stk500v2.c \
717 cms
/cms_menu_blackbox.c \
718 cms
/cms_menu_builtin.c \
720 cms
/cms_menu_ledstrip.c \
721 cms
/cms_menu_misc.c \
724 io
/vtx_smartaudio.c \
728 ifeq ($(TARGET
),$(filter $(TARGET
),$(F4_TARGETS
)))
730 vcpf4
/stm32f4xx_it.c \
734 vcpf4
/usbd_cdc_vcp.c \
735 drivers
/serial_usb_vcp.c
736 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
)))
738 vcp_hal
/usbd_desc.c \
739 vcp_hal
/usbd_conf.c \
740 vcp_hal
/usbd_cdc_interface.c \
741 drivers
/serial_usb_vcp.c
751 drivers
/serial_usb_vcp.c \
755 STM32F10x_COMMON_SRC
= \
756 drivers
/adc_stm32f10x.c \
757 drivers
/bus_i2c_stm32f10x.c \
759 drivers
/gpio_stm32f10x.c \
761 drivers
/light_ws2811strip_stm32f10x.c \
762 drivers
/serial_uart_stm32f10x.c \
763 drivers
/system_stm32f10x.c \
764 drivers
/timer_stm32f10x.c
766 STM32F30x_COMMON_SRC
= \
767 target
/system_stm32f30x.c \
768 drivers
/adc_stm32f30x.c \
769 drivers
/bus_i2c_stm32f30x.c \
771 drivers
/gpio_stm32f30x.c \
772 drivers
/light_ws2811strip_stm32f30x.c \
773 drivers
/pwm_output_stm32f3xx.c \
774 drivers
/serial_uart_stm32f30x.c \
775 drivers
/system_stm32f30x.c \
776 drivers
/timer_stm32f30x.c
778 STM32F4xx_COMMON_SRC
= \
779 target
/system_stm32f4xx.c \
780 drivers
/accgyro_mpu.c \
781 drivers
/adc_stm32f4xx.c \
782 drivers
/bus_i2c_stm32f10x.c \
783 drivers
/dma_stm32f4xx.c \
784 drivers
/gpio_stm32f4xx.c \
786 drivers
/light_ws2811strip_stm32f4xx.c \
787 drivers
/pwm_output_stm32f4xx.c \
788 drivers
/serial_uart_stm32f4xx.c \
789 drivers
/system_stm32f4xx.c \
790 drivers
/timer_stm32f4xx.c
792 STM32F7xx_COMMON_SRC
= \
793 target
/system_stm32f7xx.c \
794 drivers
/accgyro_mpu.c \
795 drivers
/adc_stm32f7xx.c \
796 drivers
/bus_i2c_hal.c \
797 drivers
/dma_stm32f7xx.c \
798 drivers
/gpio_stm32f7xx.c \
800 drivers
/bus_spi_hal.c \
801 drivers
/pwm_output_stm32f7xx.c \
802 drivers
/timer_hal.c \
803 drivers
/timer_stm32f7xx.c \
804 drivers
/system_stm32f7xx.c \
805 drivers
/serial_uart_stm32f7xx.c \
806 drivers
/serial_uart_hal.c
808 F7EXCLUDES
= drivers
/bus_spi.c \
811 drivers
/serial_uart.c
813 # check if target.mk supplied
814 ifeq ($(TARGET
),$(filter $(TARGET
),$(F4_TARGETS
)))
815 TARGET_SRC
:= $(STARTUP_SRC
) $(STM32F4xx_COMMON_SRC
) $(TARGET_SRC
)
816 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
)))
817 TARGET_SRC
:= $(STARTUP_SRC
) $(STM32F7xx_COMMON_SRC
) $(TARGET_SRC
)
818 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
819 TARGET_SRC
:= $(STARTUP_SRC
) $(STM32F30x_COMMON_SRC
) $(TARGET_SRC
)
820 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F1_TARGETS
)))
821 TARGET_SRC
:= $(STARTUP_SRC
) $(STM32F10x_COMMON_SRC
) $(TARGET_SRC
)
824 ifneq ($(filter ONBOARDFLASH
,$(FEATURES
)),)
826 drivers
/flash_m25p16.c \
830 ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
) $(F4_TARGETS
) $(F3_TARGETS
)))
831 TARGET_SRC
+= $(HIGHEND_SRC
)
832 else ifneq ($(filter HIGHEND
,$(FEATURES
)),)
833 TARGET_SRC
+= $(HIGHEND_SRC
)
836 TARGET_SRC
+= $(COMMON_SRC
)
838 ifeq ($(TARGET
),$(filter $(TARGET
),$(F7_TARGETS
)))
839 TARGET_SRC
:= $(filter-out ${F7EXCLUDES}, $(TARGET_SRC
))
842 ifneq ($(filter SDCARD
,$(FEATURES
)),)
845 drivers
/sdcard_standard.c \
846 io
/asyncfatfs
/asyncfatfs.c \
847 io
/asyncfatfs
/fat_standard.c
850 ifneq ($(filter VCP
,$(FEATURES
)),)
851 TARGET_SRC
+= $(VCP_SRC
)
853 # end target specific make file checks
856 # Search path and source files for the ST stdperiph library
857 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
859 ###############################################################################
860 # Things that might need changing to use different tools
863 # Find out if ccache is installed on the system
865 RESULT
= $(shell (which
$(CCACHE
) > /dev
/null
2>&1; echo
$$?
) )
871 CROSS_CC
:= $(CCACHE
) $(ARM_SDK_PREFIX
)gcc
872 CROSS_CXX
:= $(CCACHE
) $(ARM_SDK_PREFIX
)g
++
873 OBJCOPY
:= $(ARM_SDK_PREFIX
)objcopy
874 SIZE
:= $(ARM_SDK_PREFIX
)size
881 OPTIMISATION_BASE
:= -flto
-fuse-linker-plugin
-ffast-math
885 ifeq ($(TARGET
),$(filter $(TARGET
),$(F1_TARGETS
)))
886 OPTIMISE_DEFAULT
:= -Os
888 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
890 else ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
891 OPTIMISE_DEFAULT
:= -O2
892 OPTIMISE_SPEED
:= -Ofast
895 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SPEED
)
898 OPTIMISE_DEFAULT
:= -Ofast
900 LTO_FLAGS
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
904 CC_DEFAULT_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_DEFAULT
)
905 CC_SPEED_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SPEED
)
906 CC_SIZE_OPTIMISATION
:= $(OPTIMISATION_BASE
) $(OPTIMISE_SIZE
)
909 OPTIMISE_DEFAULT
:= -O0
911 CC_DEBUG_OPTIMISATION
:= $(OPTIMISE_DEFAULT
)
913 LTO_FLAGS
:= $(OPTIMISE_DEFAULT
)
916 DEBUG_FLAGS
= -ggdb3
-DDEBUG
918 CFLAGS
+= $(ARCH_FLAGS
) \
919 $(addprefix -D
,$(OPTIONS
)) \
920 $(addprefix -I
,$(INCLUDE_DIRS
)) \
923 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
924 -ffunction-sections \
928 -DUSE_STDPERIPH_DRIVER \
931 -D
'__FORKNAME__="$(FORKNAME)"' \
932 -D
'__TARGET__="$(TARGET)"' \
933 -D
'__REVISION__="$(REVISION)"' \
937 ASFLAGS
= $(ARCH_FLAGS
) \
938 -x assembler-with-cpp \
939 $(addprefix -I
,$(INCLUDE_DIRS
)) \
951 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
952 -Wl
,-L
$(LINKER_DIR
) \
954 -Wl
,--no-wchar-size-warning \
957 ###############################################################################
958 # No user-serviceable parts below
959 ###############################################################################
961 CPPCHECK
= cppcheck
$(CSOURCES
) --enable
=all --platform
=unix64 \
962 --std
=c99
--inline-suppr
--quiet
--force \
963 $(addprefix -I
,$(INCLUDE_DIRS
)) \
964 -I
/usr
/include -I
/usr
/include/linux
967 # Things we will build
969 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(FC_VER
)_
$(TARGET
).bin
970 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(FC_VER
)_
$(TARGET
).hex
971 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
972 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $(TARGET_SRC
))))
973 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $(TARGET_SRC
))))
974 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
977 CLEAN_ARTIFACTS
:= $(TARGET_BIN
)
978 CLEAN_ARTIFACTS
+= $(TARGET_HEX
)
979 CLEAN_ARTIFACTS
+= $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
981 # Make sure build date and revision is updated on every incremental build
982 $(OBJECT_DIR
)/$(TARGET
)/build
/version.o
: $(TARGET_SRC
)
984 # List of buildable ELF files and their object dependencies.
985 # It would be nice to compute these lists, but that seems to be just beyond make.
987 $(TARGET_HEX
): $(TARGET_ELF
)
988 $(V0
) $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
990 $(TARGET_BIN
): $(TARGET_ELF
)
991 $(V0
) $(OBJCOPY
) -O binary
$< $@
993 $(TARGET_ELF
): $(TARGET_OBJS
)
994 $(V1
) echo Linking
$(TARGET
)
995 $(V1
) $(CROSS_CC
) -o
$@
$^
$(LDFLAGS
)
996 $(V0
) $(SIZE
) $(TARGET_ELF
)
1000 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
1001 $(V1
) mkdir
-p
$(dir $@
)
1002 $(V1
) $(if
$(findstring $(subst .
/src
/main
/,,$<),$(SPEED_OPTIMISED_SRC
)), \
1003 echo
"%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
1004 $(CROSS_CC
) -c
-o
$@
$(CFLAGS
) $(CC_SPEED_OPTIMISATION
) $<, \
1005 $(if
$(findstring $(subst .
/src
/main
/,,$<),$(SIZE_OPTIMISED_SRC
)), \
1006 echo
"%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1007 $(CROSS_CC
) -c
-o
$@
$(CFLAGS
) $(CC_SIZE_OPTIMISATION
) $<, \
1008 echo
"%% $(notdir $<)" "$(STDOUT)" && \
1009 $(CROSS_CC
) -c
-o
$@
$(CFLAGS
) $(CC_DEFAULT_OPTIMISATION
) $<))
1011 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
1012 $(V1
) mkdir
-p
$(dir $@
)
1013 $(V1
) echo
"%% $(notdir $<)" "$(STDOUT)" && \
1014 $(CROSS_CC
) -c
-o
$@
$(CFLAGS
) $(CC_DEBUG_OPTIMISATION
) $<
1018 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
1019 $(V1
) mkdir
-p
$(dir $@
)
1020 $(V1
) echo
"%% $(notdir $<)" "$(STDOUT)"
1021 $(V1
) $(CROSS_CC
) -c
-o
$@
$(ASFLAGS
) $<
1023 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
1024 $(V1
) mkdir
-p
$(dir $@
)
1025 $(V1
) echo
"%% $(notdir $<)" "$(STDOUT)"
1026 $(V1
) $(CROSS_CC
) -c
-o
$@
$(ASFLAGS
) $<
1028 ## sample : Build all sample (travis) targets
1029 sample
: $(SAMPLE_TARGETS
)
1031 ## all : Build all valid targets
1032 all: $(VALID_TARGETS
)
1036 echo
"Building $@" && \
1037 $(MAKE
) binary hex TARGET
=$@
&& \
1038 echo
"Building $@ succeeded."
1042 CLEAN_TARGETS
= $(addprefix clean_
,$(VALID_TARGETS
) )
1043 TARGETS_CLEAN
= $(addsuffix _clean
,$(VALID_TARGETS
) )
1045 ## clean : clean up temporary / machine-generated files
1047 $(V0
) echo
"Cleaning $(TARGET)"
1048 $(V0
) rm -f
$(CLEAN_ARTIFACTS
)
1049 $(V0
) rm -rf
$(OBJECT_DIR
)/$(TARGET
)
1050 $(V0
) echo
"Cleaning $(TARGET) succeeded."
1052 ## clean_test : clean up temporary / machine-generated files (tests)
1054 $(V0
) cd src
/test && $(MAKE
) clean || true
1056 ## clean_<TARGET> : clean up one specific target
1058 $(V0
) $(MAKE
) -j TARGET
=$(subst clean_
,,$@
) clean
1060 ## <TARGET>_clean : clean up one specific target (alias for above)
1062 $(V0
) $(MAKE
) -j TARGET
=$(subst _clean
,,$@
) clean
1064 ## clean_all : clean all valid targets
1065 clean_all
:$(CLEAN_TARGETS
)
1067 ## all_clean : clean all valid targets (alias for above)
1068 all_clean
:$(TARGETS_CLEAN
)
1071 flash_
$(TARGET
): $(TARGET_HEX
)
1072 $(V0
) stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
1073 $(V0
) echo
-n
'R' >$(SERIAL_DEVICE
)
1074 $(V0
) stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
1076 ## flash : flash firmware (.hex) onto flight controller
1077 flash
: flash_
$(TARGET
)
1079 st-flash_
$(TARGET
): $(TARGET_BIN
)
1080 $(V0
) st-flash
--reset write
$< 0x08000000
1082 ## st-flash : flash firmware (.bin) onto flight controller
1083 st-flash
: st-flash_
$(TARGET
)
1086 $(V0
) $(MAKE
) -j
$(TARGET_BIN
)
1089 $(V0
) $(MAKE
) -j
$(TARGET_HEX
)
1091 unbrick_
$(TARGET
): $(TARGET_HEX
)
1092 $(V0
) stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
1093 $(V0
) stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
1095 ## unbrick : unbrick flight controller
1096 unbrick
: unbrick_
$(TARGET
)
1098 ## cppcheck : run static analysis on C source code
1099 cppcheck
: $(CSOURCES
)
1102 cppcheck-result.xml
: $(CSOURCES
)
1103 $(V0
) $(CPPCHECK
) --xml-version
=2 2> cppcheck-result.xml
1115 ## help : print this help message and exit
1116 help
: Makefile make
/tools.mk
1118 $(V0
) @echo
"Makefile for the $(FORKNAME) firmware"
1120 $(V0
) @echo
"Usage:"
1121 $(V0
) @echo
" make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1123 $(V0
) @echo
" make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1125 $(V0
) @echo
"Valid TARGET values are: $(VALID_TARGETS)"
1127 $(V0
) @sed
-n
's/^## //p' $?
1129 ## targets : print a list of all valid target platforms (for consumption by scripts)
1131 $(V0
) @echo
"Valid targets: $(VALID_TARGETS)"
1132 $(V0
) @echo
"Target: $(TARGET)"
1133 $(V0
) @echo
"Base target: $(BASE_TARGET)"
1135 ## test : run the cleanflight test suite
1136 ## junittest : run the cleanflight test suite, producing Junit XML result files.
1138 $(V0
) cd src
/test && $(MAKE
) $@
1140 # rebuild everything when makefile changes
1141 $(TARGET_OBJS
) : Makefile
1143 # include auto-generated dependencies
1144 -include $(TARGET_DEPS
)