Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the cleanflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12
  13 ###############################################################################
  14 # Things that the user might override on the commandline
  15 #
  16
  17 # The target to build, see VALID_TARGETS below
  18 TARGET          ?= NAZE
  19
  20 # Compile-time options
  21 OPTIONS         ?=
  22
  23 # Debugger optons, must be empty or GDB
  24 DEBUG ?=
  25
  26 # Serial port/Device for flashing
  27 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  28
  29 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  30 FLASH_SIZE ?=
  31
  32 ###############################################################################
  33 # Things that need to be maintained as the source changes
  34 #
  35
  36 FORKNAME                         = inav
  37
  38 VALID_TARGETS    = ALIENWIIF1 ALIENWIIF3 CC3D CHEBUZZF3 CJMCU COLIBRI_RACE EUSTM32F103RC MOTOLAB NAZE NAZE32PRO OLIMEXINO PORT103R RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY
  39
  40 # Configure default flash sizes for the targets
  41 ifeq ($(FLASH_SIZE),)
  42 ifeq ($(TARGET),$(filter $(TARGET),CJMCU))
  43 FLASH_SIZE = 64
  44 else ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF1 CC3D NAZE OLIMEXINO RMDO))
  45 FLASH_SIZE = 128
  46 else ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE EUSTM32F103RC MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 STM32F3DISCOVERY))
  47 FLASH_SIZE = 256
  48 else
  49 $(error FLASH_SIZE not configured for target)
  50 endif
  51 endif
  52
  53 REVISION = $(shell git log -1 --format="%h")
  54
  55 # Working directories
  56 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  57 SRC_DIR          = $(ROOT)/src/main
  58 OBJECT_DIR       = $(ROOT)/obj/main
  59 BIN_DIR          = $(ROOT)/obj
  60 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  61 INCLUDE_DIRS     = $(SRC_DIR)
  62 LINKER_DIR       = $(ROOT)/src/main/target
  63
  64 # Search path for sources
  65 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  66 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  67 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  68
  69 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
  70
  71 ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY))
  72
  73 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  74
  75 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  76
  77 EXCLUDES        = stm32f30x_crc.c \
  78                 stm32f30x_can.c
  79
  80 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  81
  82 DEVICE_STDPERIPH_SRC = \
  83                 $(STDPERIPH_SRC)
  84
  85
  86 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  87 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  88                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
  89
  90 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  91                    $(STDPERIPH_DIR)/inc \
  92                    $(CMSIS_DIR)/CM1/CoreSupport \
  93                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  94
  95 ifneq ($(TARGET),SPRACINGF3)
  96 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  97                    $(USBFS_DIR)/inc \
  98                    $(ROOT)/src/main/vcp
  99
 100 VPATH := $(VPATH):$(USBFS_DIR)/src
 101
 102 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 103                    $(USBPERIPH_SRC)
 104
 105 endif
 106
 107 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 108
 109 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 110 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 111 TARGET_FLAGS = -D$(TARGET)
 112 ifeq ($(TARGET),CHEBUZZF3)
 113 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 114 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 115 endif
 116
 117 ifeq ($(TARGET),RMDO)
 118 # RMDO is a VARIANT of SPRACINGF3
 119 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 120 endif
 121
 122 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 123
 124
 125 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 126
 127 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 128
 129 EXCLUDES        = stm32f10x_crc.c \
 130                 stm32f10x_cec.c \
 131                 stm32f10x_can.c
 132
 133 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 134
 135 # Search path and source files for the CMSIS sources
 136 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 137 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 138                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 139
 140 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 141                    $(STDPERIPH_DIR)/inc \
 142                    $(CMSIS_DIR)/CM3/CoreSupport \
 143                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 144
 145 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 146
 147 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 148 TARGET_FLAGS = -D$(TARGET) -pedantic
 149 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 150
 151 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 152
 153 else
 154
 155 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 156
 157 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 158
 159 EXCLUDES        = stm32f10x_crc.c \
 160                 stm32f10x_cec.c \
 161                 stm32f10x_can.c
 162
 163 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 164
 165 # Search path and source files for the CMSIS sources
 166 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 167 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 168                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 169
 170 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 171                    $(STDPERIPH_DIR)/inc \
 172                    $(CMSIS_DIR)/CM3/CoreSupport \
 173                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 174
 175 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 176
 177 ifeq ($(TARGET),CC3D)
 178 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 179                    $(USBFS_DIR)/inc \
 180                    $(ROOT)/src/main/vcp
 181
 182 VPATH := $(VPATH):$(USBFS_DIR)/src
 183
 184 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 185                    $(USBPERIPH_SRC)
 186
 187 endif
 188
 189 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 190
 191 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 192 TARGET_FLAGS = -D$(TARGET) -pedantic
 193 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 194
 195 endif
 196
 197 ifneq ($(FLASH_SIZE),)
 198 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 199 endif
 200
 201 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 202 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 203
 204 ifeq ($(TARGET),ALIENWIIF1)
 205 # ALIENWIIF1 is a VARIANT of NAZE
 206 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 207 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 208 endif
 209
 210 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 211                     $(TARGET_DIR)
 212
 213 VPATH           := $(VPATH):$(TARGET_DIR)
 214
 215 COMMON_SRC = build_config.c \
 216                    debug.c \
 217                    version.c \
 218                    $(TARGET_SRC) \
 219                    config/config.c \
 220                    config/runtime_config.c \
 221                    common/maths.c \
 222                    common/printf.c \
 223                    common/typeconversion.c \
 224                    common/encoding.c \
 225                    common/filter.c \
 226                    main.c \
 227                    mw.c \
 228                    flight/failsafe.c \
 229                    flight/pid.c \
 230                    flight/imu.c \
 231                    flight/hil.c \
 232                    flight/mixer.c \
 233                    flight/lowpass.c \
 234                    drivers/bus_i2c_soft.c \
 235                    drivers/serial.c \
 236                    drivers/sound_beeper.c \
 237                    drivers/system.c \
 238            drivers/gps_i2cnav.c \
 239                    io/beeper.c \
 240                    io/rc_controls.c \
 241                    io/rc_curves.c \
 242                    io/serial.c \
 243                    io/serial_1wire.c \
 244                    io/serial_cli.c \
 245                    io/serial_msp.c \
 246                    io/statusindicator.c \
 247                    rx/rx.c \
 248                    rx/pwm.c \
 249                    rx/msp.c \
 250                    rx/sbus.c \
 251                    rx/sumd.c \
 252                    rx/sumh.c \
 253                    rx/spektrum.c \
 254                    rx/xbus.c \
 255                    sensors/acceleration.c \
 256                    sensors/battery.c \
 257                    sensors/boardalignment.c \
 258                    sensors/compass.c \
 259                    sensors/gyro.c \
 260                    sensors/initialisation.c \
 261                    $(CMSIS_SRC) \
 262                    $(DEVICE_STDPERIPH_SRC)
 263
 264 HIGHEND_SRC = \
 265                    flight/gtune.c \
 266            flight/navigation_rewrite.c \
 267            flight/navigation_rewrite_multicopter.c \
 268            flight/navigation_rewrite_fixedwing.c \
 269            flight/navigation_rewrite_pos_estimator.c \
 270            flight/navigation_rewrite_geo.c \
 271                    flight/gps_conversion.c \
 272                    common/colorconversion.c \
 273                    io/gps.c \
 274                    io/ledstrip.c \
 275                    io/display.c \
 276                    telemetry/telemetry.c \
 277                    telemetry/frsky.c \
 278                    telemetry/hott.c \
 279                    telemetry/msp.c \
 280                    telemetry/smartport.c \
 281                    telemetry/ltm.c \
 282                    sensors/sonar.c \
 283                    sensors/barometer.c \
 284                    blackbox/blackbox.c \
 285                    blackbox/blackbox_io.c
 286
 287 VCP_SRC = \
 288                    vcp/hw_config.c \
 289                    vcp/stm32_it.c \
 290                    vcp/usb_desc.c \
 291                    vcp/usb_endp.c \
 292                    vcp/usb_istr.c \
 293                    vcp/usb_prop.c \
 294                    vcp/usb_pwr.c \
 295                    drivers/serial_usb_vcp.c
 296
 297 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 298                    drivers/accgyro_adxl345.c \
 299                    drivers/accgyro_bma280.c \
 300                    drivers/accgyro_l3g4200d.c \
 301                    drivers/accgyro_mma845x.c \
 302                    drivers/accgyro_mpu.c \
 303                    drivers/accgyro_mpu3050.c \
 304                    drivers/accgyro_mpu6050.c \
 305                    drivers/accgyro_mpu6500.c \
 306                    drivers/accgyro_spi_mpu6500.c \
 307                    drivers/adc.c \
 308                    drivers/adc_stm32f10x.c \
 309                    drivers/barometer_bmp085.c \
 310                    drivers/barometer_ms5611.c \
 311                    drivers/barometer_bmp280.c \
 312                    drivers/bus_spi.c \
 313                    drivers/bus_i2c_stm32f10x.c \
 314                    drivers/compass_hmc5883l.c \
 315                    drivers/display_ug2864hsweg01.h \
 316                    drivers/flash_m25p16.c \
 317                    drivers/gpio_stm32f10x.c \
 318                    drivers/inverter.c \
 319                    drivers/light_led_stm32f10x.c \
 320                    drivers/light_ws2811strip.c \
 321                    drivers/light_ws2811strip_stm32f10x.c \
 322                    drivers/sonar_hcsr04.c \
 323                    drivers/pwm_mapping.c \
 324                    drivers/pwm_output.c \
 325                    drivers/pwm_rx.c \
 326                    drivers/serial_softserial.c \
 327                    drivers/serial_uart.c \
 328                    drivers/serial_uart_stm32f10x.c \
 329                    drivers/sound_beeper_stm32f10x.c \
 330                    drivers/system_stm32f10x.c \
 331                    drivers/timer.c \
 332                    drivers/timer_stm32f10x.c \
 333                    io/flashfs.c \
 334                    hardware_revision.c \
 335                    $(HIGHEND_SRC) \
 336                    $(COMMON_SRC)
 337
 338 ALIENWIIF1_SRC = $(NAZE_SRC)
 339
 340 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 341                    drivers/accgyro_adxl345.c \
 342                    drivers/accgyro_bma280.c \
 343                    drivers/accgyro_l3g4200d.c \
 344                    drivers/accgyro_mma845x.c \
 345                    drivers/accgyro_mpu.c \
 346                    drivers/accgyro_mpu3050.c \
 347                    drivers/accgyro_mpu6050.c \
 348                    drivers/accgyro_spi_mpu6000.c \
 349                    drivers/accgyro_spi_mpu6500.c \
 350                    drivers/adc.c \
 351                    drivers/adc_stm32f10x.c \
 352                    drivers/barometer_bmp085.c \
 353                    drivers/barometer_ms5611.c \
 354                    drivers/bus_i2c_stm32f10x.c \
 355                    drivers/bus_spi.c \
 356                    drivers/compass_ak8975.c \
 357                    drivers/compass_hmc5883l.c \
 358                    drivers/display_ug2864hsweg01.c \
 359                    drivers/flash_m25p16.c \
 360                    drivers/gpio_stm32f10x.c \
 361                    drivers/inverter.c \
 362                    drivers/light_led_stm32f10x.c \
 363                    drivers/light_ws2811strip.c \
 364                    drivers/light_ws2811strip_stm32f10x.c \
 365                    drivers/pwm_mapping.c \
 366                    drivers/pwm_output.c \
 367                    drivers/pwm_rx.c \
 368                    drivers/serial_softserial.c \
 369                    drivers/serial_uart.c \
 370                    drivers/serial_uart_stm32f10x.c \
 371                    drivers/sonar_hcsr04.c \
 372                    drivers/sound_beeper_stm32f10x.c \
 373                    drivers/system_stm32f10x.c \
 374                    drivers/timer.c \
 375                    drivers/timer_stm32f10x.c \
 376                    io/flashfs.c \
 377                    $(HIGHEND_SRC) \
 378                    $(COMMON_SRC)
 379
 380 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 381
 382 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 383                    drivers/accgyro_mpu.c \
 384                    drivers/accgyro_mpu6050.c \
 385                    drivers/adc.c \
 386                    drivers/adc_stm32f10x.c \
 387                    drivers/barometer_bmp085.c \
 388                    drivers/bus_i2c_stm32f10x.c \
 389                    drivers/bus_spi.c \
 390                    drivers/compass_hmc5883l.c \
 391                    drivers/gpio_stm32f10x.c \
 392                    drivers/light_led_stm32f10x.c \
 393                    drivers/light_ws2811strip.c \
 394                    drivers/light_ws2811strip_stm32f10x.c \
 395                    drivers/pwm_mapping.c \
 396                    drivers/pwm_output.c \
 397                    drivers/pwm_rx.c \
 398                    drivers/serial_softserial.c \
 399                    drivers/serial_uart.c \
 400                    drivers/serial_uart_stm32f10x.c \
 401                    drivers/sonar_hcsr04.c \
 402                    drivers/sound_beeper_stm32f10x.c \
 403                    drivers/system_stm32f10x.c \
 404                    drivers/timer.c \
 405                    drivers/timer_stm32f10x.c \
 406                    $(HIGHEND_SRC) \
 407                    $(COMMON_SRC)
 408
 409 CJMCU_SRC = \
 410                    startup_stm32f10x_md_gcc.S \
 411                    drivers/adc.c \
 412                    drivers/adc_stm32f10x.c \
 413                    drivers/accgyro_mpu.c \
 414                    drivers/accgyro_mpu6050.c \
 415                    drivers/bus_i2c_stm32f10x.c \
 416                    drivers/compass_hmc5883l.c \
 417                    drivers/gpio_stm32f10x.c \
 418                    drivers/light_led_stm32f10x.c \
 419                    drivers/pwm_mapping.c \
 420                    drivers/pwm_output.c \
 421                    drivers/pwm_rx.c \
 422                    drivers/serial_uart.c \
 423                    drivers/serial_uart_stm32f10x.c \
 424                    drivers/sound_beeper_stm32f10x.c \
 425                    drivers/system_stm32f10x.c \
 426                    drivers/timer.c \
 427                    drivers/timer_stm32f10x.c \
 428                    hardware_revision.c \
 429                    flight/gtune.c \
 430                    blackbox/blackbox.c \
 431                    blackbox/blackbox_io.c \
 432                    $(COMMON_SRC)
 433
 434 CC3D_SRC = \
 435                    startup_stm32f10x_md_gcc.S \
 436                    drivers/accgyro_mpu.c \
 437                    drivers/accgyro_spi_mpu6000.c \
 438                    drivers/adc.c \
 439                    drivers/adc_stm32f10x.c \
 440                    drivers/barometer_bmp085.c \
 441                    drivers/barometer_ms5611.c \
 442                    drivers/bus_spi.c \
 443                    drivers/bus_i2c_stm32f10x.c \
 444                    drivers/compass_hmc5883l.c \
 445                    drivers/display_ug2864hsweg01.c \
 446                    drivers/flash_m25p16.c \
 447                    drivers/gpio_stm32f10x.c \
 448                    drivers/inverter.c \
 449                    drivers/light_led_stm32f10x.c \
 450                    drivers/light_ws2811strip.c \
 451                    drivers/light_ws2811strip_stm32f10x.c \
 452                    drivers/pwm_mapping.c \
 453                    drivers/pwm_output.c \
 454                    drivers/pwm_rx.c \
 455                    drivers/serial_softserial.c \
 456                    drivers/serial_uart.c \
 457                    drivers/serial_uart_stm32f10x.c \
 458                    drivers/sonar_hcsr04.c \
 459                    drivers/sound_beeper_stm32f10x.c \
 460                    drivers/system_stm32f10x.c \
 461                    drivers/timer.c \
 462                    drivers/timer_stm32f10x.c \
 463                    io/flashfs.c \
 464                    $(HIGHEND_SRC) \
 465                    $(COMMON_SRC) \
 466                    $(VCP_SRC)
 467
 468 STM32F30x_COMMON_SRC = \
 469                    startup_stm32f30x_md_gcc.S \
 470                    drivers/adc.c \
 471                    drivers/adc_stm32f30x.c \
 472                    drivers/bus_i2c_stm32f30x.c \
 473                    drivers/bus_spi.c \
 474                    drivers/gpio_stm32f30x.c \
 475                    drivers/light_led_stm32f30x.c \
 476                    drivers/light_ws2811strip.c \
 477                    drivers/light_ws2811strip_stm32f30x.c \
 478                    drivers/pwm_mapping.c \
 479                    drivers/pwm_output.c \
 480                    drivers/pwm_rx.c \
 481                    drivers/serial_uart.c \
 482                    drivers/serial_uart_stm32f30x.c \
 483                    drivers/sound_beeper_stm32f30x.c \
 484                    drivers/system_stm32f30x.c \
 485                    drivers/timer.c \
 486                    drivers/timer_stm32f30x.c
 487
 488 NAZE32PRO_SRC = \
 489                    $(STM32F30x_COMMON_SRC) \
 490                    $(HIGHEND_SRC) \
 491                    $(COMMON_SRC) \
 492                    $(VCP_SRC)
 493
 494 STM32F3DISCOVERY_COMMON_SRC = \
 495                    $(STM32F30x_COMMON_SRC) \
 496                    drivers/accgyro_l3gd20.c \
 497                    drivers/accgyro_l3gd20.c \
 498                    drivers/accgyro_lsm303dlhc.c \
 499                    drivers/compass_hmc5883l.c \
 500                    $(VCP_SRC)
 501
 502 STM32F3DISCOVERY_SRC = \
 503                    $(STM32F3DISCOVERY_COMMON_SRC) \
 504                    drivers/accgyro_adxl345.c \
 505                    drivers/accgyro_bma280.c \
 506                    drivers/accgyro_mma845x.c \
 507                    drivers/accgyro_mpu.c \
 508                    drivers/accgyro_mpu3050.c \
 509                    drivers/accgyro_mpu6050.c \
 510                    drivers/accgyro_l3g4200d.c \
 511                    drivers/barometer_ms5611.c \
 512                    drivers/compass_ak8975.c \
 513                    $(HIGHEND_SRC) \
 514                    $(COMMON_SRC)
 515
 516 CHEBUZZF3_SRC = \
 517                    $(STM32F3DISCOVERY_SRC) \
 518                    $(HIGHEND_SRC) \
 519                    $(COMMON_SRC)
 520
 521 COLIBRI_RACE_SRC = \
 522                    $(STM32F30x_COMMON_SRC) \
 523                    drivers/display_ug2864hsweg01.c \
 524                    drivers/accgyro_mpu.c \
 525                    drivers/accgyro_mpu6500.c \
 526                    drivers/accgyro_spi_mpu6500.c \
 527                    drivers/accgyro_mpu6500.c \
 528                    drivers/barometer_ms5611.c \
 529                    drivers/compass_ak8975.c \
 530                    drivers/compass_hmc5883l.c \
 531                    drivers/serial_usb_vcp.c \
 532                    $(HIGHEND_SRC) \
 533                    $(COMMON_SRC) \
 534                    $(VCP_SRC)
 535
 536 SPARKY_SRC = \
 537                    $(STM32F30x_COMMON_SRC) \
 538                    drivers/display_ug2864hsweg01.c \
 539                    drivers/accgyro_mpu.c \
 540                    drivers/accgyro_mpu6050.c \
 541                    drivers/barometer_ms5611.c \
 542                    drivers/compass_ak8975.c \
 543                    drivers/serial_usb_vcp.c \
 544                    $(HIGHEND_SRC) \
 545                    $(COMMON_SRC) \
 546                    $(VCP_SRC)
 547
 548 ALIENWIIF3_SRC = \
 549                    $(SPARKY_SRC)
 550
 551 RMDO_SRC = \
 552                    $(STM32F30x_COMMON_SRC) \
 553                    drivers/accgyro_mpu.c \
 554                    drivers/accgyro_mpu6050.c \
 555                    drivers/barometer_bmp280.c \
 556                    drivers/display_ug2864hsweg01.h \
 557                    drivers/flash_m25p16.c \
 558                    drivers/serial_softserial.c \
 559                    drivers/sonar_hcsr04.c \
 560                    io/flashfs.c \
 561                    $(HIGHEND_SRC) \
 562                    $(COMMON_SRC)
 563
 564 SPRACINGF3_SRC = \
 565                    $(STM32F30x_COMMON_SRC) \
 566                    drivers/accgyro_mpu.c \
 567                    drivers/accgyro_mpu6050.c \
 568                    drivers/barometer_ms5611.c \
 569                    drivers/compass_ak8975.c \
 570                    drivers/compass_hmc5883l.c \
 571                    drivers/display_ug2864hsweg01.h \
 572                    drivers/flash_m25p16.c \
 573                    drivers/serial_softserial.c \
 574                    drivers/sonar_hcsr04.c \
 575                    io/flashfs.c \
 576                    $(HIGHEND_SRC) \
 577                    $(COMMON_SRC)
 578
 579 MOTOLAB_SRC = \
 580                    $(STM32F30x_COMMON_SRC) \
 581                    drivers/accgyro_mpu.c \
 582                    drivers/accgyro_mpu6050.c \
 583                    drivers/barometer_ms5611.c \
 584                    drivers/compass_hmc5883l.c \
 585                    drivers/display_ug2864hsweg01.c \
 586                    drivers/serial_usb_vcp.c \
 587                    drivers/flash_m25p16.c \
 588                    io/flashfs.c \
 589                    $(HIGHEND_SRC) \
 590                    $(COMMON_SRC) \
 591                    $(VCP_SRC)
 592
 593 # Search path and source files for the ST stdperiph library
 594 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 595
 596 ###############################################################################
 597 # Things that might need changing to use different tools
 598 #
 599
 600 # Tool names
 601 CC               = arm-none-eabi-gcc
 602 OBJCOPY          = arm-none-eabi-objcopy
 603 SIZE             = arm-none-eabi-size
 604
 605 #
 606 # Tool options.
 607 #
 608
 609 ifeq ($(DEBUG),GDB)
 610 OPTIMIZE         = -O0
 611 LTO_FLAGS        = $(OPTIMIZE)
 612 else
 613 OPTIMIZE         = -Os
 614 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 615 endif
 616
 617 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 618
 619 CFLAGS           = $(ARCH_FLAGS) \
 620                    $(LTO_FLAGS) \
 621                    $(addprefix -D,$(OPTIONS)) \
 622                    $(addprefix -I,$(INCLUDE_DIRS)) \
 623                    $(DEBUG_FLAGS) \
 624                    -std=gnu99 \
 625                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 626                    -ffunction-sections \
 627                    -fdata-sections \
 628                    $(DEVICE_FLAGS) \
 629                    -DUSE_STDPERIPH_DRIVER \
 630                    $(TARGET_FLAGS) \
 631                    -D'__FORKNAME__="$(FORKNAME)"' \
 632                    -D'__TARGET__="$(TARGET)"' \
 633                    -D'__REVISION__="$(REVISION)"' \
 634                    -save-temps=obj \
 635                    -MMD -MP
 636
 637 ASFLAGS          = $(ARCH_FLAGS) \
 638                    -x assembler-with-cpp \
 639                    $(addprefix -I,$(INCLUDE_DIRS)) \
 640                   -MMD -MP
 641
 642 LDFLAGS          = -lm \
 643                    -nostartfiles \
 644                    --specs=nano.specs \
 645                    -lc \
 646                    -lnosys \
 647                    $(ARCH_FLAGS) \
 648                    $(LTO_FLAGS) \
 649                    $(DEBUG_FLAGS) \
 650                    -static \
 651                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 652                    -Wl,-L$(LINKER_DIR) \
 653            -Wl,--cref \
 654                    -T$(LD_SCRIPT)
 655
 656 ###############################################################################
 657 # No user-serviceable parts below
 658 ###############################################################################
 659
 660 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 661                    --std=c99 --inline-suppr --quiet --force \
 662                    $(addprefix -I,$(INCLUDE_DIRS)) \
 663                    -I/usr/include -I/usr/include/linux
 664
 665 #
 666 # Things we will build
 667 #
 668 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 669 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 670 endif
 671
 672 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 673 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 674 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 675 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 676 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 677 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 678
 679 # List of buildable ELF files and their object dependencies.
 680 # It would be nice to compute these lists, but that seems to be just beyond make.
 681
 682 $(TARGET_HEX): $(TARGET_ELF)
 683         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 684
 685 $(TARGET_BIN): $(TARGET_ELF)
 686         $(OBJCOPY) -O binary $< $@
 687
 688 $(TARGET_ELF):  $(TARGET_OBJS)
 689         $(CC) -o $@ $^ $(LDFLAGS)
 690         $(SIZE) $(TARGET_ELF)
 691
 692 # Compile
 693 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 694         @mkdir -p $(dir $@)
 695         @echo %% $(notdir $<)
 696         @$(CC) -c -o $@ $(CFLAGS) $<
 697
 698 # Assemble
 699 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 700         @mkdir -p $(dir $@)
 701         @echo %% $(notdir $<)
 702         @$(CC) -c -o $@ $(ASFLAGS) $<
 703
 704 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 705         @mkdir -p $(dir $@)
 706         @echo %% $(notdir $<)
 707         @$(CC) -c -o $@ $(ASFLAGS) $<
 708
 709
 710 ## all         : default task; compile C code, build firmware
 711 all: binary
 712
 713 ## clean       : clean up all temporary / machine-generated files
 714 clean:
 715         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 716         rm -rf $(OBJECT_DIR)/$(TARGET)
 717         cd src/test && $(MAKE) clean || true
 718
 719 flash_$(TARGET): $(TARGET_HEX)
 720         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 721         echo -n 'R' >$(SERIAL_DEVICE)
 722         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 723
 724 ## flash       : flash firmware (.hex) onto flight controller
 725 flash: flash_$(TARGET)
 726
 727 st-flash_$(TARGET): $(TARGET_BIN)
 728         st-flash --reset write $< 0x08000000
 729
 730 ## st-flash    : flash firmware (.bin) onto flight controller
 731 st-flash: st-flash_$(TARGET)
 732
 733 binary: $(TARGET_BIN)
 734
 735 unbrick_$(TARGET): $(TARGET_HEX)
 736         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 737         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 738
 739 ## unbrick     : unbrick flight controller
 740 unbrick: unbrick_$(TARGET)
 741
 742 ## cppcheck    : run static analysis on C source code
 743 cppcheck: $(CSOURCES)
 744         $(CPPCHECK)
 745
 746 cppcheck-result.xml: $(CSOURCES)
 747         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 748
 749 ## help        : print this help message and exit
 750 help: Makefile
 751         @echo ""
 752         @echo "Makefile for the $(FORKNAME) firmware"
 753         @echo ""
 754         @echo "Usage:"
 755         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 756         @echo ""
 757         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 758         @echo ""
 759         @sed -n 's/^## //p' $<
 760
 761 ## test        : run the cleanflight test suite
 762 test:
 763         cd src/test && $(MAKE) test || true
 764
 765 # rebuild everything when makefile changes
 766 $(TARGET_OBJS) : Makefile
 767
 768 # include auto-generated dependencies
 769 -include $(TARGET_DEPS)