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
  41 ###############################################################################
  42 # Things that need to be maintained as the source changes
  43 #
  44
  45 FORKNAME      = betaflight
  46
  47 # Working directories
  48 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  49 SRC_DIR         = $(ROOT)/src/main
  50 OBJECT_DIR      = $(ROOT)/obj/main
  51 BIN_DIR         = $(ROOT)/obj
  52 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  53 INCLUDE_DIRS    = $(SRC_DIR) \
  54                   $(ROOT)/src/main/target
  55 LINKER_DIR      = $(ROOT)/src/main/target/link
  56
  57 ## V                 : Set verbosity level based on the V= parameter
  58 ##                     V=0 Low
  59 ##                     V=1 High
  60 include $(ROOT)/make/build_verbosity.mk
  61
  62 # Build tools, so we all share the same versions
  63 # import macros common to all supported build systems
  64 include $(ROOT)/make/system-id.mk
  65
  66 # developer preferences, edit these at will, they'll be gitignored
  67 -include $(ROOT)/make/local.mk
  68
  69 # configure some directories that are relative to wherever ROOT_DIR is located
  70 ifndef TOOLS_DIR
  71 TOOLS_DIR := $(ROOT)/tools
  72 endif
  73 BUILD_DIR := $(ROOT)/build
  74 DL_DIR    := $(ROOT)/downloads
  75
  76 export RM := rm
  77
  78 # import macros that are OS specific
  79 include $(ROOT)/make/$(OSFAMILY).mk
  80
  81 # include the tools makefile
  82 include $(ROOT)/make/tools.mk
  83
  84 # default xtal value for F4 targets
  85 HSE_VALUE       ?= 8000000
  86
  87 # used for turning on features like VCP and SDCARD
  88 FEATURES        =
  89
  90 OFFICIAL_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
  91 ALT_TARGETS       = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  92 OPBL_TARGETS      = $(filter %_OPBL, $(ALT_TARGETS))
  93 OSD_SLAVE_TARGETS = SPRACINGF3OSD
  94
  95 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  96 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  97 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  98 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  99
 100 GROUP_1_TARGETS := \
 101         AFROMINI \
 102         AIORACERF3 \
 103         AIR32 \
 104         AIRBOTF4 \
 105         AIRBOTF4SD \
 106         AIRHEROF3 \
 107         ALIENFLIGHTF1 \
 108         ALIENFLIGHTF3 \
 109         ALIENFLIGHTF4 \
 110         ALIENFLIGHTNGF7 \
 111         ANYFCF7 \
 112         BEEBRAIN \
 113         BEEROTORF4 \
 114         BETAFLIGHTF3 \
 115         BLUEJAYF4 \
 116         CC3D \
 117         CC3D_OPBL
 118
 119 GROUP_2_TARGETS := \
 120         CHEBUZZF3 \
 121         CJMCU \
 122         CLRACINGF4 \
 123         COLIBRI \
 124         COLIBRI_OPBL \
 125         COLIBRI_RACE \
 126         DOGE \
 127         ELLE0 \
 128         F4BY \
 129         FISHDRONEF4 \
 130         FLIP32F3OSD \
 131         FF_ACROWHOOPSP \
 132         FF_FORTINIF4 \
 133         FF_KOMBINI \
 134         FF_PIKOBLX \
 135         FF_PIKOF4 \
 136         FF_RADIANCE \
 137         FRSKYF3 \
 138         FRSKYF4 \
 139         FURYF3 \
 140         FURYF4 \
 141         FURYF7 \
 142         IMPULSERCF3 \
 143         IRCFUSIONF3 \
 144         ISHAPEDF3
 145
 146 GROUP_3_TARGETS := \
 147         KAKUTEF4 \
 148         KISSCC \
 149         KIWIF4 \
 150         LUX_RACE \
 151         LUXV2_RACE \
 152         MICROSCISKY \
 153         MOTOLAB \
 154         MULTIFLITEPICO \
 155         NAZE \
 156         NERO \
 157         NUCLEOF7 \
 158         OMNIBUS \
 159         OMNIBUSF4 \
 160         OMNIBUSF4SD \
 161         PLUMF4 \
 162         PODIUMF4 \
 163         DYSF4PRO
 164
 165 GROUP_4_TARGETS := \
 166         RCEXPLORERF3 \
 167         REVO \
 168         REVO_OPBL \
 169         REVOLT \
 170         REVONANO \
 171         RMDO \
 172         SINGULARITY \
 173         SIRINFPV \
 174         SOULF4 \
 175         SPARKY \
 176         SPARKY2 \
 177         SPRACINGF3 \
 178         SPRACINGF3EVO \
 179         SPRACINGF3MINI \
 180         SPRACINGF3NEO \
 181         SPRACINGF3OSD \
 182         SPRACINGF4EVO \
 183         SPRACINGF4NEO \
 184         STM32F3DISCOVERY \
 185         TINYBEEF3
 186
 187 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
 188
 189
 190 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 191 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 192 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 193 else
 194 BASE_TARGET    := $(TARGET)
 195 endif
 196
 197 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 198 OPBL            = yes
 199 endif
 200
 201 ifeq ($(filter $(TARGET),$(OSD_SLAVE_TARGETS)), $(TARGET))
 202 # build an OSD SLAVE
 203 OSD_SLAVE       = yes
 204 else
 205 # build an FC
 206 FC              = yes
 207 endif
 208
 209
 210 # silently ignore if the file is not present. Allows for target specific.
 211 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 212
 213 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F446_TARGETS)
 214 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 215
 216 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 217 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 218 endif
 219
 220 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS) $(SITL_TARGETS)),)
 221 $(error Target '$(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?)
 222 endif
 223
 224 128K_TARGETS  = $(F1_TARGETS)
 225 256K_TARGETS  = $(F3_TARGETS)
 226 512K_TARGETS  = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 227 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 228 2048K_TARGETS = $(F7X5XI_TARGETS) $(SITL_TARGETS)
 229
 230 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 231 ifeq ($(FLASH_SIZE),)
 232 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 233 FLASH_SIZE = 2048
 234 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 235 FLASH_SIZE = 1024
 236 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 237 FLASH_SIZE = 512
 238 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 239 FLASH_SIZE = 256
 240 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 241 FLASH_SIZE = 128
 242 else
 243 $(error FLASH_SIZE not configured for target $(TARGET))
 244 endif
 245 endif
 246
 247 # note that there is no hardfault debugging startup file assembly handler for other platforms
 248 ifeq ($(DEBUG_HARDFAULTS),F3)
 249 CFLAGS               += -DDEBUG_HARDFAULTS
 250 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 251 else
 252 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 253 endif
 254
 255 ifeq ($(DEBUG_HARDFAULTS),F7)
 256 CFLAGS               += -DDEBUG_HARDFAULTS
 257 endif
 258
 259 REVISION := $(shell git log -1 --format="%h")
 260
 261 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 262 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 263 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 264
 265 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 266
 267 # Search path for sources
 268 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 269 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 270 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 271 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 272 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 273
 274 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 275
 276 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 277 # F3 TARGETS
 278
 279 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 280 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 281 EXCLUDES        = stm32f30x_crc.c \
 282                   stm32f30x_can.c
 283 STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 284
 285 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 286 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 287
 288 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F30x
 289 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 290                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F30x/*.c))
 291
 292 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 293                    $(STDPERIPH_DIR)/inc \
 294                    $(CMSIS_DIR)/CM4/CoreSupport \
 295                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F30x
 296
 297 ifneq ($(filter VCP, $(FEATURES)),)
 298 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 299                    $(USBFS_DIR)/inc \
 300                    $(ROOT)/src/main/vcp
 301
 302 VPATH           := $(VPATH):$(USBFS_DIR)/src
 303
 304 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 305                         $(USBPERIPH_SRC)
 306 endif
 307
 308 ifneq ($(filter SDCARD, $(FEATURES)),)
 309 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 310                    $(FATFS_DIR) \
 311
 312 VPATH           := $(VPATH):$(FATFS_DIR)
 313 endif
 314
 315 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 316
 317 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 318 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 319 # End F3 targets
 320 #
 321 # Start F4 targets
 322 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 323
 324 #STDPERIPH
 325 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 326 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 327 EXCLUDES        = stm32f4xx_crc.c \
 328                   stm32f4xx_can.c \
 329                   stm32f4xx_fmc.c \
 330                   stm32f4xx_sai.c \
 331                   stm32f4xx_cec.c \
 332                   stm32f4xx_dsi.c \
 333                   stm32f4xx_flash_ramfunc.c \
 334                   stm32f4xx_fmpi2c.c \
 335                   stm32f4xx_lptim.c \
 336                   stm32f4xx_qspi.c \
 337                   stm32f4xx_spdifrx.c \
 338                   stm32f4xx_cryp.c \
 339                   stm32f4xx_cryp_aes.c \
 340                   stm32f4xx_hash_md5.c \
 341                   stm32f4xx_cryp_des.c \
 342                   stm32f4xx_rtc.c \
 343                   stm32f4xx_hash.c \
 344                   stm32f4xx_dbgmcu.c \
 345                   stm32f4xx_cryp_tdes.c \
 346                   stm32f4xx_hash_sha1.c
 347
 348 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 349 EXCLUDES        += stm32f4xx_fsmc.c
 350 endif
 351
 352 ifeq ($(TARGET),$(filter $(TARGET), $(F446_TARGETS)))
 353 EXCLUDES        += stm32f4xx_fsmc.c
 354 endif
 355
 356 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 357
 358 #USB
 359 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 360 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 361 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 362 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 363 EXCLUDES    = usb_bsp_template.c \
 364               usb_conf_template.c \
 365               usb_hcd_int.c \
 366               usb_hcd.c \
 367               usb_otg.c
 368
 369 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 370 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 371 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 372 EXCLUDES    = usbd_cdc_if_template.c
 373 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 374 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 375
 376 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 377                         $(USBOTG_SRC) \
 378                         $(USBCORE_SRC) \
 379                         $(USBCDC_SRC)
 380
 381 #CMSIS
 382 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 383 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 384                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 385 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 386                    $(STDPERIPH_DIR)/inc \
 387                    $(USBOTG_DIR)/inc \
 388                    $(USBCORE_DIR)/inc \
 389                    $(USBCDC_DIR)/inc \
 390                    $(USBFS_DIR)/inc \
 391                    $(CMSIS_DIR)/CM4/CoreSupport \
 392                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 393                    $(ROOT)/src/main/vcpf4
 394
 395 ifneq ($(filter SDCARD,$(FEATURES)),)
 396 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 397                    $(FATFS_DIR)
 398 VPATH           := $(VPATH):$(FATFS_DIR)
 399 endif
 400
 401 #Flags
 402 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 403
 404 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 405 DEVICE_FLAGS    = -DSTM32F411xE
 406 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 407 STARTUP_SRC     = startup_stm32f411xe.s
 408 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 409 DEVICE_FLAGS    = -DSTM32F40_41xxx
 410 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 411 STARTUP_SRC     = startup_stm32f40xx.s
 412 else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
 413 DEVICE_FLAGS    = -DSTM32F446xx
 414 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f446.ld
 415 STARTUP_SRC     = startup_stm32f446xx.s
 416 else
 417 $(error Unknown MCU for F4 target)
 418 endif
 419 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 420
 421 # End F4 targets
 422 #
 423 # Start F7 targets
 424 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 425
 426 #STDPERIPH
 427 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 428 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 429 EXCLUDES        = stm32f7xx_hal_can.c \
 430                   stm32f7xx_hal_cec.c \
 431                   stm32f7xx_hal_crc.c \
 432                   stm32f7xx_hal_crc_ex.c \
 433                   stm32f7xx_hal_cryp.c \
 434                   stm32f7xx_hal_cryp_ex.c \
 435                   stm32f7xx_hal_dac.c \
 436                   stm32f7xx_hal_dac_ex.c \
 437                   stm32f7xx_hal_dcmi.c \
 438                   stm32f7xx_hal_dcmi_ex.c \
 439                   stm32f7xx_hal_dfsdm.c \
 440                   stm32f7xx_hal_dma2d.c \
 441                   stm32f7xx_hal_dsi.c \
 442                   stm32f7xx_hal_eth.c \
 443                   stm32f7xx_hal_hash.c \
 444                   stm32f7xx_hal_hash_ex.c \
 445                   stm32f7xx_hal_hcd.c \
 446                   stm32f7xx_hal_i2s.c \
 447                   stm32f7xx_hal_irda.c \
 448                   stm32f7xx_hal_iwdg.c \
 449                   stm32f7xx_hal_jpeg.c \
 450                   stm32f7xx_hal_lptim.c \
 451                   stm32f7xx_hal_ltdc.c \
 452                   stm32f7xx_hal_ltdc_ex.c \
 453                   stm32f7xx_hal_mdios.c \
 454                   stm32f7xx_hal_mmc.c \
 455                   stm32f7xx_hal_msp_template.c \
 456                   stm32f7xx_hal_nand.c \
 457                   stm32f7xx_hal_nor.c \
 458                   stm32f7xx_hal_qspi.c \
 459                   stm32f7xx_hal_rng.c \
 460                   stm32f7xx_hal_rtc.c \
 461                   stm32f7xx_hal_rtc_ex.c \
 462                   stm32f7xx_hal_sai.c \
 463                   stm32f7xx_hal_sai_ex.c \
 464                   stm32f7xx_hal_sd.c \
 465                   stm32f7xx_hal_sdram.c \
 466                   stm32f7xx_hal_smartcard.c \
 467                   stm32f7xx_hal_smartcard_ex.c \
 468                   stm32f7xx_hal_smbus.c \
 469                   stm32f7xx_hal_spdifrx.c \
 470                   stm32f7xx_hal_sram.c \
 471                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 472                   stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 473                   stm32f7xx_hal_timebase_tim_template.c \
 474                   stm32f7xx_hal_wwdg.c \
 475                   stm32f7xx_ll_adc.c \
 476                   stm32f7xx_ll_crc.c \
 477                   stm32f7xx_ll_dac.c \
 478                   stm32f7xx_ll_dma.c \
 479                   stm32f7xx_ll_dma2d.c \
 480                   stm32f7xx_ll_exti.c \
 481                   stm32f7xx_ll_fmc.c \
 482                   stm32f7xx_ll_gpio.c \
 483                   stm32f7xx_ll_i2c.c \
 484                   stm32f7xx_ll_lptim.c \
 485                   stm32f7xx_ll_pwr.c \
 486                   stm32f7xx_ll_rcc.c \
 487                   stm32f7xx_ll_rng.c \
 488                   stm32f7xx_ll_rtc.c \
 489                   stm32f7xx_ll_sdmmc.c \
 490                   stm32f7xx_ll_spi.c \
 491                   stm32f7xx_ll_tim.c \
 492                   stm32f7xx_ll_usart.c \
 493                   stm32f7xx_ll_utils.c
 494
 495 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 496
 497 #USB
 498 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 499 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 500 EXCLUDES    = usbd_conf_template.c
 501 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 502
 503 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 504 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 505 EXCLUDES   = usbd_cdc_if_template.c
 506 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 507
 508 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 509
 510 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 511                         $(USBCORE_SRC) \
 512                         $(USBCDC_SRC)
 513
 514 #CMSIS
 515 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 516 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 517 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 518                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 519 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 520                    $(STDPERIPH_DIR)/Inc \
 521                    $(USBCORE_DIR)/Inc \
 522                    $(USBCDC_DIR)/Inc \
 523                    $(CMSIS_DIR)/CM7/Include \
 524                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 525                    $(ROOT)/src/main/vcp_hal
 526
 527 ifneq ($(filter SDCARD,$(FEATURES)),)
 528 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 529                    $(FATFS_DIR)
 530 VPATH           := $(VPATH):$(FATFS_DIR)
 531 endif
 532
 533 #Flags
 534 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 535
 536 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 537 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 538 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 539 STARTUP_SRC     = startup_stm32f745xx.s
 540 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 541 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 542 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 543 STARTUP_SRC     = startup_stm32f746xx.s
 544 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 545 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 546 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 547 STARTUP_SRC     = startup_stm32f722xx.s
 548 else
 549 $(error Unknown MCU for F7 target)
 550 endif
 551 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 552
 553 TARGET_FLAGS    = -D$(TARGET)
 554
 555 # End F7 targets
 556 #
 557 # Start SITL targets
 558 else ifeq ($(TARGET),$(filter $(TARGET), $(SITL_TARGETS)))
 559
 560 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 561                    $(ROOT)/lib/main/dyad
 562
 563 SITL_SRC        := $(ROOT)/lib/main/dyad/dyad.c
 564
 565 #Flags
 566 ARCH_FLAGS      =
 567 DEVICE_FLAGS    =
 568 LD_SCRIPT       = src/main/target/SITL/parameter_group.ld
 569 STARTUP_SRC     =
 570
 571 TARGET_FLAGS    = -D$(TARGET)
 572
 573 ARM_SDK_PREFIX  =
 574
 575 # End SITL targets
 576 #
 577 # Start F1 targets
 578 else
 579
 580 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 581 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 582 EXCLUDES        = stm32f10x_crc.c \
 583                   stm32f10x_cec.c \
 584                   stm32f10x_can.c
 585 STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 586 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 587
 588 # Search path and source files for the CMSIS sources
 589 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 590 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 591                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 592
 593 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 594                    $(STDPERIPH_DIR)/inc \
 595                    $(CMSIS_DIR)/CM3/CoreSupport \
 596                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 597
 598 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 599
 600 ifneq ($(filter VCP, $(FEATURES)),)
 601 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 602                    $(USBFS_DIR)/inc \
 603                    $(ROOT)/src/main/vcp
 604
 605 VPATH           := $(VPATH):$(USBFS_DIR)/src
 606
 607 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 608                         $(USBPERIPH_SRC)
 609
 610 endif
 611
 612 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 613 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 614
 615 ifeq ($(DEVICE_FLAGS),)
 616 DEVICE_FLAGS    = -DSTM32F10X_MD
 617 endif
 618 DEVICE_FLAGS   += -DSTM32F10X
 619
 620 endif
 621 #
 622 # End F1 targets
 623 #
 624 ifneq ($(BASE_TARGET), $(TARGET))
 625 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 626 endif
 627
 628 ifneq ($(FLASH_SIZE),)
 629 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 630 endif
 631
 632 ifneq ($(HSE_VALUE),)
 633 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 634 endif
 635
 636 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 637 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 638
 639 ifeq ($(OPBL),yes)
 640 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 641 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 642 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 643 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 644 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 645 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 646 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 647 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 648 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 649 endif
 650 .DEFAULT_GOAL := binary
 651 else
 652 .DEFAULT_GOAL := hex
 653 endif
 654
 655 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 656                    $(ROOT)/lib/main/MAVLink
 657
 658 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 659                    $(TARGET_DIR)
 660
 661 VPATH           := $(VPATH):$(TARGET_DIR)
 662
 663 COMMON_SRC = \
 664             build/build_config.c \
 665             build/debug.c \
 666             build/version.c \
 667             $(TARGET_DIR_SRC) \
 668             main.c \
 669             common/bitarray.c \
 670             common/encoding.c \
 671             common/filter.c \
 672             common/maths.c \
 673             common/printf.c \
 674             common/streambuf.c \
 675             common/typeconversion.c \
 676             config/config_eeprom.c \
 677             config/feature.c \
 678             config/parameter_group.c \
 679             config/config_streamer.c \
 680             drivers/adc.c \
 681             drivers/buf_writer.c \
 682             drivers/bus_i2c_config.c \
 683             drivers/bus_i2c_soft.c \
 684             drivers/bus_spi.c \
 685             drivers/bus_spi_config.c \
 686             drivers/bus_spi_pinconfig.c \
 687             drivers/bus_spi_soft.c \
 688             drivers/buttons.c \
 689             drivers/display.c \
 690             drivers/exti.c \
 691             drivers/io.c \
 692             drivers/light_led.c \
 693             drivers/resource.c \
 694             drivers/rcc.c \
 695             drivers/serial.c \
 696             drivers/serial_pinconfig.c \
 697             drivers/serial_uart.c \
 698             drivers/serial_uart_pinconfig.c \
 699             drivers/sound_beeper.c \
 700             drivers/stack_check.c \
 701             drivers/system.c \
 702             drivers/timer.c \
 703             drivers/transponder_ir.c \
 704             drivers/transponder_ir_arcitimer.c \
 705             drivers/transponder_ir_ilap.c \
 706             drivers/transponder_ir_erlt.c \
 707             fc/config.c \
 708             fc/fc_dispatch.c \
 709             fc/fc_hardfaults.c \
 710             fc/fc_msp.c \
 711             fc/fc_tasks.c \
 712             fc/runtime_config.c \
 713             io/beeper.c \
 714             io/serial.c \
 715             io/statusindicator.c \
 716             io/transponder_ir.c \
 717             io/rcsplit.c \
 718             msp/msp_serial.c \
 719             scheduler/scheduler.c \
 720             sensors/battery.c \
 721             sensors/current.c \
 722             sensors/voltage.c \
 723
 724 OSD_SLAVE_SRC = \
 725             io/displayport_max7456.c \
 726             osd_slave/osd_slave_init.c \
 727             io/osd_slave.c
 728
 729 FC_SRC = \
 730             fc/fc_init.c \
 731             fc/controlrate_profile.c \
 732             drivers/gyro_sync.c \
 733             drivers/rx_nrf24l01.c \
 734             drivers/rx_spi.c \
 735             drivers/rx_xn297.c \
 736             drivers/pwm_esc_detect.c \
 737             drivers/pwm_output.c \
 738             drivers/rx_pwm.c \
 739             drivers/serial_softserial.c \
 740             fc/fc_core.c \
 741             fc/fc_rc.c \
 742             fc/rc_adjustments.c \
 743             fc/rc_controls.c \
 744             fc/rc_modes.c \
 745             fc/cli.c \
 746             fc/settings.c \
 747             flight/altitude.c \
 748             flight/failsafe.c \
 749             flight/imu.c \
 750             flight/mixer.c \
 751             flight/pid.c \
 752             flight/servos.c \
 753             io/serial_4way.c \
 754             io/serial_4way_avrootloader.c \
 755             io/serial_4way_stk500v2.c \
 756             rx/ibus.c \
 757             rx/jetiexbus.c \
 758             rx/msp.c \
 759             rx/nrf24_cx10.c \
 760             rx/nrf24_inav.c \
 761             rx/nrf24_h8_3d.c \
 762             rx/nrf24_syma.c \
 763             rx/nrf24_v202.c \
 764             rx/pwm.c \
 765             rx/rx.c \
 766             rx/rx_spi.c \
 767             rx/crsf.c \
 768             rx/sbus.c \
 769             rx/spektrum.c \
 770             rx/sumd.c \
 771             rx/sumh.c \
 772             rx/xbus.c \
 773             sensors/acceleration.c \
 774             sensors/boardalignment.c \
 775             sensors/compass.c \
 776             sensors/gyro.c \
 777             sensors/gyroanalyse.c \
 778             sensors/initialisation.c \
 779             blackbox/blackbox.c \
 780             blackbox/blackbox_encoding.c \
 781             blackbox/blackbox_io.c \
 782             cms/cms.c \
 783             cms/cms_menu_blackbox.c \
 784             cms/cms_menu_builtin.c \
 785             cms/cms_menu_imu.c \
 786             cms/cms_menu_ledstrip.c \
 787             cms/cms_menu_misc.c \
 788             cms/cms_menu_osd.c \
 789             common/colorconversion.c \
 790             common/gps_conversion.c \
 791             drivers/display_ug2864hsweg01.c \
 792             drivers/light_ws2811strip.c \
 793             drivers/serial_escserial.c \
 794             drivers/sonar_hcsr04.c \
 795             drivers/vtx_common.c \
 796             flight/navigation.c \
 797             io/dashboard.c \
 798             io/displayport_max7456.c \
 799             io/displayport_msp.c \
 800             io/displayport_oled.c \
 801             io/gps.c \
 802             io/ledstrip.c \
 803             io/osd.c \
 804             sensors/sonar.c \
 805             sensors/barometer.c \
 806             telemetry/telemetry.c \
 807             telemetry/crsf.c \
 808             telemetry/srxl.c \
 809             telemetry/frsky.c \
 810             telemetry/hott.c \
 811             telemetry/smartport.c \
 812             telemetry/ltm.c \
 813             telemetry/mavlink.c \
 814             telemetry/ibus.c \
 815             telemetry/ibus_shared.c \
 816             sensors/esc_sensor.c \
 817             io/vtx_string.c \
 818             io/vtx_rtc6705.c \
 819             io/vtx_smartaudio.c \
 820             io/vtx_tramp.c \
 821             io/vtx_control.c
 822
 823 COMMON_DEVICE_SRC = \
 824             $(CMSIS_SRC) \
 825             $(DEVICE_STDPERIPH_SRC)
 826
 827 ifeq ($(OSD_SLAVE),yes)
 828 TARGET_FLAGS := -DUSE_OSD_SLAVE $(TARGET_FLAGS)
 829 COMMON_SRC := $(COMMON_SRC) $(OSD_SLAVE_SRC) $(COMMON_DEVICE_SRC)
 830 else
 831 COMMON_SRC := $(COMMON_SRC) $(FC_SRC) $(COMMON_DEVICE_SRC)
 832 endif
 833
 834
 835 SPEED_OPTIMISED_SRC := ""
 836 SIZE_OPTIMISED_SRC  := ""
 837
 838 ifneq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 839 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 840             common/encoding.c \
 841             common/filter.c \
 842             common/maths.c \
 843             common/typeconversion.c \
 844             drivers/adc.c \
 845             drivers/buf_writer.c \
 846             drivers/bus_spi.c \
 847             drivers/exti.c \
 848             drivers/gyro_sync.c \
 849             drivers/io.c \
 850             drivers/pwm_output.c \
 851             drivers/rcc.c \
 852             drivers/serial.c \
 853             drivers/serial_uart.c \
 854             drivers/system.c \
 855             drivers/timer.c \
 856             fc/fc_core.c \
 857             fc/fc_tasks.c \
 858             fc/fc_rc.c \
 859             fc/rc_controls.c \
 860             fc/runtime_config.c \
 861             flight/imu.c \
 862             flight/mixer.c \
 863             flight/pid.c \
 864             io/serial.c \
 865             rx/ibus.c \
 866             rx/jetiexbus.c \
 867             rx/rx.c \
 868             rx/rx_spi.c \
 869             rx/crsf.c \
 870             rx/sbus.c \
 871             rx/spektrum.c \
 872             rx/sumd.c \
 873             rx/sumh.c \
 874             rx/xbus.c \
 875             scheduler/scheduler.c \
 876             sensors/acceleration.c \
 877             sensors/boardalignment.c \
 878             sensors/gyro.c \
 879             sensors/gyroanalyse.c \
 880             $(CMSIS_SRC) \
 881             $(DEVICE_STDPERIPH_SRC) \
 882             drivers/light_ws2811strip.c \
 883             io/displayport_max7456.c \
 884             io/osd.c \
 885             io/osd_slave.c
 886
 887 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 888             drivers/bus_i2c_config.c \
 889             drivers/bus_spi_config.c \
 890             drivers/bus_spi_pinconfig.c \
 891             drivers/serial_escserial.c \
 892             drivers/serial_pinconfig.c \
 893             drivers/serial_uart_init.c \
 894             drivers/serial_uart_pinconfig.c \
 895             drivers/vtx_rtc6705_soft_spi.c \
 896             drivers/vtx_rtc6705.c \
 897             drivers/vtx_common.c \
 898             fc/fc_init.c \
 899             fc/cli.c \
 900             fc/settings.c \
 901             config/config_eeprom.c \
 902             config/feature.c \
 903             config/parameter_group.c \
 904             config/config_streamer.c \
 905             io/serial_4way.c \
 906             io/serial_4way_avrootloader.c \
 907             io/serial_4way_stk500v2.c \
 908             io/dashboard.c \
 909             msp/msp_serial.c \
 910             cms/cms.c \
 911             cms/cms_menu_blackbox.c \
 912             cms/cms_menu_builtin.c \
 913             cms/cms_menu_imu.c \
 914             cms/cms_menu_ledstrip.c \
 915             cms/cms_menu_misc.c \
 916             cms/cms_menu_osd.c \
 917             io/vtx_string.c \
 918             io/vtx_rtc6705.c \
 919             io/vtx_smartaudio.c \
 920             io/vtx_tramp.c \
 921             io/vtx_control.c
 922 endif #!F1
 923
 924 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 925 VCP_SRC = \
 926             vcpf4/stm32f4xx_it.c \
 927             vcpf4/usb_bsp.c \
 928             vcpf4/usbd_desc.c \
 929             vcpf4/usbd_usr.c \
 930             vcpf4/usbd_cdc_vcp.c \
 931             drivers/serial_usb_vcp.c \
 932             drivers/usb_io.c
 933 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 934 VCP_SRC = \
 935             vcp_hal/usbd_desc.c \
 936             vcp_hal/usbd_conf.c \
 937             vcp_hal/usbd_cdc_interface.c \
 938             drivers/serial_usb_vcp.c \
 939             drivers/usb_io.c
 940 else
 941 VCP_SRC = \
 942             vcp/hw_config.c \
 943             vcp/stm32_it.c \
 944             vcp/usb_desc.c \
 945             vcp/usb_endp.c \
 946             vcp/usb_istr.c \
 947             vcp/usb_prop.c \
 948             vcp/usb_pwr.c \
 949             drivers/serial_usb_vcp.c \
 950             drivers/usb_io.c
 951 endif
 952
 953 STM32F10x_COMMON_SRC = \
 954             drivers/adc_stm32f10x.c \
 955             drivers/bus_i2c_stm32f10x.c \
 956             drivers/dma.c \
 957             drivers/gpio_stm32f10x.c \
 958             drivers/inverter.c \
 959             drivers/light_ws2811strip_stdperiph.c \
 960             drivers/serial_uart_init.c \
 961             drivers/serial_uart_stm32f10x.c \
 962             drivers/system_stm32f10x.c \
 963             drivers/timer_stm32f10x.c
 964
 965 STM32F30x_COMMON_SRC = \
 966             target/system_stm32f30x.c \
 967             drivers/adc_stm32f30x.c \
 968             drivers/bus_i2c_stm32f30x.c \
 969             drivers/dma.c \
 970             drivers/gpio_stm32f30x.c \
 971             drivers/light_ws2811strip_stdperiph.c \
 972             drivers/pwm_output_dshot.c \
 973             drivers/serial_uart_init.c \
 974             drivers/serial_uart_stm32f30x.c \
 975             drivers/system_stm32f30x.c \
 976             drivers/timer_stm32f30x.c
 977
 978 STM32F4xx_COMMON_SRC = \
 979             target/system_stm32f4xx.c \
 980             drivers/accgyro/accgyro_mpu.c \
 981             drivers/adc_stm32f4xx.c \
 982             drivers/bus_i2c_stm32f10x.c \
 983             drivers/dma_stm32f4xx.c \
 984             drivers/gpio_stm32f4xx.c \
 985             drivers/inverter.c \
 986             drivers/light_ws2811strip_stdperiph.c \
 987             drivers/pwm_output_dshot.c \
 988             drivers/serial_uart_init.c \
 989             drivers/serial_uart_stm32f4xx.c \
 990             drivers/system_stm32f4xx.c \
 991             drivers/timer_stm32f4xx.c
 992
 993 STM32F7xx_COMMON_SRC = \
 994             target/system_stm32f7xx.c \
 995             drivers/accgyro/accgyro_mpu.c \
 996             drivers/adc_stm32f7xx.c \
 997             drivers/bus_i2c_hal.c \
 998             drivers/dma_stm32f7xx.c \
 999             drivers/gpio_stm32f7xx.c \
1000             drivers/light_ws2811strip_hal.c \
1001             drivers/bus_spi_hal.c \
1002             drivers/pwm_output_dshot_hal.c \
1003             drivers/timer_hal.c \
1004             drivers/timer_stm32f7xx.c \
1005             drivers/system_stm32f7xx.c \
1006             drivers/serial_uart_stm32f7xx.c \
1007             drivers/serial_uart_hal.c
1008
1009 F7EXCLUDES = \
1010             drivers/bus_spi.c \
1011             drivers/bus_i2c.c \
1012             drivers/timer.c \
1013             drivers/serial_uart.c
1014
1015 SITLEXCLUDES = \
1016             drivers/adc.c \
1017             drivers/bus_i2c.c \
1018             drivers/bus_i2c_config.c \
1019             drivers/bus_spi.c \
1020             drivers/bus_spi_config.c \
1021             drivers/bus_spi_pinconfig.c \
1022             drivers/dma.c \
1023             drivers/pwm_output.c \
1024             drivers/timer.c \
1025             drivers/light_led.c \
1026             drivers/system.c \
1027             drivers/rcc.c \
1028             drivers/serial_escserial.c \
1029             drivers/serial_pinconfig.c \
1030             drivers/serial_uart.c \
1031             drivers/serial_uart_init.c \
1032             drivers/serial_uart_pinconfig.c \
1033             drivers/rx_xn297.c \
1034             drivers/display_ug2864hsweg01.c \
1035             telemetry/crsf.c \
1036             telemetry/srxl.c \
1037             io/displayport_oled.c
1038
1039
1040 # check if target.mk supplied
1041 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
1042 SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1043 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
1044 SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1045 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
1046 SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1047 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
1048 SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
1049 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1050 SRC := $(TARGET_SRC) $(SITL_SRC) $(VARIANT_SRC)
1051 endif
1052
1053 ifneq ($(filter $(TARGET),$(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
1054 DSPLIB := $(ROOT)/lib/main/DSP_Lib
1055 DEVICE_FLAGS += -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE
1056
1057 ifneq ($(filter $(TARGET),$(F3_TARGETS)) $(F4_TARGETS)),)
1058 DEVICE_FLAGS += -DARM_MATH_CM4
1059 endif
1060 ifneq ($(filter $(TARGET),$(F7_TARGETS)),)
1061 DEVICE_FLAGS += -DARM_MATH_CM7
1062 endif
1063
1064 INCLUDE_DIRS += $(DSPLIB)/Include
1065
1066 SRC += $(DSPLIB)/Source/BasicMathFunctions/arm_mult_f32.c
1067 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_f32.c
1068 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_f32.c
1069 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_init_f32.c
1070 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_radix8_f32.c
1071 SRC += $(DSPLIB)/Source/CommonTables/arm_common_tables.c
1072
1073 SRC += $(DSPLIB)/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
1074 SRC += $(DSPLIB)/Source/StatisticsFunctions/arm_max_f32.c
1075
1076 SRC += $(wildcard $(DSPLIB)/Source/*/*.S)
1077
1078 endif
1079
1080
1081 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
1082 SRC += \
1083             drivers/flash_m25p16.c \
1084             io/flashfs.c
1085 endif
1086
1087 SRC += $(COMMON_SRC)
1088
1089 #excludes
1090 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
1091 SRC   := $(filter-out ${F7EXCLUDES}, $(SRC))
1092 endif
1093
1094 #SITL excludes
1095 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1096 SRC   := $(filter-out ${SITLEXCLUDES}, $(SRC))
1097 endif
1098
1099 ifneq ($(filter SDCARD,$(FEATURES)),)
1100 SRC += \
1101             drivers/sdcard.c \
1102             drivers/sdcard_standard.c \
1103             io/asyncfatfs/asyncfatfs.c \
1104             io/asyncfatfs/fat_standard.c
1105 endif
1106
1107 ifneq ($(filter VCP,$(FEATURES)),)
1108 SRC += $(VCP_SRC)
1109 endif
1110 # end target specific make file checks
1111
1112
1113 # Search path and source files for the ST stdperiph library
1114 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
1115
1116 ###############################################################################
1117 # Things that might need changing to use different tools
1118 #
1119
1120 # Find out if ccache is installed on the system
1121 CCACHE := ccache
1122 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
1123 ifneq ($(RESULT),0)
1124 CCACHE :=
1125 endif
1126
1127 # Tool names
1128 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
1129 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
1130 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
1131 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
1132 SIZE        := $(ARM_SDK_PREFIX)size
1133
1134 #
1135 # Tool options.
1136 #
1137
1138 ifneq ($(DEBUG),GDB)
1139 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
1140 OPTIMISE_SPEED      :=
1141 OPTIMISE_SIZE       :=
1142
1143 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
1144 OPTIMISE_DEFAULT    := -Os
1145
1146 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1147
1148 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1149 OPTIMISE_DEFAULT    := -Ofast
1150 OPTIMISE_SPEED      := -Ofast
1151 OPTIMISE_SIZE       := -Os
1152
1153 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1154
1155 else
1156 OPTIMISE_DEFAULT    := -O2
1157 OPTIMISE_SPEED      := -Ofast
1158 OPTIMISE_SIZE       := -Os
1159
1160 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1161
1162 endif #TARGETS
1163
1164 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1165 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1166 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
1167
1168 else #DEBUG
1169 OPTIMISE_DEFAULT    := -Og
1170
1171 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
1172
1173 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
1174 endif #DEBUG
1175
1176 DEBUG_FLAGS = -ggdb3 -DDEBUG
1177
1178 CFLAGS      += $(ARCH_FLAGS) \
1179               $(addprefix -D,$(OPTIONS)) \
1180               $(addprefix -I,$(INCLUDE_DIRS)) \
1181               $(DEBUG_FLAGS) \
1182               -std=gnu99 \
1183               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
1184               -ffunction-sections \
1185               -fdata-sections \
1186               -pedantic \
1187               $(DEVICE_FLAGS) \
1188               -DUSE_STDPERIPH_DRIVER \
1189               -D$(TARGET) \
1190               $(TARGET_FLAGS) \
1191               -D'__FORKNAME__="$(FORKNAME)"' \
1192               -D'__TARGET__="$(TARGET)"' \
1193               -D'__REVISION__="$(REVISION)"' \
1194               -save-temps=obj \
1195               -MMD -MP \
1196               $(EXTRA_FLAGS)
1197
1198
1199 ASFLAGS     = $(ARCH_FLAGS) \
1200               -x assembler-with-cpp \
1201               $(addprefix -I,$(INCLUDE_DIRS)) \
1202               -MMD -MP
1203
1204 LDFLAGS     = -lm \
1205               -nostartfiles \
1206               --specs=nano.specs \
1207               -lc \
1208               -lnosys \
1209               $(ARCH_FLAGS) \
1210               $(LTO_FLAGS) \
1211               $(DEBUG_FLAGS) \
1212               -static \
1213               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1214               -Wl,-L$(LINKER_DIR) \
1215               -Wl,--cref \
1216               -Wl,--no-wchar-size-warning \
1217               -T$(LD_SCRIPT)
1218
1219 #SITL compile
1220 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1221 LDFLAGS     = \
1222               -lm \
1223               -lpthread \
1224               -lc \
1225               -lrt \
1226               $(ARCH_FLAGS) \
1227               $(LTO_FLAGS) \
1228               $(DEBUG_FLAGS) \
1229               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1230               -Wl,-L$(LINKER_DIR) \
1231               -Wl,--cref \
1232               -T$(LD_SCRIPT)
1233
1234 ifneq ($(filter SITL_STATIC,$(OPTIONS)),)
1235 LDFLAGS     += \
1236               -static \
1237               -static-libgcc
1238 endif
1239 endif
1240
1241 ###############################################################################
1242 # No user-serviceable parts below
1243 ###############################################################################
1244
1245 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
1246                   --std=c99 --inline-suppr --quiet --force \
1247                   $(addprefix -I,$(INCLUDE_DIRS)) \
1248                   -I/usr/include -I/usr/include/linux
1249
1250 #
1251 # Things we will build
1252 #
1253 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
1254 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
1255 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
1256 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
1257 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1258 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1259 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
1260
1261
1262 CLEAN_ARTIFACTS := $(TARGET_BIN)
1263 CLEAN_ARTIFACTS += $(TARGET_HEX)
1264 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
1265 CLEAN_ARTIFACTS += $(TARGET_LST)
1266
1267 # Make sure build date and revision is updated on every incremental build
1268 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
1269
1270 # List of buildable ELF files and their object dependencies.
1271 # It would be nice to compute these lists, but that seems to be just beyond make.
1272
1273 $(TARGET_LST): $(TARGET_ELF)
1274         $(V0) $(OBJDUMP) -S --disassemble $< > $@
1275
1276 $(TARGET_HEX): $(TARGET_ELF)
1277         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
1278
1279 $(TARGET_BIN): $(TARGET_ELF)
1280         $(V0) $(OBJCOPY) -O binary $< $@
1281
1282 $(TARGET_ELF):  $(TARGET_OBJS)
1283         $(V1) echo Linking $(TARGET)
1284         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
1285         $(V0) $(SIZE) $(TARGET_ELF)
1286
1287 # Compile
1288 ifneq ($(DEBUG),GDB)
1289 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1290         $(V1) mkdir -p $(dir $@)
1291         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
1292         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
1293         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
1294         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
1295         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1296         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
1297         echo "%% $(notdir $<)" "$(STDOUT)" && \
1298         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
1299 else
1300 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1301         $(V1) mkdir -p $(dir $@)
1302         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
1303         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1304 endif
1305
1306 # Assemble
1307 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1308         $(V1) mkdir -p $(dir $@)
1309         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1310         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1311
1312 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1313         $(V1) mkdir -p $(dir $@)
1314         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1315         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1316
1317
1318 ## all               : Build all valid targets
1319 all: $(VALID_TARGETS)
1320
1321 ## official          : Build all official (travis) targets
1322 official: $(OFFICIAL_TARGETS)
1323
1324 ## targets-group-1   : build some targets
1325 targets-group-1: $(GROUP_1_TARGETS)
1326
1327 ## targets-group-2   : build some targets
1328 targets-group-2: $(GROUP_2_TARGETS)
1329
1330 ## targets-group-3   : build some targets
1331 targets-group-3: $(GROUP_3_TARGETS)
1332
1333 ## targets-group-3   : build some targets
1334 targets-group-4: $(GROUP_4_TARGETS)
1335
1336 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
1337 targets-group-rest: $(GROUP_OTHER_TARGETS)
1338
1339
1340 $(VALID_TARGETS):
1341                 $(V0) @echo "" && \
1342                 echo "Building $@" && \
1343                 time $(MAKE) binary hex TARGET=$@ && \
1344                 echo "Building $@ succeeded."
1345
1346 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1347 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1348
1349 ## clean             : clean up temporary / machine-generated files
1350 clean:
1351         $(V0) @echo "Cleaning $(TARGET)"
1352         $(V0) rm -f $(CLEAN_ARTIFACTS)
1353         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1354         $(V0) @echo "Cleaning $(TARGET) succeeded."
1355
1356 ## clean_test        : clean up temporary / machine-generated files (tests)
1357 clean_test:
1358         $(V0) cd src/test && $(MAKE) clean || true
1359
1360 ## clean_<TARGET>    : clean up one specific target
1361 $(CLEAN_TARGETS) :
1362         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1363
1364 ## <TARGET>_clean    : clean up one specific target (alias for above)
1365 $(TARGETS_CLEAN) :
1366         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1367
1368 ## clean_all         : clean all valid targets
1369 clean_all:$(CLEAN_TARGETS)
1370
1371 ## all_clean         : clean all valid targets (alias for above)
1372 all_clean:$(TARGETS_CLEAN)
1373
1374
1375 flash_$(TARGET): $(TARGET_HEX)
1376         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1377         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1378         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1379
1380 ## flash             : flash firmware (.hex) onto flight controller
1381 flash: flash_$(TARGET)
1382
1383 st-flash_$(TARGET): $(TARGET_BIN)
1384         $(V0) st-flash --reset write $< 0x08000000
1385
1386 ## st-flash          : flash firmware (.bin) onto flight controller
1387 st-flash: st-flash_$(TARGET)
1388
1389 binary:
1390         $(V0) $(MAKE) -j $(TARGET_BIN)
1391
1392 hex:
1393         $(V0) $(MAKE) -j $(TARGET_HEX)
1394
1395 unbrick_$(TARGET): $(TARGET_HEX)
1396         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1397         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1398
1399 ## unbrick           : unbrick flight controller
1400 unbrick: unbrick_$(TARGET)
1401
1402 ## cppcheck          : run static analysis on C source code
1403 cppcheck: $(CSOURCES)
1404         $(V0) $(CPPCHECK)
1405
1406 cppcheck-result.xml: $(CSOURCES)
1407         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1408
1409 # mkdirs
1410 $(DL_DIR):
1411         mkdir -p $@
1412
1413 $(TOOLS_DIR):
1414         mkdir -p $@
1415
1416 $(BUILD_DIR):
1417         mkdir -p $@
1418
1419 ## version           : print firmware version
1420 version:
1421         @echo $(FC_VER)
1422
1423 ## help              : print this help message and exit
1424 help: Makefile make/tools.mk
1425         $(V0) @echo ""
1426         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1427         $(V0) @echo ""
1428         $(V0) @echo "Usage:"
1429         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1430         $(V0) @echo "Or:"
1431         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1432         $(V0) @echo ""
1433         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1434         $(V0) @echo ""
1435         $(V0) @sed -n 's/^## //p' $?
1436
1437 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1438 targets:
1439         $(V0) @echo "Valid targets:      $(VALID_TARGETS)"
1440         $(V0) @echo "Target:             $(TARGET)"
1441         $(V0) @echo "Base target:        $(BASE_TARGET)"
1442         $(V0) @echo "targets-group-1:    $(GROUP_1_TARGETS)"
1443         $(V0) @echo "targets-group-2:    $(GROUP_2_TARGETS)"
1444         $(V0) @echo "targets-group-3:    $(GROUP_3_TARGETS)"
1445         $(V0) @echo "targets-group-4:    $(GROUP_4_TARGETS)"
1446         $(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
1447
1448 ## test              : run the cleanflight test suite
1449 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1450 test junittest:
1451         $(V0) cd src/test && $(MAKE) $@
1452
1453 # rebuild everything when makefile changes
1454 $(TARGET_OBJS) : Makefile
1455
1456 # include auto-generated dependencies
1457 -include $(TARGET_DEPS)