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 cleanflight firmware.
10 # Invoke this with 'make help' to see the list of supported targets.
13 ###############################################################################
16 # Things that the user might override on the commandline
19 # The target to build, see VALID_TARGETS below
22 # Compile-time options
25 # compile for OpenPilot BootLoader support
28 # Debugger optons, must be empty or GDB
31 # Insert the debugging hardfault debugger
32 # releases should not be built with this flag as it does not disable pwm output
35 # Serial port/Device for flashing
36 SERIAL_DEVICE ?
= $(firstword $(wildcard /dev
/ttyUSB
*) no-port-found
)
38 # Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
41 ###############################################################################
42 # Things that need to be maintained as the source changes
47 CC3D_TARGETS
= CC3D CC3D_OPBL
49 VALID_TARGETS
= NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3
$(CC3D_TARGETS
) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI SPRACINGF3EVO DOGE SINGULARITY
51 # Valid targets for OP VCP support
52 VCP_VALID_TARGETS
= $(CC3D_TARGETS
)
54 # Valid targets for OP BootLoader support
55 OPBL_VALID_TARGETS
= CC3D_OPBL
58 128K_TARGETS
= ALIENFLIGHTF1
$(CC3D_TARGETS
) NAZE OLIMEXINO RMDO AFROMINI
59 256K_TARGETS
= EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI SPRACINGF3EVO DOGE SINGULARITY
61 F3_TARGETS
= STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO DOGE SINGULARITY
63 # note that there is no hardfault debugging startup file assembly handler for other platforms
64 ifeq ($(DEBUG_HARDFAULTS
),F3
)
65 CFLAGS
+= -DDEBUG_HARDFAULTS
66 STM32F30x_COMMON_SRC
= startup_stm32f3_debug_hardfault_handler.S
68 STM32F30x_COMMON_SRC
= startup_stm32f30x_md_gcc.S
71 # Configure default flash sizes for the targets
73 ifeq ($(TARGET
),$(filter $(TARGET
),$(64K_TARGETS
)))
75 else ifeq ($(TARGET
),$(filter $(TARGET
),$(128K_TARGETS
)))
77 else ifeq ($(TARGET
),$(filter $(TARGET
),$(256K_TARGETS
)))
80 $(error FLASH_SIZE not configured for target
$(TARGET
))
84 REVISION
= $(shell git log
-1 --format
="%h")
86 FC_VER_MAJOR
:= $(shell grep
" FC_VERSION_MAJOR" src
/main
/version.h | awk
'{print $$3}' )
87 FC_VER_MINOR
:= $(shell grep
" FC_VERSION_MINOR" src
/main
/version.h | awk
'{print $$3}' )
88 FC_VER_PATCH
:= $(shell grep
" FC_VERSION_PATCH" src
/main
/version.h | awk
'{print $$3}' )
90 FC_VER
:= $(FC_VER_MAJOR
).
$(FC_VER_MINOR
).
$(FC_VER_PATCH
)
93 ROOT
:= $(patsubst %/,%,$(dir $(lastword
$(MAKEFILE_LIST
))))
94 SRC_DIR
= $(ROOT
)/src
/main
95 OBJECT_DIR
= $(ROOT
)/obj
/main
97 CMSIS_DIR
= $(ROOT
)/lib
/main
/CMSIS
98 INCLUDE_DIRS
= $(SRC_DIR
)
99 LINKER_DIR
= $(ROOT
)/src
/main
/target
101 # Search path for sources
102 VPATH
:= $(SRC_DIR
):$(SRC_DIR
)/startup
103 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
104 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
105 FATFS_DIR
= $(ROOT
)/lib
/main
/FatFS
106 FATFS_SRC
= $(notdir $(wildcard $(FATFS_DIR
)/*.c
))
108 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
110 CSOURCES
:= $(shell find
$(SRC_DIR
) -name
'*.c')
112 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
114 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
116 EXCLUDES
= stm32f30x_crc.c \
119 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
121 DEVICE_STDPERIPH_SRC
= \
125 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
126 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
127 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
129 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
130 $(STDPERIPH_DIR
)/inc \
131 $(CMSIS_DIR
)/CM1
/CoreSupport \
132 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
134 ifneq ($(TARGET
),$(filter $(TARGET
),SPRACINGF3 IRCFUSIONF3
))
135 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
139 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
141 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
146 ifeq ($(TARGET
),SPRACINGF3MINI
)
147 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
150 VPATH
:= $(VPATH
):$(FATFS_DIR
)
153 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k.
ld
155 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
156 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
157 TARGET_FLAGS
= -D
$(TARGET
)
158 ifeq ($(TARGET
),CHEBUZZF3
)
159 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
160 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSTM32F3DISCOVERY
163 ifeq ($(TARGET
),$(filter $(TARGET
),RMDO IRCFUSIONF3
))
164 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
165 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSPRACINGF3
168 else ifeq ($(TARGET
),$(filter $(TARGET
),EUSTM32F103RC PORT103R
))
171 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
173 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
175 EXCLUDES
= stm32f10x_crc.c \
179 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
181 # Search path and source files for the CMSIS sources
182 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
183 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
184 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
186 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
187 $(STDPERIPH_DIR
)/inc \
188 $(CMSIS_DIR
)/CM3
/CoreSupport \
189 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
191 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
193 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
194 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
195 DEVICE_FLAGS
= -DSTM32F10X_HD
-DSTM32F10X
197 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
201 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
203 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
205 EXCLUDES
= stm32f10x_crc.c \
209 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
211 # Search path and source files for the CMSIS sources
212 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
213 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
214 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
216 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
217 $(STDPERIPH_DIR
)/inc \
218 $(CMSIS_DIR
)/CM3
/CoreSupport \
219 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
221 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
223 ifeq ($(TARGET
),$(filter $(TARGET
), $(VCP_VALID_TARGETS
)))
224 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
228 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
230 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
) \
235 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
237 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
238 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
239 DEVICE_FLAGS
= -DSTM32F10X_MD
-DSTM32F10X
243 ifneq ($(FLASH_SIZE
),)
244 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DFLASH_SIZE
=$(FLASH_SIZE
)
247 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(TARGET
)
248 TARGET_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
250 ifeq ($(TARGET
),ALIENFLIGHTF1
)
251 # ALIENFLIGHTF1 is a VARIANT of NAZE
252 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DNAZE
-DALIENFLIGHT
253 TARGET_DIR
= $(ROOT
)/src
/main
/target
/NAZE
256 ifeq ($(TARGET
),$(filter $(TARGET
), $(CC3D_TARGETS
)))
257 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DCC3D
258 ifeq ($(TARGET
),CC3D_OPBL
)
259 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DCC3D_OPBL
261 TARGET_DIR
= $(ROOT
)/src
/main
/target
/CC3D
264 ifneq ($(filter $(TARGET
),$(OPBL_VALID_TARGETS
)),)
269 ifneq ($(filter $(TARGET
),$(OPBL_VALID_TARGETS
)),)
270 TARGET_FLAGS
:= -DOPBL
$(TARGET_FLAGS
)
271 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k_opbl.
ld
272 .DEFAULT_GOAL
:= binary
274 $(error OPBL specified with a unsupported target
)
278 ifeq ($(TARGET
),AFROMINI
)
279 # AFROMINI is a VARIANT of NAZE being recognized as rev4, but needs to use rev5 config
280 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DNAZE
-DAFROMINI
281 TARGET_DIR
= $(ROOT
)/src
/main
/target
/NAZE
284 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
287 VPATH
:= $(VPATH
):$(TARGET_DIR
)
289 COMMON_SRC
= build_config.c \
294 config
/runtime_config.c \
297 common
/typeconversion.c \
304 flight
/altitudehold.c \
309 drivers
/bus_i2c_soft.c \
311 drivers
/sound_beeper.c \
313 drivers
/gyro_sync.c \
315 drivers
/buf_writer.c \
321 io
/serial_4way_avrootloader.c \
322 io
/serial_4way_stk500v2.c \
325 io
/statusindicator.c \
336 sensors
/acceleration.c \
338 sensors
/boardalignment.c \
341 sensors
/initialisation.c \
343 $(DEVICE_STDPERIPH_SRC
)
347 flight
/navigation.c \
348 flight
/gps_conversion.c \
349 common
/colorconversion.c \
353 telemetry
/telemetry.c \
356 telemetry
/smartport.c \
359 sensors
/barometer.c \
360 blackbox
/blackbox.c \
361 blackbox
/blackbox_io.c
371 drivers
/serial_usb_vcp.c \
374 NAZE_SRC
= startup_stm32f10x_md_gcc.S \
375 drivers
/accgyro_adxl345.c \
376 drivers
/accgyro_bma280.c \
377 drivers
/accgyro_l3g4200d.c \
378 drivers
/accgyro_mma845x.c \
379 drivers
/accgyro_mpu.c \
380 drivers
/accgyro_mpu3050.c \
381 drivers
/accgyro_mpu6050.c \
382 drivers
/accgyro_mpu6500.c \
383 drivers
/accgyro_spi_mpu6500.c \
385 drivers
/adc_stm32f10x.c \
386 drivers
/barometer_bmp085.c \
387 drivers
/barometer_bmp280.c \
388 drivers
/barometer_ms5611.c \
389 drivers
/barometer_bmp280.c \
391 drivers
/bus_i2c_stm32f10x.c \
392 drivers
/compass_hmc5883l.c \
393 drivers
/display_ug2864hsweg01.h \
394 drivers
/flash_m25p16.c \
395 drivers
/gpio_stm32f10x.c \
397 drivers
/light_led_stm32f10x.c \
398 drivers
/light_ws2811strip.c \
399 drivers
/light_ws2811strip_stm32f10x.c \
400 drivers
/sonar_hcsr04.c \
401 drivers
/pwm_mapping.c \
402 drivers
/pwm_output.c \
404 drivers
/serial_softserial.c \
405 drivers
/serial_uart.c \
406 drivers
/serial_uart_stm32f10x.c \
407 drivers
/sound_beeper_stm32f10x.c \
408 drivers
/system_stm32f10x.c \
410 drivers
/timer_stm32f10x.c \
412 hardware_revision.c \
416 ALIENFLIGHTF1_SRC
= $(NAZE_SRC
)
418 AFROMINI_SRC
= $(NAZE_SRC
)
420 EUSTM32F103RC_SRC
= startup_stm32f10x_hd_gcc.S \
421 drivers
/accgyro_adxl345.c \
422 drivers
/accgyro_bma280.c \
423 drivers
/accgyro_l3g4200d.c \
424 drivers
/accgyro_mma845x.c \
425 drivers
/accgyro_mpu.c \
426 drivers
/accgyro_mpu3050.c \
427 drivers
/accgyro_mpu6050.c \
428 drivers
/accgyro_spi_mpu6000.c \
429 drivers
/accgyro_spi_mpu6500.c \
431 drivers
/adc_stm32f10x.c \
432 drivers
/barometer_bmp085.c \
433 drivers
/barometer_bmp280.c \
434 drivers
/barometer_ms5611.c \
435 drivers
/bus_i2c_stm32f10x.c \
437 drivers
/compass_ak8975.c \
438 drivers
/compass_hmc5883l.c \
439 drivers
/display_ug2864hsweg01.c \
440 drivers
/flash_m25p16.c \
441 drivers
/gpio_stm32f10x.c \
443 drivers
/light_led_stm32f10x.c \
444 drivers
/light_ws2811strip.c \
445 drivers
/light_ws2811strip_stm32f10x.c \
446 drivers
/pwm_mapping.c \
447 drivers
/pwm_output.c \
449 drivers
/serial_softserial.c \
450 drivers
/serial_uart.c \
451 drivers
/serial_uart_stm32f10x.c \
452 drivers
/sonar_hcsr04.c \
453 drivers
/sound_beeper_stm32f10x.c \
454 drivers
/system_stm32f10x.c \
456 drivers
/timer_stm32f10x.c \
461 PORT103R_SRC
= $(EUSTM32F103RC_SRC
)
463 OLIMEXINO_SRC
= startup_stm32f10x_md_gcc.S \
464 drivers
/accgyro_mpu.c \
465 drivers
/accgyro_mpu6050.c \
467 drivers
/adc_stm32f10x.c \
468 drivers
/barometer_bmp085.c \
469 drivers
/barometer_bmp280.c \
470 drivers
/bus_i2c_stm32f10x.c \
472 drivers
/compass_hmc5883l.c \
473 drivers
/gpio_stm32f10x.c \
474 drivers
/light_led_stm32f10x.c \
475 drivers
/light_ws2811strip.c \
476 drivers
/light_ws2811strip_stm32f10x.c \
477 drivers
/pwm_mapping.c \
478 drivers
/pwm_output.c \
480 drivers
/serial_softserial.c \
481 drivers
/serial_uart.c \
482 drivers
/serial_uart_stm32f10x.c \
483 drivers
/sonar_hcsr04.c \
484 drivers
/sound_beeper_stm32f10x.c \
485 drivers
/system_stm32f10x.c \
487 drivers
/timer_stm32f10x.c \
492 startup_stm32f10x_md_gcc.S \
494 drivers
/adc_stm32f10x.c \
495 drivers
/accgyro_mpu.c \
496 drivers
/accgyro_mpu6050.c \
497 drivers
/bus_i2c_stm32f10x.c \
498 drivers
/compass_hmc5883l.c \
499 drivers
/gpio_stm32f10x.c \
500 drivers
/light_led_stm32f10x.c \
501 drivers
/pwm_mapping.c \
502 drivers
/pwm_output.c \
504 drivers
/serial_uart.c \
505 drivers
/serial_uart_stm32f10x.c \
506 drivers
/sound_beeper_stm32f10x.c \
507 drivers
/system_stm32f10x.c \
509 drivers
/timer_stm32f10x.c \
510 hardware_revision.c \
512 blackbox
/blackbox.c \
513 blackbox
/blackbox_io.c \
517 startup_stm32f10x_md_gcc.S \
518 drivers
/accgyro_mpu.c \
519 drivers
/accgyro_spi_mpu6000.c \
521 drivers
/adc_stm32f10x.c \
522 drivers
/barometer_bmp085.c \
523 drivers
/barometer_bmp280.c \
524 drivers
/barometer_ms5611.c \
526 drivers
/bus_i2c_stm32f10x.c \
527 drivers
/compass_hmc5883l.c \
528 drivers
/display_ug2864hsweg01.c \
529 drivers
/flash_m25p16.c \
530 drivers
/gpio_stm32f10x.c \
532 drivers
/light_led_stm32f10x.c \
533 drivers
/light_ws2811strip.c \
534 drivers
/light_ws2811strip_stm32f10x.c \
535 drivers
/pwm_mapping.c \
536 drivers
/pwm_output.c \
538 drivers
/serial_softserial.c \
539 drivers
/serial_uart.c \
540 drivers
/serial_uart_stm32f10x.c \
541 drivers
/sonar_hcsr04.c \
542 drivers
/sound_beeper_stm32f10x.c \
543 drivers
/system_stm32f10x.c \
545 drivers
/timer_stm32f10x.c \
552 STM32F30x_COMMON_SRC
+= \
554 drivers
/adc_stm32f30x.c \
555 drivers
/bus_i2c_stm32f30x.c \
557 drivers
/display_ug2864hsweg01.h \
558 drivers
/gpio_stm32f30x.c \
559 drivers
/light_led_stm32f30x.c \
560 drivers
/pwm_mapping.c \
561 drivers
/pwm_output.c \
563 drivers
/serial_uart.c \
564 drivers
/serial_uart_stm32f30x.c \
565 drivers
/sound_beeper_stm32f30x.c \
566 drivers
/system_stm32f30x.c \
568 drivers
/timer_stm32f30x.c
571 $(STM32F30x_COMMON_SRC
) \
576 STM32F3DISCOVERY_COMMON_SRC
= \
577 $(STM32F30x_COMMON_SRC
) \
578 drivers
/light_ws2811strip.c \
579 drivers
/light_ws2811strip_stm32f30x.c \
580 drivers
/accgyro_l3gd20.c \
581 drivers
/accgyro_lsm303dlhc.c \
582 drivers
/compass_hmc5883l.c \
585 STM32F3DISCOVERY_SRC
= \
586 $(STM32F3DISCOVERY_COMMON_SRC
) \
587 drivers
/accgyro_adxl345.c \
588 drivers
/accgyro_bma280.c \
589 drivers
/accgyro_mma845x.c \
590 drivers
/accgyro_mpu.c \
591 drivers
/accgyro_mpu3050.c \
592 drivers
/accgyro_mpu6050.c \
593 drivers
/accgyro_l3g4200d.c \
594 drivers
/barometer_ms5611.c \
595 drivers
/barometer_bmp280.c \
596 drivers
/compass_ak8975.c \
598 drivers
/sdcard_standard.c \
599 io
/asyncfatfs
/asyncfatfs.c \
600 io
/asyncfatfs
/fat_standard.c \
605 $(STM32F3DISCOVERY_SRC
) \
610 $(STM32F30x_COMMON_SRC
) \
612 drivers
/bus_bst_stm32f30x.c \
613 drivers
/accgyro_mpu.c \
614 drivers
/accgyro_mpu6500.c \
615 drivers
/accgyro_spi_mpu6000.c \
616 drivers
/accgyro_spi_mpu6500.c \
617 drivers
/accgyro_mpu6500.c \
618 drivers
/barometer_ms5611.c \
619 drivers
/compass_ak8963.c \
620 drivers
/compass_ak8975.c \
621 drivers
/compass_hmc5883l.c \
622 drivers
/display_ug2864hsweg01.c \
623 drivers
/light_ws2811strip.c \
624 drivers
/light_ws2811strip_stm32f30x.c \
625 drivers
/serial_usb_vcp.c \
631 $(STM32F30x_COMMON_SRC
) \
632 drivers
/accgyro_mpu.c \
633 drivers
/accgyro_mpu6500.c \
634 drivers
/accgyro_spi_mpu6500.c \
635 drivers
/accgyro_mpu6500.c \
636 drivers
/light_ws2811strip.c \
637 drivers
/light_ws2811strip_stm32f30x.c \
638 drivers
/serial_usb_vcp.c \
644 $(STM32F30x_COMMON_SRC
) \
645 drivers
/accgyro_mpu.c \
646 drivers
/accgyro_mpu6500.c \
647 drivers
/accgyro_spi_mpu6500.c \
648 drivers
/barometer_bmp280.c \
649 drivers
/barometer_spi_bmp280.c \
650 drivers
/light_ws2811strip.c \
651 drivers
/light_ws2811strip_stm32f30x.c \
652 drivers
/serial_usb_vcp.c \
658 $(STM32F30x_COMMON_SRC
) \
659 drivers
/display_ug2864hsweg01.c \
660 drivers
/accgyro_mpu.c \
661 drivers
/accgyro_mpu6050.c \
662 drivers
/barometer_ms5611.c \
663 drivers
/barometer_bmp280.c \
664 drivers
/compass_ak8975.c \
665 drivers
/light_ws2811strip.c \
666 drivers
/light_ws2811strip_stm32f30x.c \
667 drivers
/serial_usb_vcp.c \
672 ALIENFLIGHTF3_SRC
= \
673 $(STM32F30x_COMMON_SRC
) \
674 drivers
/accgyro_mpu.c \
675 drivers
/accgyro_mpu6050.c \
676 drivers
/accgyro_mpu.c \
677 drivers
/accgyro_mpu6500.c \
678 drivers
/accgyro_spi_mpu6500.c \
679 drivers
/compass_ak8963.c \
680 hardware_revision.c \
681 drivers
/serial_usb_vcp.c \
682 drivers
/sonar_hcsr04.c \
688 $(STM32F30x_COMMON_SRC
) \
689 drivers
/accgyro_mpu.c \
690 drivers
/accgyro_mpu6050.c \
691 drivers
/barometer_bmp280.c \
692 drivers
/display_ug2864hsweg01.h \
693 drivers
/flash_m25p16.c \
694 drivers
/light_ws2811strip.c \
695 drivers
/light_ws2811strip_stm32f30x.c \
696 drivers
/serial_softserial.c \
697 drivers
/sonar_hcsr04.c \
703 $(STM32F30x_COMMON_SRC
) \
704 drivers
/accgyro_mpu.c \
705 drivers
/accgyro_mpu6050.c \
706 drivers
/barometer_ms5611.c \
707 drivers
/compass_ak8975.c \
708 drivers
/barometer_bmp085.c \
709 drivers
/barometer_bmp280.c \
710 drivers
/compass_hmc5883l.c \
711 drivers
/display_ug2864hsweg01.h \
712 drivers
/flash_m25p16.c \
713 drivers
/light_ws2811strip.c \
714 drivers
/light_ws2811strip_stm32f30x.c \
715 drivers
/serial_softserial.c \
716 drivers
/sonar_hcsr04.c \
722 $(STM32F30x_COMMON_SRC
) \
723 drivers
/accgyro_mpu.c \
724 drivers
/accgyro_mpu6050.c \
725 drivers
/barometer_bmp085.c \
726 drivers
/flash_m25p16.c \
731 SPRACINGF3EVO_SRC
= \
732 $(STM32F30x_COMMON_SRC
) \
733 drivers
/accgyro_mpu.c \
734 drivers
/accgyro_mpu6500.c \
735 drivers
/accgyro_spi_mpu6500.c \
736 drivers
/barometer_bmp280.c \
737 drivers
/compass_ak8963.c \
738 drivers
/display_ug2864hsweg01.h \
739 drivers
/light_ws2811strip.c \
740 drivers
/light_ws2811strip_stm32f30x.c \
741 drivers
/serial_usb_vcp.c \
743 drivers
/sdcard_standard.c \
744 drivers
/transponder_ir.c \
745 drivers
/transponder_ir_stm32f30x.c \
746 io
/asyncfatfs
/asyncfatfs.c \
747 io
/asyncfatfs
/fat_standard.c \
748 io
/transponder_ir.c \
754 $(STM32F30x_COMMON_SRC
) \
755 drivers
/accgyro_mpu.c \
756 drivers
/display_ug2864hsweg01.c \
757 drivers
/accgyro_mpu6050.c \
758 drivers
/accgyro_spi_mpu6000.c \
759 drivers
/barometer_ms5611.c \
760 drivers
/compass_hmc5883l.c \
761 drivers
/light_ws2811strip.c \
762 drivers
/light_ws2811strip_stm32f30x.c \
763 drivers
/serial_softserial.c \
764 drivers
/serial_usb_vcp.c \
765 drivers
/flash_m25p16.c \
771 SPRACINGF3MINI_SRC
= \
772 $(STM32F30x_COMMON_SRC
) \
773 drivers
/accgyro_mpu.c \
774 drivers
/accgyro_mpu6500.c \
775 drivers
/barometer_bmp280.c \
776 drivers
/compass_ak8975.c \
777 drivers
/compass_hmc5883l.c \
778 drivers
/display_ug2864hsweg01.h \
779 drivers
/flash_m25p16.c \
780 drivers
/light_ws2811strip.c \
781 drivers
/light_ws2811strip_stm32f30x.c \
782 drivers
/serial_softserial.c \
783 drivers
/serial_usb_vcp.c \
784 drivers
/sonar_hcsr04.c \
786 drivers
/sdcard_standard.c \
787 drivers
/transponder_ir.c \
788 drivers
/transponder_ir_stm32f30x.c \
789 io
/asyncfatfs
/asyncfatfs.c \
790 io
/asyncfatfs
/fat_standard.c \
791 io
/transponder_ir.c \
798 $(STM32F30x_COMMON_SRC
) \
799 drivers
/accgyro_mpu.c \
800 drivers
/accgyro_mpu6050.c \
801 drivers
/flash_m25p16.c \
802 drivers
/light_ws2811strip.c \
803 drivers
/light_ws2811strip_stm32f30x.c \
804 drivers
/serial_softserial.c \
805 drivers
/serial_usb_vcp.c \
806 drivers
/vtx_rtc6705.c \
813 # Search path and source files for the ST stdperiph library
814 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
816 ###############################################################################
817 # Things that might need changing to use different tools
821 CC
= arm-none-eabi-gcc
822 OBJCOPY
= arm-none-eabi-objcopy
823 SIZE
= arm-none-eabi-size
831 LTO_FLAGS
= $(OPTIMIZE
)
834 LTO_FLAGS
= -flto
-fuse-linker-plugin
$(OPTIMIZE
)
837 DEBUG_FLAGS
= -ggdb3
-DDEBUG
839 CFLAGS
+= $(ARCH_FLAGS
) \
841 $(addprefix -D
,$(OPTIONS
)) \
842 $(addprefix -I
,$(INCLUDE_DIRS
)) \
845 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion \
846 -ffunction-sections \
849 -DUSE_STDPERIPH_DRIVER \
851 -D
'__FORKNAME__="$(FORKNAME)"' \
852 -D
'__TARGET__="$(TARGET)"' \
853 -D
'__REVISION__="$(REVISION)"' \
857 ASFLAGS
= $(ARCH_FLAGS
) \
858 -x assembler-with-cpp \
859 $(addprefix -I
,$(INCLUDE_DIRS
)) \
871 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
872 -Wl
,-L
$(LINKER_DIR
) \
876 ###############################################################################
877 # No user-serviceable parts below
878 ###############################################################################
880 CPPCHECK
= cppcheck
$(CSOURCES
) --enable
=all --platform
=unix64 \
881 --std
=c99
--inline-suppr
--quiet
--force \
882 $(addprefix -I
,$(INCLUDE_DIRS
)) \
883 -I
/usr
/include -I
/usr
/include/linux
886 # Things we will build
888 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
889 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
))
892 CC3D_OPBL_SRC
= $(CC3D_SRC
)
894 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(FC_VER
)_
$(TARGET
).bin
895 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(FC_VER
)_
$(TARGET
).hex
896 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
897 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
898 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
899 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
902 CLEAN_ARTIFACTS
:= $(TARGET_BIN
)
903 CLEAN_ARTIFACTS
+= $(TARGET_HEX
)
904 CLEAN_ARTIFACTS
+= $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
906 # List of buildable ELF files and their object dependencies.
907 # It would be nice to compute these lists, but that seems to be just beyond make.
909 $(TARGET_HEX
): $(TARGET_ELF
)
910 $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
912 $(TARGET_BIN
): $(TARGET_ELF
)
913 $(OBJCOPY
) -O binary
$< $@
915 $(TARGET_ELF
): $(TARGET_OBJS
)
916 $(CC
) -o
$@
$^
$(LDFLAGS
)
917 $(SIZE
) $(TARGET_ELF
)
920 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
922 @echo
%% $(notdir $<)
923 @
$(CC
) -c
-o
$@
$(CFLAGS
) $<
926 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
928 @echo
%% $(notdir $<)
929 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
931 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
933 @echo
%% $(notdir $<)
934 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
937 ## all : default task; compile C code, build firmware
940 ## clean : clean up all temporary / machine-generated files
942 rm -f
$(CLEAN_ARTIFACTS
)
943 rm -rf
$(OBJECT_DIR
)/$(TARGET
)
944 cd src
/test && $(MAKE
) clean || true
946 flash_
$(TARGET
): $(TARGET_HEX
)
947 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
948 echo
-n
'R' >$(SERIAL_DEVICE
)
949 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
951 ## flash : flash firmware (.hex) onto flight controller
952 flash
: flash_
$(TARGET
)
954 st-flash_
$(TARGET
): $(TARGET_BIN
)
955 st-flash
--reset write
$< 0x08000000
957 ## st-flash : flash firmware (.bin) onto flight controller
958 st-flash
: st-flash_
$(TARGET
)
960 binary
: $(TARGET_BIN
)
963 unbrick_
$(TARGET
): $(TARGET_HEX
)
964 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
965 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
967 ## unbrick : unbrick flight controller
968 unbrick
: unbrick_
$(TARGET
)
970 ## cppcheck : run static analysis on C source code
971 cppcheck
: $(CSOURCES
)
974 cppcheck-result.xml
: $(CSOURCES
)
975 $(CPPCHECK
) --xml-version
=2 2> cppcheck-result.xml
977 ## help : print this help message and exit
980 @echo
"Makefile for the $(FORKNAME) firmware"
983 @echo
" make [TARGET=<target>] [OPTIONS=\"<options>\"]"
985 @echo
"Valid TARGET values are: $(VALID_TARGETS)"
987 @sed
-n
's/^## //p' $<
989 ## test : run the cleanflight test suite
991 cd src
/test && $(MAKE
) test || true
993 # rebuild everything when makefile changes
994 $(TARGET_OBJS
) : Makefile
996 # include auto-generated dependencies
997 -include $(TARGET_DEPS
)