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 $(wildcard /dev/ttyUSB*) no-port-found)
  28
  29 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  30 FLASH_SIZE ?=
  31
  32 ###############################################################################
  33 # Things that need to be maintained as the source changes
  34 #
  35
  36 FORKNAME                         = cleanflight
  37
  38 VALID_TARGETS    = ALIENWIIF1 ALIENWIIF3 CC3D CHEBUZZF3 CJMCU COLIBRI_RACE EUSTM32F103RC LUX_RACE MOTOLAB NAZE NAZE32PRO OLIMEXINO PORT103R RMDO SPARKY SPRACINGF3 SPRACINGF3MINI STM32F3DISCOVERY
  39
  40 # Configure default flash sizes for the targets
  41 ifeq ($(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 LUX_RACE MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI 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 FATFS_DIR       = $(ROOT)/lib/main/FatFS
  69 FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
  70
  71 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
  72
  73 ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY))
  74
  75 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  76
  77 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  78
  79 EXCLUDES        = stm32f30x_crc.c \
  80                 stm32f30x_can.c
  81
  82 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  83
  84 DEVICE_STDPERIPH_SRC = \
  85                 $(STDPERIPH_SRC)
  86
  87
  88 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  89 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  90                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
  91
  92 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  93                    $(STDPERIPH_DIR)/inc \
  94                    $(CMSIS_DIR)/CM1/CoreSupport \
  95                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  96
  97 ifneq ($(TARGET),SPRACINGF3)
  98 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  99                    $(USBFS_DIR)/inc \
 100                    $(ROOT)/src/main/vcp
 101
 102 VPATH := $(VPATH):$(USBFS_DIR)/src
 103
 104 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 105                    $(USBPERIPH_SRC)
 106
 107 endif
 108
 109 ifeq ($(TARGET),SPRACINGF3MINI)
 110 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 111                    $(FATFS_DIR) \
 112
 113 VPATH := $(VPATH):$(FATFS_DIR)
 114 endif
 115
 116 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 117
 118 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 119 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 120 TARGET_FLAGS = -D$(TARGET)
 121 ifeq ($(TARGET),CHEBUZZF3)
 122 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 123 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 124 endif
 125
 126 ifeq ($(TARGET),RMDO)
 127 # RMDO is a VARIANT of SPRACINGF3
 128 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 129 endif
 130
 131 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 132
 133
 134 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 135
 136 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 137
 138 EXCLUDES        = stm32f10x_crc.c \
 139                 stm32f10x_cec.c \
 140                 stm32f10x_can.c
 141
 142 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 143
 144 # Search path and source files for the CMSIS sources
 145 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 146 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 147                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 148
 149 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 150                    $(STDPERIPH_DIR)/inc \
 151                    $(CMSIS_DIR)/CM3/CoreSupport \
 152                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 153
 154 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 155
 156 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 157 TARGET_FLAGS = -D$(TARGET) -pedantic
 158 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 159
 160 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 161
 162 else
 163
 164 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 165
 166 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 167
 168 EXCLUDES        = stm32f10x_crc.c \
 169                 stm32f10x_cec.c \
 170                 stm32f10x_can.c
 171
 172 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 173
 174 # Search path and source files for the CMSIS sources
 175 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 176 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 177                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 178
 179 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 180                    $(STDPERIPH_DIR)/inc \
 181                    $(CMSIS_DIR)/CM3/CoreSupport \
 182                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 183
 184 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 185
 186 ifeq ($(TARGET),CC3D)
 187 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 188                    $(USBFS_DIR)/inc \
 189                    $(ROOT)/src/main/vcp
 190
 191 VPATH := $(VPATH):$(USBFS_DIR)/src
 192
 193 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 194                    $(USBPERIPH_SRC)
 195
 196 endif
 197
 198 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 199
 200 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 201 TARGET_FLAGS = -D$(TARGET) -pedantic
 202 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 203
 204 endif
 205
 206 ifneq ($(FLASH_SIZE),)
 207 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 208 endif
 209
 210 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 211 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 212
 213 ifeq ($(TARGET),ALIENWIIF1)
 214 # ALIENWIIF1 is a VARIANT of NAZE
 215 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 216 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 217 endif
 218
 219 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 220                     $(TARGET_DIR)
 221
 222 VPATH           := $(VPATH):$(TARGET_DIR)
 223
 224 COMMON_SRC = build_config.c \
 225                    debug.c \
 226                    version.c \
 227                    $(TARGET_SRC) \
 228                    config/config.c \
 229                    config/runtime_config.c \
 230                    config/config_streamer.c \
 231                    config/config_eeprom.c \
 232                    config/parameter_group.c \
 233                    config/feature.c \
 234                    config/profile.c \
 235                    common/maths.c \
 236                    common/printf.c \
 237                    common/typeconversion.c \
 238                    common/encoding.c \
 239                    common/filter.c \
 240                    scheduler.c \
 241            scheduler_tasks.c \
 242                    main.c \
 243                    mw.c \
 244                    flight/altitudehold.c \
 245                    flight/failsafe.c \
 246                    flight/pid.c \
 247                    flight/imu.c \
 248                    flight/mixer.c \
 249                    drivers/bus_i2c_soft.c \
 250                    drivers/serial.c \
 251                    drivers/sound_beeper.c \
 252                    drivers/system.c \
 253                    drivers/dma.c \
 254                    drivers/buf_writer.c \
 255                    drivers/gyro_sync.c \
 256                    io/beeper.c \
 257                    io/gimbal.c \
 258                    io/motor_and_servo.c \
 259                    io/rate_profile.c \
 260                    io/rc_adjustments.c \
 261                    io/rc_controls.c \
 262                    io/rc_curves.c \
 263                    io/serial.c \
 264                    io/serial_1wire.c \
 265                    io/serial_cli.c \
 266                    io/serial_msp.c \
 267                    io/statusindicator.c \
 268                    rx/rx.c \
 269                    rx/pwm.c \
 270                    rx/msp.c \
 271                    rx/sbus.c \
 272                    rx/sumd.c \
 273                    rx/sumh.c \
 274                    rx/spektrum.c \
 275                    rx/xbus.c \
 276                    rx/ibus.c \
 277                    sensors/sensors.c \
 278                    sensors/acceleration.c \
 279                    sensors/battery.c \
 280                    sensors/boardalignment.c \
 281                    sensors/compass.c \
 282                    sensors/gyro.c \
 283                    sensors/initialisation.c \
 284                    $(CMSIS_SRC) \
 285                    $(DEVICE_STDPERIPH_SRC)
 286
 287 HIGHEND_SRC = \
 288                    flight/gtune.c \
 289                    flight/navigation.c \
 290                    flight/gps_conversion.c \
 291                    common/colorconversion.c \
 292                    io/gps.c \
 293                    io/ledstrip.c \
 294                    io/display.c \
 295                    telemetry/telemetry.c \
 296                    telemetry/frsky.c \
 297                    telemetry/hott.c \
 298                    telemetry/smartport.c \
 299                    telemetry/ltm.c \
 300                    sensors/sonar.c \
 301                    sensors/barometer.c \
 302                    blackbox/blackbox.c \
 303                    blackbox/blackbox_io.c
 304
 305 VCP_SRC = \
 306                    vcp/hw_config.c \
 307                    vcp/stm32_it.c \
 308                    vcp/usb_desc.c \
 309                    vcp/usb_endp.c \
 310                    vcp/usb_istr.c \
 311                    vcp/usb_prop.c \
 312                    vcp/usb_pwr.c \
 313                    drivers/serial_usb_vcp.c \
 314                    drivers/usb_io.c
 315
 316 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 317                    drivers/accgyro_adxl345.c \
 318                    drivers/accgyro_bma280.c \
 319                    drivers/accgyro_l3g4200d.c \
 320                    drivers/accgyro_mma845x.c \
 321                    drivers/accgyro_mpu.c \
 322                    drivers/accgyro_mpu3050.c \
 323                    drivers/accgyro_mpu6050.c \
 324                    drivers/accgyro_mpu6500.c \
 325                    drivers/accgyro_spi_mpu6500.c \
 326                    drivers/adc.c \
 327                    drivers/adc_stm32f10x.c \
 328                    drivers/barometer_bmp085.c \
 329                    drivers/barometer_ms5611.c \
 330                    drivers/barometer_bmp280.c \
 331                    drivers/bus_spi.c \
 332                    drivers/bus_i2c_stm32f10x.c \
 333                    drivers/compass_hmc5883l.c \
 334                    drivers/display_ug2864hsweg01.h \
 335                    drivers/flash_m25p16.c \
 336                    drivers/gpio_stm32f10x.c \
 337                    drivers/inverter.c \
 338                    drivers/light_led_stm32f10x.c \
 339                    drivers/light_ws2811strip.c \
 340                    drivers/light_ws2811strip_stm32f10x.c \
 341                    drivers/sonar_hcsr04.c \
 342                    drivers/pwm_mapping.c \
 343                    drivers/pwm_output.c \
 344                    drivers/pwm_rx.c \
 345                    drivers/serial_softserial.c \
 346                    drivers/serial_uart.c \
 347                    drivers/serial_uart_stm32f10x.c \
 348                    drivers/sound_beeper_stm32f10x.c \
 349                    drivers/system_stm32f10x.c \
 350                    drivers/timer.c \
 351                    drivers/timer_stm32f10x.c \
 352                    io/flashfs.c \
 353                    hardware_revision.c \
 354                    $(HIGHEND_SRC) \
 355                    $(COMMON_SRC)
 356
 357 ALIENWIIF1_SRC = $(NAZE_SRC)
 358
 359 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 360                    drivers/accgyro_adxl345.c \
 361                    drivers/accgyro_bma280.c \
 362                    drivers/accgyro_l3g4200d.c \
 363                    drivers/accgyro_mma845x.c \
 364                    drivers/accgyro_mpu.c \
 365                    drivers/accgyro_mpu3050.c \
 366                    drivers/accgyro_mpu6050.c \
 367                    drivers/accgyro_mpu6500.c \
 368                    drivers/accgyro_spi_mpu6000.c \
 369                    drivers/accgyro_spi_mpu6500.c \
 370                    drivers/adc.c \
 371                    drivers/adc_stm32f10x.c \
 372                    drivers/barometer_bmp085.c \
 373                    drivers/barometer_ms5611.c \
 374                    drivers/bus_i2c_stm32f10x.c \
 375                    drivers/bus_spi.c \
 376                    drivers/compass_ak8975.c \
 377                    drivers/compass_hmc5883l.c \
 378                    drivers/display_ug2864hsweg01.c \
 379                    drivers/flash_m25p16.c \
 380                    drivers/gpio_stm32f10x.c \
 381                    drivers/inverter.c \
 382                    drivers/light_led_stm32f10x.c \
 383                    drivers/light_ws2811strip.c \
 384                    drivers/light_ws2811strip_stm32f10x.c \
 385                    drivers/pwm_mapping.c \
 386                    drivers/pwm_output.c \
 387                    drivers/pwm_rx.c \
 388                    drivers/serial_softserial.c \
 389                    drivers/serial_uart.c \
 390                    drivers/serial_uart_stm32f10x.c \
 391                    drivers/sonar_hcsr04.c \
 392                    drivers/sound_beeper_stm32f10x.c \
 393                    drivers/system_stm32f10x.c \
 394                    drivers/timer.c \
 395                    drivers/timer_stm32f10x.c \
 396                    io/flashfs.c \
 397                    $(HIGHEND_SRC) \
 398                    $(COMMON_SRC)
 399
 400 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 401
 402 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 403                    drivers/accgyro_mpu.c \
 404                    drivers/accgyro_mpu6050.c \
 405                    drivers/adc.c \
 406                    drivers/adc_stm32f10x.c \
 407                    drivers/barometer_bmp085.c \
 408                    drivers/bus_i2c_stm32f10x.c \
 409                    drivers/bus_spi.c \
 410                    drivers/compass_hmc5883l.c \
 411                    drivers/gpio_stm32f10x.c \
 412                    drivers/light_led_stm32f10x.c \
 413                    drivers/light_ws2811strip.c \
 414                    drivers/light_ws2811strip_stm32f10x.c \
 415                    drivers/pwm_mapping.c \
 416                    drivers/pwm_output.c \
 417                    drivers/pwm_rx.c \
 418                    drivers/serial_softserial.c \
 419                    drivers/serial_uart.c \
 420                    drivers/serial_uart_stm32f10x.c \
 421                    drivers/sonar_hcsr04.c \
 422                    drivers/sound_beeper_stm32f10x.c \
 423                    drivers/system_stm32f10x.c \
 424                    drivers/timer.c \
 425                    drivers/timer_stm32f10x.c \
 426                    $(HIGHEND_SRC) \
 427                    $(COMMON_SRC)
 428
 429 CJMCU_SRC = \
 430                    startup_stm32f10x_md_gcc.S \
 431                    drivers/adc.c \
 432                    drivers/adc_stm32f10x.c \
 433                    drivers/accgyro_mpu.c \
 434                    drivers/accgyro_mpu6050.c \
 435                    drivers/bus_i2c_stm32f10x.c \
 436                    drivers/compass_hmc5883l.c \
 437                    drivers/gpio_stm32f10x.c \
 438                    drivers/light_led_stm32f10x.c \
 439                    drivers/pwm_mapping.c \
 440                    drivers/pwm_output.c \
 441                    drivers/pwm_rx.c \
 442                    drivers/serial_uart.c \
 443                    drivers/serial_uart_stm32f10x.c \
 444                    drivers/sound_beeper_stm32f10x.c \
 445                    drivers/system_stm32f10x.c \
 446                    drivers/timer.c \
 447                    drivers/timer_stm32f10x.c \
 448                    hardware_revision.c \
 449                    flight/gtune.c \
 450                    blackbox/blackbox.c \
 451                    blackbox/blackbox_io.c \
 452                    $(COMMON_SRC)
 453
 454 CC3D_SRC = \
 455                    startup_stm32f10x_md_gcc.S \
 456                    drivers/accgyro_mpu.c \
 457                    drivers/accgyro_spi_mpu6000.c \
 458                    drivers/adc.c \
 459                    drivers/adc_stm32f10x.c \
 460                    drivers/barometer_bmp085.c \
 461                    drivers/barometer_ms5611.c \
 462                    drivers/bus_spi.c \
 463                    drivers/bus_i2c_stm32f10x.c \
 464                    drivers/compass_hmc5883l.c \
 465                    drivers/display_ug2864hsweg01.c \
 466                    drivers/flash_m25p16.c \
 467                    drivers/gpio_stm32f10x.c \
 468                    drivers/inverter.c \
 469                    drivers/light_led_stm32f10x.c \
 470                    drivers/light_ws2811strip.c \
 471                    drivers/light_ws2811strip_stm32f10x.c \
 472                    drivers/pwm_mapping.c \
 473                    drivers/pwm_output.c \
 474                    drivers/pwm_rx.c \
 475                    drivers/serial_softserial.c \
 476                    drivers/serial_uart.c \
 477                    drivers/serial_uart_stm32f10x.c \
 478                    drivers/sonar_hcsr04.c \
 479                    drivers/sound_beeper_stm32f10x.c \
 480                    drivers/system_stm32f10x.c \
 481                    drivers/timer.c \
 482                    drivers/timer_stm32f10x.c \
 483                    io/flashfs.c \
 484                    $(HIGHEND_SRC) \
 485                    $(COMMON_SRC) \
 486                    $(VCP_SRC)
 487
 488 STM32F30x_COMMON_SRC = \
 489                    startup_stm32f30x_md_gcc.S \
 490                    drivers/adc.c \
 491                    drivers/adc_stm32f30x.c \
 492                    drivers/bus_i2c_stm32f30x.c \
 493                    drivers/bus_spi.c \
 494                    drivers/display_ug2864hsweg01.h \
 495                    drivers/gpio_stm32f30x.c \
 496                    drivers/light_led_stm32f30x.c \
 497                    drivers/pwm_mapping.c \
 498                    drivers/pwm_output.c \
 499                    drivers/pwm_rx.c \
 500                    drivers/serial_uart.c \
 501                    drivers/serial_uart_stm32f30x.c \
 502                    drivers/sound_beeper_stm32f30x.c \
 503                    drivers/system_stm32f30x.c \
 504                    drivers/timer.c \
 505                    drivers/timer_stm32f30x.c
 506
 507 NAZE32PRO_SRC = \
 508                    $(STM32F30x_COMMON_SRC) \
 509                    $(HIGHEND_SRC) \
 510                    $(COMMON_SRC) \
 511                    $(VCP_SRC)
 512
 513 STM32F3DISCOVERY_COMMON_SRC = \
 514                    $(STM32F30x_COMMON_SRC) \
 515                    drivers/light_ws2811strip.c \
 516                    drivers/light_ws2811strip_stm32f30x.c \
 517                    drivers/accgyro_l3gd20.c \
 518                    drivers/accgyro_l3gd20.c \
 519                    drivers/accgyro_lsm303dlhc.c \
 520                    drivers/compass_hmc5883l.c \
 521                    $(VCP_SRC)
 522
 523 STM32F3DISCOVERY_SRC = \
 524                    $(STM32F3DISCOVERY_COMMON_SRC) \
 525                    drivers/accgyro_adxl345.c \
 526                    drivers/accgyro_bma280.c \
 527                    drivers/accgyro_mma845x.c \
 528                    drivers/accgyro_mpu.c \
 529                    drivers/accgyro_mpu3050.c \
 530                    drivers/accgyro_mpu6050.c \
 531                    drivers/accgyro_l3g4200d.c \
 532                    drivers/barometer_ms5611.c \
 533                    drivers/compass_ak8975.c \
 534                    drivers/sdcard.c \
 535                    drivers/sdcard_standard.c \
 536                    io/asyncfatfs/asyncfatfs.c \
 537                    io/asyncfatfs/fat_standard.c \
 538                    $(HIGHEND_SRC) \
 539                    $(COMMON_SRC)
 540
 541 CHEBUZZF3_SRC = \
 542                    $(STM32F3DISCOVERY_SRC) \
 543                    $(HIGHEND_SRC) \
 544                    $(COMMON_SRC)
 545
 546 COLIBRI_RACE_SRC = \
 547                    $(STM32F30x_COMMON_SRC) \
 548                    drivers/accgyro_mpu.c \
 549                    drivers/accgyro_mpu6500.c \
 550                    drivers/accgyro_spi_mpu6500.c \
 551                    drivers/accgyro_mpu6500.c \
 552                    drivers/barometer_ms5611.c \
 553                    drivers/compass_ak8975.c \
 554                    drivers/compass_hmc5883l.c \
 555                    drivers/display_ug2864hsweg01.c \
 556                    drivers/light_ws2811strip.c \
 557                    drivers/light_ws2811strip_stm32f30x.c \
 558                    drivers/serial_usb_vcp.c \
 559                    $(HIGHEND_SRC) \
 560                    $(COMMON_SRC) \
 561                    $(VCP_SRC)
 562
 563 LUX_RACE_SRC = \
 564                    $(STM32F30x_COMMON_SRC) \
 565                    drivers/accgyro_mpu.c \
 566                    drivers/accgyro_mpu6500.c \
 567                    drivers/accgyro_spi_mpu6500.c \
 568                    drivers/accgyro_mpu6500.c \
 569                    drivers/light_ws2811strip.c \
 570                    drivers/light_ws2811strip_stm32f30x.c \
 571                    drivers/serial_usb_vcp.c \
 572                    $(HIGHEND_SRC) \
 573                    $(COMMON_SRC) \
 574                    $(VCP_SRC)
 575
 576 SPARKY_SRC = \
 577                    $(STM32F30x_COMMON_SRC) \
 578                    drivers/display_ug2864hsweg01.c \
 579                    drivers/accgyro_mpu.c \
 580                    drivers/accgyro_mpu6050.c \
 581                    drivers/barometer_ms5611.c \
 582                    drivers/compass_ak8975.c \
 583                    drivers/light_ws2811strip.c \
 584                    drivers/light_ws2811strip_stm32f30x.c \
 585                    drivers/serial_usb_vcp.c \
 586                    drivers/sonar_hcsr04.c \
 587                    $(HIGHEND_SRC) \
 588                    $(COMMON_SRC) \
 589                    $(VCP_SRC)
 590
 591 ALIENWIIF3_SRC = \
 592                    $(STM32F30x_COMMON_SRC) \
 593                    drivers/display_ug2864hsweg01.c \
 594                    drivers/accgyro_mpu.c \
 595                    drivers/accgyro_mpu6050.c \
 596                    drivers/barometer_ms5611.c \
 597                    drivers/compass_ak8975.c \
 598                    drivers/serial_usb_vcp.c \
 599                    drivers/sonar_hcsr04.c \
 600                    $(HIGHEND_SRC) \
 601                    $(COMMON_SRC) \
 602                    $(VCP_SRC)
 603
 604 RMDO_SRC = \
 605                    $(STM32F30x_COMMON_SRC) \
 606                    drivers/accgyro_mpu.c \
 607                    drivers/accgyro_mpu6050.c \
 608                    drivers/barometer_bmp280.c \
 609                    drivers/display_ug2864hsweg01.h \
 610                    drivers/flash_m25p16.c \
 611                    drivers/light_ws2811strip.c \
 612                    drivers/light_ws2811strip_stm32f30x.c \
 613                    drivers/serial_softserial.c \
 614                    drivers/sonar_hcsr04.c \
 615                    io/flashfs.c \
 616                    $(HIGHEND_SRC) \
 617                    $(COMMON_SRC)
 618
 619 SPRACINGF3_SRC = \
 620                    $(STM32F30x_COMMON_SRC) \
 621                    drivers/accgyro_mpu.c \
 622                    drivers/accgyro_mpu6050.c \
 623                    drivers/barometer_ms5611.c \
 624                    drivers/compass_ak8975.c \
 625                    drivers/compass_hmc5883l.c \
 626                    drivers/display_ug2864hsweg01.h \
 627                    drivers/flash_m25p16.c \
 628                    drivers/light_ws2811strip.c \
 629                    drivers/light_ws2811strip_stm32f30x.c \
 630                    drivers/serial_softserial.c \
 631                    drivers/sonar_hcsr04.c \
 632                    io/flashfs.c \
 633                    $(HIGHEND_SRC) \
 634                    $(COMMON_SRC)
 635
 636 SPRACINGF3EVO_SRC        = \
 637                    $(STM32F30x_COMMON_SRC) \
 638                    drivers/accgyro_mpu.c \
 639                    drivers/accgyro_mpu6500.c \
 640                    drivers/accgyro_spi_mpu6500.c \
 641                    drivers/barometer_bmp280.c \
 642                    drivers/compass_ak8975.c \
 643                    drivers/display_ug2864hsweg01.h \
 644                    drivers/light_ws2811strip.c \
 645                    drivers/light_ws2811strip_stm32f30x.c \
 646                    drivers/serial_usb_vcp.c \
 647                    drivers/sdcard.c \
 648                    drivers/sdcard_standard.c \
 649                    drivers/transponder_ir.c \
 650                    drivers/transponder_ir_stm32f30x.c \
 651                    io/asyncfatfs/asyncfatfs.c \
 652                    io/asyncfatfs/fat_standard.c \
 653                    io/transponder_ir.c \
 654                    $(HIGHEND_SRC) \
 655                    $(COMMON_SRC) \
 656                    $(VCP_SRC)
 657
 658 MOTOLAB_SRC = \
 659                    $(STM32F30x_COMMON_SRC) \
 660                    drivers/accgyro_mpu.c \
 661                    drivers/accgyro_mpu6050.c \
 662                    drivers/barometer_ms5611.c \
 663                    drivers/compass_hmc5883l.c \
 664                    drivers/display_ug2864hsweg01.c \
 665                    drivers/light_ws2811strip.c \
 666                    drivers/light_ws2811strip_stm32f30x.c \
 667                    drivers/serial_usb_vcp.c \
 668                    drivers/flash_m25p16.c \
 669                    io/flashfs.c \
 670                    $(HIGHEND_SRC) \
 671                    $(COMMON_SRC) \
 672                    $(VCP_SRC)
 673
 674 SPRACINGF3MINI_SRC       = \
 675                    $(STM32F30x_COMMON_SRC) \
 676                    drivers/accgyro_mpu.c \
 677                    drivers/accgyro_mpu6500.c \
 678                    drivers/barometer_bmp280.c \
 679                    drivers/compass_ak8975.c \
 680                    drivers/compass_hmc5883l.c \
 681                    drivers/display_ug2864hsweg01.h \
 682                    drivers/flash_m25p16.c \
 683                    drivers/light_ws2811strip.c \
 684                    drivers/light_ws2811strip_stm32f30x.c \
 685                    drivers/serial_softserial.c \
 686                    drivers/serial_usb_vcp.c \
 687                    drivers/sonar_hcsr04.c \
 688                    drivers/sdcard.c \
 689                    drivers/sdcard_standard.c \
 690                    drivers/transponder_ir.c \
 691                    drivers/transponder_ir_stm32f30x.c \
 692                    io/asyncfatfs/asyncfatfs.c \
 693                    io/asyncfatfs/fat_standard.c \
 694                    io/transponder_ir.c \
 695                    $(HIGHEND_SRC) \
 696                    $(COMMON_SRC) \
 697                    $(VCP_SRC)
 698
 699 # Search path and source files for the ST stdperiph library
 700 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 701
 702 ###############################################################################
 703 # Things that might need changing to use different tools
 704 #
 705
 706 # Tool names
 707 CC               = arm-none-eabi-gcc
 708 OBJCOPY          = arm-none-eabi-objcopy
 709 SIZE             = arm-none-eabi-size
 710
 711 #
 712 # Tool options.
 713 #
 714
 715 ifeq ($(DEBUG),GDB)
 716 OPTIMIZE         = -O0
 717 LTO_FLAGS        = $(OPTIMIZE)
 718 else
 719 OPTIMIZE         = -Os
 720 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 721 endif
 722
 723 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 724
 725 CFLAGS           = $(ARCH_FLAGS) \
 726                    $(LTO_FLAGS) \
 727                    $(addprefix -D,$(OPTIONS)) \
 728                    $(addprefix -I,$(INCLUDE_DIRS)) \
 729                    $(DEBUG_FLAGS) \
 730                    -std=gnu99 \
 731                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion -Wundef \
 732                    -ffunction-sections \
 733                    -fdata-sections \
 734                    $(DEVICE_FLAGS) \
 735                    -DUSE_STDPERIPH_DRIVER \
 736                    $(TARGET_FLAGS) \
 737                    -D'__FORKNAME__="$(FORKNAME)"' \
 738                    -D'__TARGET__="$(TARGET)"' \
 739                    -D'__REVISION__="$(REVISION)"' \
 740                    -save-temps=obj \
 741                    -MMD -MP
 742
 743 ASFLAGS          = $(ARCH_FLAGS) \
 744                    -x assembler-with-cpp \
 745                    $(addprefix -I,$(INCLUDE_DIRS)) \
 746                   -MMD -MP
 747
 748 LDFLAGS          = -lm \
 749                    -nostartfiles \
 750                    --specs=nano.specs \
 751                    -lc \
 752                    -lnosys \
 753                    $(ARCH_FLAGS) \
 754                    $(LTO_FLAGS) \
 755                    $(DEBUG_FLAGS) \
 756                    -static \
 757                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 758                    -Wl,-L$(LINKER_DIR) \
 759            -Wl,--cref \
 760                    -T$(LD_SCRIPT)
 761
 762 ###############################################################################
 763 # No user-serviceable parts below
 764 ###############################################################################
 765
 766 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 767                    --std=c99 --inline-suppr --quiet --force \
 768                    $(addprefix -I,$(INCLUDE_DIRS)) \
 769                    -I/usr/include -I/usr/include/linux
 770
 771 #
 772 # Things we will build
 773 #
 774 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 775 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 776 endif
 777
 778 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 779 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 780 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 781 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 782 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 783 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 784
 785
 786 ## Default make goal:
 787 ## hex         : Make filetype hex only
 788 .DEFAULT_GOAL := hex
 789
 790 ## Optional make goals:
 791 ## all         : Make all filetypes, binary and hex
 792 all: hex bin
 793
 794 ## binary      : Make binary filetype
 795 ## bin         : Alias of 'binary'
 796 ## hex         : Make hex filetype
 797 bin:    $(TARGET_BIN)
 798 binary: $(TARGET_BIN)
 799 hex:    $(TARGET_HEX)
 800
 801 # rule to reinvoke make with TARGET= parameter
 802 # rules that should be handled in toplevel Makefile, not dependent on TARGET
 803 GLOBAL_GOALS    = all_targets cppcheck test
 804
 805 .PHONY: $(VALID_TARGETS)
 806 $(VALID_TARGETS):
 807         $(MAKE) TARGET=$@ $(filter-out $(VALID_TARGETS) $(GLOBAL_GOALS), $(MAKECMDGOALS))
 808
 809 ## all_targets : Make all TARGETs
 810 .PHONY: all_targets
 811 all_targets : $(VALID_TARGETS)
 812
 813 ## clean       : clean up all temporary / machine-generated files
 814 clean:
 815         rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 816         rm -rf $(OBJECT_DIR)/$(TARGET)
 817         cd src/test && $(MAKE) clean || true
 818
 819 flash_$(TARGET): $(TARGET_HEX)
 820         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 821         echo -n 'R' >$(SERIAL_DEVICE)
 822         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 823
 824 ## flash       : flash firmware (.hex) onto flight controller
 825 flash: flash_$(TARGET)
 826
 827 st-flash_$(TARGET): $(TARGET_BIN)
 828         st-flash --reset write $< 0x08000000
 829
 830 ## st-flash    : flash firmware (.bin) onto flight controller
 831 st-flash: st-flash_$(TARGET)
 832
 833 unbrick_$(TARGET): $(TARGET_HEX)
 834         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 835         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 836
 837 ## unbrick     : unbrick flight controller
 838 unbrick: unbrick_$(TARGET)
 839
 840 ## cppcheck    : run static analysis on C source code
 841 cppcheck: $(CSOURCES)
 842         $(CPPCHECK)
 843
 844 cppcheck-result.xml: $(CSOURCES)
 845         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 846
 847 ## help        : print this help message and exit
 848 help: Makefile
 849         @echo ""
 850         @echo "Makefile for the $(FORKNAME) firmware"
 851         @echo ""
 852         @echo "Usage:"
 853         @echo "        make [goal] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 854         @echo ""
 855         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 856         @echo ""
 857         @sed -n 's/^## //p' $<
 858
 859 ## test        : run the cleanflight test suite
 860 test:
 861         cd src/test && $(MAKE) test || true
 862
 863 # rebuild everything when makefile changes
 864 $(TARGET_OBJS) : Makefile
 865
 866 # List of buildable ELF files and their object dependencies.
 867 # It would be nice to compute these lists, but that seems to be just beyond make.
 868
 869 $(TARGET_HEX): $(TARGET_ELF)
 870         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 871
 872 $(TARGET_BIN): $(TARGET_ELF)
 873         $(OBJCOPY) -O binary $< $@
 874
 875 $(TARGET_ELF):  $(TARGET_OBJS)
 876         $(CC) -o $@ $^ $(LDFLAGS)
 877         $(SIZE) $(TARGET_ELF)
 878
 879 # Compile
 880 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 881         @mkdir -p $(dir $@)
 882         @echo %% $(notdir $<)
 883         @$(CC) -c -o $@ $(CFLAGS) $<
 884
 885 # Assemble
 886 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 887         @mkdir -p $(dir $@)
 888         @echo %% $(notdir $<)
 889         @$(CC) -c -o $@ $(ASFLAGS) $<
 890
 891 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 892         @mkdir -p $(dir $@)
 893         @echo %% $(notdir $<)
 894         @$(CC) -c -o $@ $(ASFLAGS) $<
 895
 896
 897
 898 # include auto-generated dependencies
 899 -include $(TARGET_DEPS)