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 # compile for OpenPilot BootLoader support
  24 OPBL ?=no
  25
  26 # Debugger optons, must be empty or GDB
  27 DEBUG ?=
  28
  29 # Serial port/Device for flashing
  30 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  31
  32 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  33 FLASH_SIZE ?=
  34
  35 ###############################################################################
  36 # Things that need to be maintained as the source changes
  37 #
  38
  39 FORKNAME                         = betaflight
  40
  41 VALID_TARGETS    = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1 ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO IRCFUSIONF3
  42
  43 # Valid targets for OP BootLoader support
  44 OPBL_VALID_TARGETS = CC3D
  45
  46 # Configure default flash sizes for the targets
  47 ifeq ($(FLASH_SIZE),)
  48 ifeq ($(TARGET),$(filter $(TARGET),CJMCU))
  49 FLASH_SIZE = 64
  50 else ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF1 CC3D NAZE OLIMEXINO RMDO))
  51 FLASH_SIZE = 128
  52 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB))
  53 FLASH_SIZE = 256
  54 else
  55 $(error FLASH_SIZE not configured for target)
  56 endif
  57 endif
  58
  59 REVISION = $(shell git log -1 --format="%h")
  60
  61 # Working directories
  62 ROOT             := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  63 SRC_DIR          = $(ROOT)/src/main
  64 OBJECT_DIR       = $(ROOT)/obj/main
  65 BIN_DIR          = $(ROOT)/obj
  66 CMSIS_DIR        = $(ROOT)/lib/main/CMSIS
  67 INCLUDE_DIRS     = $(SRC_DIR)
  68 LINKER_DIR       = $(ROOT)/src/main/target
  69
  70 # Search path for sources
  71 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  72 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
  73 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
  74
  75 ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO))
  76
  77 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
  78
  79 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
  80
  81 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
  82
  83 EXCLUDES        = stm32f30x_crc.c \
  84                 stm32f30x_can.c
  85
  86 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
  87
  88 DEVICE_STDPERIPH_SRC = \
  89                 $(STDPERIPH_SRC)
  90
  91
  92 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
  93 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
  94                            $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
  95
  96 INCLUDE_DIRS := $(INCLUDE_DIRS) \
  97                    $(STDPERIPH_DIR)/inc \
  98                    $(CMSIS_DIR)/CM1/CoreSupport \
  99                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 100
 101 ifneq ($(TARGET),$(filter $(TARGET),SPRACINGF3 IRCFUSIONF3))
 102 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 103                    $(USBFS_DIR)/inc \
 104                    $(ROOT)/src/main/vcp
 105
 106 VPATH := $(VPATH):$(USBFS_DIR)/src
 107
 108 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 109                    $(USBPERIPH_SRC)
 110
 111 endif
 112
 113 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 114
 115 ARCH_FLAGS       = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 116 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
 117 TARGET_FLAGS = -D$(TARGET)
 118 ifeq ($(TARGET),CHEBUZZF3)
 119 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
 120 TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 121 endif
 122
 123 ifeq ($(TARGET),$(filter $(TARGET),RMDO IRCFUSIONF3))
 124 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
 125 TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
 126 endif
 127
 128 else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 129
 130
 131 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 132
 133 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 134
 135 EXCLUDES        = stm32f10x_crc.c \
 136                 stm32f10x_cec.c \
 137                 stm32f10x_can.c
 138
 139 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 140
 141 # Search path and source files for the CMSIS sources
 142 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 143 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 144                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 145
 146 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 147                    $(STDPERIPH_DIR)/inc \
 148                    $(CMSIS_DIR)/CM3/CoreSupport \
 149                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 150
 151 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 152
 153 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 154 TARGET_FLAGS = -D$(TARGET) -pedantic
 155 DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
 156
 157 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 158
 159 else
 160
 161 STDPERIPH_DIR    = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 162
 163 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 164
 165 EXCLUDES        = stm32f10x_crc.c \
 166                 stm32f10x_cec.c \
 167                 stm32f10x_can.c
 168
 169 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 170
 171 # Search path and source files for the CMSIS sources
 172 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 173 CMSIS_SRC        = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 174                            $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 175
 176 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 177                    $(STDPERIPH_DIR)/inc \
 178                    $(CMSIS_DIR)/CM3/CoreSupport \
 179                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 180
 181 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 182
 183 ifeq ($(TARGET),CC3D)
 184 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 185                    $(USBFS_DIR)/inc \
 186                    $(ROOT)/src/main/vcp
 187
 188 VPATH := $(VPATH):$(USBFS_DIR)/src
 189
 190 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 191                    $(USBPERIPH_SRC)
 192
 193 endif
 194
 195 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 196
 197 ARCH_FLAGS       = -mthumb -mcpu=cortex-m3
 198 TARGET_FLAGS = -D$(TARGET) -pedantic
 199 DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
 200
 201 endif
 202
 203 ifneq ($(FLASH_SIZE),)
 204 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 205 endif
 206
 207 TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
 208 TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 209
 210 ifeq ($(TARGET),ALIENWIIF1)
 211 # ALIENWIIF1 is a VARIANT of NAZE
 212 TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
 213 TARGET_DIR = $(ROOT)/src/main/target/NAZE
 214 endif
 215
 216 INCLUDE_DIRS := $(INCLUDE_DIRS) \
 217                     $(TARGET_DIR)
 218
 219 VPATH           := $(VPATH):$(TARGET_DIR)
 220
 221 COMMON_SRC = build_config.c \
 222                    debug.c \
 223                    version.c \
 224                    $(TARGET_SRC) \
 225                    config/config.c \
 226                    config/runtime_config.c \
 227                    common/maths.c \
 228                    common/printf.c \
 229                    common/typeconversion.c \
 230                    common/encoding.c \
 231                    common/filter.c \
 232                    main.c \
 233                    mw.c \
 234                    flight/altitudehold.c \
 235                    flight/failsafe.c \
 236                    flight/pid.c \
 237                    flight/imu.c \
 238                    flight/mixer.c \
 239                    flight/lowpass.c \
 240                    drivers/bus_i2c_soft.c \
 241                    drivers/serial.c \
 242                    drivers/sound_beeper.c \
 243                    drivers/system.c \
 244                    drivers/gyro_sync.c \
 245                    io/beeper.c \
 246                    io/rc_controls.c \
 247                    io/rc_curves.c \
 248                    io/serial.c \
 249                    io/serial_1wire.c \
 250                    io/serial_cli.c \
 251                    io/serial_msp.c \
 252                    io/statusindicator.c \
 253                    rx/rx.c \
 254                    rx/pwm.c \
 255                    rx/msp.c \
 256                    rx/sbus.c \
 257                    rx/sumd.c \
 258                    rx/sumh.c \
 259                    rx/spektrum.c \
 260                    rx/xbus.c \
 261                    sensors/acceleration.c \
 262                    sensors/battery.c \
 263                    sensors/boardalignment.c \
 264                    sensors/compass.c \
 265                    sensors/gyro.c \
 266                    sensors/initialisation.c \
 267                    $(CMSIS_SRC) \
 268                    $(DEVICE_STDPERIPH_SRC)
 269
 270 HIGHEND_SRC = \
 271                    flight/gtune.c \
 272                    flight/navigation.c \
 273                    flight/gps_conversion.c \
 274                    common/colorconversion.c \
 275                    io/gps.c \
 276                    io/ledstrip.c \
 277                    io/display.c \
 278                    telemetry/telemetry.c \
 279                    telemetry/frsky.c \
 280                    telemetry/hott.c \
 281                    telemetry/msp.c \
 282                    telemetry/smartport.c \
 283                    sensors/sonar.c \
 284                    sensors/barometer.c \
 285                    blackbox/blackbox.c \
 286                    blackbox/blackbox_io.c
 287
 288 VCP_SRC = \
 289                    vcp/hw_config.c \
 290                    vcp/stm32_it.c \
 291                    vcp/usb_desc.c \
 292                    vcp/usb_endp.c \
 293                    vcp/usb_istr.c \
 294                    vcp/usb_prop.c \
 295                    vcp/usb_pwr.c \
 296                    drivers/serial_usb_vcp.c
 297
 298 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 299                    drivers/accgyro_adxl345.c \
 300                    drivers/accgyro_bma280.c \
 301                    drivers/accgyro_l3g4200d.c \
 302                    drivers/accgyro_mma845x.c \
 303                    drivers/accgyro_mpu.c \
 304                    drivers/accgyro_mpu3050.c \
 305                    drivers/accgyro_mpu6050.c \
 306                    drivers/accgyro_mpu6500.c \
 307                    drivers/accgyro_spi_mpu6500.c \
 308                    drivers/adc.c \
 309                    drivers/adc_stm32f10x.c \
 310                    drivers/barometer_bmp085.c \
 311                    drivers/barometer_bmp280.c \
 312                    drivers/barometer_ms5611.c \
 313                    drivers/barometer_bmp280.c \
 314                    drivers/bus_spi.c \
 315                    drivers/bus_i2c_stm32f10x.c \
 316                    drivers/compass_hmc5883l.c \
 317                    drivers/display_ug2864hsweg01.h \
 318                    drivers/flash_m25p16.c \
 319                    drivers/gpio_stm32f10x.c \
 320                    drivers/inverter.c \
 321                    drivers/light_led_stm32f10x.c \
 322                    drivers/light_ws2811strip.c \
 323                    drivers/light_ws2811strip_stm32f10x.c \
 324                    drivers/sonar_hcsr04.c \
 325                    drivers/pwm_mapping.c \
 326                    drivers/pwm_output.c \
 327                    drivers/pwm_rx.c \
 328                    drivers/serial_softserial.c \
 329                    drivers/serial_uart.c \
 330                    drivers/serial_uart_stm32f10x.c \
 331                    drivers/sound_beeper_stm32f10x.c \
 332                    drivers/system_stm32f10x.c \
 333                    drivers/timer.c \
 334                    drivers/timer_stm32f10x.c \
 335                    io/flashfs.c \
 336                    hardware_revision.c \
 337                    $(HIGHEND_SRC) \
 338                    $(COMMON_SRC)
 339
 340 ALIENWIIF1_SRC = $(NAZE_SRC)
 341
 342 EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
 343                    drivers/accgyro_adxl345.c \
 344                    drivers/accgyro_bma280.c \
 345                    drivers/accgyro_l3g4200d.c \
 346                    drivers/accgyro_mma845x.c \
 347                    drivers/accgyro_mpu.c \
 348                    drivers/accgyro_mpu3050.c \
 349                    drivers/accgyro_mpu6050.c \
 350                    drivers/accgyro_spi_mpu6000.c \
 351                    drivers/accgyro_spi_mpu6500.c \
 352                    drivers/adc.c \
 353                    drivers/adc_stm32f10x.c \
 354                    drivers/barometer_bmp085.c \
 355                    drivers/barometer_bmp280.c \
 356                    drivers/barometer_ms5611.c \
 357                    drivers/bus_i2c_stm32f10x.c \
 358                    drivers/bus_spi.c \
 359                    drivers/compass_ak8975.c \
 360                    drivers/compass_hmc5883l.c \
 361                    drivers/display_ug2864hsweg01.c \
 362                    drivers/flash_m25p16.c \
 363                    drivers/gpio_stm32f10x.c \
 364                    drivers/inverter.c \
 365                    drivers/light_led_stm32f10x.c \
 366                    drivers/light_ws2811strip.c \
 367                    drivers/light_ws2811strip_stm32f10x.c \
 368                    drivers/pwm_mapping.c \
 369                    drivers/pwm_output.c \
 370                    drivers/pwm_rx.c \
 371                    drivers/serial_softserial.c \
 372                    drivers/serial_uart.c \
 373                    drivers/serial_uart_stm32f10x.c \
 374                    drivers/sonar_hcsr04.c \
 375                    drivers/sound_beeper_stm32f10x.c \
 376                    drivers/system_stm32f10x.c \
 377                    drivers/timer.c \
 378                    drivers/timer_stm32f10x.c \
 379                    io/flashfs.c \
 380                    $(HIGHEND_SRC) \
 381                    $(COMMON_SRC)
 382
 383 PORT103R_SRC = $(EUSTM32F103RC_SRC)
 384
 385 OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
 386                    drivers/accgyro_mpu.c \
 387                    drivers/accgyro_mpu6050.c \
 388                    drivers/adc.c \
 389                    drivers/adc_stm32f10x.c \
 390                    drivers/barometer_bmp085.c \
 391                    drivers/barometer_bmp280.c \
 392                    drivers/bus_i2c_stm32f10x.c \
 393                    drivers/bus_spi.c \
 394                    drivers/compass_hmc5883l.c \
 395                    drivers/gpio_stm32f10x.c \
 396                    drivers/light_led_stm32f10x.c \
 397                    drivers/light_ws2811strip.c \
 398                    drivers/light_ws2811strip_stm32f10x.c \
 399                    drivers/pwm_mapping.c \
 400                    drivers/pwm_output.c \
 401                    drivers/pwm_rx.c \
 402                    drivers/serial_softserial.c \
 403                    drivers/serial_uart.c \
 404                    drivers/serial_uart_stm32f10x.c \
 405                    drivers/sonar_hcsr04.c \
 406                    drivers/sound_beeper_stm32f10x.c \
 407                    drivers/system_stm32f10x.c \
 408                    drivers/timer.c \
 409                    drivers/timer_stm32f10x.c \
 410                    $(HIGHEND_SRC) \
 411                    $(COMMON_SRC)
 412
 413 ifeq ($(OPBL),yes)
 414 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
 415 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 416 LD_SCRIPT        = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 417 .DEFAULT_GOAL := binary
 418 else
 419 $(error OPBL specified with a unsupported target)
 420 endif
 421 endif
 422
 423 CJMCU_SRC = \
 424                    startup_stm32f10x_md_gcc.S \
 425                    drivers/adc.c \
 426                    drivers/adc_stm32f10x.c \
 427                    drivers/accgyro_mpu.c \
 428                    drivers/accgyro_mpu6050.c \
 429                    drivers/bus_i2c_stm32f10x.c \
 430                    drivers/compass_hmc5883l.c \
 431                    drivers/gpio_stm32f10x.c \
 432                    drivers/light_led_stm32f10x.c \
 433                    drivers/pwm_mapping.c \
 434                    drivers/pwm_output.c \
 435                    drivers/pwm_rx.c \
 436                    drivers/serial_uart.c \
 437                    drivers/serial_uart_stm32f10x.c \
 438                    drivers/sound_beeper_stm32f10x.c \
 439                    drivers/system_stm32f10x.c \
 440                    drivers/timer.c \
 441                    drivers/timer_stm32f10x.c \
 442                    hardware_revision.c \
 443                    flight/gtune.c \
 444                    blackbox/blackbox.c \
 445                    blackbox/blackbox_io.c \
 446                    $(COMMON_SRC)
 447
 448 CC3D_SRC = \
 449                    startup_stm32f10x_md_gcc.S \
 450                    drivers/accgyro_mpu.c \
 451                    drivers/accgyro_spi_mpu6000.c \
 452                    drivers/adc.c \
 453                    drivers/adc_stm32f10x.c \
 454                    drivers/barometer_bmp085.c \
 455                    drivers/barometer_bmp280.c \
 456                    drivers/barometer_ms5611.c \
 457                    drivers/bus_spi.c \
 458                    drivers/bus_i2c_stm32f10x.c \
 459                    drivers/compass_hmc5883l.c \
 460                    drivers/display_ug2864hsweg01.c \
 461                    drivers/flash_m25p16.c \
 462                    drivers/gpio_stm32f10x.c \
 463                    drivers/inverter.c \
 464                    drivers/light_led_stm32f10x.c \
 465                    drivers/light_ws2811strip.c \
 466                    drivers/light_ws2811strip_stm32f10x.c \
 467                    drivers/pwm_mapping.c \
 468                    drivers/pwm_output.c \
 469                    drivers/pwm_rx.c \
 470                    drivers/serial_softserial.c \
 471                    drivers/serial_uart.c \
 472                    drivers/serial_uart_stm32f10x.c \
 473                    drivers/sonar_hcsr04.c \
 474                    drivers/sound_beeper_stm32f10x.c \
 475                    drivers/system_stm32f10x.c \
 476                    drivers/timer.c \
 477                    drivers/timer_stm32f10x.c \
 478                    io/flashfs.c \
 479                    $(HIGHEND_SRC) \
 480                    $(COMMON_SRC) \
 481                    $(VCP_SRC)
 482
 483 STM32F30x_COMMON_SRC = \
 484                    startup_stm32f30x_md_gcc.S \
 485                    drivers/adc.c \
 486                    drivers/adc_stm32f30x.c \
 487                    drivers/bus_i2c_stm32f30x.c \
 488                    drivers/bus_spi.c \
 489                    drivers/gpio_stm32f30x.c \
 490                    drivers/light_led_stm32f30x.c \
 491                    drivers/light_ws2811strip.c \
 492                    drivers/light_ws2811strip_stm32f30x.c \
 493                    drivers/pwm_mapping.c \
 494                    drivers/pwm_output.c \
 495                    drivers/pwm_rx.c \
 496                    drivers/serial_uart.c \
 497                    drivers/serial_uart_stm32f30x.c \
 498                    drivers/sound_beeper_stm32f30x.c \
 499                    drivers/system_stm32f30x.c \
 500                    drivers/timer.c \
 501                    drivers/timer_stm32f30x.c
 502
 503 NAZE32PRO_SRC = \
 504                    $(STM32F30x_COMMON_SRC) \
 505                    $(HIGHEND_SRC) \
 506                    $(COMMON_SRC) \
 507                    $(VCP_SRC)
 508
 509 STM32F3DISCOVERY_COMMON_SRC = \
 510                    $(STM32F30x_COMMON_SRC) \
 511                    drivers/accgyro_l3gd20.c \
 512                    drivers/accgyro_l3gd20.c \
 513                    drivers/accgyro_lsm303dlhc.c \
 514                    drivers/compass_hmc5883l.c \
 515                    $(VCP_SRC)
 516
 517 STM32F3DISCOVERY_SRC = \
 518                    $(STM32F3DISCOVERY_COMMON_SRC) \
 519                    drivers/accgyro_adxl345.c \
 520                    drivers/accgyro_bma280.c \
 521                    drivers/accgyro_mma845x.c \
 522                    drivers/accgyro_mpu.c \
 523                    drivers/accgyro_mpu3050.c \
 524                    drivers/accgyro_mpu6050.c \
 525                    drivers/accgyro_l3g4200d.c \
 526                    drivers/barometer_ms5611.c \
 527                    drivers/barometer_bmp280.c \
 528                    drivers/compass_ak8975.c \
 529                    $(HIGHEND_SRC) \
 530                    $(COMMON_SRC)
 531
 532 CHEBUZZF3_SRC = \
 533                    $(STM32F3DISCOVERY_SRC) \
 534                    $(HIGHEND_SRC) \
 535                    $(COMMON_SRC)
 536
 537 COLIBRI_RACE_SRC = \
 538                    $(STM32F30x_COMMON_SRC) \
 539                    drivers/display_ug2864hsweg01.c \
 540                    drivers/accgyro_mpu.c \
 541                    drivers/accgyro_mpu6500.c \
 542                    drivers/accgyro_spi_mpu6500.c \
 543                    drivers/accgyro_mpu6500.c \
 544                    drivers/barometer_ms5611.c \
 545                    drivers/compass_ak8975.c \
 546                    drivers/compass_hmc5883l.c \
 547                    drivers/serial_usb_vcp.c \
 548                    $(HIGHEND_SRC) \
 549                    $(COMMON_SRC) \
 550                    $(VCP_SRC)
 551
 552 SPARKY_SRC = \
 553                    $(STM32F30x_COMMON_SRC) \
 554                    drivers/display_ug2864hsweg01.c \
 555                    drivers/accgyro_mpu.c \
 556                    drivers/accgyro_mpu6050.c \
 557                    drivers/barometer_ms5611.c \
 558                    drivers/barometer_bmp280.c \
 559                    drivers/compass_ak8975.c \
 560                    drivers/serial_usb_vcp.c \
 561                    $(HIGHEND_SRC) \
 562                    $(COMMON_SRC) \
 563                    $(VCP_SRC)
 564
 565 ALIENWIIF3_SRC = \
 566                    $(SPARKY_SRC)
 567
 568 RMDO_SRC = \
 569                    $(STM32F30x_COMMON_SRC) \
 570                    drivers/accgyro_mpu.c \
 571                    drivers/accgyro_mpu6050.c \
 572                    drivers/barometer_bmp280.c \
 573                    drivers/display_ug2864hsweg01.h \
 574                    drivers/flash_m25p16.c \
 575                    drivers/serial_softserial.c \
 576                    drivers/sonar_hcsr04.c \
 577                    io/flashfs.c \
 578                    $(HIGHEND_SRC) \
 579                    $(COMMON_SRC)
 580
 581 SPRACINGF3_SRC = \
 582                    $(STM32F30x_COMMON_SRC) \
 583                    drivers/accgyro_mpu.c \
 584                    drivers/accgyro_mpu6050.c \
 585                    drivers/barometer_ms5611.c \
 586                    drivers/compass_ak8975.c \
 587                    drivers/barometer_bmp280.c \
 588                    drivers/compass_hmc5883l.c \
 589                    drivers/display_ug2864hsweg01.h \
 590                    drivers/flash_m25p16.c \
 591                    drivers/serial_softserial.c \
 592                    drivers/sonar_hcsr04.c \
 593                    io/flashfs.c \
 594                    $(HIGHEND_SRC) \
 595                    $(COMMON_SRC)
 596
 597 IRCFUSIONF3_SRC = \
 598                    $(STM32F30x_COMMON_SRC) \
 599                    drivers/accgyro_mpu.c \
 600                    drivers/accgyro_mpu6050.c \
 601                    drivers/barometer_ms5611.c \
 602                    drivers/compass_ak8975.c \
 603                    drivers/barometer_bmp085.c \
 604                    drivers/compass_hmc5883l.c \
 605                    drivers/display_ug2864hsweg01.h \
 606                    drivers/flash_m25p16.c \
 607                    drivers/serial_softserial.c \
 608                    drivers/sonar_hcsr04.c \
 609                    io/flashfs.c \
 610                    $(HIGHEND_SRC) \
 611                    $(COMMON_SRC)
 612
 613 MOTOLAB_SRC = \
 614                    $(STM32F30x_COMMON_SRC) \
 615                    drivers/accgyro_mpu.c \
 616                    drivers/display_ug2864hsweg01.c \
 617                    drivers/accgyro_mpu6050.c \
 618                    drivers/barometer_ms5611.c \
 619                    drivers/compass_hmc5883l.c \
 620                    drivers/serial_usb_vcp.c \
 621                    drivers/flash_m25p16.c \
 622                    io/flashfs.c \
 623                    $(HIGHEND_SRC) \
 624                    $(COMMON_SRC) \
 625                    $(VCP_SRC)
 626
 627 # Search path and source files for the ST stdperiph library
 628 VPATH           := $(VPATH):$(STDPERIPH_DIR)/src
 629
 630 ###############################################################################
 631 # Things that might need changing to use different tools
 632 #
 633
 634 # Tool names
 635 CC               = arm-none-eabi-gcc
 636 OBJCOPY          = arm-none-eabi-objcopy
 637 SIZE             = arm-none-eabi-size
 638
 639 #
 640 # Tool options.
 641 #
 642
 643 ifeq ($(DEBUG),GDB)
 644 OPTIMIZE         = -O0
 645 LTO_FLAGS        = $(OPTIMIZE)
 646 else
 647 OPTIMIZE         = -Os
 648 LTO_FLAGS        = -flto -fuse-linker-plugin $(OPTIMIZE)
 649 endif
 650
 651 DEBUG_FLAGS      = -ggdb3 -DDEBUG
 652
 653 CFLAGS           = $(ARCH_FLAGS) \
 654                    $(LTO_FLAGS) \
 655                    $(addprefix -D,$(OPTIONS)) \
 656                    $(addprefix -I,$(INCLUDE_DIRS)) \
 657                    $(DEBUG_FLAGS) \
 658                    -std=gnu99 \
 659                    -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 660                    -ffunction-sections \
 661                    -fdata-sections \
 662                    $(DEVICE_FLAGS) \
 663                    -DUSE_STDPERIPH_DRIVER \
 664                    $(TARGET_FLAGS) \
 665                    -D'__FORKNAME__="$(FORKNAME)"' \
 666                    -D'__TARGET__="$(TARGET)"' \
 667                    -D'__REVISION__="$(REVISION)"' \
 668                    -save-temps=obj \
 669                    -MMD -MP
 670
 671 ASFLAGS          = $(ARCH_FLAGS) \
 672                    -x assembler-with-cpp \
 673                    $(addprefix -I,$(INCLUDE_DIRS)) \
 674                   -MMD -MP
 675
 676 LDFLAGS          = -lm \
 677                    -nostartfiles \
 678                    --specs=nano.specs \
 679                    -lc \
 680                    -lnosys \
 681                    $(ARCH_FLAGS) \
 682                    $(LTO_FLAGS) \
 683                    $(DEBUG_FLAGS) \
 684                    -static \
 685                    -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 686                    -Wl,-L$(LINKER_DIR) \
 687            -Wl,--cref \
 688                    -T$(LD_SCRIPT)
 689
 690 ###############################################################################
 691 # No user-serviceable parts below
 692 ###############################################################################
 693
 694 CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 695                    --std=c99 --inline-suppr --quiet --force \
 696                    $(addprefix -I,$(INCLUDE_DIRS)) \
 697                    -I/usr/include -I/usr/include/linux
 698
 699 #
 700 # Things we will build
 701 #
 702 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 703 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
 704 endif
 705
 706 TARGET_BIN       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
 707 TARGET_HEX       = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
 708 TARGET_ELF       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 709 TARGET_OBJS      = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 710 TARGET_DEPS      = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 711 TARGET_MAP       = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 712
 713
 714 ifeq ($(OPBL),yes)
 715 CLEAN_ARTIFACTS := $(TARGET_BIN)
 716 else
 717 CLEAN_ARTIFACTS := $(TARGET_HEX)
 718 endif
 719 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 720
 721 # List of buildable ELF files and their object dependencies.
 722 # It would be nice to compute these lists, but that seems to be just beyond make.
 723
 724 $(TARGET_HEX): $(TARGET_ELF)
 725         $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 726
 727 $(TARGET_BIN): $(TARGET_ELF)
 728         $(OBJCOPY) -O binary $< $@
 729
 730 $(TARGET_ELF):  $(TARGET_OBJS)
 731         $(CC) -o $@ $^ $(LDFLAGS)
 732         $(SIZE) $(TARGET_ELF)
 733
 734 # Compile
 735 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 736         @mkdir -p $(dir $@)
 737         @echo %% $(notdir $<)
 738         @$(CC) -c -o $@ $(CFLAGS) $<
 739
 740 # Assemble
 741 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 742         @mkdir -p $(dir $@)
 743         @echo %% $(notdir $<)
 744         @$(CC) -c -o $@ $(ASFLAGS) $<
 745
 746 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 747         @mkdir -p $(dir $@)
 748         @echo %% $(notdir $<)
 749         @$(CC) -c -o $@ $(ASFLAGS) $<
 750
 751
 752 ## all         : default task; compile C code, build firmware
 753 all: binary
 754
 755 ## clean       : clean up all temporary / machine-generated files
 756 clean:
 757         rm -f $(CLEAN_ARTIFACTS)
 758         rm -rf $(OBJECT_DIR)/$(TARGET)
 759         cd src/test && $(MAKE) clean || true
 760
 761 flash_$(TARGET): $(TARGET_HEX)
 762         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 763         echo -n 'R' >$(SERIAL_DEVICE)
 764         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 765
 766 ## flash       : flash firmware (.hex) onto flight controller
 767 flash: flash_$(TARGET)
 768
 769 st-flash_$(TARGET): $(TARGET_BIN)
 770         st-flash --reset write $< 0x08000000
 771
 772 ## st-flash    : flash firmware (.bin) onto flight controller
 773 st-flash: st-flash_$(TARGET)
 774
 775 binary: $(TARGET_BIN)
 776
 777 unbrick_$(TARGET): $(TARGET_HEX)
 778         stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 779         stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 780
 781 ## unbrick     : unbrick flight controller
 782 unbrick: unbrick_$(TARGET)
 783
 784 ## cppcheck    : run static analysis on C source code
 785 cppcheck: $(CSOURCES)
 786         $(CPPCHECK)
 787
 788 cppcheck-result.xml: $(CSOURCES)
 789         $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 790
 791 ## help        : print this help message and exit
 792 help: Makefile
 793         @echo ""
 794         @echo "Makefile for the $(FORKNAME) firmware"
 795         @echo ""
 796         @echo "Usage:"
 797         @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 798         @echo ""
 799         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 800         @echo ""
 801         @sed -n 's/^## //p' $<
 802
 803 ## test        : run the cleanflight test suite
 804 test:
 805         cd src/test && $(MAKE) test || true
 806
 807 # rebuild everything when makefile changes
 808 $(TARGET_OBJS) : Makefile
 809
 810 # include auto-generated dependencies
 811 -include $(TARGET_DEPS)