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 ###############################################################################
14 # Things that the user might override on the commandline
17 # The target to build, see VALID_TARGETS below
20 # Compile-time options
24 # Debugger optons, must be empty or GDB
27 # Serial port/Device for flashing
28 SERIAL_DEVICE ?
= $(firstword $(wildcard /dev
/ttyUSB
*) no-port-found
)
30 # Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
33 ###############################################################################
34 # Things that need to be maintained as the source changes
37 FORKNAME
= cleanflight
40 128K_TARGETS
= ALIENFLIGHTF1 CC3D NAZE OLIMEXINO RMDO SPRACINGF1OSD
41 256K_TARGETS
= ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE EUSTM32F103RC IRCFUSIONF3 LUX_RACE MOTOLAB PORT103R RCEXPLORERF3 SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF3OSD
43 F3_TARGETS
= ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE IRCFUSIONF3 LUX_RACE MOTOLAB RCEXPLORERF3 RMDO SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF3OSD
45 VALID_TARGETS
= $(64K_TARGETS
) $(128K_TARGETS
) $(256K_TARGETS
)
47 VCP_TARGETS
= CC3D ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB RCEXPLORERF3 SPARKY SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF1OSD SPRACINGF3OSD
48 OSD_TARGETS
= SPRACINGF1OSD SPRACINGF3OSD
50 # Configure default flash sizes for the targets
52 ifeq ($(TARGET
),$(filter $(TARGET
),$(64K_TARGETS
)))
54 else ifeq ($(TARGET
),$(filter $(TARGET
),$(128K_TARGETS
)))
56 else ifeq ($(TARGET
),$(filter $(TARGET
),$(256K_TARGETS
)))
59 $(error FLASH_SIZE not configured for target
$(TARGET
))
63 REVISION
:= $(shell git log
-1 --format
="%h")
66 ROOT
:= $(patsubst %/,%,$(dir $(lastword
$(MAKEFILE_LIST
))))
67 SRC_DIR
= $(ROOT
)/src
/main
68 OBJECT_DIR
= $(ROOT
)/obj
/main
70 CMSIS_DIR
= $(ROOT
)/lib
/main
/CMSIS
71 INCLUDE_DIRS
= $(SRC_DIR
) \
72 $(ROOT
)/src
/main
/target
73 LINKER_DIR
= $(ROOT
)/src
/main
/target
75 # Search path for sources
76 VPATH
:= $(SRC_DIR
):$(SRC_DIR
)/startup
77 USBFS_DIR
= $(ROOT
)/lib
/main
/STM32_USB-FS-Device_Driver
78 USBPERIPH_SRC
= $(notdir $(wildcard $(USBFS_DIR
)/src
/*.c
))
80 CSOURCES
:= $(shell find
$(SRC_DIR
) -name
'*.c')
82 ifeq ($(TARGET
),$(filter $(TARGET
),$(F3_TARGETS
)))
85 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F30x_StdPeriph_Driver
87 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
89 EXCLUDES
= stm32f30x_crc.c \
92 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
94 DEVICE_STDPERIPH_SRC
= \
98 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM1
/CoreSupport
:$(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
99 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM1
/CoreSupport
/*.c \
100 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
/*.c
))
102 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
103 $(STDPERIPH_DIR
)/inc \
104 $(CMSIS_DIR
)/CM1
/CoreSupport \
105 $(CMSIS_DIR
)/CM1
/DeviceSupport
/ST
/STM32F30x
107 ifeq ($(TARGET
),$(filter $(TARGET
),$(VCP_TARGETS
)))
108 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
112 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
114 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
)\
119 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f303_
$(FLASH_SIZE
)k.
ld
121 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m4
-mfloat-abi
=hard
-mfpu
=fpv4-sp-d16
-fsingle-precision-constant
-Wdouble-promotion
122 DEVICE_FLAGS
= -DSTM32F303xC
-DSTM32F303
123 TARGET_FLAGS
= -D
$(TARGET
)
125 else ifeq ($(TARGET
),$(filter $(TARGET
),EUSTM32F103RC PORT103R
))
126 # TARGETS: EUSTM32F103RC PORT103R
129 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
131 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
133 EXCLUDES
= stm32f10x_crc.c \
137 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
139 # Search path and source files for the CMSIS sources
140 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
141 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
142 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
144 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
145 $(STDPERIPH_DIR
)/inc \
146 $(CMSIS_DIR
)/CM3
/CoreSupport \
147 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
149 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
151 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
152 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
153 DEVICE_FLAGS
= -DSTM32F10X_HD
-DSTM32F10X
155 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
160 STDPERIPH_DIR
= $(ROOT
)/lib
/main
/STM32F10x_StdPeriph_Driver
162 STDPERIPH_SRC
= $(notdir $(wildcard $(STDPERIPH_DIR
)/src
/*.c
))
164 EXCLUDES
= stm32f10x_crc.c \
168 STDPERIPH_SRC
:= $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC
))
170 # Search path and source files for the CMSIS sources
171 VPATH
:= $(VPATH
):$(CMSIS_DIR
)/CM3
/CoreSupport
:$(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
172 CMSIS_SRC
= $(notdir $(wildcard $(CMSIS_DIR
)/CM3
/CoreSupport
/*.c \
173 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x
/*.c
))
175 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
176 $(STDPERIPH_DIR
)/inc \
177 $(CMSIS_DIR
)/CM3
/CoreSupport \
178 $(CMSIS_DIR
)/CM3
/DeviceSupport
/ST
/STM32F10x \
180 DEVICE_STDPERIPH_SRC
= $(STDPERIPH_SRC
)
182 ifeq ($(TARGET
),$(filter $(TARGET
),$(VCP_TARGETS
)))
183 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
187 VPATH
:= $(VPATH
):$(USBFS_DIR
)/src
189 DEVICE_STDPERIPH_SRC
:= $(DEVICE_STDPERIPH_SRC
) \
194 LD_SCRIPT
= $(LINKER_DIR
)/stm32_flash_f103_
$(FLASH_SIZE
)k.
ld
196 ARCH_FLAGS
= -mthumb
-mcpu
=cortex-m3
197 TARGET_FLAGS
= -D
$(TARGET
) -pedantic
198 DEVICE_FLAGS
= -DSTM32F10X_MD
-DSTM32F10X
202 ifneq ($(FLASH_SIZE
),)
203 DEVICE_FLAGS
:= $(DEVICE_FLAGS
) -DFLASH_SIZE
=$(FLASH_SIZE
)
206 TARGET_DIR
= $(ROOT
)/src
/main
/target
/$(TARGET
)
207 TARGET_SRC
= $(notdir $(wildcard $(TARGET_DIR
)/*.c
))
210 ifeq ($(TARGET
),ALIENFLIGHTF1
)
211 # ALIENFLIGHTF1 is a VARIANT of NAZE
212 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DNAZE
-DALIENFLIGHT
213 TARGET_DIR
= $(ROOT
)/src
/main
/target
/NAZE
215 ifeq ($(TARGET
),CHEBUZZF3
)
216 # CHEBUZZ is a VARIANT of STM32F3DISCOVERY
217 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSTM32F3DISCOVERY
219 ifeq ($(TARGET
),$(filter $(TARGET
),RMDO IRCFUSIONF3
))
220 # RMDO and IRCFUSIONF3 are a VARIANT of SPRACINGF3
221 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DSPRACINGF3
225 ifeq ($(TARGET
),$(filter $(TARGET
),$(OSD_TARGETS
)))
226 TARGET_FLAGS
:= $(TARGET_FLAGS
) -DOSD
231 INCLUDE_DIRS
:= $(INCLUDE_DIRS
) \
234 VPATH
:= $(VPATH
):$(TARGET_DIR
)
237 build
/build_config.c \
240 config
/config_streamer.c \
241 config
/parameter_group.c \
242 config
/config_eeprom.c \
248 common
/typeconversion.c \
250 drivers
/buf_writer.c \
254 scheduler
/scheduler.c \
256 io
/statusindicator.c \
261 $(DEVICE_STDPERIPH_SRC
)
267 fc/cleanflight_fc.c \
270 fc/rc_adjustments.c \
275 fc/runtime_config.c \
277 flight
/altitudehold.c \
280 flight
/pid_luxfloat.c \
281 flight
/pid_mwrewrite.c \
286 drivers
/bus_i2c_soft.c \
287 drivers
/sound_beeper.c \
288 drivers
/gyro_sync.c \
291 io
/motor_and_servo.c \
293 io
/serial_4way_avrootloader.c \
294 io
/serial_4way_stk500v2.c \
296 io
/statusindicator.c \
308 sensors
/acceleration.c \
310 sensors
/boardalignment.c \
313 sensors
/initialisation.c
317 osd
/cleanflight_osd.c \
322 osd
/msp_server_osd.c \
323 osd
/msp_client_osd.c \
330 flight
/navigation.c \
331 flight
/gps_conversion.c \
332 common
/colorconversion.c \
336 telemetry
/telemetry.c \
339 telemetry
/smartport.c \
341 telemetry
/mavlink.c \
343 sensors
/barometer.c \
344 blackbox
/blackbox.c \
345 blackbox
/blackbox_io.c
355 drivers
/serial_usb_vcp.c \
358 STM32F10x_COMMON_SRC
= \
360 drivers
/adc_stm32f10x.c \
361 drivers
/bus_i2c_stm32f10x.c \
362 drivers
/gpio_stm32f10x.c \
363 drivers
/light_led_stm32f10x.c \
364 drivers
/serial_uart.c \
365 drivers
/serial_uart_stm32f10x.c \
366 drivers
/system_stm32f10x.c
369 startup_stm32f10x_md_gcc.S \
370 $(STM32F10x_COMMON_SRC
) \
371 drivers
/accgyro_adxl345.c \
372 drivers
/accgyro_bma280.c \
373 drivers
/accgyro_l3g4200d.c \
374 drivers
/accgyro_mma845x.c \
375 drivers
/accgyro_mpu.c \
376 drivers
/accgyro_mpu3050.c \
377 drivers
/accgyro_mpu6050.c \
378 drivers
/accgyro_mpu6500.c \
379 drivers
/accgyro_spi_mpu6500.c \
380 drivers
/barometer_bmp085.c \
381 drivers
/barometer_ms5611.c \
382 drivers
/barometer_bmp280.c \
384 drivers
/compass_hmc5883l.c \
385 drivers
/display_ug2864hsweg01.h \
386 drivers
/flash_m25p16.c \
388 drivers
/light_ws2811strip.c \
389 drivers
/light_ws2811strip_stm32f10x.c \
390 drivers
/sonar_hcsr04.c \
391 drivers
/pwm_mapping.c \
392 drivers
/pwm_output.c \
394 drivers
/serial_softserial.c \
395 drivers
/sound_beeper_stm32f10x.c \
397 drivers
/timer_stm32f10x.c \
399 hardware_revision.c \
404 ALIENFLIGHTF1_SRC
= $(NAZE_SRC
)
406 EUSTM32F103RC_SRC
= \
407 startup_stm32f10x_hd_gcc.S \
408 $(STM32F10x_COMMON_SRC
) \
409 drivers
/accgyro_adxl345.c \
410 drivers
/accgyro_bma280.c \
411 drivers
/accgyro_l3g4200d.c \
412 drivers
/accgyro_mma845x.c \
413 drivers
/accgyro_mpu.c \
414 drivers
/accgyro_mpu3050.c \
415 drivers
/accgyro_mpu6050.c \
416 drivers
/accgyro_mpu6500.c \
417 drivers
/accgyro_spi_mpu6000.c \
418 drivers
/accgyro_spi_mpu6500.c \
419 drivers
/barometer_bmp085.c \
420 drivers
/barometer_ms5611.c \
422 drivers
/compass_ak8975.c \
423 drivers
/compass_hmc5883l.c \
424 drivers
/display_ug2864hsweg01.c \
425 drivers
/flash_m25p16.c \
427 drivers
/light_ws2811strip.c \
428 drivers
/light_ws2811strip_stm32f10x.c \
429 drivers
/pwm_mapping.c \
430 drivers
/pwm_output.c \
432 drivers
/serial_softserial.c \
433 drivers
/sonar_hcsr04.c \
434 drivers
/sound_beeper_stm32f10x.c \
436 drivers
/timer_stm32f10x.c \
442 PORT103R_SRC
= $(EUSTM32F103RC_SRC
)
445 startup_stm32f10x_md_gcc.S \
446 $(STM32F10x_COMMON_SRC
) \
447 drivers
/accgyro_mpu.c \
448 drivers
/accgyro_mpu6050.c \
449 drivers
/barometer_bmp085.c \
451 drivers
/compass_hmc5883l.c \
452 drivers
/light_ws2811strip.c \
453 drivers
/light_ws2811strip_stm32f10x.c \
454 drivers
/pwm_mapping.c \
455 drivers
/pwm_output.c \
457 drivers
/serial_softserial.c \
458 drivers
/sonar_hcsr04.c \
459 drivers
/sound_beeper_stm32f10x.c \
461 drivers
/timer_stm32f10x.c \
467 startup_stm32f10x_md_gcc.S \
468 $(STM32F10x_COMMON_SRC
) \
469 drivers
/accgyro_mpu.c \
470 drivers
/accgyro_mpu6050.c \
471 drivers
/compass_hmc5883l.c \
472 drivers
/pwm_mapping.c \
473 drivers
/pwm_output.c \
475 drivers
/sound_beeper_stm32f10x.c \
477 drivers
/timer_stm32f10x.c \
478 hardware_revision.c \
480 blackbox
/blackbox.c \
481 blackbox
/blackbox_io.c \
486 startup_stm32f10x_md_gcc.S \
487 $(STM32F10x_COMMON_SRC
) \
488 drivers
/accgyro_mpu.c \
489 drivers
/accgyro_spi_mpu6000.c \
490 drivers
/barometer_bmp085.c \
491 drivers
/barometer_ms5611.c \
493 drivers
/compass_hmc5883l.c \
494 drivers
/display_ug2864hsweg01.c \
495 drivers
/flash_m25p16.c \
497 drivers
/light_ws2811strip.c \
498 drivers
/light_ws2811strip_stm32f10x.c \
499 drivers
/pwm_mapping.c \
500 drivers
/pwm_output.c \
502 drivers
/serial_softserial.c \
503 drivers
/sonar_hcsr04.c \
504 drivers
/sound_beeper_stm32f10x.c \
506 drivers
/timer_stm32f10x.c \
513 STM32F30x_COMMON_SRC
= \
514 startup_stm32f30x_md_gcc.S \
515 target
/system_stm32f30x.c \
517 drivers
/adc_stm32f30x.c \
518 drivers
/bus_i2c_stm32f30x.c \
520 drivers
/gpio_stm32f30x.c \
521 drivers
/light_led_stm32f30x.c \
522 drivers
/serial_uart.c \
523 drivers
/serial_uart_stm32f30x.c \
524 drivers
/sound_beeper_stm32f30x.c \
525 drivers
/system_stm32f30x.c
527 STM32F30x_FC_COMMON_SRC
= \
528 drivers
/display_ug2864hsweg01.h \
530 drivers
/timer_stm32f30x.c \
531 drivers
/pwm_mapping.c \
532 drivers
/pwm_output.c \
535 STM32F3DISCOVERY_COMMON_SRC
= \
536 $(STM32F30x_COMMON_SRC
) \
537 drivers
/accgyro_l3gd20.c \
538 drivers
/accgyro_l3gd20.c \
539 drivers
/accgyro_lsm303dlhc.c \
540 drivers
/compass_hmc5883l.c \
543 STM32F3DISCOVERY_SRC
= \
544 $(STM32F3DISCOVERY_COMMON_SRC
) \
545 $(STM32F30x_FC_COMMON_SRC
) \
546 drivers
/accgyro_adxl345.c \
547 drivers
/accgyro_bma280.c \
548 drivers
/accgyro_mma845x.c \
549 drivers
/accgyro_mpu.c \
550 drivers
/accgyro_mpu3050.c \
551 drivers
/accgyro_mpu6050.c \
552 drivers
/accgyro_l3g4200d.c \
553 drivers
/barometer_ms5611.c \
554 drivers
/compass_ak8975.c \
555 drivers
/light_ws2811strip.c \
556 drivers
/light_ws2811strip_stm32f30x.c \
558 drivers
/sdcard_standard.c \
559 io
/asyncfatfs
/asyncfatfs.c \
560 io
/asyncfatfs
/fat_standard.c \
566 $(STM32F3DISCOVERY_SRC
) \
572 $(STM32F30x_COMMON_SRC
) \
573 $(STM32F30x_FC_COMMON_SRC
) \
574 drivers
/accgyro_mpu.c \
575 drivers
/accgyro_mpu6500.c \
576 drivers
/accgyro_spi_mpu6500.c \
577 drivers
/barometer_ms5611.c \
578 drivers
/compass_ak8963.c \
579 drivers
/compass_ak8975.c \
580 drivers
/compass_hmc5883l.c \
581 drivers
/display_ug2864hsweg01.c \
582 drivers
/light_ws2811strip.c \
583 drivers
/light_ws2811strip_stm32f30x.c \
584 drivers
/serial_usb_vcp.c \
591 $(STM32F30x_COMMON_SRC
) \
592 $(STM32F30x_FC_COMMON_SRC
) \
593 drivers
/accgyro_mpu.c \
594 drivers
/accgyro_mpu6500.c \
595 drivers
/accgyro_spi_mpu6500.c \
596 drivers
/light_ws2811strip.c \
597 drivers
/light_ws2811strip_stm32f30x.c \
598 drivers
/serial_usb_vcp.c \
605 $(STM32F30x_COMMON_SRC
) \
606 $(STM32F30x_FC_COMMON_SRC
) \
607 drivers
/display_ug2864hsweg01.c \
608 drivers
/accgyro_mpu.c \
609 drivers
/accgyro_mpu6050.c \
610 drivers
/barometer_ms5611.c \
611 drivers
/compass_ak8975.c \
612 drivers
/light_ws2811strip.c \
613 drivers
/light_ws2811strip_stm32f30x.c \
614 drivers
/serial_usb_vcp.c \
615 drivers
/sonar_hcsr04.c \
621 ALIENFLIGHTF3_SRC
= \
622 $(STM32F30x_COMMON_SRC
) \
623 $(STM32F30x_FC_COMMON_SRC
) \
624 drivers
/display_ug2864hsweg01.c \
625 drivers
/accgyro_mpu.c \
626 drivers
/accgyro_mpu6050.c \
627 drivers
/accgyro_mpu6500.c \
628 drivers
/accgyro_spi_mpu6500.c \
629 drivers
/compass_ak8963.c \
630 drivers
/serial_usb_vcp.c \
631 drivers
/sonar_hcsr04.c \
638 $(STM32F30x_COMMON_SRC
) \
639 $(STM32F30x_FC_COMMON_SRC
) \
640 drivers
/accgyro_mpu.c \
641 drivers
/accgyro_spi_mpu6000.c \
642 drivers
/barometer_ms5611.c \
643 drivers
/compass_hmc5883l.c \
644 drivers
/compass_ak8975.c \
645 drivers
/display_ug2864hsweg01.c \
646 drivers
/serial_usb_vcp.c \
647 drivers
/flash_m25p16.c \
648 drivers
/light_ws2811strip.c \
649 drivers
/light_ws2811strip_stm32f30x.c \
650 drivers
/sonar_hcsr04.c \
658 $(STM32F30x_COMMON_SRC
) \
659 $(STM32F30x_FC_COMMON_SRC
) \
660 drivers
/accgyro_mpu.c \
661 drivers
/accgyro_mpu6050.c \
662 drivers
/barometer_bmp280.c \
663 drivers
/display_ug2864hsweg01.h \
664 drivers
/flash_m25p16.c \
665 drivers
/light_ws2811strip.c \
666 drivers
/light_ws2811strip_stm32f30x.c \
667 drivers
/serial_softserial.c \
668 drivers
/sonar_hcsr04.c \
675 $(STM32F30x_COMMON_SRC
) \
676 $(STM32F30x_FC_COMMON_SRC
) \
677 drivers
/accgyro_mpu.c \
678 drivers
/accgyro_mpu6050.c \
679 drivers
/barometer_ms5611.c \
680 drivers
/compass_ak8975.c \
681 drivers
/compass_hmc5883l.c \
682 drivers
/display_ug2864hsweg01.h \
683 drivers
/flash_m25p16.c \
684 drivers
/light_ws2811strip.c \
685 drivers
/light_ws2811strip_stm32f30x.c \
686 drivers
/serial_softserial.c \
687 drivers
/sonar_hcsr04.c \
693 SPRACINGF3EVO_SRC
= \
694 $(STM32F30x_COMMON_SRC
) \
695 $(STM32F30x_FC_COMMON_SRC
) \
696 drivers
/accgyro_mpu.c \
697 drivers
/accgyro_mpu6500.c \
698 drivers
/accgyro_spi_mpu6500.c \
699 drivers
/barometer_bmp280.c \
700 drivers
/compass_ak8963.c \
701 drivers
/display_ug2864hsweg01.h \
702 drivers
/light_ws2811strip.c \
703 drivers
/light_ws2811strip_stm32f30x.c \
704 drivers
/serial_usb_vcp.c \
706 drivers
/sdcard_standard.c \
707 drivers
/transponder_ir.c \
708 drivers
/transponder_ir_stm32f30x.c \
709 io
/asyncfatfs
/asyncfatfs.c \
710 io
/asyncfatfs
/fat_standard.c \
711 io
/transponder_ir.c \
718 $(STM32F30x_COMMON_SRC
) \
719 $(STM32F30x_FC_COMMON_SRC
) \
720 drivers
/accgyro_mpu.c \
721 drivers
/accgyro_spi_mpu6000.c \
722 drivers
/accgyro_mpu6050.c \
723 drivers
/barometer_ms5611.c \
724 drivers
/compass_hmc5883l.c \
725 drivers
/display_ug2864hsweg01.c \
726 drivers
/light_ws2811strip.c \
727 drivers
/light_ws2811strip_stm32f30x.c \
728 drivers
/serial_usb_vcp.c \
729 drivers
/flash_m25p16.c \
736 SPRACINGF3MINI_SRC
= \
737 $(STM32F30x_COMMON_SRC
) \
738 $(STM32F30x_FC_COMMON_SRC
) \
739 drivers
/accgyro_mpu.c \
740 drivers
/accgyro_mpu6500.c \
741 drivers
/barometer_bmp280.c \
742 drivers
/compass_ak8963.c \
743 drivers
/compass_hmc5883l.c \
744 drivers
/display_ug2864hsweg01.h \
745 drivers
/flash_m25p16.c \
746 drivers
/light_ws2811strip.c \
747 drivers
/light_ws2811strip_stm32f30x.c \
748 drivers
/serial_softserial.c \
749 drivers
/serial_usb_vcp.c \
750 drivers
/sonar_hcsr04.c \
752 drivers
/sdcard_standard.c \
753 drivers
/transponder_ir.c \
754 drivers
/transponder_ir_stm32f30x.c \
755 io
/asyncfatfs
/asyncfatfs.c \
756 io
/asyncfatfs
/fat_standard.c \
757 io
/transponder_ir.c \
764 $(STM32F30x_COMMON_SRC
) \
765 $(STM32F30x_FC_COMMON_SRC
) \
766 drivers
/accgyro_mpu.c \
767 drivers
/accgyro_mpu6050.c \
768 drivers
/barometer_bmp085.c \
769 drivers
/flash_m25p16.c \
775 SPRACINGF1OSD_SRC
= \
776 startup_stm32f10x_md_gcc.S \
777 $(STM32F10x_COMMON_SRC
) \
779 drivers
/video_max7456.c \
780 drivers
/flash_m25p16.c \
782 osd
/fonts
/font_max7456_12x18.c \
788 SPRACINGF3OSD_SRC
= \
789 $(STM32F30x_COMMON_SRC
) \
790 drivers
/video_max7456.c \
791 drivers
/flash_m25p16.c \
793 osd
/fonts
/font_max7456_12x18.c \
799 # Search path and source files for the ST stdperiph library
800 VPATH
:= $(VPATH
):$(STDPERIPH_DIR
)/src
802 ###############################################################################
803 # Things that might need changing to use different tools
807 CC
= arm-none-eabi-gcc
808 OBJCOPY
= arm-none-eabi-objcopy
809 SIZE
= arm-none-eabi-size
817 LTO_FLAGS
= $(OPTIMIZE
)
820 LTO_FLAGS
= -flto
-fuse-linker-plugin
$(OPTIMIZE
)
823 ifneq ($(filter $(OPTIONS
),FAIL_ON_WARNINGS
),)
824 WARN_FLAGS
+= -Werror
827 DEBUG_FLAGS
= -ggdb3
-DDEBUG
829 CFLAGS
= $(ARCH_FLAGS
) \
832 $(addprefix -D
,$(OPTIONS
)) \
833 $(addprefix -I
,$(INCLUDE_DIRS
)) \
836 -Wall
-Wextra
-Wunsafe-loop-optimizations
-Wdouble-promotion
-Wundef \
837 -ffunction-sections \
840 -DUSE_STDPERIPH_DRIVER \
842 -D
'__FORKNAME__="$(FORKNAME)"' \
843 -D
'__TARGET__="$(TARGET)"' \
844 -D
'__REVISION__="$(REVISION)"' \
845 -fverbose-asm
-ffat-lto-objects \
849 ASFLAGS
= $(ARCH_FLAGS
) \
851 -x assembler-with-cpp \
852 $(addprefix -I
,$(INCLUDE_DIRS
)) \
865 -Wl
,-gc-sections
,-Map
,$(TARGET_MAP
) \
866 -Wl
,-L
$(LINKER_DIR
) \
870 ###############################################################################
871 # No user-serviceable parts below
872 ###############################################################################
874 CPPCHECK
= cppcheck
$(CSOURCES
) --enable
=all --platform
=unix64 \
875 --std
=c99
--inline-suppr
--quiet
--force \
876 $(addprefix -I
,$(INCLUDE_DIRS
)) \
877 -I
/usr
/include -I
/usr
/include/linux
880 # Things we will build
882 ifeq ($(filter $(TARGET
),$(VALID_TARGETS
)),)
883 $(error Target
'$(TARGET)' is not valid
, must be one of
$(VALID_TARGETS
))
886 TARGET_BIN
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).bin
887 TARGET_HEX
= $(BIN_DIR
)/$(FORKNAME
)_
$(TARGET
).hex
888 TARGET_ELF
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).elf
889 TARGET_OBJS
= $(addsuffix .o
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
890 TARGET_DEPS
= $(addsuffix .d
,$(addprefix $(OBJECT_DIR
)/$(TARGET
)/,$(basename $($(TARGET
)_SRC
))))
891 TARGET_MAP
= $(OBJECT_DIR
)/$(FORKNAME
)_
$(TARGET
).map
894 ## Default make goal:
895 ## hex : Make filetype hex only
898 ## Optional make goals:
899 ## all : Make all filetypes, binary and hex
902 ## binary : Make binary filetype
903 ## bin : Alias of 'binary'
904 ## hex : Make hex filetype
906 binary
: $(TARGET_BIN
)
909 # rule to reinvoke make with TARGET= parameter
910 # rules that should be handled in toplevel Makefile, not dependent on TARGET
911 GLOBAL_GOALS
= all_targets cppcheck
test
913 .PHONY
: $(VALID_TARGETS
)
915 $(MAKE
) TARGET
=$@
$(filter-out $(VALID_TARGETS
) $(GLOBAL_GOALS
), $(MAKECMDGOALS
))
917 ## all_targets : Make all TARGETs
919 all_targets
: $(VALID_TARGETS
)
921 ## clean : clean up all temporary / machine-generated files
923 rm -f
$(TARGET_BIN
) $(TARGET_HEX
) $(TARGET_ELF
) $(TARGET_OBJS
) $(TARGET_MAP
)
924 rm -rf
$(OBJECT_DIR
)/$(TARGET
)
925 cd src
/test && $(MAKE
) clean || true
927 flash_
$(TARGET
): $(TARGET_HEX
)
928 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
929 echo
-n
'R' >$(SERIAL_DEVICE
)
930 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
932 ## flash : flash firmware (.hex) onto flight controller
933 flash
: flash_
$(TARGET
)
935 st-flash_
$(TARGET
): $(TARGET_BIN
)
936 st-flash
--reset write
$< 0x08000000
938 ## st-flash : flash firmware (.bin) onto flight controller
939 st-flash
: st-flash_
$(TARGET
)
941 unbrick_
$(TARGET
): $(TARGET_HEX
)
942 stty
-F
$(SERIAL_DEVICE
) raw speed
115200 -crtscts cs8
-parenb
-cstopb
-ixon
943 stm32flash
-w
$(TARGET_HEX
) -v
-g
0x0 -b
115200 $(SERIAL_DEVICE
)
945 ## unbrick : unbrick flight controller
946 unbrick
: unbrick_
$(TARGET
)
948 ## cppcheck : run static analysis on C source code
949 cppcheck
: $(CSOURCES
)
952 cppcheck-result.xml
: $(CSOURCES
)
953 $(CPPCHECK
) --xml-version
=2 2> cppcheck-result.xml
955 ## help : print this help message and exit
958 @echo
"Makefile for the $(FORKNAME) firmware"
961 @echo
" make [goal] [TARGET=<target>] [OPTIONS=\"<options>\"]"
963 @echo
"Valid TARGET values are: $(VALID_TARGETS)"
965 @sed
-n
's/^## //p' $<
967 ## test : run the cleanflight test suite
968 ## junittest : run the cleanflight test suite, producing Junit XML result files.
970 cd src
/test && $(MAKE
) $@
972 # rebuild everything when makefile changes
973 $(TARGET_OBJS
) : Makefile
975 # List of buildable ELF files and their object dependencies.
976 # It would be nice to compute these lists, but that seems to be just beyond make.
978 $(TARGET_HEX
): $(TARGET_ELF
)
979 $(OBJCOPY
) -O ihex
--set-start
0x8000000 $< $@
981 $(TARGET_BIN
): $(TARGET_ELF
)
982 $(OBJCOPY
) -O binary
$< $@
984 $(TARGET_ELF
): $(TARGET_OBJS
)
985 $(CC
) -o
$@
$^
$(LDFLAGS
)
986 $(SIZE
) $(TARGET_ELF
)
989 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.c
991 @echo
%% $(notdir $<)
992 @
$(CC
) -c
-o
$@
$(CFLAGS
) $<
995 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.s
997 @echo
%% $(notdir $<)
998 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
1000 $(OBJECT_DIR
)/$(TARGET
)/%.o
: %.S
1002 @echo
%% $(notdir $<)
1003 @
$(CC
) -c
-o
$@
$(ASFLAGS
) $<
1007 # include auto-generated dependencies
1008 -include $(TARGET_DEPS
)