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
  15 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= SPRACINGF3NEO
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40
  41 ###############################################################################
  42 # Things that need to be maintained as the source changes
  43 #
  44
  45 FORKNAME      = cleanflight
  46
  47 # Working directories
  48 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  49 SRC_DIR         = $(ROOT)/src/main
  50 OBJECT_DIR      = $(ROOT)/obj/main
  51 BIN_DIR         = $(ROOT)/obj
  52 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  53 INCLUDE_DIRS    = $(SRC_DIR) \
  54                   $(ROOT)/src/main/target
  55 LINKER_DIR      = $(ROOT)/src/main/target/link
  56
  57 ## V                 : Set verbosity level based on the V= parameter
  58 ##                     V=0 Low
  59 ##                     V=1 High
  60 include $(ROOT)/make/build_verbosity.mk
  61
  62 # Build tools, so we all share the same versions
  63 # import macros common to all supported build systems
  64 include $(ROOT)/make/system-id.mk
  65
  66 # developer preferences, edit these at will, they'll be gitignored
  67 -include $(ROOT)/make/local.mk
  68
  69 # configure some directories that are relative to wherever ROOT_DIR is located
  70 ifndef TOOLS_DIR
  71 TOOLS_DIR := $(ROOT)/tools
  72 endif
  73 BUILD_DIR := $(ROOT)/build
  74 DL_DIR    := $(ROOT)/downloads
  75
  76 export RM := rm
  77
  78 # import macros that are OS specific
  79 include $(ROOT)/make/$(OSFAMILY).mk
  80
  81 # include the tools makefile
  82 include $(ROOT)/make/tools.mk
  83
  84 # default xtal value for F4 targets
  85 HSE_VALUE       ?= 8000000
  86
  87 # used for turning on features like VCP and SDCARD
  88 FEATURES        =
  89
  90 OFFICIAL_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF3MINI STM32F3DISCOVERY SPRACINGF4EVO
  91 ALT_TARGETS       = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  92 OPBL_TARGETS      = $(filter %_OPBL, $(ALT_TARGETS))
  93
  94 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  95 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  96 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  97 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  98
  99 GROUP_1_TARGETS := \
 100         AFROMINI \
 101         AIORACERF3 \
 102         AIR32 \
 103         AIRBOTF4 \
 104         AIRBOTF4SD \
 105         AIRHEROF3 \
 106         ALIENFLIGHTF1 \
 107         ALIENFLIGHTF3 \
 108         ALIENFLIGHTF4 \
 109         ALIENFLIGHTNGF7 \
 110         ANYFCF7 \
 111         BEEBRAIN \
 112         BEEROTORF4 \
 113         BETAFLIGHTF3 \
 114         BLUEJAYF4 \
 115         CC3D \
 116         CC3D_OPBL \
 117
 118 GROUP_2_TARGETS := \
 119         CHEBUZZF3 \
 120         CJMCU \
 121         CL_RACINGF4 \
 122         COLIBRI \
 123         COLIBRI_OPBL \
 124         COLIBRI_RACE \
 125         DOGE \
 126         ELLE0 \
 127         F4BY \
 128         FISHDRONEF4 \
 129         FLIP32F3OSD \
 130         FURYF3 \
 131         FURYF4 \
 132         FURYF7 \
 133         IMPULSERCF3 \
 134         IRCFUSIONF3 \
 135         ISHAPEDF3 \
 136
 137 GROUP_3_TARGETS := \
 138         KAKUTEF4 \
 139         KISSCC \
 140         KIWIF4 \
 141         LUX_RACE \
 142         LUXV2_RACE \
 143         MICROSCISKY \
 144         MOTOLAB \
 145         MULTIFLITEPICO \
 146         NAZE \
 147         NERO \
 148         NUCLEOF7 \
 149         OMNIBUS \
 150         OMNIBUSF4 \
 151         OMNIBUSF4SD \
 152         PIKOBLX \
 153         PLUMF4 \
 154         PODIUMF4 \
 155
 156 GROUP_4_TARGETS := \
 157         RCEXPLORERF3 \
 158         REVO \
 159         REVO_OPBL \
 160         REVOLT \
 161         REVONANO \
 162         RMDO \
 163         SINGULARITY \
 164         SIRINFPV \
 165         SOULF4 \
 166         SPARKY \
 167         SPARKY2 \
 168         SPRACINGF3 \
 169         SPRACINGF3EVO \
 170         SPRACINGF3MINI \
 171         SPRACINGF3NEO \
 172         SPRACINGF3OSD \
 173         SPRACINGF4EVO \
 174         STM32F3DISCOVERY \
 175         TINYBEEF3 \
 176
 177 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
 178
 179
 180 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 181 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
 182 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
 183 else
 184 BASE_TARGET    := $(TARGET)
 185 endif
 186
 187 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 188 OPBL            = yes
 189 endif
 190
 191 # silently ignore if the file is not present. Allows for target specific.
 192 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 193
 194 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F446_TARGETS)
 195 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 196
 197 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 198 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 199 endif
 200
 201 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS) $(SITL_TARGETS)),)
 202 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411 or F7x5. Have you prepared a valid target.mk?)
 203 endif
 204
 205 128K_TARGETS  = $(F1_TARGETS)
 206 256K_TARGETS  = $(F3_TARGETS)
 207 512K_TARGETS  = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 208 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 209 2048K_TARGETS = $(F7X5XI_TARGETS) $(SITL_TARGETS)
 210
 211 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 212 ifeq ($(FLASH_SIZE),)
 213 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 214 FLASH_SIZE = 2048
 215 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 216 FLASH_SIZE = 1024
 217 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 218 FLASH_SIZE = 512
 219 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 220 FLASH_SIZE = 256
 221 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 222 FLASH_SIZE = 128
 223 else
 224 $(error FLASH_SIZE not configured for target $(TARGET))
 225 endif
 226 endif
 227
 228 # note that there is no hardfault debugging startup file assembly handler for other platforms
 229 ifeq ($(DEBUG_HARDFAULTS),F3)
 230 CFLAGS               += -DDEBUG_HARDFAULTS
 231 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 232 else
 233 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 234 endif
 235
 236 ifeq ($(DEBUG_HARDFAULTS),F7)
 237 CFLAGS               += -DDEBUG_HARDFAULTS
 238 endif
 239
 240 REVISION := $(shell git log -1 --format="%h")
 241
 242 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 243 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 244 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 245
 246 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 247
 248 # Search path for sources
 249 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 250 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 251 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 252 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 253 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 254
 255 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 256
 257 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 258 # F3 TARGETS
 259
 260 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 261 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 262 EXCLUDES        = stm32f30x_crc.c \
 263                   stm32f30x_can.c
 264 STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 265
 266 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 267 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 268
 269 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 270 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 271                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 272
 273 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 274                    $(STDPERIPH_DIR)/inc \
 275                    $(CMSIS_DIR)/CM1/CoreSupport \
 276                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 277
 278 ifneq ($(filter VCP, $(FEATURES)),)
 279 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 280                    $(USBFS_DIR)/inc \
 281                    $(ROOT)/src/main/vcp
 282
 283 VPATH           := $(VPATH):$(USBFS_DIR)/src
 284
 285 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 286                         $(USBPERIPH_SRC)
 287 endif
 288
 289 ifneq ($(filter SDCARD, $(FEATURES)),)
 290 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 291                    $(FATFS_DIR) \
 292
 293 VPATH           := $(VPATH):$(FATFS_DIR)
 294 endif
 295
 296 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 297
 298 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 299 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 300 # End F3 targets
 301 #
 302 # Start F4 targets
 303 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 304
 305 #STDPERIPH
 306 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 307 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 308 EXCLUDES        = stm32f4xx_crc.c \
 309                   stm32f4xx_can.c \
 310                   stm32f4xx_fmc.c \
 311                   stm32f4xx_sai.c \
 312                   stm32f4xx_cec.c \
 313                   stm32f4xx_dsi.c \
 314                   stm32f4xx_flash_ramfunc.c \
 315                   stm32f4xx_fmpi2c.c \
 316                   stm32f4xx_lptim.c \
 317                   stm32f4xx_qspi.c \
 318                   stm32f4xx_spdifrx.c \
 319                   stm32f4xx_cryp.c \
 320                   stm32f4xx_cryp_aes.c \
 321                   stm32f4xx_hash_md5.c \
 322                   stm32f4xx_cryp_des.c \
 323                   stm32f4xx_rtc.c \
 324                   stm32f4xx_hash.c \
 325                   stm32f4xx_dbgmcu.c \
 326                   stm32f4xx_cryp_tdes.c \
 327                   stm32f4xx_hash_sha1.c
 328
 329 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 330 EXCLUDES        += stm32f4xx_fsmc.c
 331 endif
 332
 333 ifeq ($(TARGET),$(filter $(TARGET), $(F446_TARGETS)))
 334 EXCLUDES        += stm32f4xx_fsmc.c
 335 endif
 336
 337 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 338
 339 #USB
 340 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 341 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 342 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 343 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 344 EXCLUDES    = usb_bsp_template.c \
 345               usb_conf_template.c \
 346               usb_hcd_int.c \
 347               usb_hcd.c \
 348               usb_otg.c
 349
 350 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 351 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 352 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 353 EXCLUDES    = usbd_cdc_if_template.c
 354 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 355 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 356
 357 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 358                         $(USBOTG_SRC) \
 359                         $(USBCORE_SRC) \
 360                         $(USBCDC_SRC)
 361
 362 #CMSIS
 363 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 364 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 365                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 366 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 367                    $(STDPERIPH_DIR)/inc \
 368                    $(USBOTG_DIR)/inc \
 369                    $(USBCORE_DIR)/inc \
 370                    $(USBCDC_DIR)/inc \
 371                    $(USBFS_DIR)/inc \
 372                    $(CMSIS_DIR)/CM4/CoreSupport \
 373                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 374                    $(ROOT)/src/main/vcpf4
 375
 376 ifneq ($(filter SDCARD,$(FEATURES)),)
 377 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 378                    $(FATFS_DIR)
 379 VPATH           := $(VPATH):$(FATFS_DIR)
 380 endif
 381
 382 #Flags
 383 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 384
 385 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 386 DEVICE_FLAGS    = -DSTM32F411xE
 387 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 388 STARTUP_SRC     = startup_stm32f411xe.s
 389 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 390 DEVICE_FLAGS    = -DSTM32F40_41xxx
 391 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 392 STARTUP_SRC     = startup_stm32f40xx.s
 393 else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
 394 DEVICE_FLAGS    = -DSTM32F446xx
 395 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f446.ld
 396 STARTUP_SRC     = startup_stm32f446xx.s
 397 else
 398 $(error Unknown MCU for F4 target)
 399 endif
 400 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 401
 402 # End F4 targets
 403 #
 404 # Start F7 targets
 405 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 406
 407 #STDPERIPH
 408 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 409 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 410 EXCLUDES        = stm32f7xx_hal_can.c \
 411                   stm32f7xx_hal_cec.c \
 412                   stm32f7xx_hal_crc.c \
 413                   stm32f7xx_hal_crc_ex.c \
 414                   stm32f7xx_hal_cryp.c \
 415                   stm32f7xx_hal_cryp_ex.c \
 416                   stm32f7xx_hal_dac.c \
 417                   stm32f7xx_hal_dac_ex.c \
 418                   stm32f7xx_hal_dcmi.c \
 419                   stm32f7xx_hal_dcmi_ex.c \
 420                   stm32f7xx_hal_dfsdm.c \
 421                   stm32f7xx_hal_dma2d.c \
 422                   stm32f7xx_hal_dsi.c \
 423                   stm32f7xx_hal_eth.c \
 424                   stm32f7xx_hal_hash.c \
 425                   stm32f7xx_hal_hash_ex.c \
 426                   stm32f7xx_hal_hcd.c \
 427                   stm32f7xx_hal_i2s.c \
 428                   stm32f7xx_hal_irda.c \
 429                   stm32f7xx_hal_iwdg.c \
 430                   stm32f7xx_hal_jpeg.c \
 431                   stm32f7xx_hal_lptim.c \
 432                   stm32f7xx_hal_ltdc.c \
 433                   stm32f7xx_hal_ltdc_ex.c \
 434                   stm32f7xx_hal_mdios.c \
 435                   stm32f7xx_hal_mmc.c \
 436                   stm32f7xx_hal_msp_template.c \
 437                   stm32f7xx_hal_nand.c \
 438                   stm32f7xx_hal_nor.c \
 439                   stm32f7xx_hal_qspi.c \
 440                   stm32f7xx_hal_rng.c \
 441                   stm32f7xx_hal_rtc.c \
 442                   stm32f7xx_hal_rtc_ex.c \
 443                   stm32f7xx_hal_sai.c \
 444                   stm32f7xx_hal_sai_ex.c \
 445                   stm32f7xx_hal_sd.c \
 446                   stm32f7xx_hal_sdram.c \
 447                   stm32f7xx_hal_smartcard.c \
 448                   stm32f7xx_hal_smartcard_ex.c \
 449                   stm32f7xx_hal_smbus.c \
 450                   stm32f7xx_hal_spdifrx.c \
 451                   stm32f7xx_hal_sram.c \
 452                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 453                   stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 454                   stm32f7xx_hal_timebase_tim_template.c \
 455                   stm32f7xx_hal_wwdg.c \
 456                   stm32f7xx_ll_adc.c \
 457                   stm32f7xx_ll_crc.c \
 458                   stm32f7xx_ll_dac.c \
 459                   stm32f7xx_ll_dma.c \
 460                   stm32f7xx_ll_dma2d.c \
 461                   stm32f7xx_ll_exti.c \
 462                   stm32f7xx_ll_fmc.c \
 463                   stm32f7xx_ll_gpio.c \
 464                   stm32f7xx_ll_i2c.c \
 465                   stm32f7xx_ll_lptim.c \
 466                   stm32f7xx_ll_pwr.c \
 467                   stm32f7xx_ll_rcc.c \
 468                   stm32f7xx_ll_rng.c \
 469                   stm32f7xx_ll_rtc.c \
 470                   stm32f7xx_ll_sdmmc.c \
 471                   stm32f7xx_ll_spi.c \
 472                   stm32f7xx_ll_tim.c \
 473                   stm32f7xx_ll_usart.c \
 474                   stm32f7xx_ll_utils.c
 475
 476 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 477
 478 #USB
 479 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 480 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 481 EXCLUDES    = usbd_conf_template.c
 482 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 483
 484 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 485 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 486 EXCLUDES   = usbd_cdc_if_template.c
 487 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 488
 489 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 490
 491 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 492                         $(USBCORE_SRC) \
 493                         $(USBCDC_SRC)
 494
 495 #CMSIS
 496 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 497 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 498 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 499                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 500 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 501                    $(STDPERIPH_DIR)/Inc \
 502                    $(USBCORE_DIR)/Inc \
 503                    $(USBCDC_DIR)/Inc \
 504                    $(CMSIS_DIR)/CM7/Include \
 505                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 506                    $(ROOT)/src/main/vcp_hal
 507
 508 ifneq ($(filter SDCARD,$(FEATURES)),)
 509 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 510                    $(FATFS_DIR)
 511 VPATH           := $(VPATH):$(FATFS_DIR)
 512 endif
 513
 514 #Flags
 515 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 516
 517 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 518 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 519 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 520 STARTUP_SRC     = startup_stm32f745xx.s
 521 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 522 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 523 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 524 STARTUP_SRC     = startup_stm32f746xx.s
 525 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 526 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 527 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 528 STARTUP_SRC     = startup_stm32f722xx.s
 529 else
 530 $(error Unknown MCU for F7 target)
 531 endif
 532 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 533
 534 TARGET_FLAGS    = -D$(TARGET)
 535
 536 # End F7 targets
 537 #
 538 # Start SITL targets
 539 else ifeq ($(TARGET),$(filter $(TARGET), $(SITL_TARGETS)))
 540
 541 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 542                    $(ROOT)/lib/main/dyad
 543
 544 SITL_SRC        := $(ROOT)/lib/main/dyad/dyad.c
 545
 546 #Flags
 547 ARCH_FLAGS      =
 548 DEVICE_FLAGS    =
 549 LD_SCRIPT       = src/main/target/SITL/parameter_group.ld
 550 STARTUP_SRC     =
 551
 552 TARGET_FLAGS    = -D$(TARGET)
 553
 554 ARM_SDK_PREFIX  =
 555
 556 # End SITL targets
 557 #
 558 # Start F1 targets
 559 else
 560
 561 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 562 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 563 EXCLUDES        = stm32f10x_crc.c \
 564                   stm32f10x_cec.c \
 565                   stm32f10x_can.c
 566 STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 567 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 568
 569 # Search path and source files for the CMSIS sources
 570 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 571 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 572                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 573
 574 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 575                    $(STDPERIPH_DIR)/inc \
 576                    $(CMSIS_DIR)/CM3/CoreSupport \
 577                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 578
 579 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 580
 581 ifneq ($(filter VCP, $(FEATURES)),)
 582 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 583                    $(USBFS_DIR)/inc \
 584                    $(ROOT)/src/main/vcp
 585
 586 VPATH           := $(VPATH):$(USBFS_DIR)/src
 587
 588 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 589                         $(USBPERIPH_SRC)
 590
 591 endif
 592
 593 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 594 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 595
 596 ifeq ($(DEVICE_FLAGS),)
 597 DEVICE_FLAGS    = -DSTM32F10X_MD
 598 endif
 599 DEVICE_FLAGS   += -DSTM32F10X
 600
 601 endif
 602 #
 603 # End F1 targets
 604 #
 605 ifneq ($(BASE_TARGET), $(TARGET))
 606 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 607 endif
 608
 609 ifneq ($(FLASH_SIZE),)
 610 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 611 endif
 612
 613 ifneq ($(HSE_VALUE),)
 614 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 615 endif
 616
 617 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 618 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 619
 620 ifeq ($(OPBL),yes)
 621 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 622 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 623 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 624 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 625 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 626 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 627 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 628 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 629 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 630 endif
 631 .DEFAULT_GOAL := binary
 632 else
 633 .DEFAULT_GOAL := hex
 634 endif
 635
 636 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 637                    $(ROOT)/lib/main/MAVLink
 638
 639 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 640                    $(TARGET_DIR)
 641
 642 VPATH           := $(VPATH):$(TARGET_DIR)
 643
 644 COMMON_SRC = \
 645             build/build_config.c \
 646             build/debug.c \
 647             build/version.c \
 648             $(TARGET_DIR_SRC) \
 649             main.c \
 650             common/encoding.c \
 651             common/filter.c \
 652             common/maths.c \
 653             common/printf.c \
 654             common/streambuf.c \
 655             common/typeconversion.c \
 656             config/config_eeprom.c \
 657             config/feature.c \
 658             config/parameter_group.c \
 659             config/config_streamer.c \
 660             drivers/adc.c \
 661             drivers/buf_writer.c \
 662             drivers/bus_i2c_soft.c \
 663             drivers/bus_spi.c \
 664             drivers/bus_spi_soft.c \
 665             drivers/display.c \
 666             drivers/exti.c \
 667             drivers/gyro_sync.c \
 668             drivers/io.c \
 669             drivers/light_led.c \
 670             drivers/resource.c \
 671             drivers/rx_nrf24l01.c \
 672             drivers/rx_spi.c \
 673             drivers/rx_xn297.c \
 674             drivers/pwm_esc_detect.c \
 675             drivers/pwm_output.c \
 676             drivers/rcc.c \
 677             drivers/rx_pwm.c \
 678             drivers/serial.c \
 679             drivers/serial_uart.c \
 680             drivers/serial_softserial.c \
 681             drivers/sound_beeper.c \
 682             drivers/stack_check.c \
 683             drivers/system.c \
 684             drivers/timer.c \
 685             fc/config.c \
 686             fc/controlrate_profile.c \
 687             fc/fc_init.c \
 688             fc/fc_dispatch.c \
 689             fc/fc_hardfaults.c \
 690             fc/fc_core.c \
 691             fc/fc_rc.c \
 692             fc/fc_msp.c \
 693             fc/fc_tasks.c \
 694             fc/rc_adjustments.c \
 695             fc/rc_controls.c \
 696             fc/runtime_config.c \
 697             fc/cli.c \
 698             flight/altitudehold.c \
 699             flight/failsafe.c \
 700             flight/imu.c \
 701             flight/mixer.c \
 702             flight/pid.c \
 703             flight/servos.c \
 704             io/beeper.c \
 705             io/serial.c \
 706             io/serial_4way.c \
 707             io/serial_4way_avrootloader.c \
 708             io/serial_4way_stk500v2.c \
 709             io/statusindicator.c \
 710             msp/msp_serial.c \
 711             rx/ibus.c \
 712             rx/jetiexbus.c \
 713             rx/msp.c \
 714             rx/nrf24_cx10.c \
 715             rx/nrf24_inav.c \
 716             rx/nrf24_h8_3d.c \
 717             rx/nrf24_syma.c \
 718             rx/nrf24_v202.c \
 719             rx/pwm.c \
 720             rx/rx.c \
 721             rx/rx_spi.c \
 722             rx/crsf.c \
 723             rx/sbus.c \
 724             rx/spektrum.c \
 725             rx/sumd.c \
 726             rx/sumh.c \
 727             rx/xbus.c \
 728             scheduler/scheduler.c \
 729             sensors/acceleration.c \
 730             sensors/battery.c \
 731             sensors/current.c \
 732             sensors/voltage.c \
 733             sensors/boardalignment.c \
 734             sensors/compass.c \
 735             sensors/gyro.c \
 736             sensors/gyroanalyse.c \
 737             sensors/initialisation.c \
 738             blackbox/blackbox.c \
 739             blackbox/blackbox_io.c \
 740             cms/cms.c \
 741             cms/cms_menu_blackbox.c \
 742             cms/cms_menu_builtin.c \
 743             cms/cms_menu_imu.c \
 744             cms/cms_menu_ledstrip.c \
 745             cms/cms_menu_misc.c \
 746             cms/cms_menu_osd.c \
 747             cms/cms_menu_vtx.c \
 748             common/colorconversion.c \
 749             common/gps_conversion.c \
 750             drivers/display_ug2864hsweg01.c \
 751             drivers/light_ws2811strip.c \
 752             drivers/serial_escserial.c \
 753             drivers/sonar_hcsr04.c \
 754             drivers/vtx_common.c \
 755             drivers/transponder_ir.c \
 756             drivers/transponder_ir_arcitimer.c \
 757             drivers/transponder_ir_ilap.c \
 758             flight/navigation.c \
 759             io/dashboard.c \
 760             io/displayport_max7456.c \
 761             io/displayport_msp.c \
 762             io/displayport_oled.c \
 763             io/gps.c \
 764             io/ledstrip.c \
 765             io/osd.c \
 766             io/osd_slave.c \
 767             io/transponder_ir.c \
 768             sensors/sonar.c \
 769             sensors/barometer.c \
 770             telemetry/telemetry.c \
 771             telemetry/crsf.c \
 772             telemetry/srxl.c \
 773             telemetry/frsky.c \
 774             telemetry/hott.c \
 775             telemetry/smartport.c \
 776             telemetry/ltm.c \
 777             telemetry/mavlink.c \
 778             telemetry/ibus.c \
 779             telemetry/ibus_shared.c \
 780             sensors/esc_sensor.c \
 781             io/vtx_string.c \
 782             io/vtx_smartaudio.c \
 783             io/vtx_tramp.c \
 784             io/vtx.c \
 785             $(CMSIS_SRC) \
 786             $(DEVICE_STDPERIPH_SRC)
 787
 788
 789 SPEED_OPTIMISED_SRC := ""
 790 SIZE_OPTIMISED_SRC  := ""
 791
 792 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 793 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 794             common/encoding.c \
 795             common/filter.c \
 796             common/maths.c \
 797             common/typeconversion.c \
 798             drivers/adc.c \
 799             drivers/buf_writer.c \
 800             drivers/bus_i2c_soft.c \
 801             drivers/bus_spi.c \
 802             drivers/bus_spi_soft.c \
 803             drivers/exti.c \
 804             drivers/gyro_sync.c \
 805             drivers/io.c \
 806             drivers/light_led.c \
 807             drivers/resource.c \
 808             drivers/rx_nrf24l01.c \
 809             drivers/rx_spi.c \
 810             drivers/rx_xn297.c \
 811             drivers/pwm_output.c \
 812             drivers/rcc.c \
 813             drivers/rx_pwm.c \
 814             drivers/serial.c \
 815             drivers/serial_uart.c \
 816             drivers/sound_beeper.c \
 817             drivers/system.c \
 818             drivers/timer.c \
 819             fc/fc_core.c \
 820             fc/fc_tasks.c \
 821             fc/fc_rc.c \
 822             fc/rc_controls.c \
 823             fc/runtime_config.c \
 824             flight/imu.c \
 825             flight/mixer.c \
 826             flight/pid.c \
 827             flight/servos.c \
 828             io/serial.c \
 829             rx/ibus.c \
 830             rx/jetiexbus.c \
 831             rx/nrf24_cx10.c \
 832             rx/nrf24_inav.c \
 833             rx/nrf24_h8_3d.c \
 834             rx/nrf24_syma.c \
 835             rx/nrf24_v202.c \
 836             rx/pwm.c \
 837             rx/rx.c \
 838             rx/rx_spi.c \
 839             rx/crsf.c \
 840             rx/sbus.c \
 841             rx/spektrum.c \
 842             rx/sumd.c \
 843             rx/sumh.c \
 844             rx/xbus.c \
 845             scheduler/scheduler.c \
 846             sensors/acceleration.c \
 847             sensors/boardalignment.c \
 848             sensors/gyro.c \
 849             sensors/gyroanalyse.c \
 850             $(CMSIS_SRC) \
 851             $(DEVICE_STDPERIPH_SRC) \
 852             drivers/display_ug2864hsweg01.c \
 853             drivers/light_ws2811strip.c \
 854             drivers/serial_softserial.c \
 855             io/dashboard.c \
 856             io/displayport_max7456.c \
 857             io/osd.c \
 858             io/osd_slave.c
 859
 860 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
 861             drivers/serial_escserial.c \
 862             drivers/vtx_common.c \
 863             io/cli.c \
 864             io/serial_4way.c \
 865             io/serial_4way_avrootloader.c \
 866             io/serial_4way_stk500v2.c \
 867             msp/msp_serial.c \
 868             cms/cms.c \
 869             cms/cms_menu_blackbox.c \
 870             cms/cms_menu_builtin.c \
 871             cms/cms_menu_imu.c \
 872             cms/cms_menu_ledstrip.c \
 873             cms/cms_menu_misc.c \
 874             cms/cms_menu_osd.c \
 875             cms/cms_menu_vtx.c \
 876             io/vtx_smartaudio.c \
 877             io/vtx_tramp.c
 878 endif #F3
 879
 880 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 881 VCP_SRC = \
 882             vcpf4/stm32f4xx_it.c \
 883             vcpf4/usb_bsp.c \
 884             vcpf4/usbd_desc.c \
 885             vcpf4/usbd_usr.c \
 886             vcpf4/usbd_cdc_vcp.c \
 887             drivers/serial_usb_vcp.c \
 888             drivers/usb_io.c
 889 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 890 VCP_SRC = \
 891             vcp_hal/usbd_desc.c \
 892             vcp_hal/usbd_conf.c \
 893             vcp_hal/usbd_cdc_interface.c \
 894             drivers/serial_usb_vcp.c \
 895             drivers/usb_io.c
 896 else
 897 VCP_SRC = \
 898             vcp/hw_config.c \
 899             vcp/stm32_it.c \
 900             vcp/usb_desc.c \
 901             vcp/usb_endp.c \
 902             vcp/usb_istr.c \
 903             vcp/usb_prop.c \
 904             vcp/usb_pwr.c \
 905             drivers/serial_usb_vcp.c \
 906             drivers/usb_io.c
 907 endif
 908
 909 STM32F10x_COMMON_SRC = \
 910             drivers/adc_stm32f10x.c \
 911             drivers/bus_i2c_stm32f10x.c \
 912             drivers/dma.c \
 913             drivers/gpio_stm32f10x.c \
 914             drivers/inverter.c \
 915             drivers/light_ws2811strip_stdperiph.c \
 916             drivers/serial_uart_stm32f10x.c \
 917             drivers/system_stm32f10x.c \
 918             drivers/timer_stm32f10x.c
 919
 920 STM32F30x_COMMON_SRC = \
 921             target/system_stm32f30x.c \
 922             drivers/adc_stm32f30x.c \
 923             drivers/bus_i2c_stm32f30x.c \
 924             drivers/dma.c \
 925             drivers/gpio_stm32f30x.c \
 926             drivers/light_ws2811strip_stdperiph.c \
 927             drivers/pwm_output_dshot.c \
 928             drivers/serial_uart_stm32f30x.c \
 929             drivers/system_stm32f30x.c \
 930             drivers/timer_stm32f30x.c
 931
 932 STM32F4xx_COMMON_SRC = \
 933             target/system_stm32f4xx.c \
 934             drivers/accgyro_mpu.c \
 935             drivers/adc_stm32f4xx.c \
 936             drivers/bus_i2c_stm32f10x.c \
 937             drivers/dma_stm32f4xx.c \
 938             drivers/gpio_stm32f4xx.c \
 939             drivers/inverter.c \
 940             drivers/light_ws2811strip_stdperiph.c \
 941             drivers/pwm_output_dshot.c \
 942             drivers/serial_uart_stm32f4xx.c \
 943             drivers/system_stm32f4xx.c \
 944             drivers/timer_stm32f4xx.c
 945
 946 STM32F7xx_COMMON_SRC = \
 947             target/system_stm32f7xx.c \
 948             drivers/accgyro_mpu.c \
 949             drivers/adc_stm32f7xx.c \
 950             drivers/bus_i2c_hal.c \
 951             drivers/dma_stm32f7xx.c \
 952             drivers/gpio_stm32f7xx.c \
 953             drivers/inverter.c \
 954             drivers/bus_spi_hal.c \
 955             drivers/pwm_output_stm32f7xx.c \
 956             drivers/timer_hal.c \
 957             drivers/timer_stm32f7xx.c \
 958             drivers/system_stm32f7xx.c \
 959             drivers/serial_uart_stm32f7xx.c \
 960             drivers/serial_uart_hal.c
 961
 962 F7EXCLUDES = drivers/bus_spi.c \
 963             drivers/bus_i2c.c \
 964             drivers/timer.c \
 965             drivers/serial_uart.c
 966
 967 SITLEXCLUDES = \
 968             drivers/adc.c \
 969             drivers/bus_spi.c \
 970             drivers/bus_i2c.c \
 971             drivers/dma.c \
 972             drivers/pwm_output.c \
 973             drivers/timer.c \
 974             drivers/light_led.c \
 975             drivers/system.c \
 976             drivers/rcc.c \
 977             drivers/serial_uart.c \
 978
 979
 980 # check if target.mk supplied
 981 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 982 SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 983 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 984 SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 985 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 986 SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 987 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 988 SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
 989 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
 990 SRC := $(TARGET_SRC) $(SITL_SRC) $(VARIANT_SRC)
 991 endif
 992
 993 ifneq ($(filter $(TARGET),$(F4_TARGETS) $(F7_TARGETS)),)
 994 DSPLIB := $(ROOT)/lib/main/DSP_Lib
 995 DEVICE_FLAGS += -DARM_MATH_CM4 -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE
 996
 997 INCLUDE_DIRS += $(DSPLIB)/Include
 998
 999 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_f32.c
1000 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_f32.c
1001 SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_init_f32.c
1002 SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_radix8_f32.c
1003 SRC += $(DSPLIB)/Source/CommonTables/arm_common_tables.c
1004
1005 SRC += $(DSPLIB)/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
1006 SRC += $(DSPLIB)/Source/StatisticsFunctions/arm_max_f32.c
1007
1008 SRC += $(wildcard $(DSPLIB)/Source/*/*.S)
1009 endif
1010
1011
1012 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
1013 SRC += \
1014             drivers/flash_m25p16.c \
1015             io/flashfs.c
1016 endif
1017
1018 SRC += $(COMMON_SRC)
1019
1020 #excludes
1021 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
1022 SRC   := $(filter-out ${F7EXCLUDES}, $(SRC))
1023 endif
1024
1025 #SITL excludes
1026 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1027 SRC   := $(filter-out ${SITLEXCLUDES}, $(SRC))
1028 endif
1029
1030 ifneq ($(filter SDCARD,$(FEATURES)),)
1031 SRC += \
1032             drivers/sdcard.c \
1033             drivers/sdcard_standard.c \
1034             io/asyncfatfs/asyncfatfs.c \
1035             io/asyncfatfs/fat_standard.c
1036 endif
1037
1038 ifneq ($(filter VCP,$(FEATURES)),)
1039 SRC += $(VCP_SRC)
1040 endif
1041 # end target specific make file checks
1042
1043
1044 # Search path and source files for the ST stdperiph library
1045 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
1046
1047 ###############################################################################
1048 # Things that might need changing to use different tools
1049 #
1050
1051 # Find out if ccache is installed on the system
1052 CCACHE := ccache
1053 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
1054 ifneq ($(RESULT),0)
1055 CCACHE :=
1056 endif
1057
1058 # Tool names
1059 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
1060 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
1061 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
1062 SIZE        := $(ARM_SDK_PREFIX)size
1063
1064 #
1065 # Tool options.
1066 #
1067
1068 ifneq ($(DEBUG),GDB)
1069 OPTIMISATION_BASE   := -flto -fuse-linker-plugin -ffast-math
1070 OPTIMISE_SPEED      := ""
1071 OPTIMISE_SIZE       := ""
1072
1073 ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
1074 OPTIMISE_DEFAULT    := -Os
1075
1076 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1077
1078 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
1079 OPTIMISE_DEFAULT    := -O2
1080 OPTIMISE_SPEED      := -Ofast
1081 OPTIMISE_SIZE       := -Os
1082
1083 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1084
1085 else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1086 OPTIMISE_DEFAULT    := -Ofast
1087 OPTIMISE_SPEED      := -Ofast
1088 OPTIMISE_SIZE       := -Os
1089
1090 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1091
1092 else
1093 OPTIMISE_DEFAULT    := -Ofast
1094
1095 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1096
1097 endif #TARGETS
1098
1099 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
1100 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
1101 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
1102
1103 else #DEBUG
1104 OPTIMISE_DEFAULT    := -O0
1105
1106 CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
1107
1108 LTO_FLAGS           := $(OPTIMISE_DEFAULT)
1109 endif #DEBUG
1110
1111 DEBUG_FLAGS = -ggdb3 -DDEBUG
1112
1113 CFLAGS      += $(ARCH_FLAGS) \
1114               $(addprefix -D,$(OPTIONS)) \
1115               $(addprefix -I,$(INCLUDE_DIRS)) \
1116               $(DEBUG_FLAGS) \
1117               -std=gnu99 \
1118               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
1119               -ffunction-sections \
1120               -fdata-sections \
1121               -pedantic \
1122               $(DEVICE_FLAGS) \
1123               -DUSE_STDPERIPH_DRIVER \
1124               -D$(TARGET) \
1125               $(TARGET_FLAGS) \
1126               -D'__FORKNAME__="$(FORKNAME)"' \
1127               -D'__TARGET__="$(TARGET)"' \
1128               -D'__REVISION__="$(REVISION)"' \
1129               -save-temps=obj \
1130               -MMD -MP
1131
1132 ASFLAGS     = $(ARCH_FLAGS) \
1133               -x assembler-with-cpp \
1134               $(addprefix -I,$(INCLUDE_DIRS)) \
1135               -MMD -MP
1136
1137 LDFLAGS     = -lm \
1138               -nostartfiles \
1139               --specs=nano.specs \
1140               -lc \
1141               -lnosys \
1142               $(ARCH_FLAGS) \
1143               $(LTO_FLAGS) \
1144               $(DEBUG_FLAGS) \
1145               -static \
1146               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1147               -Wl,-L$(LINKER_DIR) \
1148               -Wl,--cref \
1149               -Wl,--no-wchar-size-warning \
1150               -T$(LD_SCRIPT)
1151
1152 #SITL compile
1153 ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
1154 LDFLAGS     = \
1155               -lm \
1156               -lpthread \
1157               -lc \
1158               -lrt \
1159               $(ARCH_FLAGS) \
1160               $(LTO_FLAGS) \
1161               $(DEBUG_FLAGS) \
1162               -static \
1163               -static-libgcc \
1164               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
1165               -Wl,-L$(LINKER_DIR) \
1166               -Wl,--cref \
1167               -T$(LD_SCRIPT)
1168 endif
1169
1170 ###############################################################################
1171 # No user-serviceable parts below
1172 ###############################################################################
1173
1174 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
1175                   --std=c99 --inline-suppr --quiet --force \
1176                   $(addprefix -I,$(INCLUDE_DIRS)) \
1177                   -I/usr/include -I/usr/include/linux
1178
1179 #
1180 # Things we will build
1181 #
1182 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
1183 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
1184 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
1185 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1186 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
1187 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
1188
1189
1190 CLEAN_ARTIFACTS := $(TARGET_BIN)
1191 CLEAN_ARTIFACTS += $(TARGET_HEX)
1192 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
1193
1194 # Make sure build date and revision is updated on every incremental build
1195 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
1196
1197 # List of buildable ELF files and their object dependencies.
1198 # It would be nice to compute these lists, but that seems to be just beyond make.
1199
1200 $(TARGET_HEX): $(TARGET_ELF)
1201         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
1202
1203 $(TARGET_BIN): $(TARGET_ELF)
1204         $(V0) $(OBJCOPY) -O binary $< $@
1205
1206 $(TARGET_ELF):  $(TARGET_OBJS)
1207         $(V1) echo Linking $(TARGET)
1208         $(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
1209         $(V0) $(SIZE) $(TARGET_ELF)
1210
1211 # Compile
1212 ifneq ($(DEBUG),GDB)
1213 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1214         $(V1) mkdir -p $(dir $@)
1215         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
1216         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
1217         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
1218         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
1219         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
1220         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
1221         echo "%% $(notdir $<)" "$(STDOUT)" && \
1222         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
1223 else
1224 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
1225         $(V1) mkdir -p $(dir $@)
1226         $(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
1227         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
1228 endif
1229
1230 # Assemble
1231 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
1232         $(V1) mkdir -p $(dir $@)
1233         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1234         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1235
1236 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
1237         $(V1) mkdir -p $(dir $@)
1238         $(V1) echo "%% $(notdir $<)" "$(STDOUT)"
1239         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
1240
1241
1242 ## all               : Build all valid targets
1243 all: $(VALID_TARGETS)
1244
1245 ## official          : Build all official (travis) targets
1246 official: $(OFFICIAL_TARGETS)
1247
1248 ## targets-group-1   : build some targets
1249 targets-group-1: $(GROUP_1_TARGETS)
1250
1251 ## targets-group-2   : build some targets
1252 targets-group-2: $(GROUP_2_TARGETS)
1253
1254 ## targets-group-3   : build some targets
1255 targets-group-3: $(GROUP_3_TARGETS)
1256
1257 ## targets-group-3   : build some targets
1258 targets-group-4: $(GROUP_4_TARGETS)
1259
1260 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
1261 targets-group-rest: $(GROUP_OTHER_TARGETS)
1262
1263
1264 $(VALID_TARGETS):
1265                 $(V0) echo "" && \
1266                 echo "Building $@" && \
1267                 time $(MAKE) binary hex TARGET=$@ && \
1268                 echo "Building $@ succeeded."
1269
1270
1271
1272 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
1273 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
1274
1275 ## clean             : clean up temporary / machine-generated files
1276 clean:
1277         $(V0) echo "Cleaning $(TARGET)"
1278         $(V0) rm -f $(CLEAN_ARTIFACTS)
1279         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
1280         $(V0) echo "Cleaning $(TARGET) succeeded."
1281
1282 ## clean_test        : clean up temporary / machine-generated files (tests)
1283 clean_test:
1284         $(V0) cd src/test && $(MAKE) clean || true
1285
1286 ## clean_<TARGET>    : clean up one specific target
1287 $(CLEAN_TARGETS) :
1288         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
1289
1290 ## <TARGET>_clean    : clean up one specific target (alias for above)
1291 $(TARGETS_CLEAN) :
1292         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
1293
1294 ## clean_all         : clean all valid targets
1295 clean_all:$(CLEAN_TARGETS)
1296
1297 ## all_clean         : clean all valid targets (alias for above)
1298 all_clean:$(TARGETS_CLEAN)
1299
1300
1301 flash_$(TARGET): $(TARGET_HEX)
1302         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1303         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1304         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1305
1306 ## flash             : flash firmware (.hex) onto flight controller
1307 flash: flash_$(TARGET)
1308
1309 st-flash_$(TARGET): $(TARGET_BIN)
1310         $(V0) st-flash --reset write $< 0x08000000
1311
1312 ## st-flash          : flash firmware (.bin) onto flight controller
1313 st-flash: st-flash_$(TARGET)
1314
1315 binary:
1316         $(V0) $(MAKE) -j $(TARGET_BIN)
1317
1318 hex:
1319         $(V0) $(MAKE) -j $(TARGET_HEX)
1320
1321 unbrick_$(TARGET): $(TARGET_HEX)
1322         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1323         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1324
1325 ## unbrick           : unbrick flight controller
1326 unbrick: unbrick_$(TARGET)
1327
1328 ## cppcheck          : run static analysis on C source code
1329 cppcheck: $(CSOURCES)
1330         $(V0) $(CPPCHECK)
1331
1332 cppcheck-result.xml: $(CSOURCES)
1333         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1334
1335 # mkdirs
1336 $(DL_DIR):
1337         mkdir -p $@
1338
1339 $(TOOLS_DIR):
1340         mkdir -p $@
1341
1342 $(BUILD_DIR):
1343         mkdir -p $@
1344
1345 ## version           : print firmware version
1346 version:
1347         @echo $(FC_VER)
1348
1349 ## help              : print this help message and exit
1350 help: Makefile make/tools.mk
1351         $(V0) @echo ""
1352         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1353         $(V0) @echo ""
1354         $(V0) @echo "Usage:"
1355         $(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
1356         $(V0) @echo "Or:"
1357         $(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
1358         $(V0) @echo ""
1359         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1360         $(V0) @echo ""
1361         $(V0) @sed -n 's/^## //p' $?
1362
1363 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1364 targets:
1365         $(V0) @echo "Valid targets:      $(VALID_TARGETS)"
1366         $(V0) @echo "Target:             $(TARGET)"
1367         $(V0) @echo "Base target:        $(BASE_TARGET)"
1368         $(V0) @echo "Official targets:   $(OFFICIAL_TARGETS)"
1369         $(V0) @echo "targets-group-1:    $(GROUP_1_TARGETS)"
1370         $(V0) @echo "targets-group-2:    $(GROUP_2_TARGETS)"
1371         $(V0) @echo "targets-group-3:    $(GROUP_3_TARGETS)"
1372         $(V0) @echo "targets-group-4:    $(GROUP_4_TARGETS)"
1373         $(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
1374
1375 ## test              : run the cleanflight test suite
1376 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
1377 test junittest:
1378         $(V0) cd src/test && $(MAKE) $@
1379
1380 # rebuild everything when makefile changes
1381 $(TARGET_OBJS) : Makefile
1382
1383 # include auto-generated dependencies
1384 -include $(TARGET_DEPS)