target.c compile warnings
[betaflight.git] / Makefile
blobe41d2d19e47c75a535aace64f3afd7f49c87ce40
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 betaflight firmware.
10 # Invoke this with 'make help' to see the list of supported targets.
12 ###############################################################################
15 # Things that the user might override on the commandline
18 # The target to build, see VALID_TARGETS below
19 TARGET ?= NAZE
21 # Compile-time options
22 OPTIONS ?=
24 # compile for OpenPilot BootLoader support
25 OPBL ?= no
27 # Debugger optons, must be empty or GDB
28 DEBUG ?=
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 ?=
34 # Serial port/Device for flashing
35 SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
37 # Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
38 FLASH_SIZE ?=
40 ###############################################################################
41 # Things that need to be maintained as the source changes
44 FORKNAME = betaflight
46 # Working directories
47 ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
48 SRC_DIR = $(ROOT)/src/main
49 OBJECT_DIR = $(ROOT)/obj/main
50 BIN_DIR = $(ROOT)/obj
51 CMSIS_DIR = $(ROOT)/lib/main/CMSIS
52 INCLUDE_DIRS = $(SRC_DIR) \
53 $(ROOT)/src/main/target
54 LINKER_DIR = $(ROOT)/src/main/target
56 # default xtal value for F4 targets
57 HSE_VALUE = 8000000
59 # used for turning on features like VCP and SDCARD
60 FEATURES =
62 ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
63 OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
65 #VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
66 VALID_TARGETS = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
67 VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
68 VALID_TARGETS := $(VALID_TARGETS) $(ALT_TARGETS)
69 VALID_TARGETS := $(sort $(VALID_TARGETS))
71 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
72 BASE_TARGET := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
73 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
74 else
75 BASE_TARGET := $(TARGET)
76 endif
78 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
79 OPBL = yes
80 endif
82 # silently ignore if the file is not present. Allows for target specific.
83 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
85 F4_TARGETS = $(F405_TARGETS) $(F411_TARGETS)
87 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
88 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
89 endif
91 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)),)
92 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, or F411. Have you prepared a valid target.mk?)
93 endif
95 128K_TARGETS = $(F1_TARGETS)
96 256K_TARGETS = $(F3_TARGETS)
97 512K_TARGETS = $(F411_TARGETS)
98 1024K_TARGETS = $(F405_TARGETS)
100 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
101 ifeq ($(FLASH_SIZE),)
102 ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
103 FLASH_SIZE = 1024
104 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
105 FLASH_SIZE = 512
106 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
107 FLASH_SIZE = 256
108 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
109 FLASH_SIZE = 128
110 else
111 $(error FLASH_SIZE not configured for target $(TARGET))
112 endif
113 endif
115 # note that there is no hardfault debugging startup file assembly handler for other platforms
116 ifeq ($(DEBUG_HARDFAULTS),F3)
117 CFLAGS += -DDEBUG_HARDFAULTS
118 STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
119 else
120 STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
121 endif
123 REVISION = $(shell git log -1 --format="%h")
125 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
126 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
127 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
129 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
131 # Search path for sources
132 VPATH := $(SRC_DIR):$(SRC_DIR)/startup
133 USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
134 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
135 FATFS_DIR = $(ROOT)/lib/main/FatFS
136 FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
138 CSOURCES := $(shell find $(SRC_DIR) -name '*.c')
140 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
141 # F3 TARGETS
143 STDPERIPH_DIR = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
144 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
145 EXCLUDES = stm32f30x_crc.c \
146 stm32f30x_can.c
148 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
149 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
151 VPATH := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
152 CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
153 $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
155 INCLUDE_DIRS := $(INCLUDE_DIRS) \
156 $(STDPERIPH_DIR)/inc \
157 $(CMSIS_DIR)/CM1/CoreSupport \
158 $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
160 ifneq ($(filter VCP, $(FEATURES)),)
161 INCLUDE_DIRS := $(INCLUDE_DIRS) \
162 $(USBFS_DIR)/inc \
163 $(ROOT)/src/main/vcp
165 VPATH := $(VPATH):$(USBFS_DIR)/src
167 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
168 $(USBPERIPH_SRC)
169 endif
171 ifneq ($(filter SDCARD, $(FEATURES)),)
172 INCLUDE_DIRS := $(INCLUDE_DIRS) \
173 $(FATFS_DIR) \
175 VPATH := $(VPATH):$(FATFS_DIR)
176 endif
178 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
180 ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
181 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
182 TARGET_FLAGS = -D$(TARGET)
183 # End F3 targets
185 # Start F4 targets
186 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
188 #STDPERIPH
189 STDPERIPH_DIR = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
190 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
191 EXCLUDES = stm32f4xx_crc.c \
192 stm32f4xx_can.c \
193 stm32f4xx_fmc.c \
194 stm32f4xx_sai.c \
195 stm32f4xx_cec.c \
196 stm32f4xx_dsi.c \
197 stm32f4xx_flash_ramfunc.c \
198 stm32f4xx_fmpi2c.c \
199 stm32f4xx_lptim.c \
200 stm32f4xx_qspi.c \
201 stm32f4xx_spdifrx.c \
202 stm32f4xx_cryp.c \
203 stm32f4xx_cryp_aes.c \
204 stm32f4xx_hash_md5.c \
205 stm32f4xx_cryp_des.c \
206 stm32f4xx_rtc.c \
207 stm32f4xx_hash.c \
208 stm32f4xx_dbgmcu.c \
209 stm32f4xx_cryp_tdes.c \
210 stm32f4xx_hash_sha1.c
213 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
214 EXCLUDES += stm32f4xx_fsmc.c
215 endif
217 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
219 #USB
220 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
221 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
222 USBOTG_DIR = $(ROOT)/lib/main/STM32_USB_OTG_Driver
223 USBOTG_SRC = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
224 EXCLUDES = usb_bsp_template.c \
225 usb_conf_template.c \
226 usb_hcd_int.c \
227 usb_hcd.c \
228 usb_otg.c
230 USBOTG_SRC := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
231 USBCDC_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
232 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
233 EXCLUDES = usbd_cdc_if_template.c
234 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
235 VPATH := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
237 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
238 $(USBOTG_SRC) \
239 $(USBCORE_SRC) \
240 $(USBCDC_SRC)
242 #CMSIS
243 VPATH := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
244 CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
245 $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
246 INCLUDE_DIRS := $(INCLUDE_DIRS) \
247 $(STDPERIPH_DIR)/inc \
248 $(USBOTG_DIR)/inc \
249 $(USBCORE_DIR)/inc \
250 $(USBCDC_DIR)/inc \
251 $(USBFS_DIR)/inc \
252 $(CMSIS_DIR)/CM4/CoreSupport \
253 $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
254 $(ROOT)/src/main/vcpf4
256 ifneq ($(filter SDCARD,$(FEATURES)),)
257 INCLUDE_DIRS := $(INCLUDE_DIRS) \
258 $(FATFS_DIR)
259 VPATH := $(VPATH):$(FATFS_DIR)
260 endif
262 #Flags
263 ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
265 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
266 DEVICE_FLAGS = -DSTM32F411xE
267 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411.ld
268 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
269 DEVICE_FLAGS = -DSTM32F40_41xxx
270 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld
271 else
272 $(error Unknown MCU for F4 target)
273 endif
274 DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
276 TARGET_FLAGS = -D$(TARGET)
277 # End F4 targets
279 # Start F1 targets
280 else
282 STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
283 STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
284 EXCLUDES = stm32f10x_crc.c \
285 stm32f10x_cec.c \
286 stm32f10x_can.c
288 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
290 # Search path and source files for the CMSIS sources
291 VPATH := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
292 CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
293 $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
295 INCLUDE_DIRS := $(INCLUDE_DIRS) \
296 $(STDPERIPH_DIR)/inc \
297 $(CMSIS_DIR)/CM3/CoreSupport \
298 $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
300 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
302 ifneq ($(filter VCP, $(FEATURES)),)
303 INCLUDE_DIRS := $(INCLUDE_DIRS) \
304 $(USBFS_DIR)/inc \
305 $(ROOT)/src/main/vcp
307 VPATH := $(VPATH):$(USBFS_DIR)/src
309 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
310 $(USBPERIPH_SRC)
312 endif
314 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
315 ARCH_FLAGS = -mthumb -mcpu=cortex-m3
316 TARGET_FLAGS := -D$(TARGET) -pedantic $(TARGET_FLAGS)
318 ifeq ($(DEVICE_FLAGS),)
319 DEVICE_FLAGS = -DSTM32F10X_MD
320 endif
321 DEVICE_FLAGS += -DSTM32F10X
323 endif
325 # End F1 targets
327 ifneq ($(BASE_TARGET), $(TARGET))
328 TARGET_FLAGS := $(TARGET_FLAGS) -D$(BASE_TARGET)
329 endif
331 ifneq ($(FLASH_SIZE),)
332 DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
333 endif
335 TARGET_DIR = $(ROOT)/src/main/target/$(BASE_TARGET)
336 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
338 ifeq ($(OPBL),yes)
339 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
340 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
341 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
342 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
343 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
344 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
345 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
346 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
347 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
348 endif
349 .DEFAULT_GOAL := binary
350 else
351 .DEFAULT_GOAL := hex
352 endif
354 INCLUDE_DIRS := $(INCLUDE_DIRS) \
355 $(TARGET_DIR)
357 VPATH := $(VPATH):$(TARGET_DIR)
359 COMMON_SRC = \
360 build_config.c \
361 debug.c \
362 version.c \
363 $(TARGET_DIR_SRC) \
364 main.c \
365 mw.c \
366 common/encoding.c \
367 common/filter.c \
368 common/maths.c \
369 common/printf.c \
370 common/typeconversion.c \
371 config/config.c \
372 config/runtime_config.c \
373 drivers/adc.c \
374 drivers/buf_writer.c \
375 drivers/bus_i2c_soft.c \
376 drivers/bus_spi.c \
377 drivers/exti.c \
378 drivers/gyro_sync.c \
379 drivers/io.c \
380 drivers/light_led.c \
381 drivers/pwm_mapping.c \
382 drivers/pwm_output.c \
383 drivers/pwm_rx.c \
384 drivers/rcc.c \
385 drivers/serial.c \
386 drivers/serial_uart.c \
387 drivers/sound_beeper.c \
388 drivers/system.c \
389 drivers/timer.c \
390 flight/altitudehold.c \
391 flight/failsafe.c \
392 flight/imu.c \
393 flight/mixer.c \
394 flight/pid.c \
395 io/beeper.c \
396 io/rc_controls.c \
397 io/rc_curves.c \
398 io/serial.c \
399 io/serial_4way.c \
400 io/serial_4way_avrootloader.c \
401 io/serial_4way_stk500v2.c \
402 io/serial_cli.c \
403 io/serial_msp.c \
404 io/statusindicator.c \
405 rx/ibus.c \
406 rx/jetiexbus.c \
407 rx/msp.c \
408 rx/pwm.c \
409 rx/rx.c \
410 rx/sbus.c \
411 rx/spektrum.c \
412 rx/sumd.c \
413 rx/sumh.c \
414 rx/xbus.c \
415 scheduler/scheduler.c \
416 scheduler/scheduler_tasks.c \
417 sensors/acceleration.c \
418 sensors/battery.c \
419 sensors/boardalignment.c \
420 sensors/compass.c \
421 sensors/gyro.c \
422 sensors/initialisation.c \
423 $(CMSIS_SRC) \
424 $(DEVICE_STDPERIPH_SRC)
426 HIGHEND_SRC = \
427 blackbox/blackbox.c \
428 blackbox/blackbox_io.c \
429 common/colorconversion.c \
430 drivers/display_ug2864hsweg01.c \
431 flight/gtune.c \
432 flight/navigation.c \
433 flight/gps_conversion.c \
434 io/gps.c \
435 io/ledstrip.c \
436 io/display.c \
437 sensors/sonar.c \
438 sensors/barometer.c \
439 telemetry/telemetry.c \
440 telemetry/frsky.c \
441 telemetry/hott.c \
442 telemetry/smartport.c \
443 telemetry/ltm.c
445 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
446 VCP_SRC = \
447 vcpf4/stm32f4xx_it.c \
448 vcpf4/usb_bsp.c \
449 vcpf4/usbd_desc.c \
450 vcpf4/usbd_usr.c \
451 vcpf4/usbd_cdc_vcp.c \
452 drivers/serial_usb_vcp.c
453 else
454 VCP_SRC = \
455 vcp/hw_config.c \
456 vcp/stm32_it.c \
457 vcp/usb_desc.c \
458 vcp/usb_endp.c \
459 vcp/usb_istr.c \
460 vcp/usb_prop.c \
461 vcp/usb_pwr.c \
462 drivers/serial_usb_vcp.c \
463 drivers/usb_io.c
464 endif
466 STM32F10x_COMMON_SRC = \
467 startup_stm32f10x_md_gcc.S \
468 drivers/adc_stm32f10x.c \
469 drivers/bus_i2c_stm32f10x.c \
470 drivers/dma.c \
471 drivers/gpio_stm32f10x.c \
472 drivers/inverter.c \
473 drivers/serial_softserial.c \
474 drivers/serial_uart_stm32f10x.c \
475 drivers/system_stm32f10x.c \
476 drivers/timer_stm32f10x.c
478 STM32F30x_COMMON_SRC = \
479 startup_stm32f30x_md_gcc.S \
480 target/system_stm32f30x.c \
481 drivers/adc_stm32f30x.c \
482 drivers/bus_i2c_stm32f30x.c \
483 drivers/dma.c \
484 drivers/gpio_stm32f30x.c \
485 drivers/light_ws2811strip_stm32f30x.c \
486 drivers/serial_uart_stm32f30x.c \
487 drivers/system_stm32f30x.c \
488 drivers/timer_stm32f30x.c
490 STM32F4xx_COMMON_SRC = \
491 startup_stm32f40xx.s \
492 target/system_stm32f4xx.c \
493 drivers/accgyro_mpu.c \
494 drivers/adc_stm32f4xx.c \
495 drivers/adc_stm32f4xx.c \
496 drivers/bus_i2c_stm32f10x.c \
497 drivers/gpio_stm32f4xx.c \
498 drivers/inverter.c \
499 drivers/serial_softserial.c \
500 drivers/serial_uart_stm32f4xx.c \
501 drivers/system_stm32f4xx.c \
502 drivers/timer_stm32f4xx.c \
503 drivers/dma_stm32f4xx.c
505 # check if target.mk supplied
506 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
507 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
508 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
509 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
510 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
511 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
512 endif
514 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
515 TARGET_SRC += \
516 drivers/flash_m25p16.c \
517 io/flashfs.c
518 endif
520 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS) $(F3_TARGETS)))
521 TARGET_SRC += $(HIGHEND_SRC)
522 else ifneq ($(filter HIGHEND,$(FEATURES)),)
523 TARGET_SRC += $(HIGHEND_SRC)
524 endif
526 TARGET_SRC += $(COMMON_SRC)
528 ifneq ($(filter SDCARD,$(FEATURES)),)
529 TARGET_SRC += \
530 drivers/sdcard.c \
531 drivers/sdcard_standard.c \
532 io/asyncfatfs/asyncfatfs.c \
533 io/asyncfatfs/fat_standard.c
534 endif
536 ifneq ($(filter VCP,$(FEATURES)),)
537 TARGET_SRC += $(VCP_SRC)
538 endif
539 # end target specific make file checks
542 # Search path and source files for the ST stdperiph library
543 VPATH := $(VPATH):$(STDPERIPH_DIR)/src
545 ###############################################################################
546 # Things that might need changing to use different tools
549 # Tool names
550 CC = arm-none-eabi-gcc
551 OBJCOPY = arm-none-eabi-objcopy
552 SIZE = arm-none-eabi-size
555 # Tool options.
558 ifeq ($(DEBUG),GDB)
559 OPTIMIZE = -O0
560 LTO_FLAGS = $(OPTIMIZE)
561 else
562 OPTIMIZE = -Os
563 LTO_FLAGS = -flto -fuse-linker-plugin $(OPTIMIZE)
564 endif
566 DEBUG_FLAGS = -ggdb3 -DDEBUG
568 CFLAGS += $(ARCH_FLAGS) \
569 $(LTO_FLAGS) \
570 $(addprefix -D,$(OPTIONS)) \
571 $(addprefix -I,$(INCLUDE_DIRS)) \
572 $(DEBUG_FLAGS) \
573 -std=gnu99 \
574 -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
575 -ffunction-sections \
576 -fdata-sections \
577 $(DEVICE_FLAGS) \
578 -DUSE_STDPERIPH_DRIVER \
579 $(TARGET_FLAGS) \
580 -D'__FORKNAME__="$(FORKNAME)"' \
581 -D'__TARGET__="$(TARGET)"' \
582 -D'__REVISION__="$(REVISION)"' \
583 -save-temps=obj \
584 -MMD -MP
586 ASFLAGS = $(ARCH_FLAGS) \
587 -x assembler-with-cpp \
588 $(addprefix -I,$(INCLUDE_DIRS)) \
589 -MMD -MP
591 LDFLAGS = -lm \
592 -nostartfiles \
593 --specs=nano.specs \
594 -lc \
595 -lnosys \
596 $(ARCH_FLAGS) \
597 $(LTO_FLAGS) \
598 $(DEBUG_FLAGS) \
599 -static \
600 -Wl,-gc-sections,-Map,$(TARGET_MAP) \
601 -Wl,-L$(LINKER_DIR) \
602 -Wl,--cref \
603 -Wl,--no-wchar-size-warning \
604 -T$(LD_SCRIPT)
606 ###############################################################################
607 # No user-serviceable parts below
608 ###############################################################################
610 CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
611 --std=c99 --inline-suppr --quiet --force \
612 $(addprefix -I,$(INCLUDE_DIRS)) \
613 -I/usr/include -I/usr/include/linux
616 # Things we will build
618 TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
619 TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
620 TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
621 TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
622 TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
623 TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
626 CLEAN_ARTIFACTS := $(TARGET_BIN)
627 CLEAN_ARTIFACTS += $(TARGET_HEX)
628 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
630 # List of buildable ELF files and their object dependencies.
631 # It would be nice to compute these lists, but that seems to be just beyond make.
633 $(TARGET_HEX): $(TARGET_ELF)
634 $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
636 $(TARGET_BIN): $(TARGET_ELF)
637 $(OBJCOPY) -O binary $< $@
639 $(TARGET_ELF): $(TARGET_OBJS)
640 @echo LD $(notdir $@)
641 @$(CC) -o $@ $^ $(LDFLAGS)
642 $(SIZE) $(TARGET_ELF)
644 # Compile
645 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
646 @mkdir -p $(dir $@)
647 @echo %% $(notdir $<)
648 @$(CC) -c -o $@ $(CFLAGS) $<
650 # Assemble
651 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
652 @mkdir -p $(dir $@)
653 @echo %% $(notdir $<)
654 @$(CC) -c -o $@ $(ASFLAGS) $<
656 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
657 @mkdir -p $(dir $@)
658 @echo %% $(notdir $<)
659 @$(CC) -c -o $@ $(ASFLAGS) $<
662 ## all : Build all valid targets
663 all: $(VALID_TARGETS)
665 $(VALID_TARGETS):
666 echo "" && \
667 echo "Building $@" && \
668 $(MAKE) binary hex TARGET=$@ && \
669 echo "Building $@ succeeded."
673 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
674 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
676 ## clean : clean up temporary / machine-generated files
677 clean:
678 echo "Cleaning $(TARGET)"
679 rm -f $(CLEAN_ARTIFACTS)
680 rm -rf $(OBJECT_DIR)/$(TARGET)
681 echo "Cleaning $(TARGET) succeeded."
683 ## clean_test : clean up temporary / machine-generated files (tests)
684 clean_test:
685 cd src/test && $(MAKE) clean || true
687 ## clean_<TARGET> : clean up one specific target
688 $(CLEAN_TARGETS) :
689 $(MAKE) -j TARGET=$(subst clean_,,$@) clean
691 ## <TARGET>_clean : clean up one specific target (alias for above)
692 $(TARGETS_CLEAN) :
693 $(MAKE) -j TARGET=$(subst _clean,,$@) clean
695 ## clean_all : clean all valid targets
696 clean_all:$(CLEAN_TARGETS)
698 ## all_clean : clean all valid targets (alias for above)
699 all_clean:$(TARGETS_CLEAN)
702 flash_$(TARGET): $(TARGET_HEX)
703 stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
704 echo -n 'R' >$(SERIAL_DEVICE)
705 stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
707 ## flash : flash firmware (.hex) onto flight controller
708 flash: flash_$(TARGET)
710 st-flash_$(TARGET): $(TARGET_BIN)
711 st-flash --reset write $< 0x08000000
713 ## st-flash : flash firmware (.bin) onto flight controller
714 st-flash: st-flash_$(TARGET)
716 binary:
717 $(MAKE) -j $(TARGET_BIN)
719 hex:
720 $(MAKE) -j $(TARGET_HEX)
722 unbrick_$(TARGET): $(TARGET_HEX)
723 stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
724 stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
726 ## unbrick : unbrick flight controller
727 unbrick: unbrick_$(TARGET)
729 ## cppcheck : run static analysis on C source code
730 cppcheck: $(CSOURCES)
731 $(CPPCHECK)
733 cppcheck-result.xml: $(CSOURCES)
734 $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
736 ## help : print this help message and exit
737 help: Makefile
738 @echo ""
739 @echo "Makefile for the $(FORKNAME) firmware"
740 @echo ""
741 @echo "Usage:"
742 @echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]"
743 @echo "Or:"
744 @echo " make <target> [OPTIONS=\"<options>\"]"
745 @echo ""
746 @echo "Valid TARGET values are: $(VALID_TARGETS)"
747 @echo ""
748 @sed -n 's/^## //p' $<
750 ## targets : print a list of all valid target platforms (for consumption by scripts)
751 targets:
752 @echo "Valid targets: $(VALID_TARGETS)"
753 @echo "Target: $(TARGET)"
754 @echo "Base target: $(BASE_TARGET)"
756 ## test : run the cleanflight test suite
757 test:
758 cd src/test && $(MAKE) test || true
760 # rebuild everything when makefile changes
761 $(TARGET_OBJS) : Makefile
763 # include auto-generated dependencies
764 -include $(TARGET_DEPS)