############################################################################### # "THE BEER-WARE LICENSE" (Revision 42): # wrote this file. As long as you retain this notice you # can do whatever you want with this stuff. If we meet some day, and you think # this stuff is worth it, you can buy me a beer in return ############################################################################### # # Makefile for building the betaflight firmware. # # Invoke this with 'make help' to see the list of supported targets. # ############################################################################### # Things that the user might override on the commandline # # The target to build, see VALID_TARGETS below TARGET ?= NAZE # Compile-time options OPTIONS ?= # compile for OpenPilot BootLoader support OPBL ?= no # Debugger optons, must be empty or GDB DEBUG ?= # Insert the debugging hardfault debugger # releases should not be built with this flag as it does not disable pwm output DEBUG_HARDFAULTS ?= # Serial port/Device for flashing SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found) # Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override. FLASH_SIZE ?= ############################################################################### # Things that need to be maintained as the source changes # FORKNAME = betaflight # Working directories ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST)))) SRC_DIR = $(ROOT)/src/main OBJECT_DIR = $(ROOT)/obj/main BIN_DIR = $(ROOT)/obj CMSIS_DIR = $(ROOT)/lib/main/CMSIS INCLUDE_DIRS = $(SRC_DIR) \ $(ROOT)/src/main/target LINKER_DIR = $(ROOT)/src/main/target # default xtal value for F4 targets HSE_VALUE = 8000000 # used for turning on features like VCP and SDCARD FEATURES = ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk))))) OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS)) #VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) VALID_TARGETS = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk)) VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS))) VALID_TARGETS := $(VALID_TARGETS) $(ALT_TARGETS) VALID_TARGETS := $(sort $(VALID_TARGETS)) ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET)) BASE_TARGET := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk))))) -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk else BASE_TARGET := $(TARGET) endif ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET)) OPBL = yes endif # silently ignore if the file is not present. Allows for target specific. -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk F4_TARGETS = $(F405_TARGETS) $(F411_TARGETS) ifeq ($(filter $(TARGET),$(VALID_TARGETS)),) $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?) endif ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)),) $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, or F411. Have you prepared a valid target.mk?) endif 128K_TARGETS = $(F1_TARGETS) 256K_TARGETS = $(F3_TARGETS) 512K_TARGETS = $(F411_TARGETS) 1024K_TARGETS = $(F405_TARGETS) # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already. ifeq ($(FLASH_SIZE),) ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS))) FLASH_SIZE = 1024 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS))) FLASH_SIZE = 512 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS))) FLASH_SIZE = 256 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS))) FLASH_SIZE = 128 else $(error FLASH_SIZE not configured for target $(TARGET)) endif endif # note that there is no hardfault debugging startup file assembly handler for other platforms ifeq ($(DEBUG_HARDFAULTS),F3) CFLAGS += -DDEBUG_HARDFAULTS STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S else STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S endif REVISION = $(shell git log -1 --format="%h") FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' ) FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' ) FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' ) FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH) # Search path for sources VPATH := $(SRC_DIR):$(SRC_DIR)/startup USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c)) FATFS_DIR = $(ROOT)/lib/main/FatFS FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c)) CSOURCES := $(shell find $(SRC_DIR) -name '*.c') ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS))) # F3 TARGETS STDPERIPH_DIR = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c)) EXCLUDES = stm32f30x_crc.c \ stm32f30x_can.c STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC)) DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC) VPATH := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \ $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c)) INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(STDPERIPH_DIR)/inc \ $(CMSIS_DIR)/CM1/CoreSupport \ $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x ifneq ($(filter VCP, $(FEATURES)),) INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(USBFS_DIR)/inc \ $(ROOT)/src/main/vcp VPATH := $(VPATH):$(USBFS_DIR)/src DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\ $(USBPERIPH_SRC) endif ifneq ($(filter SDCARD, $(FEATURES)),) INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(FATFS_DIR) \ VPATH := $(VPATH):$(FATFS_DIR) endif LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303 TARGET_FLAGS = -D$(TARGET) # End F3 targets # # Start F4 targets else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS))) #STDPERIPH STDPERIPH_DIR = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c)) EXCLUDES = stm32f4xx_crc.c \ stm32f4xx_can.c \ stm32f4xx_fmc.c \ stm32f4xx_sai.c \ stm32f4xx_cec.c \ stm32f4xx_dsi.c \ stm32f4xx_flash_ramfunc.c \ stm32f4xx_fmpi2c.c \ stm32f4xx_lptim.c \ stm32f4xx_qspi.c \ stm32f4xx_spdifrx.c \ stm32f4xx_cryp.c \ stm32f4xx_cryp_aes.c \ stm32f4xx_hash_md5.c \ stm32f4xx_cryp_des.c \ stm32f4xx_rtc.c \ stm32f4xx_hash.c \ stm32f4xx_dbgmcu.c \ stm32f4xx_cryp_tdes.c \ stm32f4xx_hash_sha1.c ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS))) EXCLUDES += stm32f4xx_fsmc.c endif STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC)) #USB USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c)) USBOTG_DIR = $(ROOT)/lib/main/STM32_USB_OTG_Driver USBOTG_SRC = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c)) EXCLUDES = usb_bsp_template.c \ usb_conf_template.c \ usb_hcd_int.c \ usb_hcd.c \ usb_otg.c USBOTG_SRC := $(filter-out ${EXCLUDES}, $(USBOTG_SRC)) USBCDC_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c)) EXCLUDES = usbd_cdc_if_template.c USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC)) VPATH := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \ $(USBOTG_SRC) \ $(USBCORE_SRC) \ $(USBCDC_SRC) #CMSIS VPATH := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \ $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c)) INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(STDPERIPH_DIR)/inc \ $(USBOTG_DIR)/inc \ $(USBCORE_DIR)/inc \ $(USBCDC_DIR)/inc \ $(USBFS_DIR)/inc \ $(CMSIS_DIR)/CM4/CoreSupport \ $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \ $(ROOT)/src/main/vcpf4 ifneq ($(filter SDCARD,$(FEATURES)),) INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(FATFS_DIR) VPATH := $(VPATH):$(FATFS_DIR) endif #Flags ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS))) DEVICE_FLAGS = -DSTM32F411xE LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411.ld else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS))) DEVICE_FLAGS = -DSTM32F40_41xxx LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld else $(error Unknown MCU for F4 target) endif DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE) TARGET_FLAGS = -D$(TARGET) # End F4 targets # # Start F1 targets else STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c)) EXCLUDES = stm32f10x_crc.c \ stm32f10x_cec.c \ stm32f10x_can.c STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC)) # Search path and source files for the CMSIS sources VPATH := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \ $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c)) INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(STDPERIPH_DIR)/inc \ $(CMSIS_DIR)/CM3/CoreSupport \ $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \ DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC) ifneq ($(filter VCP, $(FEATURES)),) INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(USBFS_DIR)/inc \ $(ROOT)/src/main/vcp VPATH := $(VPATH):$(USBFS_DIR)/src DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \ $(USBPERIPH_SRC) endif LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld ARCH_FLAGS = -mthumb -mcpu=cortex-m3 TARGET_FLAGS := -D$(TARGET) -pedantic $(TARGET_FLAGS) ifeq ($(DEVICE_FLAGS),) DEVICE_FLAGS = -DSTM32F10X_MD endif DEVICE_FLAGS += -DSTM32F10X endif # # End F1 targets # ifneq ($(BASE_TARGET), $(TARGET)) TARGET_FLAGS := $(TARGET_FLAGS) -D$(BASE_TARGET) endif ifneq ($(FLASH_SIZE),) DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE) endif TARGET_DIR = $(ROOT)/src/main/target/$(BASE_TARGET) TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c)) ifeq ($(OPBL),yes) TARGET_FLAGS := -DOPBL $(TARGET_FLAGS) ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS))) LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS))) LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS))) LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS))) LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld endif .DEFAULT_GOAL := binary else .DEFAULT_GOAL := hex endif INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(TARGET_DIR) VPATH := $(VPATH):$(TARGET_DIR) COMMON_SRC = \ build_config.c \ debug.c \ version.c \ $(TARGET_DIR_SRC) \ main.c \ mw.c \ common/encoding.c \ common/filter.c \ common/maths.c \ common/printf.c \ common/typeconversion.c \ config/config.c \ config/runtime_config.c \ drivers/adc.c \ drivers/buf_writer.c \ drivers/bus_i2c_soft.c \ drivers/bus_spi.c \ drivers/exti.c \ drivers/gyro_sync.c \ drivers/io.c \ drivers/light_led.c \ drivers/pwm_mapping.c \ drivers/pwm_output.c \ drivers/pwm_rx.c \ drivers/rcc.c \ drivers/serial.c \ drivers/serial_uart.c \ drivers/sound_beeper.c \ drivers/system.c \ drivers/timer.c \ flight/altitudehold.c \ flight/failsafe.c \ flight/imu.c \ flight/mixer.c \ flight/pid.c \ io/beeper.c \ io/rc_controls.c \ io/rc_curves.c \ io/serial.c \ io/serial_4way.c \ io/serial_4way_avrootloader.c \ io/serial_4way_stk500v2.c \ io/serial_cli.c \ io/serial_msp.c \ io/statusindicator.c \ rx/ibus.c \ rx/jetiexbus.c \ rx/msp.c \ rx/pwm.c \ rx/rx.c \ rx/sbus.c \ rx/spektrum.c \ rx/sumd.c \ rx/sumh.c \ rx/xbus.c \ scheduler/scheduler.c \ scheduler/scheduler_tasks.c \ sensors/acceleration.c \ sensors/battery.c \ sensors/boardalignment.c \ sensors/compass.c \ sensors/gyro.c \ sensors/initialisation.c \ $(CMSIS_SRC) \ $(DEVICE_STDPERIPH_SRC) HIGHEND_SRC = \ blackbox/blackbox.c \ blackbox/blackbox_io.c \ common/colorconversion.c \ drivers/display_ug2864hsweg01.c \ flight/gtune.c \ flight/navigation.c \ flight/gps_conversion.c \ io/gps.c \ io/ledstrip.c \ io/display.c \ sensors/sonar.c \ sensors/barometer.c \ telemetry/telemetry.c \ telemetry/frsky.c \ telemetry/hott.c \ telemetry/smartport.c \ telemetry/ltm.c ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS))) VCP_SRC = \ vcpf4/stm32f4xx_it.c \ vcpf4/usb_bsp.c \ vcpf4/usbd_desc.c \ vcpf4/usbd_usr.c \ vcpf4/usbd_cdc_vcp.c \ drivers/serial_usb_vcp.c else VCP_SRC = \ vcp/hw_config.c \ vcp/stm32_it.c \ vcp/usb_desc.c \ vcp/usb_endp.c \ vcp/usb_istr.c \ vcp/usb_prop.c \ vcp/usb_pwr.c \ drivers/serial_usb_vcp.c \ drivers/usb_io.c endif STM32F10x_COMMON_SRC = \ startup_stm32f10x_md_gcc.S \ drivers/adc_stm32f10x.c \ drivers/bus_i2c_stm32f10x.c \ drivers/dma.c \ drivers/gpio_stm32f10x.c \ drivers/inverter.c \ drivers/serial_softserial.c \ drivers/serial_uart_stm32f10x.c \ drivers/system_stm32f10x.c \ drivers/timer_stm32f10x.c STM32F30x_COMMON_SRC = \ startup_stm32f30x_md_gcc.S \ target/system_stm32f30x.c \ drivers/adc_stm32f30x.c \ drivers/bus_i2c_stm32f30x.c \ drivers/dma.c \ drivers/gpio_stm32f30x.c \ drivers/light_ws2811strip_stm32f30x.c \ drivers/serial_uart_stm32f30x.c \ drivers/system_stm32f30x.c \ drivers/timer_stm32f30x.c STM32F4xx_COMMON_SRC = \ startup_stm32f40xx.s \ target/system_stm32f4xx.c \ drivers/accgyro_mpu.c \ drivers/adc_stm32f4xx.c \ drivers/adc_stm32f4xx.c \ drivers/bus_i2c_stm32f10x.c \ drivers/gpio_stm32f4xx.c \ drivers/inverter.c \ drivers/serial_softserial.c \ drivers/serial_uart_stm32f4xx.c \ drivers/system_stm32f4xx.c \ drivers/timer_stm32f4xx.c \ drivers/dma_stm32f4xx.c # check if target.mk supplied ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS))) TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC) else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS))) TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC) else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS))) TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC) endif ifneq ($(filter ONBOARDFLASH,$(FEATURES)),) TARGET_SRC += \ drivers/flash_m25p16.c \ io/flashfs.c endif ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS) $(F3_TARGETS))) TARGET_SRC += $(HIGHEND_SRC) else ifneq ($(filter HIGHEND,$(FEATURES)),) TARGET_SRC += $(HIGHEND_SRC) endif TARGET_SRC += $(COMMON_SRC) ifneq ($(filter SDCARD,$(FEATURES)),) TARGET_SRC += \ drivers/sdcard.c \ drivers/sdcard_standard.c \ io/asyncfatfs/asyncfatfs.c \ io/asyncfatfs/fat_standard.c endif ifneq ($(filter VCP,$(FEATURES)),) TARGET_SRC += $(VCP_SRC) endif # end target specific make file checks # Search path and source files for the ST stdperiph library VPATH := $(VPATH):$(STDPERIPH_DIR)/src ############################################################################### # Things that might need changing to use different tools # # Tool names CC = arm-none-eabi-gcc OBJCOPY = arm-none-eabi-objcopy SIZE = arm-none-eabi-size # # Tool options. # ifeq ($(DEBUG),GDB) OPTIMIZE = -O0 LTO_FLAGS = $(OPTIMIZE) else OPTIMIZE = -Os LTO_FLAGS = -flto -fuse-linker-plugin $(OPTIMIZE) endif DEBUG_FLAGS = -ggdb3 -DDEBUG CFLAGS += $(ARCH_FLAGS) \ $(LTO_FLAGS) \ $(addprefix -D,$(OPTIONS)) \ $(addprefix -I,$(INCLUDE_DIRS)) \ $(DEBUG_FLAGS) \ -std=gnu99 \ -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \ -ffunction-sections \ -fdata-sections \ $(DEVICE_FLAGS) \ -DUSE_STDPERIPH_DRIVER \ $(TARGET_FLAGS) \ -D'__FORKNAME__="$(FORKNAME)"' \ -D'__TARGET__="$(TARGET)"' \ -D'__REVISION__="$(REVISION)"' \ -save-temps=obj \ -MMD -MP ASFLAGS = $(ARCH_FLAGS) \ -x assembler-with-cpp \ $(addprefix -I,$(INCLUDE_DIRS)) \ -MMD -MP LDFLAGS = -lm \ -nostartfiles \ --specs=nano.specs \ -lc \ -lnosys \ $(ARCH_FLAGS) \ $(LTO_FLAGS) \ $(DEBUG_FLAGS) \ -static \ -Wl,-gc-sections,-Map,$(TARGET_MAP) \ -Wl,-L$(LINKER_DIR) \ -Wl,--cref \ -Wl,--no-wchar-size-warning \ -T$(LD_SCRIPT) ############################################################################### # No user-serviceable parts below ############################################################################### CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \ --std=c99 --inline-suppr --quiet --force \ $(addprefix -I,$(INCLUDE_DIRS)) \ -I/usr/include -I/usr/include/linux # # Things we will build # TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC)))) TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC)))) TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map CLEAN_ARTIFACTS := $(TARGET_BIN) CLEAN_ARTIFACTS += $(TARGET_HEX) CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP) # List of buildable ELF files and their object dependencies. # It would be nice to compute these lists, but that seems to be just beyond make. $(TARGET_HEX): $(TARGET_ELF) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@ $(TARGET_BIN): $(TARGET_ELF) $(OBJCOPY) -O binary $< $@ $(TARGET_ELF): $(TARGET_OBJS) @echo LD $(notdir $@) @$(CC) -o $@ $^ $(LDFLAGS) $(SIZE) $(TARGET_ELF) # Compile $(OBJECT_DIR)/$(TARGET)/%.o: %.c @mkdir -p $(dir $@) @echo %% $(notdir $<) @$(CC) -c -o $@ $(CFLAGS) $< # Assemble $(OBJECT_DIR)/$(TARGET)/%.o: %.s @mkdir -p $(dir $@) @echo %% $(notdir $<) @$(CC) -c -o $@ $(ASFLAGS) $< $(OBJECT_DIR)/$(TARGET)/%.o: %.S @mkdir -p $(dir $@) @echo %% $(notdir $<) @$(CC) -c -o $@ $(ASFLAGS) $< ## all : Build all valid targets all: $(VALID_TARGETS) $(VALID_TARGETS): echo "" && \ echo "Building $@" && \ $(MAKE) binary hex TARGET=$@ && \ echo "Building $@ succeeded." CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) ) TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) ) ## clean : clean up temporary / machine-generated files clean: echo "Cleaning $(TARGET)" rm -f $(CLEAN_ARTIFACTS) rm -rf $(OBJECT_DIR)/$(TARGET) echo "Cleaning $(TARGET) succeeded." ## clean_test : clean up temporary / machine-generated files (tests) clean_test: cd src/test && $(MAKE) clean || true ## clean_ : clean up one specific target $(CLEAN_TARGETS) : $(MAKE) -j TARGET=$(subst clean_,,$@) clean ## _clean : clean up one specific target (alias for above) $(TARGETS_CLEAN) : $(MAKE) -j TARGET=$(subst _clean,,$@) clean ## clean_all : clean all valid targets clean_all:$(CLEAN_TARGETS) ## all_clean : clean all valid targets (alias for above) all_clean:$(TARGETS_CLEAN) flash_$(TARGET): $(TARGET_HEX) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon echo -n 'R' >$(SERIAL_DEVICE) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE) ## flash : flash firmware (.hex) onto flight controller flash: flash_$(TARGET) st-flash_$(TARGET): $(TARGET_BIN) st-flash --reset write $< 0x08000000 ## st-flash : flash firmware (.bin) onto flight controller st-flash: st-flash_$(TARGET) binary: $(MAKE) -j $(TARGET_BIN) hex: $(MAKE) -j $(TARGET_HEX) unbrick_$(TARGET): $(TARGET_HEX) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE) ## unbrick : unbrick flight controller unbrick: unbrick_$(TARGET) ## cppcheck : run static analysis on C source code cppcheck: $(CSOURCES) $(CPPCHECK) cppcheck-result.xml: $(CSOURCES) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml ## help : print this help message and exit help: Makefile @echo "" @echo "Makefile for the $(FORKNAME) firmware" @echo "" @echo "Usage:" @echo " make [TARGET=] [OPTIONS=\"\"]" @echo "Or:" @echo " make [OPTIONS=\"\"]" @echo "" @echo "Valid TARGET values are: $(VALID_TARGETS)" @echo "" @sed -n 's/^## //p' $< ## targets : print a list of all valid target platforms (for consumption by scripts) targets: @echo "Valid targets: $(VALID_TARGETS)" @echo "Target: $(TARGET)" @echo "Base target: $(BASE_TARGET)" ## test : run the cleanflight test suite test: cd src/test && $(MAKE) test || true # rebuild everything when makefile changes $(TARGET_OBJS) : Makefile # include auto-generated dependencies -include $(TARGET_DEPS)