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###############################################################################
# "THE BEER-WARE LICENSE" (Revision 42):
# <msmith@FreeBSD.ORG> 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/link
## V : Set verbosity level based on the V= parameter
## V=0 Low
## V=1 High
include $(ROOT)/make/build_verbosity.mk
# Build tools, so we all share the same versions
# import macros common to all supported build systems
include $(ROOT)/make/system-id.mk
# developer preferences, edit these at will, they'll be gitignored
-include $(ROOT)/make/local.mk
# configure some directories that are relative to wherever ROOT_DIR is located
ifndef TOOLS_DIR
TOOLS_DIR := $(ROOT)/tools
endif
BUILD_DIR := $(ROOT)/build
DL_DIR := $(ROOT)/downloads
export RM := rm
# import macros that are OS specific
include $(ROOT)/make/$(OSFAMILY).mk
# include the tools makefile
include $(ROOT)/make/tools.mk
# default xtal value for F4 targets
HSE_VALUE ?= 8000000
# used for turning on features like VCP and SDCARD
FEATURES =
OFFICIAL_TARGETS = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
OSD_SLAVE_TARGETS = SPRACINGF3OSD
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))
GROUP_1_TARGETS := \
AFROMINI \
AIORACERF3 \
AIR32 \
AIRBOTF4 \
AIRBOTF4SD \
AIRHEROF3 \
ALIENFLIGHTF1 \
ALIENFLIGHTF3 \
ALIENFLIGHTF4 \
ALIENFLIGHTNGF7 \
ANYFCF7 \
BEEBRAIN \
BEEROTORF4 \
BETAFLIGHTF3 \
BLUEJAYF4 \
CC3D \
CC3D_OPBL \
GROUP_2_TARGETS := \
CHEBUZZF3 \
CJMCU \
CLRACINGF4 \
COLIBRI \
COLIBRI_OPBL \
COLIBRI_RACE \
DOGE \
ELLE0 \
F4BY \
FISHDRONEF4 \
FLIP32F3OSD \
FF_ACROWHOOPSP \
FF_FORTINIF4 \
FF_KOMBINI \
FF_PIKOBLX \
FF_PIKOF4 \
FF_RADIANCE \
FRSKYF3 \
FRSKYF4 \
FURYF3 \
FURYF4 \
FURYF7 \
IMPULSERCF3 \
IRCFUSIONF3 \
ISHAPEDF3 \
GROUP_3_TARGETS := \
KAKUTEF4 \
KISSCC \
KIWIF4 \
LUX_RACE \
LUXV2_RACE \
MICROSCISKY \
MOTOLAB \
MULTIFLITEPICO \
NAZE \
NERO \
NUCLEOF7 \
OMNIBUS \
OMNIBUSF4 \
OMNIBUSF4SD \
PLUMF4 \
PODIUMF4 \
GROUP_4_TARGETS := \
RCEXPLORERF3 \
REVO \
REVO_OPBL \
REVOLT \
REVONANO \
RMDO \
SINGULARITY \
SIRINFPV \
SOULF4 \
SPARKY \
SPARKY2 \
SPRACINGF3 \
SPRACINGF3EVO \
SPRACINGF3MINI \
SPRACINGF3NEO \
SPRACINGF3OSD \
SPRACINGF4EVO \
SPRACINGF4NEO \
STM32F3DISCOVERY \
TINYBEEF3 \
GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
ifeq ($(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)), $(TARGET))
OPBL = yes
endif
ifeq ($(filter $(TARGET),$(OSD_SLAVE_TARGETS)), $(TARGET))
# build an OSD SLAVE
OSD_SLAVE = yes
else
# build an FC
FC = 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) $(F446_TARGETS)
F7_TARGETS = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
ifeq ($(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) $(F7_TARGETS) $(SITL_TARGETS)),)
$(error Target '$(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?)
endif
128K_TARGETS = $(F1_TARGETS)
256K_TARGETS = $(F3_TARGETS)
512K_TARGETS = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
2048K_TARGETS = $(F7X5XI_TARGETS) $(SITL_TARGETS)
# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
ifeq ($(FLASH_SIZE),)
ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
FLASH_SIZE = 2048
else 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
ifeq ($(DEBUG_HARDFAULTS),F7)
CFLAGS += -DDEBUG_HARDFAULTS
endif
REVISION := $(shell git log -1 --format="%h")
FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/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
STARTUP_SRC = startup_stm32f30x_md_gcc.S
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
VPATH := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F30x
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F30x/*.c))
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(STDPERIPH_DIR)/inc \
$(CMSIS_DIR)/CM4/CoreSupport \
$(CMSIS_DIR)/CM4/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
# 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
ifeq ($(TARGET),$(filter $(TARGET), $(F446_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
STARTUP_SRC = startup_stm32f411xe.s
else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
DEVICE_FLAGS = -DSTM32F40_41xxx
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld
STARTUP_SRC = startup_stm32f40xx.s
else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
DEVICE_FLAGS = -DSTM32F446xx
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f446.ld
STARTUP_SRC = startup_stm32f446xx.s
else
$(error Unknown MCU for F4 target)
endif
DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
# End F4 targets
#
# Start F7 targets
else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
#STDPERIPH
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
EXCLUDES = stm32f7xx_hal_can.c \
stm32f7xx_hal_cec.c \
stm32f7xx_hal_crc.c \
stm32f7xx_hal_crc_ex.c \
stm32f7xx_hal_cryp.c \
stm32f7xx_hal_cryp_ex.c \
stm32f7xx_hal_dac.c \
stm32f7xx_hal_dac_ex.c \
stm32f7xx_hal_dcmi.c \
stm32f7xx_hal_dcmi_ex.c \
stm32f7xx_hal_dfsdm.c \
stm32f7xx_hal_dma2d.c \
stm32f7xx_hal_dsi.c \
stm32f7xx_hal_eth.c \
stm32f7xx_hal_hash.c \
stm32f7xx_hal_hash_ex.c \
stm32f7xx_hal_hcd.c \
stm32f7xx_hal_i2s.c \
stm32f7xx_hal_irda.c \
stm32f7xx_hal_iwdg.c \
stm32f7xx_hal_jpeg.c \
stm32f7xx_hal_lptim.c \
stm32f7xx_hal_ltdc.c \
stm32f7xx_hal_ltdc_ex.c \
stm32f7xx_hal_mdios.c \
stm32f7xx_hal_mmc.c \
stm32f7xx_hal_msp_template.c \
stm32f7xx_hal_nand.c \
stm32f7xx_hal_nor.c \
stm32f7xx_hal_qspi.c \
stm32f7xx_hal_rng.c \
stm32f7xx_hal_rtc.c \
stm32f7xx_hal_rtc_ex.c \
stm32f7xx_hal_sai.c \
stm32f7xx_hal_sai_ex.c \
stm32f7xx_hal_sd.c \
stm32f7xx_hal_sdram.c \
stm32f7xx_hal_smartcard.c \
stm32f7xx_hal_smartcard_ex.c \
stm32f7xx_hal_smbus.c \
stm32f7xx_hal_spdifrx.c \
stm32f7xx_hal_sram.c \
stm32f7xx_hal_timebase_rtc_alarm_template.c \
stm32f7xx_hal_timebase_rtc_wakeup_template.c \
stm32f7xx_hal_timebase_tim_template.c \
stm32f7xx_hal_wwdg.c \
stm32f7xx_ll_adc.c \
stm32f7xx_ll_crc.c \
stm32f7xx_ll_dac.c \
stm32f7xx_ll_dma.c \
stm32f7xx_ll_dma2d.c \
stm32f7xx_ll_exti.c \
stm32f7xx_ll_fmc.c \
stm32f7xx_ll_gpio.c \
stm32f7xx_ll_i2c.c \
stm32f7xx_ll_lptim.c \
stm32f7xx_ll_pwr.c \
stm32f7xx_ll_rcc.c \
stm32f7xx_ll_rng.c \
stm32f7xx_ll_rtc.c \
stm32f7xx_ll_sdmmc.c \
stm32f7xx_ll_spi.c \
stm32f7xx_ll_tim.c \
stm32f7xx_ll_usart.c \
stm32f7xx_ll_utils.c
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
#USB
USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
EXCLUDES = usbd_conf_template.c
USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/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):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
$(USBCORE_SRC) \
$(USBCDC_SRC)
#CMSIS
VPATH := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
VPATH := $(VPATH):$(STDPERIPH_DIR)/Src
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(STDPERIPH_DIR)/Inc \
$(USBCORE_DIR)/Inc \
$(USBCDC_DIR)/Inc \
$(CMSIS_DIR)/CM7/Include \
$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
$(ROOT)/src/main/vcp_hal
ifneq ($(filter SDCARD,$(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(FATFS_DIR)
VPATH := $(VPATH):$(FATFS_DIR)
endif
#Flags
ARCH_FLAGS = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
DEVICE_FLAGS = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f745.ld
STARTUP_SRC = startup_stm32f745xx.s
else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
DEVICE_FLAGS = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f746.ld
STARTUP_SRC = startup_stm32f746xx.s
else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
DEVICE_FLAGS = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f722.ld
STARTUP_SRC = startup_stm32f722xx.s
else
$(error Unknown MCU for F7 target)
endif
DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
TARGET_FLAGS = -D$(TARGET)
# End F7 targets
#
# Start SITL targets
else ifeq ($(TARGET),$(filter $(TARGET), $(SITL_TARGETS)))
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(ROOT)/lib/main/dyad
SITL_SRC := $(ROOT)/lib/main/dyad/dyad.c
#Flags
ARCH_FLAGS =
DEVICE_FLAGS =
LD_SCRIPT = src/main/target/SITL/parameter_group.ld
STARTUP_SRC =
TARGET_FLAGS = -D$(TARGET)
ARM_SDK_PREFIX =
# End SITL 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
STARTUP_SRC = startup_stm32f10x_md_gcc.S
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
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
ifneq ($(HSE_VALUE),)
DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
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) \
$(ROOT)/lib/main/MAVLink
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_DIR)
VPATH := $(VPATH):$(TARGET_DIR)
COMMON_SRC = \
build/build_config.c \
build/debug.c \
build/version.c \
$(TARGET_DIR_SRC) \
main.c \
common/bitarray.c \
common/encoding.c \
common/filter.c \
common/maths.c \
common/printf.c \
common/streambuf.c \
common/typeconversion.c \
config/config_eeprom.c \
config/feature.c \
config/parameter_group.c \
config/config_streamer.c \
drivers/adc.c \
drivers/buf_writer.c \
drivers/bus_i2c_config.c \
drivers/bus_i2c_soft.c \
drivers/bus_spi.c \
drivers/bus_spi_config.c \
drivers/bus_spi_pinconfig.c \
drivers/bus_spi_soft.c \
drivers/buttons.c \
drivers/display.c \
drivers/exti.c \
drivers/io.c \
drivers/light_led.c \
drivers/resource.c \
drivers/rcc.c \
drivers/serial.c \
drivers/serial_pinconfig.c \
drivers/serial_uart.c \
drivers/serial_uart_pinconfig.c \
drivers/sound_beeper.c \
drivers/stack_check.c \
drivers/system.c \
drivers/timer.c \
drivers/transponder_ir.c \
drivers/transponder_ir_arcitimer.c \
drivers/transponder_ir_ilap.c \
drivers/transponder_ir_erlt.c \
fc/config.c \
fc/fc_dispatch.c \
fc/fc_hardfaults.c \
fc/fc_msp.c \
fc/fc_tasks.c \
fc/runtime_config.c \
io/beeper.c \
io/serial.c \
io/statusindicator.c \
io/transponder_ir.c \
io/rcsplit.c \
msp/msp_serial.c \
scheduler/scheduler.c \
sensors/battery.c \
sensors/current.c \
sensors/voltage.c \
OSD_SLAVE_SRC = \
io/displayport_max7456.c \
osd_slave/osd_slave_init.c \
io/osd_slave.c
FC_SRC = \
fc/fc_init.c \
fc/controlrate_profile.c \
drivers/gyro_sync.c \
drivers/rx_nrf24l01.c \
drivers/rx_spi.c \
drivers/rx_xn297.c \
drivers/pwm_esc_detect.c \
drivers/pwm_output.c \
drivers/rx_pwm.c \
drivers/serial_softserial.c \
fc/fc_core.c \
fc/fc_rc.c \
fc/rc_adjustments.c \
fc/rc_controls.c \
fc/rc_modes.c \
fc/cli.c \
fc/settings.c \
flight/altitude.c \
flight/failsafe.c \
flight/imu.c \
flight/mixer.c \
flight/pid.c \
flight/servos.c \
io/serial_4way.c \
io/serial_4way_avrootloader.c \
io/serial_4way_stk500v2.c \
rx/ibus.c \
rx/jetiexbus.c \
rx/msp.c \
rx/nrf24_cx10.c \
rx/nrf24_inav.c \
rx/nrf24_h8_3d.c \
rx/nrf24_syma.c \
rx/nrf24_v202.c \
rx/pwm.c \
rx/rx.c \
rx/rx_spi.c \
rx/crsf.c \
rx/sbus.c \
rx/spektrum.c \
rx/sumd.c \
rx/sumh.c \
rx/xbus.c \
sensors/acceleration.c \
sensors/boardalignment.c \
sensors/compass.c \
sensors/gyro.c \
sensors/gyroanalyse.c \
sensors/initialisation.c \
blackbox/blackbox.c \
blackbox/blackbox_encoding.c \
blackbox/blackbox_io.c \
cms/cms.c \
cms/cms_menu_blackbox.c \
cms/cms_menu_builtin.c \
cms/cms_menu_imu.c \
cms/cms_menu_ledstrip.c \
cms/cms_menu_misc.c \
cms/cms_menu_osd.c \
common/colorconversion.c \
common/gps_conversion.c \
drivers/display_ug2864hsweg01.c \
drivers/light_ws2811strip.c \
drivers/serial_escserial.c \
drivers/sonar_hcsr04.c \
drivers/vtx_common.c \
flight/navigation.c \
io/dashboard.c \
io/displayport_max7456.c \
io/displayport_msp.c \
io/displayport_oled.c \
io/gps.c \
io/ledstrip.c \
io/osd.c \
sensors/sonar.c \
sensors/barometer.c \
telemetry/telemetry.c \
telemetry/crsf.c \
telemetry/srxl.c \
telemetry/frsky.c \
telemetry/hott.c \
telemetry/smartport.c \
telemetry/ltm.c \
telemetry/mavlink.c \
telemetry/ibus.c \
telemetry/ibus_shared.c \
sensors/esc_sensor.c \
io/vtx_string.c \
io/vtx_rtc6705.c \
io/vtx_smartaudio.c \
io/vtx_tramp.c \
io/vtx_control.c
COMMON_DEVICE_SRC = \
$(CMSIS_SRC) \
$(DEVICE_STDPERIPH_SRC)
ifeq ($(OSD_SLAVE),yes)
TARGET_FLAGS := -DUSE_OSD_SLAVE $(TARGET_FLAGS)
COMMON_SRC := $(COMMON_SRC) $(OSD_SLAVE_SRC) $(COMMON_DEVICE_SRC)
else
COMMON_SRC := $(COMMON_SRC) $(FC_SRC) $(COMMON_DEVICE_SRC)
endif
SPEED_OPTIMISED_SRC := ""
SIZE_OPTIMISED_SRC := ""
ifneq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
common/encoding.c \
common/filter.c \
common/maths.c \
common/typeconversion.c \
drivers/adc.c \
drivers/buf_writer.c \
drivers/bus_i2c_soft.c \
drivers/bus_spi.c \
drivers/bus_spi_soft.c \
drivers/exti.c \
drivers/gyro_sync.c \
drivers/io.c \
drivers/light_led.c \
drivers/resource.c \
drivers/rx_nrf24l01.c \
drivers/rx_spi.c \
drivers/rx_xn297.c \
drivers/pwm_output.c \
drivers/rcc.c \
drivers/rx_pwm.c \
drivers/serial.c \
drivers/serial_uart.c \
drivers/sound_beeper.c \
drivers/system.c \
drivers/timer.c \
fc/fc_core.c \
fc/fc_tasks.c \
fc/fc_rc.c \
fc/rc_controls.c \
fc/runtime_config.c \
flight/imu.c \
flight/mixer.c \
flight/pid.c \
flight/servos.c \
io/serial.c \
rx/ibus.c \
rx/jetiexbus.c \
rx/nrf24_cx10.c \
rx/nrf24_inav.c \
rx/nrf24_h8_3d.c \
rx/nrf24_syma.c \
rx/nrf24_v202.c \
rx/pwm.c \
rx/rx.c \
rx/rx_spi.c \
rx/crsf.c \
rx/sbus.c \
rx/spektrum.c \
rx/sumd.c \
rx/sumh.c \
rx/xbus.c \
scheduler/scheduler.c \
sensors/acceleration.c \
sensors/boardalignment.c \
sensors/gyro.c \
sensors/gyroanalyse.c \
$(CMSIS_SRC) \
$(DEVICE_STDPERIPH_SRC) \
drivers/display_ug2864hsweg01.c \
drivers/light_ws2811strip.c \
drivers/serial_softserial.c \
io/displayport_max7456.c \
io/osd.c \
io/osd_slave.c
SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
drivers/bus_i2c_config.c \
drivers/bus_spi_config.c \
drivers/bus_spi_pinconfig.c \
drivers/serial_escserial.c \
drivers/serial_pinconfig.c \
drivers/serial_uart_init.c \
drivers/serial_uart_pinconfig.c \
drivers/vtx_rtc6705_soft_spi.c \
drivers/vtx_rtc6705.c \
drivers/vtx_common.c \
fc/fc_init.c \
fc/cli.c \
fc/settings.c \
config/config_eeprom.c \
config/feature.c \
config/parameter_group.c \
config/config_streamer.c \
io/serial_4way.c \
io/serial_4way_avrootloader.c \
io/serial_4way_stk500v2.c \
io/dashboard.c \
msp/msp_serial.c \
cms/cms.c \
cms/cms_menu_blackbox.c \
cms/cms_menu_builtin.c \
cms/cms_menu_imu.c \
cms/cms_menu_ledstrip.c \
cms/cms_menu_misc.c \
cms/cms_menu_osd.c \
io/vtx_string.c \
io/vtx_rtc6705.c \
io/vtx_smartaudio.c \
io/vtx_tramp.c \
io/vtx_control.c
endif #!F1
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 \
drivers/usb_io.c
else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
VCP_SRC = \
vcp_hal/usbd_desc.c \
vcp_hal/usbd_conf.c \
vcp_hal/usbd_cdc_interface.c \
drivers/serial_usb_vcp.c \
drivers/usb_io.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 = \
drivers/adc_stm32f10x.c \
drivers/bus_i2c_stm32f10x.c \
drivers/dma.c \
drivers/gpio_stm32f10x.c \
drivers/inverter.c \
drivers/light_ws2811strip_stdperiph.c \
drivers/serial_uart_init.c \
drivers/serial_uart_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer_stm32f10x.c
STM32F30x_COMMON_SRC = \
target/system_stm32f30x.c \
drivers/adc_stm32f30x.c \
drivers/bus_i2c_stm32f30x.c \
drivers/dma.c \
drivers/gpio_stm32f30x.c \
drivers/light_ws2811strip_stdperiph.c \
drivers/pwm_output_dshot.c \
drivers/serial_uart_init.c \
drivers/serial_uart_stm32f30x.c \
drivers/system_stm32f30x.c \
drivers/timer_stm32f30x.c
STM32F4xx_COMMON_SRC = \
target/system_stm32f4xx.c \
drivers/accgyro/accgyro_mpu.c \
drivers/adc_stm32f4xx.c \
drivers/bus_i2c_stm32f10x.c \
drivers/dma_stm32f4xx.c \
drivers/gpio_stm32f4xx.c \
drivers/inverter.c \
drivers/light_ws2811strip_stdperiph.c \
drivers/pwm_output_dshot.c \
drivers/serial_uart_init.c \
drivers/serial_uart_stm32f4xx.c \
drivers/system_stm32f4xx.c \
drivers/timer_stm32f4xx.c
STM32F7xx_COMMON_SRC = \
target/system_stm32f7xx.c \
drivers/accgyro/accgyro_mpu.c \
drivers/adc_stm32f7xx.c \
drivers/bus_i2c_hal.c \
drivers/dma_stm32f7xx.c \
drivers/gpio_stm32f7xx.c \
drivers/light_ws2811strip_hal.c \
drivers/bus_spi_hal.c \
drivers/pwm_output_dshot_hal.c \
drivers/timer_hal.c \
drivers/timer_stm32f7xx.c \
drivers/system_stm32f7xx.c \
drivers/serial_uart_stm32f7xx.c \
drivers/serial_uart_hal.c
F7EXCLUDES = \
drivers/bus_spi.c \
drivers/bus_i2c.c \
drivers/timer.c \
drivers/serial_uart.c
SITLEXCLUDES = \
drivers/adc.c \
drivers/bus_i2c.c \
drivers/bus_i2c_config.c \
drivers/bus_spi.c \
drivers/bus_spi_config.c \
drivers/bus_spi_pinconfig.c \
drivers/dma.c \
drivers/pwm_output.c \
drivers/timer.c \
drivers/light_led.c \
drivers/system.c \
drivers/rcc.c \
drivers/serial_pinconfig.c \
drivers/serial_uart.c \
drivers/serial_uart_init.c \
drivers/serial_uart_pinconfig.c \
drivers/rx_xn297.c \
drivers/display_ug2864hsweg01.c \
telemetry/crsf.c \
telemetry/srxl.c \
io/displayport_oled.c
# check if target.mk supplied
ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC) $(VARIANT_SRC)
else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
SRC := $(TARGET_SRC) $(SITL_SRC) $(VARIANT_SRC)
endif
ifneq ($(filter $(TARGET),$(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
DSPLIB := $(ROOT)/lib/main/DSP_Lib
DEVICE_FLAGS += -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE
ifneq ($(filter $(TARGET),$(F3_TARGETS)) $(F4_TARGETS)),)
DEVICE_FLAGS += -DARM_MATH_CM4
endif
ifneq ($(filter $(TARGET),$(F7_TARGETS)),)
DEVICE_FLAGS += -DARM_MATH_CM7
endif
INCLUDE_DIRS += $(DSPLIB)/Include
SRC += $(DSPLIB)/Source/BasicMathFunctions/arm_mult_f32.c
SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_f32.c
SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_f32.c
SRC += $(DSPLIB)/Source/TransformFunctions/arm_rfft_fast_init_f32.c
SRC += $(DSPLIB)/Source/TransformFunctions/arm_cfft_radix8_f32.c
SRC += $(DSPLIB)/Source/CommonTables/arm_common_tables.c
SRC += $(DSPLIB)/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
SRC += $(DSPLIB)/Source/StatisticsFunctions/arm_max_f32.c
SRC += $(wildcard $(DSPLIB)/Source/*/*.S)
endif
ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
SRC += \
drivers/flash_m25p16.c \
io/flashfs.c
endif
SRC += $(COMMON_SRC)
#excludes
ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
SRC := $(filter-out ${F7EXCLUDES}, $(SRC))
endif
#SITL excludes
ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
SRC := $(filter-out ${SITLEXCLUDES}, $(SRC))
endif
ifneq ($(filter SDCARD,$(FEATURES)),)
SRC += \
drivers/sdcard.c \
drivers/sdcard_standard.c \
io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c
endif
ifneq ($(filter VCP,$(FEATURES)),)
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
#
# Find out if ccache is installed on the system
CCACHE := ccache
RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
ifneq ($(RESULT),0)
CCACHE :=
endif
# Tool names
CROSS_CC := $(CCACHE) $(ARM_SDK_PREFIX)gcc
CROSS_CXX := $(CCACHE) $(ARM_SDK_PREFIX)g++
OBJCOPY := $(ARM_SDK_PREFIX)objcopy
SIZE := $(ARM_SDK_PREFIX)size
#
# Tool options.
#
ifneq ($(DEBUG),GDB)
OPTIMISATION_BASE := -flto -fuse-linker-plugin -ffast-math
OPTIMISE_SPEED :=
OPTIMISE_SIZE :=
ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
OPTIMISE_DEFAULT := -Os
LTO_FLAGS := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
else ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
OPTIMISE_DEFAULT := -Ofast
OPTIMISE_SPEED := -Ofast
OPTIMISE_SIZE := -Os
LTO_FLAGS := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
else
OPTIMISE_DEFAULT := -O2
OPTIMISE_SPEED := -Ofast
OPTIMISE_SIZE := -Os
LTO_FLAGS := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
endif #TARGETS
CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
CC_SPEED_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
CC_SIZE_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
else #DEBUG
OPTIMISE_DEFAULT := -Og
CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
LTO_FLAGS := $(OPTIMISE_DEFAULT)
endif #DEBUG
DEBUG_FLAGS = -ggdb3 -DDEBUG
CFLAGS += $(ARCH_FLAGS) \
$(addprefix -D,$(OPTIONS)) \
$(addprefix -I,$(INCLUDE_DIRS)) \
$(DEBUG_FLAGS) \
-std=gnu99 \
-Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
-ffunction-sections \
-fdata-sections \
-pedantic \
$(DEVICE_FLAGS) \
-DUSE_STDPERIPH_DRIVER \
-D$(TARGET) \
$(TARGET_FLAGS) \
-D'__FORKNAME__="$(FORKNAME)"' \
-D'__TARGET__="$(TARGET)"' \
-D'__REVISION__="$(REVISION)"' \
-save-temps=obj \
-MMD -MP \
$(EXTRA_FLAGS)
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)
#SITL compile
ifeq ($(TARGET),$(filter $(TARGET),$(SITL_TARGETS)))
LDFLAGS = \
-lm \
-lpthread \
-lc \
-lrt \
$(ARCH_FLAGS) \
$(LTO_FLAGS) \
$(DEBUG_FLAGS) \
-Wl,-gc-sections,-Map,$(TARGET_MAP) \
-Wl,-L$(LINKER_DIR) \
-Wl,--cref \
-T$(LD_SCRIPT)
ifneq ($(filter SITL_STATIC,$(OPTIONS)),)
LDFLAGS += \
-static \
-static-libgcc
endif
endif
###############################################################################
# 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 $(SRC))))
TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
CLEAN_ARTIFACTS := $(TARGET_BIN)
CLEAN_ARTIFACTS += $(TARGET_HEX)
CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
# Make sure build date and revision is updated on every incremental build
$(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
# 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)
$(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
$(TARGET_BIN): $(TARGET_ELF)
$(V0) $(OBJCOPY) -O binary $< $@
$(TARGET_ELF): $(TARGET_OBJS)
$(V1) echo Linking $(TARGET)
$(V1) $(CROSS_CC) -o $@ $^ $(LDFLAGS)
$(V0) $(SIZE) $(TARGET_ELF)
# Compile
ifneq ($(DEBUG),GDB)
$(OBJECT_DIR)/$(TARGET)/%.o: %.c
$(V1) mkdir -p $(dir $@)
$(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
$(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
echo "%% $(notdir $<)" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
else
$(OBJECT_DIR)/$(TARGET)/%.o: %.c
$(V1) mkdir -p $(dir $@)
$(V1) echo "%% $(notdir $<)" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
endif
# Assemble
$(OBJECT_DIR)/$(TARGET)/%.o: %.s
$(V1) mkdir -p $(dir $@)
$(V1) echo "%% $(notdir $<)" "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
$(OBJECT_DIR)/$(TARGET)/%.o: %.S
$(V1) mkdir -p $(dir $@)
$(V1) echo "%% $(notdir $<)" "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
## all : Build all valid targets
all: $(VALID_TARGETS)
## official : Build all official (travis) targets
official: $(OFFICIAL_TARGETS)
## targets-group-1 : build some targets
targets-group-1: $(GROUP_1_TARGETS)
## targets-group-2 : build some targets
targets-group-2: $(GROUP_2_TARGETS)
## targets-group-3 : build some targets
targets-group-3: $(GROUP_3_TARGETS)
## targets-group-3 : build some targets
targets-group-4: $(GROUP_4_TARGETS)
## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
targets-group-rest: $(GROUP_OTHER_TARGETS)
$(VALID_TARGETS):
$(V0) @echo "" && \
echo "Building $@" && \
time $(MAKE) binary hex TARGET=$@ && \
echo "Building $@ succeeded."
CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
## clean : clean up temporary / machine-generated files
clean:
$(V0) @echo "Cleaning $(TARGET)"
$(V0) rm -f $(CLEAN_ARTIFACTS)
$(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
$(V0) @echo "Cleaning $(TARGET) succeeded."
## clean_test : clean up temporary / machine-generated files (tests)
clean_test:
$(V0) cd src/test && $(MAKE) clean || true
## clean_<TARGET> : clean up one specific target
$(CLEAN_TARGETS) :
$(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
## <TARGET>_clean : clean up one specific target (alias for above)
$(TARGETS_CLEAN) :
$(V0) $(MAKE) -j TARGET=$(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)
$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
$(V0) echo -n 'R' >$(SERIAL_DEVICE)
$(V0) 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)
$(V0) st-flash --reset write $< 0x08000000
## st-flash : flash firmware (.bin) onto flight controller
st-flash: st-flash_$(TARGET)
binary:
$(V0) $(MAKE) -j $(TARGET_BIN)
hex:
$(V0) $(MAKE) -j $(TARGET_HEX)
unbrick_$(TARGET): $(TARGET_HEX)
$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
$(V0) 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)
$(V0) $(CPPCHECK)
cppcheck-result.xml: $(CSOURCES)
$(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
# mkdirs
$(DL_DIR):
mkdir -p $@
$(TOOLS_DIR):
mkdir -p $@
$(BUILD_DIR):
mkdir -p $@
## version : print firmware version
version:
@echo $(FC_VER)
## help : print this help message and exit
help: Makefile make/tools.mk
$(V0) @echo ""
$(V0) @echo "Makefile for the $(FORKNAME) firmware"
$(V0) @echo ""
$(V0) @echo "Usage:"
$(V0) @echo " make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
$(V0) @echo "Or:"
$(V0) @echo " make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
$(V0) @echo ""
$(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
$(V0) @echo ""
$(V0) @sed -n 's/^## //p' $?
## targets : print a list of all valid target platforms (for consumption by scripts)
targets:
$(V0) @echo "Valid targets: $(VALID_TARGETS)"
$(V0) @echo "Target: $(TARGET)"
$(V0) @echo "Base target: $(BASE_TARGET)"
$(V0) @echo "targets-group-1: $(GROUP_1_TARGETS)"
$(V0) @echo "targets-group-2: $(GROUP_2_TARGETS)"
$(V0) @echo "targets-group-3: $(GROUP_3_TARGETS)"
$(V0) @echo "targets-group-4: $(GROUP_4_TARGETS)"
$(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
## test : run the cleanflight test suite
## junittest : run the cleanflight test suite, producing Junit XML result files.
test junittest:
$(V0) cd src/test && $(MAKE) $@
# rebuild everything when makefile changes
$(TARGET_OBJS) : Makefile
# include auto-generated dependencies
-include $(TARGET_DEPS)
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