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Makefile
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Makefile
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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 cleanflight 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 ?=
# Serial port/Device for flashing
SERIAL_DEVICE ?= /dev/ttyUSB0
###############################################################################
# Things that need to be maintained as the source changes
#
FORKNAME = cleanflight
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC MASSIVEF3 PORT103R SPARKY
# Valid targets for OP BootLoader support
OPBL_VALID_TARGETS = CC3D
REVISION = $(shell git log -1 --format="%h")
# 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)
LINKER_DIR = $(ROOT)/src/main/target
# Search path for sources
VPATH := $(SRC_DIR):$(SRC_DIR)/startup
ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO MASSIVEF3 SPARKY))
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
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 = $(USBPERIPH_SRC) \
$(STDPERIPH_SRC)
VPATH := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x:$(USBFS_DIR)/src
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(STDPERIPH_DIR)/inc \
$(USBFS_DIR)/inc \
$(CMSIS_DIR)/CM1/CoreSupport \
$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x \
$(ROOT)/src/main/vcp
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_256k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
TARGET_FLAGS = -D$(TARGET)
ifeq ($(TARGET),CHEBUZZF3)
# CHEBUZZ is a VARIANT of STM32F3DISCOVERY
TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
endif
ifeq ($(TARGET),MASSIVEF3)
# MASSIVEF3 is a VARIANT of STM32F3DISCOVERY
TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
endif
else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
# 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 \
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_256k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m3
TARGET_FLAGS = -D$(TARGET) -pedantic
DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
else
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
# 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 \
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_128k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m3
TARGET_FLAGS = -D$(TARGET) -pedantic
DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
endif
TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_DIR)
VPATH := $(VPATH):$(TARGET_DIR)
COMMON_SRC = build_config.c \
version.c \
$(TARGET_SRC) \
config/config.c \
config/runtime_config.c \
common/maths.c \
common/printf.c \
common/typeconversion.c \
main.c \
mw.c \
flight/altitudehold.c \
flight/failsafe.c \
flight/flight.c \
flight/imu.c \
flight/mixer.c \
drivers/bus_i2c_soft.c \
drivers/serial.c \
drivers/sound_beeper.c \
drivers/system.c \
io/beeper.c \
io/rc_controls.c \
io/rc_curves.c \
io/serial.c \
io/serial_cli.c \
io/serial_msp.c \
io/statusindicator.c \
rx/rx.c \
rx/pwm.c \
rx/msp.c \
rx/sbus.c \
rx/sumd.c \
rx/sumh.c \
rx/spektrum.c \
rx/xbus.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 = flight/autotune.c \
flight/navigation.c \
flight/gps_conversion.c \
common/colorconversion.c \
io/gps.c \
io/ledstrip.c \
io/display.c \
telemetry/telemetry.c \
telemetry/frsky.c \
telemetry/hott.c \
telemetry/msp.c \
telemetry/smartport.c \
sensors/sonar.c \
sensors/barometer.c
NAZE_SRC = startup_stm32f10x_md_gcc.S \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6500.c \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \
drivers/bus_spi.c \
drivers/bus_i2c_stm32f10x.c \
drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.h \
drivers/gpio_stm32f10x.c \
drivers/inverter.c \
drivers/light_led_stm32f10x.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/pwm_rx.c \
drivers/serial_softserial.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f10x.c \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
drivers/timer_stm32f10x.c \
hardware_revision.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \
drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.c \
drivers/gpio_stm32f10x.c \
drivers/inverter.c \
drivers/light_led_stm32f10x.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/pwm_rx.c \
drivers/serial_softserial.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
drivers/timer_stm32f10x.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
PORT103R_SRC = $(EUSTM32F103RC_SRC)
OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
drivers/accgyro_mpu6050.c \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/barometer_bmp085.c \
drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \
drivers/compass_hmc5883l.c \
drivers/gpio_stm32f10x.c \
drivers/light_led_stm32f10x.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/pwm_rx.c \
drivers/serial_softserial.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
drivers/timer_stm32f10x.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
ifeq ($(TARGET),CJMCU)
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_64k.ld
endif
ifeq ($(OPBL),yes)
ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_128k_opbl.ld
.DEFAULT_GOAL := binary
else
$(error OPBL specified with a unsupported target)
endif
endif
CJMCU_SRC = startup_stm32f10x_md_gcc.S \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/accgyro_mpu6050.c \
drivers/bus_i2c_stm32f10x.c \
drivers/compass_hmc5883l.c \
drivers/gpio_stm32f10x.c \
drivers/light_led_stm32f10x.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/pwm_rx.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f10x.c \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
drivers/timer_stm32f10x.c \
$(COMMON_SRC)
CC3D_SRC = startup_stm32f10x_md_gcc.S \
drivers/accgyro_spi_mpu6000.c \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/bus_spi.c \
drivers/gpio_stm32f10x.c \
drivers/inverter.c \
drivers/light_led_stm32f10x.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/pwm_rx.c \
drivers/serial_softserial.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f10x.c \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
drivers/timer_stm32f10x.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S \
drivers/adc.c \
drivers/adc_stm32f30x.c \
drivers/bus_i2c_stm32f30x.c \
drivers/bus_spi.c \
drivers/gpio_stm32f30x.c \
drivers/light_led_stm32f30x.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/pwm_rx.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f30x.c \
drivers/serial_usb_vcp.c \
drivers/sound_beeper_stm32f30x.c \
drivers/system_stm32f30x.c \
drivers/timer.c \
drivers/timer_stm32f30x.c \
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
NAZE32PRO_SRC = $(STM32F30x_COMMON_SRC) \
$(HIGHEND_SRC) \
$(COMMON_SRC)
STM32F3DISCOVERY_COMMON_SRC = $(STM32F30x_COMMON_SRC) \
drivers/accgyro_l3gd20.c \
drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c
STM32F3DISCOVERY_SRC = $(STM32F3DISCOVERY_COMMON_SRC) \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
CHEBUZZF3_SRC = $(STM32F3DISCOVERY_SRC) \
$(HIGHEND_SRC) \
$(COMMON_SRC)
MASSIVEF3_SRC = $(STM32F3DISCOVERY_SRC) \
$(HIGHEND_SRC) \
$(COMMON_SRC)
SPARKY_SRC = $(STM32F30x_COMMON_SRC) \
drivers/display_ug2864hsweg01.c \
drivers/accgyro_mpu9150.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
ifeq ($(TARGET),MASSIVEF3)
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_128k.ld
endif
# 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
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
ASFLAGS = $(ARCH_FLAGS) \
-x assembler-with-cpp \
$(addprefix -I,$(INCLUDE_DIRS)) \
-MMD
LDFLAGS = -lm \
-nostartfiles \
--specs=nano.specs \
-lc \
-lnosys \
$(ARCH_FLAGS) \
$(LTO_FLAGS) \
$(DEBUG_FLAGS) \
-static \
-Wl,-gc-sections,-Map,$(TARGET_MAP) \
-T$(LD_SCRIPT)
###############################################################################
# No user-serviceable parts below
###############################################################################
#
# Things we will build
#
ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
endif
TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(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
# 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)
$(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) $<
clean:
rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
rm -rf $(OBJECT_DIR)/$(TARGET)
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 $(SERIAL_DEVICE)
flash: flash_$(TARGET)
binary: $(TARGET_BIN)
unbrick_$(TARGET): $(TARGET_HEX)
stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
unbrick: unbrick_$(TARGET)
help:
@echo ""
@echo "Makefile for the $(FORKNAME) firmware"
@echo ""
@echo "Usage:"
@echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]"
@echo ""
@echo "Valid TARGET values are: $(VALID_TARGETS)"
@echo ""
# rebuild everything when makefile changes
$(TARGET_OBJS) : Makefile
# include auto-generated dependencies
-include $(TARGET_DEPS)