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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 baseflight 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, must be one of NAZE, FY90Q OR OLIMEXINO
TARGET ?= NAZE
# Compile-time options
OPTIONS ?=
# 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
#
VALID_TARGETS = NAZE FY90Q OLIMEXINO
# Working directories
ROOT = $(dir $(lastword $(MAKEFILE_LIST)))
SRC_DIR = $(ROOT)/src
CMSIS_DIR = $(ROOT)/lib/CMSIS
STDPERIPH_DIR = $(ROOT)/lib/STM32F10x_StdPeriph_Driver
OBJECT_DIR = $(ROOT)/obj
BIN_DIR = $(ROOT)/obj
# Source files common to all targets
COMMON_SRC = startup_stm32f10x_md_gcc.S \
buzzer.c \
cli.c \
config.c \
gps.c \
imu.c \
main.c \
mixer.c \
mw.c \
sensors.c \
serial.c \
sbus.c \
spektrum.c \
telemetry.c \
drv_gpio.c \
drv_i2c.c \
drv_i2c_soft.c \
drv_system.c \
drv_serial.c \
drv_softserial.c \
drv_uart.c \
printf.c \
utils.c \
$(CMSIS_SRC) \
$(STDPERIPH_SRC)
# Source files for the NAZE target
NAZE_SRC = drv_spi.c \
drv_adc.c \
drv_adxl345.c \
drv_bma280.c \
drv_bmp085.c \
drv_ms5611.c \
drv_hcsr04.c \
drv_hmc5883l.c \
drv_ledring.c \
drv_mma845x.c \
drv_mpu3050.c \
drv_mpu6050.c \
drv_l3g4200d.c \
drv_pwm.c \
drv_timer.c \
$(COMMON_SRC)
# Source files for the FY90Q target
FY90Q_SRC = drv_adc_fy90q.c \
drv_pwm_fy90q.c \
$(COMMON_SRC)
# Source files for the OLIMEXINO target
OLIMEXINO_SRC = drv_spi.c \
drv_adc.c \
drv_adxl345.c \
drv_mpu3050.c \
drv_mpu6050.c \
drv_l3g4200d.c \
drv_pwm.c \
drv_timer.c \
$(COMMON_SRC)
# Search path for baseflight sources
VPATH := $(SRC_DIR):$(SRC_DIR)/baseflight_startups
# 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))
# Search path and source files for the ST stdperiph library
VPATH := $(VPATH):$(STDPERIPH_DIR)/src
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
###############################################################################
# Things that might need changing to use different tools
#
# Tool names
CC = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
#
# Tool options.
#
INCLUDE_DIRS = $(SRC_DIR) \
$(STDPERIPH_DIR)/inc \
$(CMSIS_DIR)/CM3/CoreSupport \
$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
ARCH_FLAGS = -mthumb -mcpu=cortex-m3
BASE_CFLAGS = $(ARCH_FLAGS) \
$(addprefix -D,$(OPTIONS)) \
$(addprefix -I,$(INCLUDE_DIRS)) \
-Wall \
-ffunction-sections \
-fdata-sections \
-DSTM32F10X_MD \
-DUSE_STDPERIPH_DRIVER \
-D$(TARGET)
ASFLAGS = $(ARCH_FLAGS) \
-x assembler-with-cpp \
$(addprefix -I,$(INCLUDE_DIRS))
# XXX Map/crossref output?
LD_SCRIPT = $(ROOT)/stm32_flash.ld
LDFLAGS = -lm \
$(ARCH_FLAGS) \
-static \
-Wl,-gc-sections,-Map,$(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 $(VALID_TARGETS))
endif
ifeq ($(DEBUG),GDB)
CFLAGS = $(BASE_CFLAGS) \
-ggdb \
-O0
else
CFLAGS = $(BASE_CFLAGS) \
-Os
endif
TARGET_HEX = $(BIN_DIR)/baseflight_$(TARGET).hex
TARGET_ELF = $(BIN_DIR)/baseflight_$(TARGET).elf
TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
TARGET_MAP = $(OBJECT_DIR)/baseflight_$(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_ELF): $(TARGET_OBJS)
$(CC) -o $@ $^ $(LDFLAGS)
# 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_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
flash_$(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)
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 baseflight firmware"
@echo ""
@echo "Usage:"
@echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]"
@echo ""
@echo "Valid TARGET values are: $(VALID_TARGETS)"
@echo ""
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