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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 iNav 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 ?= SPRACINGF3
# 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 ?=
## V : Set verbosity level based on the V= parameter
## V=0 Low
## V=1 High
export AT := @
ifndef V
export V0 :=
export V1 := $(AT)
export STDOUT :=
else ifeq ($(V), 0)
export V0 := $(AT)
export V1 := $(AT)
export STDOUT:= "> /dev/null"
export MAKE := $(MAKE) --no-print-directory
else ifeq ($(V), 1)
export V0 :=
export V1 :=
export STDOUT :=
endif
###############################################################################
# Things that need to be maintained as the source changes
#
FORKNAME = inav
# 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
# 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 = $(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))
CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
TARGETS_CLEAN = $(addsuffix _clean,$(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) $(F427_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)),)
$(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411, F427 or F7x. 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 = $(F427_TARGETS) $(F7X5XI_TARGETS)
# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
ifeq ($(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
GROUP_1_TARGETS := AIRHEROF3 AIRHEROF3_QUAD COLIBRI_RACE LUX_RACE SPARKY REVO SPARKY2 COLIBRI FALCORE PIKOBLX
GROUP_2_TARGETS := SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPRACINGF3NEO SPRACINGF4EVO
GROUP_3_TARGETS := OMNIBUS AIRBOTF4 BLUEJAYF4 OMNIBUSF4 OMNIBUSF4PRO OMNIBUSF4V3 SPARKY2 MATEKF405 OMNIBUSF7 DYSF4PRO MATEKF405OSD MATEKF405_SERVOS6
GROUP_4_TARGETS := ANYFC ANYFCF7 ANYFCF7_EXTERNAL_BARO ANYFCM7 ALIENFLIGHTNGF7 PIXRACER
GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
# note that there is no hardfault debugging startup file assembly handler for other platforms
ifeq ($(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
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), $(F411_TARGETS)))
EXCLUDES += stm32f4xx_fsmc.c
endif
ifeq ($(TARGET),$(filter $(TARGET), $(F427_TARGETS)))
EXCLUDES += stm32f4xx_fsmc.c
endif
ifeq ($(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 = $(LINKER_DIR)/stm32_flash_f446.ld
STARTUP_SRC = startup_stm32f446xx.s
else ifeq ($(TARGET),$(filter $(TARGET),$(F427_TARGETS)))
DEVICE_FLAGS = -DSTM32F427_437xx
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f427.ld
STARTUP_SRC = startup_stm32f427xx.s
else
$(error Unknown MCU for F4 target)
endif
DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
TARGET_FLAGS = -D$(TARGET)
# End F4 targets
#
# Start F7 targets
else ifeq ($(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 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
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 = \
$(TARGET_DIR_SRC) \
main.c \
target/common_hardware.c \
build/assert.c \
build/build_config.c \
build/debug.c \
build/version.c \
common/bitarray.c \
common/crc.c \
common/encoding.c \
common/filter.c \
common/maths.c \
common/memory.c \
common/printf.c \
common/streambuf.c \
common/time.c \
common/typeconversion.c \
common/string_light.c \
config/config_eeprom.c \
config/config_streamer.c \
config/feature.c \
config/parameter_group.c \
drivers/adc.c \
drivers/buf_writer.c \
drivers/bus.c \
drivers/bus_busdev_i2c.c \
drivers/bus_busdev_spi.c \
drivers/bus_i2c_soft.c \
drivers/bus_spi.c \
drivers/display.c \
drivers/exti.c \
drivers/gps_i2cnav.c \
drivers/io.c \
drivers/io_pca9685.c \
drivers/light_led.c \
drivers/logging.c \
drivers/resource.c \
drivers/rx_nrf24l01.c \
drivers/rx_spi.c \
drivers/rx_xn297.c \
drivers/pitotmeter_adc.c \
drivers/pwm_esc_detect.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/rcc.c \
drivers/rx_pwm.c \
drivers/serial.c \
drivers/serial_uart.c \
drivers/sound_beeper.c \
drivers/stack_check.c \
drivers/system.c \
drivers/timer.c \
drivers/lights_io.c \
fc/cli.c \
fc/config.c \
fc/controlrate_profile.c \
fc/fc_core.c \
fc/fc_init.c \
fc/fc_tasks.c \
fc/fc_hardfaults.c \
fc/fc_msp.c \
fc/fc_msp_box.c \
fc/rc_adjustments.c \
fc/rc_controls.c \
fc/rc_curves.c \
fc/rc_modes.c \
fc/runtime_config.c \
fc/settings.c \
fc/stats.c \
flight/failsafe.c \
flight/hil.c \
flight/imu.c \
flight/mixer.c \
flight/pid.c \
flight/pid_autotune.c \
flight/servos.c \
io/beeper.c \
io/lights.c \
io/pwmdriver_i2c.c \
io/serial.c \
io/serial_4way.c \
io/serial_4way_avrootloader.c \
io/serial_4way_stk500v2.c \
io/statusindicator.c \
io/rcdevice.c \
io/rcdevice_cam.c \
msp/msp_serial.c \
rx/fport.c \
rx/ibus.c \
rx/jetiexbus.c \
rx/msp.c \
rx/uib_rx.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/sbus_channels.c \
rx/spektrum.c \
rx/sumd.c \
rx/sumh.c \
rx/xbus.c \
rx/eleres.c \
scheduler/scheduler.c \
sensors/acceleration.c \
sensors/battery.c \
sensors/temperature.c \
sensors/boardalignment.c \
sensors/compass.c \
sensors/diagnostics.c \
sensors/gyro.c \
sensors/initialisation.c \
uav_interconnect/uav_interconnect_bus.c \
uav_interconnect/uav_interconnect_rangefinder.c \
$(CMSIS_SRC) \
$(DEVICE_STDPERIPH_SRC)
HIGHEND_SRC = \
blackbox/blackbox.c \
blackbox/blackbox_encoding.c \
blackbox/blackbox_io.c \
cms/cms.c \
cms/cms_menu_blackbox.c \
cms/cms_menu_builtin.c \
cms/cms_menu_imu.c \
cms/cms_menu_ledstrip.c \
cms/cms_menu_misc.c \
cms/cms_menu_navigation.c \
cms/cms_menu_osd.c \
cms/cms_menu_vtx_smartaudio.c \
cms/cms_menu_vtx_tramp.c \
common/colorconversion.c \
common/gps_conversion.c \
drivers/display_ug2864hsweg01.c \
drivers/rangefinder/rangefinder_hcsr04.c \
drivers/rangefinder/rangefinder_hcsr04_i2c.c \
drivers/rangefinder/rangefinder_srf10.c \
drivers/rangefinder/rangefinder_vl53l0x.c \
drivers/opflow/opflow_fake.c \
drivers/opflow/opflow_virtual.c \
drivers/vtx_common.c \
io/opflow_cxof.c \
io/dashboard.c \
io/displayport_max7456.c \
io/displayport_msp.c \
io/displayport_oled.c \
io/gps.c \
io/gps_ublox.c \
io/gps_nmea.c \
io/gps_naza.c \
io/gps_i2cnav.c \
io/ledstrip.c \
io/osd.c \
navigation/navigation.c \
navigation/navigation_fixedwing.c \
navigation/navigation_fw_launch.c \
navigation/navigation_geo.c \
navigation/navigation_multicopter.c \
navigation/navigation_pos_estimator.c \
sensors/barometer.c \
sensors/pitotmeter.c \
sensors/rangefinder.c \
sensors/opflow.c \
telemetry/crsf.c \
telemetry/frsky.c \
telemetry/hott.c \
telemetry/ibus_shared.c \
telemetry/ibus.c \
telemetry/ltm.c \
telemetry/mavlink.c \
telemetry/msp_shared.c \
telemetry/smartport.c \
telemetry/telemetry.c \
io/vtx_string.c \
io/vtx_smartaudio.c \
io/vtx_tramp.c \
io/vtx_control.c
ifeq ($(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 \
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 = \
startup_stm32f10x_md_gcc.S \
drivers/accgyro/accgyro.c \
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/accgyro/accgyro.c \
drivers/adc_stm32f30x.c \
drivers/bus_i2c_stm32f30x.c \
drivers/dma.c \
drivers/gpio_stm32f30x.c \
drivers/serial_uart_stm32f30x.c \
drivers/system_stm32f30x.c \
drivers/timer_stm32f30x.c
STM32F4xx_COMMON_SRC = \
target/system_stm32f4xx.c \
drivers/accgyro/accgyro.c \
drivers/accgyro/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
STM32F7xx_COMMON_SRC = \
target/system_stm32f7xx.c \
drivers/accgyro/accgyro.c \
drivers/accgyro/accgyro_mpu.c \
drivers/adc_stm32f7xx.c \
drivers/bus_i2c_hal.c \
drivers/dma_stm32f7xx.c \
drivers/gpio_stm32f7xx.c \
drivers/inverter.c \
drivers/bus_spi_hal.c \
drivers/timer_hal.c \
drivers/timer_stm32f7xx.c \
drivers/system_stm32f7xx.c \
drivers/serial_uart_stm32f7xx.c \
drivers/serial_softserial.c \
drivers/serial_uart_hal.c
F7EXCLUDES = drivers/bus_spi.c \
drivers/bus_i2c.c \
drivers/timer.c \
drivers/serial_uart.c
# check if target.mk supplied
ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
TARGET_SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
TARGET_SRC := $(STARTUP_SRC) $(STM32F7xx_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 $(TARGET),$(F7_TARGETS) $(F4_TARGETS) $(F3_TARGETS)))
TARGET_SRC += $(HIGHEND_SRC)
else ifneq ($(filter HIGHEND,$(FEATURES)),)
TARGET_SRC += $(HIGHEND_SRC)
endif
TARGET_SRC += $(COMMON_SRC)
#excludes
ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
TARGET_SRC := $(filter-out ${F7EXCLUDES}, $(TARGET_SRC))
endif
ifneq ($(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
ifneq ($(TOOLCHAINPATH),)
CROSS_CC = $(TOOLCHAINPATH)/arm-none-eabi-gcc
OBJCOPY = $(TOOLCHAINPATH)/arm-none-eabi-objcopy
SIZE = $(TOOLCHAINPATH)/arm-none-eabi-size
else
CROSS_CC = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
SIZE = arm-none-eabi-size
endif
#
# Tool options.
#
ifeq ($(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 \
-Werror=switch \
-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)) \
-D$(TARGET) \
-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)
# Make sure build date and revision is updated on every incremental build
$(OBJECT_DIR)/$(TARGET)/build/version.o : $(TARGET_SRC)
# Settings generator
.PHONY: .FORCE settings clean-settings
UTILS_DIR = $(ROOT)/src/utils
SETTINGS_GENERATOR = $(UTILS_DIR)/settings.rb
BUILD_STAMP = $(UTILS_DIR)/build_stamp.rb
STAMP = $(BIN_DIR)/build.stamp
GENERATED_SETTINGS = $(SRC_DIR)/fc/settings_generated.h $(SRC_DIR)/fc/settings_generated.c
SETTINGS_FILE = $(SRC_DIR)/fc/settings.yaml
GENERATED_FILES = $(GENERATED_SETTINGS)
$(GENERATED_SETTINGS): $(SETTINGS_GENERATOR) $(SETTINGS_FILE) $(STAMP)
$(STAMP): .FORCE
$(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(BUILD_STAMP) $(SETTINGS_FILE) $(STAMP)
# Use a pattern rule, since they're different than normal rules.
# See https://www.gnu.org/software/make/manual/make.html#Pattern-Examples
%generated.h %generated.c:
$(V1) echo "settings.yaml -> settings_generated.h, settings_generated.c" "$(STDOUT)"
$(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE)
settings-json:
$(V0) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) --json settings.json
clean-settings:
$(V1) $(RM) $(GENERATED_SETTINGS)
# 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)