Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the iNav firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12 ###############################################################################
  13
  14
  15 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= SPRACINGF3
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40 ## V                 : Set verbosity level based on the V= parameter
  41 ##                     V=0 Low
  42 ##                     V=1 High
  43 export AT := @
  44
  45 ifndef V
  46 export V0    :=
  47 export V1    := $(AT)
  48 export STDOUT   :=
  49 else ifeq ($(V), 0)
  50 export V0    := $(AT)
  51 export V1    := $(AT)
  52 export STDOUT:= "> /dev/null"
  53 export MAKE  := $(MAKE) --no-print-directory
  54 else ifeq ($(V), 1)
  55 export V0    :=
  56 export V1    :=
  57 export STDOUT   :=
  58 endif
  59
  60 ###############################################################################
  61 # Things that need to be maintained as the source changes
  62 #
  63
  64 FORKNAME      = inav
  65
  66 # Working directories
  67 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  68 SRC_DIR         = $(ROOT)/src/main
  69 OBJECT_DIR      = $(ROOT)/obj/main
  70 BIN_DIR         = $(ROOT)/obj
  71 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
  72 INCLUDE_DIRS    = $(SRC_DIR) \
  73                   $(ROOT)/src/main/target
  74 LINKER_DIR      = $(ROOT)/src/main/target/link
  75
  76 # default xtal value for F4 targets
  77 HSE_VALUE       = 8000000
  78
  79 # used for turning on features like VCP and SDCARD
  80 FEATURES        =
  81
  82 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  83 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
  84
  85 #VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
  86 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  87 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  88 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  89 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  90
  91 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
  92 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
  93
  94 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
  95 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
  96 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
  97 else
  98 BASE_TARGET    := $(TARGET)
  99 endif
 100
 101 ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
 102 OPBL            = yes
 103 endif
 104
 105 # silently ignore if the file is not present. Allows for target specific.
 106 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 107
 108 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F427_TARGETS)
 109 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 110
 111 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 112 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 113 endif
 114
 115 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
 116 $(error Target '$(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?)
 117 endif
 118
 119 128K_TARGETS  = $(F1_TARGETS)
 120 256K_TARGETS  = $(F3_TARGETS)
 121 512K_TARGETS  = $(F411_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 122 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 123 2048K_TARGETS = $(F427_TARGETS) $(F7X5XI_TARGETS)
 124
 125 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 126 ifeq ($(FLASH_SIZE),)
 127 ifeq ($(TARGET),$(filter $(TARGET),$(2048K_TARGETS)))
 128 FLASH_SIZE = 2048
 129 else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
 130 FLASH_SIZE = 1024
 131 else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
 132 FLASH_SIZE = 512
 133 else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
 134 FLASH_SIZE = 256
 135 else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
 136 FLASH_SIZE = 128
 137 else
 138 $(error FLASH_SIZE not configured for target $(TARGET))
 139 endif
 140 endif
 141
 142 # note that there is no hardfault debugging startup file assembly handler for other platforms
 143 ifeq ($(DEBUG_HARDFAULTS),F3)
 144 CFLAGS               += -DDEBUG_HARDFAULTS
 145 STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
 146 else
 147 STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
 148 endif
 149
 150 ifeq ($(DEBUG_HARDFAULTS),F7)
 151 CFLAGS               += -DDEBUG_HARDFAULTS
 152 endif
 153
 154 REVISION = $(shell git log -1 --format="%h")
 155
 156 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 157 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 158 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 159
 160 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 161
 162 # Search path for sources
 163 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 164 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 165 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 166 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 167 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 168
 169 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 170
 171 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 172 # F3 TARGETS
 173
 174 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 175 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 176 EXCLUDES        = stm32f30x_crc.c \
 177                   stm32f30x_can.c
 178
 179 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 180 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 181
 182 VPATH           := $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 183 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
 184                   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
 185
 186 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 187                    $(STDPERIPH_DIR)/inc \
 188                    $(CMSIS_DIR)/CM1/CoreSupport \
 189                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 190
 191 ifneq ($(filter VCP, $(FEATURES)),)
 192 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 193                    $(USBFS_DIR)/inc \
 194                    $(ROOT)/src/main/vcp
 195
 196 VPATH           := $(VPATH):$(USBFS_DIR)/src
 197
 198 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 199                         $(USBPERIPH_SRC)
 200 endif
 201
 202 ifneq ($(filter SDCARD, $(FEATURES)),)
 203 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 204                    $(FATFS_DIR) \
 205
 206 VPATH           := $(VPATH):$(FATFS_DIR)
 207 endif
 208
 209 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 210
 211 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 212 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 213 TARGET_FLAGS    = -D$(TARGET)
 214 # End F3 targets
 215 #
 216 # Start F4 targets
 217 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 218
 219 #STDPERIPH
 220 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
 221 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 222 EXCLUDES        = stm32f4xx_crc.c \
 223                   stm32f4xx_can.c \
 224                   stm32f4xx_fmc.c \
 225                   stm32f4xx_sai.c \
 226                   stm32f4xx_cec.c \
 227                   stm32f4xx_dsi.c \
 228                   stm32f4xx_flash_ramfunc.c \
 229                   stm32f4xx_fmpi2c.c \
 230                   stm32f4xx_lptim.c \
 231                   stm32f4xx_qspi.c \
 232                   stm32f4xx_spdifrx.c \
 233                   stm32f4xx_cryp.c \
 234                   stm32f4xx_cryp_aes.c \
 235                   stm32f4xx_hash_md5.c \
 236                   stm32f4xx_cryp_des.c \
 237                   stm32f4xx_rtc.c \
 238                   stm32f4xx_hash.c \
 239                   stm32f4xx_dbgmcu.c \
 240                   stm32f4xx_cryp_tdes.c \
 241                   stm32f4xx_hash_sha1.c
 242
 243 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
 244 EXCLUDES += stm32f4xx_fsmc.c
 245 endif
 246
 247 ifeq ($(TARGET),$(filter $(TARGET), $(F427_TARGETS)))
 248 EXCLUDES += stm32f4xx_fsmc.c
 249 endif
 250
 251 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 252
 253 #USB
 254 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
 255 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
 256 USBOTG_DIR  = $(ROOT)/lib/main/STM32_USB_OTG_Driver
 257 USBOTG_SRC  = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
 258 EXCLUDES    = usb_bsp_template.c \
 259               usb_conf_template.c \
 260               usb_hcd_int.c \
 261               usb_hcd.c \
 262               usb_otg.c
 263
 264 USBOTG_SRC  := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
 265 USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 266 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 267 EXCLUDES    = usbd_cdc_if_template.c
 268 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 269 VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
 270
 271 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 272                         $(USBOTG_SRC) \
 273                         $(USBCORE_SRC) \
 274                         $(USBCDC_SRC)
 275
 276 #CMSIS
 277 VPATH           := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
 278 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
 279                   $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
 280 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 281                    $(STDPERIPH_DIR)/inc \
 282                    $(USBOTG_DIR)/inc \
 283                    $(USBCORE_DIR)/inc \
 284                    $(USBCDC_DIR)/inc \
 285                    $(USBFS_DIR)/inc \
 286                    $(CMSIS_DIR)/CM4/CoreSupport \
 287                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
 288                    $(ROOT)/src/main/vcpf4
 289
 290 ifneq ($(filter SDCARD,$(FEATURES)),)
 291 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 292                    $(FATFS_DIR)
 293 VPATH           := $(VPATH):$(FATFS_DIR)
 294 endif
 295
 296 #Flags
 297 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 298
 299 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 300 DEVICE_FLAGS    = -DSTM32F411xE
 301 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
 302 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 303 DEVICE_FLAGS    = -DSTM32F40_41xxx
 304 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 305 else ifeq ($(TARGET),$(filter $(TARGET),$(F427_TARGETS)))
 306 DEVICE_FLAGS    = -DSTM32F427_437xx
 307 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f427.ld
 308 else
 309 $(error Unknown MCU for F4 target)
 310 endif
 311 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 312
 313 TARGET_FLAGS = -D$(TARGET)
 314 # End F4 targets
 315 #
 316 # Start F7 targets
 317 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 318
 319 #STDPERIPH
 320 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 321 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 322 EXCLUDES        = stm32f7xx_hal_can.c \
 323                   stm32f7xx_hal_cec.c \
 324                   stm32f7xx_hal_crc.c \
 325                   stm32f7xx_hal_crc_ex.c \
 326                   stm32f7xx_hal_cryp.c \
 327                   stm32f7xx_hal_cryp_ex.c \
 328                   stm32f7xx_hal_dac.c \
 329                   stm32f7xx_hal_dac_ex.c \
 330                   stm32f7xx_hal_dcmi.c \
 331                   stm32f7xx_hal_dcmi_ex.c \
 332                   stm32f7xx_hal_dfsdm.c \
 333                   stm32f7xx_hal_dma2d.c \
 334                   stm32f7xx_hal_dsi.c \
 335                   stm32f7xx_hal_eth.c \
 336                   stm32f7xx_hal_hash.c \
 337                   stm32f7xx_hal_hash_ex.c \
 338                   stm32f7xx_hal_hcd.c \
 339                   stm32f7xx_hal_i2s.c \
 340                   stm32f7xx_hal_irda.c \
 341                   stm32f7xx_hal_iwdg.c \
 342                   stm32f7xx_hal_jpeg.c \
 343                   stm32f7xx_hal_lptim.c \
 344                   stm32f7xx_hal_ltdc.c \
 345                   stm32f7xx_hal_ltdc_ex.c \
 346                   stm32f7xx_hal_mdios.c \
 347                   stm32f7xx_hal_mmc.c \
 348                   stm32f7xx_hal_msp_template.c \
 349                   stm32f7xx_hal_nand.c \
 350                   stm32f7xx_hal_nor.c \
 351                   stm32f7xx_hal_qspi.c \
 352                   stm32f7xx_hal_rng.c \
 353                   stm32f7xx_hal_rtc.c \
 354                   stm32f7xx_hal_rtc_ex.c \
 355                   stm32f7xx_hal_sai.c \
 356                   stm32f7xx_hal_sai_ex.c \
 357                   stm32f7xx_hal_sd.c \
 358                   stm32f7xx_hal_sdram.c \
 359                   stm32f7xx_hal_smartcard.c \
 360                   stm32f7xx_hal_smartcard_ex.c \
 361                   stm32f7xx_hal_smbus.c \
 362                   stm32f7xx_hal_spdifrx.c \
 363                   stm32f7xx_hal_sram.c \
 364                   stm32f7xx_hal_timebase_rtc_alarm_template.c \
 365                   stm32f7xx_hal_timebase_rtc_wakeup_template.c \
 366                   stm32f7xx_hal_timebase_tim_template.c \
 367                   stm32f7xx_hal_wwdg.c \
 368                   stm32f7xx_ll_adc.c \
 369                   stm32f7xx_ll_crc.c \
 370                   stm32f7xx_ll_dac.c \
 371                   stm32f7xx_ll_dma.c \
 372                   stm32f7xx_ll_dma2d.c \
 373                   stm32f7xx_ll_exti.c \
 374                   stm32f7xx_ll_fmc.c \
 375                   stm32f7xx_ll_gpio.c \
 376                   stm32f7xx_ll_i2c.c \
 377                   stm32f7xx_ll_lptim.c \
 378                   stm32f7xx_ll_pwr.c \
 379                   stm32f7xx_ll_rcc.c \
 380                   stm32f7xx_ll_rng.c \
 381                   stm32f7xx_ll_rtc.c \
 382                   stm32f7xx_ll_sdmmc.c \
 383                   stm32f7xx_ll_spi.c \
 384                   stm32f7xx_ll_tim.c \
 385                   stm32f7xx_ll_usart.c \
 386                   stm32f7xx_ll_utils.c
 387
 388 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 389
 390 #USB
 391 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
 392 USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/Src/*.c))
 393 EXCLUDES    = usbd_conf_template.c
 394 USBCORE_SRC := $(filter-out ${EXCLUDES}, $(USBCORE_SRC))
 395
 396 USBCDC_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Class/CDC
 397 USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 398 EXCLUDES   = usbd_cdc_if_template.c
 399 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 400
 401 VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src
 402
 403 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 404                         $(USBCORE_SRC) \
 405                         $(USBCDC_SRC)
 406
 407 #CMSIS
 408 VPATH           := $(VPATH):$(CMSIS_DIR)/CM7/Include:$(CMSIS_DIR)/CM7/Device/ST/STM32F7xx
 409 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
 410 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM7/Include/*.c \
 411                   $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/*.c))
 412 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 413                    $(STDPERIPH_DIR)/Inc \
 414                    $(USBCORE_DIR)/Inc \
 415                    $(USBCDC_DIR)/Inc \
 416                    $(CMSIS_DIR)/CM7/Include \
 417                    $(CMSIS_DIR)/CM7/Device/ST/STM32F7xx/Include \
 418                    $(ROOT)/src/main/vcp_hal
 419
 420 ifneq ($(filter SDCARD,$(FEATURES)),)
 421 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 422                    $(FATFS_DIR)
 423 VPATH           := $(VPATH):$(FATFS_DIR)
 424 endif
 425
 426 #Flags
 427 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 428
 429 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 430 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 431 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 432 STARTUP_SRC     = startup_stm32f745xx.s
 433 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 434 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 435 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
 436 STARTUP_SRC     = startup_stm32f746xx.s
 437 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
 438 DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 439 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
 440 STARTUP_SRC     = startup_stm32f722xx.s
 441 else
 442 $(error Unknown MCU for F7 target)
 443 endif
 444 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 445
 446 TARGET_FLAGS = -D$(TARGET)
 447
 448 # End F7 targets
 449 #
 450 # Start F1 targets
 451 else
 452
 453 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
 454 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 455 EXCLUDES        = stm32f10x_crc.c \
 456                   stm32f10x_cec.c \
 457                   stm32f10x_can.c
 458
 459 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 460
 461 # Search path and source files for the CMSIS sources
 462 VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 463 CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 464                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
 465
 466 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 467                    $(STDPERIPH_DIR)/inc \
 468                    $(CMSIS_DIR)/CM3/CoreSupport \
 469                    $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
 470
 471 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 472
 473 ifneq ($(filter VCP, $(FEATURES)),)
 474 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 475                    $(USBFS_DIR)/inc \
 476                    $(ROOT)/src/main/vcp
 477
 478 VPATH           := $(VPATH):$(USBFS_DIR)/src
 479
 480 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 481                         $(USBPERIPH_SRC)
 482
 483 endif
 484
 485 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 486 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 487 TARGET_FLAGS   := -D$(TARGET) -pedantic $(TARGET_FLAGS)
 488
 489 ifeq ($(DEVICE_FLAGS),)
 490 DEVICE_FLAGS    = -DSTM32F10X_MD
 491 endif
 492 DEVICE_FLAGS   += -DSTM32F10X
 493
 494 endif
 495 #
 496 # End F1 targets
 497 #
 498 ifneq ($(BASE_TARGET), $(TARGET))
 499 TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
 500 endif
 501
 502 ifneq ($(FLASH_SIZE),)
 503 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 504 endif
 505
 506 ifneq ($(HSE_VALUE),)
 507 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 508 endif
 509
 510 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 511 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 512
 513 ifeq ($(OPBL),yes)
 514 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 515 ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
 516 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
 517 else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
 518 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
 519 else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
 520 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
 521 else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
 522 LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 523 endif
 524 .DEFAULT_GOAL := binary
 525 else
 526 .DEFAULT_GOAL := hex
 527 endif
 528
 529 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 530                    $(ROOT)/lib/main/MAVLink
 531
 532 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 533                    $(TARGET_DIR)
 534
 535 VPATH           := $(VPATH):$(TARGET_DIR)
 536
 537 COMMON_SRC = \
 538             $(TARGET_DIR_SRC) \
 539             main.c \
 540             build/assert.c \
 541             build/build_config.c \
 542             build/debug.c \
 543             build/version.c \
 544             common/bitarray.c \
 545             common/crc.c \
 546             common/encoding.c \
 547             common/filter.c \
 548             common/maths.c \
 549             common/printf.c \
 550             common/streambuf.c \
 551             common/typeconversion.c \
 552             common/string_light.c \
 553             config/config_eeprom.c \
 554             config/config_streamer.c \
 555             config/feature.c \
 556             config/parameter_group.c \
 557             drivers/adc.c \
 558             drivers/buf_writer.c \
 559             drivers/bus_i2c_soft.c \
 560             drivers/bus_spi.c \
 561             drivers/bus_spi_soft.c \
 562             drivers/display.c \
 563             drivers/exti.c \
 564             drivers/gps_i2cnav.c \
 565             drivers/gyro_sync.c \
 566             drivers/io.c \
 567             drivers/io_pca9685.c \
 568             drivers/light_led.c \
 569             drivers/logging.c \
 570             drivers/rx_nrf24l01.c \
 571             drivers/rx_spi.c \
 572             drivers/rx_xn297.c \
 573             drivers/pitotmeter_adc.c \
 574             drivers/pwm_esc_detect.c \
 575             drivers/pwm_mapping.c \
 576             drivers/pwm_output.c \
 577             drivers/rcc.c \
 578             drivers/rx_pwm.c \
 579             drivers/serial.c \
 580             drivers/serial_uart.c \
 581             drivers/sound_beeper.c \
 582             drivers/stack_check.c \
 583             drivers/system.c \
 584             drivers/timer.c \
 585             fc/cli.c \
 586             fc/config.c \
 587             fc/controlrate_profile.c \
 588             fc/fc_core.c \
 589             fc/fc_init.c \
 590             fc/fc_tasks.c \
 591             fc/fc_hardfaults.c \
 592             fc/fc_msp.c \
 593             fc/rc_adjustments.c \
 594             fc/rc_controls.c \
 595             fc/rc_curves.c \
 596             fc/rc_modes.c \
 597             fc/runtime_config.c \
 598             fc/settings.c \
 599             fc/stats.c \
 600             flight/failsafe.c \
 601             flight/hil.c \
 602             flight/imu.c \
 603             flight/mixer.c \
 604             flight/pid.c \
 605             flight/pid_autotune.c \
 606             flight/servos.c \
 607             io/beeper.c \
 608             io/pwmdriver_i2c.c \
 609             io/serial.c \
 610             io/serial_4way.c \
 611             io/serial_4way_avrootloader.c \
 612             io/serial_4way_stk500v2.c \
 613             io/statusindicator.c \
 614             io/rcsplit.c \
 615             msp/msp_serial.c \
 616             rx/ibus.c \
 617             rx/jetiexbus.c \
 618             rx/msp.c \
 619             rx/nrf24_cx10.c \
 620             rx/nrf24_inav.c \
 621             rx/nrf24_h8_3d.c \
 622             rx/nrf24_syma.c \
 623             rx/nrf24_v202.c \
 624             rx/pwm.c \
 625             rx/rx.c \
 626             rx/rx_spi.c \
 627             rx/crsf.c \
 628             rx/sbus.c \
 629             rx/spektrum.c \
 630             rx/sumd.c \
 631             rx/sumh.c \
 632             rx/xbus.c \
 633             rx/eleres.c \
 634             scheduler/scheduler.c \
 635             sensors/acceleration.c \
 636             sensors/battery.c \
 637             sensors/boardalignment.c \
 638             sensors/compass.c \
 639             sensors/diagnostics.c \
 640             sensors/gyro.c \
 641             sensors/initialisation.c \
 642             $(CMSIS_SRC) \
 643             $(DEVICE_STDPERIPH_SRC)
 644
 645 HIGHEND_SRC = \
 646             blackbox/blackbox.c \
 647             blackbox/blackbox_encoding.c \
 648             blackbox/blackbox_io.c \
 649             cms/cms.c \
 650             cms/cms_menu_blackbox.c \
 651             cms/cms_menu_builtin.c \
 652             cms/cms_menu_imu.c \
 653             cms/cms_menu_ledstrip.c \
 654             cms/cms_menu_misc.c \
 655             cms/cms_menu_osd.c \
 656             common/colorconversion.c \
 657             common/gps_conversion.c \
 658             drivers/display_ug2864hsweg01.c \
 659             drivers/rangefinder_hcsr04.c \
 660             drivers/rangefinder_hcsr04_i2c.c \
 661             drivers/rangefinder_srf10.c \
 662             drivers/rangefinder_vl53l0x.c \
 663             io/dashboard.c \
 664             io/displayport_max7456.c \
 665             io/displayport_msp.c \
 666             io/displayport_oled.c \
 667             io/gps.c \
 668             io/gps_ublox.c \
 669             io/gps_nmea.c \
 670             io/gps_naza.c \
 671             io/gps_i2cnav.c \
 672             io/ledstrip.c \
 673             io/osd.c \
 674             navigation/navigation.c \
 675             navigation/navigation_fixedwing.c \
 676             navigation/navigation_fw_launch.c \
 677             navigation/navigation_geo.c \
 678             navigation/navigation_multicopter.c \
 679             navigation/navigation_pos_estimator.c \
 680             sensors/barometer.c \
 681             sensors/pitotmeter.c \
 682             sensors/rangefinder.c \
 683             telemetry/crsf.c \
 684             telemetry/frsky.c \
 685             telemetry/hott.c \
 686             telemetry/ibus_shared.c \
 687             telemetry/ibus.c \
 688             telemetry/ltm.c \
 689             telemetry/mavlink.c \
 690             telemetry/smartport.c \
 691             telemetry/telemetry.c
 692
 693 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 694 VCP_SRC = \
 695             vcpf4/stm32f4xx_it.c \
 696             vcpf4/usb_bsp.c \
 697             vcpf4/usbd_desc.c \
 698             vcpf4/usbd_usr.c \
 699             vcpf4/usbd_cdc_vcp.c \
 700             drivers/serial_usb_vcp.c \
 701             drivers/usb_io.c
 702 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 703 VCP_SRC = \
 704             vcp_hal/usbd_desc.c \
 705             vcp_hal/usbd_conf.c \
 706             vcp_hal/usbd_cdc_interface.c \
 707             drivers/serial_usb_vcp.c \
 708             drivers/usb_io.c
 709 else
 710 VCP_SRC = \
 711             vcp/hw_config.c \
 712             vcp/stm32_it.c \
 713             vcp/usb_desc.c \
 714             vcp/usb_endp.c \
 715             vcp/usb_istr.c \
 716             vcp/usb_prop.c \
 717             vcp/usb_pwr.c \
 718             drivers/serial_usb_vcp.c \
 719             drivers/usb_io.c
 720 endif
 721
 722 STM32F10x_COMMON_SRC = \
 723             startup_stm32f10x_md_gcc.S \
 724             drivers/adc_stm32f10x.c \
 725             drivers/bus_i2c_stm32f10x.c \
 726             drivers/dma.c \
 727             drivers/gpio_stm32f10x.c \
 728             drivers/inverter.c \
 729             drivers/serial_softserial.c \
 730             drivers/serial_uart_stm32f10x.c \
 731             drivers/system_stm32f10x.c \
 732             drivers/timer_stm32f10x.c
 733
 734 STM32F30x_COMMON_SRC = \
 735             startup_stm32f30x_md_gcc.S \
 736             target/system_stm32f30x.c \
 737             drivers/adc_stm32f30x.c \
 738             drivers/bus_i2c_stm32f30x.c \
 739             drivers/dma.c \
 740             drivers/gpio_stm32f30x.c \
 741             drivers/serial_uart_stm32f30x.c \
 742             drivers/system_stm32f30x.c \
 743             drivers/timer_stm32f30x.c
 744
 745 STM32F4xx_COMMON_SRC = \
 746             startup_stm32f40xx.s \
 747             target/system_stm32f4xx.c \
 748             drivers/accgyro/accgyro_mpu.c \
 749             drivers/adc_stm32f4xx.c \
 750             drivers/adc_stm32f4xx.c \
 751             drivers/bus_i2c_stm32f10x.c \
 752             drivers/gpio_stm32f4xx.c \
 753             drivers/inverter.c \
 754             drivers/serial_softserial.c \
 755             drivers/serial_uart_stm32f4xx.c \
 756             drivers/system_stm32f4xx.c \
 757             drivers/timer_stm32f4xx.c \
 758             drivers/dma_stm32f4xx.c
 759
 760 STM32F7xx_COMMON_SRC = \
 761             target/system_stm32f7xx.c \
 762             drivers/accgyro/accgyro_mpu.c \
 763             drivers/adc_stm32f7xx.c \
 764             drivers/bus_i2c_hal.c \
 765             drivers/dma_stm32f7xx.c \
 766             drivers/gpio_stm32f7xx.c \
 767             drivers/inverter.c \
 768             drivers/bus_spi_hal.c \
 769             drivers/timer_hal.c \
 770             drivers/timer_stm32f7xx.c \
 771             drivers/system_stm32f7xx.c \
 772             drivers/serial_uart_stm32f7xx.c \
 773             drivers/serial_uart_hal.c
 774
 775 F7EXCLUDES = drivers/bus_spi.c \
 776             drivers/bus_i2c.c \
 777             drivers/timer.c \
 778             drivers/serial_uart.c
 779
 780 # check if target.mk supplied
 781 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 782 TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 783 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 784 TARGET_SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
 785 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 786 TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 787 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
 788 TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 789 endif
 790
 791 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 792 TARGET_SRC += \
 793             drivers/flash_m25p16.c \
 794             io/flashfs.c
 795 endif
 796
 797 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS) $(F4_TARGETS) $(F3_TARGETS)))
 798 TARGET_SRC += $(HIGHEND_SRC)
 799 else ifneq ($(filter HIGHEND,$(FEATURES)),)
 800 TARGET_SRC += $(HIGHEND_SRC)
 801 endif
 802
 803 TARGET_SRC += $(COMMON_SRC)
 804 #excludes
 805 ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
 806 TARGET_SRC   := $(filter-out ${F7EXCLUDES}, $(TARGET_SRC))
 807 endif
 808
 809 ifneq ($(filter SDCARD,$(FEATURES)),)
 810 TARGET_SRC += \
 811             drivers/sdcard.c \
 812             drivers/sdcard_standard.c \
 813             io/asyncfatfs/asyncfatfs.c \
 814             io/asyncfatfs/fat_standard.c
 815 endif
 816
 817 ifneq ($(filter VCP,$(FEATURES)),)
 818 TARGET_SRC += $(VCP_SRC)
 819 endif
 820 # end target specific make file checks
 821
 822 # Search path and source files for the ST stdperiph library
 823 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 824
 825 ###############################################################################
 826 # Things that might need changing to use different tools
 827 #
 828
 829 # Tool names
 830 ifneq ($(TOOLCHAINPATH),)
 831 CROSS_CC    = $(TOOLCHAINPATH)/arm-none-eabi-gcc
 832 OBJCOPY     = $(TOOLCHAINPATH)/arm-none-eabi-objcopy
 833 SIZE        = $(TOOLCHAINPATH)/arm-none-eabi-size
 834 else
 835 CROSS_CC    = arm-none-eabi-gcc
 836 OBJCOPY     = arm-none-eabi-objcopy
 837 SIZE        = arm-none-eabi-size
 838 endif
 839
 840 #
 841 # Tool options.
 842 #
 843
 844 ifeq ($(DEBUG),GDB)
 845 OPTIMIZE    = -O0
 846 LTO_FLAGS   = $(OPTIMIZE)
 847 else
 848 OPTIMIZE    = -Os
 849 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 850 endif
 851
 852 DEBUG_FLAGS = -ggdb3 -DDEBUG
 853
 854 CFLAGS      += $(ARCH_FLAGS) \
 855               $(LTO_FLAGS) \
 856               $(addprefix -D,$(OPTIONS)) \
 857               $(addprefix -I,$(INCLUDE_DIRS)) \
 858               $(DEBUG_FLAGS) \
 859               -std=gnu99 \
 860               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 861               -ffunction-sections \
 862               -fdata-sections \
 863               $(DEVICE_FLAGS) \
 864               -DUSE_STDPERIPH_DRIVER \
 865               $(TARGET_FLAGS) \
 866               -D'__FORKNAME__="$(FORKNAME)"' \
 867               -D'__TARGET__="$(TARGET)"' \
 868               -D'__REVISION__="$(REVISION)"' \
 869               -save-temps=obj \
 870               -MMD -MP
 871
 872 ASFLAGS     = $(ARCH_FLAGS) \
 873               -x assembler-with-cpp \
 874               $(addprefix -I,$(INCLUDE_DIRS)) \
 875               -D$(TARGET) \
 876               -MMD -MP
 877
 878 LDFLAGS     = -lm \
 879               -nostartfiles \
 880               --specs=nano.specs \
 881               -lc \
 882               -lnosys \
 883               $(ARCH_FLAGS) \
 884               $(LTO_FLAGS) \
 885               $(DEBUG_FLAGS) \
 886               -static \
 887               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 888               -Wl,-L$(LINKER_DIR) \
 889               -Wl,--cref \
 890               -Wl,--no-wchar-size-warning \
 891               -T$(LD_SCRIPT)
 892
 893 ###############################################################################
 894 # No user-serviceable parts below
 895 ###############################################################################
 896
 897 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 898                   --std=c99 --inline-suppr --quiet --force \
 899                   $(addprefix -I,$(INCLUDE_DIRS)) \
 900                   -I/usr/include -I/usr/include/linux
 901
 902 #
 903 # Things we will build
 904 #
 905 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 906 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 907 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 908 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 909 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 910 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 911
 912
 913 CLEAN_ARTIFACTS := $(TARGET_BIN)
 914 CLEAN_ARTIFACTS += $(TARGET_HEX)
 915 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 916
 917 # Make sure build date and revision is updated on every incremental build
 918 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(TARGET_SRC)
 919
 920 # Settings generator
 921 .PHONY: settings clean-settings
 922 UTILS_DIR                       = $(ROOT)/src/utils
 923 SETTINGS_GENERATOR      = $(UTILS_DIR)/settings.rb
 924
 925 GENERATED_SETTINGS      = $(SRC_DIR)/fc/settings_generated.h $(SRC_DIR)/fc/settings_generated.c
 926 SETTINGS_FILE           = $(SRC_DIR)/fc/settings.yaml
 927 $(GENERATED_SETTINGS): $(SETTINGS_GENERATOR) $(SETTINGS_FILE)
 928
 929 # Use a pattern rule, since they're different than normal rules.
 930 # See https://www.gnu.org/software/make/manual/make.html#Pattern-Examples
 931 %generated.h %generated.c:
 932         $(V1) echo "settings.yaml -> settings_generated.h, settings_generated.c" "$(STDOUT)"
 933         $(V1) CFLAGS="$(CFLAGS)" ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE)
 934
 935 settings: $(GENERATED_SETTINGS)
 936 clean-settings:
 937         $(V1) $(RM) $(GENERATED_SETTINGS)
 938
 939 # Files that depend on the generated settings
 940 $(OBJECT_DIR)/$(TARGET)/fc/cli.o: settings
 941 $(OBJECT_DIR)/$(TARGET)/fc/settings.o: settings
 942
 943 # List of buildable ELF files and their object dependencies.
 944 # It would be nice to compute these lists, but that seems to be just beyond make.
 945
 946 $(TARGET_HEX): $(TARGET_ELF)
 947         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 948
 949 $(TARGET_BIN): $(TARGET_ELF)
 950         $(V0) $(OBJCOPY) -O binary $< $@
 951
 952 $(TARGET_ELF): clean-settings $(TARGET_OBJS)
 953         $(V1) echo Linking $(TARGET)
 954         $(V1) $(CROSS_CC) -o $@ $(filter %.o, $^) $(LDFLAGS)
 955         $(V0) $(SIZE) $(TARGET_ELF)
 956
 957 # Compile
 958 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 959         $(V1) mkdir -p $(dir $@)
 960         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 961         $(V1) $(CROSS_CC) -c -o $@ $(CFLAGS) $<
 962
 963 # Assemble
 964 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 965         $(V1) mkdir -p $(dir $@)
 966         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 967         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 968
 969 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 970         $(V1) mkdir -p $(dir $@)
 971         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 972         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 973
 974
 975 ## all               : Build all valid targets
 976 all: $(VALID_TARGETS)
 977
 978 $(VALID_TARGETS):
 979         $(V0) echo "" && \
 980         echo "Building $@" && \
 981         $(MAKE) -j 4 TARGET=$@ && \
 982         echo "Building $@ succeeded."
 983
 984 ## clean             : clean up all temporary / machine-generated files
 985 clean:
 986         $(V0) echo "Cleaning $(TARGET)"
 987         $(V0) rm -f $(CLEAN_ARTIFACTS)
 988         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 989         $(V0) rm -f $(GENERATED_SETTINGS)
 990         $(V0) echo "Cleaning $(TARGET) succeeded."
 991
 992 ## clean_test        : clean up all temporary / machine-generated files (tests)
 993 clean_test:
 994         $(V0) cd src/test && $(MAKE) clean || true
 995
 996 ## clean_<TARGET>    : clean up one specific target
 997 $(CLEAN_TARGETS) :
 998         $(V0) $(MAKE) -j 4 TARGET=$(subst clean_,,$@) clean
 999
1000 ## <TARGET>_clean    : clean up one specific target (alias for above)
1001 $(TARGETS_CLEAN) :
1002         $(V0) $(MAKE) -j 4 TARGET=$(subst _clean,,$@) clean
1003
1004 ## clean_all         : clean all valid targets
1005 clean_all:$(CLEAN_TARGETS)
1006
1007 ## all_clean         : clean all valid targets (alias for above)
1008 all_clean:$(TARGETS_CLEAN)
1009
1010 flash_$(TARGET): $(TARGET_HEX)
1011         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1012         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
1013         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1014
1015 ## flash             : flash firmware (.hex) onto flight controller
1016 flash: flash_$(TARGET)
1017
1018 st-flash_$(TARGET): $(TARGET_BIN)
1019         $(V0) st-flash --reset write $< 0x08000000
1020
1021 ## st-flash          : flash firmware (.bin) onto flight controller
1022 st-flash: st-flash_$(TARGET)
1023
1024 binary: $(TARGET_BIN)
1025 hex:    $(TARGET_HEX)
1026
1027 unbrick_$(TARGET): $(TARGET_HEX)
1028         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
1029         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
1030
1031 ## unbrick           : unbrick flight controller
1032 unbrick: unbrick_$(TARGET)
1033
1034 ## cppcheck          : run static analysis on C source code
1035 cppcheck: $(CSOURCES)
1036         $(V0) $(CPPCHECK)
1037
1038 cppcheck-result.xml: $(CSOURCES)
1039         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
1040
1041 ## help              : print this help message and exit
1042 help: Makefile
1043         $(V0) @echo ""
1044         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
1045         $(V0) @echo ""
1046         $(V0) @echo "Usage:"
1047         $(V0) @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
1048         $(V0) @echo "Or:"
1049         $(V0) @echo "        make <target> [OPTIONS=\"<options>\"]"
1050         $(V0) @echo ""
1051         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
1052         $(V0) @echo ""
1053         $(V0) @sed -n 's/^## //p' $<
1054
1055 ## targets           : print a list of all valid target platforms (for consumption by scripts)
1056 targets:
1057         $(V0) @echo "Valid targets: $(VALID_TARGETS)"
1058         $(V0) @echo "Target:        $(TARGET)"
1059         $(V0) @echo "Base target:   $(BASE_TARGET)"
1060
1061 ## test              : run the cleanflight test suite
1062 test:
1063         $(V0) cd src/test && $(MAKE) test || true
1064
1065 # rebuild everything when makefile changes
1066 $(TARGET_OBJS) : Makefile
1067
1068 # include auto-generated dependencies
1069 -include $(TARGET_DEPS)