Makefile

# Makefile for the STM32F446RE Nucleo Board

# Toolchain and tools
CC = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
OPENOCD = openocd

# Directories
DEBUG_DIR   	= Debug
CMSIS_DIR   	= CMSIS
CONFIG_DIR  	= Config
DRIVERS_DIR 	= Drivers
HARDWARE_DIR 	= Hardware
SRC_DIR     	= Src
STARTUP_DIR 	= Startup

# Source files
C_SOURCES = \
    $(SRC_DIR)/main.c \
    $(SRC_DIR)/pid.c \
    $(SRC_DIR)/syscalls.c \
    $(SRC_DIR)/sysmem.c \
    $(CONFIG_DIR)/sysclock.c \
    $(wildcard $(DRIVERS_DIR)/*.c) \
    $(wildcard $(HARDWARE_DIR)/*.c)

ASM_SOURCES = $(STARTUP_DIR)/startup_stm32f446retx.s

# Output files
ELF_FILE = $(DEBUG_DIR)/firmware.elf
BIN_FILE = $(DEBUG_DIR)/firmware.bin

# Compiler flags
CFLAGS = -mcpu=cortex-m4 -mthumb -g -O0 \
         -I$(SRC_DIR) \
         -I$(CMSIS_DIR) \
         -I$(CONFIG_DIR) \
         -I$(DRIVERS_DIR) \
         -I$(HARDWARE_DIR)

LDFLAGS = -T STM32F446RETX_FLASH.ld -lc -lm -lgcc

# Build object files from source files
C_OBJECTS = $(patsubst %.c,$(DEBUG_DIR)/%.o,$(C_SOURCES))
ASM_OBJECTS = $(patsubst %.s,$(DEBUG_DIR)/%.o,$(ASM_SOURCES))
OBJECTS = $(C_OBJECTS) $(ASM_OBJECTS)

# Default target
all: $(ELF_FILE) $(BIN_FILE)

# Compile C source files
$(DEBUG_DIR)/%.o: %.c
	@mkdir -p $(dir $@)
	$(CC) $(CFLAGS) -c -o $@ $<

# Compile assembly source files
$(DEBUG_DIR)/%.o: %.s
	@mkdir -p $(dir $@)
	$(CC) $(CFLAGS) -c -o $@ $<

# Link object files to create the ELF file
$(ELF_FILE): $(OBJECTS)
	$(CC) $(CFLAGS) $(OBJECTS) -o $@ $(LDFLAGS)

# Generate binary file from ELF file
$(BIN_FILE): $(ELF_FILE)
	$(OBJCOPY) -O binary $< $@

# Flash the microcontroller
flash: $(ELF_FILE)
	$(OPENOCD) -f /usr/local/share/openocd/scripts/interface/stlink.cfg \
	-f /usr/local/share/openocd/scripts/target/stm32f4x.cfg \
	-c "program $(ELF_FILE) verify reset exit"

# Clean build artifacts
clean:
	rm -rf $(DEBUG_DIR)

# Phony targets
.PHONY: all flash clean