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 betaflight 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 BASE_TARGETS below
  19 DEFAULT_TARGET    ?= STM32F405
  20 TARGET    ?=
  21 CONFIG    ?=
  22
  23 # Compile-time options
  24 OPTIONS   ?=
  25
  26 # compile for External Storage Bootloader support
  27 EXST      ?= no
  28
  29 # compile for target loaded into RAM
  30 RAM_BASED ?= no
  31
  32 # reserve space for custom defaults
  33 CUSTOM_DEFAULTS_EXTENDED ?= no
  34
  35 # Debugger optons:
  36 #   empty - ordinary build with all optimizations enabled
  37 #   INFO - ordinary build with debug symbols and all optimizations enabled
  38 #   GDB - debug build with minimum number of optimizations
  39 DEBUG     ?=
  40
  41 # Insert the debugging hardfault debugger
  42 # releases should not be built with this flag as it does not disable pwm output
  43 DEBUG_HARDFAULTS ?=
  44
  45 # Serial port/Device for flashing
  46 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  47
  48 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  49 FLASH_SIZE ?=
  50
  51 ###############################################################################
  52 # Things that need to be maintained as the source changes
  53 #
  54
  55 FORKNAME      = betaflight
  56
  57 # Working directories
  58 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  59 SRC_DIR         := $(ROOT)/src/main
  60 OBJECT_DIR      := $(ROOT)/obj/main
  61 BIN_DIR         := $(ROOT)/obj
  62 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  63 INCLUDE_DIRS    := $(SRC_DIR) \
  64                    $(ROOT)/src/main/target \
  65                    $(ROOT)/src/main/startup
  66 LINKER_DIR      := $(ROOT)/src/link
  67
  68 ## V                 : Set verbosity level based on the V= parameter
  69 ##                     V=0 Low
  70 ##                     V=1 High
  71 include $(ROOT)/make/build_verbosity.mk
  72
  73 # Build tools, so we all share the same versions
  74 # import macros common to all supported build systems
  75 include $(ROOT)/make/system-id.mk
  76
  77 # developer preferences, edit these at will, they'll be gitignored
  78 -include $(ROOT)/make/local.mk
  79
  80 # pre-build sanity checks
  81 include $(ROOT)/make/checks.mk
  82
  83 # configure some directories that are relative to wherever ROOT_DIR is located
  84 TOOLS_DIR  ?= $(ROOT)/tools
  85 DL_DIR     := $(ROOT)/downloads
  86 CONFIG_DIR ?= $(ROOT)/src/config
  87
  88 export RM := rm
  89
  90 # import macros that are OS specific
  91 include $(ROOT)/make/$(OSFAMILY).mk
  92
  93 # include the tools makefile
  94 include $(ROOT)/make/tools.mk
  95
  96 # default xtal value for F4 targets
  97 HSE_VALUE       ?= 8000000
  98
  99 # Search path for sources
 100 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 101 FATFS_DIR        = $(ROOT)/lib/main/FatFS
 102 FATFS_SRC        = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 103 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 104
 105 ifneq ($(CONFIG),)
 106
 107 ifneq ($(TARGET),)
 108 $(error TARGET or CONFIG should be specified. Not both.)
 109 endif
 110
 111 INCLUDE_DIRS += $(CONFIG_DIR)/$(CONFIG)
 112 CONFIG_FILE  := $(CONFIG_DIR)/$(CONFIG)/config.h
 113
 114 ifeq ($(wildcard $(CONFIG_FILE)),)
 115 $(error Config file not found: $(CONFIG_FILE))
 116 endif
 117
 118 TARGET       := $(shell grep " FC_TARGET_MCU" $(CONFIG_FILE) | awk '{print $$3}' )
 119
 120 ifeq ($(TARGET),)
 121 $(error No TARGET identified. Is the config.h valid for $(CONFIG)?)
 122 endif
 123
 124 else
 125 ifeq ($(TARGET),)
 126 TARGET := $(DEFAULT_TARGET)
 127 endif
 128 endif #CONFIG
 129
 130 BASE_CONFIGS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/config/*/config.h)))))
 131 BASE_TARGETS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/main/target/*/target.mk)))))
 132 CI_TARGETS       := $(BASE_TARGETS) CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722
 133 include $(ROOT)/src/main/target/$(TARGET)/target.mk
 134
 135 REVISION := norevision
 136 ifeq ($(shell git diff --shortstat),)
 137 REVISION := $(shell git log -1 --format="%h")
 138 endif
 139
 140 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 141 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 142 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 143
 144 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 145
 146 LD_FLAGS        :=
 147 EXTRA_LD_FLAGS  :=
 148
 149 #
 150 # Default Tool options - can be overridden in {mcu}.mk files.
 151 #
 152 ifeq ($(DEBUG),GDB)
 153 OPTIMISE_DEFAULT      := -Og
 154
 155 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 156 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 157 else
 158 ifeq ($(DEBUG),INFO)
 159 DEBUG_FLAGS            = -ggdb3
 160 endif
 161 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 162 OPTIMISE_DEFAULT      := -O2
 163 OPTIMISE_SPEED        := -Ofast
 164 OPTIMISE_SIZE         := -Os
 165
 166 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 167 endif
 168
 169 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 170 VPATH                   := $(VPATH):$(ROOT)/make
 171
 172 # start specific includes
 173 ifeq ($(TARGET_MCU),)
 174 $(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
 175 endif
 176
 177 ifeq ($(TARGET_MCU_FAMILY),)
 178 $(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
 179 endif
 180
 181 TARGET_FLAGS    := -D$(TARGET) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
 182
 183 ifneq ($(CONFIG),)
 184 TARGET_FLAGS    := $(TARGET_FLAGS) -DUSE_CONFIG
 185 endif
 186
 187 include $(ROOT)/make/mcu/$(TARGET_MCU_FAMILY).mk
 188
 189 # openocd specific includes
 190 include $(ROOT)/make/openocd.mk
 191
 192 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 193 ifeq ($(TARGET_FLASH_SIZE),)
 194 ifneq ($(MCU_FLASH_SIZE),)
 195 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 196 else
 197 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 198 endif
 199 endif
 200
 201 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 202
 203 ifneq ($(HSE_VALUE),)
 204 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 205 endif
 206
 207 TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
 208 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 209
 210 .DEFAULT_GOAL := hex
 211
 212 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 213 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 214 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 215 endif
 216
 217 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 218                    $(ROOT)/lib/main/MAVLink
 219
 220 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 221                    $(TARGET_DIR)
 222
 223 VPATH           := $(VPATH):$(TARGET_DIR)
 224
 225 include $(ROOT)/make/source.mk
 226
 227 ###############################################################################
 228 # Things that might need changing to use different tools
 229 #
 230
 231 # Find out if ccache is installed on the system
 232 CCACHE := ccache
 233 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 234 ifneq ($(RESULT),0)
 235 CCACHE :=
 236 endif
 237
 238 # Tool names
 239 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 240 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 241 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 242 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 243 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 244 READELF     := $(ARM_SDK_PREFIX)readelf
 245 SIZE        := $(ARM_SDK_PREFIX)size
 246 DFUSE-PACK  := src/utils/dfuse-pack.py
 247
 248 #
 249 # Tool options.
 250 #
 251 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 252 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 253 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 254 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 255 CC_NO_OPTIMISATION      :=
 256
 257 #
 258 # Added after GCC version update, remove once the warnings have been fixed
 259 #
 260 TEMPORARY_FLAGS :=
 261
 262 EXTRA_WARNING_FLAGS := -Wold-style-definition
 263
 264 CFLAGS     += $(ARCH_FLAGS) \
 265               $(addprefix -D,$(OPTIONS)) \
 266               $(addprefix -I,$(INCLUDE_DIRS)) \
 267               $(DEBUG_FLAGS) \
 268               -std=gnu17 \
 269               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 270               $(EXTRA_WARNING_FLAGS) \
 271               -ffunction-sections \
 272               -fdata-sections \
 273               -fno-common \
 274               $(TEMPORARY_FLAGS) \
 275               $(DEVICE_FLAGS) \
 276               -D_GNU_SOURCE \
 277               -DUSE_STDPERIPH_DRIVER \
 278               -D$(TARGET) \
 279               $(TARGET_FLAGS) \
 280               -D'__FORKNAME__="$(FORKNAME)"' \
 281               -D'__TARGET__="$(TARGET)"' \
 282               -D'__REVISION__="$(REVISION)"' \
 283               -pipe \
 284               -MMD -MP \
 285               $(EXTRA_FLAGS)
 286
 287 ASFLAGS     = $(ARCH_FLAGS) \
 288               $(DEBUG_FLAGS) \
 289               -x assembler-with-cpp \
 290               $(addprefix -I,$(INCLUDE_DIRS)) \
 291               -MMD -MP
 292
 293 ifeq ($(LD_FLAGS),)
 294 LD_FLAGS     = -lm \
 295               -nostartfiles \
 296               --specs=nano.specs \
 297               -lc \
 298               -lnosys \
 299               $(ARCH_FLAGS) \
 300               $(LTO_FLAGS) \
 301               $(DEBUG_FLAGS) \
 302               -static \
 303               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 304               -Wl,-L$(LINKER_DIR) \
 305               -Wl,--cref \
 306               -Wl,--no-wchar-size-warning \
 307               -Wl,--print-memory-usage \
 308               -T$(LD_SCRIPT) \
 309                $(EXTRA_LD_FLAGS)
 310 endif
 311
 312 ###############################################################################
 313 # No user-serviceable parts below
 314 ###############################################################################
 315
 316 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 317                   --std=c99 --inline-suppr --quiet --force \
 318                   $(addprefix -I,$(INCLUDE_DIRS)) \
 319                   -I/usr/include -I/usr/include/linux
 320
 321 TARGET_NAME := $(TARGET)
 322
 323 ifneq ($(CONFIG),)
 324 TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
 325 endif
 326
 327 ifeq ($(REV),yes)
 328 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 329 endif
 330
 331 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 332 #
 333 # Things we will build
 334 #
 335 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 336 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 337 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 338 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 339 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 340 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 341 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 342 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 343 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 344 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 345 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 346 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 347
 348 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 349
 350 TARGET_EF_HASH      := $(shell echo -n "$(EXTRA_FLAGS)" | openssl dgst -md5 | awk '{print $$2;}')
 351 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 352
 353 CLEAN_ARTIFACTS := $(TARGET_BIN)
 354 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 355 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 356 CLEAN_ARTIFACTS += $(TARGET_LST)
 357 CLEAN_ARTIFACTS += $(TARGET_DFU)
 358
 359 # Make sure build date and revision is updated on every incremental build
 360 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 361
 362 # List of buildable ELF files and their object dependencies.
 363 # It would be nice to compute these lists, but that seems to be just beyond make.
 364
 365 $(TARGET_LST): $(TARGET_ELF)
 366         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 367
 368 ifeq ($(EXST),no)
 369 $(TARGET_BIN): $(TARGET_ELF)
 370         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 371         $(V1) $(OBJCOPY) -O binary $< $@
 372
 373 $(TARGET_HEX): $(TARGET_ELF)
 374         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 375         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 376
 377 $(TARGET_DFU): $(TARGET_HEX)
 378         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 379         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 380
 381 else
 382 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 383
 384 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 385         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 386         $(V1) $(OBJCOPY) -O binary $< $@
 387
 388 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 389         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 390 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 391 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 392         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 393         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 394
 395         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 396         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 397
 398         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 399         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 400         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 401
 402 # Note: From the objcopy manual "If you do not specify outfile, objcopy creates a temporary file and destructively renames the result with the name of infile"
 403 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 404 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 405 # a) regeneration of $(TARGET_BIN), and
 406 # b) the results of $(TARGET_BIN) will not be as expected.
 407         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 408         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 409         rm $(TARGET_EXST_ELF).tmp
 410
 411         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 412         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 413
 414         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 415         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 416
 417         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 418         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 419
 420 $(TARGET_HEX): $(TARGET_BIN)
 421         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 422
 423         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 424         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 425
 426 endif
 427
 428 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 429         @echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 430         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 431         $(V1) $(SIZE) $(TARGET_ELF)
 432
 433 # Compile
 434
 435 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 436 define compile_file
 437         echo "%% ($(1)) $<" "$(STDOUT)" && \
 438         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 439 endef
 440
 441 ifeq ($(DEBUG),GDB)
 442 $(TARGET_OBJ_DIR)/%.o: %.c
 443         $(V1) mkdir -p $(dir $@)
 444         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 445                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 446         , \
 447                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 448         )
 449 else
 450 $(TARGET_OBJ_DIR)/%.o: %.c
 451         $(V1) mkdir -p $(dir $@)
 452         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 453                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 454         , \
 455                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 456                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 457                 , \
 458                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 459                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 460                         , \
 461                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 462                         ) \
 463                 ) \
 464         )
 465 endif
 466
 467 # Assemble
 468 $(TARGET_OBJ_DIR)/%.o: %.s
 469         $(V1) mkdir -p $(dir $@)
 470         @echo "%% $(notdir $<)" "$(STDOUT)"
 471         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 472
 473 $(TARGET_OBJ_DIR)/%.o: %.S
 474         $(V1) mkdir -p $(dir $@)
 475         @echo "%% $(notdir $<)" "$(STDOUT)"
 476         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 477
 478
 479 ## all               : Build all currently built targets
 480 all: $(CI_TARGETS)
 481
 482 $(BASE_TARGETS):
 483         $(V0) @echo "Building $@" && \
 484         $(MAKE) hex TARGET=$@ && \
 485         echo "Building $@ succeeded."
 486
 487 $(BASE_CONFIGS):
 488         $(V0) @echo "Building config $@" && \
 489         $(MAKE) hex CONFIG=$@ && \
 490         echo "Building config $@ succeeded."
 491
 492
 493 TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 494 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 495
 496 ## clean             : clean up temporary / machine-generated files
 497 clean:
 498         @echo "Cleaning $(TARGET_NAME)"
 499         $(V0) rm -f $(CLEAN_ARTIFACTS)
 500         $(V0) rm -rf $(TARGET_OBJ_DIR)
 501         @echo "Cleaning $(TARGET_NAME) succeeded."
 502
 503 ## test_clean        : clean up temporary / machine-generated files (tests)
 504 test-%_clean:
 505         $(MAKE) test_clean
 506
 507 test_clean:
 508         $(V0) cd src/test && $(MAKE) clean || true
 509
 510 ## <TARGET>_clean    : clean up one specific target (alias for above)
 511 $(TARGETS_CLEAN):
 512         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 513
 514 ## <CONFIG>_clean    : clean up one specific config (alias for above)
 515 $(CONFIGS_CLEAN):
 516         $(V0) $(MAKE) -j CONFIG=$(subst _clean,,$@) clean
 517
 518 ## clean_all         : clean all targets
 519 clean_all: $(TARGETS_CLEAN) test_clean
 520
 521 TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
 522
 523 ## <TARGET>_flash    : build and flash a target
 524 $(TARGETS_FLASH):
 525         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 526 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 527         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 528 else
 529         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 530 endif
 531
 532 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 533 tty_flash:
 534         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 535         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 536         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 537
 538 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 539 dfu_flash:
 540 ifneq (no-port-found,$(SERIAL_DEVICE))
 541         # potentially this is because the MCU already is in DFU mode, try anyway
 542         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 543         $(V0) sleep 1
 544 endif
 545         $(V0) $(MAKE) $(TARGET_DFU)
 546         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 547
 548 st-flash_$(TARGET): $(TARGET_BIN)
 549         $(V0) st-flash --reset write $< 0x08000000
 550
 551 ## st-flash          : flash firmware (.bin) onto flight controller
 552 st-flash: st-flash_$(TARGET)
 553
 554 ifneq ($(OPENOCD_COMMAND),)
 555 openocd-gdb: $(TARGET_ELF)
 556         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 557 endif
 558
 559 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 560
 561 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 562 $(TARGETS_ZIP):
 563         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 564         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 565
 566 zip:
 567         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 568
 569 binary:
 570         $(V0) $(MAKE) -j $(TARGET_BIN)
 571
 572 hex:
 573         $(V0) $(MAKE) -j $(TARGET_HEX)
 574
 575 TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
 576 ## <TARGET>_rev    : build target and add revision to filename
 577 $(TARGETS_REVISION):
 578         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 579
 580 CONFIGS_REVISION = $(addsuffix _rev,$(BASE_CONFIGS))
 581 ## <CONFIG>_rev    : build configured target and add revision to filename
 582 $(CONFIGS_REVISION):
 583         $(V0) $(MAKE) hex REV=yes CONFIG=$(subst _rev,,$@)
 584
 585 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 586
 587 unbrick_$(TARGET): $(TARGET_HEX)
 588         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 589         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 590
 591 ## unbrick           : unbrick flight controller
 592 unbrick: unbrick_$(TARGET)
 593
 594 ## cppcheck          : run static analysis on C source code
 595 cppcheck: $(CSOURCES)
 596         $(V0) $(CPPCHECK)
 597
 598 cppcheck-result.xml: $(CSOURCES)
 599         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 600
 601 # mkdirs
 602 $(DL_DIR):
 603         mkdir -p $@
 604
 605 $(TOOLS_DIR):
 606         mkdir -p $@
 607
 608 ## version           : print firmware version
 609 version:
 610         @echo $(FC_VER)
 611
 612 ## help              : print this help message and exit
 613 help: Makefile make/tools.mk
 614         @echo ""
 615         @echo "Makefile for the $(FORKNAME) firmware"
 616         @echo ""
 617         @echo "Usage:"
 618         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 619         @echo "Or:"
 620         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 621         @echo ""
 622         @echo "Valid TARGET values are: $(BASE_TARGETS)"
 623         @echo ""
 624         @sed -n 's/^## //p' $?
 625
 626 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 627 targets:
 628         @echo "Valid targets:       $(BASE_TARGETS)"
 629         @echo "Built targets:       $(CI_TARGETS)"
 630         @echo "Default target:      $(TARGET)"
 631
 632 configs:
 633         @echo "Valid configs:       $(BASE_CONFIGS)"
 634
 635 targets-ci-print:
 636         @echo $(CI_TARGETS)
 637
 638 ## target-mcu        : print the MCU type of the target
 639 target-mcu:
 640         @echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"
 641
 642 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 643 targets-by-mcu:
 644         $(V1) for target in $${TARGETS}; do \
 645                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 646                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 647                         if [ "$${DO_BUILD}" = 1 ]; then \
 648                                 echo "Building target $${target}..."; \
 649                                 $(MAKE) TARGET=$${target}; \
 650                                 if [ $$? -ne 0 ]; then \
 651                                         echo "Building target $${target} failed, aborting."; \
 652                                         exit 1; \
 653                                 fi; \
 654                         else \
 655                                 echo -n "$${target} "; \
 656                         fi; \
 657                 fi; \
 658         done
 659         @echo
 660
 661 ## test              : run the Betaflight test suite
 662 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 663 ## test-representative: run a representative subset of the Betaflight test suite (i.e. run all tests, but run each expanded test only for one target)
 664 ## test-all: run the Betaflight test suite including all per-target expanded tests
 665 test junittest test-all test-representative:
 666         $(V0) cd src/test && $(MAKE) $@
 667
 668 ## test_help         : print the help message for the test suite (including a list of the available tests)
 669 test_help:
 670         $(V0) cd src/test && $(MAKE) help
 671
 672 ## test_versions         : print the compiler versions used for the test suite
 673 test_versions:
 674         $(V0) cd src/test && $(MAKE) versions
 675
 676 ## test_%            : run test 'test_%' from the test suite
 677 test_%:
 678         $(V0) cd src/test && $(MAKE) $@
 679
 680 $(TARGET_EF_HASH_FILE):
 681         $(V1) mkdir -p $(dir $@)
 682         $(V0) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 683         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 684         $(V1) touch $(TARGET_EF_HASH_FILE)
 685
 686 # rebuild everything when makefile changes or the extra flags have changed
 687 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 688
 689 # include auto-generated dependencies
 690 -include $(TARGET_DEPS)