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. Only builds touched files.
  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
  66 LINKER_DIR      := $(ROOT)/src/link
  67 MAKE_SCRIPT_DIR := $(ROOT)/mk
  68
  69 ## V                 : Set verbosity level based on the V= parameter
  70 ##                     V=0 Low
  71 ##                     V=1 High
  72 include $(MAKE_SCRIPT_DIR)/build_verbosity.mk
  73
  74 # Build tools, so we all share the same versions
  75 # import macros common to all supported build systems
  76 include $(MAKE_SCRIPT_DIR)/system-id.mk
  77
  78 # developer preferences, edit these at will, they'll be gitignored
  79 ifneq ($(wildcard $(MAKE_SCRIPT_DIR)/local.mk),)
  80 include $(MAKE_SCRIPT_DIR)/local.mk
  81 endif
  82
  83 # pre-build sanity checks
  84 include $(MAKE_SCRIPT_DIR)/checks.mk
  85
  86 # basic target list
  87 BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/main/target/*/target.mk)))))
  88
  89 # configure some directories that are relative to wherever ROOT_DIR is located
  90 TOOLS_DIR  ?= $(ROOT)/tools
  91 DL_DIR     := $(ROOT)/downloads
  92 CONFIG_DIR ?= $(BETAFLIGHT_CONFIG)
  93 ifeq ($(CONFIG_DIR),)
  94 CONFIG_DIR := $(ROOT)/src/config
  95 endif
  96 DIRECTORIES := $(DL_DIR) $(TOOLS_DIR)
  97
  98 export RM := rm
  99
 100 # import macros that are OS specific
 101 include $(MAKE_SCRIPT_DIR)/$(OSFAMILY).mk
 102
 103 # include the tools makefile
 104 include $(MAKE_SCRIPT_DIR)/tools.mk
 105
 106 # Search path for sources
 107 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 108 FATFS_DIR        = $(ROOT)/lib/main/FatFS
 109 FATFS_SRC        = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 110 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 111
 112 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 113 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 114 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 115
 116 FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 117
 118 # import config handling
 119 include $(MAKE_SCRIPT_DIR)/config.mk
 120
 121 ifeq ($(CONFIG),)
 122 ifeq ($(TARGET),)
 123 TARGET := $(DEFAULT_TARGET)
 124 endif
 125 endif
 126
 127 # default xtal value
 128 HSE_VALUE       ?= 8000000
 129
 130 CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/main/target/*/.exclude)))))
 131 CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS)) $(filter CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF, $(BASE_CONFIGS))
 132 include $(ROOT)/src/main/target/$(TARGET)/target.mk
 133
 134 REVISION := norevision
 135 ifeq ($(shell git diff --shortstat),)
 136 REVISION := $(shell git log -1 --format="%h")
 137 endif
 138
 139 LD_FLAGS        :=
 140 EXTRA_LD_FLAGS  :=
 141
 142 #
 143 # Default Tool options - can be overridden in {mcu}.mk files.
 144 #
 145 DEBUG_MIXED = no
 146
 147 ifeq ($(DEBUG),INFO)
 148 DEBUG_MIXED = yes
 149 endif
 150 ifeq ($(DEBUG),GDB)
 151 DEBUG_MIXED = yes
 152 endif
 153
 154 ifeq ($(DEBUG),GDB)
 155 OPTIMISE_DEFAULT      := -Og
 156
 157 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 158 DEBUG_FLAGS            = -ggdb2 -gdwarf-5 -DDEBUG
 159 else
 160 ifeq ($(DEBUG),INFO)
 161 DEBUG_FLAGS            = -ggdb2
 162 endif
 163 OPTIMISATION_BASE     := -flto=auto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 164 OPTIMISE_DEFAULT      := -O2
 165 OPTIMISE_SPEED        := -Ofast
 166 OPTIMISE_SIZE         := -Os
 167
 168 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 169 endif
 170
 171 VPATH                   := $(VPATH):$(MAKE_SCRIPT_DIR)/mcu
 172 VPATH                   := $(VPATH):$(MAKE_SCRIPT_DIR)
 173
 174 # start specific includes
 175 ifeq ($(TARGET_MCU),)
 176 $(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
 177 endif
 178
 179 ifeq ($(TARGET_MCU_FAMILY),)
 180 $(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
 181 endif
 182
 183 TARGET_FLAGS    := -D$(TARGET) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
 184
 185 ifneq ($(CONFIG),)
 186 TARGET_FLAGS    := $(TARGET_FLAGS) -DUSE_CONFIG
 187 endif
 188
 189 include $(MAKE_SCRIPT_DIR)/mcu/$(TARGET_MCU_FAMILY).mk
 190
 191 # openocd specific includes
 192 include $(MAKE_SCRIPT_DIR)/openocd.mk
 193
 194 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 195 ifeq ($(TARGET_FLASH_SIZE),)
 196 ifneq ($(MCU_FLASH_SIZE),)
 197 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 198 else
 199 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 200 endif
 201 endif
 202
 203 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 204
 205 ifneq ($(HSE_VALUE),)
 206 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 207 endif
 208
 209 TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
 210 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 211
 212 .DEFAULT_GOAL := hex
 213
 214 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 215                    $(ROOT)/lib/main/MAVLink
 216
 217 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 218                    $(TARGET_DIR)
 219
 220 VPATH           := $(VPATH):$(TARGET_DIR)
 221
 222 include $(MAKE_SCRIPT_DIR)/source.mk
 223
 224 ###############################################################################
 225 # Things that might need changing to use different tools
 226 #
 227
 228 # Find out if ccache is installed on the system
 229 CCACHE := ccache
 230 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 231 ifneq ($(RESULT),0)
 232 CCACHE :=
 233 endif
 234
 235 # Tool names
 236 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 237 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 238 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 239 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 240 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 241 READELF     := $(ARM_SDK_PREFIX)readelf
 242 SIZE        := $(ARM_SDK_PREFIX)size
 243 DFUSE-PACK  := src/utils/dfuse-pack.py
 244
 245 #
 246 # Tool options.
 247 #
 248 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 249 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 250 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 251 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 252 CC_NO_OPTIMISATION      :=
 253
 254 #
 255 # Added after GCC version update, remove once the warnings have been fixed
 256 #
 257 TEMPORARY_FLAGS :=
 258
 259 EXTRA_WARNING_FLAGS := -Wold-style-definition
 260
 261 CFLAGS     += $(ARCH_FLAGS) \
 262               $(addprefix -D,$(OPTIONS)) \
 263               $(addprefix -I,$(INCLUDE_DIRS)) \
 264               $(DEBUG_FLAGS) \
 265               -std=gnu17 \
 266               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 267               $(EXTRA_WARNING_FLAGS) \
 268               -ffunction-sections \
 269               -fdata-sections \
 270               -fno-common \
 271               $(TEMPORARY_FLAGS) \
 272               $(DEVICE_FLAGS) \
 273               -D_GNU_SOURCE \
 274               -DUSE_STDPERIPH_DRIVER \
 275               -D$(TARGET) \
 276               $(TARGET_FLAGS) \
 277               -D'__FORKNAME__="$(FORKNAME)"' \
 278               -D'__TARGET__="$(TARGET)"' \
 279               -D'__REVISION__="$(REVISION)"' \
 280               $(CONFIG_REVISION_DEFINE) \
 281               -pipe \
 282               -MMD -MP \
 283               $(EXTRA_FLAGS)
 284
 285 ASFLAGS     = $(ARCH_FLAGS) \
 286               $(DEBUG_FLAGS) \
 287               -x assembler-with-cpp \
 288               $(addprefix -I,$(INCLUDE_DIRS)) \
 289               -MMD -MP
 290
 291 ifeq ($(LD_FLAGS),)
 292 LD_FLAGS     = -lm \
 293               -nostartfiles \
 294               --specs=nano.specs \
 295               -lc \
 296               -lnosys \
 297               $(ARCH_FLAGS) \
 298               $(LTO_FLAGS) \
 299               $(DEBUG_FLAGS) \
 300               -static \
 301               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 302               -Wl,-L$(LINKER_DIR) \
 303               -Wl,--cref \
 304               -Wl,--no-wchar-size-warning \
 305               -Wl,--print-memory-usage \
 306               -T$(LD_SCRIPT) \
 307                $(EXTRA_LD_FLAGS)
 308 endif
 309
 310 ###############################################################################
 311 # No user-serviceable parts below
 312 ###############################################################################
 313
 314 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 315                   --std=c99 --inline-suppr --quiet --force \
 316                   $(addprefix -I,$(INCLUDE_DIRS)) \
 317                   -I/usr/include -I/usr/include/linux
 318
 319 TARGET_NAME := $(TARGET)
 320
 321 ifneq ($(CONFIG),)
 322 TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
 323 endif
 324
 325 ifeq ($(REV),yes)
 326 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 327 endif
 328
 329 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 330 #
 331 # Things we will build
 332 #
 333 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 334 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 335 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 336 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 337 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 338 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 339 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 340 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 341 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 342 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 343 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 344 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 345
 346 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 347
 348 ifeq ($(DEBUG_MIXED),yes)
 349 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
 350 else
 351 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEBUG_FLAGS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
 352 endif
 353
 354 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 355
 356 CLEAN_ARTIFACTS := $(TARGET_BIN)
 357 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 358 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 359 CLEAN_ARTIFACTS += $(TARGET_LST)
 360 CLEAN_ARTIFACTS += $(TARGET_DFU)
 361
 362 # Make sure build date and revision is updated on every incremental build
 363 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 364
 365 # List of buildable ELF files and their object dependencies.
 366 # It would be nice to compute these lists, but that seems to be just beyond make.
 367
 368 $(TARGET_LST): $(TARGET_ELF)
 369         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 370
 371 ifeq ($(EXST),no)
 372 $(TARGET_BIN): $(TARGET_ELF)
 373         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 374         $(V1) $(OBJCOPY) -O binary $< $@
 375
 376 $(TARGET_HEX): $(TARGET_ELF)
 377         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 378         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 379
 380 $(TARGET_DFU): $(TARGET_HEX)
 381         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 382         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 383
 384 else
 385 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 386
 387 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 388         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 389         $(V1) $(OBJCOPY) -O binary $< $@
 390
 391 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 392         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 393 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 394 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 395         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 396         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 397
 398         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 399         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 400
 401         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 402         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 403         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 404
 405 # 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"
 406 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 407 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 408 # a) regeneration of $(TARGET_BIN), and
 409 # b) the results of $(TARGET_BIN) will not be as expected.
 410         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 411         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 412         rm $(TARGET_EXST_ELF).tmp
 413
 414         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 415         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 416
 417         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 418         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 419
 420         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 421         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 422
 423 $(TARGET_HEX): $(TARGET_BIN)
 424         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 425
 426         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 427         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 428
 429 endif
 430
 431 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 432         @echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 433         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 434         $(V1) $(SIZE) $(TARGET_ELF)
 435
 436 # Compile
 437
 438 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 439 define compile_file
 440         echo "%% ($(1)) $<" "$(STDOUT)" && \
 441         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 442 endef
 443
 444 ifeq ($(DEBUG),GDB)
 445 $(TARGET_OBJ_DIR)/%.o: %.c
 446         $(V1) mkdir -p $(dir $@)
 447         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 448                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 449         , \
 450                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 451         )
 452 else
 453 $(TARGET_OBJ_DIR)/%.o: %.c
 454         $(V1) mkdir -p $(dir $@)
 455         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 456                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 457         , \
 458                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 459                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 460                 , \
 461                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 462                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 463                         , \
 464                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 465                         ) \
 466                 ) \
 467         )
 468 endif
 469
 470 # Assemble
 471 $(TARGET_OBJ_DIR)/%.o: %.s
 472         $(V1) mkdir -p $(dir $@)
 473         @echo "%% $(notdir $<)" "$(STDOUT)"
 474         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 475
 476 $(TARGET_OBJ_DIR)/%.o: %.S
 477         $(V1) mkdir -p $(dir $@)
 478         @echo "%% $(notdir $<)" "$(STDOUT)"
 479         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 480
 481
 482 ## all               : Build all currently built targets
 483 all: $(CI_TARGETS)
 484
 485 $(BASE_TARGETS):
 486         $(V0) @echo "Building target $@" && \
 487         $(MAKE) hex TARGET=$@ && \
 488         echo "Building $@ succeeded."
 489
 490 TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 491
 492 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 493
 494 ## clean             : clean up temporary / machine-generated files
 495 clean:
 496         @echo "Cleaning $(TARGET_NAME)"
 497         $(V0) rm -f $(CLEAN_ARTIFACTS)
 498         $(V0) rm -rf $(TARGET_OBJ_DIR)
 499         @echo "Cleaning $(TARGET_NAME) succeeded."
 500
 501 ## test_clean        : clean up temporary / machine-generated files (tests)
 502 test-%_clean:
 503         $(MAKE) test_clean
 504
 505 test_clean:
 506         $(V0) cd src/test && $(MAKE) clean || true
 507
 508 ## <TARGET>_clean    : clean up one specific target (alias for above)
 509 $(TARGETS_CLEAN):
 510         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 511
 512 ## <CONFIG>_clean    : clean up one specific target (alias for above)
 513 $(CONFIGS_CLEAN):
 514         $(V0) $(MAKE) -j CONFIG=$(subst _clean,,$@) clean
 515
 516 ## clean_all         : clean all targets
 517 clean_all: $(TARGETS_CLEAN) test_clean
 518
 519 ## configs           : Hydrate configuration
 520 configs: configs
 521
 522 ## all_configs       : Build all configs
 523 all_configs: $(BASE_CONFIGS)
 524
 525 TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
 526
 527 ## <TARGET>_flash    : build and flash a target
 528 $(TARGETS_FLASH):
 529         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 530 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 531         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 532 else
 533         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 534 endif
 535
 536 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 537 tty_flash:
 538         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 539         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 540         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 541
 542 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 543 dfu_flash:
 544 ifneq (no-port-found,$(SERIAL_DEVICE))
 545         # potentially this is because the MCU already is in DFU mode, try anyway
 546         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 547         $(V0) sleep 1
 548 endif
 549         $(V0) $(MAKE) $(TARGET_DFU)
 550         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 551
 552 st-flash_$(TARGET): $(TARGET_BIN)
 553         $(V0) st-flash --reset write $< 0x08000000
 554
 555 ## st-flash          : flash firmware (.bin) onto flight controller
 556 st-flash: st-flash_$(TARGET)
 557
 558 ifneq ($(OPENOCD_COMMAND),)
 559 openocd-gdb: $(TARGET_ELF)
 560         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 561 endif
 562
 563 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 564
 565 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 566 $(TARGETS_ZIP):
 567         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 568         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 569
 570 zip:
 571         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 572
 573 binary:
 574         $(V0) $(MAKE) -j $(TARGET_BIN)
 575
 576 hex:
 577         $(V0) $(MAKE) -j $(TARGET_HEX)
 578
 579 TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
 580 ## <TARGET>_rev    : build target and add revision to filename
 581 $(TARGETS_REVISION):
 582         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 583
 584 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 585
 586 unbrick_$(TARGET): $(TARGET_HEX)
 587         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 588         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 589
 590 ## unbrick           : unbrick flight controller
 591 unbrick: unbrick_$(TARGET)
 592
 593 ## cppcheck          : run static analysis on C source code
 594 cppcheck: $(CSOURCES)
 595         $(V0) $(CPPCHECK)
 596
 597 cppcheck-result.xml: $(CSOURCES)
 598         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 599
 600 # mkdirs
 601 $(DIRECTORIES):
 602         mkdir -p $@
 603
 604 ## version           : print firmware version
 605 version:
 606         @echo $(FC_VER)
 607
 608 ## help              : print this help message and exit
 609 help: Makefile mk/tools.mk
 610         @echo ""
 611         @echo "Makefile for the $(FORKNAME) firmware"
 612         @echo ""
 613         @echo "Usage:"
 614         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 615         @echo "Or:"
 616         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 617         @echo "Or:"
 618         @echo "        make <config-target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 619         @echo ""
 620         @echo "To pupulate configuration targets:"
 621         @echo "        make configs"
 622         @echo ""
 623         @echo "Valid TARGET values are: $(BASE_TARGETS)"
 624         @echo ""
 625         @sed -n 's/^## //p' $?
 626
 627 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 628 targets:
 629         @echo "Valid targets:       $(BASE_TARGETS)"
 630         @echo "Built targets:       $(CI_TARGETS)"
 631         @echo "Default target:      $(TARGET)"
 632
 633 targets-ci-print:
 634         @echo $(CI_TARGETS)
 635
 636 ## target-mcu        : print the MCU type of the target
 637 target-mcu:
 638         @echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"
 639
 640 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 641 targets-by-mcu:
 642         $(V1) for target in $${TARGETS}; do \
 643                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 644                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 645                         if [ "$${DO_BUILD}" = 1 ]; then \
 646                                 echo "Building target $${target}..."; \
 647                                 $(MAKE) TARGET=$${target}; \
 648                                 if [ $$? -ne 0 ]; then \
 649                                         echo "Building target $${target} failed, aborting."; \
 650                                         exit 1; \
 651                                 fi; \
 652                         else \
 653                                 echo -n "$${target} "; \
 654                         fi; \
 655                 fi; \
 656         done
 657         @echo
 658
 659 ## test              : run the Betaflight test suite
 660 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 661 ## 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)
 662 ## test-all: run the Betaflight test suite including all per-target expanded tests
 663 test junittest test-all test-representative:
 664         $(V0) cd src/test && $(MAKE) $@
 665
 666 ## test_help         : print the help message for the test suite (including a list of the available tests)
 667 test_help:
 668         $(V0) cd src/test && $(MAKE) help
 669
 670 ## test_versions         : print the compiler versions used for the test suite
 671 test_versions:
 672         $(V0) cd src/test && $(MAKE) versions
 673
 674 ## test_%            : run test 'test_%' from the test suite
 675 test_%:
 676         $(V0) cd src/test && $(MAKE) $@
 677
 678 $(TARGET_EF_HASH_FILE):
 679         $(V1) mkdir -p $(dir $@)
 680         $(V1) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 681         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 682         $(V1) touch $(TARGET_EF_HASH_FILE)
 683
 684 # rebuild everything when makefile changes or the extra flags have changed
 685 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 686
 687 # include auto-generated dependencies
 688 -include $(TARGET_DEPS)