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 TARGET    ?=
  20 CONFIG    ?=
  21
  22 # Compile-time options
  23 OPTIONS   ?=
  24
  25 # compile for External Storage Bootloader support
  26 EXST      ?= no
  27
  28 # compile for target loaded into RAM
  29 RAM_BASED ?= no
  30
  31 # reserve space for custom defaults
  32 CUSTOM_DEFAULTS_EXTENDED ?= no
  33
  34 # Debugger optons:
  35 #   empty - ordinary build with all optimizations enabled
  36 #   INFO - ordinary build with debug symbols and all optimizations enabled. Only builds touched files.
  37 #   GDB - debug build with minimum number of optimizations
  38 DEBUG     ?=
  39
  40 # Insert the debugging hardfault debugger
  41 # releases should not be built with this flag as it does not disable pwm output
  42 DEBUG_HARDFAULTS ?=
  43
  44 # Serial port/Device for flashing
  45 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  46
  47 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  48 FLASH_SIZE ?=
  49
  50 ###############################################################################
  51 # Things that need to be maintained as the source changes
  52 #
  53
  54 FORKNAME      = betaflight
  55
  56 # Working directories
  57 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  58 PLATFORM_DIR    := $(ROOT)/src/platform
  59 SRC_DIR         := $(ROOT)/src/main
  60 LIB_MAIN_DIR    := $(ROOT)/lib/main
  61 OBJECT_DIR      := $(ROOT)/obj/main
  62 BIN_DIR         := $(ROOT)/obj
  63 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  64 INCLUDE_DIRS    := $(SRC_DIR)
  65
  66 MAKE_SCRIPT_DIR := $(ROOT)/mk
  67
  68 ## V                 : Set verbosity level based on the V= parameter
  69 ##                     V=0 Low
  70 ##                     V=1 High
  71 include $(MAKE_SCRIPT_DIR)/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 $(MAKE_SCRIPT_DIR)/system-id.mk
  76
  77 # developer preferences, edit these at will, they'll be gitignored
  78 ifneq ($(wildcard $(MAKE_SCRIPT_DIR)/local.mk),)
  79 include $(MAKE_SCRIPT_DIR)/local.mk
  80 endif
  81
  82 # some targets use parallel build by default
  83 # MAKEFLAGS is valid only inside target, do not use this at parse phase
  84 DEFAULT_PARALLEL_JOBS   :=    # all jobs in parallel (for backward compatibility)
  85 MAKE_PARALLEL                = $(if $(filter -j%, $(MAKEFLAGS)),$(EMPTY),-j$(DEFAULT_PARALLEL_JOBS))
  86
  87 # pre-build sanity checks
  88 include $(MAKE_SCRIPT_DIR)/checks.mk
  89
  90 # basic target list
  91 PLATFORMS        := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
  92 BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))
  93
  94 # configure some directories that are relative to wherever ROOT_DIR is located
  95 TOOLS_DIR  ?= $(ROOT)/tools
  96 DL_DIR     := $(ROOT)/downloads
  97 CONFIG_DIR ?= $(BETAFLIGHT_CONFIG)
  98 ifeq ($(CONFIG_DIR),)
  99 CONFIG_DIR := $(ROOT)/src/config
 100 endif
 101 DIRECTORIES := $(DL_DIR) $(TOOLS_DIR)
 102
 103 export RM := rm
 104
 105 # import macros that are OS specific
 106 include $(MAKE_SCRIPT_DIR)/$(OSFAMILY).mk
 107
 108 # include the tools makefile
 109 include $(MAKE_SCRIPT_DIR)/tools.mk
 110
 111 # Search path for sources
 112 VPATH           := $(SRC_DIR):$(LIB_MAIN_DIR):$(PLATFORM_DIR)
 113 FATFS_DIR        = $(ROOT)/lib/main/FatFS
 114 FATFS_SRC        = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 115 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 116
 117 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 118 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 119 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 120
 121 FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 122
 123 # import config handling
 124 include $(MAKE_SCRIPT_DIR)/config.mk
 125
 126
 127 # default xtal value
 128 HSE_VALUE       ?= 8000000
 129
 130 CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exclude)))))
 131 CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS)) $(filter STM32F4DISCOVERY CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF, $(BASE_CONFIGS))
 132
 133 TARGET_PLATFORM     := $(notdir $(patsubst %/,%,$(subst target/$(TARGET)/,, $(dir $(wildcard $(PLATFORM_DIR)/*/target/$(TARGET)/target.mk)))))
 134 TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
 135 LINKER_DIR          := $(TARGET_PLATFORM_DIR)/link
 136
 137 ifneq ($(TARGET),)
 138 include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk
 139 endif
 140
 141 REVISION := norevision
 142 ifeq ($(shell git diff --shortstat),)
 143 REVISION := $(shell git log -1 --format="%h")
 144 endif
 145
 146 LD_FLAGS        :=
 147 EXTRA_LD_FLAGS  :=
 148
 149 #
 150 # Default Tool options - can be overridden in {mcu}.mk files.
 151 #
 152 DEBUG_MIXED = no
 153
 154 ifeq ($(DEBUG),INFO)
 155 DEBUG_MIXED = yes
 156 endif
 157 ifeq ($(DEBUG),GDB)
 158 DEBUG_MIXED = yes
 159 endif
 160
 161 ifeq ($(DEBUG),GDB)
 162 OPTIMISE_DEFAULT      := -Og
 163
 164 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 165 DEBUG_FLAGS            = -ggdb2 -gdwarf-5 -DDEBUG
 166 else
 167 ifeq ($(DEBUG),INFO)
 168 DEBUG_FLAGS            = -ggdb2
 169 endif
 170 OPTIMISATION_BASE     := -flto=auto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 171 OPTIMISE_DEFAULT      := -O2
 172 OPTIMISE_SPEED        := -Ofast
 173 OPTIMISE_SIZE         := -Os
 174
 175 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 176 endif
 177
 178 VPATH                   := $(VPATH):$(MAKE_SCRIPT_DIR)
 179
 180 ifneq ($(TARGET),)
 181
 182 # start specific includes
 183 ifeq ($(TARGET_MCU),)
 184 $(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
 185 endif
 186
 187 ifeq ($(TARGET_MCU_FAMILY),)
 188 $(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
 189 endif
 190
 191 TARGET_FLAGS := -D$(TARGET) -D$(TARGET_PLATFORM) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
 192
 193 ifneq ($(CONFIG),)
 194 TARGET_FLAGS := $(TARGET_FLAGS) -DUSE_CONFIG
 195 endif
 196
 197 SPEED_OPTIMISED_SRC :=
 198 SIZE_OPTIMISED_SRC  :=
 199
 200 include $(TARGET_PLATFORM_DIR)/mk/$(TARGET_MCU_FAMILY).mk
 201
 202 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 203 ifeq ($(TARGET_FLASH_SIZE),)
 204 ifneq ($(MCU_FLASH_SIZE),)
 205 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 206 else
 207 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 208 endif
 209 endif
 210
 211 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 212
 213 ifneq ($(HSE_VALUE),)
 214 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 215 endif
 216
 217 TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
 218 endif # TARGET specified
 219
 220 # openocd specific includes
 221 include $(MAKE_SCRIPT_DIR)/openocd.mk
 222
 223 .DEFAULT_GOAL := all
 224
 225 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 226                    $(ROOT)/lib/main/MAVLink
 227
 228 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 229                    $(TARGET_DIR)
 230
 231 VPATH           := $(VPATH):$(TARGET_DIR)
 232
 233 include $(MAKE_SCRIPT_DIR)/source.mk
 234
 235 ifneq ($(TARGET),)
 236 ifneq ($(filter-out $(SRC),$(SPEED_OPTIMISED_SRC)),)
 237 $(error Speed optimised sources not valid: $(strip $(filter-out $(SRC),$(SPEED_OPTIMISED_SRC))))
 238 endif
 239
 240 ifneq ($(filter-out $(SRC),$(SIZE_OPTIMISED_SRC)),)
 241 $(error Size optimised sources not valid: $(strip $(filter-out $(SRC),$(SIZE_OPTIMISED_SRC))))
 242 endif
 243 endif
 244
 245 ###############################################################################
 246 # Things that might need changing to use different tools
 247 #
 248
 249 # Find out if ccache is installed on the system
 250 CCACHE := ccache
 251 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 252 ifneq ($(RESULT),0)
 253 CCACHE :=
 254 endif
 255
 256 # Tool names
 257 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 258 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 259 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 260 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 261 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 262 READELF     := $(ARM_SDK_PREFIX)readelf
 263 SIZE        := $(ARM_SDK_PREFIX)size
 264 DFUSE-PACK  := src/utils/dfuse-pack.py
 265
 266 #
 267 # Tool options.
 268 #
 269 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 270 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 271 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 272 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 273 CC_NO_OPTIMISATION      :=
 274
 275 #
 276 # Added after GCC version update, remove once the warnings have been fixed
 277 #
 278 TEMPORARY_FLAGS :=
 279
 280 EXTRA_WARNING_FLAGS := -Wold-style-definition
 281
 282 CFLAGS     += $(ARCH_FLAGS) \
 283               $(addprefix -D,$(OPTIONS)) \
 284               $(addprefix -I,$(INCLUDE_DIRS)) \
 285               $(DEBUG_FLAGS) \
 286               -std=gnu17 \
 287               -Wall -Wextra -Werror -Wunsafe-loop-optimizations -Wdouble-promotion \
 288               $(EXTRA_WARNING_FLAGS) \
 289               -ffunction-sections \
 290               -fdata-sections \
 291               -fno-common \
 292               $(TEMPORARY_FLAGS) \
 293               $(DEVICE_FLAGS) \
 294               -D_GNU_SOURCE \
 295               -DUSE_STDPERIPH_DRIVER \
 296               -D$(TARGET) \
 297               $(TARGET_FLAGS) \
 298               -D'__FORKNAME__="$(FORKNAME)"' \
 299               -D'__TARGET__="$(TARGET)"' \
 300               -D'__REVISION__="$(REVISION)"' \
 301               $(CONFIG_REVISION_DEFINE) \
 302               -pipe \
 303               -MMD -MP \
 304               $(EXTRA_FLAGS)
 305
 306 ASFLAGS     = $(ARCH_FLAGS) \
 307               $(DEBUG_FLAGS) \
 308               -x assembler-with-cpp \
 309               $(addprefix -I,$(INCLUDE_DIRS)) \
 310               -MMD -MP
 311
 312 ifeq ($(LD_FLAGS),)
 313 LD_FLAGS     = -lm \
 314               -nostartfiles \
 315               --specs=nano.specs \
 316               -lc \
 317               -lnosys \
 318               $(ARCH_FLAGS) \
 319               $(LTO_FLAGS) \
 320               $(DEBUG_FLAGS) \
 321               -static \
 322               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 323               -Wl,-L$(LINKER_DIR) \
 324               -Wl,--cref \
 325               -Wl,--no-wchar-size-warning \
 326               -Wl,--print-memory-usage \
 327               -T$(LD_SCRIPT) \
 328                $(EXTRA_LD_FLAGS)
 329 endif
 330
 331 ###############################################################################
 332 # No user-serviceable parts below
 333 ###############################################################################
 334
 335 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 336                   --std=c99 --inline-suppr --quiet --force \
 337                   $(addprefix -I,$(INCLUDE_DIRS)) \
 338                   -I/usr/include -I/usr/include/linux
 339
 340 TARGET_NAME := $(TARGET)
 341
 342 ifneq ($(CONFIG),)
 343 TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
 344 endif
 345
 346 ifeq ($(REV),yes)
 347 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 348 endif
 349
 350 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 351 #
 352 # Things we will build
 353 #
 354 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 355 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 356 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 357 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 358 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 359 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 360 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 361 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 362 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 363 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 364 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 365 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 366
 367 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 368
 369 ifeq ($(DEBUG_MIXED),yes)
 370 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
 371 else
 372 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEBUG_FLAGS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
 373 endif
 374
 375 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 376
 377 CLEAN_ARTIFACTS := $(TARGET_BIN)
 378 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 379 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 380 CLEAN_ARTIFACTS += $(TARGET_LST)
 381 CLEAN_ARTIFACTS += $(TARGET_DFU)
 382
 383 # Make sure build date and revision is updated on every incremental build
 384 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 385
 386 # List of buildable ELF files and their object dependencies.
 387 # It would be nice to compute these lists, but that seems to be just beyond make.
 388
 389 $(TARGET_LST): $(TARGET_ELF)
 390         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 391
 392 ifeq ($(EXST),no)
 393 $(TARGET_BIN): $(TARGET_ELF)
 394         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 395         $(V1) $(OBJCOPY) -O binary $< $@
 396
 397 $(TARGET_HEX): $(TARGET_ELF)
 398         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 399         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 400
 401 $(TARGET_DFU): $(TARGET_HEX)
 402         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 403         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 404
 405 else
 406 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 407
 408 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 409         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 410         $(V1) $(OBJCOPY) -O binary $< $@
 411
 412 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 413         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 414 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 415 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 416         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 417         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 418
 419         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 420         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 421
 422         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 423         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 424         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 425
 426 # 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"
 427 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 428 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 429 # a) regeneration of $(TARGET_BIN), and
 430 # b) the results of $(TARGET_BIN) will not be as expected.
 431         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 432         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 433         rm $(TARGET_EXST_ELF).tmp
 434
 435         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 436         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 437
 438         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 439         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 440
 441         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 442         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 443
 444 $(TARGET_HEX): $(TARGET_BIN)
 445         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 446
 447         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 448         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 449
 450 endif
 451
 452 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 453         @echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 454         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 455         $(V1) $(SIZE) $(TARGET_ELF)
 456
 457 # Compile
 458
 459 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 460 define compile_file
 461         echo "%% ($(1)) $<" "$(STDOUT)" && \
 462         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 463 endef
 464
 465 ## `paths` is a list of paths that will be replaced for checking of speed, and size optimised sources
 466 paths := $(SRC_DIR)/ $(LIB_MAIN_DIR)/ $(PLATFORM_DIR)/
 467 subst_paths_for = $(foreach path,$(paths),$(filter-out $(1),$(subst $(path),,$(1))))
 468 subst_paths = $(strip $(if $(call subst_paths_for,$(1)), $(call subst_paths_for,$(1)), $(1)))
 469
 470 ifeq ($(DEBUG),GDB)
 471 $(TARGET_OBJ_DIR)/%.o: %.c
 472         $(V1) mkdir -p $(dir $@)
 473         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 474                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 475         , \
 476                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 477         )
 478 else
 479 $(TARGET_OBJ_DIR)/%.o: %.c
 480         $(V1) mkdir -p $(dir $@)
 481         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 482                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 483         , \
 484                 $(if $(findstring $(call subst_paths,$<),$(SPEED_OPTIMISED_SRC)), \
 485                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 486                 , \
 487                         $(if $(findstring $(call subst_paths,$<),$(SIZE_OPTIMISED_SRC)), \
 488                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 489                         , \
 490                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 491                         ) \
 492                 ) \
 493         )
 494 endif
 495
 496 # Assemble
 497 $(TARGET_OBJ_DIR)/%.o: %.s
 498         $(V1) mkdir -p $(dir $@)
 499         @echo "%% $(notdir $<)" "$(STDOUT)"
 500         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 501
 502 $(TARGET_OBJ_DIR)/%.o: %.S
 503         $(V1) mkdir -p $(dir $@)
 504         @echo "%% $(notdir $<)" "$(STDOUT)"
 505         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 506
 507
 508 ## all               : Build all currently built targets
 509 all: $(CI_TARGETS)
 510
 511 $(BASE_TARGETS):
 512         $(V0) @echo "Building target $@" && \
 513         $(MAKE) hex TARGET=$@ && \
 514         echo "Building $@ succeeded."
 515
 516 TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 517
 518 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 519
 520 ## clean             : clean up temporary / machine-generated files
 521 clean:
 522         @echo "Cleaning $(TARGET_NAME)"
 523         $(V0) rm -f $(CLEAN_ARTIFACTS)
 524         $(V0) rm -rf $(TARGET_OBJ_DIR)
 525         @echo "Cleaning $(TARGET_NAME) succeeded."
 526
 527 ## test_clean        : clean up temporary / machine-generated files (tests)
 528 test-%_clean:
 529         $(MAKE) test_clean
 530
 531 test_clean:
 532         $(V0) cd src/test && $(MAKE) clean || true
 533
 534 ## <TARGET>_clean    : clean up one specific target (alias for above)
 535 $(TARGETS_CLEAN):
 536         $(V0) $(MAKE) $(MAKE_PARALLEL) TARGET=$(subst _clean,,$@) clean
 537
 538 ## <CONFIG>_clean    : clean up one specific target (alias for above)
 539 $(CONFIGS_CLEAN):
 540         $(V0) $(MAKE) $(MAKE_PARALLEL) CONFIG=$(subst _clean,,$@) clean
 541
 542 ## clean_all         : clean all targets
 543 clean_all: $(TARGETS_CLEAN) test_clean
 544
 545 ## all_configs       : Build all configs
 546 all_configs: $(BASE_CONFIGS)
 547
 548 TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
 549
 550 ## <TARGET>_flash    : build and flash a target
 551 $(TARGETS_FLASH):
 552         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 553 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 554         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 555 else
 556         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 557 endif
 558
 559 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 560 tty_flash:
 561         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 562         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 563         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 564
 565 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 566 dfu_flash:
 567 ifneq (no-port-found,$(SERIAL_DEVICE))
 568         # potentially this is because the MCU already is in DFU mode, try anyway
 569         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 570         $(V0) sleep 1
 571 endif
 572         $(V0) $(MAKE) $(TARGET_DFU)
 573         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 574
 575 st-flash_$(TARGET): $(TARGET_BIN)
 576         $(V0) st-flash --reset write $< 0x08000000
 577
 578 ## st-flash          : flash firmware (.bin) onto flight controller
 579 st-flash: st-flash_$(TARGET)
 580
 581 ifneq ($(OPENOCD_COMMAND),)
 582 openocd-gdb: $(TARGET_ELF)
 583         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 584 endif
 585
 586 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 587
 588 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 589 $(TARGETS_ZIP):
 590         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 591         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 592
 593 zip:
 594         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 595
 596 binary:
 597         $(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
 598
 599 hex:
 600         $(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
 601
 602 TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
 603 ## <TARGET>_rev    : build target and add revision to filename
 604 $(TARGETS_REVISION):
 605         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 606
 607 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 608
 609 unbrick_$(TARGET): $(TARGET_HEX)
 610         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 611         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 612
 613 ## unbrick           : unbrick flight controller
 614 unbrick: unbrick_$(TARGET)
 615
 616 ## cppcheck          : run static analysis on C source code
 617 cppcheck: $(CSOURCES)
 618         $(V0) $(CPPCHECK)
 619
 620 cppcheck-result.xml: $(CSOURCES)
 621         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 622
 623 # mkdirs
 624 $(DIRECTORIES):
 625         mkdir -p $@
 626
 627 ## version           : print firmware version
 628 version:
 629         @echo $(FC_VER)
 630
 631 ## help              : print this help message and exit
 632 help: Makefile mk/tools.mk
 633         @echo ""
 634         @echo "Makefile for the $(FORKNAME) firmware"
 635         @echo ""
 636         @echo "Usage:"
 637         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 638         @echo "Or:"
 639         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 640         @echo "Or:"
 641         @echo "        make <config-target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 642         @echo ""
 643         @echo "To populate configuration targets:"
 644         @echo "        make configs"
 645         @echo ""
 646         @echo "Valid TARGET values are: $(BASE_TARGETS)"
 647         @echo ""
 648         @sed -n 's/^## //p' $?
 649
 650 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 651 targets:
 652         @echo "Valid targets:       $(BASE_TARGETS)"
 653         @echo "Built targets:       $(CI_TARGETS)"
 654         @echo "Default target:      $(TARGET)"
 655
 656 targets-ci-print:
 657         @echo $(CI_TARGETS)
 658
 659 ## target-mcu        : print the MCU type of the target
 660 target-mcu:
 661         @echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"
 662
 663 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 664 targets-by-mcu:
 665         $(V1) for target in $${TARGETS}; do \
 666                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 667                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 668                         if [ "$${DO_BUILD}" = 1 ]; then \
 669                                 echo "Building target $${target}..."; \
 670                                 $(MAKE) TARGET=$${target}; \
 671                                 if [ $$? -ne 0 ]; then \
 672                                         echo "Building target $${target} failed, aborting."; \
 673                                         exit 1; \
 674                                 fi; \
 675                         else \
 676                                 echo -n "$${target} "; \
 677                         fi; \
 678                 fi; \
 679         done
 680         @echo
 681
 682 ## test              : run the Betaflight test suite
 683 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 684 ## 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)
 685 ## test-all: run the Betaflight test suite including all per-target expanded tests
 686 test junittest test-all test-representative:
 687         $(V0) cd src/test && $(MAKE) $@
 688
 689 ## test_help         : print the help message for the test suite (including a list of the available tests)
 690 test_help:
 691         $(V0) cd src/test && $(MAKE) help
 692
 693 ## test_versions         : print the compiler versions used for the test suite
 694 test_versions:
 695         $(V0) cd src/test && $(MAKE) versions
 696
 697 ## test_%            : run test 'test_%' from the test suite
 698 test_%:
 699         $(V0) cd src/test && $(MAKE) $@
 700
 701 $(TARGET_EF_HASH_FILE):
 702         $(V1) mkdir -p $(dir $@)
 703         $(V1) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 704         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 705         $(V1) touch $(TARGET_EF_HASH_FILE)
 706
 707 # rebuild everything when makefile changes or the extra flags have changed
 708 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 709
 710 # include auto-generated dependencies
 711 -include $(TARGET_DEPS)