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 VALID_TARGETS below
  19 TARGET    ?= STM32F405
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # compile for External Storage Bootloader support
  28 EXST      ?= no
  29
  30 # compile for target loaded into RAM
  31 RAM_BASED ?= no
  32
  33 # reserve space for custom defaults
  34 CUSTOM_DEFAULTS_EXTENDED ?= no
  35
  36 # Debugger optons:
  37 #   empty - ordinary build with all optimizations enabled
  38 #   INFO - ordinary build with debug symbols and all optimizations enabled
  39 #   GDB - debug build with minimum number of optimizations
  40 DEBUG     ?=
  41
  42 # Insert the debugging hardfault debugger
  43 # releases should not be built with this flag as it does not disable pwm output
  44 DEBUG_HARDFAULTS ?=
  45
  46 # Serial port/Device for flashing
  47 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  48
  49 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  50 FLASH_SIZE ?=
  51
  52 # Release file naming (no revision to be present if this is 'yes')
  53 RELEASE ?= no
  54
  55 ###############################################################################
  56 # Things that need to be maintained as the source changes
  57 #
  58
  59 FORKNAME      = betaflight
  60
  61 # Working directories
  62 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  63 SRC_DIR         := $(ROOT)/src/main
  64 OBJECT_DIR      := $(ROOT)/obj/main
  65 BIN_DIR         := $(ROOT)/obj
  66 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  67 INCLUDE_DIRS    := $(SRC_DIR) \
  68                    $(ROOT)/src/main/target \
  69                    $(ROOT)/src/main/startup
  70 LINKER_DIR      := $(ROOT)/src/link
  71
  72 ## V                 : Set verbosity level based on the V= parameter
  73 ##                     V=0 Low
  74 ##                     V=1 High
  75 include $(ROOT)/make/build_verbosity.mk
  76
  77 # Build tools, so we all share the same versions
  78 # import macros common to all supported build systems
  79 include $(ROOT)/make/system-id.mk
  80
  81 # developer preferences, edit these at will, they'll be gitignored
  82 -include $(ROOT)/make/local.mk
  83
  84 # pre-build sanity checks
  85 include $(ROOT)/make/checks.mk
  86
  87 # configure some directories that are relative to wherever ROOT_DIR is located
  88 TOOLS_DIR ?= $(ROOT)/tools
  89 DL_DIR    := $(ROOT)/downloads
  90
  91 export RM := rm
  92
  93 # import macros that are OS specific
  94 include $(ROOT)/make/$(OSFAMILY).mk
  95
  96 # include the tools makefile
  97 include $(ROOT)/make/tools.mk
  98
  99 # default xtal value for F4 targets
 100 HSE_VALUE       ?= 8000000
 101
 102 # used for turning on features like VCP and SDCARD
 103 FEATURES        =
 104
 105 # used to disable features based on flash space shortage (larger number => more features disabled)
 106 FEATURE_CUT_LEVEL_SUPPLIED := $(FEATURE_CUT_LEVEL)
 107 FEATURE_CUT_LEVEL =
 108
 109 # The list of targets to build for 'pre-push'
 110 ifeq ($(OSFAMILY), macosx)
 111 # SITL is not buildable on MacOS
 112 PRE_PUSH_TARGET_LIST ?= $(UNIFIED_TARGETS) STM32F4DISCOVERY_DEBUG test-representative
 113 else
 114 PRE_PUSH_TARGET_LIST ?= $(UNIFIED_TARGETS) SITL STM32F4DISCOVERY_DEBUG test-representative
 115 endif
 116
 117 include $(ROOT)/make/targets.mk
 118
 119 REVISION := norevision
 120 ifeq ($(shell git diff --shortstat),)
 121 REVISION := $(shell git log -1 --format="%h")
 122 endif
 123
 124 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 125 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 126 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 127
 128 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 129
 130 # Search path for sources
 131 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 132 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 133 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 134 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 135 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 136
 137 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 138
 139 LD_FLAGS        :=
 140 EXTRA_LD_FLAGS  :=
 141
 142 #
 143 # Default Tool options - can be overridden in {mcu}.mk files.
 144 #
 145 ifeq ($(DEBUG),GDB)
 146 OPTIMISE_DEFAULT      := -Og
 147
 148 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 149 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 150 else
 151 ifeq ($(DEBUG),INFO)
 152 DEBUG_FLAGS            = -ggdb3
 153 endif
 154 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 155 OPTIMISE_DEFAULT      := -O2
 156 OPTIMISE_SPEED        := -Ofast
 157 OPTIMISE_SIZE         := -Os
 158
 159 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 160 endif
 161
 162 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 163 VPATH                   := $(VPATH):$(ROOT)/make
 164
 165 # start specific includes
 166 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 167
 168 # openocd specific includes
 169 include $(ROOT)/make/openocd.mk
 170
 171 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 172 ifeq ($(TARGET_FLASH_SIZE),)
 173 ifneq ($(MCU_FLASH_SIZE),)
 174 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 175 else
 176 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 177 endif
 178 endif
 179
 180 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 181
 182 ifneq ($(HSE_VALUE),)
 183 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 184 endif
 185
 186 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 187 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 188 else ifneq ($(FEATURE_CUT_LEVEL),)
 189 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 190 endif
 191
 192 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 193 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 194
 195 ifeq ($(OPBL),yes)
 196 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 197 .DEFAULT_GOAL := binary
 198 else
 199 .DEFAULT_GOAL := hex
 200 endif
 201
 202 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 203 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 204 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 205 endif
 206
 207 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 208                    $(ROOT)/lib/main/MAVLink
 209
 210 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 211                    $(TARGET_DIR)
 212
 213 VPATH           := $(VPATH):$(TARGET_DIR)
 214
 215 include $(ROOT)/make/source.mk
 216
 217 ###############################################################################
 218 # Things that might need changing to use different tools
 219 #
 220
 221 # Find out if ccache is installed on the system
 222 CCACHE := ccache
 223 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 224 ifneq ($(RESULT),0)
 225 CCACHE :=
 226 endif
 227
 228 # Tool names
 229 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 230 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 231 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 232 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 233 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 234 READELF     := $(ARM_SDK_PREFIX)readelf
 235 SIZE        := $(ARM_SDK_PREFIX)size
 236 DFUSE-PACK  := src/utils/dfuse-pack.py
 237
 238 #
 239 # Tool options.
 240 #
 241 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 242 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 243 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 244 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 245 CC_NO_OPTIMISATION      :=
 246
 247 #
 248 # Added after GCC version update, remove once the warnings have been fixed
 249 #
 250 TEMPORARY_FLAGS :=
 251
 252 CFLAGS     += $(ARCH_FLAGS) \
 253               $(addprefix -D,$(OPTIONS)) \
 254               $(addprefix -I,$(INCLUDE_DIRS)) \
 255               $(DEBUG_FLAGS) \
 256               -std=gnu11 \
 257               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 258               -ffunction-sections \
 259               -fdata-sections \
 260               -fno-common \
 261               -pedantic \
 262               $(TEMPORARY_FLAGS) \
 263               $(DEVICE_FLAGS) \
 264               -D_GNU_SOURCE \
 265               -DUSE_STDPERIPH_DRIVER \
 266               -D$(TARGET) \
 267               $(TARGET_FLAGS) \
 268               -D'__FORKNAME__="$(FORKNAME)"' \
 269               -D'__TARGET__="$(TARGET)"' \
 270               -D'__REVISION__="$(REVISION)"' \
 271               -save-temps=obj \
 272               -MMD -MP \
 273               $(EXTRA_FLAGS)
 274
 275 ASFLAGS     = $(ARCH_FLAGS) \
 276               $(DEBUG_FLAGS) \
 277               -x assembler-with-cpp \
 278               $(addprefix -I,$(INCLUDE_DIRS)) \
 279               -MMD -MP
 280
 281 ifeq ($(LD_FLAGS),)
 282 LD_FLAGS     = -lm \
 283               -nostartfiles \
 284               --specs=nano.specs \
 285               -lc \
 286               -lnosys \
 287               $(ARCH_FLAGS) \
 288               $(LTO_FLAGS) \
 289               $(DEBUG_FLAGS) \
 290               -static \
 291               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 292               -Wl,-L$(LINKER_DIR) \
 293               -Wl,--cref \
 294               -Wl,--no-wchar-size-warning \
 295               -Wl,--print-memory-usage \
 296               -T$(LD_SCRIPT) \
 297                $(EXTRA_LD_FLAGS)
 298 endif
 299
 300 ###############################################################################
 301 # No user-serviceable parts below
 302 ###############################################################################
 303
 304 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 305                   --std=c99 --inline-suppr --quiet --force \
 306                   $(addprefix -I,$(INCLUDE_DIRS)) \
 307                   -I/usr/include -I/usr/include/linux
 308
 309 TARGET_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)
 310
 311 # Things we will distribute (variable name, includes revision by default)
 312 #
 313 ifeq ($(RELEASE),yes)
 314 TARGET_DISTRIBUTION_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)
 315 else
 316 TARGET_DISTRIBUTION_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)_$(REVISION)
 317 endif
 318
 319 TARGET_DIST_S19      = $(TARGET_DISTRIBUTION_BASENAME).s19
 320 TARGET_DIST_BIN      = $(TARGET_DISTRIBUTION_BASENAME).bin
 321 TARGET_DIST_HEX      = $(TARGET_DISTRIBUTION_BASENAME).hex
 322 TARGET_DIST_DFU      = $(TARGET_DISTRIBUTION_BASENAME).dfu
 323 TARGET_DIST_ZIP      = $(TARGET_DISTRIBUTION_BASENAME).zip
 324
 325 #
 326 # Things we will build (consistent name, regardless of revision)
 327 #
 328 TARGET_BIN      = $(TARGET_BASENAME).bin
 329 TARGET_HEX      = $(TARGET_BASENAME).hex
 330 TARGET_DFU      = $(TARGET_BASENAME).dfu
 331 TARGET_ZIP      = $(TARGET_BASENAME).zip
 332 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 333 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
 334 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
 335 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 336 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 337 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 338 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 339
 340 TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
 341
 342 CLEAN_ARTIFACTS := $(TARGET_S19) $(TARGET_DIST_S19)
 343 CLEAN_ARTIFACTS := $(TARGET_BIN) $(TARGET_DIST_BIN)
 344 CLEAN_ARTIFACTS += $(TARGET_HEX) $(TARGET_DIST_HEX)
 345 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 346 CLEAN_ARTIFACTS += $(TARGET_LST)
 347 CLEAN_ARTIFACTS += $(TARGET_DFU) $(TARGET_DIST_DFU)
 348 CLEAN_ARTIFACTS += $(TARGET_ZIP) $(TARGET_DIST_ZIP)
 349
 350 # Make sure build date and revision is updated on every incremental build
 351 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 352
 353 # List of buildable ELF files and their object dependencies.
 354 # It would be nice to compute these lists, but that seems to be just beyond make.
 355
 356 $(TARGET_LST): $(TARGET_ELF)
 357         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 358
 359 ifeq ($(EXST),no)
 360 $(TARGET_BIN): $(TARGET_ELF)
 361         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 362         $(V1) $(OBJCOPY) -O binary $< $@
 363
 364 $(TARGET_HEX): $(TARGET_ELF)
 365         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 366         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 367
 368 $(TARGET_DFU): $(TARGET_HEX)
 369         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 370         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 371
 372 else
 373 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 374
 375 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 376         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 377         $(V1) $(OBJCOPY) -O binary $< $@
 378
 379 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 380         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 381 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 382 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 383         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 384         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 385
 386         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 387         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 388
 389         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 390         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 391         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 392
 393 # 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"
 394 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 395 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 396 # a) regeneration of $(TARGET_BIN), and
 397 # b) the results of $(TARGET_BIN) will not be as expected.
 398         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 399         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 400         rm $(TARGET_EXST_ELF).tmp
 401
 402         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 403         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 404
 405 # For some currently unknown reason, OBJCOPY, with only input/output files, will generate a file around 2GB for the H730 unless we remove an unused-section
 406 # As a workaround drop the ._user_heap_stack section, which is only used during build to show errors if there's not enough space for the heap/stack.
 407 # The issue can be seen with `readelf -S $(TARGET_EXST_ELF)' vs `readelf -S $(TARGET_ELF)`
 408         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 409         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --remove-section ._user_heap_stack --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 410
 411         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 412         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 413
 414 $(TARGET_HEX): $(TARGET_BIN)
 415         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 416
 417         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 418         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 419
 420 endif
 421
 422 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 423         @echo "Linking $(TARGET)" "$(STDOUT)"
 424         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 425         $(V1) $(SIZE) $(TARGET_ELF)
 426
 427 # Compile
 428
 429 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 430 define compile_file
 431         echo "%% ($(1)) $<" "$(STDOUT)" && \
 432         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 433 endef
 434
 435 ifeq ($(DEBUG),GDB)
 436 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 437         $(V1) mkdir -p $(dir $@)
 438         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 439                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 440         , \
 441                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 442         )
 443 else
 444 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 445         $(V1) mkdir -p $(dir $@)
 446         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 447                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 448         , \
 449                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 450                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 451                 , \
 452                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 453                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 454                         , \
 455                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 456                         ) \
 457                 ) \
 458         )
 459 endif
 460
 461 # Assemble
 462 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 463         $(V1) mkdir -p $(dir $@)
 464         @echo "%% $(notdir $<)" "$(STDOUT)"
 465         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 466
 467 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 468         $(V1) mkdir -p $(dir $@)
 469         @echo "%% $(notdir $<)" "$(STDOUT)"
 470         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 471
 472
 473 # Distribute
 474 $(TARGET_DIST_S19): $(TARGET_S19)
 475         @echo "Creating distribution srec/S19 $(TARGET_DIST_S19)" "$(STDOUT)"
 476         $(V1) cp $(TARGET_S19) $(TARGET_DIST_S19)
 477
 478 $(TARGET_DIST_BIN): $(TARGET_BIN)
 479         @echo "Creating distribution bin $(TARGET_DIST_BIN)" "$(STDOUT)"
 480         $(V1) cp $(TARGET_BIN) $(TARGET_DIST_BIN)
 481
 482 $(TARGET_DIST_HEX): $(TARGET_HEX)
 483         @echo "Creating distribution hex $(TARGET_DIST_HEX)" "$(STDOUT)"
 484         $(V1) cp $(TARGET_HEX) $(TARGET_DIST_HEX)
 485
 486 $(TARGET_DIST_DFU): $(TARGET_DFU)
 487         @echo "Creating distribution dfu $(TARGET_DIST_DFU)" "$(STDOUT)"
 488         $(V1) cp $(TARGET_DFU) $(TARGET_DIST_DFU)
 489
 490 $(TARGET_DIST_ZIP): $(TARGET_ZIP)
 491         @echo "Creating distribution zip $(TARGET_DIST_ZIP)" "$(STDOUT)"
 492         $(V1) cp $(TARGET_ZIP) $(TARGET_DIST_ZIP)
 493
 494 ## all               : Build all currently built targets
 495 all: $(CI_TARGETS)
 496
 497 ## all_all : Build all targets (including legacy / unsupported)
 498 all_all: $(VALID_TARGETS)
 499
 500 ## unified : build all Unified Targets
 501 unified: $(UNIFIED_TARGETS)
 502
 503 ## unified_zip : build all Unified Targets as zip files (for posting on GitHub)
 504 unified_zip: $(addsuffix _clean,$(UNIFIED_TARGETS)) $(addsuffix _zip,$(UNIFIED_TARGETS))
 505
 506 ## legacy : Build legacy targets
 507 legacy: $(LEGACY_TARGETS)
 508
 509 ## unsupported : Build unsupported targets
 510 unsupported: $(UNSUPPORTED_TARGETS)
 511
 512 ## pre-push : The minimum verification that should be run before pushing, to check if CI has a chance of succeeding
 513 pre-push:
 514         $(MAKE) $(addsuffix _clean,$(PRE_PUSH_TARGET_LIST)) $(PRE_PUSH_TARGET_LIST) EXTRA_FLAGS=-Werror
 515
 516 ## targets-group-1   : build some targets
 517 targets-group-1: $(GROUP_1_TARGETS)
 518
 519 ## targets-group-2   : build some targets
 520 targets-group-2: $(GROUP_2_TARGETS)
 521
 522 ## targets-group-rest: build the rest of the targets (not listed in the other groups)
 523 targets-group-rest: $(GROUP_OTHER_TARGETS)
 524
 525 $(VALID_TARGETS):
 526         $(V0) @echo "Building $@" && \
 527         $(MAKE) hex TARGET=$@ && \
 528         echo "Building $@ succeeded."
 529
 530 $(NOBUILD_TARGETS):
 531         $(MAKE) TARGET=$@
 532
 533 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 534
 535 ## clean             : clean up temporary / machine-generated files
 536 clean:
 537         @echo "Cleaning $(TARGET)"
 538         $(V0) rm -f $(CLEAN_ARTIFACTS)
 539         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 540         @echo "Cleaning $(TARGET) succeeded."
 541
 542 ## test_clean        : clean up temporary / machine-generated files (tests)
 543 test-%_clean:
 544         $(MAKE) test_clean
 545
 546 test_clean:
 547         $(V0) cd src/test && $(MAKE) clean || true
 548
 549 ## <TARGET>_clean    : clean up one specific target (alias for above)
 550 $(TARGETS_CLEAN):
 551         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 552
 553 ## clean_all         : clean all valid targets
 554 clean_all: $(TARGETS_CLEAN) test_clean
 555
 556 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 557
 558 ## <TARGET>_flash    : build and flash a target
 559 $(TARGETS_FLASH):
 560         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 561 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 562         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 563 else
 564         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 565 endif
 566
 567 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 568 tty_flash:
 569         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 570         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 571         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 572
 573 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 574 dfu_flash:
 575 ifneq (no-port-found,$(SERIAL_DEVICE))
 576         # potentially this is because the MCU already is in DFU mode, try anyway
 577         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 578         $(V0) sleep 1
 579 endif
 580         $(V0) $(MAKE) $(TARGET_DFU)
 581         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 582
 583 st-flash_$(TARGET): $(TARGET_BIN)
 584         $(V0) st-flash --reset write $< 0x08000000
 585
 586 ## st-flash          : flash firmware (.bin) onto flight controller
 587 st-flash: st-flash_$(TARGET)
 588
 589 ifneq ($(OPENOCD_COMMAND),)
 590 openocd-gdb: $(TARGET_ELF)
 591         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 592 endif
 593
 594 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 595
 596 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 597 $(TARGETS_ZIP):
 598         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 599         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 600
 601 zip:
 602         $(V0) zip $(TARGET_ZIP) $(TARGET_DIST_HEX)
 603
 604 binary:
 605         $(V0) $(MAKE) -j $(TARGET_DIST_BIN)
 606
 607 srec:
 608         $(V0) $(MAKE) -j $(TARGET_DIST_S19)
 609
 610 hex:
 611         $(V0) $(MAKE) -j $(TARGET_DIST_HEX)
 612
 613 unbrick_$(TARGET): $(TARGET_HEX)
 614         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 615         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 616
 617 ## unbrick           : unbrick flight controller
 618 unbrick: unbrick_$(TARGET)
 619
 620 ## cppcheck          : run static analysis on C source code
 621 cppcheck: $(CSOURCES)
 622         $(V0) $(CPPCHECK)
 623
 624 cppcheck-result.xml: $(CSOURCES)
 625         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 626
 627 # mkdirs
 628 $(DL_DIR):
 629         mkdir -p $@
 630
 631 $(TOOLS_DIR):
 632         mkdir -p $@
 633
 634 ## version           : print firmware version
 635 version:
 636         @echo $(FC_VER)
 637
 638 ## help              : print this help message and exit
 639 help: Makefile make/tools.mk
 640         @echo ""
 641         @echo "Makefile for the $(FORKNAME) firmware"
 642         @echo ""
 643         @echo "Usage:"
 644         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 645         @echo "Or:"
 646         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 647         @echo ""
 648         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 649         @echo ""
 650         @sed -n 's/^## //p' $?
 651
 652 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 653 targets:
 654         @echo "Valid targets:       $(VALID_TARGETS)"
 655         @echo "Built targets:       $(CI_TARGETS)"
 656         @echo "Unified targets:     $(UNIFIED_TARGETS)"
 657         @echo "Legacy targets:      $(LEGACY_TARGETS)"
 658         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 659         @echo "Default target:      $(TARGET)"
 660         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 661         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 662         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 663
 664         @echo "targets-group-1:     $(words $(GROUP_1_TARGETS)) targets"
 665         @echo "targets-group-2:     $(words $(GROUP_2_TARGETS)) targets"
 666         @echo "targets-group-rest:  $(words $(GROUP_OTHER_TARGETS)) targets"
 667         @echo "total in all groups  $(words $(CI_TARGETS)) targets"
 668
 669 ## target-mcu        : print the MCU type of the target
 670 target-mcu:
 671         @echo $(TARGET_MCU)
 672
 673 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 674 targets-by-mcu:
 675         $(V1) for target in $${TARGETS}; do \
 676                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 677                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 678                         if [ "$${DO_BUILD}" = 1 ]; then \
 679                                 echo "Building target $${target}..."; \
 680                                 $(MAKE) TARGET=$${target}; \
 681                                 if [ $$? -ne 0 ]; then \
 682                                         echo "Building target $${target} failed, aborting."; \
 683                                         exit 1; \
 684                                 fi; \
 685                         else \
 686                                 echo -n "$${target} "; \
 687                         fi; \
 688                 fi; \
 689         done
 690         @echo
 691
 692 ## targets-f4        : make all F4 targets
 693 targets-f4:
 694         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 695
 696 targets-f4-print:
 697         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 698
 699 targets-ci-f4-print:
 700         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 701
 702 ## targets-f7        : make all F7 targets
 703 targets-f7:
 704         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 705
 706 targets-f7-print:
 707         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 708
 709 targets-ci-f7-print:
 710         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 711
 712 ## test              : run the Betaflight test suite
 713 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 714 ## 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)
 715 ## test-all: run the Betaflight test suite including all per-target expanded tests
 716 test junittest test-all test-representative:
 717         $(V0) cd src/test && $(MAKE) $@
 718
 719 ## test_help         : print the help message for the test suite (including a list of the available tests)
 720 test_help:
 721         $(V0) cd src/test && $(MAKE) help
 722
 723 ## test_versions         : print the compiler versions used for the test suite
 724 test_versions:
 725         $(V0) cd src/test && $(MAKE) versions
 726
 727 ## test_%            : run test 'test_%' from the test suite
 728 test_%:
 729         $(V0) cd src/test && $(MAKE) $@
 730
 731
 732 # rebuild everything when makefile changes
 733 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 734
 735 # include auto-generated dependencies
 736 -include $(TARGET_DEPS)