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