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 DEFAULT_TARGET    ?= STM32F405
  20 TARGET    ?=
  21 CONFIG    ?=
  22
  23 # Compile-time options
  24 OPTIONS   ?=
  25
  26 # compile for External Storage Bootloader support
  27 EXST      ?= no
  28
  29 # compile for target loaded into RAM
  30 RAM_BASED ?= no
  31
  32 # reserve space for custom defaults
  33 CUSTOM_DEFAULTS_EXTENDED ?= no
  34
  35 # Debugger optons:
  36 #   empty - ordinary build with all optimizations enabled
  37 #   INFO - ordinary build with debug symbols and all optimizations enabled
  38 #   GDB - debug build with minimum number of optimizations
  39 DEBUG     ?=
  40
  41 # Insert the debugging hardfault debugger
  42 # releases should not be built with this flag as it does not disable pwm output
  43 DEBUG_HARDFAULTS ?=
  44
  45 # Serial port/Device for flashing
  46 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  47
  48 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  49 FLASH_SIZE ?=
  50
  51 ###############################################################################
  52 # Things that need to be maintained as the source changes
  53 #
  54
  55 FORKNAME      = betaflight
  56
  57 # Working directories
  58 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  59 SRC_DIR         := $(ROOT)/src/main
  60 OBJECT_DIR      := $(ROOT)/obj/main
  61 BIN_DIR         := $(ROOT)/obj
  62 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  63 INCLUDE_DIRS    := $(SRC_DIR) \
  64                    $(ROOT)/src/main/target \
  65                    $(ROOT)/src/main/startup
  66 LINKER_DIR      := $(ROOT)/src/link
  67
  68 ## V                 : Set verbosity level based on the V= parameter
  69 ##                     V=0 Low
  70 ##                     V=1 High
  71 include $(ROOT)/make/build_verbosity.mk
  72
  73 # Build tools, so we all share the same versions
  74 # import macros common to all supported build systems
  75 include $(ROOT)/make/system-id.mk
  76
  77 # developer preferences, edit these at will, they'll be gitignored
  78 -include $(ROOT)/make/local.mk
  79
  80 # pre-build sanity checks
  81 include $(ROOT)/make/checks.mk
  82
  83 # configure some directories that are relative to wherever ROOT_DIR is located
  84 TOOLS_DIR  ?= $(ROOT)/tools
  85 DL_DIR     := $(ROOT)/downloads
  86 CONFIG_DIR ?= $(ROOT)/src/config
  87
  88 export RM := rm
  89
  90 # import macros that are OS specific
  91 include $(ROOT)/make/$(OSFAMILY).mk
  92
  93 # include the tools makefile
  94 include $(ROOT)/make/tools.mk
  95
  96 # default xtal value for F4 targets
  97 HSE_VALUE       ?= 8000000
  98
  99 # used for turning on features like VCP and SDCARD
 100 FEATURES        =
 101
 102 ifneq ($(CONFIG),)
 103
 104 ifneq ($(TARGET),)
 105 $(error TARGET or CONFIG should be specified. Not both.)
 106 endif
 107
 108 INCLUDE_DIRS += $(CONFIG_DIR)/$(CONFIG)
 109 CONFIG_FILE  := $(CONFIG_DIR)/$(CONFIG)/config.h
 110
 111 ifeq ($(wildcard $(CONFIG_FILE)),)
 112 $(error Config file not found: $(CONFIG_FILE))
 113 endif
 114
 115 TARGET       := $(shell grep " FC_TARGET_MCU" $(CONFIG_FILE) | awk '{print $$3}' )
 116
 117 ifeq ($(TARGET),)
 118 $(error No TARGET identified. Is the config.h valid for $(CONFIG)?)
 119 endif
 120
 121 else
 122 ifeq ($(TARGET),)
 123 TARGET := $(DEFAULT_TARGET)
 124 endif
 125 endif #CONFIG
 126
 127 include $(ROOT)/make/targets.mk
 128
 129 BASE_CONFIGS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/config/*/config.h)))))
 130
 131 REVISION := norevision
 132 ifeq ($(shell git diff --shortstat),)
 133 REVISION := $(shell git log -1 --format="%h")
 134 endif
 135
 136 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 137 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 138 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 139
 140 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 141
 142 # Search path for sources
 143 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 144 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 145 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 146
 147 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 148
 149 LD_FLAGS        :=
 150 EXTRA_LD_FLAGS  :=
 151
 152 #
 153 # Default Tool options - can be overridden in {mcu}.mk files.
 154 #
 155 ifeq ($(DEBUG),GDB)
 156 OPTIMISE_DEFAULT      := -Og
 157
 158 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 159 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 160 else
 161 ifeq ($(DEBUG),INFO)
 162 DEBUG_FLAGS            = -ggdb3
 163 endif
 164 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 165 OPTIMISE_DEFAULT      := -O2
 166 OPTIMISE_SPEED        := -Ofast
 167 OPTIMISE_SIZE         := -Os
 168
 169 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 170 endif
 171
 172 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 173 VPATH                   := $(VPATH):$(ROOT)/make
 174
 175 # start specific includes
 176 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 177
 178 ifneq ($(CONFIG),)
 179 TARGET_FLAGS    += -DUSE_CONFIG
 180 endif
 181
 182 # openocd specific includes
 183 include $(ROOT)/make/openocd.mk
 184
 185 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 186 ifeq ($(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 $(TARGET_DIR)/*.c))
 202
 203 .DEFAULT_GOAL := hex
 204
 205 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 206 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 207 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 208 endif
 209
 210 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 211                    $(ROOT)/lib/main/MAVLink
 212
 213 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 214                    $(TARGET_DIR)
 215
 216 VPATH           := $(VPATH):$(TARGET_DIR)
 217
 218 include $(ROOT)/make/source.mk
 219
 220 ###############################################################################
 221 # Things that might need changing to use different tools
 222 #
 223
 224 # Find out if ccache is installed on the system
 225 CCACHE := ccache
 226 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 227 ifneq ($(RESULT),0)
 228 CCACHE :=
 229 endif
 230
 231 # Tool names
 232 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 233 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 234 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 235 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 236 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 237 READELF     := $(ARM_SDK_PREFIX)readelf
 238 SIZE        := $(ARM_SDK_PREFIX)size
 239 DFUSE-PACK  := src/utils/dfuse-pack.py
 240
 241 #
 242 # Tool options.
 243 #
 244 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 245 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 246 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 247 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 248 CC_NO_OPTIMISATION      :=
 249
 250 #
 251 # Added after GCC version update, remove once the warnings have been fixed
 252 #
 253 TEMPORARY_FLAGS :=
 254
 255 EXTRA_WARNING_FLAGS := -Wold-style-definition
 256
 257 CFLAGS     += $(ARCH_FLAGS) \
 258               $(addprefix -D,$(OPTIONS)) \
 259               $(addprefix -I,$(INCLUDE_DIRS)) \
 260               $(DEBUG_FLAGS) \
 261               -std=gnu17 \
 262               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 263               $(EXTRA_WARNING_FLAGS) \
 264               -ffunction-sections \
 265               -fdata-sections \
 266               -fno-common \
 267               $(TEMPORARY_FLAGS) \
 268               $(DEVICE_FLAGS) \
 269               -D_GNU_SOURCE \
 270               -DUSE_STDPERIPH_DRIVER \
 271               -D$(TARGET) \
 272               $(TARGET_FLAGS) \
 273               -D'__FORKNAME__="$(FORKNAME)"' \
 274               -D'__TARGET__="$(TARGET)"' \
 275               -D'__REVISION__="$(REVISION)"' \
 276               -pipe \
 277               -MMD -MP \
 278               $(EXTRA_FLAGS)
 279
 280 ASFLAGS     = $(ARCH_FLAGS) \
 281               $(DEBUG_FLAGS) \
 282               -x assembler-with-cpp \
 283               $(addprefix -I,$(INCLUDE_DIRS)) \
 284               -MMD -MP
 285
 286 ifeq ($(LD_FLAGS),)
 287 LD_FLAGS     = -lm \
 288               -nostartfiles \
 289               --specs=nano.specs \
 290               -lc \
 291               -lnosys \
 292               $(ARCH_FLAGS) \
 293               $(LTO_FLAGS) \
 294               $(DEBUG_FLAGS) \
 295               -static \
 296               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 297               -Wl,-L$(LINKER_DIR) \
 298               -Wl,--cref \
 299               -Wl,--no-wchar-size-warning \
 300               -Wl,--print-memory-usage \
 301               -T$(LD_SCRIPT) \
 302                $(EXTRA_LD_FLAGS)
 303 endif
 304
 305 ###############################################################################
 306 # No user-serviceable parts below
 307 ###############################################################################
 308
 309 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 310                   --std=c99 --inline-suppr --quiet --force \
 311                   $(addprefix -I,$(INCLUDE_DIRS)) \
 312                   -I/usr/include -I/usr/include/linux
 313
 314 TARGET_NAME := $(TARGET)
 315
 316 ifneq ($(CONFIG),)
 317 TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
 318 endif
 319
 320 ifeq ($(REV),yes)
 321 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 322 endif
 323
 324 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 325
 326 #
 327 # Things we will build
 328 #
 329 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 330 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 331 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 332 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 333 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 334 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 335 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 336 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 337 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 338 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 339 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 340 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 341
 342 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 343
 344 TARGET_EF_HASH      := $(shell echo -n "$(EXTRA_FLAGS)" | openssl dgst -md5 | awk '{print $$2;}')
 345 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 346
 347 CLEAN_ARTIFACTS := $(TARGET_BIN)
 348 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 349 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 350 CLEAN_ARTIFACTS += $(TARGET_LST)
 351 CLEAN_ARTIFACTS += $(TARGET_DFU)
 352
 353 # Make sure build date and revision is updated on every incremental build
 354 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 355
 356 # List of buildable ELF files and their object dependencies.
 357 # It would be nice to compute these lists, but that seems to be just beyond make.
 358
 359 $(TARGET_LST): $(TARGET_ELF)
 360         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 361
 362 ifeq ($(EXST),no)
 363 $(TARGET_BIN): $(TARGET_ELF)
 364         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 365         $(V1) $(OBJCOPY) -O binary $< $@
 366
 367 $(TARGET_HEX): $(TARGET_ELF)
 368         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 369         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 370
 371 $(TARGET_DFU): $(TARGET_HEX)
 372         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 373         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 374
 375 else
 376 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 377
 378 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 379         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 380         $(V1) $(OBJCOPY) -O binary $< $@
 381
 382 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 383         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 384 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 385 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 386         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 387         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 388
 389         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 390         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 391
 392         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 393         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 394         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 395
 396 # 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"
 397 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 398 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 399 # a) regeneration of $(TARGET_BIN), and
 400 # b) the results of $(TARGET_BIN) will not be as expected.
 401         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 402         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 403         rm $(TARGET_EXST_ELF).tmp
 404
 405         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 406         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 407
 408         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 409         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --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_NAME)" "$(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 $(TARGET_OBJ_DIR)/%.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 $(TARGET_OBJ_DIR)/%.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 $(TARGET_OBJ_DIR)/%.o: %.s
 463         $(V1) mkdir -p $(dir $@)
 464         @echo "%% $(notdir $<)" "$(STDOUT)"
 465         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 466
 467 $(TARGET_OBJ_DIR)/%.o: %.S
 468         $(V1) mkdir -p $(dir $@)
 469         @echo "%% $(notdir $<)" "$(STDOUT)"
 470         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 471
 472
 473 ## all               : Build all currently built targets
 474 all: $(CI_TARGETS)
 475
 476 ## all_all : Build all targets (including legacy / unsupported)
 477 all_all: $(VALID_TARGETS)
 478
 479 $(BASE_TARGETS):
 480         $(V0) @echo "Building $@" && \
 481         $(MAKE) hex TARGET=$@ && \
 482         echo "Building $@ succeeded."
 483
 484 $(BASE_CONFIGS):
 485         $(V0) @echo "Building config $@" && \
 486         $(MAKE) hex CONFIG=$@ && \
 487         echo "Building config $@ succeeded."
 488
 489 $(NOBUILD_TARGETS):
 490         $(MAKE) TARGET=$@
 491
 492 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 493 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 494
 495 ## clean             : clean up temporary / machine-generated files
 496 clean:
 497         @echo "Cleaning $(TARGET_NAME)"
 498         $(V0) rm -f $(CLEAN_ARTIFACTS)
 499         $(V0) rm -rf $(TARGET_OBJ_DIR)
 500         @echo "Cleaning $(TARGET_NAME) succeeded."
 501
 502 ## test_clean        : clean up temporary / machine-generated files (tests)
 503 test-%_clean:
 504         $(MAKE) test_clean
 505
 506 test_clean:
 507         $(V0) cd src/test && $(MAKE) clean || true
 508
 509 ## <TARGET>_clean    : clean up one specific target (alias for above)
 510 $(TARGETS_CLEAN):
 511         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 512
 513 ## <CONFIG>_clean    : clean up one specific config (alias for above)
 514 $(CONFIGS_CLEAN):
 515         $(V0) $(MAKE) -j CONFIG=$(subst _clean,,$@) clean
 516
 517 ## clean_all         : clean all valid targets
 518 clean_all: $(TARGETS_CLEAN) test_clean
 519
 520 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 521
 522 ## <TARGET>_flash    : build and flash a target
 523 $(TARGETS_FLASH):
 524         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 525 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 526         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 527 else
 528         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 529 endif
 530
 531 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 532 tty_flash:
 533         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 534         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 535         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 536
 537 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 538 dfu_flash:
 539 ifneq (no-port-found,$(SERIAL_DEVICE))
 540         # potentially this is because the MCU already is in DFU mode, try anyway
 541         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 542         $(V0) sleep 1
 543 endif
 544         $(V0) $(MAKE) $(TARGET_DFU)
 545         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 546
 547 st-flash_$(TARGET): $(TARGET_BIN)
 548         $(V0) st-flash --reset write $< 0x08000000
 549
 550 ## st-flash          : flash firmware (.bin) onto flight controller
 551 st-flash: st-flash_$(TARGET)
 552
 553 ifneq ($(OPENOCD_COMMAND),)
 554 openocd-gdb: $(TARGET_ELF)
 555         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 556 endif
 557
 558 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 559
 560 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 561 $(TARGETS_ZIP):
 562         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 563         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 564
 565 zip:
 566         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 567
 568 binary:
 569         $(V0) $(MAKE) -j $(TARGET_BIN)
 570
 571 hex:
 572         $(V0) $(MAKE) -j $(TARGET_HEX)
 573
 574 TARGETS_REVISION = $(addsuffix _rev,$(VALID_TARGETS))
 575 ## <TARGET>_rev    : build target and add revision to filename
 576 $(TARGETS_REVISION):
 577         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 578
 579 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 580
 581 unbrick_$(TARGET): $(TARGET_HEX)
 582         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 583         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 584
 585 ## unbrick           : unbrick flight controller
 586 unbrick: unbrick_$(TARGET)
 587
 588 ## cppcheck          : run static analysis on C source code
 589 cppcheck: $(CSOURCES)
 590         $(V0) $(CPPCHECK)
 591
 592 cppcheck-result.xml: $(CSOURCES)
 593         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 594
 595 # mkdirs
 596 $(DL_DIR):
 597         mkdir -p $@
 598
 599 $(TOOLS_DIR):
 600         mkdir -p $@
 601
 602 ## version           : print firmware version
 603 version:
 604         @echo $(FC_VER)
 605
 606 ## help              : print this help message and exit
 607 help: Makefile make/tools.mk
 608         @echo ""
 609         @echo "Makefile for the $(FORKNAME) firmware"
 610         @echo ""
 611         @echo "Usage:"
 612         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 613         @echo "Or:"
 614         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 615         @echo ""
 616         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 617         @echo ""
 618         @sed -n 's/^## //p' $?
 619
 620 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 621 targets:
 622         @echo "Valid targets:       $(VALID_TARGETS)"
 623         @echo "Built targets:       $(CI_TARGETS)"
 624         @echo "Default target:      $(TARGET)"
 625
 626 configs:
 627         @echo "Valid configs:       $(BASE_CONFIGS)"
 628
 629 targets-ci-print:
 630         @echo $(CI_TARGETS)
 631
 632 ## target-mcu        : print the MCU type of the target
 633 target-mcu:
 634         @echo $(TARGET_MCU)
 635
 636 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 637 targets-by-mcu:
 638         $(V1) for target in $${TARGETS}; do \
 639                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 640                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 641                         if [ "$${DO_BUILD}" = 1 ]; then \
 642                                 echo "Building target $${target}..."; \
 643                                 $(MAKE) TARGET=$${target}; \
 644                                 if [ $$? -ne 0 ]; then \
 645                                         echo "Building target $${target} failed, aborting."; \
 646                                         exit 1; \
 647                                 fi; \
 648                         else \
 649                                 echo -n "$${target} "; \
 650                         fi; \
 651                 fi; \
 652         done
 653         @echo
 654
 655 ## targets-f4        : make all F4 targets
 656 targets-f4:
 657         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 658
 659 targets-f4-print:
 660         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 661
 662 targets-ci-f4-print:
 663         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 664
 665 ## targets-f7        : make all F7 targets
 666 targets-f7:
 667         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 668
 669 targets-f7-print:
 670         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 671
 672 targets-ci-f7-print:
 673         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 674
 675 ## test              : run the Betaflight test suite
 676 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 677 ## 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)
 678 ## test-all: run the Betaflight test suite including all per-target expanded tests
 679 test junittest test-all test-representative:
 680         $(V0) cd src/test && $(MAKE) $@
 681
 682 ## test_help         : print the help message for the test suite (including a list of the available tests)
 683 test_help:
 684         $(V0) cd src/test && $(MAKE) help
 685
 686 ## test_versions         : print the compiler versions used for the test suite
 687 test_versions:
 688         $(V0) cd src/test && $(MAKE) versions
 689
 690 ## test_%            : run test 'test_%' from the test suite
 691 test_%:
 692         $(V0) cd src/test && $(MAKE) $@
 693
 694 $(TARGET_EF_HASH_FILE):
 695         $(V1) mkdir -p $(dir $@)
 696         $(V0) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 697         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 698         $(V1) touch $(TARGET_EF_HASH_FILE)
 699
 700 # rebuild everything when makefile changes or the extra flags have changed
 701 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 702
 703 # include auto-generated dependencies
 704 -include $(TARGET_DEPS)