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 BOARD     ?=
  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
  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 SRC_DIR         := $(ROOT)/src/main
  59 OBJECT_DIR      := $(ROOT)/obj/main
  60 BIN_DIR         := $(ROOT)/obj
  61 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  62 INCLUDE_DIRS    := $(SRC_DIR) \
  63                    $(ROOT)/src/main/target \
  64                    $(ROOT)/src/main/startup
  65 LINKER_DIR      := $(ROOT)/src/link
  66
  67 ## V                 : Set verbosity level based on the V= parameter
  68 ##                     V=0 Low
  69 ##                     V=1 High
  70 include $(ROOT)/make/build_verbosity.mk
  71
  72 # Build tools, so we all share the same versions
  73 # import macros common to all supported build systems
  74 include $(ROOT)/make/system-id.mk
  75
  76 # developer preferences, edit these at will, they'll be gitignored
  77 -include $(ROOT)/make/local.mk
  78
  79 # pre-build sanity checks
  80 include $(ROOT)/make/checks.mk
  81
  82 # configure some directories that are relative to wherever ROOT_DIR is located
  83 TOOLS_DIR ?= $(ROOT)/tools
  84 DL_DIR    := $(ROOT)/downloads
  85
  86 export RM := rm
  87
  88 # import macros that are OS specific
  89 include $(ROOT)/make/$(OSFAMILY).mk
  90
  91 # include the tools makefile
  92 include $(ROOT)/make/tools.mk
  93
  94 # default xtal value for F4 targets
  95 HSE_VALUE       ?= 8000000
  96
  97 # used for turning on features like VCP and SDCARD
  98 FEATURES        =
  99
 100 # used to disable features based on flash space shortage (larger number => more features disabled)
 101 FEATURE_CUT_LEVEL_SUPPLIED := $(FEATURE_CUT_LEVEL)
 102 FEATURE_CUT_LEVEL =
 103
 104 ifneq ($(BOARD),)
 105 # silently ignore if the file is not present. Allows for target defaults.
 106 -include $(ROOT)/src/main/board/$(BOARD)/board.mk
 107 endif
 108
 109 include $(ROOT)/make/targets.mk
 110
 111 REVISION := norevision
 112 ifeq ($(shell git diff --shortstat),)
 113 REVISION := $(shell git log -1 --format="%h")
 114 endif
 115
 116 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 117 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 118 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 119
 120 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 121
 122 # Search path for sources
 123 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 124 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 125 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 126
 127 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 128
 129 LD_FLAGS        :=
 130 EXTRA_LD_FLAGS  :=
 131
 132 #
 133 # Default Tool options - can be overridden in {mcu}.mk files.
 134 #
 135 ifeq ($(DEBUG),GDB)
 136 OPTIMISE_DEFAULT      := -Og
 137
 138 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 139 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 140 else
 141 ifeq ($(DEBUG),INFO)
 142 DEBUG_FLAGS            = -ggdb3
 143 endif
 144 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 145 OPTIMISE_DEFAULT      := -O2
 146 OPTIMISE_SPEED        := -Ofast
 147 OPTIMISE_SIZE         := -Os
 148
 149 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 150 endif
 151
 152 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 153 VPATH                   := $(VPATH):$(ROOT)/make
 154
 155 # start specific includes
 156 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 157
 158 # openocd specific includes
 159 include $(ROOT)/make/openocd.mk
 160
 161 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 162 ifeq ($(TARGET_FLASH_SIZE),)
 163 ifneq ($(MCU_FLASH_SIZE),)
 164 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 165 else
 166 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 167 endif
 168 endif
 169
 170 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 171
 172 ifneq ($(HSE_VALUE),)
 173 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 174 endif
 175
 176 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 177 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 178 else ifneq ($(FEATURE_CUT_LEVEL),)
 179 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 180 endif
 181
 182 TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
 183 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 184
 185 .DEFAULT_GOAL := hex
 186
 187 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 188 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 189 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 190 endif
 191
 192 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 193                    $(ROOT)/lib/main/MAVLink
 194
 195 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 196                    $(TARGET_DIR)
 197
 198 VPATH           := $(VPATH):$(TARGET_DIR)
 199
 200 include $(ROOT)/make/source.mk
 201
 202 ###############################################################################
 203 # Things that might need changing to use different tools
 204 #
 205
 206 # Find out if ccache is installed on the system
 207 CCACHE := ccache
 208 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 209 ifneq ($(RESULT),0)
 210 CCACHE :=
 211 endif
 212
 213 # Tool names
 214 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 215 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 216 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 217 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 218 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 219 READELF     := $(ARM_SDK_PREFIX)readelf
 220 SIZE        := $(ARM_SDK_PREFIX)size
 221 DFUSE-PACK  := src/utils/dfuse-pack.py
 222
 223 #
 224 # Tool options.
 225 #
 226 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 227 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 228 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 229 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 230 CC_NO_OPTIMISATION      :=
 231
 232 #
 233 # Added after GCC version update, remove once the warnings have been fixed
 234 #
 235 TEMPORARY_FLAGS :=
 236
 237 EXTRA_WARNING_FLAGS := -Wold-style-definition
 238
 239 CFLAGS     += $(ARCH_FLAGS) \
 240               $(addprefix -D,$(OPTIONS)) \
 241               $(addprefix -I,$(INCLUDE_DIRS)) \
 242               $(DEBUG_FLAGS) \
 243               -std=gnu17 \
 244               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 245               $(EXTRA_WARNING_FLAGS) \
 246               -ffunction-sections \
 247               -fdata-sections \
 248               -fno-common \
 249               $(TEMPORARY_FLAGS) \
 250               $(DEVICE_FLAGS) \
 251               -D_GNU_SOURCE \
 252               -DUSE_STDPERIPH_DRIVER \
 253               -D$(TARGET) \
 254               $(TARGET_FLAGS) \
 255               -D'__FORKNAME__="$(FORKNAME)"' \
 256               -D'__TARGET__="$(TARGET)"' \
 257               -D'__REVISION__="$(REVISION)"' \
 258               -pipe \
 259               -MMD -MP \
 260               $(EXTRA_FLAGS)
 261
 262 ASFLAGS     = $(ARCH_FLAGS) \
 263               $(DEBUG_FLAGS) \
 264               -x assembler-with-cpp \
 265               $(addprefix -I,$(INCLUDE_DIRS)) \
 266               -MMD -MP
 267
 268 ifeq ($(LD_FLAGS),)
 269 LD_FLAGS     = -lm \
 270               -nostartfiles \
 271               --specs=nano.specs \
 272               -lc \
 273               -lnosys \
 274               $(ARCH_FLAGS) \
 275               $(LTO_FLAGS) \
 276               $(DEBUG_FLAGS) \
 277               -static \
 278               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 279               -Wl,-L$(LINKER_DIR) \
 280               -Wl,--cref \
 281               -Wl,--no-wchar-size-warning \
 282               -Wl,--print-memory-usage \
 283               -T$(LD_SCRIPT) \
 284                $(EXTRA_LD_FLAGS)
 285 endif
 286
 287 ###############################################################################
 288 # No user-serviceable parts below
 289 ###############################################################################
 290
 291 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 292                   --std=c99 --inline-suppr --quiet --force \
 293                   $(addprefix -I,$(INCLUDE_DIRS)) \
 294                   -I/usr/include -I/usr/include/linux
 295
 296 TARGET_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)
 297
 298 #
 299 # Things we will build
 300 #
 301 TARGET_BIN      = $(TARGET_BASENAME).bin
 302 TARGET_HEX      = $(TARGET_BASENAME).hex
 303 TARGET_HEX_REV  = $(TARGET_BASENAME)_$(REVISION).hex
 304 TARGET_DFU      = $(TARGET_BASENAME).dfu
 305 TARGET_ZIP      = $(TARGET_BASENAME).zip
 306 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 307 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
 308 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
 309 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 310 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 311 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 312 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 313
 314 TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
 315
 316 CLEAN_ARTIFACTS := $(TARGET_BIN)
 317 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 318 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 319 CLEAN_ARTIFACTS += $(TARGET_LST)
 320 CLEAN_ARTIFACTS += $(TARGET_DFU)
 321
 322 # Make sure build date and revision is updated on every incremental build
 323 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 324
 325 # List of buildable ELF files and their object dependencies.
 326 # It would be nice to compute these lists, but that seems to be just beyond make.
 327
 328 $(TARGET_LST): $(TARGET_ELF)
 329         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 330
 331 ifeq ($(EXST),no)
 332 $(TARGET_BIN): $(TARGET_ELF)
 333         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 334         $(V1) $(OBJCOPY) -O binary $< $@
 335
 336 $(TARGET_HEX): $(TARGET_ELF)
 337         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 338         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 339
 340 $(TARGET_DFU): $(TARGET_HEX)
 341         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 342         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 343
 344 else
 345 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 346
 347 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 348         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 349         $(V1) $(OBJCOPY) -O binary $< $@
 350
 351 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 352         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 353 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 354 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 355         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 356         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 357
 358         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 359         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 360
 361         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 362         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 363         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 364
 365 # 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"
 366 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 367 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 368 # a) regeneration of $(TARGET_BIN), and
 369 # b) the results of $(TARGET_BIN) will not be as expected.
 370         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 371         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 372         rm $(TARGET_EXST_ELF).tmp
 373
 374         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 375         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 376
 377 # 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
 378 # 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.
 379 # The issue can be seen with `readelf -S $(TARGET_EXST_ELF)' vs `readelf -S $(TARGET_ELF)`
 380         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 381         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --remove-section ._user_heap_stack --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 382
 383         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 384         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 385
 386 $(TARGET_HEX): $(TARGET_BIN)
 387         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 388
 389         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 390         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 391
 392 endif
 393
 394 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 395         @echo "Linking $(TARGET)" "$(STDOUT)"
 396         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 397         $(V1) $(SIZE) $(TARGET_ELF)
 398
 399 # Compile
 400
 401 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 402 define compile_file
 403         echo "%% ($(1)) $<" "$(STDOUT)" && \
 404         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 405 endef
 406
 407 ifeq ($(DEBUG),GDB)
 408 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 409         $(V1) mkdir -p $(dir $@)
 410         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 411                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 412         , \
 413                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 414         )
 415 else
 416 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 417         $(V1) mkdir -p $(dir $@)
 418         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 419                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 420         , \
 421                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 422                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 423                 , \
 424                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 425                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 426                         , \
 427                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 428                         ) \
 429                 ) \
 430         )
 431 endif
 432
 433 # Assemble
 434 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 435         $(V1) mkdir -p $(dir $@)
 436         @echo "%% $(notdir $<)" "$(STDOUT)"
 437         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 438
 439 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 440         $(V1) mkdir -p $(dir $@)
 441         @echo "%% $(notdir $<)" "$(STDOUT)"
 442         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 443
 444
 445 ## all               : Build all currently built targets
 446 all: $(CI_TARGETS)
 447
 448 ## all_all : Build all targets (including legacy / unsupported)
 449 all_all: $(VALID_TARGETS)
 450
 451 $(VALID_TARGETS):
 452         $(V0) @echo "Building $@" && \
 453         $(MAKE) hex TARGET=$@ && \
 454         echo "Building $@ succeeded."
 455
 456 $(NOBUILD_TARGETS):
 457         $(MAKE) TARGET=$@
 458
 459 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 460
 461 ## clean             : clean up temporary / machine-generated files
 462 clean:
 463         @echo "Cleaning $(TARGET)"
 464         $(V0) rm -f $(CLEAN_ARTIFACTS)
 465         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 466         @echo "Cleaning $(TARGET) succeeded."
 467
 468 ## test_clean        : clean up temporary / machine-generated files (tests)
 469 test-%_clean:
 470         $(MAKE) test_clean
 471
 472 test_clean:
 473         $(V0) cd src/test && $(MAKE) clean || true
 474
 475 ## <TARGET>_clean    : clean up one specific target (alias for above)
 476 $(TARGETS_CLEAN):
 477         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 478
 479 ## clean_all         : clean all valid targets
 480 clean_all: $(TARGETS_CLEAN) test_clean
 481
 482 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 483
 484 ## <TARGET>_flash    : build and flash a target
 485 $(TARGETS_FLASH):
 486         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 487 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 488         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 489 else
 490         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 491 endif
 492
 493 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 494 tty_flash:
 495         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 496         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 497         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 498
 499 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 500 dfu_flash:
 501 ifneq (no-port-found,$(SERIAL_DEVICE))
 502         # potentially this is because the MCU already is in DFU mode, try anyway
 503         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 504         $(V0) sleep 1
 505 endif
 506         $(V0) $(MAKE) $(TARGET_DFU)
 507         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 508
 509 st-flash_$(TARGET): $(TARGET_BIN)
 510         $(V0) st-flash --reset write $< 0x08000000
 511
 512 ## st-flash          : flash firmware (.bin) onto flight controller
 513 st-flash: st-flash_$(TARGET)
 514
 515 ifneq ($(OPENOCD_COMMAND),)
 516 openocd-gdb: $(TARGET_ELF)
 517         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 518 endif
 519
 520 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 521
 522 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 523 $(TARGETS_ZIP):
 524         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 525         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 526
 527 zip:
 528         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 529
 530 binary:
 531         $(V0) $(MAKE) -j $(TARGET_BIN)
 532
 533 hex:
 534         $(V0) $(MAKE) -j $(TARGET_HEX)
 535
 536 TARGETS_REVISION = $(addsuffix _rev,$(VALID_TARGETS))
 537 ## <TARGET>_rev    : build target and add revision to filename
 538 $(TARGETS_REVISION):
 539         $(V0) $(MAKE) hex_rev TARGET=$(subst _rev,,$@)
 540
 541 hex_rev: hex
 542         $(V0) mv -f $(TARGET_HEX) $(TARGET_HEX_REV)
 543
 544 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 545
 546 unbrick_$(TARGET): $(TARGET_HEX)
 547         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 548         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 549
 550 ## unbrick           : unbrick flight controller
 551 unbrick: unbrick_$(TARGET)
 552
 553 ## cppcheck          : run static analysis on C source code
 554 cppcheck: $(CSOURCES)
 555         $(V0) $(CPPCHECK)
 556
 557 cppcheck-result.xml: $(CSOURCES)
 558         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 559
 560 # mkdirs
 561 $(DL_DIR):
 562         mkdir -p $@
 563
 564 $(TOOLS_DIR):
 565         mkdir -p $@
 566
 567 ## version           : print firmware version
 568 version:
 569         @echo $(FC_VER)
 570
 571 ## help              : print this help message and exit
 572 help: Makefile make/tools.mk
 573         @echo ""
 574         @echo "Makefile for the $(FORKNAME) firmware"
 575         @echo ""
 576         @echo "Usage:"
 577         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 578         @echo "Or:"
 579         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 580         @echo ""
 581         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 582         @echo ""
 583         @sed -n 's/^## //p' $?
 584
 585 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 586 targets:
 587         @echo "Valid targets:       $(VALID_TARGETS)"
 588         @echo "Built targets:       $(CI_TARGETS)"
 589         @echo "Default target:      $(TARGET)"
 590
 591 targets-ci-print:
 592         @echo $(CI_TARGETS)
 593
 594 ## target-mcu        : print the MCU type of the target
 595 target-mcu:
 596         @echo $(TARGET_MCU)
 597
 598 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 599 targets-by-mcu:
 600         $(V1) for target in $${TARGETS}; do \
 601                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 602                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 603                         if [ "$${DO_BUILD}" = 1 ]; then \
 604                                 echo "Building target $${target}..."; \
 605                                 $(MAKE) TARGET=$${target}; \
 606                                 if [ $$? -ne 0 ]; then \
 607                                         echo "Building target $${target} failed, aborting."; \
 608                                         exit 1; \
 609                                 fi; \
 610                         else \
 611                                 echo -n "$${target} "; \
 612                         fi; \
 613                 fi; \
 614         done
 615         @echo
 616
 617 ## targets-f4        : make all F4 targets
 618 targets-f4:
 619         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 620
 621 targets-f4-print:
 622         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 623
 624 targets-ci-f4-print:
 625         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 626
 627 ## targets-f7        : make all F7 targets
 628 targets-f7:
 629         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 630
 631 targets-f7-print:
 632         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 633
 634 targets-ci-f7-print:
 635         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 636
 637 ## test              : run the Betaflight test suite
 638 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 639 ## 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)
 640 ## test-all: run the Betaflight test suite including all per-target expanded tests
 641 test junittest test-all test-representative:
 642         $(V0) cd src/test && $(MAKE) $@
 643
 644 ## test_help         : print the help message for the test suite (including a list of the available tests)
 645 test_help:
 646         $(V0) cd src/test && $(MAKE) help
 647
 648 ## test_versions         : print the compiler versions used for the test suite
 649 test_versions:
 650         $(V0) cd src/test && $(MAKE) versions
 651
 652 ## test_%            : run test 'test_%' from the test suite
 653 test_%:
 654         $(V0) cd src/test && $(MAKE) $@
 655
 656
 657 # rebuild everything when makefile changes
 658 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 659
 660 # include auto-generated dependencies
 661 -include $(TARGET_DEPS)