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