Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the betaflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12 ###############################################################################
  13
  14
  15 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see VALID_TARGETS below
  19 TARGET    ?= STM32F405
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # compile for External Storage Bootloader support
  28 EXST      ?= no
  29
  30 # compile for target loaded into RAM
  31 RAM_BASED ?= no
  32
  33 # reserve space for custom defaults
  34 CUSTOM_DEFAULTS_EXTENDED ?= no
  35
  36 # Debugger optons:
  37 #   empty           - ordinary build with all optimizations enabled
  38 #   RELWITHDEBINFO  - ordinary build with debug symbols and all optimizations enabled
  39 #   GDB             - debug build with minimum number of optimizations
  40 DEBUG     ?=
  41
  42 # Insert the debugging hardfault debugger
  43 # releases should not be built with this flag as it does not disable pwm output
  44 DEBUG_HARDFAULTS ?=
  45
  46 # Serial port/Device for flashing
  47 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  48
  49 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  50 FLASH_SIZE ?=
  51
  52
  53 ###############################################################################
  54 # Things that need to be maintained as the source changes
  55 #
  56
  57 FORKNAME      = betaflight
  58
  59 # Working directories
  60 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  61 SRC_DIR         := $(ROOT)/src/main
  62 OBJECT_DIR      := $(ROOT)/obj/main
  63 BIN_DIR         := $(ROOT)/obj
  64 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  65 INCLUDE_DIRS    := $(SRC_DIR) \
  66                    $(ROOT)/src/main/target \
  67                    $(ROOT)/src/main/startup
  68 LINKER_DIR      := $(ROOT)/src/link
  69
  70 ## V                 : Set verbosity level based on the V= parameter
  71 ##                     V=0 Low
  72 ##                     V=1 High
  73 include $(ROOT)/make/build_verbosity.mk
  74
  75 # Build tools, so we all share the same versions
  76 # import macros common to all supported build systems
  77 include $(ROOT)/make/system-id.mk
  78
  79 # developer preferences, edit these at will, they'll be gitignored
  80 -include $(ROOT)/make/local.mk
  81
  82 # pre-build sanity checks
  83 include $(ROOT)/make/checks.mk
  84
  85 # configure some directories that are relative to wherever ROOT_DIR is located
  86 ifndef TOOLS_DIR
  87 TOOLS_DIR := $(ROOT)/tools
  88 endif
  89 BUILD_DIR := $(ROOT)/build
  90 DL_DIR    := $(ROOT)/downloads
  91
  92 export RM := rm
  93
  94 # import macros that are OS specific
  95 include $(ROOT)/make/$(OSFAMILY).mk
  96
  97 # include the tools makefile
  98 include $(ROOT)/make/tools.mk
  99
 100 # default xtal value for F4 targets
 101 HSE_VALUE       ?= 8000000
 102
 103 # used for turning on features like VCP and SDCARD
 104 FEATURES        =
 105
 106 # used to disable features based on flash space shortage (larger number => more features disabled)
 107 FEATURE_CUT_LEVEL_SUPPLIED := $(FEATURE_CUT_LEVEL)
 108 FEATURE_CUT_LEVEL =
 109
 110 # The list of targets to build for 'pre-push'
 111 PRE_PUSH_TARGET_LIST ?= STM32F405 STM32F411 STM32F7X2 STM32F745 NUCLEOH743 SITL STM32F4DISCOVERY_DEBUG test-representative
 112
 113 include $(ROOT)/make/targets.mk
 114
 115 REVISION := norevision
 116 ifeq ($(shell git diff --shortstat),)
 117 REVISION := $(shell git log -1 --format="%h")
 118 endif
 119
 120 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 121 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 122 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 123
 124 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 125
 126 # Search path for sources
 127 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 128 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 129 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 130 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 131 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 132
 133 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 134
 135 LD_FLAGS        :=
 136 EXTRA_LD_FLAGS  :=
 137
 138 #
 139 # Default Tool options - can be overridden in {mcu}.mk files.
 140 #
 141 ifeq ($(DEBUG),GDB)
 142 OPTIMISE_DEFAULT      := -Og
 143
 144 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 145 DEBUG_FLAGS            = -ggdb3 -DDEBUG
 146 else
 147 ifeq ($(DEBUG),INFO)
 148 DEBUG_FLAGS            = -ggdb3
 149 endif
 150 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math
 151 OPTIMISE_DEFAULT      := -O2
 152 OPTIMISE_SPEED        := -Ofast
 153 OPTIMISE_SIZE         := -Os
 154
 155 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 156 endif
 157
 158 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 159 VPATH                   := $(VPATH):$(ROOT)/make
 160
 161 # start specific includes
 162 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 163
 164 # openocd specific includes
 165 include $(ROOT)/make/openocd.mk
 166
 167 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 168 ifeq ($(TARGET_FLASH_SIZE),)
 169 ifneq ($(MCU_FLASH_SIZE),)
 170 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 171 else
 172 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 173 endif
 174 endif
 175
 176 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 177
 178 ifneq ($(HSE_VALUE),)
 179 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 180 endif
 181
 182 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 183 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 184 else ifneq ($(FEATURE_CUT_LEVEL),)
 185 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 186 endif
 187
 188 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 189 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 190
 191 ifeq ($(OPBL),yes)
 192 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 193 .DEFAULT_GOAL := binary
 194 else
 195 .DEFAULT_GOAL := hex
 196 endif
 197
 198 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 199 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 200 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 201 endif
 202
 203 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 204                    $(ROOT)/lib/main/MAVLink
 205
 206 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 207                    $(TARGET_DIR)
 208
 209 VPATH           := $(VPATH):$(TARGET_DIR)
 210
 211 include $(ROOT)/make/source.mk
 212
 213 ###############################################################################
 214 # Things that might need changing to use different tools
 215 #
 216
 217 # Find out if ccache is installed on the system
 218 CCACHE := ccache
 219 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 220 ifneq ($(RESULT),0)
 221 CCACHE :=
 222 endif
 223
 224 # Tool names
 225 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 226 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 227 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 228 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 229 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 230 SIZE        := $(ARM_SDK_PREFIX)size
 231 DFUSE-PACK  := src/utils/dfuse-pack.py
 232
 233 #
 234 # Tool options.
 235 #
 236 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 237 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 238 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 239 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 240 CC_NO_OPTIMISATION      :=
 241
 242 #
 243 # Added after GCC version update, remove once the warnings have been fixed
 244 #
 245 TEMPORARY_FLAGS :=
 246
 247 CFLAGS     += $(ARCH_FLAGS) \
 248               $(addprefix -D,$(OPTIONS)) \
 249               $(addprefix -I,$(INCLUDE_DIRS)) \
 250               $(DEBUG_FLAGS) \
 251               -std=gnu11 \
 252               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 253               -ffunction-sections \
 254               -fdata-sections \
 255               -fno-common \
 256               -pedantic \
 257               $(TEMPORARY_FLAGS) \
 258               $(DEVICE_FLAGS) \
 259               -D_GNU_SOURCE \
 260               -DUSE_STDPERIPH_DRIVER \
 261               -D$(TARGET) \
 262               $(TARGET_FLAGS) \
 263               -D'__FORKNAME__="$(FORKNAME)"' \
 264               -D'__TARGET__="$(TARGET)"' \
 265               -D'__REVISION__="$(REVISION)"' \
 266               -save-temps=obj \
 267               -MMD -MP \
 268               $(EXTRA_FLAGS)
 269
 270 ASFLAGS     = $(ARCH_FLAGS) \
 271               $(DEBUG_FLAGS) \
 272               -x assembler-with-cpp \
 273               $(addprefix -I,$(INCLUDE_DIRS)) \
 274               -MMD -MP
 275
 276 ifeq ($(LD_FLAGS),)
 277 LD_FLAGS     = -lm \
 278               -nostartfiles \
 279               --specs=nano.specs \
 280               -lc \
 281               -lnosys \
 282               $(ARCH_FLAGS) \
 283               $(LTO_FLAGS) \
 284               $(DEBUG_FLAGS) \
 285               -static \
 286               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 287               -Wl,-L$(LINKER_DIR) \
 288               -Wl,--cref \
 289               -Wl,--no-wchar-size-warning \
 290               -Wl,--print-memory-usage \
 291               -T$(LD_SCRIPT) \
 292                $(EXTRA_LD_FLAGS)
 293 endif
 294
 295 ###############################################################################
 296 # No user-serviceable parts below
 297 ###############################################################################
 298
 299 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 300                   --std=c99 --inline-suppr --quiet --force \
 301                   $(addprefix -I,$(INCLUDE_DIRS)) \
 302                   -I/usr/include -I/usr/include/linux
 303
 304
 305 TARGET_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)_$(REVISION)
 306
 307 #
 308 # Things we will build
 309 #
 310 TARGET_BIN      = $(TARGET_BASENAME).bin
 311 TARGET_HEX      = $(TARGET_BASENAME).hex
 312 TARGET_DFU      = $(TARGET_BASENAME).dfu
 313 TARGET_ZIP      = $(TARGET_BASENAME).zip
 314 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 315 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
 316 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
 317 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 318 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 319 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 320 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 321
 322 TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
 323
 324 CLEAN_ARTIFACTS := $(TARGET_BIN)
 325 CLEAN_ARTIFACTS += $(TARGET_HEX)
 326 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 327 CLEAN_ARTIFACTS += $(TARGET_LST)
 328 CLEAN_ARTIFACTS += $(TARGET_DFU)
 329
 330 # Make sure build date and revision is updated on every incremental build
 331 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 332
 333 # List of buildable ELF files and their object dependencies.
 334 # It would be nice to compute these lists, but that seems to be just beyond make.
 335
 336 $(TARGET_LST): $(TARGET_ELF)
 337         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 338
 339 ifeq ($(EXST),no)
 340 $(TARGET_BIN): $(TARGET_ELF)
 341         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 342         $(V1) $(OBJCOPY) -O binary $< $@
 343
 344 $(TARGET_HEX): $(TARGET_ELF)
 345         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 346         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 347
 348 $(TARGET_DFU): $(TARGET_HEX)
 349         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 350         $(V1) $(DFUSE-PACK) -i $< $@
 351
 352 else
 353 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 354
 355 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 356         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 357         $(V1) $(OBJCOPY) -O binary $< $@
 358
 359 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 360         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 361 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 362 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 363         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 364         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 365
 366         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 367         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 368
 369         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 370         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 371         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 372
 373 # 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"
 374 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 375 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 376 # a) regeneration of $(TARGET_BIN), and
 377 # b) the results of $(TARGET_BIN) will not be as expected.
 378         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 379         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 380         rm $(TARGET_EXST_ELF).tmp
 381
 382         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 383         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 384
 385         @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 386         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 387
 388 $(TARGET_HEX): $(TARGET_BIN)
 389         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 390
 391         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 392         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 393
 394 endif
 395
 396 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT)
 397         @echo "Linking $(TARGET)" "$(STDOUT)"
 398         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 399         $(V1) $(SIZE) $(TARGET_ELF)
 400
 401 # Compile
 402
 403 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 404 define compile_file
 405         echo "%% ($(1)) $<" "$(STDOUT)" && \
 406         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 407 endef
 408
 409 ifeq ($(DEBUG),GDB)
 410 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 411         $(V1) mkdir -p $(dir $@)
 412         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 413                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 414         , \
 415                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 416         )
 417 else
 418 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 419         $(V1) mkdir -p $(dir $@)
 420         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 421                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 422         , \
 423                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 424                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 425                 , \
 426                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 427                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 428                         , \
 429                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 430                         ) \
 431                 ) \
 432         )
 433 endif
 434
 435 # Assemble
 436 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 437         $(V1) mkdir -p $(dir $@)
 438         @echo "%% $(notdir $<)" "$(STDOUT)"
 439         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 440
 441 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 442         $(V1) mkdir -p $(dir $@)
 443         @echo "%% $(notdir $<)" "$(STDOUT)"
 444         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 445
 446
 447 ## all               : Build all currently built targets
 448 all: $(CI_TARGETS)
 449
 450 ## all_all : Build all targets (including legacy / unsupported)
 451 all_all: $(VALID_TARGETS)
 452
 453 ## unified : build all Unified Targets
 454 unified: $(UNIFIED_TARGETS)
 455
 456 ## unified_zip : build all Unified Targets as zip files (for posting on GitHub)
 457 unified_zip: $(addsuffix _clean,$(UNIFIED_TARGETS)) $(addsuffix _zip,$(UNIFIED_TARGETS))
 458
 459 ## legacy : Build legacy targets
 460 legacy: $(LEGACY_TARGETS)
 461
 462 ## unsupported : Build unsupported targets
 463 unsupported: $(UNSUPPORTED_TARGETS)
 464
 465 ## pre-push : The minimum verification that should be run before pushing, to check if CI has a chance of succeeding
 466 pre-push:
 467         $(MAKE) $(addsuffix _clean,$(PRE_PUSH_TARGET_LIST)) $(PRE_PUSH_TARGET_LIST) EXTRA_FLAGS=-Werror
 468
 469 ## targets-group-1   : build some targets
 470 targets-group-1: $(GROUP_1_TARGETS)
 471
 472 ## targets-group-2   : build some targets
 473 targets-group-2: $(GROUP_2_TARGETS)
 474
 475 ## targets-group-rest: build the rest of the targets (not listed in the other groups)
 476 targets-group-rest: $(GROUP_OTHER_TARGETS)
 477
 478 $(VALID_TARGETS):
 479         $(V0) @echo "Building $@" && \
 480         $(MAKE) binary hex TARGET=$@ && \
 481         echo "Building $@ succeeded."
 482
 483 $(NOBUILD_TARGETS):
 484         $(MAKE) TARGET=$@
 485
 486 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 487
 488 ## clean             : clean up temporary / machine-generated files
 489 clean:
 490         @echo "Cleaning $(TARGET)"
 491         $(V0) rm -f $(CLEAN_ARTIFACTS)
 492         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 493         @echo "Cleaning $(TARGET) succeeded."
 494
 495 ## test_clean        : clean up temporary / machine-generated files (tests)
 496 test-%_clean:
 497         $(MAKE) test_clean
 498
 499 test_clean:
 500         $(V0) cd src/test && $(MAKE) clean || true
 501
 502 ## <TARGET>_clean    : clean up one specific target (alias for above)
 503 $(TARGETS_CLEAN):
 504         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 505
 506 ## clean_all         : clean all valid targets
 507 clean_all: $(TARGETS_CLEAN) test_clean
 508
 509 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 510
 511 ## <TARGET>_flash    : build and flash a target
 512 $(TARGETS_FLASH):
 513         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 514 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 515         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 516 else
 517         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 518 endif
 519
 520 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 521 tty_flash:
 522         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 523         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 524         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 525
 526 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 527 dfu_flash:
 528 ifneq (no-port-found,$(SERIAL_DEVICE))
 529         # potentially this is because the MCU already is in DFU mode, try anyway
 530         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 531         $(V0) sleep 1
 532 endif
 533         $(V0) $(MAKE) $(TARGET_DFU)
 534         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 535
 536 st-flash_$(TARGET): $(TARGET_BIN)
 537         $(V0) st-flash --reset write $< 0x08000000
 538
 539 ## st-flash          : flash firmware (.bin) onto flight controller
 540 st-flash: st-flash_$(TARGET)
 541
 542 ifneq ($(OPENOCD_COMMAND),)
 543 openocd-gdb: $(TARGET_ELF)
 544         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 545 endif
 546
 547 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 548
 549 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 550 $(TARGETS_ZIP):
 551         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 552         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 553
 554 zip:
 555         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 556
 557 binary:
 558         $(V0) $(MAKE) -j $(TARGET_BIN)
 559
 560 hex:
 561         $(V0) $(MAKE) -j $(TARGET_HEX)
 562
 563 unbrick_$(TARGET): $(TARGET_HEX)
 564         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 565         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 566
 567 ## unbrick           : unbrick flight controller
 568 unbrick: unbrick_$(TARGET)
 569
 570 ## cppcheck          : run static analysis on C source code
 571 cppcheck: $(CSOURCES)
 572         $(V0) $(CPPCHECK)
 573
 574 cppcheck-result.xml: $(CSOURCES)
 575         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 576
 577 # mkdirs
 578 $(DL_DIR):
 579         mkdir -p $@
 580
 581 $(TOOLS_DIR):
 582         mkdir -p $@
 583
 584 $(BUILD_DIR):
 585         mkdir -p $@
 586
 587 ## version           : print firmware version
 588 version:
 589         @echo $(FC_VER)
 590
 591 ## help              : print this help message and exit
 592 help: Makefile make/tools.mk
 593         @echo ""
 594         @echo "Makefile for the $(FORKNAME) firmware"
 595         @echo ""
 596         @echo "Usage:"
 597         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 598         @echo "Or:"
 599         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 600         @echo ""
 601         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 602         @echo ""
 603         @sed -n 's/^## //p' $?
 604
 605 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 606 targets:
 607         @echo "Valid targets:       $(VALID_TARGETS)"
 608         @echo "Built targets:       $(CI_TARGETS)"
 609         @echo "Unified targets:     $(UNIFIED_TARGETS)"
 610         @echo "Legacy targets:      $(LEGACY_TARGETS)"
 611         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 612         @echo "Target:              $(TARGET)"
 613         @echo "Base target:         $(BASE_TARGET)"
 614         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 615         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 616         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 617
 618         @echo "targets-group-1:     $(words $(GROUP_1_TARGETS)) targets"
 619         @echo "targets-group-2:     $(words $(GROUP_2_TARGETS)) targets"
 620         @echo "targets-group-rest:  $(words $(GROUP_OTHER_TARGETS)) targets"
 621         @echo "total in all groups  $(words $(CI_TARGETS)) targets"
 622
 623 ## target-mcu        : print the MCU type of the target
 624 target-mcu:
 625         @echo $(TARGET_MCU)
 626
 627 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 628 targets-by-mcu:
 629         $(V1) for target in $${TARGETS}; do \
 630                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 631                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 632                         if [ "$${DO_BUILD}" = 1 ]; then \
 633                                 echo "Building target $${target}..."; \
 634                                 $(MAKE) TARGET=$${target}; \
 635                                 if [ $$? -ne 0 ]; then \
 636                                         echo "Building target $${target} failed, aborting."; \
 637                                         exit 1; \
 638                                 fi; \
 639                         else \
 640                                 echo -n "$${target} "; \
 641                         fi; \
 642                 fi; \
 643         done
 644         @echo
 645
 646 ## targets-f3        : make all F3 targets
 647 targets-f3:
 648         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 649
 650 targets-f3-print:
 651         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3 TARGETS="$(VALID_TARGETS)"
 652
 653 ## targets-f4        : make all F4 targets
 654 targets-f4:
 655         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 656
 657 targets-f4-print:
 658         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 659
 660 targets-ci-f4-print:
 661         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 662
 663 ## targets-f7        : make all F7 targets
 664 targets-f7:
 665         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 666
 667 targets-f7-print:
 668         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 669
 670 targets-ci-f7-print:
 671         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 672
 673 ## test              : run the Betaflight test suite
 674 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 675 ## 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)
 676 ## test-all: run the Betaflight test suite including all per-target expanded tests
 677 test junittest test-all test-representative:
 678         $(V0) cd src/test && $(MAKE) $@
 679
 680 ## test_help         : print the help message for the test suite (including a list of the available tests)
 681 test_help:
 682         $(V0) cd src/test && $(MAKE) help
 683
 684 ## test_versions         : print the compiler versions used for the test suite
 685 test_versions:
 686         $(V0) cd src/test && $(MAKE) versions
 687
 688 ## test_%            : run test 'test_%' from the test suite
 689 test_%:
 690         $(V0) cd src/test && $(MAKE) $@
 691
 692
 693 # rebuild everything when makefile changes
 694 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 695
 696 # include auto-generated dependencies
 697 -include $(TARGET_DEPS)