Makefile

   1 ###############################################################################
   2 # "THE BEER-WARE LICENSE" (Revision 42):
   3 # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
   4 # can do whatever you want with this stuff. If we meet some day, and you think
   5 # this stuff is worth it, you can buy me a beer in return
   6 ###############################################################################
   7 #
   8 # Makefile for building the betaflight firmware.
   9 #
  10 # Invoke this with 'make help' to see the list of supported targets.
  11 #
  12 ###############################################################################
  13
  14
  15 # Things that the user might override on the commandline
  16 #
  17
  18 # The target to build, see BASE_TARGETS below
  19 DEFAULT_TARGET ?= STM32F405
  20 TARGET    ?=
  21 CONFIG    ?=
  22
  23 # Compile-time options
  24 OPTIONS   ?=
  25
  26 # compile for External Storage Bootloader support
  27 EXST      ?= no
  28
  29 # compile for target loaded into RAM
  30 RAM_BASED ?= no
  31
  32 # reserve space for custom defaults
  33 CUSTOM_DEFAULTS_EXTENDED ?= no
  34
  35 # Debugger optons:
  36 #   empty - ordinary build with all optimizations enabled
  37 #   INFO - ordinary build with debug symbols and all optimizations enabled. Only builds touched files.
  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 PLATFORM_DIR    := $(ROOT)/src/platform
  60 SRC_DIR         := $(ROOT)/src/main
  61 OBJECT_DIR      := $(ROOT)/obj/main
  62 BIN_DIR         := $(ROOT)/obj
  63 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  64 INCLUDE_DIRS    := $(SRC_DIR)
  65
  66 MAKE_SCRIPT_DIR := $(ROOT)/mk
  67
  68 ## V                 : Set verbosity level based on the V= parameter
  69 ##                     V=0 Low
  70 ##                     V=1 High
  71 include $(MAKE_SCRIPT_DIR)/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 $(MAKE_SCRIPT_DIR)/system-id.mk
  76
  77 # developer preferences, edit these at will, they'll be gitignored
  78 ifneq ($(wildcard $(MAKE_SCRIPT_DIR)/local.mk),)
  79 include $(MAKE_SCRIPT_DIR)/local.mk
  80 endif
  81
  82 # some targets use parallel build by default
  83 # MAKEFLAGS is valid only inside target, do not use this at parse phase
  84 DEFAULT_PARALLEL_JOBS   :=    # all jobs in parallel (for backward compatibility)
  85 MAKE_PARALLEL                = $(if $(filter -j%, $(MAKEFLAGS)),$(EMPTY),-j$(DEFAULT_PARALLEL_JOBS))
  86
  87 # pre-build sanity checks
  88 include $(MAKE_SCRIPT_DIR)/checks.mk
  89
  90 # basic target list
  91 PLATFORMS        := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
  92 BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))
  93
  94 # configure some directories that are relative to wherever ROOT_DIR is located
  95 TOOLS_DIR  ?= $(ROOT)/tools
  96 DL_DIR     := $(ROOT)/downloads
  97 CONFIG_DIR ?= $(BETAFLIGHT_CONFIG)
  98 ifeq ($(CONFIG_DIR),)
  99 CONFIG_DIR := $(ROOT)/src/config
 100 endif
 101 DIRECTORIES := $(DL_DIR) $(TOOLS_DIR)
 102
 103 export RM := rm
 104
 105 # import macros that are OS specific
 106 include $(MAKE_SCRIPT_DIR)/$(OSFAMILY).mk
 107
 108 # include the tools makefile
 109 include $(MAKE_SCRIPT_DIR)/tools.mk
 110
 111 # Search path for sources
 112 VPATH           := $(SRC_DIR)
 113 FATFS_DIR        = $(ROOT)/lib/main/FatFS
 114 FATFS_SRC        = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 115 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 116
 117 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 118 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 119 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 120
 121 FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 122
 123 # import config handling
 124 include $(MAKE_SCRIPT_DIR)/config.mk
 125
 126 ifeq ($(CONFIG),)
 127 ifeq ($(TARGET),)
 128 TARGET := $(DEFAULT_TARGET)
 129 endif
 130 endif
 131
 132 # default xtal value
 133 HSE_VALUE       ?= 8000000
 134
 135 CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exclude)))))
 136 CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS)) $(filter STM32F4DISCOVERY CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF, $(BASE_CONFIGS))
 137
 138 TARGET_PLATFORM     := $(notdir $(patsubst %/,%,$(subst target/$(TARGET)/,, $(dir $(wildcard $(PLATFORM_DIR)/*/target/$(TARGET)/target.mk)))))
 139 TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
 140 LINKER_DIR          := $(TARGET_PLATFORM_DIR)/link
 141 VPATH               := $(VPATH):$(TARGET_PLATFORM_DIR):$(TARGET_PLATFORM_DIR)/startup
 142
 143 include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk
 144
 145 REVISION := norevision
 146 ifeq ($(shell git diff --shortstat),)
 147 REVISION := $(shell git log -1 --format="%h")
 148 endif
 149
 150 LD_FLAGS        :=
 151 EXTRA_LD_FLAGS  :=
 152
 153 #
 154 # Default Tool options - can be overridden in {mcu}.mk files.
 155 #
 156 DEBUG_MIXED = no
 157
 158 ifeq ($(DEBUG),INFO)
 159 DEBUG_MIXED = yes
 160 endif
 161 ifeq ($(DEBUG),GDB)
 162 DEBUG_MIXED = yes
 163 endif
 164
 165 ifeq ($(DEBUG),GDB)
 166 OPTIMISE_DEFAULT      := -Og
 167
 168 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 169 DEBUG_FLAGS            = -ggdb2 -gdwarf-5 -DDEBUG
 170 else
 171 ifeq ($(DEBUG),INFO)
 172 DEBUG_FLAGS            = -ggdb2
 173 endif
 174 OPTIMISATION_BASE     := -flto=auto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 175 OPTIMISE_DEFAULT      := -O2
 176 OPTIMISE_SPEED        := -Ofast
 177 OPTIMISE_SIZE         := -Os
 178
 179 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 180 endif
 181
 182 VPATH                   := $(VPATH):$(MAKE_SCRIPT_DIR)
 183
 184 # start specific includes
 185 ifeq ($(TARGET_MCU),)
 186 $(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
 187 endif
 188
 189 ifeq ($(TARGET_MCU_FAMILY),)
 190 $(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
 191 endif
 192
 193 TARGET_FLAGS := -D$(TARGET) -D$(TARGET_PLATFORM) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
 194
 195 ifneq ($(CONFIG),)
 196 TARGET_FLAGS := $(TARGET_FLAGS) -DUSE_CONFIG
 197 endif
 198
 199 include $(TARGET_PLATFORM_DIR)/mk/$(TARGET_MCU_FAMILY).mk
 200
 201 # openocd specific includes
 202 include $(MAKE_SCRIPT_DIR)/openocd.mk
 203
 204 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 205 ifeq ($(TARGET_FLASH_SIZE),)
 206 ifneq ($(MCU_FLASH_SIZE),)
 207 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 208 else
 209 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 210 endif
 211 endif
 212
 213 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 214
 215 ifneq ($(HSE_VALUE),)
 216 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 217 endif
 218
 219 TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
 220
 221 .DEFAULT_GOAL := hex
 222
 223 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 224                    $(ROOT)/lib/main/MAVLink
 225
 226 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 227                    $(TARGET_DIR)
 228
 229 VPATH           := $(VPATH):$(TARGET_DIR)
 230
 231 include $(MAKE_SCRIPT_DIR)/source.mk
 232
 233 ###############################################################################
 234 # Things that might need changing to use different tools
 235 #
 236
 237 # Find out if ccache is installed on the system
 238 CCACHE := ccache
 239 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 240 ifneq ($(RESULT),0)
 241 CCACHE :=
 242 endif
 243
 244 # Tool names
 245 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 246 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 247 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 248 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 249 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 250 READELF     := $(ARM_SDK_PREFIX)readelf
 251 SIZE        := $(ARM_SDK_PREFIX)size
 252 DFUSE-PACK  := src/utils/dfuse-pack.py
 253
 254 #
 255 # Tool options.
 256 #
 257 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 258 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 259 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 260 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 261 CC_NO_OPTIMISATION      :=
 262
 263 #
 264 # Added after GCC version update, remove once the warnings have been fixed
 265 #
 266 TEMPORARY_FLAGS :=
 267
 268 EXTRA_WARNING_FLAGS := -Wold-style-definition
 269
 270 CFLAGS     += $(ARCH_FLAGS) \
 271               $(addprefix -D,$(OPTIONS)) \
 272               $(addprefix -I,$(INCLUDE_DIRS)) \
 273               $(DEBUG_FLAGS) \
 274               -std=gnu17 \
 275               -Wall -Wextra -Werror -Wunsafe-loop-optimizations -Wdouble-promotion \
 276               $(EXTRA_WARNING_FLAGS) \
 277               -ffunction-sections \
 278               -fdata-sections \
 279               -fno-common \
 280               $(TEMPORARY_FLAGS) \
 281               $(DEVICE_FLAGS) \
 282               -D_GNU_SOURCE \
 283               -DUSE_STDPERIPH_DRIVER \
 284               -D$(TARGET) \
 285               $(TARGET_FLAGS) \
 286               -D'__FORKNAME__="$(FORKNAME)"' \
 287               -D'__TARGET__="$(TARGET)"' \
 288               -D'__REVISION__="$(REVISION)"' \
 289               $(CONFIG_REVISION_DEFINE) \
 290               -pipe \
 291               -MMD -MP \
 292               $(EXTRA_FLAGS)
 293
 294 ASFLAGS     = $(ARCH_FLAGS) \
 295               $(DEBUG_FLAGS) \
 296               -x assembler-with-cpp \
 297               $(addprefix -I,$(INCLUDE_DIRS)) \
 298               -MMD -MP
 299
 300 ifeq ($(LD_FLAGS),)
 301 LD_FLAGS     = -lm \
 302               -nostartfiles \
 303               --specs=nano.specs \
 304               -lc \
 305               -lnosys \
 306               $(ARCH_FLAGS) \
 307               $(LTO_FLAGS) \
 308               $(DEBUG_FLAGS) \
 309               -static \
 310               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 311               -Wl,-L$(LINKER_DIR) \
 312               -Wl,--cref \
 313               -Wl,--no-wchar-size-warning \
 314               -Wl,--print-memory-usage \
 315               -T$(LD_SCRIPT) \
 316                $(EXTRA_LD_FLAGS)
 317 endif
 318
 319 ###############################################################################
 320 # No user-serviceable parts below
 321 ###############################################################################
 322
 323 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 324                   --std=c99 --inline-suppr --quiet --force \
 325                   $(addprefix -I,$(INCLUDE_DIRS)) \
 326                   -I/usr/include -I/usr/include/linux
 327
 328 TARGET_NAME := $(TARGET)
 329
 330 ifneq ($(CONFIG),)
 331 TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
 332 endif
 333
 334 ifeq ($(REV),yes)
 335 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 336 endif
 337
 338 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 339 #
 340 # Things we will build
 341 #
 342 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 343 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 344 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 345 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 346 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 347 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 348 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 349 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 350 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 351 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 352 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 353 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 354
 355 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 356
 357 ifeq ($(DEBUG_MIXED),yes)
 358 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
 359 else
 360 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEBUG_FLAGS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
 361 endif
 362
 363 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 364
 365 CLEAN_ARTIFACTS := $(TARGET_BIN)
 366 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 367 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 368 CLEAN_ARTIFACTS += $(TARGET_LST)
 369 CLEAN_ARTIFACTS += $(TARGET_DFU)
 370
 371 # Make sure build date and revision is updated on every incremental build
 372 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 373
 374 # List of buildable ELF files and their object dependencies.
 375 # It would be nice to compute these lists, but that seems to be just beyond make.
 376
 377 $(TARGET_LST): $(TARGET_ELF)
 378         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 379
 380 ifeq ($(EXST),no)
 381 $(TARGET_BIN): $(TARGET_ELF)
 382         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 383         $(V1) $(OBJCOPY) -O binary $< $@
 384
 385 $(TARGET_HEX): $(TARGET_ELF)
 386         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 387         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 388
 389 $(TARGET_DFU): $(TARGET_HEX)
 390         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 391         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 392
 393 else
 394 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 395
 396 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 397         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 398         $(V1) $(OBJCOPY) -O binary $< $@
 399
 400 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 401         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 402 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 403 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 404         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 405         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 406
 407         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 408         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 409
 410         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 411         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 412         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 413
 414 # 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"
 415 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 416 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 417 # a) regeneration of $(TARGET_BIN), and
 418 # b) the results of $(TARGET_BIN) will not be as expected.
 419         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 420         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 421         rm $(TARGET_EXST_ELF).tmp
 422
 423         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 424         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 425
 426         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 427         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 428
 429         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 430         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 431
 432 $(TARGET_HEX): $(TARGET_BIN)
 433         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 434
 435         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 436         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 437
 438 endif
 439
 440 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 441         @echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 442         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 443         $(V1) $(SIZE) $(TARGET_ELF)
 444
 445 # Compile
 446
 447 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 448 define compile_file
 449         echo "%% ($(1)) $<" "$(STDOUT)" && \
 450         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 451 endef
 452
 453 ifeq ($(DEBUG),GDB)
 454 $(TARGET_OBJ_DIR)/%.o: %.c
 455         $(V1) mkdir -p $(dir $@)
 456         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 457                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 458         , \
 459                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 460         )
 461 else
 462 $(TARGET_OBJ_DIR)/%.o: %.c
 463         $(V1) mkdir -p $(dir $@)
 464         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 465                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 466         , \
 467                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 468                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 469                 , \
 470                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 471                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 472                         , \
 473                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 474                         ) \
 475                 ) \
 476         )
 477 endif
 478
 479 # Assemble
 480 $(TARGET_OBJ_DIR)/%.o: %.s
 481         $(V1) mkdir -p $(dir $@)
 482         @echo "%% $(notdir $<)" "$(STDOUT)"
 483         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 484
 485 $(TARGET_OBJ_DIR)/%.o: %.S
 486         $(V1) mkdir -p $(dir $@)
 487         @echo "%% $(notdir $<)" "$(STDOUT)"
 488         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 489
 490
 491 ## all               : Build all currently built targets
 492 all: $(CI_TARGETS)
 493
 494 $(BASE_TARGETS):
 495         $(V0) @echo "Building target $@" && \
 496         $(MAKE) hex TARGET=$@ && \
 497         echo "Building $@ succeeded."
 498
 499 TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 500
 501 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 502
 503 ## clean             : clean up temporary / machine-generated files
 504 clean:
 505         @echo "Cleaning $(TARGET_NAME)"
 506         $(V0) rm -f $(CLEAN_ARTIFACTS)
 507         $(V0) rm -rf $(TARGET_OBJ_DIR)
 508         @echo "Cleaning $(TARGET_NAME) succeeded."
 509
 510 ## test_clean        : clean up temporary / machine-generated files (tests)
 511 test-%_clean:
 512         $(MAKE) test_clean
 513
 514 test_clean:
 515         $(V0) cd src/test && $(MAKE) clean || true
 516
 517 ## <TARGET>_clean    : clean up one specific target (alias for above)
 518 $(TARGETS_CLEAN):
 519         $(V0) $(MAKE) $(MAKE_PARALLEL) TARGET=$(subst _clean,,$@) clean
 520
 521 ## <CONFIG>_clean    : clean up one specific target (alias for above)
 522 $(CONFIGS_CLEAN):
 523         $(V0) $(MAKE) $(MAKE_PARALLEL) CONFIG=$(subst _clean,,$@) clean
 524
 525 ## clean_all         : clean all targets
 526 clean_all: $(TARGETS_CLEAN) test_clean
 527
 528 ## all_configs       : Build all configs
 529 all_configs: $(BASE_CONFIGS)
 530
 531 TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
 532
 533 ## <TARGET>_flash    : build and flash a target
 534 $(TARGETS_FLASH):
 535         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 536 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 537         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 538 else
 539         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 540 endif
 541
 542 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 543 tty_flash:
 544         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 545         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 546         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 547
 548 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 549 dfu_flash:
 550 ifneq (no-port-found,$(SERIAL_DEVICE))
 551         # potentially this is because the MCU already is in DFU mode, try anyway
 552         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 553         $(V0) sleep 1
 554 endif
 555         $(V0) $(MAKE) $(TARGET_DFU)
 556         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 557
 558 st-flash_$(TARGET): $(TARGET_BIN)
 559         $(V0) st-flash --reset write $< 0x08000000
 560
 561 ## st-flash          : flash firmware (.bin) onto flight controller
 562 st-flash: st-flash_$(TARGET)
 563
 564 ifneq ($(OPENOCD_COMMAND),)
 565 openocd-gdb: $(TARGET_ELF)
 566         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 567 endif
 568
 569 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 570
 571 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 572 $(TARGETS_ZIP):
 573         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 574         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 575
 576 zip:
 577         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 578
 579 binary:
 580         $(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
 581
 582 hex:
 583         $(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
 584
 585 TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
 586 ## <TARGET>_rev    : build target and add revision to filename
 587 $(TARGETS_REVISION):
 588         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 589
 590 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 591
 592 unbrick_$(TARGET): $(TARGET_HEX)
 593         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 594         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 595
 596 ## unbrick           : unbrick flight controller
 597 unbrick: unbrick_$(TARGET)
 598
 599 ## cppcheck          : run static analysis on C source code
 600 cppcheck: $(CSOURCES)
 601         $(V0) $(CPPCHECK)
 602
 603 cppcheck-result.xml: $(CSOURCES)
 604         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 605
 606 # mkdirs
 607 $(DIRECTORIES):
 608         mkdir -p $@
 609
 610 ## version           : print firmware version
 611 version:
 612         @echo $(FC_VER)
 613
 614 ## help              : print this help message and exit
 615 help: Makefile mk/tools.mk
 616         @echo ""
 617         @echo "Makefile for the $(FORKNAME) firmware"
 618         @echo ""
 619         @echo "Usage:"
 620         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 621         @echo "Or:"
 622         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 623         @echo "Or:"
 624         @echo "        make <config-target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 625         @echo ""
 626         @echo "To pupulate configuration targets:"
 627         @echo "        make configs"
 628         @echo ""
 629         @echo "Valid TARGET values are: $(BASE_TARGETS)"
 630         @echo ""
 631         @sed -n 's/^## //p' $?
 632
 633 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 634 targets:
 635         @echo "Valid targets:       $(BASE_TARGETS)"
 636         @echo "Built targets:       $(CI_TARGETS)"
 637         @echo "Default target:      $(TARGET)"
 638
 639 targets-ci-print:
 640         @echo $(CI_TARGETS)
 641
 642 ## target-mcu        : print the MCU type of the target
 643 target-mcu:
 644         @echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"
 645
 646 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 647 targets-by-mcu:
 648         $(V1) for target in $${TARGETS}; do \
 649                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 650                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 651                         if [ "$${DO_BUILD}" = 1 ]; then \
 652                                 echo "Building target $${target}..."; \
 653                                 $(MAKE) TARGET=$${target}; \
 654                                 if [ $$? -ne 0 ]; then \
 655                                         echo "Building target $${target} failed, aborting."; \
 656                                         exit 1; \
 657                                 fi; \
 658                         else \
 659                                 echo -n "$${target} "; \
 660                         fi; \
 661                 fi; \
 662         done
 663         @echo
 664
 665 ## test              : run the Betaflight test suite
 666 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 667 ## 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)
 668 ## test-all: run the Betaflight test suite including all per-target expanded tests
 669 test junittest test-all test-representative:
 670         $(V0) cd src/test && $(MAKE) $@
 671
 672 ## test_help         : print the help message for the test suite (including a list of the available tests)
 673 test_help:
 674         $(V0) cd src/test && $(MAKE) help
 675
 676 ## test_versions         : print the compiler versions used for the test suite
 677 test_versions:
 678         $(V0) cd src/test && $(MAKE) versions
 679
 680 ## test_%            : run test 'test_%' from the test suite
 681 test_%:
 682         $(V0) cd src/test && $(MAKE) $@
 683
 684 $(TARGET_EF_HASH_FILE):
 685         $(V1) mkdir -p $(dir $@)
 686         $(V1) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 687         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 688         $(V1) touch $(TARGET_EF_HASH_FILE)
 689
 690 # rebuild everything when makefile changes or the extra flags have changed
 691 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 692
 693 # include auto-generated dependencies
 694 -include $(TARGET_DEPS)