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