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 LIB_MAIN_DIR    := $(ROOT)/lib/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
  67 MAKE_SCRIPT_DIR := $(ROOT)/mk
  68
  69 ## V                 : Set verbosity level based on the V= parameter
  70 ##                     V=0 Low
  71 ##                     V=1 High
  72 include $(MAKE_SCRIPT_DIR)/build_verbosity.mk
  73
  74 # Build tools, so we all share the same versions
  75 # import macros common to all supported build systems
  76 include $(MAKE_SCRIPT_DIR)/system-id.mk
  77
  78 # developer preferences, edit these at will, they'll be gitignored
  79 ifneq ($(wildcard $(MAKE_SCRIPT_DIR)/local.mk),)
  80 include $(MAKE_SCRIPT_DIR)/local.mk
  81 endif
  82
  83 # some targets use parallel build by default
  84 # MAKEFLAGS is valid only inside target, do not use this at parse phase
  85 DEFAULT_PARALLEL_JOBS   :=    # all jobs in parallel (for backward compatibility)
  86 MAKE_PARALLEL                = $(if $(filter -j%, $(MAKEFLAGS)),$(EMPTY),-j$(DEFAULT_PARALLEL_JOBS))
  87
  88 # pre-build sanity checks
  89 include $(MAKE_SCRIPT_DIR)/checks.mk
  90
  91 # basic target list
  92 PLATFORMS        := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
  93 BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))
  94
  95 # configure some directories that are relative to wherever ROOT_DIR is located
  96 TOOLS_DIR  ?= $(ROOT)/tools
  97 DL_DIR     := $(ROOT)/downloads
  98 CONFIG_DIR ?= $(BETAFLIGHT_CONFIG)
  99 ifeq ($(CONFIG_DIR),)
 100 CONFIG_DIR := $(ROOT)/src/config
 101 endif
 102 DIRECTORIES := $(DL_DIR) $(TOOLS_DIR)
 103
 104 export RM := rm
 105
 106 # import macros that are OS specific
 107 include $(MAKE_SCRIPT_DIR)/$(OSFAMILY).mk
 108
 109 # include the tools makefile
 110 include $(MAKE_SCRIPT_DIR)/tools.mk
 111
 112 # Search path for sources
 113 VPATH           := $(SRC_DIR):$(LIB_MAIN_DIR):$(PLATFORM_DIR)
 114 FATFS_DIR        = $(ROOT)/lib/main/FatFS
 115 FATFS_SRC        = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 116 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 117
 118 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 119 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 120 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 121
 122 FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 123
 124 # import config handling
 125 include $(MAKE_SCRIPT_DIR)/config.mk
 126
 127 ifeq ($(CONFIG),)
 128 ifeq ($(TARGET),)
 129 TARGET := $(DEFAULT_TARGET)
 130 SKIPCHECKS := yes
 131 endif
 132 endif
 133
 134 # default xtal value
 135 HSE_VALUE       ?= 8000000
 136
 137 CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exclude)))))
 138 CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS)) $(filter STM32F4DISCOVERY CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF, $(BASE_CONFIGS))
 139
 140 TARGET_PLATFORM     := $(notdir $(patsubst %/,%,$(subst target/$(TARGET)/,, $(dir $(wildcard $(PLATFORM_DIR)/*/target/$(TARGET)/target.mk)))))
 141 TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
 142 LINKER_DIR          := $(TARGET_PLATFORM_DIR)/link
 143
 144 include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk
 145
 146 REVISION := norevision
 147 ifeq ($(shell git diff --shortstat),)
 148 REVISION := $(shell git log -1 --format="%h")
 149 endif
 150
 151 LD_FLAGS        :=
 152 EXTRA_LD_FLAGS  :=
 153
 154 #
 155 # Default Tool options - can be overridden in {mcu}.mk files.
 156 #
 157 DEBUG_MIXED = no
 158
 159 ifeq ($(DEBUG),INFO)
 160 DEBUG_MIXED = yes
 161 endif
 162 ifeq ($(DEBUG),GDB)
 163 DEBUG_MIXED = yes
 164 endif
 165
 166 ifeq ($(DEBUG),GDB)
 167 OPTIMISE_DEFAULT      := -Og
 168
 169 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 170 DEBUG_FLAGS            = -ggdb2 -gdwarf-5 -DDEBUG
 171 else
 172 ifeq ($(DEBUG),INFO)
 173 DEBUG_FLAGS            = -ggdb2
 174 endif
 175 OPTIMISATION_BASE     := -flto=auto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 176 OPTIMISE_DEFAULT      := -O2
 177 OPTIMISE_SPEED        := -Ofast
 178 OPTIMISE_SIZE         := -Os
 179
 180 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 181 endif
 182
 183 VPATH                   := $(VPATH):$(MAKE_SCRIPT_DIR)
 184
 185 # start specific includes
 186 ifeq ($(TARGET_MCU),)
 187 $(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
 188 endif
 189
 190 ifeq ($(TARGET_MCU_FAMILY),)
 191 $(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
 192 endif
 193
 194 TARGET_FLAGS := -D$(TARGET) -D$(TARGET_PLATFORM) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
 195
 196 ifneq ($(CONFIG),)
 197 TARGET_FLAGS := $(TARGET_FLAGS) -DUSE_CONFIG
 198 endif
 199
 200 SPEED_OPTIMISED_SRC :=
 201 SIZE_OPTIMISED_SRC  :=
 202
 203 include $(TARGET_PLATFORM_DIR)/mk/$(TARGET_MCU_FAMILY).mk
 204
 205 # openocd specific includes
 206 include $(MAKE_SCRIPT_DIR)/openocd.mk
 207
 208 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 209 ifeq ($(TARGET_FLASH_SIZE),)
 210 ifneq ($(MCU_FLASH_SIZE),)
 211 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 212 else
 213 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 214 endif
 215 endif
 216
 217 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 218
 219 ifneq ($(HSE_VALUE),)
 220 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 221 endif
 222
 223 TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
 224
 225 .DEFAULT_GOAL := hex
 226
 227 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 228                    $(ROOT)/lib/main/MAVLink
 229
 230 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 231                    $(TARGET_DIR)
 232
 233 VPATH           := $(VPATH):$(TARGET_DIR)
 234
 235 include $(MAKE_SCRIPT_DIR)/source.mk
 236
 237 ifneq ($(SKIPCHECKS),yes)
 238 ifneq ($(filter-out $(SRC),$(SPEED_OPTIMISED_SRC)),)
 239 $(error Speed optimised sources not valid: $(strip $(filter-out $(SRC),$(SPEED_OPTIMISED_SRC))))
 240 endif
 241
 242 ifneq ($(filter-out $(SRC),$(SIZE_OPTIMISED_SRC)),)
 243 $(error Size optimised sources not valid: $(strip $(filter-out $(SRC),$(SIZE_OPTIMISED_SRC))))
 244 endif
 245 endif
 246
 247 ###############################################################################
 248 # Things that might need changing to use different tools
 249 #
 250
 251 # Find out if ccache is installed on the system
 252 CCACHE := ccache
 253 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 254 ifneq ($(RESULT),0)
 255 CCACHE :=
 256 endif
 257
 258 # Tool names
 259 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 260 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 261 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 262 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 263 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 264 READELF     := $(ARM_SDK_PREFIX)readelf
 265 SIZE        := $(ARM_SDK_PREFIX)size
 266 DFUSE-PACK  := src/utils/dfuse-pack.py
 267
 268 #
 269 # Tool options.
 270 #
 271 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 272 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 273 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 274 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 275 CC_NO_OPTIMISATION      :=
 276
 277 #
 278 # Added after GCC version update, remove once the warnings have been fixed
 279 #
 280 TEMPORARY_FLAGS :=
 281
 282 EXTRA_WARNING_FLAGS := -Wold-style-definition
 283
 284 CFLAGS     += $(ARCH_FLAGS) \
 285               $(addprefix -D,$(OPTIONS)) \
 286               $(addprefix -I,$(INCLUDE_DIRS)) \
 287               $(DEBUG_FLAGS) \
 288               -std=gnu17 \
 289               -Wall -Wextra -Werror -Wunsafe-loop-optimizations -Wdouble-promotion \
 290               $(EXTRA_WARNING_FLAGS) \
 291               -ffunction-sections \
 292               -fdata-sections \
 293               -fno-common \
 294               $(TEMPORARY_FLAGS) \
 295               $(DEVICE_FLAGS) \
 296               -D_GNU_SOURCE \
 297               -DUSE_STDPERIPH_DRIVER \
 298               -D$(TARGET) \
 299               $(TARGET_FLAGS) \
 300               -D'__FORKNAME__="$(FORKNAME)"' \
 301               -D'__TARGET__="$(TARGET)"' \
 302               -D'__REVISION__="$(REVISION)"' \
 303               $(CONFIG_REVISION_DEFINE) \
 304               -pipe \
 305               -MMD -MP \
 306               $(EXTRA_FLAGS)
 307
 308 ASFLAGS     = $(ARCH_FLAGS) \
 309               $(DEBUG_FLAGS) \
 310               -x assembler-with-cpp \
 311               $(addprefix -I,$(INCLUDE_DIRS)) \
 312               -MMD -MP
 313
 314 ifeq ($(LD_FLAGS),)
 315 LD_FLAGS     = -lm \
 316               -nostartfiles \
 317               --specs=nano.specs \
 318               -lc \
 319               -lnosys \
 320               $(ARCH_FLAGS) \
 321               $(LTO_FLAGS) \
 322               $(DEBUG_FLAGS) \
 323               -static \
 324               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 325               -Wl,-L$(LINKER_DIR) \
 326               -Wl,--cref \
 327               -Wl,--no-wchar-size-warning \
 328               -Wl,--print-memory-usage \
 329               -T$(LD_SCRIPT) \
 330                $(EXTRA_LD_FLAGS)
 331 endif
 332
 333 ###############################################################################
 334 # No user-serviceable parts below
 335 ###############################################################################
 336
 337 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 338                   --std=c99 --inline-suppr --quiet --force \
 339                   $(addprefix -I,$(INCLUDE_DIRS)) \
 340                   -I/usr/include -I/usr/include/linux
 341
 342 TARGET_NAME := $(TARGET)
 343
 344 ifneq ($(CONFIG),)
 345 TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
 346 endif
 347
 348 ifeq ($(REV),yes)
 349 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 350 endif
 351
 352 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 353 #
 354 # Things we will build
 355 #
 356 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 357 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 358 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 359 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 360 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 361 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 362 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 363 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 364 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 365 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 366 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 367 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 368
 369 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 370
 371 ifeq ($(DEBUG_MIXED),yes)
 372 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
 373 else
 374 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEBUG_FLAGS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
 375 endif
 376
 377 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 378
 379 CLEAN_ARTIFACTS := $(TARGET_BIN)
 380 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 381 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 382 CLEAN_ARTIFACTS += $(TARGET_LST)
 383 CLEAN_ARTIFACTS += $(TARGET_DFU)
 384
 385 # Make sure build date and revision is updated on every incremental build
 386 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 387
 388 # List of buildable ELF files and their object dependencies.
 389 # It would be nice to compute these lists, but that seems to be just beyond make.
 390
 391 $(TARGET_LST): $(TARGET_ELF)
 392         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 393
 394 ifeq ($(EXST),no)
 395 $(TARGET_BIN): $(TARGET_ELF)
 396         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 397         $(V1) $(OBJCOPY) -O binary $< $@
 398
 399 $(TARGET_HEX): $(TARGET_ELF)
 400         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 401         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 402
 403 $(TARGET_DFU): $(TARGET_HEX)
 404         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 405         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 406
 407 else
 408 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 409
 410 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 411         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 412         $(V1) $(OBJCOPY) -O binary $< $@
 413
 414 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 415         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 416 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 417 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 418         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 419         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 420
 421         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 422         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 423
 424         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 425         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 426         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 427
 428 # 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"
 429 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 430 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 431 # a) regeneration of $(TARGET_BIN), and
 432 # b) the results of $(TARGET_BIN) will not be as expected.
 433         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 434         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 435         rm $(TARGET_EXST_ELF).tmp
 436
 437         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 438         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 439
 440         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 441         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 442
 443         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 444         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 445
 446 $(TARGET_HEX): $(TARGET_BIN)
 447         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 448
 449         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 450         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 451
 452 endif
 453
 454 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 455         @echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 456         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 457         $(V1) $(SIZE) $(TARGET_ELF)
 458
 459 # Compile
 460
 461 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 462 define compile_file
 463         echo "%% ($(1)) $<" "$(STDOUT)" && \
 464         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 465 endef
 466
 467 ## `paths` is a list of paths that will be replaced for checking of speed, and size optimised sources
 468 paths := $(SRC_DIR)/ $(LIB_MAIN_DIR)/ $(PLATFORM_DIR)/
 469 subst_paths_for = $(foreach path,$(paths),$(filter-out $(1),$(subst $(path),,$(1))))
 470 subst_paths = $(strip $(if $(call subst_paths_for,$(1)), $(call subst_paths_for,$(1)), $(1)))
 471
 472 ifeq ($(DEBUG),GDB)
 473 $(TARGET_OBJ_DIR)/%.o: %.c
 474         $(V1) mkdir -p $(dir $@)
 475         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 476                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 477         , \
 478                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 479         )
 480 else
 481 $(TARGET_OBJ_DIR)/%.o: %.c
 482         $(V1) mkdir -p $(dir $@)
 483         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 484                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 485         , \
 486                 $(if $(findstring $(call subst_paths,$<),$(SPEED_OPTIMISED_SRC)), \
 487                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 488                 , \
 489                         $(if $(findstring $(call subst_paths,$<),$(SIZE_OPTIMISED_SRC)), \
 490                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 491                         , \
 492                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 493                         ) \
 494                 ) \
 495         )
 496 endif
 497
 498 # Assemble
 499 $(TARGET_OBJ_DIR)/%.o: %.s
 500         $(V1) mkdir -p $(dir $@)
 501         @echo "%% $(notdir $<)" "$(STDOUT)"
 502         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 503
 504 $(TARGET_OBJ_DIR)/%.o: %.S
 505         $(V1) mkdir -p $(dir $@)
 506         @echo "%% $(notdir $<)" "$(STDOUT)"
 507         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 508
 509
 510 ## all               : Build all currently built targets
 511 all: $(CI_TARGETS)
 512
 513 $(BASE_TARGETS):
 514         $(V0) @echo "Building target $@" && \
 515         $(MAKE) hex TARGET=$@ && \
 516         echo "Building $@ succeeded."
 517
 518 TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 519
 520 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 521
 522 ## clean             : clean up temporary / machine-generated files
 523 clean:
 524         @echo "Cleaning $(TARGET_NAME)"
 525         $(V0) rm -f $(CLEAN_ARTIFACTS)
 526         $(V0) rm -rf $(TARGET_OBJ_DIR)
 527         @echo "Cleaning $(TARGET_NAME) succeeded."
 528
 529 ## test_clean        : clean up temporary / machine-generated files (tests)
 530 test-%_clean:
 531         $(MAKE) test_clean
 532
 533 test_clean:
 534         $(V0) cd src/test && $(MAKE) clean || true
 535
 536 ## <TARGET>_clean    : clean up one specific target (alias for above)
 537 $(TARGETS_CLEAN):
 538         $(V0) $(MAKE) $(MAKE_PARALLEL) TARGET=$(subst _clean,,$@) clean
 539
 540 ## <CONFIG>_clean    : clean up one specific target (alias for above)
 541 $(CONFIGS_CLEAN):
 542         $(V0) $(MAKE) $(MAKE_PARALLEL) CONFIG=$(subst _clean,,$@) clean
 543
 544 ## clean_all         : clean all targets
 545 clean_all: $(TARGETS_CLEAN) test_clean
 546
 547 ## all_configs       : Build all configs
 548 all_configs: $(BASE_CONFIGS)
 549
 550 TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
 551
 552 ## <TARGET>_flash    : build and flash a target
 553 $(TARGETS_FLASH):
 554         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 555 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 556         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 557 else
 558         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 559 endif
 560
 561 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 562 tty_flash:
 563         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 564         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 565         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 566
 567 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 568 dfu_flash:
 569 ifneq (no-port-found,$(SERIAL_DEVICE))
 570         # potentially this is because the MCU already is in DFU mode, try anyway
 571         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 572         $(V0) sleep 1
 573 endif
 574         $(V0) $(MAKE) $(TARGET_DFU)
 575         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 576
 577 st-flash_$(TARGET): $(TARGET_BIN)
 578         $(V0) st-flash --reset write $< 0x08000000
 579
 580 ## st-flash          : flash firmware (.bin) onto flight controller
 581 st-flash: st-flash_$(TARGET)
 582
 583 ifneq ($(OPENOCD_COMMAND),)
 584 openocd-gdb: $(TARGET_ELF)
 585         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 586 endif
 587
 588 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 589
 590 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 591 $(TARGETS_ZIP):
 592         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 593         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 594
 595 zip:
 596         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 597
 598 binary:
 599         $(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
 600
 601 hex:
 602         $(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
 603
 604 TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
 605 ## <TARGET>_rev    : build target and add revision to filename
 606 $(TARGETS_REVISION):
 607         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 608
 609 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 610
 611 unbrick_$(TARGET): $(TARGET_HEX)
 612         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 613         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 614
 615 ## unbrick           : unbrick flight controller
 616 unbrick: unbrick_$(TARGET)
 617
 618 ## cppcheck          : run static analysis on C source code
 619 cppcheck: $(CSOURCES)
 620         $(V0) $(CPPCHECK)
 621
 622 cppcheck-result.xml: $(CSOURCES)
 623         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 624
 625 # mkdirs
 626 $(DIRECTORIES):
 627         mkdir -p $@
 628
 629 ## version           : print firmware version
 630 version:
 631         @echo $(FC_VER)
 632
 633 ## help              : print this help message and exit
 634 help: Makefile mk/tools.mk
 635         @echo ""
 636         @echo "Makefile for the $(FORKNAME) firmware"
 637         @echo ""
 638         @echo "Usage:"
 639         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 640         @echo "Or:"
 641         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 642         @echo "Or:"
 643         @echo "        make <config-target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 644         @echo ""
 645         @echo "To pupulate configuration targets:"
 646         @echo "        make configs"
 647         @echo ""
 648         @echo "Valid TARGET values are: $(BASE_TARGETS)"
 649         @echo ""
 650         @sed -n 's/^## //p' $?
 651
 652 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 653 targets:
 654         @echo "Valid targets:       $(BASE_TARGETS)"
 655         @echo "Built targets:       $(CI_TARGETS)"
 656         @echo "Default target:      $(TARGET)"
 657
 658 targets-ci-print:
 659         @echo $(CI_TARGETS)
 660
 661 ## target-mcu        : print the MCU type of the target
 662 target-mcu:
 663         @echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"
 664
 665 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 666 targets-by-mcu:
 667         $(V1) for target in $${TARGETS}; do \
 668                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 669                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 670                         if [ "$${DO_BUILD}" = 1 ]; then \
 671                                 echo "Building target $${target}..."; \
 672                                 $(MAKE) TARGET=$${target}; \
 673                                 if [ $$? -ne 0 ]; then \
 674                                         echo "Building target $${target} failed, aborting."; \
 675                                         exit 1; \
 676                                 fi; \
 677                         else \
 678                                 echo -n "$${target} "; \
 679                         fi; \
 680                 fi; \
 681         done
 682         @echo
 683
 684 ## test              : run the Betaflight test suite
 685 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 686 ## 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)
 687 ## test-all: run the Betaflight test suite including all per-target expanded tests
 688 test junittest test-all test-representative:
 689         $(V0) cd src/test && $(MAKE) $@
 690
 691 ## test_help         : print the help message for the test suite (including a list of the available tests)
 692 test_help:
 693         $(V0) cd src/test && $(MAKE) help
 694
 695 ## test_versions         : print the compiler versions used for the test suite
 696 test_versions:
 697         $(V0) cd src/test && $(MAKE) versions
 698
 699 ## test_%            : run test 'test_%' from the test suite
 700 test_%:
 701         $(V0) cd src/test && $(MAKE) $@
 702
 703 $(TARGET_EF_HASH_FILE):
 704         $(V1) mkdir -p $(dir $@)
 705         $(V1) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 706         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 707         $(V1) touch $(TARGET_EF_HASH_FILE)
 708
 709 # rebuild everything when makefile changes or the extra flags have changed
 710 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 711
 712 # include auto-generated dependencies
 713 -include $(TARGET_DEPS)