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    ?= BETAFLIGHTF3
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons, must be empty or GDB
  28 DEBUG     ?=
  29
  30 # Insert the debugging hardfault debugger
  31 # releases should not be built with this flag as it does not disable pwm output
  32 DEBUG_HARDFAULTS ?=
  33
  34 # Serial port/Device for flashing
  35 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  36
  37 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  38 FLASH_SIZE ?=
  39
  40
  41 ###############################################################################
  42 # Things that need to be maintained as the source changes
  43 #
  44
  45 FORKNAME      = betaflight
  46
  47 # Working directories
  48 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  49 SRC_DIR         := $(ROOT)/src/main
  50 OBJECT_DIR      := $(ROOT)/obj/main
  51 BIN_DIR         := $(ROOT)/obj
  52 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  53 INCLUDE_DIRS    := $(SRC_DIR) \
  54                    $(ROOT)/src/main/target
  55 LINKER_DIR      := $(ROOT)/src/main/target/link
  56
  57 ## V                 : Set verbosity level based on the V= parameter
  58 ##                     V=0 Low
  59 ##                     V=1 High
  60 include $(ROOT)/make/build_verbosity.mk
  61
  62 # Build tools, so we all share the same versions
  63 # import macros common to all supported build systems
  64 include $(ROOT)/make/system-id.mk
  65
  66 # developer preferences, edit these at will, they'll be gitignored
  67 -include $(ROOT)/make/local.mk
  68
  69 # configure some directories that are relative to wherever ROOT_DIR is located
  70 ifndef TOOLS_DIR
  71 TOOLS_DIR := $(ROOT)/tools
  72 endif
  73 BUILD_DIR := $(ROOT)/build
  74 DL_DIR    := $(ROOT)/downloads
  75
  76 export RM := rm
  77
  78 # import macros that are OS specific
  79 include $(ROOT)/make/$(OSFAMILY).mk
  80
  81 # include the tools makefile
  82 include $(ROOT)/make/tools.mk
  83
  84 # default xtal value for F4 targets
  85 HSE_VALUE       ?= 8000000
  86
  87 # used for turning on features like VCP and SDCARD
  88 FEATURES        =
  89
  90 include $(ROOT)/make/targets.mk
  91
  92 REVISION := $(shell git log -1 --format="%h")
  93
  94 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
  95 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
  96 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
  97
  98 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
  99
 100 # Search path for sources
 101 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 102 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 103 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 104 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 105 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 106
 107 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 108
 109 LD_FLAGS         :=
 110
 111 #
 112 # Default Tool options - can be overridden in {mcu}.mk files.
 113 #
 114 ifeq ($(DEBUG),GDB)
 115 OPTIMISE_DEFAULT      := -Og
 116
 117 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 118 DEBUG_FLAGS            = -ggdb3 -DDEBUG
 119 else
 120 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math
 121 OPTIMISE_DEFAULT      := -O2
 122 OPTIMISE_SPEED        := -Ofast
 123 OPTIMISE_SIZE         := -Os
 124
 125 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 126 endif
 127
 128 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 129 VPATH                   := $(VPATH):$(ROOT)/make
 130
 131 # start specific includes
 132 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 133
 134 # openocd specific includes
 135 include $(ROOT)/make/openocd.mk
 136
 137 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 138 ifeq ($(FLASH_SIZE),)
 139 ifneq ($(TARGET_FLASH),)
 140 FLASH_SIZE := $(TARGET_FLASH)
 141 else
 142 $(error FLASH_SIZE not configured for target $(TARGET))
 143 endif
 144 endif
 145
 146 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 147
 148 ifneq ($(HSE_VALUE),)
 149 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 150 endif
 151
 152 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 153 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 154
 155 ifeq ($(OPBL),yes)
 156 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 157 .DEFAULT_GOAL := binary
 158 else
 159 .DEFAULT_GOAL := hex
 160 endif
 161
 162 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 163                    $(ROOT)/lib/main/MAVLink
 164
 165 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 166                    $(TARGET_DIR)
 167
 168 VPATH           := $(VPATH):$(TARGET_DIR)
 169
 170 include $(ROOT)/make/source.mk
 171
 172 ###############################################################################
 173 # Things that might need changing to use different tools
 174 #
 175
 176 # Find out if ccache is installed on the system
 177 CCACHE := ccache
 178 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 179 ifneq ($(RESULT),0)
 180 CCACHE :=
 181 endif
 182
 183 # Tool names
 184 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 185 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 186 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 187 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 188 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 189 SIZE        := $(ARM_SDK_PREFIX)size
 190
 191 #
 192 # Tool options.
 193 #
 194 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 195 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 196 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 197 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 198
 199 CFLAGS     += $(ARCH_FLAGS) \
 200               $(addprefix -D,$(OPTIONS)) \
 201               $(addprefix -I,$(INCLUDE_DIRS)) \
 202               $(DEBUG_FLAGS) \
 203               -std=gnu99 \
 204               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 205               -ffunction-sections \
 206               -fdata-sections \
 207               -pedantic \
 208               $(DEVICE_FLAGS) \
 209               -DUSE_STDPERIPH_DRIVER \
 210               -D$(TARGET) \
 211               $(TARGET_FLAGS) \
 212               -D'__FORKNAME__="$(FORKNAME)"' \
 213               -D'__TARGET__="$(TARGET)"' \
 214               -D'__REVISION__="$(REVISION)"' \
 215               -save-temps=obj \
 216               -MMD -MP \
 217               $(EXTRA_FLAGS)
 218
 219 ASFLAGS     = $(ARCH_FLAGS) \
 220               -x assembler-with-cpp \
 221               $(addprefix -I,$(INCLUDE_DIRS)) \
 222               -MMD -MP
 223
 224 ifeq ($(LD_FLAGS),)
 225 LD_FLAGS     = -lm \
 226               -nostartfiles \
 227               --specs=nano.specs \
 228               -lc \
 229               -lnosys \
 230               $(ARCH_FLAGS) \
 231               $(LTO_FLAGS) \
 232               $(DEBUG_FLAGS) \
 233               -static \
 234               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 235               -Wl,-L$(LINKER_DIR) \
 236               -Wl,--cref \
 237               -Wl,--no-wchar-size-warning \
 238               -T$(LD_SCRIPT)
 239 endif
 240
 241 ###############################################################################
 242 # No user-serviceable parts below
 243 ###############################################################################
 244
 245 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 246                   --std=c99 --inline-suppr --quiet --force \
 247                   $(addprefix -I,$(INCLUDE_DIRS)) \
 248                   -I/usr/include -I/usr/include/linux
 249
 250 #
 251 # Things we will build
 252 #
 253 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 254 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 255 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 256 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 257 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 258 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 259 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 260
 261
 262 CLEAN_ARTIFACTS := $(TARGET_BIN)
 263 CLEAN_ARTIFACTS += $(TARGET_HEX)
 264 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 265 CLEAN_ARTIFACTS += $(TARGET_LST)
 266
 267 # Make sure build date and revision is updated on every incremental build
 268 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 269
 270 # List of buildable ELF files and their object dependencies.
 271 # It would be nice to compute these lists, but that seems to be just beyond make.
 272
 273 $(TARGET_LST): $(TARGET_ELF)
 274         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 275
 276 $(TARGET_HEX): $(TARGET_ELF)
 277         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 278         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 279
 280 $(TARGET_BIN): $(TARGET_ELF)
 281         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 282         $(V1) $(OBJCOPY) -O binary $< $@
 283
 284 $(TARGET_ELF):  $(TARGET_OBJS)
 285         @echo "Linking $(TARGET)" "$(STDOUT)"
 286         $(V1) $(CROSS_CC) -o $@ $^ $(LD_FLAGS)
 287         $(V1) $(SIZE) $(TARGET_ELF)
 288
 289 # Compile
 290 ifeq ($(DEBUG),GDB)
 291 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 292         $(V1) mkdir -p $(dir $@)
 293         $(V1) echo "%% (debug) $(notdir $<)" "$(STDOUT)" && \
 294         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
 295 else
 296 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 297         $(V1) mkdir -p $(dir $@)
 298         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 299         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
 300         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
 301         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 302         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
 303         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
 304         echo "%% $(notdir $<)" "$(STDOUT)" && \
 305         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
 306 endif
 307
 308 # Assemble
 309 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 310         $(V1) mkdir -p $(dir $@)
 311         @echo "%% $(notdir $<)" "$(STDOUT)"
 312         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 313
 314 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 315         $(V1) mkdir -p $(dir $@)
 316         @echo "%% $(notdir $<)" "$(STDOUT)"
 317         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 318
 319
 320 ## all               : Build all targets (excluding unsupported)
 321 all: $(SUPPORTED_TARGETS)
 322
 323 ## all_with_unsupported : Build all targets (excluding unsupported)
 324 all_with_unsupported: $(VALID_TARGETS)
 325
 326 ## unsupported : Build unsupported targets
 327 unsupported: $(UNSUPPORTED_TARGETS)
 328
 329 ## official          : Build all official (travis) targets
 330 official: $(OFFICIAL_TARGETS)
 331
 332 ## targets-group-1   : build some targets
 333 targets-group-1: $(GROUP_1_TARGETS)
 334
 335 ## targets-group-2   : build some targets
 336 targets-group-2: $(GROUP_2_TARGETS)
 337
 338 ## targets-group-3   : build some targets
 339 targets-group-3: $(GROUP_3_TARGETS)
 340
 341 ## targets-group-3   : build some targets
 342 targets-group-4: $(GROUP_4_TARGETS)
 343
 344 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
 345 targets-group-rest: $(GROUP_OTHER_TARGETS)
 346
 347 $(VALID_TARGETS):
 348         $(V0) @echo "Building $@" && \
 349         $(MAKE) binary hex TARGET=$@ && \
 350         echo "Building $@ succeeded."
 351
 352 $(SKIP_TARGETS):
 353         $(MAKE) TARGET=$@
 354
 355 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
 356 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 357
 358 ## clean             : clean up temporary / machine-generated files
 359 clean:
 360         @echo "Cleaning $(TARGET)"
 361         $(V0) rm -f $(CLEAN_ARTIFACTS)
 362         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 363         @echo "Cleaning $(TARGET) succeeded."
 364
 365 ## clean_test        : clean up temporary / machine-generated files (tests)
 366 clean_test:
 367         $(V0) cd src/test && $(MAKE) clean || true
 368
 369 ## clean_<TARGET>    : clean up one specific target
 370 $(CLEAN_TARGETS):
 371         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 372
 373 ## <TARGET>_clean    : clean up one specific target (alias for above)
 374 $(TARGETS_CLEAN):
 375         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 376
 377 ## clean_all         : clean all valid targets
 378 clean_all: $(CLEAN_TARGETS)
 379
 380 ## all_clean         : clean all valid targets (alias for above)
 381 all_clean: $(TARGETS_CLEAN)
 382
 383
 384 flash_$(TARGET): $(TARGET_HEX)
 385         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 386         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 387         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 388
 389 ## flash             : flash firmware (.hex) onto flight controller
 390 flash: flash_$(TARGET)
 391
 392 st-flash_$(TARGET): $(TARGET_BIN)
 393         $(V0) st-flash --reset write $< 0x08000000
 394
 395 ## st-flash          : flash firmware (.bin) onto flight controller
 396 st-flash: st-flash_$(TARGET)
 397
 398 ifneq ($(OPENOCD_COMMAND),)
 399 openocd-gdb: $(TARGET_ELF)
 400         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 401 endif
 402
 403 binary:
 404         $(V0) $(MAKE) -j $(TARGET_BIN)
 405
 406 hex:
 407         $(V0) $(MAKE) -j $(TARGET_HEX)
 408
 409 unbrick_$(TARGET): $(TARGET_HEX)
 410         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 411         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 412
 413 ## unbrick           : unbrick flight controller
 414 unbrick: unbrick_$(TARGET)
 415
 416 ## cppcheck          : run static analysis on C source code
 417 cppcheck: $(CSOURCES)
 418         $(V0) $(CPPCHECK)
 419
 420 cppcheck-result.xml: $(CSOURCES)
 421         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 422
 423 # mkdirs
 424 $(DL_DIR):
 425         mkdir -p $@
 426
 427 $(TOOLS_DIR):
 428         mkdir -p $@
 429
 430 $(BUILD_DIR):
 431         mkdir -p $@
 432
 433 ## version           : print firmware version
 434 version:
 435         @echo $(FC_VER)
 436
 437 ## help              : print this help message and exit
 438 help: Makefile make/tools.mk
 439         @echo ""
 440         @echo "Makefile for the $(FORKNAME) firmware"
 441         @echo ""
 442         @echo "Usage:"
 443         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 444         @echo "Or:"
 445         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 446         @echo ""
 447         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 448         @echo ""
 449         @sed -n 's/^## //p' $?
 450
 451 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 452 targets:
 453         @echo "Valid targets:       $(VALID_TARGETS)"
 454         @echo "Supported targets:   $(SUPPORTED_TARGETS)"
 455         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 456         @echo "Target:              $(TARGET)"
 457         @echo "Base target:         $(BASE_TARGET)"
 458         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 459         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 460         @echo "targets-group-3:     $(GROUP_3_TARGETS)"
 461         @echo "targets-group-4:     $(GROUP_4_TARGETS)"
 462         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 463
 464 ## test              : run the cleanflight test suite
 465 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
 466 test junittest:
 467         $(V0) cd src/test && $(MAKE) $@
 468
 469 # rebuild everything when makefile changes
 470 $(TARGET_OBJS) : Makefile
 471
 472 # include auto-generated dependencies
 473 -include $(TARGET_DEPS)