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