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 External Storage Bootloader support
  25 EXST      ?= no
  26
  27 # compile for target loaded into RAM
  28 RAM_BASED ?= no
  29
  30 # reserve space for custom defaults
  31 CUSTOM_DEFAULTS_EXTENDED ?= no
  32
  33 # Debugger optons:
  34 #   empty - ordinary build with all optimizations enabled
  35 #   INFO - ordinary build with debug symbols and all optimizations enabled
  36 #   GDB - debug build with minimum number of optimizations
  37 DEBUG     ?=
  38
  39 # Insert the debugging hardfault debugger
  40 # releases should not be built with this flag as it does not disable pwm output
  41 DEBUG_HARDFAULTS ?=
  42
  43 # Serial port/Device for flashing
  44 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  45
  46 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  47 FLASH_SIZE ?=
  48
  49 ###############################################################################
  50 # Things that need to be maintained as the source changes
  51 #
  52
  53 FORKNAME      = betaflight
  54
  55 # Working directories
  56 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  57 SRC_DIR         := $(ROOT)/src/main
  58 OBJECT_DIR      := $(ROOT)/obj/main
  59 BIN_DIR         := $(ROOT)/obj
  60 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  61 INCLUDE_DIRS    := $(SRC_DIR) \
  62                    $(ROOT)/src/main/target \
  63                    $(ROOT)/src/main/startup
  64 LINKER_DIR      := $(ROOT)/src/link
  65
  66 ## V                 : Set verbosity level based on the V= parameter
  67 ##                     V=0 Low
  68 ##                     V=1 High
  69 include $(ROOT)/make/build_verbosity.mk
  70
  71 # Build tools, so we all share the same versions
  72 # import macros common to all supported build systems
  73 include $(ROOT)/make/system-id.mk
  74
  75 # developer preferences, edit these at will, they'll be gitignored
  76 -include $(ROOT)/make/local.mk
  77
  78 # pre-build sanity checks
  79 include $(ROOT)/make/checks.mk
  80
  81 # configure some directories that are relative to wherever ROOT_DIR is located
  82 TOOLS_DIR ?= $(ROOT)/tools
  83 DL_DIR    := $(ROOT)/downloads
  84
  85 export RM := rm
  86
  87 # import macros that are OS specific
  88 include $(ROOT)/make/$(OSFAMILY).mk
  89
  90 # include the tools makefile
  91 include $(ROOT)/make/tools.mk
  92
  93 # default xtal value for F4 targets
  94 HSE_VALUE       ?= 8000000
  95
  96 # used for turning on features like VCP and SDCARD
  97 FEATURES        =
  98
  99 # used to disable features based on flash space shortage (larger number => more features disabled)
 100 FEATURE_CUT_LEVEL_SUPPLIED := $(FEATURE_CUT_LEVEL)
 101 FEATURE_CUT_LEVEL =
 102
 103 include $(ROOT)/make/targets.mk
 104
 105 REVISION := norevision
 106 ifeq ($(shell git diff --shortstat),)
 107 REVISION := $(shell git log -1 --format="%h")
 108 endif
 109
 110 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 111 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 112 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 113
 114 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 115
 116 # Search path for sources
 117 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 118 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 119 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 120
 121 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 122
 123 LD_FLAGS        :=
 124 EXTRA_LD_FLAGS  :=
 125
 126 #
 127 # Default Tool options - can be overridden in {mcu}.mk files.
 128 #
 129 ifeq ($(DEBUG),GDB)
 130 OPTIMISE_DEFAULT      := -Og
 131
 132 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 133 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 134 else
 135 ifeq ($(DEBUG),INFO)
 136 DEBUG_FLAGS            = -ggdb3
 137 endif
 138 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 139 OPTIMISE_DEFAULT      := -O2
 140 OPTIMISE_SPEED        := -Ofast
 141 OPTIMISE_SIZE         := -Os
 142
 143 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 144 endif
 145
 146 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 147 VPATH                   := $(VPATH):$(ROOT)/make
 148
 149 # start specific includes
 150 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 151
 152 # openocd specific includes
 153 include $(ROOT)/make/openocd.mk
 154
 155 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 156 ifeq ($(TARGET_FLASH_SIZE),)
 157 ifneq ($(MCU_FLASH_SIZE),)
 158 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 159 else
 160 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 161 endif
 162 endif
 163
 164 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 165
 166 ifneq ($(HSE_VALUE),)
 167 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 168 endif
 169
 170 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 171 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 172 else ifneq ($(FEATURE_CUT_LEVEL),)
 173 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 174 endif
 175
 176 TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
 177 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 178
 179 .DEFAULT_GOAL := hex
 180
 181 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 182 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 183 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 184 endif
 185
 186 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 187                    $(ROOT)/lib/main/MAVLink
 188
 189 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 190                    $(TARGET_DIR)
 191
 192 VPATH           := $(VPATH):$(TARGET_DIR)
 193
 194 include $(ROOT)/make/source.mk
 195
 196 ###############################################################################
 197 # Things that might need changing to use different tools
 198 #
 199
 200 # Find out if ccache is installed on the system
 201 CCACHE := ccache
 202 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 203 ifneq ($(RESULT),0)
 204 CCACHE :=
 205 endif
 206
 207 # Tool names
 208 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 209 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 210 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 211 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 212 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 213 READELF     := $(ARM_SDK_PREFIX)readelf
 214 SIZE        := $(ARM_SDK_PREFIX)size
 215 DFUSE-PACK  := src/utils/dfuse-pack.py
 216
 217 #
 218 # Tool options.
 219 #
 220 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 221 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 222 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 223 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 224 CC_NO_OPTIMISATION      :=
 225
 226 #
 227 # Added after GCC version update, remove once the warnings have been fixed
 228 #
 229 TEMPORARY_FLAGS :=
 230
 231 EXTRA_WARNING_FLAGS := -Wold-style-definition
 232
 233 CFLAGS     += $(ARCH_FLAGS) \
 234               $(addprefix -D,$(OPTIONS)) \
 235               $(addprefix -I,$(INCLUDE_DIRS)) \
 236               $(DEBUG_FLAGS) \
 237               -std=gnu17 \
 238               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 239               $(EXTRA_WARNING_FLAGS) \
 240               -ffunction-sections \
 241               -fdata-sections \
 242               -fno-common \
 243               $(TEMPORARY_FLAGS) \
 244               $(DEVICE_FLAGS) \
 245               -D_GNU_SOURCE \
 246               -DUSE_STDPERIPH_DRIVER \
 247               -D$(TARGET) \
 248               $(TARGET_FLAGS) \
 249               -D'__FORKNAME__="$(FORKNAME)"' \
 250               -D'__TARGET__="$(TARGET)"' \
 251               -D'__REVISION__="$(REVISION)"' \
 252               -pipe \
 253               -MMD -MP \
 254               $(EXTRA_FLAGS)
 255
 256 ASFLAGS     = $(ARCH_FLAGS) \
 257               $(DEBUG_FLAGS) \
 258               -x assembler-with-cpp \
 259               $(addprefix -I,$(INCLUDE_DIRS)) \
 260               -MMD -MP
 261
 262 ifeq ($(LD_FLAGS),)
 263 LD_FLAGS     = -lm \
 264               -nostartfiles \
 265               --specs=nano.specs \
 266               -lc \
 267               -lnosys \
 268               $(ARCH_FLAGS) \
 269               $(LTO_FLAGS) \
 270               $(DEBUG_FLAGS) \
 271               -static \
 272               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 273               -Wl,-L$(LINKER_DIR) \
 274               -Wl,--cref \
 275               -Wl,--no-wchar-size-warning \
 276               -Wl,--print-memory-usage \
 277               -T$(LD_SCRIPT) \
 278                $(EXTRA_LD_FLAGS)
 279 endif
 280
 281 ###############################################################################
 282 # No user-serviceable parts below
 283 ###############################################################################
 284
 285 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 286                   --std=c99 --inline-suppr --quiet --force \
 287                   $(addprefix -I,$(INCLUDE_DIRS)) \
 288                   -I/usr/include -I/usr/include/linux
 289
 290 TARGET_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)
 291
 292 #
 293 # Things we will build
 294 #
 295 TARGET_BIN      = $(TARGET_BASENAME).bin
 296 TARGET_HEX      = $(TARGET_BASENAME).hex
 297 TARGET_HEX_REV  = $(TARGET_BASENAME)_$(REVISION).hex
 298 TARGET_DFU      = $(TARGET_BASENAME).dfu
 299 TARGET_ZIP      = $(TARGET_BASENAME).zip
 300 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 301 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
 302 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
 303 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 304 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 305 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 306 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 307
 308 TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
 309
 310 CLEAN_ARTIFACTS := $(TARGET_BIN)
 311 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 312 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 313 CLEAN_ARTIFACTS += $(TARGET_LST)
 314 CLEAN_ARTIFACTS += $(TARGET_DFU)
 315
 316 # Make sure build date and revision is updated on every incremental build
 317 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 318
 319 # List of buildable ELF files and their object dependencies.
 320 # It would be nice to compute these lists, but that seems to be just beyond make.
 321
 322 $(TARGET_LST): $(TARGET_ELF)
 323         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 324
 325 ifeq ($(EXST),no)
 326 $(TARGET_BIN): $(TARGET_ELF)
 327         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 328         $(V1) $(OBJCOPY) -O binary $< $@
 329
 330 $(TARGET_HEX): $(TARGET_ELF)
 331         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 332         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 333
 334 $(TARGET_DFU): $(TARGET_HEX)
 335         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 336         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 337
 338 else
 339 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 340
 341 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 342         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 343         $(V1) $(OBJCOPY) -O binary $< $@
 344
 345 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 346         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 347 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 348 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 349         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 350         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 351
 352         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 353         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 354
 355         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 356         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 357         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 358
 359 # 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"
 360 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 361 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 362 # a) regeneration of $(TARGET_BIN), and
 363 # b) the results of $(TARGET_BIN) will not be as expected.
 364         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 365         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 366         rm $(TARGET_EXST_ELF).tmp
 367
 368         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 369         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 370
 371 # For some currently unknown reason, OBJCOPY, with only input/output files, will generate a file around 2GB for the H730 unless we remove an unused-section
 372 # As a workaround drop the ._user_heap_stack section, which is only used during build to show errors if there's not enough space for the heap/stack.
 373 # The issue can be seen with `readelf -S $(TARGET_EXST_ELF)' vs `readelf -S $(TARGET_ELF)`
 374         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 375         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --remove-section ._user_heap_stack --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 376
 377         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 378         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 379
 380 $(TARGET_HEX): $(TARGET_BIN)
 381         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 382
 383         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 384         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 385
 386 endif
 387
 388 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 389         @echo "Linking $(TARGET)" "$(STDOUT)"
 390         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 391         $(V1) $(SIZE) $(TARGET_ELF)
 392
 393 # Compile
 394
 395 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 396 define compile_file
 397         echo "%% ($(1)) $<" "$(STDOUT)" && \
 398         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 399 endef
 400
 401 ifeq ($(DEBUG),GDB)
 402 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 403         $(V1) mkdir -p $(dir $@)
 404         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 405                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 406         , \
 407                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 408         )
 409 else
 410 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 411         $(V1) mkdir -p $(dir $@)
 412         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 413                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 414         , \
 415                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 416                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 417                 , \
 418                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 419                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 420                         , \
 421                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 422                         ) \
 423                 ) \
 424         )
 425 endif
 426
 427 # Assemble
 428 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 429         $(V1) mkdir -p $(dir $@)
 430         @echo "%% $(notdir $<)" "$(STDOUT)"
 431         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 432
 433 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 434         $(V1) mkdir -p $(dir $@)
 435         @echo "%% $(notdir $<)" "$(STDOUT)"
 436         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 437
 438
 439 ## all               : Build all currently built targets
 440 all: $(CI_TARGETS)
 441
 442 ## all_all : Build all targets (including legacy / unsupported)
 443 all_all: $(VALID_TARGETS)
 444
 445 $(VALID_TARGETS):
 446         $(V0) @echo "Building $@" && \
 447         $(MAKE) hex TARGET=$@ && \
 448         echo "Building $@ succeeded."
 449
 450 $(NOBUILD_TARGETS):
 451         $(MAKE) TARGET=$@
 452
 453 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 454
 455 ## clean             : clean up temporary / machine-generated files
 456 clean:
 457         @echo "Cleaning $(TARGET)"
 458         $(V0) rm -f $(CLEAN_ARTIFACTS)
 459         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 460         @echo "Cleaning $(TARGET) succeeded."
 461
 462 ## test_clean        : clean up temporary / machine-generated files (tests)
 463 test-%_clean:
 464         $(MAKE) test_clean
 465
 466 test_clean:
 467         $(V0) cd src/test && $(MAKE) clean || true
 468
 469 ## <TARGET>_clean    : clean up one specific target (alias for above)
 470 $(TARGETS_CLEAN):
 471         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 472
 473 ## clean_all         : clean all valid targets
 474 clean_all: $(TARGETS_CLEAN) test_clean
 475
 476 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 477
 478 ## <TARGET>_flash    : build and flash a target
 479 $(TARGETS_FLASH):
 480         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 481 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 482         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 483 else
 484         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 485 endif
 486
 487 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 488 tty_flash:
 489         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 490         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 491         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 492
 493 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 494 dfu_flash:
 495 ifneq (no-port-found,$(SERIAL_DEVICE))
 496         # potentially this is because the MCU already is in DFU mode, try anyway
 497         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 498         $(V0) sleep 1
 499 endif
 500         $(V0) $(MAKE) $(TARGET_DFU)
 501         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 502
 503 st-flash_$(TARGET): $(TARGET_BIN)
 504         $(V0) st-flash --reset write $< 0x08000000
 505
 506 ## st-flash          : flash firmware (.bin) onto flight controller
 507 st-flash: st-flash_$(TARGET)
 508
 509 ifneq ($(OPENOCD_COMMAND),)
 510 openocd-gdb: $(TARGET_ELF)
 511         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 512 endif
 513
 514 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 515
 516 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 517 $(TARGETS_ZIP):
 518         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 519         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 520
 521 zip:
 522         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 523
 524 binary:
 525         $(V0) $(MAKE) -j $(TARGET_BIN)
 526
 527 hex:
 528         $(V0) $(MAKE) -j $(TARGET_HEX)
 529
 530 TARGETS_REVISION = $(addsuffix _rev,$(VALID_TARGETS))
 531 ## <TARGET>_rev    : build target and add revision to filename
 532 $(TARGETS_REVISION):
 533         $(V0) $(MAKE) hex_rev TARGET=$(subst _rev,,$@)
 534
 535 hex_rev: hex
 536         $(V0) mv -f $(TARGET_HEX) $(TARGET_HEX_REV)
 537
 538 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 539
 540 unbrick_$(TARGET): $(TARGET_HEX)
 541         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 542         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 543
 544 ## unbrick           : unbrick flight controller
 545 unbrick: unbrick_$(TARGET)
 546
 547 ## cppcheck          : run static analysis on C source code
 548 cppcheck: $(CSOURCES)
 549         $(V0) $(CPPCHECK)
 550
 551 cppcheck-result.xml: $(CSOURCES)
 552         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 553
 554 # mkdirs
 555 $(DL_DIR):
 556         mkdir -p $@
 557
 558 $(TOOLS_DIR):
 559         mkdir -p $@
 560
 561 ## version           : print firmware version
 562 version:
 563         @echo $(FC_VER)
 564
 565 ## help              : print this help message and exit
 566 help: Makefile make/tools.mk
 567         @echo ""
 568         @echo "Makefile for the $(FORKNAME) firmware"
 569         @echo ""
 570         @echo "Usage:"
 571         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 572         @echo "Or:"
 573         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 574         @echo ""
 575         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 576         @echo ""
 577         @sed -n 's/^## //p' $?
 578
 579 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 580 targets:
 581         @echo "Valid targets:       $(VALID_TARGETS)"
 582         @echo "Built targets:       $(CI_TARGETS)"
 583         @echo "Default target:      $(TARGET)"
 584
 585 targets-ci-print:
 586         @echo $(CI_TARGETS)
 587
 588 ## target-mcu        : print the MCU type of the target
 589 target-mcu:
 590         @echo $(TARGET_MCU)
 591
 592 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 593 targets-by-mcu:
 594         $(V1) for target in $${TARGETS}; do \
 595                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 596                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 597                         if [ "$${DO_BUILD}" = 1 ]; then \
 598                                 echo "Building target $${target}..."; \
 599                                 $(MAKE) TARGET=$${target}; \
 600                                 if [ $$? -ne 0 ]; then \
 601                                         echo "Building target $${target} failed, aborting."; \
 602                                         exit 1; \
 603                                 fi; \
 604                         else \
 605                                 echo -n "$${target} "; \
 606                         fi; \
 607                 fi; \
 608         done
 609         @echo
 610
 611 ## targets-f4        : make all F4 targets
 612 targets-f4:
 613         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 614
 615 targets-f4-print:
 616         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 617
 618 targets-ci-f4-print:
 619         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 620
 621 ## targets-f7        : make all F7 targets
 622 targets-f7:
 623         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 624
 625 targets-f7-print:
 626         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 627
 628 targets-ci-f7-print:
 629         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 630
 631 ## test              : run the Betaflight test suite
 632 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 633 ## 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)
 634 ## test-all: run the Betaflight test suite including all per-target expanded tests
 635 test junittest test-all test-representative:
 636         $(V0) cd src/test && $(MAKE) $@
 637
 638 ## test_help         : print the help message for the test suite (including a list of the available tests)
 639 test_help:
 640         $(V0) cd src/test && $(MAKE) help
 641
 642 ## test_versions         : print the compiler versions used for the test suite
 643 test_versions:
 644         $(V0) cd src/test && $(MAKE) versions
 645
 646 ## test_%            : run test 'test_%' from the test suite
 647 test_%:
 648         $(V0) cd src/test && $(MAKE) $@
 649
 650
 651 # rebuild everything when makefile changes
 652 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 653
 654 # include auto-generated dependencies
 655 -include $(TARGET_DEPS)