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 DEFAULT_TARGET    ?= STM32F405
  20 TARGET    ?=
  21
  22 # Compile-time options
  23 OPTIONS   ?=
  24
  25 # compile for External Storage Bootloader support
  26 EXST      ?= no
  27
  28 # compile for target loaded into RAM
  29 RAM_BASED ?= no
  30
  31 # reserve space for custom defaults
  32 CUSTOM_DEFAULTS_EXTENDED ?= no
  33
  34 # Debugger optons:
  35 #   empty - ordinary build with all optimizations enabled
  36 #   INFO - ordinary build with debug symbols and all optimizations enabled
  37 #   GDB - debug build with minimum number of optimizations
  38 DEBUG     ?=
  39
  40 # Insert the debugging hardfault debugger
  41 # releases should not be built with this flag as it does not disable pwm output
  42 DEBUG_HARDFAULTS ?=
  43
  44 # Serial port/Device for flashing
  45 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  46
  47 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  48 FLASH_SIZE ?=
  49
  50 ###############################################################################
  51 # Things that need to be maintained as the source changes
  52 #
  53
  54 FORKNAME      = betaflight
  55
  56 # Working directories
  57 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  58 SRC_DIR         := $(ROOT)/src/main
  59 OBJECT_DIR      := $(ROOT)/obj/main
  60 BIN_DIR         := $(ROOT)/obj
  61 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  62 INCLUDE_DIRS    := $(SRC_DIR) \
  63                    $(ROOT)/src/main/target \
  64                    $(ROOT)/src/main/startup
  65 LINKER_DIR      := $(ROOT)/src/link
  66
  67 ## V                 : Set verbosity level based on the V= parameter
  68 ##                     V=0 Low
  69 ##                     V=1 High
  70 include $(ROOT)/make/build_verbosity.mk
  71
  72 # Build tools, so we all share the same versions
  73 # import macros common to all supported build systems
  74 include $(ROOT)/make/system-id.mk
  75
  76 # developer preferences, edit these at will, they'll be gitignored
  77 -include $(ROOT)/make/local.mk
  78
  79 # pre-build sanity checks
  80 include $(ROOT)/make/checks.mk
  81
  82 # configure some directories that are relative to wherever ROOT_DIR is located
  83 TOOLS_DIR  ?= $(ROOT)/tools
  84 DL_DIR     := $(ROOT)/downloads
  85
  86 export RM := rm
  87
  88 # import macros that are OS specific
  89 include $(ROOT)/make/$(OSFAMILY).mk
  90
  91 # include the tools makefile
  92 include $(ROOT)/make/tools.mk
  93
  94 # default xtal value for F4 targets
  95 HSE_VALUE       ?= 8000000
  96
  97 # used for turning on features like VCP and SDCARD
  98 FEATURES        =
  99
 100 ifeq ($(TARGET),)
 101 TARGET := $(DEFAULT_TARGET)
 102 endif
 103
 104 include $(ROOT)/make/targets.mk
 105
 106 REVISION := norevision
 107 ifeq ($(shell git diff --shortstat),)
 108 REVISION := $(shell git log -1 --format="%h")
 109 endif
 110
 111 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 112 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 113 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 114
 115 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 116
 117 # Search path for sources
 118 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 119 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 120 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 121
 122 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 123
 124 LD_FLAGS        :=
 125 EXTRA_LD_FLAGS  :=
 126
 127 #
 128 # Default Tool options - can be overridden in {mcu}.mk files.
 129 #
 130 ifeq ($(DEBUG),GDB)
 131 OPTIMISE_DEFAULT      := -Og
 132
 133 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 134 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 135 else
 136 ifeq ($(DEBUG),INFO)
 137 DEBUG_FLAGS            = -ggdb3
 138 endif
 139 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 140 OPTIMISE_DEFAULT      := -O2
 141 OPTIMISE_SPEED        := -Ofast
 142 OPTIMISE_SIZE         := -Os
 143
 144 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 145 endif
 146
 147 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 148 VPATH                   := $(VPATH):$(ROOT)/make
 149
 150 # start specific includes
 151 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 152
 153 # openocd specific includes
 154 include $(ROOT)/make/openocd.mk
 155
 156 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 157 ifeq ($(TARGET_FLASH_SIZE),)
 158 ifneq ($(MCU_FLASH_SIZE),)
 159 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 160 else
 161 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 162 endif
 163 endif
 164
 165 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 166
 167 ifneq ($(HSE_VALUE),)
 168 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 169 endif
 170
 171 TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
 172 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 173
 174 .DEFAULT_GOAL := hex
 175
 176 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 177 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 178 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 179 endif
 180
 181 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 182                    $(ROOT)/lib/main/MAVLink
 183
 184 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 185                    $(TARGET_DIR)
 186
 187 VPATH           := $(VPATH):$(TARGET_DIR)
 188
 189 include $(ROOT)/make/source.mk
 190
 191 ###############################################################################
 192 # Things that might need changing to use different tools
 193 #
 194
 195 # Find out if ccache is installed on the system
 196 CCACHE := ccache
 197 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 198 ifneq ($(RESULT),0)
 199 CCACHE :=
 200 endif
 201
 202 # Tool names
 203 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 204 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 205 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 206 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 207 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 208 READELF     := $(ARM_SDK_PREFIX)readelf
 209 SIZE        := $(ARM_SDK_PREFIX)size
 210 DFUSE-PACK  := src/utils/dfuse-pack.py
 211
 212 #
 213 # Tool options.
 214 #
 215 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 216 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 217 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 218 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 219 CC_NO_OPTIMISATION      :=
 220
 221 #
 222 # Added after GCC version update, remove once the warnings have been fixed
 223 #
 224 TEMPORARY_FLAGS :=
 225
 226 EXTRA_WARNING_FLAGS := -Wold-style-definition
 227
 228 CFLAGS     += $(ARCH_FLAGS) \
 229               $(addprefix -D,$(OPTIONS)) \
 230               $(addprefix -I,$(INCLUDE_DIRS)) \
 231               $(DEBUG_FLAGS) \
 232               -std=gnu17 \
 233               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 234               $(EXTRA_WARNING_FLAGS) \
 235               -ffunction-sections \
 236               -fdata-sections \
 237               -fno-common \
 238               $(TEMPORARY_FLAGS) \
 239               $(DEVICE_FLAGS) \
 240               -D_GNU_SOURCE \
 241               -DUSE_STDPERIPH_DRIVER \
 242               -D$(TARGET) \
 243               $(TARGET_FLAGS) \
 244               -D'__FORKNAME__="$(FORKNAME)"' \
 245               -D'__TARGET__="$(TARGET)"' \
 246               -D'__REVISION__="$(REVISION)"' \
 247               -pipe \
 248               -MMD -MP \
 249               $(EXTRA_FLAGS)
 250
 251 ASFLAGS     = $(ARCH_FLAGS) \
 252               $(DEBUG_FLAGS) \
 253               -x assembler-with-cpp \
 254               $(addprefix -I,$(INCLUDE_DIRS)) \
 255               -MMD -MP
 256
 257 ifeq ($(LD_FLAGS),)
 258 LD_FLAGS     = -lm \
 259               -nostartfiles \
 260               --specs=nano.specs \
 261               -lc \
 262               -lnosys \
 263               $(ARCH_FLAGS) \
 264               $(LTO_FLAGS) \
 265               $(DEBUG_FLAGS) \
 266               -static \
 267               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 268               -Wl,-L$(LINKER_DIR) \
 269               -Wl,--cref \
 270               -Wl,--no-wchar-size-warning \
 271               -Wl,--print-memory-usage \
 272               -T$(LD_SCRIPT) \
 273                $(EXTRA_LD_FLAGS)
 274 endif
 275
 276 ###############################################################################
 277 # No user-serviceable parts below
 278 ###############################################################################
 279
 280 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 281                   --std=c99 --inline-suppr --quiet --force \
 282                   $(addprefix -I,$(INCLUDE_DIRS)) \
 283                   -I/usr/include -I/usr/include/linux
 284
 285 TARGET_NAME := $(TARGET)
 286
 287 ifeq ($(REV),yes)
 288 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 289 endif
 290
 291 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 292
 293 #
 294 # Things we will build
 295 #
 296 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 297 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 298 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 299 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 300 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 301 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 302 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 303 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 304 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 305 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 306 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 307 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 308
 309 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 310
 311 TARGET_EF_HASH      := $(shell echo -n "$(EXTRA_FLAGS)" | openssl dgst -md5 | awk '{print $$2;}')
 312 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 313
 314 CLEAN_ARTIFACTS := $(TARGET_BIN)
 315 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 316 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 317 CLEAN_ARTIFACTS += $(TARGET_LST)
 318 CLEAN_ARTIFACTS += $(TARGET_DFU)
 319
 320 # Make sure build date and revision is updated on every incremental build
 321 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 322
 323 # List of buildable ELF files and their object dependencies.
 324 # It would be nice to compute these lists, but that seems to be just beyond make.
 325
 326 $(TARGET_LST): $(TARGET_ELF)
 327         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 328
 329 ifeq ($(EXST),no)
 330 $(TARGET_BIN): $(TARGET_ELF)
 331         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 332         $(V1) $(OBJCOPY) -O binary $< $@
 333
 334 $(TARGET_HEX): $(TARGET_ELF)
 335         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 336         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 337
 338 $(TARGET_DFU): $(TARGET_HEX)
 339         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 340         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 341
 342 else
 343 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 344
 345 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 346         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 347         $(V1) $(OBJCOPY) -O binary $< $@
 348
 349 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 350         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 351 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 352 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 353         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 354         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 355
 356         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 357         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 358
 359         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 360         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 361         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 362
 363 # Note: From the objcopy manual "If you do not specify outfile, objcopy creates a temporary file and destructively renames the result with the name of infile"
 364 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 365 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 366 # a) regeneration of $(TARGET_BIN), and
 367 # b) the results of $(TARGET_BIN) will not be as expected.
 368         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 369         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 370         rm $(TARGET_EXST_ELF).tmp
 371
 372         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 373         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 374
 375         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 376         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 377
 378         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 379         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 380
 381 $(TARGET_HEX): $(TARGET_BIN)
 382         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 383
 384         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 385         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 386
 387 endif
 388
 389 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 390         @echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 391         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 392         $(V1) $(SIZE) $(TARGET_ELF)
 393
 394 # Compile
 395
 396 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 397 define compile_file
 398         echo "%% ($(1)) $<" "$(STDOUT)" && \
 399         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 400 endef
 401
 402 ifeq ($(DEBUG),GDB)
 403 $(TARGET_OBJ_DIR)/%.o: %.c
 404         $(V1) mkdir -p $(dir $@)
 405         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 406                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 407         , \
 408                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 409         )
 410 else
 411 $(TARGET_OBJ_DIR)/%.o: %.c
 412         $(V1) mkdir -p $(dir $@)
 413         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 414                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 415         , \
 416                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 417                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 418                 , \
 419                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 420                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 421                         , \
 422                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 423                         ) \
 424                 ) \
 425         )
 426 endif
 427
 428 # Assemble
 429 $(TARGET_OBJ_DIR)/%.o: %.s
 430         $(V1) mkdir -p $(dir $@)
 431         @echo "%% $(notdir $<)" "$(STDOUT)"
 432         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 433
 434 $(TARGET_OBJ_DIR)/%.o: %.S
 435         $(V1) mkdir -p $(dir $@)
 436         @echo "%% $(notdir $<)" "$(STDOUT)"
 437         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 438
 439
 440 ## all               : Build all currently built targets
 441 all: $(CI_TARGETS)
 442
 443 ## all_all : Build all targets (including legacy / unsupported)
 444 all_all: $(VALID_TARGETS)
 445
 446 $(BASE_TARGETS):
 447         $(V0) @echo "Building $@" && \
 448         $(MAKE) hex TARGET=$@ && \
 449         echo "Building $@ succeeded."
 450
 451 $(NOBUILD_TARGETS):
 452         $(MAKE) TARGET=$@
 453
 454 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 455
 456 ## clean             : clean up temporary / machine-generated files
 457 clean:
 458         @echo "Cleaning $(TARGET_NAME)"
 459         $(V0) rm -f $(CLEAN_ARTIFACTS)
 460         $(V0) rm -rf $(TARGET_OBJ_DIR)
 461         @echo "Cleaning $(TARGET_NAME) succeeded."
 462
 463 ## test_clean        : clean up temporary / machine-generated files (tests)
 464 test-%_clean:
 465         $(MAKE) test_clean
 466
 467 test_clean:
 468         $(V0) cd src/test && $(MAKE) clean || true
 469
 470 ## <TARGET>_clean    : clean up one specific target (alias for above)
 471 $(TARGETS_CLEAN):
 472         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 473
 474 ## clean_all         : clean all valid targets
 475 clean_all: $(TARGETS_CLEAN) test_clean
 476
 477 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 478
 479 ## <TARGET>_flash    : build and flash a target
 480 $(TARGETS_FLASH):
 481         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 482 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 483         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 484 else
 485         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 486 endif
 487
 488 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 489 tty_flash:
 490         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 491         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 492         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 493
 494 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 495 dfu_flash:
 496 ifneq (no-port-found,$(SERIAL_DEVICE))
 497         # potentially this is because the MCU already is in DFU mode, try anyway
 498         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 499         $(V0) sleep 1
 500 endif
 501         $(V0) $(MAKE) $(TARGET_DFU)
 502         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 503
 504 st-flash_$(TARGET): $(TARGET_BIN)
 505         $(V0) st-flash --reset write $< 0x08000000
 506
 507 ## st-flash          : flash firmware (.bin) onto flight controller
 508 st-flash: st-flash_$(TARGET)
 509
 510 ifneq ($(OPENOCD_COMMAND),)
 511 openocd-gdb: $(TARGET_ELF)
 512         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 513 endif
 514
 515 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 516
 517 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 518 $(TARGETS_ZIP):
 519         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 520         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 521
 522 zip:
 523         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 524
 525 binary:
 526         $(V0) $(MAKE) -j $(TARGET_BIN)
 527
 528 hex:
 529         $(V0) $(MAKE) -j $(TARGET_HEX)
 530
 531 TARGETS_REVISION = $(addsuffix _rev,$(VALID_TARGETS))
 532 ## <TARGET>_rev    : build target and add revision to filename
 533 $(TARGETS_REVISION):
 534         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 535
 536 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 537
 538 unbrick_$(TARGET): $(TARGET_HEX)
 539         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 540         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 541
 542 ## unbrick           : unbrick flight controller
 543 unbrick: unbrick_$(TARGET)
 544
 545 ## cppcheck          : run static analysis on C source code
 546 cppcheck: $(CSOURCES)
 547         $(V0) $(CPPCHECK)
 548
 549 cppcheck-result.xml: $(CSOURCES)
 550         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 551
 552 # mkdirs
 553 $(DL_DIR):
 554         mkdir -p $@
 555
 556 $(TOOLS_DIR):
 557         mkdir -p $@
 558
 559 ## version           : print firmware version
 560 version:
 561         @echo $(FC_VER)
 562
 563 ## help              : print this help message and exit
 564 help: Makefile make/tools.mk
 565         @echo ""
 566         @echo "Makefile for the $(FORKNAME) firmware"
 567         @echo ""
 568         @echo "Usage:"
 569         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 570         @echo "Or:"
 571         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 572         @echo ""
 573         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 574         @echo ""
 575         @sed -n 's/^## //p' $?
 576
 577 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 578 targets:
 579         @echo "Valid targets:       $(VALID_TARGETS)"
 580         @echo "Built targets:       $(CI_TARGETS)"
 581         @echo "Default target:      $(TARGET)"
 582
 583 targets-ci-print:
 584         @echo $(CI_TARGETS)
 585
 586 ## target-mcu        : print the MCU type of the target
 587 target-mcu:
 588         @echo $(TARGET_MCU)
 589
 590 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 591 targets-by-mcu:
 592         $(V1) for target in $${TARGETS}; do \
 593                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 594                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 595                         if [ "$${DO_BUILD}" = 1 ]; then \
 596                                 echo "Building target $${target}..."; \
 597                                 $(MAKE) TARGET=$${target}; \
 598                                 if [ $$? -ne 0 ]; then \
 599                                         echo "Building target $${target} failed, aborting."; \
 600                                         exit 1; \
 601                                 fi; \
 602                         else \
 603                                 echo -n "$${target} "; \
 604                         fi; \
 605                 fi; \
 606         done
 607         @echo
 608
 609 ## targets-f4        : make all F4 targets
 610 targets-f4:
 611         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 612
 613 targets-f4-print:
 614         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 615
 616 targets-ci-f4-print:
 617         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 618
 619 ## targets-f7        : make all F7 targets
 620 targets-f7:
 621         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 622
 623 targets-f7-print:
 624         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 625
 626 targets-ci-f7-print:
 627         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 628
 629 ## test              : run the Betaflight test suite
 630 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 631 ## 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)
 632 ## test-all: run the Betaflight test suite including all per-target expanded tests
 633 test junittest test-all test-representative:
 634         $(V0) cd src/test && $(MAKE) $@
 635
 636 ## test_help         : print the help message for the test suite (including a list of the available tests)
 637 test_help:
 638         $(V0) cd src/test && $(MAKE) help
 639
 640 ## test_versions         : print the compiler versions used for the test suite
 641 test_versions:
 642         $(V0) cd src/test && $(MAKE) versions
 643
 644 ## test_%            : run test 'test_%' from the test suite
 645 test_%:
 646         $(V0) cd src/test && $(MAKE) $@
 647
 648 $(TARGET_EF_HASH_FILE):
 649         $(V1) mkdir -p $(dir $@)
 650         $(V0) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 651         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 652         $(V1) touch $(TARGET_EF_HASH_FILE)
 653
 654 # rebuild everything when makefile changes or the extra flags have changed
 655 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 656
 657 # include auto-generated dependencies
 658 -include $(TARGET_DEPS)