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 OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # compile for External Storage Bootloader support
  28 EXST      ?= no
  29
  30 # compile for target loaded into RAM
  31 RAM_BASED ?= no
  32
  33 # reserve space for custom defaults
  34 CUSTOM_DEFAULTS_EXTENDED ?= no
  35
  36 # Debugger optons:
  37 #   empty - ordinary build with all optimizations enabled
  38 #   INFO - ordinary build with debug symbols and all optimizations enabled
  39 #   GDB - debug build with minimum number of optimizations
  40 DEBUG     ?=
  41
  42 # Insert the debugging hardfault debugger
  43 # releases should not be built with this flag as it does not disable pwm output
  44 DEBUG_HARDFAULTS ?=
  45
  46 # Serial port/Device for flashing
  47 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  48
  49 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  50 FLASH_SIZE ?=
  51
  52
  53 ###############################################################################
  54 # Things that need to be maintained as the source changes
  55 #
  56
  57 FORKNAME      = betaflight
  58
  59 # Working directories
  60 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  61 SRC_DIR         := $(ROOT)/src/main
  62 OBJECT_DIR      := $(ROOT)/obj/main
  63 BIN_DIR         := $(ROOT)/obj
  64 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  65 INCLUDE_DIRS    := $(SRC_DIR) \
  66                    $(ROOT)/src/main/target \
  67                    $(ROOT)/src/main/startup
  68 LINKER_DIR      := $(ROOT)/src/link
  69
  70 ## V                 : Set verbosity level based on the V= parameter
  71 ##                     V=0 Low
  72 ##                     V=1 High
  73 include $(ROOT)/make/build_verbosity.mk
  74
  75 # Build tools, so we all share the same versions
  76 # import macros common to all supported build systems
  77 include $(ROOT)/make/system-id.mk
  78
  79 # developer preferences, edit these at will, they'll be gitignored
  80 -include $(ROOT)/make/local.mk
  81
  82 # pre-build sanity checks
  83 include $(ROOT)/make/checks.mk
  84
  85 # configure some directories that are relative to wherever ROOT_DIR is located
  86 TOOLS_DIR ?= $(ROOT)/tools
  87 DL_DIR    := $(ROOT)/downloads
  88
  89 export RM := rm
  90
  91 # import macros that are OS specific
  92 include $(ROOT)/make/$(OSFAMILY).mk
  93
  94 # include the tools makefile
  95 include $(ROOT)/make/tools.mk
  96
  97 # default xtal value for F4 targets
  98 HSE_VALUE       ?= 8000000
  99
 100 # used for turning on features like VCP and SDCARD
 101 FEATURES        =
 102
 103 # used to disable features based on flash space shortage (larger number => more features disabled)
 104 FEATURE_CUT_LEVEL_SUPPLIED := $(FEATURE_CUT_LEVEL)
 105 FEATURE_CUT_LEVEL =
 106
 107 # The list of targets to build for 'pre-push'
 108 ifeq ($(OSFAMILY), macosx)
 109 # SITL is not buildable on MacOS
 110 PRE_PUSH_TARGET_LIST ?= $(UNIFIED_TARGETS) STM32F4DISCOVERY_DEBUG test-representative
 111 else
 112 PRE_PUSH_TARGET_LIST ?= $(UNIFIED_TARGETS) SITL STM32F4DISCOVERY_DEBUG test-representative
 113 endif
 114
 115 include $(ROOT)/make/targets.mk
 116
 117 REVISION := norevision
 118 ifeq ($(shell git diff --shortstat),)
 119 REVISION := $(shell git log -1 --format="%h")
 120 endif
 121
 122 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 123 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 124 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 125
 126 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 127
 128 # Search path for sources
 129 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 130 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 131 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 132 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 133 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 134
 135 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 136
 137 LD_FLAGS        :=
 138 EXTRA_LD_FLAGS  :=
 139
 140 #
 141 # Default Tool options - can be overridden in {mcu}.mk files.
 142 #
 143 ifeq ($(DEBUG),GDB)
 144 OPTIMISE_DEFAULT      := -Og
 145
 146 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 147 DEBUG_FLAGS            = -ggdb3 -DDEBUG
 148 else
 149 ifeq ($(DEBUG),INFO)
 150 DEBUG_FLAGS            = -ggdb3
 151 endif
 152 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 153 OPTIMISE_DEFAULT      := -O2
 154 OPTIMISE_SPEED        := -Ofast
 155 OPTIMISE_SIZE         := -Os
 156
 157 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 158 endif
 159
 160 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 161 VPATH                   := $(VPATH):$(ROOT)/make
 162
 163 # start specific includes
 164 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 165
 166 # openocd specific includes
 167 include $(ROOT)/make/openocd.mk
 168
 169 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 170 ifeq ($(TARGET_FLASH_SIZE),)
 171 ifneq ($(MCU_FLASH_SIZE),)
 172 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 173 else
 174 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 175 endif
 176 endif
 177
 178 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 179
 180 ifneq ($(HSE_VALUE),)
 181 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 182 endif
 183
 184 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 185 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 186 else ifneq ($(FEATURE_CUT_LEVEL),)
 187 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 188 endif
 189
 190 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 191 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 192
 193 ifeq ($(OPBL),yes)
 194 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 195 .DEFAULT_GOAL := binary
 196 else
 197 .DEFAULT_GOAL := hex
 198 endif
 199
 200 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 201 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 202 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 203 endif
 204
 205 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 206                    $(ROOT)/lib/main/MAVLink
 207
 208 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 209                    $(TARGET_DIR)
 210
 211 VPATH           := $(VPATH):$(TARGET_DIR)
 212
 213 include $(ROOT)/make/source.mk
 214
 215 ###############################################################################
 216 # Things that might need changing to use different tools
 217 #
 218
 219 # Find out if ccache is installed on the system
 220 CCACHE := ccache
 221 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 222 ifneq ($(RESULT),0)
 223 CCACHE :=
 224 endif
 225
 226 # Tool names
 227 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 228 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 229 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 230 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 231 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 232 READELF     := $(ARM_SDK_PREFIX)readelf
 233 SIZE        := $(ARM_SDK_PREFIX)size
 234 DFUSE-PACK  := src/utils/dfuse-pack.py
 235
 236 #
 237 # Tool options.
 238 #
 239 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 240 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 241 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 242 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 243 CC_NO_OPTIMISATION      :=
 244
 245 #
 246 # Added after GCC version update, remove once the warnings have been fixed
 247 #
 248 TEMPORARY_FLAGS :=
 249
 250 CFLAGS     += $(ARCH_FLAGS) \
 251               $(addprefix -D,$(OPTIONS)) \
 252               $(addprefix -I,$(INCLUDE_DIRS)) \
 253               $(DEBUG_FLAGS) \
 254               -std=gnu11 \
 255               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 256               -ffunction-sections \
 257               -fdata-sections \
 258               -fno-common \
 259               -pedantic \
 260               $(TEMPORARY_FLAGS) \
 261               $(DEVICE_FLAGS) \
 262               -D_GNU_SOURCE \
 263               -DUSE_STDPERIPH_DRIVER \
 264               -D$(TARGET) \
 265               $(TARGET_FLAGS) \
 266               -D'__FORKNAME__="$(FORKNAME)"' \
 267               -D'__TARGET__="$(TARGET)"' \
 268               -D'__REVISION__="$(REVISION)"' \
 269               -save-temps=obj \
 270               -MMD -MP \
 271               $(EXTRA_FLAGS)
 272
 273 ASFLAGS     = $(ARCH_FLAGS) \
 274               $(DEBUG_FLAGS) \
 275               -x assembler-with-cpp \
 276               $(addprefix -I,$(INCLUDE_DIRS)) \
 277               -MMD -MP
 278
 279 ifeq ($(LD_FLAGS),)
 280 LD_FLAGS     = -lm \
 281               -nostartfiles \
 282               --specs=nano.specs \
 283               -lc \
 284               -lnosys \
 285               $(ARCH_FLAGS) \
 286               $(LTO_FLAGS) \
 287               $(DEBUG_FLAGS) \
 288               -static \
 289               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 290               -Wl,-L$(LINKER_DIR) \
 291               -Wl,--cref \
 292               -Wl,--no-wchar-size-warning \
 293               -Wl,--print-memory-usage \
 294               -T$(LD_SCRIPT) \
 295                $(EXTRA_LD_FLAGS)
 296 endif
 297
 298 ###############################################################################
 299 # No user-serviceable parts below
 300 ###############################################################################
 301
 302 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 303                   --std=c99 --inline-suppr --quiet --force \
 304                   $(addprefix -I,$(INCLUDE_DIRS)) \
 305                   -I/usr/include -I/usr/include/linux
 306
 307
 308 TARGET_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)_$(REVISION)
 309
 310 #
 311 # Things we will build
 312 #
 313 TARGET_BIN      = $(TARGET_BASENAME).bin
 314 TARGET_HEX      = $(TARGET_BASENAME).hex
 315 TARGET_DFU      = $(TARGET_BASENAME).dfu
 316 TARGET_ZIP      = $(TARGET_BASENAME).zip
 317 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 318 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
 319 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
 320 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 321 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 322 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 323 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 324
 325 TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
 326
 327 CLEAN_ARTIFACTS := $(TARGET_BIN)
 328 CLEAN_ARTIFACTS += $(TARGET_HEX)
 329 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 330 CLEAN_ARTIFACTS += $(TARGET_LST)
 331 CLEAN_ARTIFACTS += $(TARGET_DFU)
 332
 333 # Make sure build date and revision is updated on every incremental build
 334 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 335
 336 # List of buildable ELF files and their object dependencies.
 337 # It would be nice to compute these lists, but that seems to be just beyond make.
 338
 339 $(TARGET_LST): $(TARGET_ELF)
 340         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 341
 342 ifeq ($(EXST),no)
 343 $(TARGET_BIN): $(TARGET_ELF)
 344         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 345         $(V1) $(OBJCOPY) -O binary $< $@
 346
 347 $(TARGET_HEX): $(TARGET_ELF)
 348         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 349         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 350
 351 $(TARGET_DFU): $(TARGET_HEX)
 352         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 353         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 354
 355 else
 356 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 357
 358 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 359         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 360         $(V1) $(OBJCOPY) -O binary $< $@
 361
 362 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 363         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 364 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 365 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 366         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 367         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 368
 369         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 370         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 371
 372         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 373         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 374         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 375
 376 # 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"
 377 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 378 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 379 # a) regeneration of $(TARGET_BIN), and
 380 # b) the results of $(TARGET_BIN) will not be as expected.
 381         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 382         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 383         rm $(TARGET_EXST_ELF).tmp
 384
 385         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 386         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 387
 388 # 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
 389 # 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.
 390 # The issue can be seen with `readelf -S $(TARGET_EXST_ELF)' vs `readelf -S $(TARGET_ELF)`
 391         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 392         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --remove-section ._user_heap_stack --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 393
 394         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 395         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 396
 397 $(TARGET_HEX): $(TARGET_BIN)
 398         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 399
 400         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 401         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 402
 403 endif
 404
 405 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 406         @echo "Linking $(TARGET)" "$(STDOUT)"
 407         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 408         $(V1) $(SIZE) $(TARGET_ELF)
 409
 410 # Compile
 411
 412 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 413 define compile_file
 414         echo "%% ($(1)) $<" "$(STDOUT)" && \
 415         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 416 endef
 417
 418 ifeq ($(DEBUG),GDB)
 419 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 420         $(V1) mkdir -p $(dir $@)
 421         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 422                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 423         , \
 424                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 425         )
 426 else
 427 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 428         $(V1) mkdir -p $(dir $@)
 429         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 430                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 431         , \
 432                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 433                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 434                 , \
 435                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 436                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 437                         , \
 438                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 439                         ) \
 440                 ) \
 441         )
 442 endif
 443
 444 # Assemble
 445 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 446         $(V1) mkdir -p $(dir $@)
 447         @echo "%% $(notdir $<)" "$(STDOUT)"
 448         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 449
 450 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 451         $(V1) mkdir -p $(dir $@)
 452         @echo "%% $(notdir $<)" "$(STDOUT)"
 453         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 454
 455
 456 ## all               : Build all currently built targets
 457 all: $(CI_TARGETS)
 458
 459 ## all_all : Build all targets (including legacy / unsupported)
 460 all_all: $(VALID_TARGETS)
 461
 462 ## unified : build all Unified Targets
 463 unified: $(UNIFIED_TARGETS)
 464
 465 ## unified_zip : build all Unified Targets as zip files (for posting on GitHub)
 466 unified_zip: $(addsuffix _clean,$(UNIFIED_TARGETS)) $(addsuffix _zip,$(UNIFIED_TARGETS))
 467
 468 ## legacy : Build legacy targets
 469 legacy: $(LEGACY_TARGETS)
 470
 471 ## unsupported : Build unsupported targets
 472 unsupported: $(UNSUPPORTED_TARGETS)
 473
 474 ## pre-push : The minimum verification that should be run before pushing, to check if CI has a chance of succeeding
 475 pre-push:
 476         $(MAKE) $(addsuffix _clean,$(PRE_PUSH_TARGET_LIST)) $(PRE_PUSH_TARGET_LIST) EXTRA_FLAGS=-Werror
 477
 478 ## targets-group-1   : build some targets
 479 targets-group-1: $(GROUP_1_TARGETS)
 480
 481 ## targets-group-2   : build some targets
 482 targets-group-2: $(GROUP_2_TARGETS)
 483
 484 ## targets-group-rest: build the rest of the targets (not listed in the other groups)
 485 targets-group-rest: $(GROUP_OTHER_TARGETS)
 486
 487 $(VALID_TARGETS):
 488         $(V0) @echo "Building $@" && \
 489         $(MAKE) binary hex TARGET=$@ && \
 490         echo "Building $@ succeeded."
 491
 492 $(NOBUILD_TARGETS):
 493         $(MAKE) TARGET=$@
 494
 495 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 496
 497 ## clean             : clean up temporary / machine-generated files
 498 clean:
 499         @echo "Cleaning $(TARGET)"
 500         $(V0) rm -f $(CLEAN_ARTIFACTS)
 501         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 502         @echo "Cleaning $(TARGET) succeeded."
 503
 504 ## test_clean        : clean up temporary / machine-generated files (tests)
 505 test-%_clean:
 506         $(MAKE) test_clean
 507
 508 test_clean:
 509         $(V0) cd src/test && $(MAKE) clean || true
 510
 511 ## <TARGET>_clean    : clean up one specific target (alias for above)
 512 $(TARGETS_CLEAN):
 513         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 514
 515 ## clean_all         : clean all valid targets
 516 clean_all: $(TARGETS_CLEAN) test_clean
 517
 518 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 519
 520 ## <TARGET>_flash    : build and flash a target
 521 $(TARGETS_FLASH):
 522         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 523 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 524         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 525 else
 526         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 527 endif
 528
 529 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 530 tty_flash:
 531         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 532         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 533         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 534
 535 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 536 dfu_flash:
 537 ifneq (no-port-found,$(SERIAL_DEVICE))
 538         # potentially this is because the MCU already is in DFU mode, try anyway
 539         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 540         $(V0) sleep 1
 541 endif
 542         $(V0) $(MAKE) $(TARGET_DFU)
 543         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 544
 545 st-flash_$(TARGET): $(TARGET_BIN)
 546         $(V0) st-flash --reset write $< 0x08000000
 547
 548 ## st-flash          : flash firmware (.bin) onto flight controller
 549 st-flash: st-flash_$(TARGET)
 550
 551 ifneq ($(OPENOCD_COMMAND),)
 552 openocd-gdb: $(TARGET_ELF)
 553         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 554 endif
 555
 556 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 557
 558 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 559 $(TARGETS_ZIP):
 560         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 561         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 562
 563 zip:
 564         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 565
 566 binary:
 567         $(V0) $(MAKE) -j $(TARGET_BIN)
 568
 569 hex:
 570         $(V0) $(MAKE) -j $(TARGET_HEX)
 571
 572 unbrick_$(TARGET): $(TARGET_HEX)
 573         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 574         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 575
 576 ## unbrick           : unbrick flight controller
 577 unbrick: unbrick_$(TARGET)
 578
 579 ## cppcheck          : run static analysis on C source code
 580 cppcheck: $(CSOURCES)
 581         $(V0) $(CPPCHECK)
 582
 583 cppcheck-result.xml: $(CSOURCES)
 584         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 585
 586 # mkdirs
 587 $(DL_DIR):
 588         mkdir -p $@
 589
 590 $(TOOLS_DIR):
 591         mkdir -p $@
 592
 593 ## version           : print firmware version
 594 version:
 595         @echo $(FC_VER)
 596
 597 ## help              : print this help message and exit
 598 help: Makefile make/tools.mk
 599         @echo ""
 600         @echo "Makefile for the $(FORKNAME) firmware"
 601         @echo ""
 602         @echo "Usage:"
 603         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 604         @echo "Or:"
 605         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 606         @echo ""
 607         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 608         @echo ""
 609         @sed -n 's/^## //p' $?
 610
 611 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 612 targets:
 613         @echo "Valid targets:       $(VALID_TARGETS)"
 614         @echo "Built targets:       $(CI_TARGETS)"
 615         @echo "Unified targets:     $(UNIFIED_TARGETS)"
 616         @echo "Legacy targets:      $(LEGACY_TARGETS)"
 617         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 618         @echo "Default target:      $(TARGET)"
 619         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 620         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 621         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 622
 623         @echo "targets-group-1:     $(words $(GROUP_1_TARGETS)) targets"
 624         @echo "targets-group-2:     $(words $(GROUP_2_TARGETS)) targets"
 625         @echo "targets-group-rest:  $(words $(GROUP_OTHER_TARGETS)) targets"
 626         @echo "total in all groups  $(words $(CI_TARGETS)) targets"
 627
 628 ## target-mcu        : print the MCU type of the target
 629 target-mcu:
 630         @echo $(TARGET_MCU)
 631
 632 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 633 targets-by-mcu:
 634         $(V1) for target in $${TARGETS}; do \
 635                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 636                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 637                         if [ "$${DO_BUILD}" = 1 ]; then \
 638                                 echo "Building target $${target}..."; \
 639                                 $(MAKE) TARGET=$${target}; \
 640                                 if [ $$? -ne 0 ]; then \
 641                                         echo "Building target $${target} failed, aborting."; \
 642                                         exit 1; \
 643                                 fi; \
 644                         else \
 645                                 echo -n "$${target} "; \
 646                         fi; \
 647                 fi; \
 648         done
 649         @echo
 650
 651 ## targets-f3        : make all F3 targets
 652 targets-f3:
 653         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 654
 655 targets-f3-print:
 656         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3 TARGETS="$(VALID_TARGETS)"
 657
 658 ## targets-f4        : make all F4 targets
 659 targets-f4:
 660         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 661
 662 targets-f4-print:
 663         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 664
 665 targets-ci-f4-print:
 666         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 667
 668 ## targets-f7        : make all F7 targets
 669 targets-f7:
 670         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 671
 672 targets-f7-print:
 673         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 674
 675 targets-ci-f7-print:
 676         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 677
 678 ## test              : run the Betaflight test suite
 679 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 680 ## 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)
 681 ## test-all: run the Betaflight test suite including all per-target expanded tests
 682 test junittest test-all test-representative:
 683         $(V0) cd src/test && $(MAKE) $@
 684
 685 ## test_help         : print the help message for the test suite (including a list of the available tests)
 686 test_help:
 687         $(V0) cd src/test && $(MAKE) help
 688
 689 ## test_versions         : print the compiler versions used for the test suite
 690 test_versions:
 691         $(V0) cd src/test && $(MAKE) versions
 692
 693 ## test_%            : run test 'test_%' from the test suite
 694 test_%:
 695         $(V0) cd src/test && $(MAKE) $@
 696
 697
 698 # rebuild everything when makefile changes
 699 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 700
 701 # include auto-generated dependencies
 702 -include $(TARGET_DEPS)