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 iNav 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    ?= REVO
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # Debugger optons, must be empty or GDB
  25 DEBUG     ?=
  26
  27 # Build suffix
  28 BUILD_SUFFIX ?=
  29
  30 # Serial port/Device for flashing
  31 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  32
  33 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  34 FLASH_SIZE ?=
  35
  36 ## V                 : Set verbosity level based on the V= parameter
  37 ##                     V=0 Low
  38 ##                     V=1 High
  39 export AT := @
  40
  41 ifndef V
  42 export V0    :=
  43 export V1    := $(AT)
  44 export STDOUT   :=
  45 else ifeq ($(V), 0)
  46 export V0    := $(AT)
  47 export V1    := $(AT)
  48 export STDOUT:= "> /dev/null"
  49 export MAKE  := $(MAKE) --no-print-directory
  50 else ifeq ($(V), 1)
  51 export V0    :=
  52 export V1    :=
  53 export STDOUT   :=
  54 endif
  55
  56 ###############################################################################
  57 # Things that need to be maintained as the source changes
  58 #
  59
  60 FORKNAME      = inav
  61
  62 # Working directories
  63 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  64 SRC_DIR         := $(ROOT)/src/main
  65 OBJECT_DIR      := $(ROOT)/obj/main
  66 BIN_DIR         := $(ROOT)/obj
  67 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  68 INCLUDE_DIRS    := $(SRC_DIR) \
  69                    $(ROOT)/src/main/target
  70 LINKER_DIR      := $(ROOT)/src/main/target/link
  71
  72 # default xtal value for F4 targets
  73 HSE_VALUE       = 8000000
  74
  75 # used for turning on features like VCP and SDCARD
  76 FEATURES        =
  77
  78 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
  79
  80 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
  81 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
  82 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
  83 VALID_TARGETS  := $(sort $(VALID_TARGETS))
  84
  85 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
  86 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
  87
  88 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
  89 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
  90 -include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
  91 else
  92 BASE_TARGET    := $(TARGET)
  93 endif
  94
  95 # silently ignore if the file is not present. Allows for target specific.
  96 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
  97
  98 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F427_TARGETS) $(F446_TARGETS)
  99 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 100
 101 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 102 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
 103 endif
 104
 105 ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
 106 $(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411, F427 or F7x. Have you prepared a valid target.mk?)
 107 endif
 108
 109 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 110 TARGET_MCU := STM32F3
 111 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 112 TARGET_MCU := STM32F4
 113 else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 114 TARGET_MCU := STM32F7
 115 else ifeq ($(TARGET),$(filter $(TARGET), $(F1_TARGETS)))
 116 TARGET_MCU := STM32F1
 117 else
 118 $(error Unknown target MCU specified.)
 119 endif
 120
 121 GROUP_1_TARGETS := ALIENFLIGHTF3 ALIENFLIGHTF4 AIRHEROF3 AIRHEROF3_QUAD COLIBRI_RACE LUX_RACE SPARKY REVO SPARKY2 COLIBRI KISSFC FALCORE FF_F35_LIGHTNING FF_FORTINIF4 FF_PIKOF4 FF_PIKOF4OSD
 122 GROUP_2_TARGETS := SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPRACINGF4EVO CLRACINGF4AIR CLRACINGF4AIRV2 BEEROTORF4 BETAFLIGHTF3 BETAFLIGHTF4 PIKOBLX
 123 GROUP_3_TARGETS := OMNIBUS AIRBOTF4 BLUEJAYF4 OMNIBUSF4 OMNIBUSF4PRO OMNIBUSF4V3 FIREWORKSV2 SPARKY2 MATEKF405 OMNIBUSF7 DYSF4PRO OMNIBUSF4PRO_LEDSTRIPM5 OMNIBUSF7NXT OMNIBUSF7V2 ASGARD32F4
 124 GROUP_4_TARGETS := ANYFC ANYFCF7 ANYFCF7_EXTERNAL_BARO ANYFCM7 ALIENFLIGHTNGF7 PIXRACER YUPIF4 YUPIF4MINI YUPIF4R2 YUPIF7 MATEKF405SE MATEKF411 MATEKF722 MATEKF405OSD MATEKF405_SERVOS6 NOX
 125 GROUP_5_TARGETS := ASGARD32F7 CHEBUZZF3 CLRACINGF4AIRV3 DALRCF405 DALRCF722DUAL DYSF4PROV2 F4BY FISHDRONEF4 FOXEERF405 FOXEERF722DUAL FRSKYF3 FRSKYF4 FURYF3 FURYF3_SPIFLASH FURYF4OSD
 126 GROUP_6_TARGETS := MAMBAF405
 127 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS) $(GROUP_5_TARGETS) $(GROUP_6_TARGETS), $(VALID_TARGETS))
 128
 129 REVISION = $(shell git rev-parse --short HEAD)
 130
 131 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 132 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 133 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 134
 135 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 136 FC_VER_SUFFIX ?=
 137
 138 BUILD_DATE = $(shell date +%Y%m%d)
 139
 140 # Search path for sources
 141 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 142 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 143
 144 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 145 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 146 VPATH                   := $(VPATH):$(ROOT)/make
 147
 148 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 149
 150 # start specific includes
 151 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 152
 153 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 154 ifeq ($(FLASH_SIZE),)
 155 ifneq ($(TARGET_FLASH),)
 156 FLASH_SIZE := $(TARGET_FLASH)
 157 else
 158 $(error FLASH_SIZE not configured for target $(TARGET))
 159 endif
 160 endif
 161
 162 # Configure devide and target-specific defines and compiler flags
 163 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 164 TARGET_FLAGS    := $(TARGET_FLAGS) -D$(TARGET_MCU) -D$(TARGET)
 165
 166 ifneq ($(HSE_VALUE),)
 167 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 168 endif
 169
 170 ifneq ($(BASE_TARGET), $(TARGET))
 171 TARGET_FLAGS    := $(TARGET_FLAGS) -D$(BASE_TARGET)
 172 endif
 173
 174 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 175 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 176
 177 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 178                    $(ROOT)/lib/main/MAVLink
 179
 180 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 181                    $(TARGET_DIR)
 182
 183 VPATH           := $(VPATH):$(TARGET_DIR)
 184
 185 .DEFAULT_GOAL   := hex
 186
 187 include $(ROOT)/make/source.mk
 188 include $(ROOT)/make/release.mk
 189
 190 ###############################################################################
 191 # Things that might need changing to use different tools
 192 #
 193
 194 # Tool names
 195 ifneq ($(TOOLCHAINPATH),)
 196 CROSS_CC    = $(TOOLCHAINPATH)/arm-none-eabi-gcc
 197 OBJCOPY     = $(TOOLCHAINPATH)/arm-none-eabi-objcopy
 198 SIZE        = $(TOOLCHAINPATH)/arm-none-eabi-size
 199 else
 200 CROSS_CC    = arm-none-eabi-gcc
 201 OBJCOPY     = arm-none-eabi-objcopy
 202 SIZE        = arm-none-eabi-size
 203 endif
 204
 205 #
 206 # Tool options.
 207 #
 208
 209 ifeq ($(DEBUG),GDB)
 210 OPTIMIZE    = -O0
 211 LTO_FLAGS   = $(OPTIMIZE)
 212 else
 213 OPTIMIZE    = -Os
 214 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 215 endif
 216
 217 DEBUG_FLAGS = -ggdb3 -DDEBUG
 218
 219 CFLAGS      += $(ARCH_FLAGS) \
 220               $(LTO_FLAGS) \
 221               $(addprefix -D,$(OPTIONS)) \
 222               $(addprefix -I,$(INCLUDE_DIRS)) \
 223               $(DEBUG_FLAGS) \
 224               -std=gnu99 \
 225               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 226               -Wstrict-prototypes \
 227               -Werror=switch \
 228               -ffunction-sections \
 229               -fdata-sections \
 230               -fno-common \
 231               $(DEVICE_FLAGS) \
 232               -DUSE_STDPERIPH_DRIVER \
 233               $(TARGET_FLAGS) \
 234               -D'__FORKNAME__="$(FORKNAME)"' \
 235               -D'__TARGET__="$(TARGET)"' \
 236               -D'__REVISION__="$(REVISION)"' \
 237               -save-temps=obj \
 238               -MMD -MP
 239
 240 ASFLAGS     = $(ARCH_FLAGS) \
 241               -x assembler-with-cpp \
 242               $(addprefix -I,$(INCLUDE_DIRS)) \
 243               -D$(TARGET) \
 244               -MMD -MP
 245
 246 LDFLAGS     = -lm \
 247               -nostartfiles \
 248               --specs=nano.specs \
 249               -lc \
 250               -lnosys \
 251               $(ARCH_FLAGS) \
 252               $(LTO_FLAGS) \
 253               $(DEBUG_FLAGS) \
 254               -static \
 255               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 256               -Wl,-L$(LINKER_DIR) \
 257               -Wl,--cref \
 258               -Wl,--no-wchar-size-warning \
 259               -Wl,--print-memory-usage \
 260               -T$(LD_SCRIPT)
 261
 262 ###############################################################################
 263 # No user-serviceable parts below
 264 ###############################################################################
 265
 266 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 267                   --std=c99 --inline-suppr --quiet --force \
 268                   $(addprefix -I,$(INCLUDE_DIRS)) \
 269                   -I/usr/include -I/usr/include/linux
 270
 271 #
 272 # Things we will build
 273 #
 274 TARGET_BIN      := $(BIN_DIR)/$(FORKNAME)_$(FC_VER)
 275 ifneq ($(FC_VER_SUFFIX),)
 276     TARGET_BIN  := $(TARGET_BIN)-$(FC_VER_SUFFIX)
 277 endif
 278 TARGET_BIN      := $(TARGET_BIN)_$(TARGET)
 279 ifneq ($(BUILD_SUFFIX),)
 280     TARGET_BIN  := $(TARGET_BIN)_$(BUILD_SUFFIX)
 281 endif
 282 TARGET_BIN      := $(TARGET_BIN).bin
 283 TARGET_HEX      = $(TARGET_BIN:.bin=.hex)
 284
 285 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET)
 286 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 287 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
 288 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
 289 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 290
 291
 292 CLEAN_ARTIFACTS := $(TARGET_BIN)
 293 CLEAN_ARTIFACTS += $(TARGET_HEX)
 294 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 295
 296 # Make sure build date and revision is updated on every incremental build
 297 $(TARGET_OBJ_DIR)/build/version.o : $(TARGET_SRC)
 298
 299 # Settings generator
 300 .PHONY: .FORCE settings clean-settings
 301 UTILS_DIR               = $(ROOT)/src/utils
 302 SETTINGS_GENERATOR      = $(UTILS_DIR)/settings.rb
 303 BUILD_STAMP             = $(UTILS_DIR)/build_stamp.rb
 304 STAMP                   = $(TARGET_OBJ_DIR)/build.stamp
 305
 306 GENERATED_SETTINGS      = $(TARGET_OBJ_DIR)/settings_generated.h $(TARGET_OBJ_DIR)/settings_generated.c
 307 SETTINGS_FILE           = $(SRC_DIR)/fc/settings.yaml
 308 GENERATED_FILES         = $(GENERATED_SETTINGS)
 309 $(GENERATED_SETTINGS): $(SETTINGS_GENERATOR) $(SETTINGS_FILE) $(STAMP)
 310
 311 # Make sure the generated files are in the include path
 312 CFLAGS                  += -I$(TARGET_OBJ_DIR)
 313
 314 $(STAMP): .FORCE
 315         $(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(BUILD_STAMP) $(SETTINGS_FILE) $(STAMP)
 316
 317 # Use a pattern rule, since they're different than normal rules.
 318 # See https://www.gnu.org/software/make/manual/make.html#Pattern-Examples
 319 %generated.h %generated.c:
 320         $(V1) echo "settings.yaml -> settings_generated.h, settings_generated.c" "$(STDOUT)"
 321         $(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) -o $(TARGET_OBJ_DIR)
 322
 323 settings-json:
 324         $(V0) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) --json settings.json
 325
 326 clean-settings:
 327         $(V1) $(RM) $(GENERATED_SETTINGS)
 328
 329 # CFLAGS used for ASM generation. These can't include the LTO related options
 330 # since they prevent proper ASM generation. Since $(LTO_FLAGS) includes the
 331 # optization level, we have to add it back. -g is required to make interleaved
 332 # source/ASM work.
 333 ASM_CFLAGS=-g $(OPTIMZE) $(filter-out $(LTO_FLAGS) -save-temps=obj, $(CFLAGS))
 334
 335 # List of buildable ELF files and their object dependencies.
 336 # It would be nice to compute these lists, but that seems to be just beyond make.
 337
 338 $(TARGET_HEX): $(TARGET_ELF)
 339         $(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 340
 341 $(TARGET_BIN): $(TARGET_ELF)
 342         $(V0) $(OBJCOPY) -O binary $< $@
 343
 344 $(TARGET_ELF): $(TARGET_OBJS)
 345         $(V1) echo Linking $(TARGET)
 346         $(V1) $(CROSS_CC) -o $@ $(filter %.o, $^) $(LDFLAGS)
 347         $(V0) $(SIZE) $(TARGET_ELF)
 348
 349 # Compile
 350 $(TARGET_OBJ_DIR)/%.o: %.c
 351         $(V1) mkdir -p $(dir $@)
 352         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 353         $(V1) $(CROSS_CC) -c -o $@ $(CFLAGS) $<
 354 ifeq ($(GENERATE_ASM), 1)
 355         $(V1) $(CROSS_CC) -S -fverbose-asm -Wa,-aslh -o $(patsubst %.o,%.txt.S,$@) -g $(ASM_CFLAGS) $<
 356 endif
 357
 358
 359 # Assemble
 360 $(TARGET_OBJ_DIR)/%.o: %.s
 361         $(V1) mkdir -p $(dir $@)
 362         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 363         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 364
 365 $(TARGET_OBJ_DIR)/%.o: %.S
 366         $(V1) mkdir -p $(dir $@)
 367         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 368         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 369
 370
 371 ## all               : Build all valid targets
 372 all: $(VALID_TARGETS)
 373
 374 ## targets-group-1   : build some targets
 375 targets-group-1: $(GROUP_1_TARGETS)
 376
 377 ## targets-group-2   : build some targets
 378 targets-group-2: $(GROUP_2_TARGETS)
 379
 380 ## targets-group-3   : build some targets
 381 targets-group-3: $(GROUP_3_TARGETS)
 382
 383 ## targets-group-4   : build some targets
 384 targets-group-4: $(GROUP_4_TARGETS)
 385
 386 ## targets-group-5   : build some targets
 387 targets-group-5: $(GROUP_5_TARGETS)
 388
 389 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
 390 targets-group-rest: $(GROUP_OTHER_TARGETS)
 391
 392 ## targets-group-rest: build targets specified in release-targets list
 393 release: $(RELEASE_TARGETS)
 394
 395 $(VALID_TARGETS):
 396         $(V0) echo "" && \
 397         echo "Building $@" && \
 398         $(MAKE) -j 8 TARGET=$@ && \
 399         echo "Building $@ succeeded."
 400
 401 ## clean             : clean up all temporary / machine-generated files
 402 clean:
 403         $(V0) echo "Cleaning $(TARGET)"
 404         $(V0) rm -f $(CLEAN_ARTIFACTS)
 405         $(V0) rm -rf $(TARGET_OBJ_DIR)
 406         $(V0) echo "Cleaning $(TARGET) succeeded."
 407
 408 ## clean_test        : clean up all temporary / machine-generated files (tests)
 409 clean_test:
 410         $(V0) cd src/test && $(MAKE) clean
 411
 412 ## clean_<TARGET>    : clean up one specific target
 413 $(CLEAN_TARGETS) :
 414         $(V0) $(MAKE) -j 8 TARGET=$(subst clean_,,$@) clean
 415
 416 ## <TARGET>_clean    : clean up one specific target (alias for above)
 417 $(TARGETS_CLEAN) :
 418         $(V0) $(MAKE) -j 8 TARGET=$(subst _clean,,$@) clean
 419
 420 ## clean_all         : clean all valid targets
 421 clean_all:$(CLEAN_TARGETS)
 422
 423 ## all_clean         : clean all valid targets (alias for above)
 424 all_clean:$(TARGETS_CLEAN)
 425
 426 flash_$(TARGET): $(TARGET_HEX)
 427         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 428         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 429         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 430
 431 ## flash             : flash firmware (.hex) onto flight controller
 432 flash: flash_$(TARGET)
 433
 434 st-flash_$(TARGET): $(TARGET_BIN)
 435         $(V0) st-flash --reset write $< 0x08000000
 436
 437 ## st-flash          : flash firmware (.bin) onto flight controller
 438 st-flash: st-flash_$(TARGET)
 439
 440 binary: $(TARGET_BIN)
 441 hex:    $(TARGET_HEX)
 442
 443 unbrick_$(TARGET): $(TARGET_HEX)
 444         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 445         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 446
 447 ## unbrick           : unbrick flight controller
 448 unbrick: unbrick_$(TARGET)
 449
 450 ## cppcheck          : run static analysis on C source code
 451 cppcheck: $(CSOURCES)
 452         $(V0) $(CPPCHECK)
 453
 454 cppcheck-result.xml: $(CSOURCES)
 455         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 456
 457 ## help              : print this help message and exit
 458 help: Makefile
 459         $(V0) @echo ""
 460         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
 461         $(V0) @echo ""
 462         $(V0) @echo "Usage:"
 463         $(V0) @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 464         $(V0) @echo "Or:"
 465         $(V0) @echo "        make <target> [OPTIONS=\"<options>\"]"
 466         $(V0) @echo ""
 467         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
 468         $(V0) @echo ""
 469         $(V0) @sed -n 's/^## //p' $<
 470
 471 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 472 targets:
 473         $(V0) @echo "Valid targets:      $(VALID_TARGETS)"
 474         $(V0) @echo "Target:             $(TARGET)"
 475         $(V0) @echo "Base target:        $(BASE_TARGET)"
 476         $(V0) @echo "targets-group-1:    $(GROUP_1_TARGETS)"
 477         $(V0) @echo "targets-group-2:    $(GROUP_2_TARGETS)"
 478         $(V0) @echo "targets-group-3:    $(GROUP_3_TARGETS)"
 479         $(V0) @echo "targets-group-4:    $(GROUP_4_TARGETS)"
 480         $(V0) @echo "targets-group-5:    $(GROUP_5_TARGETS)"
 481         $(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
 482         $(V0) @echo "Release targets:    $(RELEASE_TARGETS)"
 483
 484 ## test              : run the cleanflight test suite
 485 test:
 486         $(V0) cd src/test && $(MAKE) test
 487
 488 # rebuild everything when makefile changes
 489 # Make the generated files and the build stamp order only prerequisites,
 490 # so they will be generated before TARGET_OBJS but regenerating them
 491 # won't cause all TARGET_OBJS to be rebuilt.
 492 $(TARGET_OBJS) : Makefile | $(GENERATED_FILES) $(STAMP)
 493
 494 # include auto-generated dependencies
 495 -include $(TARGET_DEPS)