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 # Root directory
  15 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  16
  17 # developer preferences, edit these at will, they'll be gitignored
  18 -include $(ROOT)/make/local.mk
  19
  20 # Things that the user might override on the commandline
  21 #
  22
  23 # The target to build, see VALID_TARGETS below
  24 TARGET    ?= REVO
  25
  26 # Compile-time options
  27 OPTIONS   ?=
  28
  29 # Debugger optons, must be empty or GDB
  30 DEBUG     ?=
  31
  32 SEMIHOSTING ?=
  33
  34 # Build suffix
  35 BUILD_SUFFIX ?=
  36
  37 # Serial port/Device for flashing
  38 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  39
  40 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  41 FLASH_SIZE ?=
  42
  43 ## V                 : Set verbosity level based on the V= parameter
  44 ##                     V=0 Low
  45 ##                     V=1 High
  46 export AT := @
  47
  48 ifndef V
  49 export V0    :=
  50 export V1    := $(AT)
  51 export STDOUT   :=
  52 else ifeq ($(V), 0)
  53 export V0    := $(AT)
  54 export V1    := $(AT)
  55 export STDOUT:= "> /dev/null"
  56 export MAKE  := $(MAKE) --no-print-directory
  57 else ifeq ($(V), 1)
  58 export V0    :=
  59 export V1    :=
  60 export STDOUT   :=
  61 endif
  62
  63 ###############################################################################
  64 # Things that need to be maintained as the source changes
  65 #
  66
  67 # Working directories
  68 SRC_DIR         := $(ROOT)/src/main
  69 BL_SRC_DIR      := $(ROOT)/src/bl
  70 OBJECT_DIR      := $(ROOT)/obj/main
  71 BL_OBJECT_DIR   := $(ROOT)/obj/bl
  72 BIN_DIR         := $(ROOT)/obj
  73 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  74 INCLUDE_DIRS    := $(SRC_DIR) \
  75                    $(ROOT)/src/main/target
  76 LINKER_DIR      := $(ROOT)/src/main/target/link
  77
  78 # import macros common to all supported build systems
  79 include $(ROOT)/make/system-id.mk
  80
  81 # default xtal value for F4 targets
  82 HSE_VALUE       = 8000000
  83 MHZ_VALUE      ?=
  84
  85 # used for turning on features like VCP and SDCARD
  86 FEATURES        =
  87
  88 include $(ROOT)/make/version.mk
  89 include $(ROOT)/make/targets.mk
  90
  91 BUILD_DATE = $(shell date +%Y%m%d)
  92
  93 # Search path for sources
  94 FATFS_DIR       = $(ROOT)/lib/main/FatFS
  95 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
  96
  97 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  98 VPATH           := $(VPATH):$(ROOT)/make/mcu
  99 VPATH           := $(VPATH):$(ROOT)/make
 100 VPATH           := $(VPATH):$(BL_SRC_DIR)
 101
 102 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 103
 104 # start specific includes
 105 include $(ROOT)/make/mcu/STM32.mk
 106 include $(ROOT)/make/mcu/$(TARGET_MCU_GROUP).mk
 107
 108 BL_LD_SCRIPT := $(basename $(LD_SCRIPT))_bl.ld
 109
 110 ifneq ($(FOR_BL),)
 111     LD_SCRIPT := $(basename $(LD_SCRIPT))_for_bl.ld
 112 endif
 113
 114 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 115 ifeq ($(FLASH_SIZE),)
 116 ifneq ($(TARGET_FLASH),)
 117 FLASH_SIZE := $(TARGET_FLASH)
 118 else
 119 $(error FLASH_SIZE not configured for target $(TARGET))
 120 endif
 121 endif
 122
 123 # Configure devide and target-specific defines and compiler flags
 124 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 125 TARGET_FLAGS    := $(TARGET_FLAGS) -D$(TARGET_MCU) -D$(TARGET_MCU_GROUP) -D$(TARGET)
 126
 127 ifneq ($(HSE_VALUE),)
 128 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 129 endif
 130
 131 ifneq ($(MHZ_VALUE),)
 132 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DMHZ_VALUE=$(MHZ_VALUE)
 133 endif
 134
 135 ifneq ($(BASE_TARGET), $(TARGET))
 136 TARGET_FLAGS    := $(TARGET_FLAGS) -D$(BASE_TARGET)
 137 endif
 138
 139 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 140 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 141
 142 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 143                    $(ROOT)/lib/main/MAVLink
 144
 145 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 146                    $(TARGET_DIR)
 147
 148 VPATH           := $(VPATH):$(TARGET_DIR)
 149
 150 .DEFAULT_GOAL   := hex
 151
 152 include $(ROOT)/make/source.mk
 153 include $(ROOT)/make/release.mk
 154
 155 ###############################################################################
 156 #
 157 # Toolchain installer
 158 #
 159
 160 TOOLS_DIR := $(ROOT)/tools
 161 DL_DIR    := $(ROOT)/downloads
 162
 163 include $(ROOT)/make/tools.mk
 164
 165 #
 166 # Tool names
 167 #
 168 CROSS_CC    = $(ARM_SDK_PREFIX)gcc
 169 OBJCOPY     = $(ARM_SDK_PREFIX)objcopy
 170 SIZE        = $(ARM_SDK_PREFIX)size
 171 COMBINE_TOOL := src/utils/combine_tool
 172
 173 #
 174 # Tool options.
 175 #
 176
 177 # Save original CFLAGS before modifying them, so we don't
 178 # add them twice when calling this Makefile recursively
 179 # for each target
 180 SAVED_CFLAGS    := $(CFLAGS)
 181
 182 ifeq ($(DEBUG),GDB)
 183 LTO_FLAGS   =
 184 else
 185 LTO_FLAGS   = -flto -fuse-linker-plugin
 186 endif
 187
 188 ifneq ($(SEMIHOSTING),)
 189 SEMIHOSTING_CFLAGS      = -DSEMIHOSTING
 190 SEMIHOSTING_LDFLAGS     = --specs=rdimon.specs -lc -lrdimon
 191 SYSLIB                  :=
 192 else
 193 SEMIHOSTING_CFLAGS      =
 194 SEMIHOSTING_LDFLAGS     =
 195 SYSLIB                  := -lnosys
 196 endif
 197
 198 DEBUG_FLAGS = -ggdb3 -DDEBUG
 199
 200 CFLAGS      += $(ARCH_FLAGS) \
 201               $(LTO_FLAGS) \
 202               $(addprefix -D,$(OPTIONS)) \
 203               $(addprefix -I,$(INCLUDE_DIRS)) \
 204               $(DEBUG_FLAGS) \
 205               $(SEMIHOSTING_CFLAGS) \
 206               -std=gnu99 \
 207               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 208               -Wstrict-prototypes \
 209               -Werror=switch \
 210               -ffunction-sections \
 211               -fdata-sections \
 212               -fno-common \
 213               $(DEVICE_FLAGS) \
 214               -DUSE_STDPERIPH_DRIVER \
 215               $(TARGET_FLAGS) \
 216               -D'__FORKNAME__="$(FORKNAME)"' \
 217               -D'__TARGET__="$(TARGET)"' \
 218               -D'__REVISION__="$(REVISION)"' \
 219               -save-temps=obj \
 220               -MMD -MP
 221
 222 BL_CFLAGS  = -DMSP_FIRMWARE_UPDATE -DBOOTLOADER
 223
 224 ifneq ($(FOR_BL),)
 225     CFLAGS += -DMSP_FIRMWARE_UPDATE
 226 endif
 227
 228 ASFLAGS     = $(ARCH_FLAGS) \
 229               -x assembler-with-cpp \
 230               $(addprefix -I,$(INCLUDE_DIRS)) \
 231               -D$(TARGET) \
 232               -MMD -MP
 233
 234 LDFLAGS     = -lm \
 235               -nostartfiles \
 236               --specs=nano.specs \
 237               -lc \
 238               $(SYSLIB) \
 239               $(ARCH_FLAGS) \
 240               $(LTO_FLAGS) \
 241               $(DEBUG_FLAGS) \
 242               $(SEMIHOSTING_LDFLAGS) \
 243               -static \
 244               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 245               -Wl,-L$(LINKER_DIR) \
 246               -Wl,--cref \
 247               -Wl,--no-wchar-size-warning \
 248               -Wl,--print-memory-usage \
 249               -T$(LD_SCRIPT)
 250
 251 BL_LDFLAGS     = -lm \
 252               -nostartfiles \
 253               --specs=nano.specs \
 254               -lc \
 255               $(SYSLIB) \
 256               $(ARCH_FLAGS) \
 257               $(LTO_FLAGS) \
 258               $(DEBUG_FLAGS) \
 259               $(SEMIHOSTING_LDFLAGS) \
 260               -static \
 261               -Wl,-gc-sections,-Map,$(TARGET_BL_MAP) \
 262               -Wl,-L$(LINKER_DIR) \
 263               -Wl,--cref \
 264               -Wl,--no-wchar-size-warning \
 265               -Wl,--print-memory-usage \
 266               -T$(BL_LD_SCRIPT)
 267
 268 ###############################################################################
 269 # No user-serviceable parts below
 270 ###############################################################################
 271
 272 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 273                   --std=c99 --inline-suppr --quiet --force \
 274                   $(addprefix -I,$(INCLUDE_DIRS)) \
 275                   -I/usr/include -I/usr/include/linux
 276
 277 #
 278 # Things we will build
 279 #
 280 TARGET_BIN      := $(BIN_DIR)/$(FORKNAME)_$(FC_VER)
 281 TARGET_BIN      := $(TARGET_BIN)_$(TARGET)
 282 TARGET_BL_BIN   := $(TARGET_BIN)_bl
 283 ifneq ($(BUILD_SUFFIX),)
 284     TARGET_BIN  := $(TARGET_BIN)_$(BUILD_SUFFIX)
 285     TARGET_BL_BIN := $(TARGET_BL_BIN)_$(BUILD_SUFFIX)
 286 endif
 287 TARGET_BIN      := $(TARGET_BIN).bin
 288 TARGET_BL_BIN   := $(TARGET_BL_BIN).bin
 289 TARGET_HEX      = $(TARGET_BIN:.bin=.hex)
 290 TARGET_BL_HEX   = $(TARGET_BL_BIN:.bin=.hex)
 291 TARGET_COMBINED_HEX = $(basename $(TARGET_HEX))_combined.hex
 292
 293 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET)
 294 TARGET_BL_OBJ_DIR  = $(BL_OBJECT_DIR)/$(TARGET)
 295 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 296 TARGET_BL_ELF   = $(BL_OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 297 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
 298 TARGET_BL_OBJS  = $(addsuffix .o,$(addprefix $(TARGET_BL_OBJ_DIR)/,$(basename $(TARGET_BL_SRC))))
 299 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
 300 TARGET_BL_DEPS  = $(addsuffix .d,$(addprefix $(TARGET_BL_OBJ_DIR)/,$(basename $(TARGET_BL_SRC))))
 301 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 302 TARGET_BL_MAP   = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_bl.map
 303
 304
 305 CLEAN_ARTIFACTS := $(TARGET_BIN)
 306 CLEAN_ARTIFACTS += $(TARGET_HEX)
 307 CLEAN_ARTIFACTS += $(TARGET_ELF)
 308 CLEAN_ARTIFACTS += $(TARGET_OBJS) $(TARGET_MAP)
 309 CLEAN_ARTIFACTS += $(TARGET_BL_BIN) $(TARGET_BL_HEX) $(TARGET_BL_ELF) $(TARGET_BL_OBJS) $(TARGET_BL_MAP)
 310
 311 include $(ROOT)/make/stamp.mk
 312 include $(ROOT)/make/settings.mk
 313 include $(ROOT)/make/svd.mk
 314
 315 # Make sure build date and revision is updated on every incremental build
 316 $(TARGET_OBJ_DIR)/build/version.o $(TARGET_BL_OBJ_DIR)/build/version.o: $(TARGET_SRC)
 317
 318 # CFLAGS used for ASM generation. These can't include the LTO related options
 319 # since they prevent proper ASM generation. Since $(LTO_FLAGS) includes the
 320 # optization level, we have to add it back. -g is required to make interleaved
 321 # source/ASM work.
 322 ASM_CFLAGS=-g $(OPTIMZE) $(filter-out $(LTO_FLAGS) -save-temps=obj, $(CFLAGS))
 323
 324 # List of buildable ELF files and their object dependencies.
 325 # It would be nice to compute these lists, but that seems to be just beyond make.
 326
 327 $(TARGET_HEX): $(TARGET_ELF)
 328         $(V0) $(OBJCOPY) -O ihex --set-start $(FLASH_ORIGIN) $< $@
 329
 330 $(TARGET_BIN): $(TARGET_ELF)
 331         $(V0) $(OBJCOPY) -O binary $< $@
 332
 333 $(TARGET_ELF): $(TARGET_OBJS)
 334         $(V1) echo Linking $(TARGET)
 335         $(V1) $(CROSS_CC) -o $@ $(filter %.o, $^) $(LDFLAGS)
 336         $(V0) $(SIZE) $(TARGET_ELF)
 337
 338 $(TARGET_BL_HEX): $(TARGET_BL_ELF)
 339         $(V0) $(OBJCOPY) -O ihex --set-start $(FLASH_ORIGIN) $< $@
 340
 341 $(TARGET_BL_BIN): $(TARGET_BL_ELF)
 342         $(V0) $(OBJCOPY) -O binary $< $@
 343
 344 $(TARGET_BL_ELF): $(TARGET_BL_OBJS)
 345         $(V1) echo Linking $(TARGET) bl
 346         $(V1) $(CROSS_CC) -o $@ $(filter %.o, $^) $(BL_LDFLAGS)
 347         $(V0) $(SIZE) $(TARGET_BL_ELF)
 348
 349 OPTIMIZE_FLAG_SPEED := "-Os"
 350 OPTIMIZE_FLAG_SIZE := "-Os"
 351 OPTIMIZE_FLAG_NORMAL := "-Os"
 352
 353 ifneq ($(TARGET_MCU_GROUP), STM32F3)
 354         OPTIMIZE_FLAG_SPEED := "-Ofast"
 355         OPTIMIZE_FLAG_SIZE := "-Os"
 356         OPTIMIZE_FLAG_NORMAL := "-O2"
 357 endif
 358
 359 define compile_file
 360         echo "%% $(1) $(2) $<" "$(STDOUT)" && \
 361         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 362 endef
 363
 364 define compile_bl_file
 365         echo "%% $(1) $(2) $<" "$(STDOUT)" && \
 366         $(CROSS_CC) -c -o $@ $(CFLAGS) $(BL_CFLAGS) $(2) $<
 367 endef
 368
 369 # Compile
 370 $(TARGET_OBJ_DIR)/%.o: %.c
 371         $(V1) mkdir -p $(dir $@)
 372
 373         $(V1) $(if $(findstring $<,$(SIZE_OPTIMISED_SRC)), \
 374                 $(call compile_file,(size),$(OPTIMIZE_FLAG_SIZE)) \
 375         , \
 376                 $(if $(findstring $<,$(SPEED_OPTIMISED_SRC)), \
 377                         $(call compile_file,(speed),$(OPTIMIZE_FLAG_SPEED)) \
 378                 , \
 379                         $(call compile_file,(normal),$(OPTIMIZE_FLAG_NORMAL)) \
 380                 ) \
 381         )
 382 ifeq ($(GENERATE_ASM), 1)
 383         $(V1) $(CROSS_CC) -S -fverbose-asm -Wa,-aslh -o $(patsubst %.o,%.txt.S,$@) -g $(ASM_CFLAGS) $<
 384 endif
 385
 386 $(TARGET_BL_OBJ_DIR)/%.o: %.c
 387         $(V1) mkdir -p $(dir $@)
 388
 389         $(V1) $(if $(findstring $<,$(SIZE_OPTIMISED_SRC)), \
 390                 $(call compile_bl_file,(size),$(OPTIMIZE_FLAG_SIZE)) \
 391         , \
 392                 $(if $(findstring $<,$(SPEED_OPTIMISED_SRC)), \
 393                         $(call compile_bl_file,(speed),$(OPTIMIZE_FLAG_SPEED)) \
 394                 , \
 395                         $(call compile_bl_file,(normal),$(OPTIMIZE_FLAG_NORMAL)) \
 396                 ) \
 397         )
 398 ifeq ($(GENERATE_ASM), 1)
 399         $(V1) $(CROSS_CC) -S -fverbose-asm -Wa,-aslh -o $(patsubst %.o,%.txt.S,$@) -g $(ASM_CFLAGS) $(BL_CFLAGS) $<
 400 endif
 401
 402 # Assemble
 403 $(TARGET_OBJ_DIR)/%.o $(TARGET_BL_OBJ_DIR)/%.o: %.s
 404         $(V1) mkdir -p $(dir $@)
 405         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 406         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 407
 408 $(TARGET_OBJ_DIR)/%.o $(TARGET_BL_OBJ_DIR)/%.o: %.S
 409         $(V1) mkdir -p $(dir $@)
 410         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 411         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 412
 413
 414 # mkdirs
 415 $(DL_DIR):
 416         mkdir -p $@
 417
 418 $(TOOLS_DIR):
 419         mkdir -p $@
 420
 421
 422 ## all               : Build all valid targets
 423 all: $(VALID_TARGETS)
 424
 425 ## targets-group-rest: build targets specified in release-targets list
 426 release: $(RELEASE_TARGETS)
 427
 428 $(VALID_TARGETS):
 429         $(V0) echo "" && \
 430         echo "Building $@" && \
 431         CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$@ && \
 432         echo "Building $@ succeeded."
 433
 434 $(VALID_BL_TARGETS):
 435         $(V0) echo "" && \
 436         echo "Building $@" && \
 437         CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$(@:%_bl=%) bl_binary bl_hex && \
 438         echo "Building $(@:%_bl=%) bl succeeded."
 439
 440 $(VALID_TARGETS_FOR_BL):
 441         $(V0) echo "" && \
 442         echo "Building $@" && \
 443         CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$(@:%_for_bl=%) FOR_BL=1 binary hex && \
 444         echo "Building $(@:%_for_bl=%) for bl succeeded."
 445
 446 $(VALID_TARGETS_WITH_BL):
 447         $(V0) echo "" && \
 448         echo "Building $@ with bl" && \
 449         CFLAGS=$(SAVED_CFLAGS) $(MAKE) TARGET=$(@:%_with_bl=%) combined_hex && \
 450         echo "Building $(@:%_with_bl=%) with bl succeeded."
 451
 452 combined_hex:
 453         $(V1) echo "Building combined BL+MAIN hex" && \
 454         CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$(TARGET) bl_binary && \
 455         CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$(TARGET) binary FOR_BL=1 && \
 456         echo "Combining MAIN+BL in $(TARGET_COMBINED_HEX)" && \
 457         $(COMBINE_TOOL) $(TARGET_BL_BIN) $(TARGET_BIN) $(TARGET_COMBINED_HEX)
 458
 459 ## clean             : clean up all temporary / machine-generated files
 460 clean:
 461         $(V0) echo "Cleaning $(TARGET)"
 462         $(V0) rm -f $(CLEAN_ARTIFACTS)
 463         $(V0) rm -rf $(TARGET_OBJ_DIR)
 464         $(V0) echo "Cleaning $(TARGET) succeeded."
 465
 466 ## clean_test        : clean up all temporary / machine-generated files (tests)
 467 clean_test:
 468         $(V0) $(RM) -r src/test/build
 469
 470 ## clean_<TARGET>    : clean up one specific target
 471 $(CLEAN_TARGETS) :
 472         $(V0) $(MAKE) -j 8 TARGET=$(subst clean_,,$@) clean
 473
 474 ## <TARGET>_clean    : clean up one specific target (alias for above)
 475 $(TARGETS_CLEAN) :
 476         $(V0) $(MAKE) -j 8 TARGET=$(subst _clean,,$@) clean
 477
 478 ## clean_all         : clean all valid targets
 479 clean_all:$(CLEAN_TARGETS)
 480
 481 ## all_clean         : clean all valid targets (alias for above)
 482 all_clean:$(TARGETS_CLEAN)
 483
 484 flash_$(TARGET): $(TARGET_HEX)
 485         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 486         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 487         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 488
 489 ## flash             : flash firmware (.hex) onto flight controller
 490 flash: flash_$(TARGET)
 491
 492 $(STFLASH_TARGETS) :
 493         $(V0) $(MAKE) -j 8 TARGET=$(subst st-flash_,,$@) st-flash
 494
 495 ## st-flash          : flash firmware (.bin) onto flight controller
 496 st-flash: $(TARGET_BIN)
 497         $(V0) st-flash --reset write $< $(FLASH_ORIGIN)
 498
 499 elf:    $(TARGET_ELF)
 500 binary: $(TARGET_BIN)
 501 hex:    $(TARGET_HEX)
 502 bl_elf: $(TARGET_BL_ELF)
 503 bl_binary: $(TARGET_BL_BIN)
 504 bl_hex:    $(TARGET_BL_HEX)
 505
 506 unbrick_$(TARGET): $(TARGET_HEX)
 507         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 508         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 509
 510 ## unbrick           : unbrick flight controller
 511 unbrick: unbrick_$(TARGET)
 512
 513 ## cppcheck          : run static analysis on C source code
 514 cppcheck: $(CSOURCES)
 515         $(V0) $(CPPCHECK)
 516
 517 cppcheck-result.xml: $(CSOURCES)
 518         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 519
 520 ## help              : print this help message and exit
 521 help: Makefile
 522         $(V0) @echo ""
 523         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
 524         $(V0) @echo ""
 525         $(V0) @echo "Usage:"
 526         $(V0) @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 527         $(V0) @echo "Or:"
 528         $(V0) @echo "        make <target> [OPTIONS=\"<options>\"]"
 529         $(V0) @echo ""
 530         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
 531         $(V0) @echo ""
 532         $(V0) @sed -n 's/^## //p' $<
 533
 534 ## test              : run the cleanflight test suite
 535 test:
 536         $(V0) mkdir -p src/test/build && cd src/test/build && cmake .. && $(MAKE) check
 537
 538 # rebuild everything when makefile changes
 539 # Make the generated files and the build stamp order only prerequisites,
 540 # so they will be generated before TARGET_OBJS but regenerating them
 541 # won't cause all TARGET_OBJS to be rebuilt.
 542 $(TARGET_OBJS) : Makefile | $(GENERATED_FILES) $(STAMP)
 543
 544 # include auto-generated dependencies
 545 -include $(TARGET_DEPS)
 546
 547 # Developer tools
 548 include $(ROOT)/make/openocd.mk
 549 include $(ROOT)/make/gdb.mk