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 OBJECT_DIR      := $(ROOT)/obj/main
  70 BIN_DIR         := $(ROOT)/obj
  71 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  72 INCLUDE_DIRS    := $(SRC_DIR) \
  73                    $(ROOT)/src/main/target
  74 LINKER_DIR      := $(ROOT)/src/main/target/link
  75
  76 # import macros common to all supported build systems
  77 include $(ROOT)/make/system-id.mk
  78
  79 # default xtal value for F4 targets
  80 HSE_VALUE       = 8000000
  81 MHZ_VALUE      ?=
  82
  83 # used for turning on features like VCP and SDCARD
  84 FEATURES        =
  85
  86 include $(ROOT)/make/version.mk
  87 include $(ROOT)/make/targets.mk
  88
  89 BUILD_DATE = $(shell date +%Y%m%d)
  90
  91 # Search path for sources
  92 FATFS_DIR       = $(ROOT)/lib/main/FatFS
  93 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
  94
  95 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  96 VPATH                   := $(VPATH):$(ROOT)/make/mcu
  97 VPATH                   := $(VPATH):$(ROOT)/make
  98
  99 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 100
 101 # start specific includes
 102 include $(ROOT)/make/mcu/STM32.mk
 103 include $(ROOT)/make/mcu/$(TARGET_MCU_GROUP).mk
 104
 105 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 106 ifeq ($(FLASH_SIZE),)
 107 ifneq ($(TARGET_FLASH),)
 108 FLASH_SIZE := $(TARGET_FLASH)
 109 else
 110 $(error FLASH_SIZE not configured for target $(TARGET))
 111 endif
 112 endif
 113
 114 # Configure devide and target-specific defines and compiler flags
 115 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 116 TARGET_FLAGS    := $(TARGET_FLAGS) -D$(TARGET_MCU) -D$(TARGET_MCU_GROUP) -D$(TARGET)
 117
 118 ifneq ($(HSE_VALUE),)
 119 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 120 endif
 121
 122 ifneq ($(MHZ_VALUE),)
 123 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DMHZ_VALUE=$(MHZ_VALUE)
 124 endif
 125
 126 ifneq ($(BASE_TARGET), $(TARGET))
 127 TARGET_FLAGS    := $(TARGET_FLAGS) -D$(BASE_TARGET)
 128 endif
 129
 130 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 131 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 132
 133 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 134                    $(ROOT)/lib/main/MAVLink
 135
 136 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 137                    $(TARGET_DIR)
 138
 139 VPATH           := $(VPATH):$(TARGET_DIR)
 140
 141 .DEFAULT_GOAL   := hex
 142
 143 include $(ROOT)/make/source.mk
 144 include $(ROOT)/make/release.mk
 145
 146 ###############################################################################
 147 #
 148 # Toolchain installer
 149 #
 150
 151 TOOLS_DIR := $(ROOT)/tools
 152 DL_DIR    := $(ROOT)/downloads
 153
 154 include $(ROOT)/make/tools.mk
 155
 156 #
 157 # Tool names
 158 #
 159 CROSS_CC    = $(ARM_SDK_PREFIX)gcc
 160 OBJCOPY     = $(ARM_SDK_PREFIX)objcopy
 161 SIZE        = $(ARM_SDK_PREFIX)size
 162
 163 #
 164 # Tool options.
 165 #
 166
 167 # Save original CFLAGS before modifying them, so we don't
 168 # add them twice when calling this Makefile recursively
 169 # for each target
 170 SAVED_CFLAGS    := $(CFLAGS)
 171
 172 ifeq ($(DEBUG),GDB)
 173 LTO_FLAGS   =
 174 else
 175 LTO_FLAGS   = -flto -fuse-linker-plugin
 176 endif
 177
 178 ifneq ($(SEMIHOSTING),)
 179 SEMIHOSTING_CFLAGS      = -DSEMIHOSTING
 180 SEMIHOSTING_LDFLAGS     = --specs=rdimon.specs -lc -lrdimon
 181 SYSLIB                  :=
 182 else
 183 SEMIHOSTING_CFLAGS      =
 184 SEMIHOSTING_LDFLAGS     =
 185 SYSLIB                  := -lnosys
 186 endif
 187
 188 DEBUG_FLAGS = -ggdb3 -DDEBUG
 189
 190 CFLAGS      += $(ARCH_FLAGS) \
 191               $(LTO_FLAGS) \
 192               $(addprefix -D,$(OPTIONS)) \
 193               $(addprefix -I,$(INCLUDE_DIRS)) \
 194               $(DEBUG_FLAGS) \
 195               $(SEMIHOSTING_CFLAGS) \
 196               -std=gnu99 \
 197               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 198               -Wstrict-prototypes \
 199               -Werror=switch \
 200               -ffunction-sections \
 201               -fdata-sections \
 202               -fno-common \
 203               $(DEVICE_FLAGS) \
 204               -DUSE_STDPERIPH_DRIVER \
 205               $(TARGET_FLAGS) \
 206               -D'__FORKNAME__="$(FORKNAME)"' \
 207               -D'__TARGET__="$(TARGET)"' \
 208               -D'__REVISION__="$(REVISION)"' \
 209               -save-temps=obj \
 210               -MMD -MP
 211
 212 ASFLAGS     = $(ARCH_FLAGS) \
 213               -x assembler-with-cpp \
 214               $(addprefix -I,$(INCLUDE_DIRS)) \
 215               -D$(TARGET) \
 216               -MMD -MP
 217
 218 LDFLAGS     = -lm \
 219               -nostartfiles \
 220               --specs=nano.specs \
 221               -lc \
 222               $(SYSLIB) \
 223               $(ARCH_FLAGS) \
 224               $(LTO_FLAGS) \
 225               $(DEBUG_FLAGS) \
 226               $(SEMIHOSTING_LDFLAGS) \
 227               -static \
 228               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 229               -Wl,-L$(LINKER_DIR) \
 230               -Wl,--cref \
 231               -Wl,--no-wchar-size-warning \
 232               -Wl,--print-memory-usage \
 233               -T$(LD_SCRIPT)
 234
 235 ###############################################################################
 236 # No user-serviceable parts below
 237 ###############################################################################
 238
 239 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 240                   --std=c99 --inline-suppr --quiet --force \
 241                   $(addprefix -I,$(INCLUDE_DIRS)) \
 242                   -I/usr/include -I/usr/include/linux
 243
 244 #
 245 # Things we will build
 246 #
 247 TARGET_BIN      := $(BIN_DIR)/$(FORKNAME)_$(FC_VER)
 248 TARGET_BIN      := $(TARGET_BIN)_$(TARGET)
 249 ifneq ($(BUILD_SUFFIX),)
 250     TARGET_BIN  := $(TARGET_BIN)_$(BUILD_SUFFIX)
 251 endif
 252 TARGET_BIN      := $(TARGET_BIN).bin
 253 TARGET_HEX      = $(TARGET_BIN:.bin=.hex)
 254
 255 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET)
 256 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 257 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
 258 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
 259 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 260
 261
 262 CLEAN_ARTIFACTS := $(TARGET_BIN)
 263 CLEAN_ARTIFACTS += $(TARGET_HEX)
 264 CLEAN_ARTIFACTS += $(TARGET_ELF)
 265 CLEAN_ARTIFACTS += $(TARGET_OBJS) $(TARGET_MAP)
 266
 267 include $(ROOT)/make/stamp.mk
 268 include $(ROOT)/make/settings.mk
 269 include $(ROOT)/make/svd.mk
 270
 271 # Make sure build date and revision is updated on every incremental build
 272 $(TARGET_OBJ_DIR)/build/version.o : $(TARGET_SRC)
 273
 274 # CFLAGS used for ASM generation. These can't include the LTO related options
 275 # since they prevent proper ASM generation. Since $(LTO_FLAGS) includes the
 276 # optization level, we have to add it back. -g is required to make interleaved
 277 # source/ASM work.
 278 ASM_CFLAGS=-g $(OPTIMZE) $(filter-out $(LTO_FLAGS) -save-temps=obj, $(CFLAGS))
 279
 280 # List of buildable ELF files and their object dependencies.
 281 # It would be nice to compute these lists, but that seems to be just beyond make.
 282
 283 $(TARGET_HEX): $(TARGET_ELF)
 284         $(V0) $(OBJCOPY) -O ihex --set-start $(FLASH_ORIGIN) $< $@
 285
 286 $(TARGET_BIN): $(TARGET_ELF)
 287         $(V0) $(OBJCOPY) -O binary $< $@
 288
 289 $(TARGET_ELF): $(TARGET_OBJS)
 290         $(V1) echo Linking $(TARGET)
 291         $(V1) $(CROSS_CC) -o $@ $(filter %.o, $^) $(LDFLAGS)
 292         $(V0) $(SIZE) $(TARGET_ELF)
 293
 294 OPTIMIZE_FLAG_SPEED := "-Os"
 295 OPTIMIZE_FLAG_SIZE := "-Os"
 296 OPTIMIZE_FLAG_NORMAL := "-Os"
 297
 298 ifneq ($(TARGET_MCU_GROUP), STM32F3)
 299         OPTIMIZE_FLAG_SPEED := "-Ofast"
 300         OPTIMIZE_FLAG_SIZE := "-Os"
 301         OPTIMIZE_FLAG_NORMAL := "-O2"
 302 endif
 303
 304 define compile_file
 305         echo "%% $(1) $(2) $<" "$(STDOUT)" && \
 306         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 307 endef
 308
 309 # Compile
 310 $(TARGET_OBJ_DIR)/%.o: %.c
 311         $(V1) mkdir -p $(dir $@)
 312
 313         $(V1) $(if $(findstring $<,$(SIZE_OPTIMISED_SRC)), \
 314                 $(call compile_file,(size),$(OPTIMIZE_FLAG_SIZE)) \
 315         , \
 316                 $(if $(findstring $<,$(SPEED_OPTIMISED_SRC)), \
 317                         $(call compile_file,(speed),$(OPTIMIZE_FLAG_SPEED)) \
 318                 , \
 319                         $(call compile_file,(normal),$(OPTIMIZE_FLAG_NORMAL)) \
 320                 ) \
 321         )
 322 ifeq ($(GENERATE_ASM), 1)
 323         $(V1) $(CROSS_CC) -S -fverbose-asm -Wa,-aslh -o $(patsubst %.o,%.txt.S,$@) -g $(ASM_CFLAGS) $<
 324 endif
 325
 326 # Assemble
 327 $(TARGET_OBJ_DIR)/%.o: %.s
 328         $(V1) mkdir -p $(dir $@)
 329         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 330         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 331
 332 $(TARGET_OBJ_DIR)/%.o: %.S
 333         $(V1) mkdir -p $(dir $@)
 334         $(V1) echo %% $(notdir $<) "$(STDOUT)"
 335         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 336
 337
 338 # mkdirs
 339 $(DL_DIR):
 340         mkdir -p $@
 341
 342 $(TOOLS_DIR):
 343         mkdir -p $@
 344
 345
 346 ## all               : Build all valid targets
 347 all: $(VALID_TARGETS)
 348
 349 ## targets-group-rest: build targets specified in release-targets list
 350 release: $(RELEASE_TARGETS)
 351
 352 $(VALID_TARGETS):
 353         $(V0) echo "" && \
 354         echo "Building $@" && \
 355         CFLAGS=$(SAVED_CFLAGS) $(MAKE) -j 8 TARGET=$@ && \
 356         echo "Building $@ succeeded."
 357
 358 ## clean             : clean up all temporary / machine-generated files
 359 clean:
 360         $(V0) echo "Cleaning $(TARGET)"
 361         $(V0) rm -f $(CLEAN_ARTIFACTS)
 362         $(V0) rm -rf $(TARGET_OBJ_DIR)
 363         $(V0) echo "Cleaning $(TARGET) succeeded."
 364
 365 ## clean_test        : clean up all temporary / machine-generated files (tests)
 366 clean_test:
 367         $(V0) cd src/test && $(MAKE) clean
 368
 369 ## clean_<TARGET>    : clean up one specific target
 370 $(CLEAN_TARGETS) :
 371         $(V0) $(MAKE) -j 8 TARGET=$(subst clean_,,$@) clean
 372
 373 ## <TARGET>_clean    : clean up one specific target (alias for above)
 374 $(TARGETS_CLEAN) :
 375         $(V0) $(MAKE) -j 8 TARGET=$(subst _clean,,$@) clean
 376
 377 ## clean_all         : clean all valid targets
 378 clean_all:$(CLEAN_TARGETS)
 379
 380 ## all_clean         : clean all valid targets (alias for above)
 381 all_clean:$(TARGETS_CLEAN)
 382
 383 flash_$(TARGET): $(TARGET_HEX)
 384         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 385         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 386         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 387
 388 ## flash             : flash firmware (.hex) onto flight controller
 389 flash: flash_$(TARGET)
 390
 391 $(STFLASH_TARGETS) :
 392         $(V0) $(MAKE) -j 8 TARGET=$(subst st-flash_,,$@) st-flash
 393
 394 ## st-flash          : flash firmware (.bin) onto flight controller
 395 st-flash: $(TARGET_BIN)
 396         $(V0) st-flash --reset write $< $(FLASH_ORIGIN)
 397
 398 elf:    $(TARGET_ELF)
 399 binary: $(TARGET_BIN)
 400 hex:    $(TARGET_HEX)
 401
 402 unbrick_$(TARGET): $(TARGET_HEX)
 403         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 404         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 405
 406 ## unbrick           : unbrick flight controller
 407 unbrick: unbrick_$(TARGET)
 408
 409 ## cppcheck          : run static analysis on C source code
 410 cppcheck: $(CSOURCES)
 411         $(V0) $(CPPCHECK)
 412
 413 cppcheck-result.xml: $(CSOURCES)
 414         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 415
 416 ## help              : print this help message and exit
 417 help: Makefile
 418         $(V0) @echo ""
 419         $(V0) @echo "Makefile for the $(FORKNAME) firmware"
 420         $(V0) @echo ""
 421         $(V0) @echo "Usage:"
 422         $(V0) @echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
 423         $(V0) @echo "Or:"
 424         $(V0) @echo "        make <target> [OPTIONS=\"<options>\"]"
 425         $(V0) @echo ""
 426         $(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
 427         $(V0) @echo ""
 428         $(V0) @sed -n 's/^## //p' $<
 429
 430 ## test              : run the cleanflight test suite
 431 test:
 432         $(V0) cd src/test && $(MAKE) test
 433
 434 # rebuild everything when makefile changes
 435 # Make the generated files and the build stamp order only prerequisites,
 436 # so they will be generated before TARGET_OBJS but regenerating them
 437 # won't cause all TARGET_OBJS to be rebuilt.
 438 $(TARGET_OBJS) : Makefile | $(GENERATED_FILES) $(STAMP)
 439
 440 # include auto-generated dependencies
 441 -include $(TARGET_DEPS)
 442
 443 # Developer tools
 444 include $(ROOT)/make/openocd.mk
 445 include $(ROOT)/make/gdb.mk