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    ?= BETAFLIGHTF3
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons:
  28 #   empty           - ordinary build with all optimizations enabled
  29 #   RELWITHDEBINFO  - ordinary build with debug symbols and all optimizations enabled
  30 #   GDB             - debug build with minimum number of optimizations
  31 DEBUG     ?=
  32
  33 # Insert the debugging hardfault debugger
  34 # releases should not be built with this flag as it does not disable pwm output
  35 DEBUG_HARDFAULTS ?=
  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
  44 ###############################################################################
  45 # Things that need to be maintained as the source changes
  46 #
  47
  48 FORKNAME      = betaflight
  49
  50 # Working directories
  51 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  52 SRC_DIR         := $(ROOT)/src/main
  53 OBJECT_DIR      := $(ROOT)/obj/main
  54 BIN_DIR         := $(ROOT)/obj
  55 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  56 INCLUDE_DIRS    := $(SRC_DIR) \
  57                    $(ROOT)/src/main/target \
  58                    $(ROOT)/src/main/startup
  59 LINKER_DIR      := $(ROOT)/src/main/target/link
  60
  61 ## V                 : Set verbosity level based on the V= parameter
  62 ##                     V=0 Low
  63 ##                     V=1 High
  64 include $(ROOT)/make/build_verbosity.mk
  65
  66 # Build tools, so we all share the same versions
  67 # import macros common to all supported build systems
  68 include $(ROOT)/make/system-id.mk
  69
  70 # developer preferences, edit these at will, they'll be gitignored
  71 -include $(ROOT)/make/local.mk
  72
  73 # configure some directories that are relative to wherever ROOT_DIR is located
  74 ifndef TOOLS_DIR
  75 TOOLS_DIR := $(ROOT)/tools
  76 endif
  77 BUILD_DIR := $(ROOT)/build
  78 DL_DIR    := $(ROOT)/downloads
  79
  80 export RM := rm
  81
  82 # import macros that are OS specific
  83 include $(ROOT)/make/$(OSFAMILY).mk
  84
  85 # include the tools makefile
  86 include $(ROOT)/make/tools.mk
  87
  88 # default xtal value for F4 targets
  89 HSE_VALUE       ?= 8000000
  90
  91 # used for turning on features like VCP and SDCARD
  92 FEATURES        =
  93
  94 # used to disable features based on flash space shortage (larger number => more features disabled)
  95 FEATURE_CUT_LEVEL_SUPPLIED := $(FEATURE_CUT_LEVEL)
  96 FEATURE_CUT_LEVEL =
  97
  98 include $(ROOT)/make/targets.mk
  99
 100 REVISION := $(shell git log -1 --format="%h")
 101
 102 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 103 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 104 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 105
 106 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 107
 108 # Search path for sources
 109 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 110 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 111 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 112 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 113 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 114
 115 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 116
 117 LD_FLAGS         :=
 118
 119 #
 120 # Default Tool options - can be overridden in {mcu}.mk files.
 121 #
 122 ifeq ($(DEBUG),GDB)
 123 OPTIMISE_DEFAULT      := -Og
 124
 125 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 126 DEBUG_FLAGS            = -ggdb3 -DDEBUG
 127 else
 128 ifeq ($(DEBUG),INFO)
 129 DEBUG_FLAGS            = -ggdb3
 130 endif
 131 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math
 132 OPTIMISE_DEFAULT      := -O2
 133 OPTIMISE_SPEED        := -Ofast
 134 OPTIMISE_SIZE         := -Os
 135
 136 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 137 endif
 138
 139 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 140 VPATH                   := $(VPATH):$(ROOT)/make
 141
 142 # start specific includes
 143 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 144
 145 # openocd specific includes
 146 include $(ROOT)/make/openocd.mk
 147
 148 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 149 ifeq ($(FLASH_SIZE),)
 150 ifneq ($(TARGET_FLASH),)
 151 FLASH_SIZE := $(TARGET_FLASH)
 152 else
 153 $(error FLASH_SIZE not configured for target $(TARGET))
 154 endif
 155 endif
 156
 157 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 158
 159 ifneq ($(HSE_VALUE),)
 160 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 161 endif
 162
 163 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 164 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 165 else ifneq ($(FEATURE_CUT_LEVEL),)
 166 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 167 endif
 168
 169 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 170 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 171
 172 ifeq ($(OPBL),yes)
 173 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 174 .DEFAULT_GOAL := binary
 175 else
 176 .DEFAULT_GOAL := hex
 177 endif
 178
 179 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 180                    $(ROOT)/lib/main/MAVLink
 181
 182 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 183                    $(TARGET_DIR)
 184
 185 VPATH           := $(VPATH):$(TARGET_DIR)
 186
 187 include $(ROOT)/make/source.mk
 188
 189 ###############################################################################
 190 # Things that might need changing to use different tools
 191 #
 192
 193 # Find out if ccache is installed on the system
 194 CCACHE := ccache
 195 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 196 ifneq ($(RESULT),0)
 197 CCACHE :=
 198 endif
 199
 200 # Tool names
 201 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 202 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 203 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 204 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 205 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 206 SIZE        := $(ARM_SDK_PREFIX)size
 207
 208 #
 209 # Tool options.
 210 #
 211 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 212 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 213 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 214 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 215
 216 CFLAGS     += $(ARCH_FLAGS) \
 217               $(addprefix -D,$(OPTIONS)) \
 218               $(addprefix -I,$(INCLUDE_DIRS)) \
 219               $(DEBUG_FLAGS) \
 220               -std=gnu11 \
 221               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 222               -ffunction-sections \
 223               -fdata-sections \
 224               -fno-common \
 225               -pedantic \
 226               $(DEVICE_FLAGS) \
 227               -D_GNU_SOURCE \
 228               -DUSE_STDPERIPH_DRIVER \
 229               -D$(TARGET) \
 230               $(TARGET_FLAGS) \
 231               -D'__FORKNAME__="$(FORKNAME)"' \
 232               -D'__TARGET__="$(TARGET)"' \
 233               -D'__REVISION__="$(REVISION)"' \
 234               -save-temps=obj \
 235               -MMD -MP \
 236               $(EXTRA_FLAGS)
 237
 238 ASFLAGS     = $(ARCH_FLAGS) \
 239               $(DEBUG_FLAGS) \
 240               -x assembler-with-cpp \
 241               $(addprefix -I,$(INCLUDE_DIRS)) \
 242               -MMD -MP
 243
 244 ifeq ($(LD_FLAGS),)
 245 LD_FLAGS     = -lm \
 246               -nostartfiles \
 247               --specs=nano.specs \
 248               -lc \
 249               -lnosys \
 250               $(ARCH_FLAGS) \
 251               $(LTO_FLAGS) \
 252               $(DEBUG_FLAGS) \
 253               -static \
 254               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 255               -Wl,-L$(LINKER_DIR) \
 256               -Wl,--cref \
 257               -Wl,--no-wchar-size-warning \
 258               -Wl,--print-memory-usage \
 259               -T$(LD_SCRIPT)
 260 endif
 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)_$(FC_VER)_$(TARGET).bin
 275 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 276 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 277 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 278 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 279 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 280 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 281
 282
 283 CLEAN_ARTIFACTS := $(TARGET_BIN)
 284 CLEAN_ARTIFACTS += $(TARGET_HEX)
 285 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 286 CLEAN_ARTIFACTS += $(TARGET_LST)
 287
 288 # Make sure build date and revision is updated on every incremental build
 289 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 290
 291 # List of buildable ELF files and their object dependencies.
 292 # It would be nice to compute these lists, but that seems to be just beyond make.
 293
 294 $(TARGET_LST): $(TARGET_ELF)
 295         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 296
 297 $(TARGET_HEX): $(TARGET_ELF)
 298         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 299         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 300
 301 $(TARGET_BIN): $(TARGET_ELF)
 302         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 303         $(V1) $(OBJCOPY) -O binary $< $@
 304
 305 $(TARGET_ELF): $(TARGET_OBJS)
 306         @echo "Linking $(TARGET)" "$(STDOUT)"
 307         $(V1) $(CROSS_CC) -o $@ $^ $(LD_FLAGS)
 308         $(V1) $(SIZE) $(TARGET_ELF)
 309
 310 # Compile
 311 ifeq ($(DEBUG),GDB)
 312 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 313         $(V1) mkdir -p $(dir $@)
 314         $(V1) echo "%% (debug) $(notdir $<)" "$(STDOUT)" && \
 315         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
 316 else
 317 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 318         $(V1) mkdir -p $(dir $@)
 319         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 320         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
 321         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
 322         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 323         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
 324         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
 325         echo "%% $(notdir $<)" "$(STDOUT)" && \
 326         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
 327 endif
 328
 329 # Assemble
 330 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 331         $(V1) mkdir -p $(dir $@)
 332         @echo "%% $(notdir $<)" "$(STDOUT)"
 333         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 334
 335 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 336         $(V1) mkdir -p $(dir $@)
 337         @echo "%% $(notdir $<)" "$(STDOUT)"
 338         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 339
 340
 341 ## all               : Build all targets (excluding unsupported)
 342 all: $(SUPPORTED_TARGETS)
 343
 344 ## all_with_unsupported : Build all targets (including unsupported)
 345 all_with_unsupported: $(VALID_TARGETS)
 346
 347 ## unsupported : Build unsupported targets
 348 unsupported: $(UNSUPPORTED_TARGETS)
 349
 350 ## official          : Build all official (travis) targets
 351 official: $(OFFICIAL_TARGETS)
 352
 353 ## targets-group-1   : build some targets
 354 targets-group-1: $(GROUP_1_TARGETS)
 355
 356 ## targets-group-2   : build some targets
 357 targets-group-2: $(GROUP_2_TARGETS)
 358
 359 ## targets-group-3   : build some targets
 360 targets-group-3: $(GROUP_3_TARGETS)
 361
 362 ## targets-group-3   : build some targets
 363 targets-group-4: $(GROUP_4_TARGETS)
 364
 365 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
 366 targets-group-rest: $(GROUP_OTHER_TARGETS)
 367
 368 $(VALID_TARGETS):
 369         $(V0) @echo "Building $@" && \
 370         $(MAKE) binary hex TARGET=$@ && \
 371         echo "Building $@ succeeded."
 372
 373 $(NOBUILD_TARGETS):
 374         $(MAKE) TARGET=$@
 375
 376 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
 377 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 378
 379 ## clean             : clean up temporary / machine-generated files
 380 clean:
 381         @echo "Cleaning $(TARGET)"
 382         $(V0) rm -f $(CLEAN_ARTIFACTS)
 383         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 384         @echo "Cleaning $(TARGET) succeeded."
 385
 386 ## clean_test        : clean up temporary / machine-generated files (tests)
 387 clean_test:
 388         $(V0) cd src/test && $(MAKE) clean || true
 389
 390 ## clean_<TARGET>    : clean up one specific target
 391 $(CLEAN_TARGETS):
 392         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 393
 394 ## <TARGET>_clean    : clean up one specific target (alias for above)
 395 $(TARGETS_CLEAN):
 396         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 397
 398 ## clean_all         : clean all valid targets
 399 clean_all: $(CLEAN_TARGETS)
 400
 401 ## all_clean         : clean all valid targets (alias for above)
 402 all_clean: $(TARGETS_CLEAN)
 403
 404
 405 flash_$(TARGET): $(TARGET_HEX)
 406         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 407         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 408         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 409
 410 ## flash             : flash firmware (.hex) onto flight controller
 411 flash: flash_$(TARGET)
 412
 413 st-flash_$(TARGET): $(TARGET_BIN)
 414         $(V0) st-flash --reset write $< 0x08000000
 415
 416 ## st-flash          : flash firmware (.bin) onto flight controller
 417 st-flash: st-flash_$(TARGET)
 418
 419 ifneq ($(OPENOCD_COMMAND),)
 420 openocd-gdb: $(TARGET_ELF)
 421         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 422 endif
 423
 424 binary:
 425         $(V0) $(MAKE) -j $(TARGET_BIN)
 426
 427 hex:
 428         $(V0) $(MAKE) -j $(TARGET_HEX)
 429
 430 unbrick_$(TARGET): $(TARGET_HEX)
 431         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 432         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 433
 434 ## unbrick           : unbrick flight controller
 435 unbrick: unbrick_$(TARGET)
 436
 437 ## cppcheck          : run static analysis on C source code
 438 cppcheck: $(CSOURCES)
 439         $(V0) $(CPPCHECK)
 440
 441 cppcheck-result.xml: $(CSOURCES)
 442         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 443
 444 # mkdirs
 445 $(DL_DIR):
 446         mkdir -p $@
 447
 448 $(TOOLS_DIR):
 449         mkdir -p $@
 450
 451 $(BUILD_DIR):
 452         mkdir -p $@
 453
 454 ## version           : print firmware version
 455 version:
 456         @echo $(FC_VER)
 457
 458 ## help              : print this help message and exit
 459 help: Makefile make/tools.mk
 460         @echo ""
 461         @echo "Makefile for the $(FORKNAME) firmware"
 462         @echo ""
 463         @echo "Usage:"
 464         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 465         @echo "Or:"
 466         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 467         @echo ""
 468         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 469         @echo ""
 470         @sed -n 's/^## //p' $?
 471
 472 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 473 targets:
 474         @echo "Valid targets:       $(VALID_TARGETS)"
 475         @echo "Supported targets:   $(SUPPORTED_TARGETS)"
 476         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 477         @echo "Target:              $(TARGET)"
 478         @echo "Base target:         $(BASE_TARGET)"
 479         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 480         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 481         @echo "targets-group-3:     $(GROUP_3_TARGETS)"
 482         @echo "targets-group-4:     $(GROUP_4_TARGETS)"
 483         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 484
 485         @echo "targets-group-1:     $(words $(GROUP_1_TARGETS)) targets"
 486         @echo "targets-group-2:     $(words $(GROUP_2_TARGETS)) targets"
 487         @echo "targets-group-3:     $(words $(GROUP_3_TARGETS)) targets"
 488         @echo "targets-group-4:     $(words $(GROUP_4_TARGETS)) targets"
 489         @echo "targets-group-rest:  $(words $(GROUP_OTHER_TARGETS)) targets"
 490         @echo "total in all groups  $(words $(SUPPORTED_TARGETS)) targets"
 491
 492 ## target-mcu        : print the MCU type of the target
 493 target-mcu:
 494         @echo $(TARGET_MCU)
 495
 496 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 497 targets-by-mcu:
 498         $(V1) for target in $(VALID_TARGETS); do \
 499                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 500                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 501                         if [ "$${DO_BUILD}" = 1 ]; then \
 502                                 echo "Building target $${target}..."; \
 503                                 $(MAKE) TARGET=$${target}; \
 504                                 if [ $$? -ne 0 ]; then \
 505                                         echo "Building target $${target} failed, aborting."; \
 506                                         exit 1; \
 507                                 fi; \
 508                         else \
 509                                 echo -n "$${target} "; \
 510                         fi; \
 511                 fi; \
 512         done
 513         @echo
 514
 515 ## targets-f3        : make all F3 targets
 516 targets-f3:
 517         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3 DO_BUILD=1
 518
 519 targets-f3-print:
 520         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3
 521
 522 ## targets-f4        : make all F4 targets
 523 targets-f4:
 524         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 DO_BUILD=1
 525
 526 targets-f4-print:
 527         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4
 528
 529 ## targets-f7        : make all F7 targets
 530 targets-f7:
 531         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 DO_BUILD=1
 532
 533 targets-f7-print:
 534         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7
 535
 536 ## test              : run the Betaflight test suite
 537 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 538 ## 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)
 539 ## test-all: run the Betaflight test suite including all per-target expanded tests
 540 test junittest test-all test-representative:
 541         $(V0) cd src/test && $(MAKE) $@
 542
 543 ## test_help         : print the help message for the test suite (including a list of the available tests)
 544 test_help:
 545         $(V0) cd src/test && $(MAKE) help
 546
 547 ## test_%            : run test 'test_%' from the test suite
 548 test_%:
 549         $(V0) cd src/test && $(MAKE) $@
 550
 551
 552 check-target-independence:
 553         $(V1) for test_target in $(VALID_TARGETS); do \
 554                 FOUND=$$(grep -rE "\W$${test_target}\W?" src/main | grep -vE "(//)|(/\*).*\W$${test_target}\W?" | grep -vE "^src/main/target"); \
 555                 if [ "$${FOUND}" != "" ]; then \
 556                         echo "Target dependencies found:"; \
 557                         echo "$${FOUND}"; \
 558                         exit 1; \
 559                 fi; \
 560         done
 561
 562 check-fastram-usage-correctness:
 563         $(V1) NON_TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM_ZERO_INIT\W.*=.*" src/main/ | grep -Ev "=\s*(false|NULL|0(\.0*f?)?)\s*[,;]"); \
 564         if [ "$${NON_TRIVIALLY_INITIALIZED}" != "" ]; then \
 565                 echo "Non-trivially initialized FAST_RAM_ZERO_INIT variables found, use FAST_RAM instead:"; \
 566                 echo "$${NON_TRIVIALLY_INITIALIZED}"; \
 567                 exit 1; \
 568         fi; \
 569         TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM\W.*;" src/main/ | grep -v "="); \
 570         EXPLICITLY_TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM\W.*;" src/main/ | grep -E "=\s*(false|NULL|0(\.0*f?)?)\s*[,;]"); \
 571         if [ "$${TRIVIALLY_INITIALIZED}$${EXPLICITLY_TRIVIALLY_INITIALIZED}" != "" ]; then \
 572                 echo "Trivially initialized FAST_RAM variables found, use FAST_RAM_ZERO_INIT instead to save FLASH:"; \
 573                 echo "$${TRIVIALLY_INITIALIZED}\n$${EXPLICITLY_TRIVIALLY_INITIALIZED}"; \
 574                 exit 1; \
 575         fi;
 576
 577 # rebuild everything when makefile changes
 578 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk
 579
 580
 581 # include auto-generated dependencies
 582 -include $(TARGET_DEPS)