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 # The list of targets to build for 'pre-push'
  99 PRE_PUSH_TARGET_LIST ?= BETAFLIGHTF3 OMNIBUSF4 SPRACINGF7DUAL SITL test-representative
 100
 101 include $(ROOT)/make/targets.mk
 102
 103 REVISION := $(shell git log -1 --format="%h")
 104
 105 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 106 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 107 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 108
 109 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 110
 111 # Search path for sources
 112 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 113 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 114 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 115 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 116 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 117
 118 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 119
 120 LD_FLAGS         :=
 121
 122 #
 123 # Default Tool options - can be overridden in {mcu}.mk files.
 124 #
 125 ifeq ($(DEBUG),GDB)
 126 OPTIMISE_DEFAULT      := -Og
 127
 128 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 129 DEBUG_FLAGS            = -ggdb3 -DDEBUG
 130 else
 131 ifeq ($(DEBUG),INFO)
 132 DEBUG_FLAGS            = -ggdb3
 133 endif
 134 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math
 135 OPTIMISE_DEFAULT      := -O2
 136 OPTIMISE_SPEED        := -Ofast
 137 OPTIMISE_SIZE         := -Os
 138
 139 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 140 endif
 141
 142 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 143 VPATH                   := $(VPATH):$(ROOT)/make
 144
 145 # start specific includes
 146 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 147
 148 # openocd specific includes
 149 include $(ROOT)/make/openocd.mk
 150
 151 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 152 ifeq ($(FLASH_SIZE),)
 153 ifneq ($(TARGET_FLASH),)
 154 FLASH_SIZE := $(TARGET_FLASH)
 155 else
 156 $(error FLASH_SIZE not configured for target $(TARGET))
 157 endif
 158 endif
 159
 160 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 161
 162 ifneq ($(HSE_VALUE),)
 163 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 164 endif
 165
 166 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 167 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 168 else ifneq ($(FEATURE_CUT_LEVEL),)
 169 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 170 endif
 171
 172 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 173 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 174
 175 ifeq ($(OPBL),yes)
 176 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 177 .DEFAULT_GOAL := binary
 178 else
 179 .DEFAULT_GOAL := hex
 180 endif
 181
 182 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 183                    $(ROOT)/lib/main/MAVLink
 184
 185 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 186                    $(TARGET_DIR)
 187
 188 VPATH           := $(VPATH):$(TARGET_DIR)
 189
 190 include $(ROOT)/make/source.mk
 191
 192 ###############################################################################
 193 # Things that might need changing to use different tools
 194 #
 195
 196 # Find out if ccache is installed on the system
 197 CCACHE := ccache
 198 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 199 ifneq ($(RESULT),0)
 200 CCACHE :=
 201 endif
 202
 203 # Tool names
 204 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 205 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 206 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 207 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 208 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 209 SIZE        := $(ARM_SDK_PREFIX)size
 210
 211 #
 212 # Tool options.
 213 #
 214 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 215 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 216 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 217 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 218
 219 CFLAGS     += $(ARCH_FLAGS) \
 220               $(addprefix -D,$(OPTIONS)) \
 221               $(addprefix -I,$(INCLUDE_DIRS)) \
 222               $(DEBUG_FLAGS) \
 223               -std=gnu11 \
 224               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 225               -ffunction-sections \
 226               -fdata-sections \
 227               -fno-common \
 228               -pedantic \
 229               $(DEVICE_FLAGS) \
 230               -D_GNU_SOURCE \
 231               -DUSE_STDPERIPH_DRIVER \
 232               -D$(TARGET) \
 233               $(TARGET_FLAGS) \
 234               -D'__FORKNAME__="$(FORKNAME)"' \
 235               -D'__TARGET__="$(TARGET)"' \
 236               -D'__REVISION__="$(REVISION)"' \
 237               -save-temps=obj \
 238               -MMD -MP \
 239               $(EXTRA_FLAGS)
 240
 241 ASFLAGS     = $(ARCH_FLAGS) \
 242               $(DEBUG_FLAGS) \
 243               -x assembler-with-cpp \
 244               $(addprefix -I,$(INCLUDE_DIRS)) \
 245               -MMD -MP
 246
 247 ifeq ($(LD_FLAGS),)
 248 LD_FLAGS     = -lm \
 249               -nostartfiles \
 250               --specs=nano.specs \
 251               -lc \
 252               -lnosys \
 253               $(ARCH_FLAGS) \
 254               $(LTO_FLAGS) \
 255               $(DEBUG_FLAGS) \
 256               -static \
 257               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 258               -Wl,-L$(LINKER_DIR) \
 259               -Wl,--cref \
 260               -Wl,--no-wchar-size-warning \
 261               -Wl,--print-memory-usage \
 262               -T$(LD_SCRIPT)
 263 endif
 264
 265 ###############################################################################
 266 # No user-serviceable parts below
 267 ###############################################################################
 268
 269 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 270                   --std=c99 --inline-suppr --quiet --force \
 271                   $(addprefix -I,$(INCLUDE_DIRS)) \
 272                   -I/usr/include -I/usr/include/linux
 273
 274 #
 275 # Things we will build
 276 #
 277 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 278 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 279 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 280 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 281 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 282 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 283 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 284
 285
 286 CLEAN_ARTIFACTS := $(TARGET_BIN)
 287 CLEAN_ARTIFACTS += $(TARGET_HEX)
 288 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 289 CLEAN_ARTIFACTS += $(TARGET_LST)
 290
 291 # Make sure build date and revision is updated on every incremental build
 292 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 293
 294 # List of buildable ELF files and their object dependencies.
 295 # It would be nice to compute these lists, but that seems to be just beyond make.
 296
 297 $(TARGET_LST): $(TARGET_ELF)
 298         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 299
 300 $(TARGET_HEX): $(TARGET_ELF)
 301         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 302         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 303
 304 $(TARGET_BIN): $(TARGET_ELF)
 305         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 306         $(V1) $(OBJCOPY) -O binary $< $@
 307
 308 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT)
 309         @echo "Linking $(TARGET)" "$(STDOUT)"
 310         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 311         $(V1) $(SIZE) $(TARGET_ELF)
 312
 313 # Compile
 314 ifeq ($(DEBUG),GDB)
 315 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 316         $(V1) mkdir -p $(dir $@)
 317         $(V1) echo "%% (debug) $(notdir $<)" "$(STDOUT)" && \
 318         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
 319 else
 320 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 321         $(V1) mkdir -p $(dir $@)
 322         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 323         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
 324         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
 325         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 326         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
 327         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
 328         echo "%% $(notdir $<)" "$(STDOUT)" && \
 329         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
 330 endif
 331
 332 # Assemble
 333 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 334         $(V1) mkdir -p $(dir $@)
 335         @echo "%% $(notdir $<)" "$(STDOUT)"
 336         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 337
 338 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 339         $(V1) mkdir -p $(dir $@)
 340         @echo "%% $(notdir $<)" "$(STDOUT)"
 341         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 342
 343
 344 ## all               : Build all targets (excluding unsupported)
 345 all: $(SUPPORTED_TARGETS)
 346
 347 ## all_with_unsupported : Build all targets (including unsupported)
 348 all_with_unsupported: $(VALID_TARGETS)
 349
 350 ## unsupported : Build unsupported targets
 351 unsupported: $(UNSUPPORTED_TARGETS)
 352
 353 ## pre-push : The minimum verification that should be run before pushing, to check if CI has a chance of succeeding
 354 pre-push:
 355         $(MAKE) $(addprefix clean_,$(PRE_PUSH_TARGET_LIST)) $(PRE_PUSH_TARGET_LIST) EXTRA_FLAGS=-Werror
 356
 357 ## official          : Build all official (travis) targets
 358 official: $(OFFICIAL_TARGETS)
 359
 360 ## targets-group-1   : build some targets
 361 targets-group-1: $(GROUP_1_TARGETS)
 362
 363 ## targets-group-2   : build some targets
 364 targets-group-2: $(GROUP_2_TARGETS)
 365
 366 ## targets-group-3   : build some targets
 367 targets-group-3: $(GROUP_3_TARGETS)
 368
 369 ## targets-group-3   : build some targets
 370 targets-group-4: $(GROUP_4_TARGETS)
 371
 372 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
 373 targets-group-rest: $(GROUP_OTHER_TARGETS)
 374
 375 $(VALID_TARGETS):
 376         $(V0) @echo "Building $@" && \
 377         $(MAKE) binary hex TARGET=$@ && \
 378         echo "Building $@ succeeded."
 379
 380 $(NOBUILD_TARGETS):
 381         $(MAKE) TARGET=$@
 382
 383 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
 384 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 385
 386 ## clean             : clean up temporary / machine-generated files
 387 clean:
 388         @echo "Cleaning $(TARGET)"
 389         $(V0) rm -f $(CLEAN_ARTIFACTS)
 390         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 391         @echo "Cleaning $(TARGET) succeeded."
 392
 393 ## clean_test        : clean up temporary / machine-generated files (tests)
 394 clean_test-%:
 395         $(MAKE) clean_test
 396
 397 clean_test:
 398         $(V0) cd src/test && $(MAKE) clean || true
 399
 400 ## clean_<TARGET>    : clean up one specific target
 401 $(CLEAN_TARGETS):
 402         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 403
 404 ## <TARGET>_clean    : clean up one specific target (alias for above)
 405 $(TARGETS_CLEAN):
 406         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 407
 408 ## clean_all         : clean all valid targets
 409 clean_all: $(CLEAN_TARGETS)
 410
 411 ## all_clean         : clean all valid targets (alias for above)
 412 all_clean: $(TARGETS_CLEAN)
 413
 414
 415 flash_$(TARGET): $(TARGET_HEX)
 416         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 417         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 418         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 419
 420 ## flash             : flash firmware (.hex) onto flight controller
 421 flash: flash_$(TARGET)
 422
 423 st-flash_$(TARGET): $(TARGET_BIN)
 424         $(V0) st-flash --reset write $< 0x08000000
 425
 426 ## st-flash          : flash firmware (.bin) onto flight controller
 427 st-flash: st-flash_$(TARGET)
 428
 429 ifneq ($(OPENOCD_COMMAND),)
 430 openocd-gdb: $(TARGET_ELF)
 431         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 432 endif
 433
 434 binary:
 435         $(V0) $(MAKE) -j $(TARGET_BIN)
 436
 437 hex:
 438         $(V0) $(MAKE) -j $(TARGET_HEX)
 439
 440 unbrick_$(TARGET): $(TARGET_HEX)
 441         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 442         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 443
 444 ## unbrick           : unbrick flight controller
 445 unbrick: unbrick_$(TARGET)
 446
 447 ## cppcheck          : run static analysis on C source code
 448 cppcheck: $(CSOURCES)
 449         $(V0) $(CPPCHECK)
 450
 451 cppcheck-result.xml: $(CSOURCES)
 452         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 453
 454 # mkdirs
 455 $(DL_DIR):
 456         mkdir -p $@
 457
 458 $(TOOLS_DIR):
 459         mkdir -p $@
 460
 461 $(BUILD_DIR):
 462         mkdir -p $@
 463
 464 ## version           : print firmware version
 465 version:
 466         @echo $(FC_VER)
 467
 468 ## help              : print this help message and exit
 469 help: Makefile make/tools.mk
 470         @echo ""
 471         @echo "Makefile for the $(FORKNAME) firmware"
 472         @echo ""
 473         @echo "Usage:"
 474         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 475         @echo "Or:"
 476         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 477         @echo ""
 478         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 479         @echo ""
 480         @sed -n 's/^## //p' $?
 481
 482 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 483 targets:
 484         @echo "Valid targets:       $(VALID_TARGETS)"
 485         @echo "Supported targets:   $(SUPPORTED_TARGETS)"
 486         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 487         @echo "Target:              $(TARGET)"
 488         @echo "Base target:         $(BASE_TARGET)"
 489         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 490         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 491         @echo "targets-group-3:     $(GROUP_3_TARGETS)"
 492         @echo "targets-group-4:     $(GROUP_4_TARGETS)"
 493         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 494
 495         @echo "targets-group-1:     $(words $(GROUP_1_TARGETS)) targets"
 496         @echo "targets-group-2:     $(words $(GROUP_2_TARGETS)) targets"
 497         @echo "targets-group-3:     $(words $(GROUP_3_TARGETS)) targets"
 498         @echo "targets-group-4:     $(words $(GROUP_4_TARGETS)) targets"
 499         @echo "targets-group-rest:  $(words $(GROUP_OTHER_TARGETS)) targets"
 500         @echo "total in all groups  $(words $(SUPPORTED_TARGETS)) targets"
 501
 502 ## target-mcu        : print the MCU type of the target
 503 target-mcu:
 504         @echo $(TARGET_MCU)
 505
 506 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 507 targets-by-mcu:
 508         $(V1) for target in $(VALID_TARGETS); do \
 509                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 510                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 511                         if [ "$${DO_BUILD}" = 1 ]; then \
 512                                 echo "Building target $${target}..."; \
 513                                 $(MAKE) TARGET=$${target}; \
 514                                 if [ $$? -ne 0 ]; then \
 515                                         echo "Building target $${target} failed, aborting."; \
 516                                         exit 1; \
 517                                 fi; \
 518                         else \
 519                                 echo -n "$${target} "; \
 520                         fi; \
 521                 fi; \
 522         done
 523         @echo
 524
 525 ## targets-f3        : make all F3 targets
 526 targets-f3:
 527         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3 DO_BUILD=1
 528
 529 targets-f3-print:
 530         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3
 531
 532 ## targets-f4        : make all F4 targets
 533 targets-f4:
 534         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 DO_BUILD=1
 535
 536 targets-f4-print:
 537         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4
 538
 539 ## targets-f7        : make all F7 targets
 540 targets-f7:
 541         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 DO_BUILD=1
 542
 543 targets-f7-print:
 544         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7
 545
 546 ## test              : run the Betaflight test suite
 547 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 548 ## 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)
 549 ## test-all: run the Betaflight test suite including all per-target expanded tests
 550 test junittest test-all test-representative:
 551         $(V0) cd src/test && $(MAKE) $@
 552
 553 ## test_help         : print the help message for the test suite (including a list of the available tests)
 554 test_help:
 555         $(V0) cd src/test && $(MAKE) help
 556
 557 ## test_%            : run test 'test_%' from the test suite
 558 test_%:
 559         $(V0) cd src/test && $(MAKE) $@
 560
 561
 562 check-target-independence:
 563         $(V1) for test_target in $(VALID_TARGETS); do \
 564                 FOUND=$$(grep -rE "\W$${test_target}(\W.*)?$$" src/main | grep -vE "(//)|(/\*).*\W$${test_target}(\W.*)?$$" | grep -vE "^src/main/target"); \
 565                 if [ "$${FOUND}" != "" ]; then \
 566                         echo "Target dependencies for target '$${test_target}' found:"; \
 567                         echo "$${FOUND}"; \
 568                         exit 1; \
 569                 fi; \
 570         done
 571
 572 check-fastram-usage-correctness:
 573         $(V1) NON_TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM_ZERO_INIT\W.*=.*" src/main/ | grep -Ev "=\s*(false|NULL|0(\.0*f?)?)\s*[,;]"); \
 574         if [ "$${NON_TRIVIALLY_INITIALIZED}" != "" ]; then \
 575                 echo "Non-trivially initialized FAST_RAM_ZERO_INIT variables found, use FAST_RAM instead:"; \
 576                 echo "$${NON_TRIVIALLY_INITIALIZED}"; \
 577                 exit 1; \
 578         fi; \
 579         TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM\W.*;" src/main/ | grep -v "="); \
 580         EXPLICITLY_TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM\W.*;" src/main/ | grep -E "=\s*(false|NULL|0(\.0*f?)?)\s*[,;]"); \
 581         if [ "$${TRIVIALLY_INITIALIZED}$${EXPLICITLY_TRIVIALLY_INITIALIZED}" != "" ]; then \
 582                 echo "Trivially initialized FAST_RAM variables found, use FAST_RAM_ZERO_INIT instead to save FLASH:"; \
 583                 echo "$${TRIVIALLY_INITIALIZED}\n$${EXPLICITLY_TRIVIALLY_INITIALIZED}"; \
 584                 exit 1; \
 585         fi
 586
 587 check-platform-included:
 588         $(V1) PLATFORM_NOT_INCLUDED=$$(find src/main -type d -name target -prune -o -type f -name \*.c -exec grep -L "^#include \"platform.h\"" {} \;); \
 589         if [ "$$(echo $${PLATFORM_NOT_INCLUDED} | grep -v -e '^$$' | wc -l)" -ne 0 ]; then \
 590                 echo "The following compilation units do not include the required target specific configuration provided by 'platform.h':"; \
 591                 echo "$${PLATFORM_NOT_INCLUDED}"; \
 592                 exit 1; \
 593         fi
 594
 595 # rebuild everything when makefile changes
 596 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 597
 598
 599 # include auto-generated dependencies
 600 -include $(TARGET_DEPS)