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    ?= OMNIBUSF4
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # compile for External Storage Bootloader support
  28 EXST      ?= no
  29
  30 # compile for target loaded into RAM
  31 RAM_BASED ?= no
  32
  33 # Debugger optons:
  34 #   empty           - ordinary build with all optimizations enabled
  35 #   RELWITHDEBINFO  - ordinary build with debug symbols and all optimizations enabled
  36 #   GDB             - debug build with minimum number of optimizations
  37 DEBUG     ?=
  38
  39 # Insert the debugging hardfault debugger
  40 # releases should not be built with this flag as it does not disable pwm output
  41 DEBUG_HARDFAULTS ?=
  42
  43 # Serial port/Device for flashing
  44 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  45
  46 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  47 FLASH_SIZE ?=
  48
  49
  50 ###############################################################################
  51 # Things that need to be maintained as the source changes
  52 #
  53
  54 FORKNAME      = betaflight
  55
  56 # Working directories
  57 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  58 SRC_DIR         := $(ROOT)/src/main
  59 OBJECT_DIR      := $(ROOT)/obj/main
  60 BIN_DIR         := $(ROOT)/obj
  61 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  62 INCLUDE_DIRS    := $(SRC_DIR) \
  63                    $(ROOT)/src/main/target \
  64                    $(ROOT)/src/main/startup
  65 LINKER_DIR      := $(ROOT)/src/link
  66
  67 ## V                 : Set verbosity level based on the V= parameter
  68 ##                     V=0 Low
  69 ##                     V=1 High
  70 include $(ROOT)/make/build_verbosity.mk
  71
  72 # Build tools, so we all share the same versions
  73 # import macros common to all supported build systems
  74 include $(ROOT)/make/system-id.mk
  75
  76 # developer preferences, edit these at will, they'll be gitignored
  77 -include $(ROOT)/make/local.mk
  78
  79 # configure some directories that are relative to wherever ROOT_DIR is located
  80 ifndef TOOLS_DIR
  81 TOOLS_DIR := $(ROOT)/tools
  82 endif
  83 BUILD_DIR := $(ROOT)/build
  84 DL_DIR    := $(ROOT)/downloads
  85
  86 export RM := rm
  87
  88 # import macros that are OS specific
  89 include $(ROOT)/make/$(OSFAMILY).mk
  90
  91 # include the tools makefile
  92 include $(ROOT)/make/tools.mk
  93
  94 # default xtal value for F4 targets
  95 HSE_VALUE       ?= 8000000
  96
  97 # used for turning on features like VCP and SDCARD
  98 FEATURES        =
  99
 100 # used to disable features based on flash space shortage (larger number => more features disabled)
 101 FEATURE_CUT_LEVEL_SUPPLIED := $(FEATURE_CUT_LEVEL)
 102 FEATURE_CUT_LEVEL =
 103
 104 # The list of targets to build for 'pre-push'
 105 PRE_PUSH_TARGET_LIST ?= OMNIBUSF4 STM32F405 SPRACINGF7DUAL STM32F7X2 SITL test-representative
 106
 107 include $(ROOT)/make/targets.mk
 108
 109 REVISION := $(shell git log -1 --format="%h")
 110
 111 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 112 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 113 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 114
 115 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 116
 117 # Search path for sources
 118 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 119 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 120 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 121 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 122 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 123
 124 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 125
 126 LD_FLAGS         :=
 127
 128 #
 129 # Default Tool options - can be overridden in {mcu}.mk files.
 130 #
 131 ifeq ($(DEBUG),GDB)
 132 OPTIMISE_DEFAULT      := -Og
 133
 134 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 135 DEBUG_FLAGS            = -ggdb3 -DDEBUG
 136 else
 137 ifeq ($(DEBUG),INFO)
 138 DEBUG_FLAGS            = -ggdb3
 139 endif
 140 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math
 141 OPTIMISE_DEFAULT      := -O2
 142 OPTIMISE_SPEED        := -Ofast
 143 OPTIMISE_SIZE         := -Os
 144
 145 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 146 endif
 147
 148 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 149 VPATH                   := $(VPATH):$(ROOT)/make
 150
 151 # start specific includes
 152 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 153
 154 # openocd specific includes
 155 include $(ROOT)/make/openocd.mk
 156
 157 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 158 ifeq ($(FLASH_SIZE),)
 159 ifneq ($(TARGET_FLASH),)
 160 FLASH_SIZE := $(TARGET_FLASH)
 161 else
 162 $(error FLASH_SIZE not configured for target $(TARGET))
 163 endif
 164 endif
 165
 166 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 167
 168 ifneq ($(HSE_VALUE),)
 169 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 170 endif
 171
 172 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 173 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 174 else ifneq ($(FEATURE_CUT_LEVEL),)
 175 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 176 endif
 177
 178 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 179 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 180
 181 ifeq ($(OPBL),yes)
 182 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 183 .DEFAULT_GOAL := binary
 184 else
 185 .DEFAULT_GOAL := hex
 186 endif
 187
 188 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 189                    $(ROOT)/lib/main/MAVLink
 190
 191 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 192                    $(TARGET_DIR)
 193
 194 VPATH           := $(VPATH):$(TARGET_DIR)
 195
 196 include $(ROOT)/make/source.mk
 197
 198 ###############################################################################
 199 # Things that might need changing to use different tools
 200 #
 201
 202 # Find out if ccache is installed on the system
 203 CCACHE := ccache
 204 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 205 ifneq ($(RESULT),0)
 206 CCACHE :=
 207 endif
 208
 209 # Tool names
 210 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 211 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 212 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 213 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 214 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 215 SIZE        := $(ARM_SDK_PREFIX)size
 216
 217 #
 218 # Tool options.
 219 #
 220 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 221 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 222 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 223 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 224 CC_NO_OPTIMISATION      :=
 225
 226 CFLAGS     += $(ARCH_FLAGS) \
 227               $(addprefix -D,$(OPTIONS)) \
 228               $(addprefix -I,$(INCLUDE_DIRS)) \
 229               $(DEBUG_FLAGS) \
 230               -std=gnu11 \
 231               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 232               -ffunction-sections \
 233               -fdata-sections \
 234               -fno-common \
 235               -pedantic \
 236               $(DEVICE_FLAGS) \
 237               -D_GNU_SOURCE \
 238               -DUSE_STDPERIPH_DRIVER \
 239               -D$(TARGET) \
 240               $(TARGET_FLAGS) \
 241               -D'__FORKNAME__="$(FORKNAME)"' \
 242               -D'__TARGET__="$(TARGET)"' \
 243               -D'__REVISION__="$(REVISION)"' \
 244               -save-temps=obj \
 245               -MMD -MP \
 246               $(EXTRA_FLAGS)
 247
 248 ASFLAGS     = $(ARCH_FLAGS) \
 249               $(DEBUG_FLAGS) \
 250               -x assembler-with-cpp \
 251               $(addprefix -I,$(INCLUDE_DIRS)) \
 252               -MMD -MP
 253
 254 ifeq ($(LD_FLAGS),)
 255 LD_FLAGS     = -lm \
 256               -nostartfiles \
 257               --specs=nano.specs \
 258               -lc \
 259               -lnosys \
 260               $(ARCH_FLAGS) \
 261               $(LTO_FLAGS) \
 262               $(DEBUG_FLAGS) \
 263               -static \
 264               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 265               -Wl,-L$(LINKER_DIR) \
 266               -Wl,--cref \
 267               -Wl,--no-wchar-size-warning \
 268               -Wl,--print-memory-usage \
 269               -T$(LD_SCRIPT)
 270 endif
 271
 272 ###############################################################################
 273 # No user-serviceable parts below
 274 ###############################################################################
 275
 276 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 277                   --std=c99 --inline-suppr --quiet --force \
 278                   $(addprefix -I,$(INCLUDE_DIRS)) \
 279                   -I/usr/include -I/usr/include/linux
 280
 281 #
 282 # Things we will build
 283 #
 284 TARGET_S19      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).s19
 285 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 286 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 287 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 288 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
 289 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
 290 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 291 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 292 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 293 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 294
 295 TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
 296
 297 CLEAN_ARTIFACTS := $(TARGET_BIN)
 298 CLEAN_ARTIFACTS += $(TARGET_HEX)
 299 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 300 CLEAN_ARTIFACTS += $(TARGET_LST)
 301
 302 # Make sure build date and revision is updated on every incremental build
 303 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 304
 305 # List of buildable ELF files and their object dependencies.
 306 # It would be nice to compute these lists, but that seems to be just beyond make.
 307
 308 $(TARGET_LST): $(TARGET_ELF)
 309         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 310
 311
 312 $(TARGET_S19): $(TARGET_ELF)
 313         @echo "Creating srec/S19 $(TARGET_S19)" "$(STDOUT)"
 314         $(V1) $(OBJCOPY) --output-target=srec $(TARGET_S19)
 315
 316 ifeq ($(EXST),no)
 317 $(TARGET_BIN): $(TARGET_ELF)
 318         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 319         $(V1) $(OBJCOPY) -O binary $< $@
 320
 321 $(TARGET_HEX): $(TARGET_ELF)
 322         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 323         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 324
 325 else
 326 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 327
 328 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 329         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 330         $(V1) $(OBJCOPY) -O binary $< $@
 331
 332 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 333         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 334 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 335 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 336         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 337         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 338
 339         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 340         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 341
 342         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 343         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 344         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 345
 346         @echo "Patching MD5 hash into exst elf" "$(STDOUT)"
 347         $(OBJCOPY) $(TARGET_ELF) --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 348         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 349         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 350
 351 $(TARGET_HEX): $(TARGET_BIN)
 352         @echo "Creating EXST HEX from patched EXST ELF $(TARGET_HEX)" "$(STDOUT)"
 353         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $(TARGET_EXST_ELF) $@
 354
 355 endif
 356
 357 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT)
 358         @echo "Linking $(TARGET)" "$(STDOUT)"
 359         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 360         $(V1) $(SIZE) $(TARGET_ELF)
 361
 362 # Compile
 363
 364 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 365 define compile_file
 366         echo "%% ($(1)) $<" "$(STDOUT)" && \
 367         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 368 endef
 369
 370 ifeq ($(DEBUG),GDB)
 371 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 372         $(V1) mkdir -p $(dir $@)
 373         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 374                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 375         , \
 376                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 377         )
 378 else
 379 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 380         $(V1) mkdir -p $(dir $@)
 381         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 382                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 383         , \
 384                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 385                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 386                 , \
 387                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 388                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 389                         , \
 390                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 391                         ) \
 392                 ) \
 393         )
 394 endif
 395
 396 # Assemble
 397 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 398         $(V1) mkdir -p $(dir $@)
 399         @echo "%% $(notdir $<)" "$(STDOUT)"
 400         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 401
 402 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 403         $(V1) mkdir -p $(dir $@)
 404         @echo "%% $(notdir $<)" "$(STDOUT)"
 405         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 406
 407
 408 ## all               : Build all targets (excluding unsupported)
 409 all: $(SUPPORTED_TARGETS)
 410
 411 ## all_with_unsupported : Build all targets (including unsupported)
 412 all_with_unsupported: $(VALID_TARGETS)
 413
 414 ## unsupported : Build unsupported targets
 415 unsupported: $(UNSUPPORTED_TARGETS)
 416
 417 ## pre-push : The minimum verification that should be run before pushing, to check if CI has a chance of succeeding
 418 pre-push:
 419         $(MAKE) $(addsuffix _clean,$(PRE_PUSH_TARGET_LIST)) $(PRE_PUSH_TARGET_LIST) EXTRA_FLAGS=-Werror
 420
 421 ## official          : Build all official (travis) targets
 422 official: $(OFFICIAL_TARGETS)
 423
 424 ## targets-group-1   : build some targets
 425 targets-group-1: $(GROUP_1_TARGETS)
 426
 427 ## targets-group-2   : build some targets
 428 targets-group-2: $(GROUP_2_TARGETS)
 429
 430 ## targets-group-3   : build some targets
 431 targets-group-3: $(GROUP_3_TARGETS)
 432
 433 ## targets-group-3   : build some targets
 434 targets-group-4: $(GROUP_4_TARGETS)
 435
 436 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
 437 targets-group-rest: $(GROUP_OTHER_TARGETS)
 438
 439 $(VALID_TARGETS):
 440         $(V0) @echo "Building $@" && \
 441         $(MAKE) binary hex TARGET=$@ && \
 442         echo "Building $@ succeeded."
 443
 444 $(NOBUILD_TARGETS):
 445         $(MAKE) TARGET=$@
 446
 447 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 448
 449 ## clean             : clean up temporary / machine-generated files
 450 clean:
 451         @echo "Cleaning $(TARGET)"
 452         $(V0) rm -f $(CLEAN_ARTIFACTS)
 453         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 454         @echo "Cleaning $(TARGET) succeeded."
 455
 456 ## test_clean        : clean up temporary / machine-generated files (tests)
 457 test-%_clean:
 458         $(MAKE) test_clean
 459
 460 test_clean:
 461         $(V0) cd src/test && $(MAKE) clean || true
 462
 463 ## <TARGET>_clean    : clean up one specific target (alias for above)
 464 $(TARGETS_CLEAN):
 465         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 466
 467 ## clean_all         : clean all valid targets
 468 clean_all: $(TARGETS_CLEAN) test_clean
 469
 470 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS) )
 471
 472 ## <TARGET>_flash    : build and flash a target
 473 $(TARGETS_FLASH):
 474         $(V0) $(MAKE) binary hex TARGET=$(subst _flash,,$@)
 475 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 476         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 477 else
 478         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 479 endif
 480
 481 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 482 tty_flash:
 483         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 484         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 485         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 486
 487 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 488 dfu_flash:
 489 ifneq (no-port-found,$(SERIAL_DEVICE))
 490         # potentially this is because the MCU already is in DFU mode, try anyway
 491         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 492         $(V0) sleep 1
 493 endif
 494         $(V0) dfu-util -a 0 -D $(TARGET_BIN) -s 0x08000000:leave
 495
 496 st-flash_$(TARGET): $(TARGET_BIN)
 497         $(V0) st-flash --reset write $< 0x08000000
 498
 499 ## st-flash          : flash firmware (.bin) onto flight controller
 500 st-flash: st-flash_$(TARGET)
 501
 502 ifneq ($(OPENOCD_COMMAND),)
 503 openocd-gdb: $(TARGET_ELF)
 504         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 505 endif
 506
 507 binary:
 508         $(V0) $(MAKE) -j $(TARGET_BIN)
 509
 510 srec:
 511         $(V0) $(MAKE) -j $(TARGET_S19)
 512
 513 hex:
 514         $(V0) $(MAKE) -j $(TARGET_HEX)
 515
 516 unbrick_$(TARGET): $(TARGET_HEX)
 517         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 518         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 519
 520 ## unbrick           : unbrick flight controller
 521 unbrick: unbrick_$(TARGET)
 522
 523 ## cppcheck          : run static analysis on C source code
 524 cppcheck: $(CSOURCES)
 525         $(V0) $(CPPCHECK)
 526
 527 cppcheck-result.xml: $(CSOURCES)
 528         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 529
 530 # mkdirs
 531 $(DL_DIR):
 532         mkdir -p $@
 533
 534 $(TOOLS_DIR):
 535         mkdir -p $@
 536
 537 $(BUILD_DIR):
 538         mkdir -p $@
 539
 540 ## version           : print firmware version
 541 version:
 542         @echo $(FC_VER)
 543
 544 ## help              : print this help message and exit
 545 help: Makefile make/tools.mk
 546         @echo ""
 547         @echo "Makefile for the $(FORKNAME) firmware"
 548         @echo ""
 549         @echo "Usage:"
 550         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 551         @echo "Or:"
 552         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 553         @echo ""
 554         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 555         @echo ""
 556         @sed -n 's/^## //p' $?
 557
 558 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 559 targets:
 560         @echo "Valid targets:       $(VALID_TARGETS)"
 561         @echo "Supported targets:   $(SUPPORTED_TARGETS)"
 562         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 563         @echo "Target:              $(TARGET)"
 564         @echo "Base target:         $(BASE_TARGET)"
 565         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 566         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 567         @echo "targets-group-3:     $(GROUP_3_TARGETS)"
 568         @echo "targets-group-4:     $(GROUP_4_TARGETS)"
 569         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 570
 571         @echo "targets-group-1:     $(words $(GROUP_1_TARGETS)) targets"
 572         @echo "targets-group-2:     $(words $(GROUP_2_TARGETS)) targets"
 573         @echo "targets-group-3:     $(words $(GROUP_3_TARGETS)) targets"
 574         @echo "targets-group-4:     $(words $(GROUP_4_TARGETS)) targets"
 575         @echo "targets-group-rest:  $(words $(GROUP_OTHER_TARGETS)) targets"
 576         @echo "total in all groups  $(words $(SUPPORTED_TARGETS)) targets"
 577
 578 ## target-mcu        : print the MCU type of the target
 579 target-mcu:
 580         @echo $(TARGET_MCU)
 581
 582 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 583 targets-by-mcu:
 584         $(V1) for target in $(VALID_TARGETS); do \
 585                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 586                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 587                         if [ "$${DO_BUILD}" = 1 ]; then \
 588                                 echo "Building target $${target}..."; \
 589                                 $(MAKE) TARGET=$${target}; \
 590                                 if [ $$? -ne 0 ]; then \
 591                                         echo "Building target $${target} failed, aborting."; \
 592                                         exit 1; \
 593                                 fi; \
 594                         else \
 595                                 echo -n "$${target} "; \
 596                         fi; \
 597                 fi; \
 598         done
 599         @echo
 600
 601 ## targets-f3        : make all F3 targets
 602 targets-f3:
 603         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3 DO_BUILD=1
 604
 605 targets-f3-print:
 606         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3
 607
 608 ## targets-f4        : make all F4 targets
 609 targets-f4:
 610         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 DO_BUILD=1
 611
 612 targets-f4-print:
 613         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4
 614
 615 ## targets-f7        : make all F7 targets
 616 targets-f7:
 617         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 DO_BUILD=1
 618
 619 targets-f7-print:
 620         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7
 621
 622 ## test              : run the Betaflight test suite
 623 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 624 ## test-representative: run a representative subset of the Betaflight test suite (i.e. run all tests, but run each expanded test only for one target)
 625 ## test-all: run the Betaflight test suite including all per-target expanded tests
 626 test junittest test-all test-representative:
 627         $(V0) cd src/test && $(MAKE) $@
 628
 629 ## test_help         : print the help message for the test suite (including a list of the available tests)
 630 test_help:
 631         $(V0) cd src/test && $(MAKE) help
 632
 633 ## test_%            : run test 'test_%' from the test suite
 634 test_%:
 635         $(V0) cd src/test && $(MAKE) $@
 636
 637
 638 check-target-independence:
 639         $(V1) for test_target in $(VALID_TARGETS); do \
 640                 FOUND=$$(grep -rE "\W$${test_target}(\W.*)?$$" src/main | grep -vE "(//)|(/\*).*\W$${test_target}(\W.*)?$$" | grep -vE "^src/main/target"); \
 641                 if [ "$${FOUND}" != "" ]; then \
 642                         echo "Target dependencies for target '$${test_target}' found:"; \
 643                         echo "$${FOUND}"; \
 644                         exit 1; \
 645                 fi; \
 646         done
 647
 648 check-fastram-usage-correctness:
 649         $(V1) NON_TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM_ZERO_INIT\W.*=.*" src/main/ | grep -Ev "=\s*(false|NULL|0(\.0*f?)?)\s*[,;]"); \
 650         if [ "$${NON_TRIVIALLY_INITIALIZED}" != "" ]; then \
 651                 echo "Non-trivially initialized FAST_RAM_ZERO_INIT variables found, use FAST_RAM instead:"; \
 652                 echo "$${NON_TRIVIALLY_INITIALIZED}"; \
 653                 exit 1; \
 654         fi; \
 655         TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM\W.*;" src/main/ | grep -v "="); \
 656         EXPLICITLY_TRIVIALLY_INITIALIZED=$$(grep -Ern "\W?FAST_RAM\W.*;" src/main/ | grep -E "=\s*(false|NULL|0(\.0*f?)?)\s*[,;]"); \
 657         if [ "$${TRIVIALLY_INITIALIZED}$${EXPLICITLY_TRIVIALLY_INITIALIZED}" != "" ]; then \
 658                 echo "Trivially initialized FAST_RAM variables found, use FAST_RAM_ZERO_INIT instead to save FLASH:"; \
 659                 echo "$${TRIVIALLY_INITIALIZED}\n$${EXPLICITLY_TRIVIALLY_INITIALIZED}"; \
 660                 exit 1; \
 661         fi
 662
 663 check-platform-included:
 664         $(V1) PLATFORM_NOT_INCLUDED=$$(find src/main -type d -name target -prune -o -type f -name \*.c -exec grep -L "^#include \"platform.h\"" {} \;); \
 665         if [ "$$(echo $${PLATFORM_NOT_INCLUDED} | grep -v -e '^$$' | wc -l)" -ne 0 ]; then \
 666                 echo "The following compilation units do not include the required target specific configuration provided by 'platform.h':"; \
 667                 echo "$${PLATFORM_NOT_INCLUDED}"; \
 668                 exit 1; \
 669         fi
 670
 671 # rebuild everything when makefile changes
 672 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 673
 674 # include auto-generated dependencies
 675 -include $(TARGET_DEPS)