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    ?= STM32F405
  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 # reserve space for custom defaults
  34 CUSTOM_DEFAULTS_EXTENDED ?= no
  35
  36 # Debugger optons:
  37 #   empty - ordinary build with all optimizations enabled
  38 #   INFO - ordinary build with debug symbols and all optimizations enabled
  39 #   GDB - debug build with minimum number of optimizations
  40 DEBUG     ?=
  41
  42 # Insert the debugging hardfault debugger
  43 # releases should not be built with this flag as it does not disable pwm output
  44 DEBUG_HARDFAULTS ?=
  45
  46 # Serial port/Device for flashing
  47 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  48
  49 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  50 FLASH_SIZE ?=
  51
  52 ###############################################################################
  53 # Things that need to be maintained as the source changes
  54 #
  55
  56 FORKNAME      = betaflight
  57
  58 # Working directories
  59 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  60 SRC_DIR         := $(ROOT)/src/main
  61 OBJECT_DIR      := $(ROOT)/obj/main
  62 BIN_DIR         := $(ROOT)/obj
  63 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  64 INCLUDE_DIRS    := $(SRC_DIR) \
  65                    $(ROOT)/src/main/target \
  66                    $(ROOT)/src/main/startup
  67 LINKER_DIR      := $(ROOT)/src/link
  68
  69 ## V                 : Set verbosity level based on the V= parameter
  70 ##                     V=0 Low
  71 ##                     V=1 High
  72 include $(ROOT)/make/build_verbosity.mk
  73
  74 # Build tools, so we all share the same versions
  75 # import macros common to all supported build systems
  76 include $(ROOT)/make/system-id.mk
  77
  78 # developer preferences, edit these at will, they'll be gitignored
  79 -include $(ROOT)/make/local.mk
  80
  81 # pre-build sanity checks
  82 include $(ROOT)/make/checks.mk
  83
  84 # configure some directories that are relative to wherever ROOT_DIR is located
  85 TOOLS_DIR ?= $(ROOT)/tools
  86 DL_DIR    := $(ROOT)/downloads
  87
  88 export RM := rm
  89
  90 # import macros that are OS specific
  91 include $(ROOT)/make/$(OSFAMILY).mk
  92
  93 # include the tools makefile
  94 include $(ROOT)/make/tools.mk
  95
  96 # default xtal value for F4 targets
  97 HSE_VALUE       ?= 8000000
  98
  99 # used for turning on features like VCP and SDCARD
 100 FEATURES        =
 101
 102 # used to disable features based on flash space shortage (larger number => more features disabled)
 103 FEATURE_CUT_LEVEL_SUPPLIED := $(FEATURE_CUT_LEVEL)
 104 FEATURE_CUT_LEVEL =
 105
 106 # The list of targets to build for 'pre-push'
 107 ifeq ($(OSFAMILY), macosx)
 108 # SITL is not buildable on MacOS
 109 PRE_PUSH_TARGET_LIST ?= $(UNIFIED_TARGETS) STM32F4DISCOVERY_DEBUG test-representative
 110 else
 111 PRE_PUSH_TARGET_LIST ?= $(UNIFIED_TARGETS) SITL STM32F4DISCOVERY_DEBUG test-representative
 112 endif
 113
 114 include $(ROOT)/make/targets.mk
 115
 116 REVISION := norevision
 117 ifeq ($(shell git diff --shortstat),)
 118 REVISION := $(shell git log -1 --format="%h")
 119 endif
 120
 121 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 122 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 123 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 124
 125 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 126
 127 # Search path for sources
 128 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 129 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 130 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 131 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 132 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 133
 134 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 135
 136 LD_FLAGS        :=
 137 EXTRA_LD_FLAGS  :=
 138
 139 #
 140 # Default Tool options - can be overridden in {mcu}.mk files.
 141 #
 142 ifeq ($(DEBUG),GDB)
 143 OPTIMISE_DEFAULT      := -Og
 144
 145 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 146 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 147 else
 148 ifeq ($(DEBUG),INFO)
 149 DEBUG_FLAGS            = -ggdb3
 150 endif
 151 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 152 OPTIMISE_DEFAULT      := -O2
 153 OPTIMISE_SPEED        := -Ofast
 154 OPTIMISE_SIZE         := -Os
 155
 156 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 157 endif
 158
 159 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 160 VPATH                   := $(VPATH):$(ROOT)/make
 161
 162 # start specific includes
 163 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 164
 165 # openocd specific includes
 166 include $(ROOT)/make/openocd.mk
 167
 168 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 169 ifeq ($(TARGET_FLASH_SIZE),)
 170 ifneq ($(MCU_FLASH_SIZE),)
 171 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 172 else
 173 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 174 endif
 175 endif
 176
 177 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 178
 179 ifneq ($(HSE_VALUE),)
 180 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 181 endif
 182
 183 ifneq ($(FEATURE_CUT_LEVEL_SUPPLIED),)
 184 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL_SUPPLIED)
 185 else ifneq ($(FEATURE_CUT_LEVEL),)
 186 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFEATURE_CUT_LEVEL=$(FEATURE_CUT_LEVEL)
 187 endif
 188
 189 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 190 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 191
 192 ifeq ($(OPBL),yes)
 193 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 194 .DEFAULT_GOAL := binary
 195 else
 196 .DEFAULT_GOAL := hex
 197 endif
 198
 199 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 200 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 201 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 202 endif
 203
 204 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 205                    $(ROOT)/lib/main/MAVLink
 206
 207 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 208                    $(TARGET_DIR)
 209
 210 VPATH           := $(VPATH):$(TARGET_DIR)
 211
 212 include $(ROOT)/make/source.mk
 213
 214 ###############################################################################
 215 # Things that might need changing to use different tools
 216 #
 217
 218 # Find out if ccache is installed on the system
 219 CCACHE := ccache
 220 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 221 ifneq ($(RESULT),0)
 222 CCACHE :=
 223 endif
 224
 225 # Tool names
 226 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 227 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 228 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 229 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 230 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 231 READELF     := $(ARM_SDK_PREFIX)readelf
 232 SIZE        := $(ARM_SDK_PREFIX)size
 233 DFUSE-PACK  := src/utils/dfuse-pack.py
 234
 235 #
 236 # Tool options.
 237 #
 238 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 239 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 240 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 241 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 242 CC_NO_OPTIMISATION      :=
 243
 244 #
 245 # Added after GCC version update, remove once the warnings have been fixed
 246 #
 247 TEMPORARY_FLAGS :=
 248
 249 CFLAGS     += $(ARCH_FLAGS) \
 250               $(addprefix -D,$(OPTIONS)) \
 251               $(addprefix -I,$(INCLUDE_DIRS)) \
 252               $(DEBUG_FLAGS) \
 253               -std=gnu11 \
 254               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 255               -ffunction-sections \
 256               -fdata-sections \
 257               -fno-common \
 258               -pedantic \
 259               $(TEMPORARY_FLAGS) \
 260               $(DEVICE_FLAGS) \
 261               -D_GNU_SOURCE \
 262               -DUSE_STDPERIPH_DRIVER \
 263               -D$(TARGET) \
 264               $(TARGET_FLAGS) \
 265               -D'__FORKNAME__="$(FORKNAME)"' \
 266               -D'__TARGET__="$(TARGET)"' \
 267               -D'__REVISION__="$(REVISION)"' \
 268               -save-temps=obj \
 269               -MMD -MP \
 270               $(EXTRA_FLAGS)
 271
 272 ASFLAGS     = $(ARCH_FLAGS) \
 273               $(DEBUG_FLAGS) \
 274               -x assembler-with-cpp \
 275               $(addprefix -I,$(INCLUDE_DIRS)) \
 276               -MMD -MP
 277
 278 ifeq ($(LD_FLAGS),)
 279 LD_FLAGS     = -lm \
 280               -nostartfiles \
 281               --specs=nano.specs \
 282               -lc \
 283               -lnosys \
 284               $(ARCH_FLAGS) \
 285               $(LTO_FLAGS) \
 286               $(DEBUG_FLAGS) \
 287               -static \
 288               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 289               -Wl,-L$(LINKER_DIR) \
 290               -Wl,--cref \
 291               -Wl,--no-wchar-size-warning \
 292               -Wl,--print-memory-usage \
 293               -T$(LD_SCRIPT) \
 294                $(EXTRA_LD_FLAGS)
 295 endif
 296
 297 ###############################################################################
 298 # No user-serviceable parts below
 299 ###############################################################################
 300
 301 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 302                   --std=c99 --inline-suppr --quiet --force \
 303                   $(addprefix -I,$(INCLUDE_DIRS)) \
 304                   -I/usr/include -I/usr/include/linux
 305
 306 TARGET_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)
 307
 308 #
 309 # Things we will build
 310 #
 311 TARGET_BIN      = $(TARGET_BASENAME).bin
 312 TARGET_HEX      = $(TARGET_BASENAME).hex
 313 TARGET_HEX_REV  = $(TARGET_BASENAME)_$(REVISION).hex
 314 TARGET_DFU      = $(TARGET_BASENAME).dfu
 315 TARGET_ZIP      = $(TARGET_BASENAME).zip
 316 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 317 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
 318 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
 319 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 320 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 321 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 322 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 323
 324 TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
 325
 326 CLEAN_ARTIFACTS := $(TARGET_BIN)
 327 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 328 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 329 CLEAN_ARTIFACTS += $(TARGET_LST)
 330 CLEAN_ARTIFACTS += $(TARGET_DFU)
 331
 332 # Make sure build date and revision is updated on every incremental build
 333 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 334
 335 # List of buildable ELF files and their object dependencies.
 336 # It would be nice to compute these lists, but that seems to be just beyond make.
 337
 338 $(TARGET_LST): $(TARGET_ELF)
 339         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 340
 341 ifeq ($(EXST),no)
 342 $(TARGET_BIN): $(TARGET_ELF)
 343         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 344         $(V1) $(OBJCOPY) -O binary $< $@
 345
 346 $(TARGET_HEX): $(TARGET_ELF)
 347         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 348         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 349
 350 $(TARGET_DFU): $(TARGET_HEX)
 351         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 352         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 353
 354 else
 355 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 356
 357 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 358         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 359         $(V1) $(OBJCOPY) -O binary $< $@
 360
 361 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 362         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 363 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 364 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 365         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 366         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 367
 368         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 369         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 370
 371         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 372         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 373         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 374
 375 # Note: From the objcopy manual "If you do not specify outfile, objcopy creates a temporary file and destructively renames the result with the name of infile"
 376 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 377 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 378 # a) regeneration of $(TARGET_BIN), and
 379 # b) the results of $(TARGET_BIN) will not be as expected.
 380         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 381         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 382         rm $(TARGET_EXST_ELF).tmp
 383
 384         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 385         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 386
 387 # For some currently unknown reason, OBJCOPY, with only input/output files, will generate a file around 2GB for the H730 unless we remove an unused-section
 388 # As a workaround drop the ._user_heap_stack section, which is only used during build to show errors if there's not enough space for the heap/stack.
 389 # The issue can be seen with `readelf -S $(TARGET_EXST_ELF)' vs `readelf -S $(TARGET_ELF)`
 390         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 391         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --remove-section ._user_heap_stack --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 392
 393         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 394         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 395
 396 $(TARGET_HEX): $(TARGET_BIN)
 397         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 398
 399         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 400         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 401
 402 endif
 403
 404 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 405         @echo "Linking $(TARGET)" "$(STDOUT)"
 406         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 407         $(V1) $(SIZE) $(TARGET_ELF)
 408
 409 # Compile
 410
 411 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 412 define compile_file
 413         echo "%% ($(1)) $<" "$(STDOUT)" && \
 414         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 415 endef
 416
 417 ifeq ($(DEBUG),GDB)
 418 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 419         $(V1) mkdir -p $(dir $@)
 420         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 421                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 422         , \
 423                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 424         )
 425 else
 426 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 427         $(V1) mkdir -p $(dir $@)
 428         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 429                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 430         , \
 431                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 432                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 433                 , \
 434                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 435                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 436                         , \
 437                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 438                         ) \
 439                 ) \
 440         )
 441 endif
 442
 443 # Assemble
 444 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 445         $(V1) mkdir -p $(dir $@)
 446         @echo "%% $(notdir $<)" "$(STDOUT)"
 447         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 448
 449 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 450         $(V1) mkdir -p $(dir $@)
 451         @echo "%% $(notdir $<)" "$(STDOUT)"
 452         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 453
 454
 455 ## all               : Build all currently built targets
 456 all: $(CI_TARGETS)
 457
 458 ## all_all : Build all targets (including legacy / unsupported)
 459 all_all: $(VALID_TARGETS)
 460
 461 ## unified : build all Unified Targets
 462 unified: $(UNIFIED_TARGETS)
 463
 464 ## unified_zip : build all Unified Targets as zip files (for posting on GitHub)
 465 unified_zip: $(addsuffix _clean,$(UNIFIED_TARGETS)) $(addsuffix _zip,$(UNIFIED_TARGETS))
 466
 467 ## legacy : Build legacy targets
 468 legacy: $(LEGACY_TARGETS)
 469
 470 ## unsupported : Build unsupported targets
 471 unsupported: $(UNSUPPORTED_TARGETS)
 472
 473 ## pre-push : The minimum verification that should be run before pushing, to check if CI has a chance of succeeding
 474 pre-push:
 475         $(MAKE) $(addsuffix _clean,$(PRE_PUSH_TARGET_LIST)) $(PRE_PUSH_TARGET_LIST) EXTRA_FLAGS=-Werror
 476
 477 ## targets-group-1   : build some targets
 478 targets-group-1: $(GROUP_1_TARGETS)
 479
 480 ## targets-group-2   : build some targets
 481 targets-group-2: $(GROUP_2_TARGETS)
 482
 483 ## targets-group-rest: build the rest of the targets (not listed in the other groups)
 484 targets-group-rest: $(GROUP_OTHER_TARGETS)
 485
 486 $(VALID_TARGETS):
 487         $(V0) @echo "Building $@" && \
 488         $(MAKE) hex TARGET=$@ && \
 489         echo "Building $@ succeeded."
 490
 491 $(NOBUILD_TARGETS):
 492         $(MAKE) TARGET=$@
 493
 494 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 495
 496 ## clean             : clean up temporary / machine-generated files
 497 clean:
 498         @echo "Cleaning $(TARGET)"
 499         $(V0) rm -f $(CLEAN_ARTIFACTS)
 500         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 501         @echo "Cleaning $(TARGET) succeeded."
 502
 503 ## test_clean        : clean up temporary / machine-generated files (tests)
 504 test-%_clean:
 505         $(MAKE) test_clean
 506
 507 test_clean:
 508         $(V0) cd src/test && $(MAKE) clean || true
 509
 510 ## <TARGET>_clean    : clean up one specific target (alias for above)
 511 $(TARGETS_CLEAN):
 512         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 513
 514 ## clean_all         : clean all valid targets
 515 clean_all: $(TARGETS_CLEAN) test_clean
 516
 517 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 518
 519 ## <TARGET>_flash    : build and flash a target
 520 $(TARGETS_FLASH):
 521         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 522 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 523         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 524 else
 525         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 526 endif
 527
 528 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 529 tty_flash:
 530         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 531         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 532         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 533
 534 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 535 dfu_flash:
 536 ifneq (no-port-found,$(SERIAL_DEVICE))
 537         # potentially this is because the MCU already is in DFU mode, try anyway
 538         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 539         $(V0) sleep 1
 540 endif
 541         $(V0) $(MAKE) $(TARGET_DFU)
 542         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 543
 544 st-flash_$(TARGET): $(TARGET_BIN)
 545         $(V0) st-flash --reset write $< 0x08000000
 546
 547 ## st-flash          : flash firmware (.bin) onto flight controller
 548 st-flash: st-flash_$(TARGET)
 549
 550 ifneq ($(OPENOCD_COMMAND),)
 551 openocd-gdb: $(TARGET_ELF)
 552         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 553 endif
 554
 555 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 556
 557 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 558 $(TARGETS_ZIP):
 559         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 560         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 561
 562 zip:
 563         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 564
 565 binary:
 566         $(V0) $(MAKE) -j $(TARGET_BIN)
 567
 568 hex:
 569         $(V0) $(MAKE) -j $(TARGET_HEX)
 570
 571 TARGETS_REVISION = $(addsuffix _rev,$(VALID_TARGETS))
 572 ## <TARGET>_rev    : build target and add revision to filename
 573 $(TARGETS_REVISION):
 574         $(V0) $(MAKE) hex_rev TARGET=$(subst _rev,,$@)
 575
 576 hex_rev: hex
 577         $(V0) mv -f $(TARGET_HEX) $(TARGET_HEX_REV)
 578
 579 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 580
 581 unbrick_$(TARGET): $(TARGET_HEX)
 582         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 583         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 584
 585 ## unbrick           : unbrick flight controller
 586 unbrick: unbrick_$(TARGET)
 587
 588 ## cppcheck          : run static analysis on C source code
 589 cppcheck: $(CSOURCES)
 590         $(V0) $(CPPCHECK)
 591
 592 cppcheck-result.xml: $(CSOURCES)
 593         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 594
 595 # mkdirs
 596 $(DL_DIR):
 597         mkdir -p $@
 598
 599 $(TOOLS_DIR):
 600         mkdir -p $@
 601
 602 ## version           : print firmware version
 603 version:
 604         @echo $(FC_VER)
 605
 606 ## help              : print this help message and exit
 607 help: Makefile make/tools.mk
 608         @echo ""
 609         @echo "Makefile for the $(FORKNAME) firmware"
 610         @echo ""
 611         @echo "Usage:"
 612         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 613         @echo "Or:"
 614         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 615         @echo ""
 616         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 617         @echo ""
 618         @sed -n 's/^## //p' $?
 619
 620 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 621 targets:
 622         @echo "Valid targets:       $(VALID_TARGETS)"
 623         @echo "Built targets:       $(CI_TARGETS)"
 624         @echo "Unified targets:     $(UNIFIED_TARGETS)"
 625         @echo "Legacy targets:      $(LEGACY_TARGETS)"
 626         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 627         @echo "Default target:      $(TARGET)"
 628         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 629         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 630         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 631
 632         @echo "targets-group-1:     $(words $(GROUP_1_TARGETS)) targets"
 633         @echo "targets-group-2:     $(words $(GROUP_2_TARGETS)) targets"
 634         @echo "targets-group-rest:  $(words $(GROUP_OTHER_TARGETS)) targets"
 635         @echo "total in all groups  $(words $(CI_TARGETS)) targets"
 636
 637 ## target-mcu        : print the MCU type of the target
 638 target-mcu:
 639         @echo $(TARGET_MCU)
 640
 641 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 642 targets-by-mcu:
 643         $(V1) for target in $${TARGETS}; do \
 644                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 645                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 646                         if [ "$${DO_BUILD}" = 1 ]; then \
 647                                 echo "Building target $${target}..."; \
 648                                 $(MAKE) TARGET=$${target}; \
 649                                 if [ $$? -ne 0 ]; then \
 650                                         echo "Building target $${target} failed, aborting."; \
 651                                         exit 1; \
 652                                 fi; \
 653                         else \
 654                                 echo -n "$${target} "; \
 655                         fi; \
 656                 fi; \
 657         done
 658         @echo
 659
 660 ## targets-f4        : make all F4 targets
 661 targets-f4:
 662         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 663
 664 targets-f4-print:
 665         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 666
 667 targets-ci-f4-print:
 668         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 669
 670 ## targets-f7        : make all F7 targets
 671 targets-f7:
 672         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 673
 674 targets-f7-print:
 675         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 676
 677 targets-ci-f7-print:
 678         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 679
 680 ## test              : run the Betaflight test suite
 681 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 682 ## 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)
 683 ## test-all: run the Betaflight test suite including all per-target expanded tests
 684 test junittest test-all test-representative:
 685         $(V0) cd src/test && $(MAKE) $@
 686
 687 ## test_help         : print the help message for the test suite (including a list of the available tests)
 688 test_help:
 689         $(V0) cd src/test && $(MAKE) help
 690
 691 ## test_versions         : print the compiler versions used for the test suite
 692 test_versions:
 693         $(V0) cd src/test && $(MAKE) versions
 694
 695 ## test_%            : run test 'test_%' from the test suite
 696 test_%:
 697         $(V0) cd src/test && $(MAKE) $@
 698
 699
 700 # rebuild everything when makefile changes
 701 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 702
 703 # include auto-generated dependencies
 704 -include $(TARGET_DEPS)