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