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 BOARD     ?=
  21
  22 # Compile-time options
  23 OPTIONS   ?=
  24
  25 # compile for External Storage Bootloader support
  26 EXST      ?= no
  27
  28 # compile for target loaded into RAM
  29 RAM_BASED ?= no
  30
  31 # reserve space for custom defaults
  32 CUSTOM_DEFAULTS_EXTENDED ?= no
  33
  34 # Debugger optons:
  35 #   empty - ordinary build with all optimizations enabled
  36 #   INFO - ordinary build with debug symbols and all optimizations enabled
  37 #   GDB - debug build with minimum number of optimizations
  38 DEBUG     ?=
  39
  40 # Insert the debugging hardfault debugger
  41 # releases should not be built with this flag as it does not disable pwm output
  42 DEBUG_HARDFAULTS ?=
  43
  44 # Serial port/Device for flashing
  45 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  46
  47 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  48 FLASH_SIZE ?=
  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 # pre-build sanity checks
  80 include $(ROOT)/make/checks.mk
  81
  82 # configure some directories that are relative to wherever ROOT_DIR is located
  83 TOOLS_DIR ?= $(ROOT)/tools
  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 $(ROOT)/make/tools.mk
  93
  94 # default xtal value for F4 targets
  95 HSE_VALUE       ?= 8000000
  96
  97 # used for turning on features like VCP and SDCARD
  98 FEATURES        =
  99
 100 ifneq ($(BOARD),)
 101 # silently ignore if the file is not present. Allows for target defaults.
 102 -include $(ROOT)/src/main/board/$(BOARD)/board.mk
 103 endif
 104
 105 include $(ROOT)/make/targets.mk
 106
 107 REVISION := norevision
 108 ifeq ($(shell git diff --shortstat),)
 109 REVISION := $(shell git log -1 --format="%h")
 110 endif
 111
 112 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 113 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 114 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 115
 116 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 117
 118 # Search path for sources
 119 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 120 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 121 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 122
 123 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 124
 125 LD_FLAGS        :=
 126 EXTRA_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 -gdwarf-5 -DDEBUG
 136 else
 137 ifeq ($(DEBUG),INFO)
 138 DEBUG_FLAGS            = -ggdb3
 139 endif
 140 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 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 ($(TARGET_FLASH_SIZE),)
 159 ifneq ($(MCU_FLASH_SIZE),)
 160 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 161 else
 162 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 163 endif
 164 endif
 165
 166 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 167
 168 ifneq ($(HSE_VALUE),)
 169 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 170 endif
 171
 172 TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
 173 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 174
 175 .DEFAULT_GOAL := hex
 176
 177 ifeq ($(CUSTOM_DEFAULTS_EXTENDED),yes)
 178 TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS=
 179 EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS_EXTENDED=1
 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 READELF     := $(ARM_SDK_PREFIX)readelf
 210 SIZE        := $(ARM_SDK_PREFIX)size
 211 DFUSE-PACK  := src/utils/dfuse-pack.py
 212
 213 #
 214 # Tool options.
 215 #
 216 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 217 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 218 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 219 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 220 CC_NO_OPTIMISATION      :=
 221
 222 #
 223 # Added after GCC version update, remove once the warnings have been fixed
 224 #
 225 TEMPORARY_FLAGS :=
 226
 227 EXTRA_WARNING_FLAGS := -Wold-style-definition
 228
 229 CFLAGS     += $(ARCH_FLAGS) \
 230               $(addprefix -D,$(OPTIONS)) \
 231               $(addprefix -I,$(INCLUDE_DIRS)) \
 232               $(DEBUG_FLAGS) \
 233               -std=gnu17 \
 234               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 235               $(EXTRA_WARNING_FLAGS) \
 236               -ffunction-sections \
 237               -fdata-sections \
 238               -fno-common \
 239               $(TEMPORARY_FLAGS) \
 240               $(DEVICE_FLAGS) \
 241               -D_GNU_SOURCE \
 242               -DUSE_STDPERIPH_DRIVER \
 243               -D$(TARGET) \
 244               $(TARGET_FLAGS) \
 245               -D'__FORKNAME__="$(FORKNAME)"' \
 246               -D'__TARGET__="$(TARGET)"' \
 247               -D'__REVISION__="$(REVISION)"' \
 248               -pipe \
 249               -MMD -MP \
 250               $(EXTRA_FLAGS)
 251
 252 ASFLAGS     = $(ARCH_FLAGS) \
 253               $(DEBUG_FLAGS) \
 254               -x assembler-with-cpp \
 255               $(addprefix -I,$(INCLUDE_DIRS)) \
 256               -MMD -MP
 257
 258 ifeq ($(LD_FLAGS),)
 259 LD_FLAGS     = -lm \
 260               -nostartfiles \
 261               --specs=nano.specs \
 262               -lc \
 263               -lnosys \
 264               $(ARCH_FLAGS) \
 265               $(LTO_FLAGS) \
 266               $(DEBUG_FLAGS) \
 267               -static \
 268               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 269               -Wl,-L$(LINKER_DIR) \
 270               -Wl,--cref \
 271               -Wl,--no-wchar-size-warning \
 272               -Wl,--print-memory-usage \
 273               -T$(LD_SCRIPT) \
 274                $(EXTRA_LD_FLAGS)
 275 endif
 276
 277 ###############################################################################
 278 # No user-serviceable parts below
 279 ###############################################################################
 280
 281 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 282                   --std=c99 --inline-suppr --quiet --force \
 283                   $(addprefix -I,$(INCLUDE_DIRS)) \
 284                   -I/usr/include -I/usr/include/linux
 285
 286 TARGET_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)
 287
 288 #
 289 # Things we will build
 290 #
 291 TARGET_BIN      = $(TARGET_BASENAME).bin
 292 TARGET_HEX      = $(TARGET_BASENAME).hex
 293 TARGET_HEX_REV  = $(TARGET_BASENAME)_$(REVISION).hex
 294 TARGET_DFU      = $(TARGET_BASENAME).dfu
 295 TARGET_ZIP      = $(TARGET_BASENAME).zip
 296 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 297 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
 298 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
 299 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 300 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 301 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 302 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 303
 304 TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
 305
 306 CLEAN_ARTIFACTS := $(TARGET_BIN)
 307 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 308 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 309 CLEAN_ARTIFACTS += $(TARGET_LST)
 310 CLEAN_ARTIFACTS += $(TARGET_DFU)
 311
 312 # Make sure build date and revision is updated on every incremental build
 313 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 314
 315 # List of buildable ELF files and their object dependencies.
 316 # It would be nice to compute these lists, but that seems to be just beyond make.
 317
 318 $(TARGET_LST): $(TARGET_ELF)
 319         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 320
 321 ifeq ($(EXST),no)
 322 $(TARGET_BIN): $(TARGET_ELF)
 323         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 324         $(V1) $(OBJCOPY) -O binary $< $@
 325
 326 $(TARGET_HEX): $(TARGET_ELF)
 327         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 328         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 329
 330 $(TARGET_DFU): $(TARGET_HEX)
 331         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 332         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 333
 334 else
 335 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 336
 337 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 338         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 339         $(V1) $(OBJCOPY) -O binary $< $@
 340
 341 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 342         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 343 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 344 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 345         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 346         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 347
 348         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 349         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 350
 351         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 352         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 353         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 354
 355 # 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"
 356 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 357 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 358 # a) regeneration of $(TARGET_BIN), and
 359 # b) the results of $(TARGET_BIN) will not be as expected.
 360         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 361         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 362         rm $(TARGET_EXST_ELF).tmp
 363
 364         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 365         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 366
 367 # 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
 368 # 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.
 369 # The issue can be seen with `readelf -S $(TARGET_EXST_ELF)' vs `readelf -S $(TARGET_ELF)`
 370         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 371         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --remove-section ._user_heap_stack --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 372
 373         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 374         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 375
 376 $(TARGET_HEX): $(TARGET_BIN)
 377         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 378
 379         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 380         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 381
 382 endif
 383
 384 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 385         @echo "Linking $(TARGET)" "$(STDOUT)"
 386         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 387         $(V1) $(SIZE) $(TARGET_ELF)
 388
 389 # Compile
 390
 391 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 392 define compile_file
 393         echo "%% ($(1)) $<" "$(STDOUT)" && \
 394         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 395 endef
 396
 397 ifeq ($(DEBUG),GDB)
 398 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 399         $(V1) mkdir -p $(dir $@)
 400         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 401                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 402         , \
 403                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 404         )
 405 else
 406 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 407         $(V1) mkdir -p $(dir $@)
 408         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 409                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 410         , \
 411                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 412                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 413                 , \
 414                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 415                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 416                         , \
 417                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 418                         ) \
 419                 ) \
 420         )
 421 endif
 422
 423 # Assemble
 424 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 425         $(V1) mkdir -p $(dir $@)
 426         @echo "%% $(notdir $<)" "$(STDOUT)"
 427         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 428
 429 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 430         $(V1) mkdir -p $(dir $@)
 431         @echo "%% $(notdir $<)" "$(STDOUT)"
 432         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 433
 434
 435 ## all               : Build all currently built targets
 436 all: $(CI_TARGETS)
 437
 438 ## all_all : Build all targets (including legacy / unsupported)
 439 all_all: $(VALID_TARGETS)
 440
 441 $(VALID_TARGETS):
 442         $(V0) @echo "Building $@" && \
 443         $(MAKE) hex TARGET=$@ && \
 444         echo "Building $@ succeeded."
 445
 446 $(NOBUILD_TARGETS):
 447         $(MAKE) TARGET=$@
 448
 449 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
 450
 451 ## clean             : clean up temporary / machine-generated files
 452 clean:
 453         @echo "Cleaning $(TARGET)"
 454         $(V0) rm -f $(CLEAN_ARTIFACTS)
 455         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 456         @echo "Cleaning $(TARGET) succeeded."
 457
 458 ## test_clean        : clean up temporary / machine-generated files (tests)
 459 test-%_clean:
 460         $(MAKE) test_clean
 461
 462 test_clean:
 463         $(V0) cd src/test && $(MAKE) clean || true
 464
 465 ## <TARGET>_clean    : clean up one specific target (alias for above)
 466 $(TARGETS_CLEAN):
 467         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 468
 469 ## clean_all         : clean all valid targets
 470 clean_all: $(TARGETS_CLEAN) test_clean
 471
 472 TARGETS_FLASH = $(addsuffix _flash,$(VALID_TARGETS))
 473
 474 ## <TARGET>_flash    : build and flash a target
 475 $(TARGETS_FLASH):
 476         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 477 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 478         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 479 else
 480         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 481 endif
 482
 483 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 484 tty_flash:
 485         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 486         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 487         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 488
 489 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 490 dfu_flash:
 491 ifneq (no-port-found,$(SERIAL_DEVICE))
 492         # potentially this is because the MCU already is in DFU mode, try anyway
 493         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 494         $(V0) sleep 1
 495 endif
 496         $(V0) $(MAKE) $(TARGET_DFU)
 497         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 498
 499 st-flash_$(TARGET): $(TARGET_BIN)
 500         $(V0) st-flash --reset write $< 0x08000000
 501
 502 ## st-flash          : flash firmware (.bin) onto flight controller
 503 st-flash: st-flash_$(TARGET)
 504
 505 ifneq ($(OPENOCD_COMMAND),)
 506 openocd-gdb: $(TARGET_ELF)
 507         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 508 endif
 509
 510 TARGETS_ZIP = $(addsuffix _zip,$(VALID_TARGETS))
 511
 512 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 513 $(TARGETS_ZIP):
 514         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 515         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 516
 517 zip:
 518         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 519
 520 binary:
 521         $(V0) $(MAKE) -j $(TARGET_BIN)
 522
 523 hex:
 524         $(V0) $(MAKE) -j $(TARGET_HEX)
 525
 526 TARGETS_REVISION = $(addsuffix _rev,$(VALID_TARGETS))
 527 ## <TARGET>_rev    : build target and add revision to filename
 528 $(TARGETS_REVISION):
 529         $(V0) $(MAKE) hex_rev TARGET=$(subst _rev,,$@)
 530
 531 hex_rev: hex
 532         $(V0) mv -f $(TARGET_HEX) $(TARGET_HEX_REV)
 533
 534 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 535
 536 unbrick_$(TARGET): $(TARGET_HEX)
 537         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 538         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 539
 540 ## unbrick           : unbrick flight controller
 541 unbrick: unbrick_$(TARGET)
 542
 543 ## cppcheck          : run static analysis on C source code
 544 cppcheck: $(CSOURCES)
 545         $(V0) $(CPPCHECK)
 546
 547 cppcheck-result.xml: $(CSOURCES)
 548         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 549
 550 # mkdirs
 551 $(DL_DIR):
 552         mkdir -p $@
 553
 554 $(TOOLS_DIR):
 555         mkdir -p $@
 556
 557 ## version           : print firmware version
 558 version:
 559         @echo $(FC_VER)
 560
 561 ## help              : print this help message and exit
 562 help: Makefile make/tools.mk
 563         @echo ""
 564         @echo "Makefile for the $(FORKNAME) firmware"
 565         @echo ""
 566         @echo "Usage:"
 567         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 568         @echo "Or:"
 569         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 570         @echo ""
 571         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 572         @echo ""
 573         @sed -n 's/^## //p' $?
 574
 575 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 576 targets:
 577         @echo "Valid targets:       $(VALID_TARGETS)"
 578         @echo "Built targets:       $(CI_TARGETS)"
 579         @echo "Default target:      $(TARGET)"
 580
 581 targets-ci-print:
 582         @echo $(CI_TARGETS)
 583
 584 ## target-mcu        : print the MCU type of the target
 585 target-mcu:
 586         @echo $(TARGET_MCU)
 587
 588 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 589 targets-by-mcu:
 590         $(V1) for target in $${TARGETS}; do \
 591                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 592                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 593                         if [ "$${DO_BUILD}" = 1 ]; then \
 594                                 echo "Building target $${target}..."; \
 595                                 $(MAKE) TARGET=$${target}; \
 596                                 if [ $$? -ne 0 ]; then \
 597                                         echo "Building target $${target} failed, aborting."; \
 598                                         exit 1; \
 599                                 fi; \
 600                         else \
 601                                 echo -n "$${target} "; \
 602                         fi; \
 603                 fi; \
 604         done
 605         @echo
 606
 607 ## targets-f4        : make all F4 targets
 608 targets-f4:
 609         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 610
 611 targets-f4-print:
 612         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(VALID_TARGETS)"
 613
 614 targets-ci-f4-print:
 615         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F4 TARGETS="$(CI_TARGETS)"
 616
 617 ## targets-f7        : make all F7 targets
 618 targets-f7:
 619         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)" DO_BUILD=1
 620
 621 targets-f7-print:
 622         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(VALID_TARGETS)"
 623
 624 targets-ci-f7-print:
 625         $(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F7 TARGETS="$(CI_TARGETS)"
 626
 627 ## test              : run the Betaflight test suite
 628 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 629 ## 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)
 630 ## test-all: run the Betaflight test suite including all per-target expanded tests
 631 test junittest test-all test-representative:
 632         $(V0) cd src/test && $(MAKE) $@
 633
 634 ## test_help         : print the help message for the test suite (including a list of the available tests)
 635 test_help:
 636         $(V0) cd src/test && $(MAKE) help
 637
 638 ## test_versions         : print the compiler versions used for the test suite
 639 test_versions:
 640         $(V0) cd src/test && $(MAKE) versions
 641
 642 ## test_%            : run test 'test_%' from the test suite
 643 test_%:
 644         $(V0) cd src/test && $(MAKE) $@
 645
 646
 647 # rebuild everything when makefile changes
 648 $(TARGET_OBJS): Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
 649
 650 # include auto-generated dependencies
 651 -include $(TARGET_DEPS)