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