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 BASE_TARGETS below
  19 DEFAULT_TARGET    ?= STM32F405
  20 TARGET    ?=
  21 CONFIG    ?=
  22
  23 # Compile-time options
  24 OPTIONS   ?=
  25
  26 # compile for External Storage Bootloader support
  27 EXST      ?= no
  28
  29 # compile for target loaded into RAM
  30 RAM_BASED ?= no
  31
  32 # reserve space for custom defaults
  33 CUSTOM_DEFAULTS_EXTENDED ?= no
  34
  35 # Debugger optons:
  36 #   empty - ordinary build with all optimizations enabled
  37 #   INFO - ordinary build with debug symbols and all optimizations enabled
  38 #   GDB - debug build with minimum number of optimizations
  39 DEBUG     ?=
  40
  41 # Insert the debugging hardfault debugger
  42 # releases should not be built with this flag as it does not disable pwm output
  43 DEBUG_HARDFAULTS ?=
  44
  45 # Serial port/Device for flashing
  46 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
  47
  48 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  49 FLASH_SIZE ?=
  50
  51 ###############################################################################
  52 # Things that need to be maintained as the source changes
  53 #
  54
  55 FORKNAME      = betaflight
  56
  57 # Working directories
  58 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  59 SRC_DIR         := $(ROOT)/src/main
  60 OBJECT_DIR      := $(ROOT)/obj/main
  61 BIN_DIR         := $(ROOT)/obj
  62 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  63 INCLUDE_DIRS    := $(SRC_DIR) \
  64                    $(ROOT)/src/main/target \
  65                    $(ROOT)/src/main/startup
  66 LINKER_DIR      := $(ROOT)/src/link
  67
  68 ## V                 : Set verbosity level based on the V= parameter
  69 ##                     V=0 Low
  70 ##                     V=1 High
  71 include $(ROOT)/make/build_verbosity.mk
  72
  73 # Build tools, so we all share the same versions
  74 # import macros common to all supported build systems
  75 include $(ROOT)/make/system-id.mk
  76
  77 # developer preferences, edit these at will, they'll be gitignored
  78 -include $(ROOT)/make/local.mk
  79
  80 # pre-build sanity checks
  81 include $(ROOT)/make/checks.mk
  82
  83 # configure some directories that are relative to wherever ROOT_DIR is located
  84 TOOLS_DIR  ?= $(ROOT)/tools
  85 DL_DIR     := $(ROOT)/downloads
  86 CONFIG_DIR ?= $(ROOT)/src/config
  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 # Search path for sources
  97 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
  98 FATFS_DIR        = $(ROOT)/lib/main/FatFS
  99 FATFS_SRC        = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 100 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 101
 102 ifneq ($(CONFIG),)
 103
 104 ifneq ($(TARGET),)
 105 $(error TARGET or CONFIG should be specified. Not both.)
 106 endif
 107
 108 INCLUDE_DIRS += $(CONFIG_DIR)/$(CONFIG)
 109 CONFIG_FILE  := $(CONFIG_DIR)/$(CONFIG)/config.h
 110
 111 ifeq ($(wildcard $(CONFIG_FILE)),)
 112 $(error Config file not found: $(CONFIG_FILE))
 113 endif
 114
 115 TARGET        := $(shell grep " FC_TARGET_MCU" $(CONFIG_FILE) | awk '{print $$3}' )
 116 HSE_VALUE_MHZ := $(shell grep " SYSTEM_HSE_MHZ" $(CONFIG_FILE) | awk '{print $$3}' )
 117 ifneq ($(HSE_VALUE_MHZ),)
 118 HSE_VALUE     := $(shell echo $$(( $(HSE_VALUE_MHZ) * 1000000 )) )
 119 endif
 120
 121 ifeq ($(TARGET),)
 122 $(error No TARGET identified. Is the config.h valid for $(CONFIG)?)
 123 endif
 124
 125 EXST_ADJUST_VMA := $(shell grep " FC_VMA_ADDRESS" $(CONFIG_FILE) | awk '{print $$3}' )
 126 ifneq ($(EXST_ADJUST_VMA),)
 127 EXST = yes
 128 endif
 129
 130 else
 131 ifeq ($(TARGET),)
 132 TARGET := $(DEFAULT_TARGET)
 133 endif
 134 endif #CONFIG
 135
 136 # default xtal value
 137 HSE_VALUE       ?= 8000000
 138
 139 BASE_CONFIGS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/config/*/config.h)))))
 140 BASE_TARGETS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/main/target/*/target.mk)))))
 141 CI_TARGETS       := $(BASE_TARGETS) CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722
 142 include $(ROOT)/src/main/target/$(TARGET)/target.mk
 143
 144 REVISION := norevision
 145 ifeq ($(shell git diff --shortstat),)
 146 REVISION := $(shell git log -1 --format="%h")
 147 endif
 148
 149 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 150 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 151 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 152
 153 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 154
 155 LD_FLAGS        :=
 156 EXTRA_LD_FLAGS  :=
 157
 158 #
 159 # Default Tool options - can be overridden in {mcu}.mk files.
 160 #
 161 ifeq ($(DEBUG),GDB)
 162 OPTIMISE_DEFAULT      := -Og
 163
 164 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 165 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 166 else
 167 ifeq ($(DEBUG),INFO)
 168 DEBUG_FLAGS            = -ggdb3
 169 endif
 170 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 171 OPTIMISE_DEFAULT      := -O2
 172 OPTIMISE_SPEED        := -Ofast
 173 OPTIMISE_SIZE         := -Os
 174
 175 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 176 endif
 177
 178 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 179 VPATH                   := $(VPATH):$(ROOT)/make
 180
 181 # start specific includes
 182 ifeq ($(TARGET_MCU),)
 183 $(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
 184 endif
 185
 186 ifeq ($(TARGET_MCU_FAMILY),)
 187 $(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
 188 endif
 189
 190 TARGET_FLAGS    := -D$(TARGET) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
 191
 192 ifneq ($(CONFIG),)
 193 TARGET_FLAGS    := $(TARGET_FLAGS) -DUSE_CONFIG
 194 endif
 195
 196 include $(ROOT)/make/mcu/$(TARGET_MCU_FAMILY).mk
 197
 198 # openocd specific includes
 199 include $(ROOT)/make/openocd.mk
 200
 201 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 202 ifeq ($(TARGET_FLASH_SIZE),)
 203 ifneq ($(MCU_FLASH_SIZE),)
 204 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 205 else
 206 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 207 endif
 208 endif
 209
 210 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 211
 212 ifneq ($(HSE_VALUE),)
 213 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 214 endif
 215
 216 TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
 217 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 218
 219 .DEFAULT_GOAL := hex
 220
 221 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 222                    $(ROOT)/lib/main/MAVLink
 223
 224 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 225                    $(TARGET_DIR)
 226
 227 VPATH           := $(VPATH):$(TARGET_DIR)
 228
 229 include $(ROOT)/make/source.mk
 230
 231 ###############################################################################
 232 # Things that might need changing to use different tools
 233 #
 234
 235 # Find out if ccache is installed on the system
 236 CCACHE := ccache
 237 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 238 ifneq ($(RESULT),0)
 239 CCACHE :=
 240 endif
 241
 242 # Tool names
 243 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 244 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 245 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 246 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 247 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 248 READELF     := $(ARM_SDK_PREFIX)readelf
 249 SIZE        := $(ARM_SDK_PREFIX)size
 250 DFUSE-PACK  := src/utils/dfuse-pack.py
 251
 252 #
 253 # Tool options.
 254 #
 255 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 256 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 257 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 258 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 259 CC_NO_OPTIMISATION      :=
 260
 261 #
 262 # Added after GCC version update, remove once the warnings have been fixed
 263 #
 264 TEMPORARY_FLAGS :=
 265
 266 EXTRA_WARNING_FLAGS := -Wold-style-definition
 267
 268 CFLAGS     += $(ARCH_FLAGS) \
 269               $(addprefix -D,$(OPTIONS)) \
 270               $(addprefix -I,$(INCLUDE_DIRS)) \
 271               $(DEBUG_FLAGS) \
 272               -std=gnu17 \
 273               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 274               $(EXTRA_WARNING_FLAGS) \
 275               -ffunction-sections \
 276               -fdata-sections \
 277               -fno-common \
 278               $(TEMPORARY_FLAGS) \
 279               $(DEVICE_FLAGS) \
 280               -D_GNU_SOURCE \
 281               -DUSE_STDPERIPH_DRIVER \
 282               -D$(TARGET) \
 283               $(TARGET_FLAGS) \
 284               -D'__FORKNAME__="$(FORKNAME)"' \
 285               -D'__TARGET__="$(TARGET)"' \
 286               -D'__REVISION__="$(REVISION)"' \
 287               -pipe \
 288               -MMD -MP \
 289               $(EXTRA_FLAGS)
 290
 291 ASFLAGS     = $(ARCH_FLAGS) \
 292               $(DEBUG_FLAGS) \
 293               -x assembler-with-cpp \
 294               $(addprefix -I,$(INCLUDE_DIRS)) \
 295               -MMD -MP
 296
 297 ifeq ($(LD_FLAGS),)
 298 LD_FLAGS     = -lm \
 299               -nostartfiles \
 300               --specs=nano.specs \
 301               -lc \
 302               -lnosys \
 303               $(ARCH_FLAGS) \
 304               $(LTO_FLAGS) \
 305               $(DEBUG_FLAGS) \
 306               -static \
 307               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 308               -Wl,-L$(LINKER_DIR) \
 309               -Wl,--cref \
 310               -Wl,--no-wchar-size-warning \
 311               -Wl,--print-memory-usage \
 312               -T$(LD_SCRIPT) \
 313                $(EXTRA_LD_FLAGS)
 314 endif
 315
 316 ###############################################################################
 317 # No user-serviceable parts below
 318 ###############################################################################
 319
 320 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 321                   --std=c99 --inline-suppr --quiet --force \
 322                   $(addprefix -I,$(INCLUDE_DIRS)) \
 323                   -I/usr/include -I/usr/include/linux
 324
 325 TARGET_NAME := $(TARGET)
 326
 327 ifneq ($(CONFIG),)
 328 TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
 329 endif
 330
 331 ifeq ($(REV),yes)
 332 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 333 endif
 334
 335 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 336 #
 337 # Things we will build
 338 #
 339 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 340 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 341 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 342 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 343 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 344 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 345 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 346 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 347 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 348 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 349 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 350 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 351
 352 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 353
 354 TARGET_EF_HASH      := $(shell echo -n "$(EXTRA_FLAGS)" | openssl dgst -md5 | awk '{print $$2;}')
 355 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 356
 357 CLEAN_ARTIFACTS := $(TARGET_BIN)
 358 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 359 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 360 CLEAN_ARTIFACTS += $(TARGET_LST)
 361 CLEAN_ARTIFACTS += $(TARGET_DFU)
 362
 363 # Make sure build date and revision is updated on every incremental build
 364 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 365
 366 # List of buildable ELF files and their object dependencies.
 367 # It would be nice to compute these lists, but that seems to be just beyond make.
 368
 369 $(TARGET_LST): $(TARGET_ELF)
 370         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 371
 372 ifeq ($(EXST),no)
 373 $(TARGET_BIN): $(TARGET_ELF)
 374         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 375         $(V1) $(OBJCOPY) -O binary $< $@
 376
 377 $(TARGET_HEX): $(TARGET_ELF)
 378         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 379         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 380
 381 $(TARGET_DFU): $(TARGET_HEX)
 382         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 383         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 384
 385 else
 386 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 387
 388 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 389         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 390         $(V1) $(OBJCOPY) -O binary $< $@
 391
 392 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 393         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 394 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 395 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 396         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 397         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 398
 399         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 400         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 401
 402         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 403         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 404         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 405
 406 # Note: From the objcopy manual "If you do not specify outfile, objcopy creates a temporary file and destructively renames the result with the name of infile"
 407 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 408 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 409 # a) regeneration of $(TARGET_BIN), and
 410 # b) the results of $(TARGET_BIN) will not be as expected.
 411         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 412         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 413         rm $(TARGET_EXST_ELF).tmp
 414
 415         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 416         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 417
 418         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 419         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 420
 421         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 422         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 423
 424 $(TARGET_HEX): $(TARGET_BIN)
 425         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 426
 427         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 428         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 429
 430 endif
 431
 432 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 433         @echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 434         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 435         $(V1) $(SIZE) $(TARGET_ELF)
 436
 437 # Compile
 438
 439 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 440 define compile_file
 441         echo "%% ($(1)) $<" "$(STDOUT)" && \
 442         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 443 endef
 444
 445 ifeq ($(DEBUG),GDB)
 446 $(TARGET_OBJ_DIR)/%.o: %.c
 447         $(V1) mkdir -p $(dir $@)
 448         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 449                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 450         , \
 451                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 452         )
 453 else
 454 $(TARGET_OBJ_DIR)/%.o: %.c
 455         $(V1) mkdir -p $(dir $@)
 456         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 457                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 458         , \
 459                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 460                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 461                 , \
 462                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 463                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 464                         , \
 465                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 466                         ) \
 467                 ) \
 468         )
 469 endif
 470
 471 # Assemble
 472 $(TARGET_OBJ_DIR)/%.o: %.s
 473         $(V1) mkdir -p $(dir $@)
 474         @echo "%% $(notdir $<)" "$(STDOUT)"
 475         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 476
 477 $(TARGET_OBJ_DIR)/%.o: %.S
 478         $(V1) mkdir -p $(dir $@)
 479         @echo "%% $(notdir $<)" "$(STDOUT)"
 480         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 481
 482
 483 ## all               : Build all currently built targets
 484 all: $(CI_TARGETS)
 485
 486 $(BASE_TARGETS):
 487         $(V0) @echo "Building $@" && \
 488         $(MAKE) hex TARGET=$@ && \
 489         echo "Building $@ succeeded."
 490
 491 $(BASE_CONFIGS):
 492         $(V0) @echo "Building config $@" && \
 493         $(MAKE) hex CONFIG=$@ && \
 494         echo "Building config $@ succeeded."
 495
 496
 497 TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 498 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 499
 500 ## clean             : clean up temporary / machine-generated files
 501 clean:
 502         @echo "Cleaning $(TARGET_NAME)"
 503         $(V0) rm -f $(CLEAN_ARTIFACTS)
 504         $(V0) rm -rf $(TARGET_OBJ_DIR)
 505         @echo "Cleaning $(TARGET_NAME) succeeded."
 506
 507 ## test_clean        : clean up temporary / machine-generated files (tests)
 508 test-%_clean:
 509         $(MAKE) test_clean
 510
 511 test_clean:
 512         $(V0) cd src/test && $(MAKE) clean || true
 513
 514 ## <TARGET>_clean    : clean up one specific target (alias for above)
 515 $(TARGETS_CLEAN):
 516         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 517
 518 ## <CONFIG>_clean    : clean up one specific config (alias for above)
 519 $(CONFIGS_CLEAN):
 520         $(V0) $(MAKE) -j CONFIG=$(subst _clean,,$@) clean
 521
 522 ## clean_all         : clean all targets
 523 clean_all: $(TARGETS_CLEAN) test_clean
 524
 525 TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
 526
 527 ## <TARGET>_flash    : build and flash a target
 528 $(TARGETS_FLASH):
 529         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 530 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 531         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 532 else
 533         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 534 endif
 535
 536 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 537 tty_flash:
 538         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 539         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 540         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 541
 542 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 543 dfu_flash:
 544 ifneq (no-port-found,$(SERIAL_DEVICE))
 545         # potentially this is because the MCU already is in DFU mode, try anyway
 546         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 547         $(V0) sleep 1
 548 endif
 549         $(V0) $(MAKE) $(TARGET_DFU)
 550         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 551
 552 st-flash_$(TARGET): $(TARGET_BIN)
 553         $(V0) st-flash --reset write $< 0x08000000
 554
 555 ## st-flash          : flash firmware (.bin) onto flight controller
 556 st-flash: st-flash_$(TARGET)
 557
 558 ifneq ($(OPENOCD_COMMAND),)
 559 openocd-gdb: $(TARGET_ELF)
 560         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 561 endif
 562
 563 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 564
 565 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 566 $(TARGETS_ZIP):
 567         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 568         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 569
 570 zip:
 571         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 572
 573 binary:
 574         $(V0) $(MAKE) -j $(TARGET_BIN)
 575
 576 hex:
 577         $(V0) $(MAKE) -j $(TARGET_HEX)
 578
 579 TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
 580 ## <TARGET>_rev    : build target and add revision to filename
 581 $(TARGETS_REVISION):
 582         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 583
 584 CONFIGS_REVISION = $(addsuffix _rev,$(BASE_CONFIGS))
 585 ## <CONFIG>_rev    : build configured target and add revision to filename
 586 $(CONFIGS_REVISION):
 587         $(V0) $(MAKE) hex REV=yes CONFIG=$(subst _rev,,$@)
 588
 589 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 590
 591 unbrick_$(TARGET): $(TARGET_HEX)
 592         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 593         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 594
 595 ## unbrick           : unbrick flight controller
 596 unbrick: unbrick_$(TARGET)
 597
 598 ## cppcheck          : run static analysis on C source code
 599 cppcheck: $(CSOURCES)
 600         $(V0) $(CPPCHECK)
 601
 602 cppcheck-result.xml: $(CSOURCES)
 603         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 604
 605 # mkdirs
 606 $(DL_DIR):
 607         mkdir -p $@
 608
 609 $(TOOLS_DIR):
 610         mkdir -p $@
 611
 612 ## version           : print firmware version
 613 version:
 614         @echo $(FC_VER)
 615
 616 ## help              : print this help message and exit
 617 help: Makefile make/tools.mk
 618         @echo ""
 619         @echo "Makefile for the $(FORKNAME) firmware"
 620         @echo ""
 621         @echo "Usage:"
 622         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 623         @echo "Or:"
 624         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 625         @echo ""
 626         @echo "Valid TARGET values are: $(BASE_TARGETS)"
 627         @echo ""
 628         @sed -n 's/^## //p' $?
 629
 630 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 631 targets:
 632         @echo "Valid targets:       $(BASE_TARGETS)"
 633         @echo "Built targets:       $(CI_TARGETS)"
 634         @echo "Default target:      $(TARGET)"
 635
 636 configs:
 637         @echo "Valid configs:       $(BASE_CONFIGS)"
 638
 639 targets-ci-print:
 640         @echo $(CI_TARGETS)
 641
 642 ## target-mcu        : print the MCU type of the target
 643 target-mcu:
 644         @echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"
 645
 646 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 647 targets-by-mcu:
 648         $(V1) for target in $${TARGETS}; do \
 649                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 650                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 651                         if [ "$${DO_BUILD}" = 1 ]; then \
 652                                 echo "Building target $${target}..."; \
 653                                 $(MAKE) TARGET=$${target}; \
 654                                 if [ $$? -ne 0 ]; then \
 655                                         echo "Building target $${target} failed, aborting."; \
 656                                         exit 1; \
 657                                 fi; \
 658                         else \
 659                                 echo -n "$${target} "; \
 660                         fi; \
 661                 fi; \
 662         done
 663         @echo
 664
 665 ## test              : run the Betaflight test suite
 666 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 667 ## 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)
 668 ## test-all: run the Betaflight test suite including all per-target expanded tests
 669 test junittest test-all test-representative:
 670         $(V0) cd src/test && $(MAKE) $@
 671
 672 ## test_help         : print the help message for the test suite (including a list of the available tests)
 673 test_help:
 674         $(V0) cd src/test && $(MAKE) help
 675
 676 ## test_versions         : print the compiler versions used for the test suite
 677 test_versions:
 678         $(V0) cd src/test && $(MAKE) versions
 679
 680 ## test_%            : run test 'test_%' from the test suite
 681 test_%:
 682         $(V0) cd src/test && $(MAKE) $@
 683
 684 $(TARGET_EF_HASH_FILE):
 685         $(V1) mkdir -p $(dir $@)
 686         $(V0) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 687         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 688         $(V1) touch $(TARGET_EF_HASH_FILE)
 689
 690 # rebuild everything when makefile changes or the extra flags have changed
 691 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 692
 693 # include auto-generated dependencies
 694 -include $(TARGET_DEPS)