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