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 $(ROOT)/make/system-id.mk
  76
  77 # developer preferences, edit these at will, they'll be gitignored
  78 ifneq ($(wildcard $(ROOT)/make/local.mk),)
  79 include $(ROOT)/make/local.mk
  80 endif
  81
  82 # pre-build sanity checks
  83 include $(ROOT)/make/checks.mk
  84
  85 # basic target list
  86 BASE_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/main/target/*/target.mk)))))
  87
  88 # configure some directories that are relative to wherever ROOT_DIR is located
  89 TOOLS_DIR  ?= $(ROOT)/tools
  90 DL_DIR     := $(ROOT)/downloads
  91 CONFIG_DIR ?= $(BETAFLIGHT_CONFIG)
  92 ifeq ($(CONFIG_DIR),)
  93 CONFIG_DIR := $(ROOT)/src/config
  94 endif
  95 DIRECTORIES := $(DL_DIR) $(TOOLS_DIR)
  96
  97 export RM := rm
  98
  99 # import macros that are OS specific
 100 include $(ROOT)/make/$(OSFAMILY).mk
 101
 102 # include the tools makefile
 103 include $(ROOT)/make/tools.mk
 104
 105 # Search path for sources
 106 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 107 FATFS_DIR        = $(ROOT)/lib/main/FatFS
 108 FATFS_SRC        = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 109 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 110
 111 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
 112 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
 113 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 114
 115 FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 116
 117 # import config handling
 118 include $(ROOT)/make/config.mk
 119
 120 ifeq ($(CONFIG),)
 121 ifeq ($(TARGET),)
 122 TARGET := $(DEFAULT_TARGET)
 123 endif
 124 endif
 125
 126 # default xtal value
 127 HSE_VALUE       ?= 8000000
 128
 129 CI_TARGETS       := $(BASE_TARGETS) $(filter CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722, $(BASE_CONFIGS))
 130 include $(ROOT)/src/main/target/$(TARGET)/target.mk
 131
 132 REVISION := norevision
 133 ifeq ($(shell git diff --shortstat),)
 134 REVISION := $(shell git log -1 --format="%h")
 135 endif
 136
 137 LD_FLAGS        :=
 138 EXTRA_LD_FLAGS  :=
 139
 140 #
 141 # Default Tool options - can be overridden in {mcu}.mk files.
 142 #
 143 ifeq ($(DEBUG),GDB)
 144 OPTIMISE_DEFAULT      := -Og
 145
 146 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 147 DEBUG_FLAGS            = -ggdb3 -gdwarf-5 -DDEBUG
 148 else
 149 ifeq ($(DEBUG),INFO)
 150 DEBUG_FLAGS            = -ggdb3
 151 endif
 152 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math -fmerge-all-constants
 153 OPTIMISE_DEFAULT      := -O2
 154 OPTIMISE_SPEED        := -Ofast
 155 OPTIMISE_SIZE         := -Os
 156
 157 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 158 endif
 159
 160 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 161 VPATH                   := $(VPATH):$(ROOT)/make
 162
 163 # start specific includes
 164 ifeq ($(TARGET_MCU),)
 165 $(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
 166 endif
 167
 168 ifeq ($(TARGET_MCU_FAMILY),)
 169 $(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
 170 endif
 171
 172 TARGET_FLAGS    := -D$(TARGET) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
 173
 174 ifneq ($(CONFIG),)
 175 TARGET_FLAGS    := $(TARGET_FLAGS) -DUSE_CONFIG
 176 endif
 177
 178 include $(ROOT)/make/mcu/$(TARGET_MCU_FAMILY).mk
 179
 180 # openocd specific includes
 181 include $(ROOT)/make/openocd.mk
 182
 183 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 184 ifeq ($(TARGET_FLASH_SIZE),)
 185 ifneq ($(MCU_FLASH_SIZE),)
 186 TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
 187 else
 188 $(error MCU_FLASH_SIZE not configured for target $(TARGET))
 189 endif
 190 endif
 191
 192 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
 193
 194 ifneq ($(HSE_VALUE),)
 195 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 196 endif
 197
 198 TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
 199 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 200
 201 .DEFAULT_GOAL := hex
 202
 203 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 204                    $(ROOT)/lib/main/MAVLink
 205
 206 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 207                    $(TARGET_DIR)
 208
 209 VPATH           := $(VPATH):$(TARGET_DIR)
 210
 211 include $(ROOT)/make/source.mk
 212
 213 ###############################################################################
 214 # Things that might need changing to use different tools
 215 #
 216
 217 # Find out if ccache is installed on the system
 218 CCACHE := ccache
 219 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 220 ifneq ($(RESULT),0)
 221 CCACHE :=
 222 endif
 223
 224 # Tool names
 225 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 226 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 227 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 228 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 229 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 230 READELF     := $(ARM_SDK_PREFIX)readelf
 231 SIZE        := $(ARM_SDK_PREFIX)size
 232 DFUSE-PACK  := src/utils/dfuse-pack.py
 233
 234 #
 235 # Tool options.
 236 #
 237 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 238 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 239 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 240 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 241 CC_NO_OPTIMISATION      :=
 242
 243 #
 244 # Added after GCC version update, remove once the warnings have been fixed
 245 #
 246 TEMPORARY_FLAGS :=
 247
 248 EXTRA_WARNING_FLAGS := -Wold-style-definition
 249
 250 CFLAGS     += $(ARCH_FLAGS) \
 251               $(addprefix -D,$(OPTIONS)) \
 252               $(addprefix -I,$(INCLUDE_DIRS)) \
 253               $(DEBUG_FLAGS) \
 254               -std=gnu17 \
 255               -Wall -Wextra -Werror -Wpedantic -Wunsafe-loop-optimizations -Wdouble-promotion \
 256               $(EXTRA_WARNING_FLAGS) \
 257               -ffunction-sections \
 258               -fdata-sections \
 259               -fno-common \
 260               $(TEMPORARY_FLAGS) \
 261               $(DEVICE_FLAGS) \
 262               -D_GNU_SOURCE \
 263               -DUSE_STDPERIPH_DRIVER \
 264               -D$(TARGET) \
 265               $(TARGET_FLAGS) \
 266               -D'__FORKNAME__="$(FORKNAME)"' \
 267               -D'__TARGET__="$(TARGET)"' \
 268               -D'__REVISION__="$(REVISION)"' \
 269               $(CONFIG_REVISION_DEFINE) \
 270               -pipe \
 271               -MMD -MP \
 272               $(EXTRA_FLAGS)
 273
 274 ASFLAGS     = $(ARCH_FLAGS) \
 275               $(DEBUG_FLAGS) \
 276               -x assembler-with-cpp \
 277               $(addprefix -I,$(INCLUDE_DIRS)) \
 278               -MMD -MP
 279
 280 ifeq ($(LD_FLAGS),)
 281 LD_FLAGS     = -lm \
 282               -nostartfiles \
 283               --specs=nano.specs \
 284               -lc \
 285               -lnosys \
 286               $(ARCH_FLAGS) \
 287               $(LTO_FLAGS) \
 288               $(DEBUG_FLAGS) \
 289               -static \
 290               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 291               -Wl,-L$(LINKER_DIR) \
 292               -Wl,--cref \
 293               -Wl,--no-wchar-size-warning \
 294               -Wl,--print-memory-usage \
 295               -T$(LD_SCRIPT) \
 296                $(EXTRA_LD_FLAGS)
 297 endif
 298
 299 ###############################################################################
 300 # No user-serviceable parts below
 301 ###############################################################################
 302
 303 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 304                   --std=c99 --inline-suppr --quiet --force \
 305                   $(addprefix -I,$(INCLUDE_DIRS)) \
 306                   -I/usr/include -I/usr/include/linux
 307
 308 TARGET_NAME := $(TARGET)
 309
 310 ifneq ($(CONFIG),)
 311 TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
 312 endif
 313
 314 ifeq ($(REV),yes)
 315 TARGET_NAME := $(TARGET_NAME)_$(REVISION)
 316 endif
 317
 318 TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 319 #
 320 # Things we will build
 321 #
 322 TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
 323 TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
 324 TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
 325 TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
 326 TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
 327 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
 328 TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
 329 TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
 330 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
 331 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 332 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
 333 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 334
 335 TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 336
 337 TARGET_EF_HASH      := $(shell echo -n "$(EXTRA_FLAGS)" | openssl dgst -md5 | awk '{print $$2;}')
 338 TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 339
 340 CLEAN_ARTIFACTS := $(TARGET_BIN)
 341 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 342 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 343 CLEAN_ARTIFACTS += $(TARGET_LST)
 344 CLEAN_ARTIFACTS += $(TARGET_DFU)
 345
 346 # Make sure build date and revision is updated on every incremental build
 347 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 348
 349 # List of buildable ELF files and their object dependencies.
 350 # It would be nice to compute these lists, but that seems to be just beyond make.
 351
 352 $(TARGET_LST): $(TARGET_ELF)
 353         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 354
 355 ifeq ($(EXST),no)
 356 $(TARGET_BIN): $(TARGET_ELF)
 357         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 358         $(V1) $(OBJCOPY) -O binary $< $@
 359
 360 $(TARGET_HEX): $(TARGET_ELF)
 361         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 362         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 363
 364 $(TARGET_DFU): $(TARGET_HEX)
 365         @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 366         $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
 367
 368 else
 369 CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
 370
 371 $(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
 372         @echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
 373         $(V1) $(OBJCOPY) -O binary $< $@
 374
 375 $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 376         @echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
 377 # Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
 378 # These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
 379         $(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
 380         $(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
 381
 382         @echo "Generating MD5 hash of binary" "$(STDOUT)"
 383         $(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
 384
 385         @echo "Patching MD5 hash into binary" "$(STDOUT)"
 386         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
 387         $(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
 388
 389 # Note: From the objcopy manual "If you do not specify outfile, objcopy creates a temporary file and destructively renames the result with the name of infile"
 390 # Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
 391 # If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
 392 # a) regeneration of $(TARGET_BIN), and
 393 # b) the results of $(TARGET_BIN) will not be as expected.
 394         @echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
 395         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
 396         rm $(TARGET_EXST_ELF).tmp
 397
 398         @echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 399         $(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 400
 401         $(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
 402         $(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 403
 404         $(V1) $(READELF) -S $(TARGET_EXST_ELF)
 405         $(V1) $(READELF) -l $(TARGET_EXST_ELF)
 406
 407 $(TARGET_HEX): $(TARGET_BIN)
 408         $(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
 409
 410         @echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
 411         $(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
 412
 413 endif
 414
 415 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 416         @echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 417         $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 418         $(V1) $(SIZE) $(TARGET_ELF)
 419
 420 # Compile
 421
 422 ## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
 423 define compile_file
 424         echo "%% ($(1)) $<" "$(STDOUT)" && \
 425         $(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
 426 endef
 427
 428 ifeq ($(DEBUG),GDB)
 429 $(TARGET_OBJ_DIR)/%.o: %.c
 430         $(V1) mkdir -p $(dir $@)
 431         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 432                 $(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 433         , \
 434                 $(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 435         )
 436 else
 437 $(TARGET_OBJ_DIR)/%.o: %.c
 438         $(V1) mkdir -p $(dir $@)
 439         $(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 440                 $(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
 441         , \
 442                 $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 443                         $(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
 444                 , \
 445                         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 446                                 $(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
 447                         , \
 448                                 $(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
 449                         ) \
 450                 ) \
 451         )
 452 endif
 453
 454 # Assemble
 455 $(TARGET_OBJ_DIR)/%.o: %.s
 456         $(V1) mkdir -p $(dir $@)
 457         @echo "%% $(notdir $<)" "$(STDOUT)"
 458         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 459
 460 $(TARGET_OBJ_DIR)/%.o: %.S
 461         $(V1) mkdir -p $(dir $@)
 462         @echo "%% $(notdir $<)" "$(STDOUT)"
 463         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 464
 465
 466 ## all               : Build all currently built targets
 467 all: $(CI_TARGETS)
 468
 469 $(BASE_TARGETS):
 470         $(V0) @echo "Building target $@" && \
 471         $(MAKE) hex TARGET=$@ && \
 472         echo "Building $@ succeeded."
 473
 474 TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 475
 476 ## clean             : clean up temporary / machine-generated files
 477 clean:
 478         @echo "Cleaning $(TARGET_NAME)"
 479         $(V0) rm -f $(CLEAN_ARTIFACTS)
 480         $(V0) rm -rf $(TARGET_OBJ_DIR)
 481         @echo "Cleaning $(TARGET_NAME) succeeded."
 482
 483 ## test_clean        : clean up temporary / machine-generated files (tests)
 484 test-%_clean:
 485         $(MAKE) test_clean
 486
 487 test_clean:
 488         $(V0) cd src/test && $(MAKE) clean || true
 489
 490 ## <TARGET>_clean    : clean up one specific target (alias for above)
 491 $(TARGETS_CLEAN):
 492         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 493
 494 ## clean_all         : clean all targets
 495 clean_all: $(TARGETS_CLEAN) test_clean
 496
 497 TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
 498
 499 ## <TARGET>_flash    : build and flash a target
 500 $(TARGETS_FLASH):
 501         $(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
 502 ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
 503         $(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
 504 else
 505         $(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
 506 endif
 507
 508 ## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
 509 tty_flash:
 510         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 511         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 512         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 513
 514 ## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
 515 dfu_flash:
 516 ifneq (no-port-found,$(SERIAL_DEVICE))
 517         # potentially this is because the MCU already is in DFU mode, try anyway
 518         $(V0) echo -n 'R' > $(SERIAL_DEVICE)
 519         $(V0) sleep 1
 520 endif
 521         $(V0) $(MAKE) $(TARGET_DFU)
 522         $(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
 523
 524 st-flash_$(TARGET): $(TARGET_BIN)
 525         $(V0) st-flash --reset write $< 0x08000000
 526
 527 ## st-flash          : flash firmware (.bin) onto flight controller
 528 st-flash: st-flash_$(TARGET)
 529
 530 ifneq ($(OPENOCD_COMMAND),)
 531 openocd-gdb: $(TARGET_ELF)
 532         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 533 endif
 534
 535 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 536
 537 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 538 $(TARGETS_ZIP):
 539         $(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 540         $(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 541
 542 zip:
 543         $(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 544
 545 binary:
 546         $(V0) $(MAKE) -j $(TARGET_BIN)
 547
 548 hex:
 549         $(V0) $(MAKE) -j $(TARGET_HEX)
 550
 551 TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
 552 ## <TARGET>_rev    : build target and add revision to filename
 553 $(TARGETS_REVISION):
 554         $(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 555
 556 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 557
 558 unbrick_$(TARGET): $(TARGET_HEX)
 559         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 560         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 561
 562 ## unbrick           : unbrick flight controller
 563 unbrick: unbrick_$(TARGET)
 564
 565 ## cppcheck          : run static analysis on C source code
 566 cppcheck: $(CSOURCES)
 567         $(V0) $(CPPCHECK)
 568
 569 cppcheck-result.xml: $(CSOURCES)
 570         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 571
 572 # mkdirs
 573 $(DIRECTORIES):
 574         mkdir -p $@
 575
 576 ## version           : print firmware version
 577 version:
 578         @echo $(FC_VER)
 579
 580 ## help              : print this help message and exit
 581 help: Makefile make/tools.mk
 582         @echo ""
 583         @echo "Makefile for the $(FORKNAME) firmware"
 584         @echo ""
 585         @echo "Usage:"
 586         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 587         @echo "Or:"
 588         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 589         @echo "Or:"
 590         @echo "        make <config-target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 591         @echo ""
 592         @echo "To pupulate configuration targets:"
 593         @echo "        make configs"
 594         @echo ""
 595         @echo "Valid TARGET values are: $(BASE_TARGETS)"
 596         @echo ""
 597         @sed -n 's/^## //p' $?
 598
 599 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 600 targets:
 601         @echo "Valid targets:       $(BASE_TARGETS)"
 602         @echo "Built targets:       $(CI_TARGETS)"
 603         @echo "Default target:      $(TARGET)"
 604
 605 targets-ci-print:
 606         @echo $(CI_TARGETS)
 607
 608 ## target-mcu        : print the MCU type of the target
 609 target-mcu:
 610         @echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"
 611
 612 ## targets-by-mcu    : make all targets that have a MCU_TYPE mcu
 613 targets-by-mcu:
 614         $(V1) for target in $${TARGETS}; do \
 615                 TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
 616                 if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
 617                         if [ "$${DO_BUILD}" = 1 ]; then \
 618                                 echo "Building target $${target}..."; \
 619                                 $(MAKE) TARGET=$${target}; \
 620                                 if [ $$? -ne 0 ]; then \
 621                                         echo "Building target $${target} failed, aborting."; \
 622                                         exit 1; \
 623                                 fi; \
 624                         else \
 625                                 echo -n "$${target} "; \
 626                         fi; \
 627                 fi; \
 628         done
 629         @echo
 630
 631 ## test              : run the Betaflight test suite
 632 ## junittest         : run the Betaflight test suite, producing Junit XML result files.
 633 ## 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)
 634 ## test-all: run the Betaflight test suite including all per-target expanded tests
 635 test junittest test-all test-representative:
 636         $(V0) cd src/test && $(MAKE) $@
 637
 638 ## test_help         : print the help message for the test suite (including a list of the available tests)
 639 test_help:
 640         $(V0) cd src/test && $(MAKE) help
 641
 642 ## test_versions         : print the compiler versions used for the test suite
 643 test_versions:
 644         $(V0) cd src/test && $(MAKE) versions
 645
 646 ## test_%            : run test 'test_%' from the test suite
 647 test_%:
 648         $(V0) cd src/test && $(MAKE) $@
 649
 650 $(TARGET_EF_HASH_FILE):
 651         $(V1) mkdir -p $(dir $@)
 652         $(V0) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 653         @echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 654         $(V1) touch $(TARGET_EF_HASH_FILE)
 655
 656 # rebuild everything when makefile changes or the extra flags have changed
 657 $(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 658
 659 # include auto-generated dependencies
 660 -include $(TARGET_DEPS)