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    ?= BETAFLIGHTF3
  20
  21 # Compile-time options
  22 OPTIONS   ?=
  23
  24 # compile for OpenPilot BootLoader support
  25 OPBL      ?= no
  26
  27 # Debugger optons:
  28 #   empty           - ordinary build with all optimizations enabled
  29 #   RELWITHDEBINFO  - ordinary build with debug symbols and all optimizations enabled
  30 #   GDB             - debug build with minimum number of optimizations
  31 DEBUG     ?=
  32
  33 # Insert the debugging hardfault debugger
  34 # releases should not be built with this flag as it does not disable pwm output
  35 DEBUG_HARDFAULTS ?=
  36
  37 # Serial port/Device for flashing
  38 SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
  39
  40 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
  41 FLASH_SIZE ?=
  42
  43
  44 ###############################################################################
  45 # Things that need to be maintained as the source changes
  46 #
  47
  48 FORKNAME      = betaflight
  49
  50 # Working directories
  51 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
  52 SRC_DIR         := $(ROOT)/src/main
  53 OBJECT_DIR      := $(ROOT)/obj/main
  54 BIN_DIR         := $(ROOT)/obj
  55 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
  56 INCLUDE_DIRS    := $(SRC_DIR) \
  57                    $(ROOT)/src/main/target
  58 LINKER_DIR      := $(ROOT)/src/main/target/link
  59
  60 ## V                 : Set verbosity level based on the V= parameter
  61 ##                     V=0 Low
  62 ##                     V=1 High
  63 include $(ROOT)/make/build_verbosity.mk
  64
  65 # Build tools, so we all share the same versions
  66 # import macros common to all supported build systems
  67 include $(ROOT)/make/system-id.mk
  68
  69 # developer preferences, edit these at will, they'll be gitignored
  70 -include $(ROOT)/make/local.mk
  71
  72 # configure some directories that are relative to wherever ROOT_DIR is located
  73 ifndef TOOLS_DIR
  74 TOOLS_DIR := $(ROOT)/tools
  75 endif
  76 BUILD_DIR := $(ROOT)/build
  77 DL_DIR    := $(ROOT)/downloads
  78
  79 export RM := rm
  80
  81 # import macros that are OS specific
  82 include $(ROOT)/make/$(OSFAMILY).mk
  83
  84 # include the tools makefile
  85 include $(ROOT)/make/tools.mk
  86
  87 # default xtal value for F4 targets
  88 HSE_VALUE       ?= 8000000
  89
  90 # used for turning on features like VCP and SDCARD
  91 FEATURES        =
  92
  93 include $(ROOT)/make/targets.mk
  94
  95 REVISION := $(shell git log -1 --format="%h")
  96
  97 FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
  98 FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
  99 FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 100
 101 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 102
 103 # Search path for sources
 104 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 105 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 106 USBPERIPH_SRC   = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 107 FATFS_DIR       = $(ROOT)/lib/main/FatFS
 108 FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 109
 110 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 111
 112 LD_FLAGS         :=
 113
 114 #
 115 # Default Tool options - can be overridden in {mcu}.mk files.
 116 #
 117 ifeq ($(DEBUG),GDB)
 118 OPTIMISE_DEFAULT      := -Og
 119
 120 LTO_FLAGS             := $(OPTIMISE_DEFAULT)
 121 DEBUG_FLAGS            = -ggdb3 -DDEBUG
 122 else
 123 ifeq ($(DEBUG),INFO)
 124 DEBUG_FLAGS            = -ggdb3
 125 endif
 126 OPTIMISATION_BASE     := -flto -fuse-linker-plugin -ffast-math
 127 OPTIMISE_DEFAULT      := -O2
 128 OPTIMISE_SPEED        := -Ofast
 129 OPTIMISE_SIZE         := -Os
 130
 131 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 132 endif
 133
 134 VPATH                   := $(VPATH):$(ROOT)/make/mcu
 135 VPATH                   := $(VPATH):$(ROOT)/make
 136
 137 # start specific includes
 138 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 139
 140 # openocd specific includes
 141 include $(ROOT)/make/openocd.mk
 142
 143 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 144 ifeq ($(FLASH_SIZE),)
 145 ifneq ($(TARGET_FLASH),)
 146 FLASH_SIZE := $(TARGET_FLASH)
 147 else
 148 $(error FLASH_SIZE not configured for target $(TARGET))
 149 endif
 150 endif
 151
 152 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 153
 154 ifneq ($(HSE_VALUE),)
 155 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 156 endif
 157
 158 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 159 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 160
 161 ifeq ($(OPBL),yes)
 162 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 163 .DEFAULT_GOAL := binary
 164 else
 165 .DEFAULT_GOAL := hex
 166 endif
 167
 168 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 169                    $(ROOT)/lib/main/MAVLink
 170
 171 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 172                    $(TARGET_DIR)
 173
 174 VPATH           := $(VPATH):$(TARGET_DIR)
 175
 176 include $(ROOT)/make/source.mk
 177
 178 ###############################################################################
 179 # Things that might need changing to use different tools
 180 #
 181
 182 # Find out if ccache is installed on the system
 183 CCACHE := ccache
 184 RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
 185 ifneq ($(RESULT),0)
 186 CCACHE :=
 187 endif
 188
 189 # Tool names
 190 CROSS_CC    := $(CCACHE) $(ARM_SDK_PREFIX)gcc
 191 CROSS_CXX   := $(CCACHE) $(ARM_SDK_PREFIX)g++
 192 CROSS_GDB   := $(ARM_SDK_PREFIX)gdb
 193 OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
 194 OBJDUMP     := $(ARM_SDK_PREFIX)objdump
 195 SIZE        := $(ARM_SDK_PREFIX)size
 196
 197 #
 198 # Tool options.
 199 #
 200 CC_DEBUG_OPTIMISATION   := $(OPTIMISE_DEFAULT)
 201 CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 202 CC_SPEED_OPTIMISATION   := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 203 CC_SIZE_OPTIMISATION    := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
 204
 205 CFLAGS     += $(ARCH_FLAGS) \
 206               $(addprefix -D,$(OPTIONS)) \
 207               $(addprefix -I,$(INCLUDE_DIRS)) \
 208               $(DEBUG_FLAGS) \
 209               -std=gnu99 \
 210               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
 211               -ffunction-sections \
 212               -fdata-sections \
 213               -pedantic \
 214               $(DEVICE_FLAGS) \
 215               -D_GNU_SOURCE \
 216               -DUSE_STDPERIPH_DRIVER \
 217               -D$(TARGET) \
 218               $(TARGET_FLAGS) \
 219               -D'__FORKNAME__="$(FORKNAME)"' \
 220               -D'__TARGET__="$(TARGET)"' \
 221               -D'__REVISION__="$(REVISION)"' \
 222               -save-temps=obj \
 223               -MMD -MP \
 224               $(EXTRA_FLAGS)
 225
 226 ASFLAGS     = $(ARCH_FLAGS) \
 227               -x assembler-with-cpp \
 228               $(addprefix -I,$(INCLUDE_DIRS)) \
 229               -MMD -MP
 230
 231 ifeq ($(LD_FLAGS),)
 232 LD_FLAGS     = -lm \
 233               -nostartfiles \
 234               --specs=nano.specs \
 235               -lc \
 236               -lnosys \
 237               $(ARCH_FLAGS) \
 238               $(LTO_FLAGS) \
 239               $(DEBUG_FLAGS) \
 240               -static \
 241               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
 242               -Wl,-L$(LINKER_DIR) \
 243               -Wl,--cref \
 244               -Wl,--no-wchar-size-warning \
 245               -T$(LD_SCRIPT)
 246 endif
 247
 248 ###############################################################################
 249 # No user-serviceable parts below
 250 ###############################################################################
 251
 252 CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 253                   --std=c99 --inline-suppr --quiet --force \
 254                   $(addprefix -I,$(INCLUDE_DIRS)) \
 255                   -I/usr/include -I/usr/include/linux
 256
 257 #
 258 # Things we will build
 259 #
 260 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 261 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 262 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 263 TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
 264 TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 265 TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
 266 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 267
 268
 269 CLEAN_ARTIFACTS := $(TARGET_BIN)
 270 CLEAN_ARTIFACTS += $(TARGET_HEX)
 271 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 272 CLEAN_ARTIFACTS += $(TARGET_LST)
 273
 274 # Make sure build date and revision is updated on every incremental build
 275 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
 276
 277 # List of buildable ELF files and their object dependencies.
 278 # It would be nice to compute these lists, but that seems to be just beyond make.
 279
 280 $(TARGET_LST): $(TARGET_ELF)
 281         $(V0) $(OBJDUMP) -S --disassemble $< > $@
 282
 283 $(TARGET_HEX): $(TARGET_ELF)
 284         @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 285         $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 286
 287 $(TARGET_BIN): $(TARGET_ELF)
 288         @echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
 289         $(V1) $(OBJCOPY) -O binary $< $@
 290
 291 $(TARGET_ELF):  $(TARGET_OBJS)
 292         @echo "Linking $(TARGET)" "$(STDOUT)"
 293         $(V1) $(CROSS_CC) -o $@ $^ $(LD_FLAGS)
 294         $(V1) $(SIZE) $(TARGET_ELF)
 295
 296 # Compile
 297 ifeq ($(DEBUG),GDB)
 298 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 299         $(V1) mkdir -p $(dir $@)
 300         $(V1) echo "%% (debug) $(notdir $<)" "$(STDOUT)" && \
 301         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
 302 else
 303 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 304         $(V1) mkdir -p $(dir $@)
 305         $(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
 306         echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
 307         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
 308         $(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
 309         echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
 310         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
 311         echo "%% $(notdir $<)" "$(STDOUT)" && \
 312         $(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
 313 endif
 314
 315 # Assemble
 316 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
 317         $(V1) mkdir -p $(dir $@)
 318         @echo "%% $(notdir $<)" "$(STDOUT)"
 319         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 320
 321 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 322         $(V1) mkdir -p $(dir $@)
 323         @echo "%% $(notdir $<)" "$(STDOUT)"
 324         $(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 325
 326
 327 ## all               : Build all targets (excluding unsupported)
 328 all: $(SUPPORTED_TARGETS)
 329
 330 ## all_with_unsupported : Build all targets (excluding unsupported)
 331 all_with_unsupported: $(VALID_TARGETS)
 332
 333 ## unsupported : Build unsupported targets
 334 unsupported: $(UNSUPPORTED_TARGETS)
 335
 336 ## official          : Build all official (travis) targets
 337 official: $(OFFICIAL_TARGETS)
 338
 339 ## targets-group-1   : build some targets
 340 targets-group-1: $(GROUP_1_TARGETS)
 341
 342 ## targets-group-2   : build some targets
 343 targets-group-2: $(GROUP_2_TARGETS)
 344
 345 ## targets-group-3   : build some targets
 346 targets-group-3: $(GROUP_3_TARGETS)
 347
 348 ## targets-group-3   : build some targets
 349 targets-group-4: $(GROUP_4_TARGETS)
 350
 351 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
 352 targets-group-rest: $(GROUP_OTHER_TARGETS)
 353
 354 $(VALID_TARGETS):
 355         $(V0) @echo "Building $@" && \
 356         $(MAKE) binary hex TARGET=$@ && \
 357         echo "Building $@ succeeded."
 358
 359 $(SKIP_TARGETS):
 360         $(MAKE) TARGET=$@
 361
 362 CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
 363 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 364
 365 ## clean             : clean up temporary / machine-generated files
 366 clean:
 367         @echo "Cleaning $(TARGET)"
 368         $(V0) rm -f $(CLEAN_ARTIFACTS)
 369         $(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
 370         @echo "Cleaning $(TARGET) succeeded."
 371
 372 ## clean_test        : clean up temporary / machine-generated files (tests)
 373 clean_test:
 374         $(V0) cd src/test && $(MAKE) clean || true
 375
 376 ## clean_<TARGET>    : clean up one specific target
 377 $(CLEAN_TARGETS):
 378         $(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 379
 380 ## <TARGET>_clean    : clean up one specific target (alias for above)
 381 $(TARGETS_CLEAN):
 382         $(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 383
 384 ## clean_all         : clean all valid targets
 385 clean_all: $(CLEAN_TARGETS)
 386
 387 ## all_clean         : clean all valid targets (alias for above)
 388 all_clean: $(TARGETS_CLEAN)
 389
 390
 391 flash_$(TARGET): $(TARGET_HEX)
 392         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 393         $(V0) echo -n 'R' >$(SERIAL_DEVICE)
 394         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 395
 396 ## flash             : flash firmware (.hex) onto flight controller
 397 flash: flash_$(TARGET)
 398
 399 st-flash_$(TARGET): $(TARGET_BIN)
 400         $(V0) st-flash --reset write $< 0x08000000
 401
 402 ## st-flash          : flash firmware (.bin) onto flight controller
 403 st-flash: st-flash_$(TARGET)
 404
 405 ifneq ($(OPENOCD_COMMAND),)
 406 openocd-gdb: $(TARGET_ELF)
 407         $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 408 endif
 409
 410 binary:
 411         $(V0) $(MAKE) -j $(TARGET_BIN)
 412
 413 hex:
 414         $(V0) $(MAKE) -j $(TARGET_HEX)
 415
 416 unbrick_$(TARGET): $(TARGET_HEX)
 417         $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 418         $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 419
 420 ## unbrick           : unbrick flight controller
 421 unbrick: unbrick_$(TARGET)
 422
 423 ## cppcheck          : run static analysis on C source code
 424 cppcheck: $(CSOURCES)
 425         $(V0) $(CPPCHECK)
 426
 427 cppcheck-result.xml: $(CSOURCES)
 428         $(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 429
 430 # mkdirs
 431 $(DL_DIR):
 432         mkdir -p $@
 433
 434 $(TOOLS_DIR):
 435         mkdir -p $@
 436
 437 $(BUILD_DIR):
 438         mkdir -p $@
 439
 440 ## version           : print firmware version
 441 version:
 442         @echo $(FC_VER)
 443
 444 ## help              : print this help message and exit
 445 help: Makefile make/tools.mk
 446         @echo ""
 447         @echo "Makefile for the $(FORKNAME) firmware"
 448         @echo ""
 449         @echo "Usage:"
 450         @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
 451         @echo "Or:"
 452         @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
 453         @echo ""
 454         @echo "Valid TARGET values are: $(VALID_TARGETS)"
 455         @echo ""
 456         @sed -n 's/^## //p' $?
 457
 458 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 459 targets:
 460         @echo "Valid targets:       $(VALID_TARGETS)"
 461         @echo "Supported targets:   $(SUPPORTED_TARGETS)"
 462         @echo "Unsupported targets: $(UNSUPPORTED_TARGETS)"
 463         @echo "Target:              $(TARGET)"
 464         @echo "Base target:         $(BASE_TARGET)"
 465         @echo "targets-group-1:     $(GROUP_1_TARGETS)"
 466         @echo "targets-group-2:     $(GROUP_2_TARGETS)"
 467         @echo "targets-group-3:     $(GROUP_3_TARGETS)"
 468         @echo "targets-group-4:     $(GROUP_4_TARGETS)"
 469         @echo "targets-group-rest:  $(GROUP_OTHER_TARGETS)"
 470
 471 ## test              : run the cleanflight test suite
 472 ## junittest         : run the cleanflight test suite, producing Junit XML result files.
 473 test junittest:
 474         $(V0) cd src/test && $(MAKE) $@
 475
 476 # rebuild everything when makefile changes
 477 $(TARGET_OBJS) : Makefile
 478
 479 # include auto-generated dependencies
 480 -include $(TARGET_DEPS)