PICO: Makefile uf2 support using picotool (#14402)

* Adding picotool build recipe in makefiles.

* Use semaphore in directory for default goal recipe for target

* Suggestions from coderabbitai

* Further coderabbit suggestions

* Wrong case

* Minor change to improve logic

* Further improvements.

- submodules replaced with specific submodule for pico_sdk (to avoid all developers needing this)

* Removing need for remote on git submodule update for configs, as we have the commit occurring daily.

- made sure config also build uf2

* Simplified firmware output selection for target

* Moved UF2 outside of EXST

* Missed two remnants of HEX_TARGETS

* Adding check for target

* As target is known default output can be set in platform mk file or target mk file

 - no need for file indicator (i.e. .exe or .uf2)

* Update config.mk for less verbosity

Makefile

@@ -15,7 +15,7 @@
 # Things that the user might override on the commandline
 #
 
-# The target to build, see BASE_TARGETS/EXE_TARGETS below
+# The target or config to build
 TARGET    ?=
 CONFIG    ?=
 
@@ -57,7 +57,11 @@ CFLAGS_DISABLED         :=
 FORKNAME      = betaflight
 
 # Working directories
+# ROOT_DIR is the full path to the directory containing this Makefile
+ROOT_DIR        := $(realpath $(dir $(abspath $(lastword $(MAKEFILE_LIST)))))
+# ROOT is the relative path to the directory containing this Makefile
 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
+
 PLATFORM_DIR	:= $(ROOT)/src/platform
 SRC_DIR         := $(ROOT)/src/main
 LIB_MAIN_DIR    := $(ROOT)/lib/main
@@ -90,12 +94,9 @@ MAKE_PARALLEL 		     = $(if $(filter -j%, $(MAKEFLAGS)),$(EMPTY),-j$(DEFAULT_PAR
 # pre-build sanity checks
 include $(MAKE_SCRIPT_DIR)/checks.mk
 
-# list of targets that  are executed on host (using exe as goal)
-EXE_TARGETS      := SITL
-
 # basic target list
 PLATFORMS        := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
-BASE_TARGETS     := $(filter-out $(EXE_TARGETS),$(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk))))))
+BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))
 
 # configure some directories that are relative to wherever ROOT_DIR is located
 TOOLS_DIR  ?= $(ROOT)/tools
@@ -126,7 +127,7 @@ FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk
 
 FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 
-# import config handling
+# import config handling (must occur after the hydration of hex, exe and uf2 targets)
 include $(MAKE_SCRIPT_DIR)/config.mk
 
 # default xtal value
@@ -134,7 +135,7 @@ HSE_VALUE       ?= 8000000
 
 CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exclude)))))
 CI_COMMON_TARGETS   := STM32F4DISCOVERY CRAZYBEEF4SX1280 CRAZYBEEF4FR MATEKF405TE AIRBOTG4AIO TBS_LUCID_FC IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF
-CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS) $(EXE_TARGETS)) $(filter $(CI_COMMON_TARGETS), $(BASE_CONFIGS))
+CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS) $(filter $(CI_COMMON_TARGETS), $(BASE_CONFIGS)))
 PREVIEW_TARGETS     := MATEKF411 AIKONF4V2 AIRBOTG4AIO ZEEZF7V3 FOXEERF745V4_AIO KAKUTEH7 TBS_LUCID_FC SITL SPRACINGH7EXTREME SPRACINGH7RF
 
 TARGET_PLATFORM     := $(notdir $(patsubst %/,%,$(subst target/$(TARGET)/,, $(dir $(wildcard $(PLATFORM_DIR)/*/target/$(TARGET)/target.mk)))))
@@ -142,7 +143,8 @@ TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
 LINKER_DIR          := $(TARGET_PLATFORM_DIR)/link
 
 ifneq ($(TARGET),)
-include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk
+TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
+include $(TARGET_DIR)/target.mk
 endif
 
 REVISION := norevision
@@ -221,24 +223,17 @@ ifneq ($(HSE_VALUE),)
 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 endif
 
-TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
 endif # TARGET specified
 
+ifeq ($(or $(CONFIG),$(TARGET)),)
+.DEFAULT_GOAL := all
+else
+.DEFAULT_GOAL := fwo
+endif
+
 # openocd specific includes
 include $(MAKE_SCRIPT_DIR)/openocd.mk
 
-ifeq ($(CONFIG),)
-ifeq ($(TARGET),)
-.DEFAULT_GOAL := all
-else ifneq ($(filter $(TARGET),$(EXE_TARGETS)),)
-.DEFAULT_GOAL := exe
-else
-.DEFAULT_GOAL := hex
-endif
-else  # ifeq ($(CONFIG),)
-.DEFAULT_GOAL := hex
-endif
-
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(ROOT)/lib/main/MAVLink
 
@@ -364,6 +359,12 @@ CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
                   $(addprefix -isystem,$(SYS_INCLUDE_DIRS)) \
                   -I/usr/include -I/usr/include/linux
 
+ifneq ($(filter fwo hex uf2 bin elf zip, $(MAKECMDGOALS)),)
+    ifeq ($(TARGET),)
+        $(error "You must specify a target to build.")
+    endif
+endif
+
 TARGET_NAME := $(TARGET)
 
 ifneq ($(CONFIG),)
@@ -378,21 +379,22 @@ TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 #
 # Things we will build
 #
-TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
+TARGET_BIN      := $(BIN_DIR)/$(TARGET_FULLNAME).bin
-TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
+TARGET_HEX      := $(BIN_DIR)/$(TARGET_FULLNAME).hex
-TARGET_EXE      = $(BIN_DIR)/$(TARGET_FULLNAME)
+TARGET_UF2      := $(BIN_DIR)/$(TARGET_FULLNAME).uf2
-TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
+TARGET_EXE      := $(BIN_DIR)/$(TARGET_FULLNAME)
-TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
+TARGET_DFU      := $(BIN_DIR)/$(TARGET_FULLNAME).dfu
-TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
+TARGET_ZIP      := $(BIN_DIR)/$(TARGET_FULLNAME).zip
-TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
+TARGET_OBJ_DIR  := $(OBJECT_DIR)/$(TARGET_NAME)
-TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
+TARGET_ELF      := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
-TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
+TARGET_EXST_ELF := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
-TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
+TARGET_UNPATCHED_BIN := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
-TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
+TARGET_LST      := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
-TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
+TARGET_OBJS     := $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
-TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
+TARGET_DEPS     := $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
+TARGET_MAP      := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
 
-TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
+TARGET_EXST_HASH_SECTION_FILE := $(TARGET_OBJ_DIR)/exst_hash_section.bin
 
 ifeq ($(DEBUG_MIXED),yes)
 TARGET_EF_HASH      := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)"  | openssl dgst -md5 -r | awk '{print $$1;}')
@@ -407,6 +409,7 @@ CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 CLEAN_ARTIFACTS += $(TARGET_LST)
 CLEAN_ARTIFACTS += $(TARGET_DFU)
+CLEAN_ARTIFACTS += $(TARGET_UF2)
 
 # Make sure build date and revision is updated on every incremental build
 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
@@ -482,8 +485,12 @@ $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 	$(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 	$(V1) $(SIZE) $(TARGET_ELF)
 
+$(TARGET_UF2): $(TARGET_ELF)
+	@echo "Creating UF2 $(TARGET_UF2)" "$(STDOUT)"
+	$(V1) $(PICOTOOL) uf2 convert $< $@ || { echo "Failed to convert ELF to UF2 format"; exit 1; }
+
 $(TARGET_EXE): $(TARGET_ELF)
-	@echo Copy $< to $@ "$(STDOUT)"
+	@echo "Creating exe - copying $< to $@" "$(STDOUT)"
 	$(V1) cp $< $@
 
 # Compile
@@ -539,17 +546,11 @@ $(TARGET_OBJ_DIR)/%.o: %.S
 ## all               : Build all currently built targets
 all: $(CI_TARGETS)
 
+.PHONY: $(BASE_TARGETS)
 $(BASE_TARGETS):
-	$(V0) @echo "Building target $@" && \
+	$(MAKE) fwo TARGET=$@
-	$(MAKE) hex TARGET=$@ && \
-	echo "Building $@ succeeded."
 
-$(EXE_TARGETS):
+TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
-	$(V0) @echo "Building executable target $@" && \
-	$(MAKE) exe TARGET=$@ && \
-	echo "Building $@ succeeded."
-
-TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS) $(EXE_TARGETS))
 
 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 
@@ -625,39 +626,56 @@ endif
 TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 
 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
+.PHONY: $(TARGETS_ZIP)
 $(TARGETS_ZIP):
-	$(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) zip TARGET=$(subst _zip,,$@)
-	$(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 
-zip:
+.PHONY: zip
-	$(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
+zip: $(TARGET_HEX)
+	$(V1) zip $(TARGET_ZIP) $(TARGET_HEX)
 
+.PHONY: binary
 binary:
-	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
 
+.PHONY: hex
 hex:
-	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
 
-.phony: exe
+.PHONY: uf2
+uf2:
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_UF2)
+
+.PHONY: exe
 exe: $(TARGET_EXE)
 
-TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
+# FWO (Firmware Output) is the default output for building the firmware
+.PHONY: fwo
+fwo:
+ifeq ($(DEFAULT_OUTPUT),exe)
+	$(V1) $(MAKE) exe
+else ifeq ($(DEFAULT_OUTPUT),uf2)
+	$(V1) $(MAKE) uf2
+else
+	$(V1) $(MAKE) hex
+endif
+
+TARGETS_REVISION = $(addsuffix _rev, $(BASE_TARGETS))
 ## <TARGET>_rev    : build target and add revision to filename
+.PHONY: $(TARGETS_REVISION)
 $(TARGETS_REVISION):
-	$(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
+	$(V1) $(MAKE) fwo REV=yes TARGET=$(subst _rev,,$@)
 
-EXE_TARGETS_REVISION = $(addsuffix _rev,$(EXE_TARGETS))
+.PHONY: all_rev
-## <EXE_TARGET>_rev : build executable target and add revision to filename
+all_rev: $(addsuffix _rev, $(CI_TARGETS))
-$(EXE_TARGETS_REVISION):
-	$(V0) $(MAKE) exe REV=yes TARGET=$(subst _rev,,$@)
-
-all_rev: $(addsuffix _rev,$(CI_TARGETS))
 
+.PHONY: unbrick_$(TARGET)
 unbrick_$(TARGET): $(TARGET_HEX)
 	$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 	$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 
 ## unbrick           : unbrick flight controller
+.PHONY: unbrick
 unbrick: unbrick_$(TARGET)
 
 ## cppcheck          : run static analysis on C source code
@@ -690,7 +708,7 @@ help: Makefile mk/tools.mk
 	@echo "To populate configuration targets:"
 	@echo "        make configs"
 	@echo ""
-	@echo "Valid TARGET values are: $(EXE_TARGETS) $(BASE_TARGETS)"
+	@echo "Valid TARGET values are: $(BASE_TARGETS)"
 	@echo ""
 	@sed -n 's/^## //p' $?
 
@@ -698,7 +716,6 @@ help: Makefile mk/tools.mk
 targets:
 	@echo "Platforms:           $(PLATFORMS)"
 	@echo "Valid targets:       $(BASE_TARGETS)"
-	@echo "Executable targets:  $(EXE_TARGETS)"
 	@echo "Built targets:       $(CI_TARGETS)"
 	@echo "Default target:      $(TARGET)"
 	@echo "CI common targets:   $(CI_COMMON_TARGETS)"

mk/build_verbosity.mk

@@ -9,6 +9,7 @@ ifndef V
 export V0    :=
 export V1    := $(AT)
 export STDOUT   :=
+export MAKE  := $(MAKE) --no-print-directory
 else ifeq ($(V), 0)
 export V0    := $(AT)
 export V1    := $(AT)

mk/config.mk

@@ -57,21 +57,23 @@ endif #config
 .PHONY: configs
 configs:
 ifeq ($(shell realpath $(CONFIG_DIR)),$(shell realpath $(CONFIGS_SUBMODULE_DIR)))
-	git submodule update --init --remote -- $(CONFIGS_SUBMODULE_DIR)
+	@echo "Updating config submodule: $(CONFIGS_SUBMODULE_DIR)"
+	$(V1) git submodule update --init -- $(CONFIGS_SUBMODULE_DIR) || { echo "Config submodule update failed. Please check your git configuration."; exit 1; }
+	@echo "Submodule update succeeded."
 else
 ifeq ($(wildcard $(CONFIG_DIR)),)
 	@echo "Hydrating clone for configs: $(CONFIG_DIR)"
-	$(V0) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
+	$(V1) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
 else
-	$(V0) git -C $(CONFIG_DIR) pull origin
+	$(V1) git -C $(CONFIG_DIR) pull origin
 endif
 endif
 
 $(BASE_CONFIGS):
 	@echo "Building target config $@"
-	$(V0) $(MAKE) $(MAKE_PARALLEL) hex CONFIG=$@
+	$(V0) $(MAKE) fwo CONFIG=$@
 	@echo "Building target config $@ succeeded."
 
 ## <CONFIG>_rev    : build configured target and add revision to filename
 $(addsuffix _rev,$(BASE_CONFIGS)):
-	$(V0) $(MAKE) $(MAKE_PARALLEL) hex CONFIG=$(subst _rev,,$@) REV=yes
+	$(V0) $(MAKE) fwo CONFIG=$(subst _rev,,$@) REV=yes

mk/tools.mk

@@ -331,3 +331,54 @@ breakpad_clean:
 	$(V1) [ ! -d "$(BREAKPAD_DIR)" ] || $(RM) -rf $(BREAKPAD_DIR)
 	@echo " CLEAN        $(BREAKPAD_DL_FILE)"
 	$(V1) $(RM) -f $(BREAKPAD_DL_FILE)
+
+# Raspberry Pi Pico tools
+PICOTOOL_REPO   := https://github.com/raspberrypi/picotool.git
+PICOTOOL_DL_DIR := $(DL_DIR)/picotool
+PICOTOOL_BUILD_DIR := $(PICOTOOL_DL_DIR)/build
+PICOTOOL_DIR    := $(TOOLS_DIR)/picotool
+PICO_SDK_PATH   ?= $(ROOT_DIR)/lib/main/pico-sdk
+PICOTOOL        ?= $(PICOTOOL_DIR)/picotool
+
+ifneq ($(filter picotool_install uf2,$(MAKECMDGOALS)),)
+    ifeq ($(wildcard $(PICO_SDK_PATH)/CMakeLists.txt),)
+        $(error "PICO_SDK_PATH ($(PICO_SDK_PATH)) does not point to a valid Pico SDK. Please 'make pico_sdk' to hydrate the Pico SDK.")
+    endif
+endif
+
+ifneq ($(filter uf2,$(MAKECMDGOALS)),)
+    ifeq (,$(wildcard $(PICOTOOL)))
+        ifeq (,$(shell which picotool 2>/dev/null))
+            $(error "picotool not in the PATH or configured. Run 'make picotool_install' to install in the tools folder.")
+        else
+            PICOTOOL := picotool
+        endif
+    endif
+endif
+
+.PHONY: pico_sdk
+pico_sdk:
+	@echo "Updating pico-sdk"
+	$(V1) git submodule update --init --recursive -- lib/main/pico-sdk || { echo "Failed to update pico-sdk"; exit 1; }
+	@echo "pico-sdk updated"
+
+.PHONY: picotool_install
+picotool_install: | $(DL_DIR) $(TOOLS_DIR)
+picotool_install: picotool_clean
+	@echo "\n CLONE     $(PICOTOOL_REPO)"
+	$(V1) git clone --depth 1 $(PICOTOOL_REPO) "$(PICOTOOL_DL_DIR)" || { echo "Failed to clone picotool repository"; exit 1; }
+	@echo "\n BUILD      $(PICOTOOL_BUILD_DIR)"
+	$(V1) [ -d "$(PICOTOOL_DIR)" ] || mkdir -p $(PICOTOOL_DIR)
+	$(V1) [ -d "$(PICOTOOL_BUILD_DIR)" ] || mkdir -p $(PICOTOOL_BUILD_DIR)
+	$(V1) cmake -S $(PICOTOOL_DL_DIR) -B $(PICOTOOL_BUILD_DIR) -D PICO_SDK_PATH=$(PICO_SDK_PATH) || { echo "CMake configuration failed"; exit 1; }
+	$(V1) $(MAKE) -C $(PICOTOOL_BUILD_DIR) || { echo "picotool build failed"; exit 1; }
+	$(V1) cp $(PICOTOOL_BUILD_DIR)/picotool $(PICOTOOL_DIR)/picotool || { echo "Failed to install picotool binary"; exit 1; }
+	@echo "\n VERSION:"
+	$(V1) $(PICOTOOL_DIR)/picotool version
+
+.PHONY: picotool_clean
+picotool_clean:
+	@echo " CLEAN        $(PICOTOOL_DIR)"
+	$(V1) [ ! -d "$(PICOTOOL_DIR)" ] || $(RM) -rf $(PICOTOOL_DIR)
+	@echo " CLEAN        $(PICOTOOL_DL_DIR)"
+	$(V1) [ ! -d "$(PICOTOOL_DL_DIR)" ] || $(RM) -rf $(PICOTOOL_DL_DIR)

src/platform/SIMULATOR/mk/SITL.mk

@@ -1,3 +1,7 @@
+# SITL Makefile for the simulator platform
+
+# Default output is an exe file
+DEFAULT_OUTPUT := exe
 
 INCLUDE_DIRS := \
         $(INCLUDE_DIRS) \