Merge branch 'make_uf2_support' into RP2350

Makefile

@@ -57,7 +57,11 @@ CFLAGS_DISABLED         :=
 FORKNAME      = betaflight
 
 # Working directories
+# ROOT_DIR is the full path to the directory containing this Makefile
+ROOT_DIR        := $(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 +94,16 @@ 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)))))
+
+# list of targets that are executed on host - using exe as goal recipe
+EXE_TARGETS      := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exe)))))
+# list of targets using uf2 as goal recipe
+UF2_TARGETS      := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.uf2)))))
+# list of targets using hex as goal recipe (default)
+HEX_TARGETS      := $(filter-out $(EXE_TARGETS) $(UF2_TARGETS),$(BASE_TARGETS))
 
 # configure some directories that are relative to wherever ROOT_DIR is located
 TOOLS_DIR  ?= $(ROOT)/tools
@@ -134,7 +142,7 @@ 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)))))
@@ -227,17 +235,15 @@ endif # TARGET specified
 # openocd specific includes
 include $(MAKE_SCRIPT_DIR)/openocd.mk
 
-ifeq ($(CONFIG),)
+ifeq ($(CONFIG)$(TARGET),)
-ifeq ($(TARGET),)
 .DEFAULT_GOAL := all
 else ifneq ($(filter $(TARGET),$(EXE_TARGETS)),)
 .DEFAULT_GOAL := exe
+else ifneq ($(filter $(TARGET),$(UF2_TARGETS)),)
+.DEFAULT_GOAL := uf2
 else
 .DEFAULT_GOAL := hex
 endif
-else  # ifeq ($(CONFIG),)
-.DEFAULT_GOAL := hex
-endif
 
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(ROOT)/lib/main/MAVLink
@@ -378,21 +384,22 @@ 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;}')
@@ -426,6 +433,10 @@ $(TARGET_HEX): $(TARGET_ELF)
 	@echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 	$(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 
+$(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_DFU): $(TARGET_HEX)
 	@echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 	$(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
@@ -539,17 +550,22 @@ $(TARGET_OBJ_DIR)/%.o: %.S
 ## all               : Build all currently built targets
 all: $(CI_TARGETS)
 
-$(BASE_TARGETS):
+$(HEX_TARGETS):
-	$(V0) @echo "Building target $@" && \
+	$(V0) @echo "Building hex target $@" && \
 	$(MAKE) hex TARGET=$@ && \
 	echo "Building $@ succeeded."
 
+$(UF2_TARGETS):
+	$(V0) @echo "Building uf2 target $@" && \
+	$(MAKE) uf2 TARGET=$@ && \
+	echo "Building $@ succeeded."
+
 $(EXE_TARGETS):
 	$(V0) @echo "Building executable target $@" && \
 	$(MAKE) exe TARGET=$@ && \
 	echo "Building $@ succeeded."
 
-TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS) $(EXE_TARGETS))
+TARGETS_CLEAN = $(addsuffix _clean,$(HEX_TARGETS) $(UF2_TARGETS) $(EXE_TARGETS))
 
 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 
@@ -584,7 +600,7 @@ preview: $(PREVIEW_TARGETS) test
 ## all_configs       : Build all configs
 all_configs: $(BASE_CONFIGS)
 
-TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
+TARGETS_FLASH = $(addsuffix _flash,$(HEX_TARGETS))
 
 ## <TARGET>_flash    : build and flash a target
 $(TARGETS_FLASH):
@@ -622,26 +638,33 @@ openocd-gdb: $(TARGET_ELF)
 	$(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 endif
 
-TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
+TARGETS_ZIP = $(addsuffix _zip,$(HEX_TARGETS))
 
 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
 $(TARGETS_ZIP):
 	$(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
 	$(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
 
+.PHONY: zip
 zip:
 	$(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
 
+.PHONY: binary
 binary:
 	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
 
+.PHONY: hex
 hex:
 	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
 
-.phony: exe
+.PHONY: uf2
+uf2:
+	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_UF2)
+
+.PHONY: exe
 exe: $(TARGET_EXE)
 
-TARGETS_REVISION = $(addsuffix _rev,$(BASE_TARGETS))
+TARGETS_REVISION = $(addsuffix _rev,$(HEX_TARGETS))
 ## <TARGET>_rev    : build target and add revision to filename
 $(TARGETS_REVISION):
 	$(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
@@ -675,6 +698,12 @@ $(DIRECTORIES):
 version:
 	@echo $(FC_VER)
 
+.PHONY: submodules
+submodules:
+	@echo "Updating submodules"
+	$(V1) git submodule update --init --recursive || { echo "Failed to update submodules"; exit 1; }
+	@echo "Submodules updated"
+
 ## help              : print this help message and exit
 help: Makefile mk/tools.mk
 	@echo ""
@@ -690,7 +719,7 @@ 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' $?
 
@@ -699,6 +728,7 @@ targets:
 	@echo "Platforms:           $(PLATFORMS)"
 	@echo "Valid targets:       $(BASE_TARGETS)"
 	@echo "Executable targets:  $(EXE_TARGETS)"
+	@echo "UF2 targets:         $(UF2_TARGETS)"
 	@echo "Built targets:       $(CI_TARGETS)"
 	@echo "Default target:      $(TARGET)"
 	@echo "CI common targets:   $(CI_COMMON_TARGETS)"

mk/tools.mk

@@ -331,3 +331,48 @@ 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        ?= $(PICOTOOL_DIR)/picotool
+
+ifeq ($(filter picotool_install,$(MAKECMDGOALS)), picotool_install)
+    ifneq ($(wildcard $(PICO_SDK_PATH)/CMakeLists.txt),$(PICO_SDK_PATH)/CMakeLists.txt)
+        $(error "PICO_SDK_PATH ($(PICO_SDK_PATH)) does not point to a valid Pico SDK. Please 'make submodules' to hydrate the Pico SDK.")
+    endif
+endif
+
+ifeq ($(filter uf2,$(MAKECMDGOALS)), uf2)
+    ifeq (,$(wildcard $(PICOTOOL)))
+        ifeq (,$(shell which picotool 2>/dev/null))
+            $(error "picotool not in the PATH or setup in tools. Run 'make picotool_install' to install in the tools folder.")
+        else
+            PICOTOOL := picotool
+        endif
+    endif
+endif
+
+.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)