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betaflight/Makefile
mjs1441 b6d37008f5
Fix missing #if for PINIO_COUNT (#14515) 
Allow user to supply CFLAGS_DISABLED to Makefile.
Fix missing #if..endif for PINIO_COUNT in pinio.c.
Fix other strncpy build warning/errors for build with CFLAGS_DISABLED="-flto=auto".
2025-07-06 18:13:06 +02:00

782 lines
26 KiB
Makefile
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###############################################################################
# "THE BEER-WARE LICENSE" (Revision 42):
# <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
# can do whatever you want with this stuff. If we meet some day, and you think
# this stuff is worth it, you can buy me a beer in return
###############################################################################
#
# Makefile for building the betaflight firmware.
#
# Invoke this with 'make help' to see the list of supported targets.
#
###############################################################################
# Things that the user might override on the commandline
#
# The target or config to build
TARGET ?=
CONFIG ?=
# Compile-time options
OPTIONS ?=
# compile for External Storage Bootloader support
EXST ?= no
# compile for target loaded into RAM
RAM_BASED ?= no
# reserve space for custom defaults
CUSTOM_DEFAULTS_EXTENDED ?= no
# Debugger optons:
# empty - ordinary build with all optimizations enabled
# INFO - ordinary build with debug symbols and all optimizations enabled. Only builds touched files.
# GDB - debug build with minimum number of optimizations
DEBUG ?=
# Insert the debugging hardfault debugger
# releases should not be built with this flag as it does not disable pwm output
DEBUG_HARDFAULTS ?=
# Serial port/Device for flashing
SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
# Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
FLASH_SIZE ?=
# Disabled build flags
CFLAGS_DISABLED ?=
###############################################################################
# Things that need to be maintained as the source changes
#
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
OBJECT_DIR := $(ROOT)/obj/main
BIN_DIR := $(ROOT)/obj
CMSIS_DIR := $(ROOT)/lib/main/CMSIS
INCLUDE_DIRS := $(SRC_DIR)
MAKE_SCRIPT_DIR := $(ROOT)/mk
## V : Set verbosity level based on the V= parameter
## V=0 Low
## V=1 High
include $(MAKE_SCRIPT_DIR)/build_verbosity.mk
# Build tools, so we all share the same versions
# import macros common to all supported build systems
include $(MAKE_SCRIPT_DIR)/system-id.mk
# developer preferences, edit these at will, they'll be gitignored
ifneq ($(wildcard $(MAKE_SCRIPT_DIR)/local.mk),)
include $(MAKE_SCRIPT_DIR)/local.mk
endif
# some targets use parallel build by default
# MAKEFLAGS is valid only inside target, do not use this at parse phase
DEFAULT_PARALLEL_JOBS := # all jobs in parallel (for backward compatibility)
MAKE_PARALLEL = $(if $(filter -j%, $(MAKEFLAGS)),$(EMPTY),-j$(DEFAULT_PARALLEL_JOBS))
# pre-build sanity checks
include $(MAKE_SCRIPT_DIR)/checks.mk
# basic target list
PLATFORMS := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
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
DL_DIR := $(ROOT)/downloads
CONFIG_DIR ?= $(BETAFLIGHT_CONFIG)
ifeq ($(CONFIG_DIR),)
CONFIG_DIR := $(ROOT)/src/config
endif
DIRECTORIES := $(DL_DIR) $(TOOLS_DIR)
export RM := rm
# import macros that are OS specific
include $(MAKE_SCRIPT_DIR)/$(OSFAMILY).mk
# include the tools makefile
include $(MAKE_SCRIPT_DIR)/tools.mk
# Search path for sources
VPATH := $(SRC_DIR):$(LIB_MAIN_DIR):$(PLATFORM_DIR)
FATFS_DIR = $(ROOT)/lib/main/FatFS
FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
CSOURCES := $(shell find $(SRC_DIR) -name '*.c')
FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
# import config handling (must occur after the hydration of hex, exe and uf2 targets)
include $(MAKE_SCRIPT_DIR)/config.mk
# default xtal value
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) $(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)))))
TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
LINKER_DIR := $(TARGET_PLATFORM_DIR)/link
ifneq ($(TARGET),)
TARGET_DIR = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
include $(TARGET_DIR)/target.mk
endif
REVISION := norevision
ifeq ($(shell git diff --shortstat),)
REVISION := $(shell git rev-parse --short=9 HEAD)
endif
LD_FLAGS :=
EXTRA_LD_FLAGS :=
#
# Default Tool options - can be overridden in {mcu}.mk files.
#
DEBUG_MIXED = no
ifeq ($(DEBUG),INFO)
DEBUG_MIXED = yes
endif
ifeq ($(DEBUG),GDB)
DEBUG_MIXED = yes
endif
ifeq ($(DEBUG),GDB)
OPTIMISE_DEFAULT := -Og
LTO_FLAGS := $(OPTIMISE_DEFAULT)
DEBUG_FLAGS = -ggdb2 -gdwarf-5 -DDEBUG
else
ifeq ($(DEBUG),INFO)
DEBUG_FLAGS = -ggdb2
endif
OPTIMISATION_BASE := -flto=auto -fuse-linker-plugin -ffast-math -fmerge-all-constants
OPTIMISE_DEFAULT := -O2
OPTIMISE_SPEED := -Ofast
OPTIMISE_SIZE := -Os
LTO_FLAGS := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
endif
VPATH := $(VPATH):$(MAKE_SCRIPT_DIR)
ifneq ($(TARGET),)
# start specific includes
ifeq ($(TARGET_MCU),)
$(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
endif
ifeq ($(TARGET_MCU_FAMILY),)
$(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
endif
TARGET_FLAGS := -D$(TARGET) -D$(TARGET_PLATFORM) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
ifneq ($(CONFIG),)
TARGET_FLAGS := $(TARGET_FLAGS) -DUSE_CONFIG
endif
SPEED_OPTIMISED_SRC :=
SIZE_OPTIMISED_SRC :=
include $(TARGET_PLATFORM_DIR)/mk/$(TARGET_MCU_FAMILY).mk
# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
ifeq ($(TARGET_FLASH_SIZE),)
ifneq ($(MCU_FLASH_SIZE),)
TARGET_FLASH_SIZE := $(MCU_FLASH_SIZE)
else
$(error MCU_FLASH_SIZE not configured for target $(TARGET))
endif
endif
DEVICE_FLAGS := $(DEVICE_FLAGS) -DTARGET_FLASH_SIZE=$(TARGET_FLASH_SIZE)
ifneq ($(HSE_VALUE),)
DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
endif
endif # TARGET specified
ifeq ($(or $(CONFIG),$(TARGET)),)
.DEFAULT_GOAL := all
else
.DEFAULT_GOAL := fwo
endif
# openocd specific includes
include $(MAKE_SCRIPT_DIR)/openocd.mk
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(ROOT)/lib/main/MAVLink
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_DIR)
VPATH := $(VPATH):$(TARGET_DIR)
include $(MAKE_SCRIPT_DIR)/source.mk
ifneq ($(TARGET),)
ifneq ($(filter-out $(SRC),$(SPEED_OPTIMISED_SRC)),)
$(error Speed optimised sources not valid: $(strip $(filter-out $(SRC),$(SPEED_OPTIMISED_SRC))))
endif
ifneq ($(filter-out $(SRC),$(SIZE_OPTIMISED_SRC)),)
$(error Size optimised sources not valid: $(strip $(filter-out $(SRC),$(SIZE_OPTIMISED_SRC))))
endif
endif
###############################################################################
# Things that might need changing to use different tools
#
# Find out if ccache is installed on the system
CCACHE := ccache
RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
ifneq ($(RESULT),0)
CCACHE :=
endif
# Tool names
CROSS_CC := $(CCACHE) $(ARM_SDK_PREFIX)gcc
CROSS_CXX := $(CCACHE) $(ARM_SDK_PREFIX)g++
CROSS_GDB := $(ARM_SDK_PREFIX)gdb
OBJCOPY := $(ARM_SDK_PREFIX)objcopy
OBJDUMP := $(ARM_SDK_PREFIX)objdump
READELF := $(ARM_SDK_PREFIX)readelf
SIZE := $(ARM_SDK_PREFIX)size
DFUSE-PACK := src/utils/dfuse-pack.py
#
# Tool options.
#
CC_DEBUG_OPTIMISATION := $(OPTIMISE_DEFAULT)
CC_DEFAULT_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
CC_SPEED_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
CC_SIZE_OPTIMISATION := $(OPTIMISATION_BASE) $(OPTIMISE_SIZE)
CC_NO_OPTIMISATION :=
CC_DEBUG_OPTIMISATION := $(filter-out $(CFLAGS_DISABLED), $(CC_DEBUG_OPTIMISATION))
CC_DEFAULT_OPTIMISATION := $(filter-out $(CFLAGS_DISABLED), $(CC_DEFAULT_OPTIMISATION))
CC_SPEED_OPTIMISATION := $(filter-out $(CFLAGS_DISABLED), $(CC_SPEED_OPTIMISATION))
CC_SIZE_OPTIMISATION := $(filter-out $(CFLAGS_DISABLED), $(CC_SIZE_OPTIMISATION))
CC_NO_OPTIMISATION := $(filter-out $(CFLAGS_DISABLED), $(CC_NO_OPTIMISATION))
#
# Added after GCC version update, remove once the warnings have been fixed
#
TEMPORARY_FLAGS :=
EXTRA_WARNING_FLAGS := -Wold-style-definition
CFLAGS += $(ARCH_FLAGS) \
$(addprefix -D,$(OPTIONS)) \
$(addprefix -I,$(INCLUDE_DIRS)) \
$(addprefix -isystem,$(SYS_INCLUDE_DIRS)) \
$(DEBUG_FLAGS) \
-std=gnu17 \
-Wall -Wextra -Werror -Wunsafe-loop-optimizations -Wdouble-promotion \
$(EXTRA_WARNING_FLAGS) \
-ffunction-sections \
-fdata-sections \
-fno-common \
$(TEMPORARY_FLAGS) \
$(DEVICE_FLAGS) \
-D_GNU_SOURCE \
-D$(TARGET) \
$(TARGET_FLAGS) \
-D'__FORKNAME__="$(FORKNAME)"' \
-D'__TARGET__="$(TARGET)"' \
-D'__REVISION__="$(REVISION)"' \
$(CONFIG_REVISION_DEFINE) \
-pipe \
-MMD -MP \
$(EXTRA_FLAGS)
CFLAGS := $(filter-out $(CFLAGS_DISABLED), $(CFLAGS))
ASFLAGS = $(ARCH_FLAGS) \
$(DEBUG_FLAGS) \
-x assembler-with-cpp \
$(addprefix -I,$(INCLUDE_DIRS)) \
$(addprefix -isystem,$(SYS_INCLUDE_DIRS)) \
-MMD -MP
ifeq ($(LD_FLAGS),)
LD_FLAGS = -lm \
-nostartfiles \
--specs=nano.specs \
-lc \
-lnosys \
$(ARCH_FLAGS) \
$(LTO_FLAGS) \
$(DEBUG_FLAGS) \
-static \
-Wl,-gc-sections,-Map,$(TARGET_MAP) \
-Wl,-L$(LINKER_DIR) \
-Wl,--cref \
-Wl,--no-wchar-size-warning \
-Wl,--print-memory-usage \
-T$(LD_SCRIPT) \
$(EXTRA_LD_FLAGS)
endif
LTO_FLAGS := $(filter-out $(CFLAGS_DISABLED), $(LTO_FLAGS))
###############################################################################
# No user-serviceable parts below
###############################################################################
CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
--std=c99 --inline-suppr --quiet --force \
$(addprefix -I,$(INCLUDE_DIRS)) \
$(addprefix -isystem,$(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),)
TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
endif
ifeq ($(REV),yes)
TARGET_NAME := $(TARGET_NAME)_$(REVISION)
endif
TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
#
# Things we will build
#
TARGET_BIN := $(BIN_DIR)/$(TARGET_FULLNAME).bin
TARGET_HEX := $(BIN_DIR)/$(TARGET_FULLNAME).hex
TARGET_UF2 := $(BIN_DIR)/$(TARGET_FULLNAME).uf2
TARGET_EXE := $(BIN_DIR)/$(TARGET_FULLNAME)
TARGET_DFU := $(BIN_DIR)/$(TARGET_FULLNAME).dfu
TARGET_ZIP := $(BIN_DIR)/$(TARGET_FULLNAME).zip
TARGET_OBJ_DIR := $(OBJECT_DIR)/$(TARGET_NAME)
TARGET_ELF := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
TARGET_EXST_ELF := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
TARGET_UNPATCHED_BIN := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
TARGET_LST := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
TARGET_OBJS := $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
TARGET_DEPS := $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
TARGET_MAP := $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
TARGET_EXST_HASH_SECTION_FILE := $(TARGET_OBJ_DIR)/exst_hash_section.bin
ifeq ($(DEBUG_MIXED),yes)
TARGET_EF_HASH := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)" | openssl dgst -md5 -r | awk '{print $$1;}')
else
TARGET_EF_HASH := $(shell echo -n -- "$(EXTRA_FLAGS)" "$(OPTIONS)" "$(DEBUG_FLAGS)" "$(DEVICE_FLAGS)" "$(TARGET_FLAGS)" | openssl dgst -md5 -r | awk '{print $$1;}')
endif
TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
CLEAN_ARTIFACTS := $(TARGET_BIN)
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)
# List of buildable ELF files and their object dependencies.
# It would be nice to compute these lists, but that seems to be just beyond make.
$(TARGET_LST): $(TARGET_ELF)
$(V0) $(OBJDUMP) -S --disassemble $< > $@
ifeq ($(EXST),no)
$(TARGET_BIN): $(TARGET_ELF)
@echo "Creating BIN $(TARGET_BIN)" "$(STDOUT)"
$(V1) $(OBJCOPY) -O binary $< $@
$(TARGET_HEX): $(TARGET_ELF)
@echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
$(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
$(TARGET_DFU): $(TARGET_HEX)
@echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
$(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
else
CLEAN_ARTIFACTS += $(TARGET_UNPATCHED_BIN) $(TARGET_EXST_HASH_SECTION_FILE) $(TARGET_EXST_ELF)
$(TARGET_UNPATCHED_BIN): $(TARGET_ELF)
@echo "Creating BIN (without checksum) $(TARGET_UNPATCHED_BIN)" "$(STDOUT)"
$(V1) $(OBJCOPY) -O binary $< $@
$(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
@echo "Creating EXST $(TARGET_BIN)" "$(STDOUT)"
# Linker script should allow .bin generation from a .elf which results in a file that is the same length as the FIRMWARE_SIZE.
# These 'dd' commands will pad a short binary to length FIRMWARE_SIZE.
$(V1) dd if=/dev/zero ibs=1k count=$(FIRMWARE_SIZE) of=$(TARGET_BIN)
$(V1) dd if=$(TARGET_UNPATCHED_BIN) of=$(TARGET_BIN) conv=notrunc
@echo "Generating MD5 hash of binary" "$(STDOUT)"
$(V1) openssl dgst -md5 $(TARGET_BIN) > $(TARGET_UNPATCHED_BIN).md5
@echo "Patching MD5 hash into binary" "$(STDOUT)"
$(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",(1024*$(FIRMWARE_SIZE))-16,$$2);}' | xxd -r - $(TARGET_BIN)
$(V1) echo $(FIRMWARE_SIZE) | awk '{printf("-s 0x%08x -l 16 -c 16 %s",(1024*$$1)-16,"$(TARGET_BIN)");}' | xargs xxd
# 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"
# Due to this a temporary file must be created and removed, even though we're only extracting data from the input file.
# If this temporary file is NOT used the $(TARGET_ELF) is modified, and running make a second time will result in
# a) regeneration of $(TARGET_BIN), and
# b) the results of $(TARGET_BIN) will not be as expected.
@echo "Extracting HASH section from unpatched EXST elf $(TARGET_ELF)" "$(STDOUT)"
$(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF).tmp --dump-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE) -j .exst_hash
rm $(TARGET_EXST_ELF).tmp
@echo "Patching MD5 hash into HASH section" "$(STDOUT)"
$(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
$(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
$(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
$(V1) $(READELF) -S $(TARGET_EXST_ELF)
$(V1) $(READELF) -l $(TARGET_EXST_ELF)
$(TARGET_HEX): $(TARGET_BIN)
$(if $(EXST_ADJUST_VMA),,$(error "EXST_ADJUST_VMA not specified"))
@echo "Creating EXST HEX from patched EXST BIN $(TARGET_BIN), VMA Adjust $(EXST_ADJUST_VMA)" "$(STDOUT)"
$(V1) $(OBJCOPY) -I binary -O ihex --adjust-vma=$(EXST_ADJUST_VMA) $(TARGET_BIN) $@
endif
$(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
@echo "Linking $(TARGET_NAME)" "$(STDOUT)"
$(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 "Creating exe - copying $< to $@" "$(STDOUT)"
$(V1) cp $< $@
# Compile
## compile_file takes two arguments: (1) optimisation description string and (2) optimisation compiler flag
define compile_file
echo "%% ($(1)) $<" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(2) $<
endef
## `paths` is a list of paths that will be replaced for checking of speed, and size optimised sources
paths := $(SRC_DIR)/ $(LIB_MAIN_DIR)/ $(PLATFORM_DIR)/
subst_paths_for = $(foreach path,$(paths),$(filter-out $(1),$(subst $(path),,$(1))))
subst_paths = $(strip $(if $(call subst_paths_for,$(1)), $(call subst_paths_for,$(1)), $(1)))
ifeq ($(DEBUG),GDB)
$(TARGET_OBJ_DIR)/%.o: %.c
$(V1) mkdir -p $(dir $@)
$(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
$(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
, \
$(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
)
else
$(TARGET_OBJ_DIR)/%.o: %.c
$(V1) mkdir -p $(dir $@)
$(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
$(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
, \
$(if $(findstring $(call subst_paths,$<),$(SPEED_OPTIMISED_SRC)), \
$(call compile_file,speed optimised,$(CC_SPEED_OPTIMISATION)) \
, \
$(if $(findstring $(call subst_paths,$<),$(SIZE_OPTIMISED_SRC)), \
$(call compile_file,size optimised,$(CC_SIZE_OPTIMISATION)) \
, \
$(call compile_file,optimised,$(CC_DEFAULT_OPTIMISATION)) \
) \
) \
)
endif
# Assemble
$(TARGET_OBJ_DIR)/%.o: %.s
$(V1) mkdir -p $(dir $@)
@echo "%% $(notdir $<)" "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
$(TARGET_OBJ_DIR)/%.o: %.S
$(V1) mkdir -p $(dir $@)
@echo "%% $(notdir $<)" "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
## all : Build all currently built targets
all: $(CI_TARGETS)
.PHONY: $(BASE_TARGETS)
$(BASE_TARGETS):
$(MAKE) fwo TARGET=$@
TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
## clean : clean up temporary / machine-generated files
clean:
@echo "Cleaning $(TARGET_NAME)"
$(V0) rm -f $(CLEAN_ARTIFACTS)
$(V0) rm -rf $(TARGET_OBJ_DIR)
@echo "Cleaning $(TARGET_NAME) succeeded."
## test_clean : clean up temporary / machine-generated files (tests)
test-%_clean:
$(MAKE) test_clean
test_clean:
$(V0) cd src/test && $(MAKE) clean || true
## <TARGET>_clean : clean up one specific target (alias for above)
$(TARGETS_CLEAN):
$(V0) $(MAKE) $(MAKE_PARALLEL) TARGET=$(subst _clean,,$@) clean
## <CONFIG>_clean : clean up one specific target (alias for above)
$(CONFIGS_CLEAN):
$(V0) $(MAKE) $(MAKE_PARALLEL) CONFIG=$(subst _clean,,$@) clean
## clean_all : clean all targets
clean_all: $(TARGETS_CLEAN) test_clean
## preview : build one target for each platform and execute make test
preview: $(PREVIEW_TARGETS) test
## all_configs : Build all configs
all_configs: $(BASE_CONFIGS)
TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
## <TARGET>_flash : build and flash a target
$(TARGETS_FLASH):
$(V0) $(MAKE) hex TARGET=$(subst _flash,,$@)
ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
$(V0) $(MAKE) tty_flash TARGET=$(subst _flash,,$@)
else
$(V0) $(MAKE) dfu_flash TARGET=$(subst _flash,,$@)
endif
## tty_flash : flash firmware (.hex) onto flight controller via a serial port
tty_flash:
$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
$(V0) echo -n 'R' > $(SERIAL_DEVICE)
$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## dfu_flash : flash firmware (.bin) onto flight controller via a DFU mode
dfu_flash:
ifneq (no-port-found,$(SERIAL_DEVICE))
# potentially this is because the MCU already is in DFU mode, try anyway
$(V0) echo -n 'R' > $(SERIAL_DEVICE)
$(V0) sleep 1
endif
$(V0) $(MAKE) $(TARGET_DFU)
$(V0) dfu-util -a 0 -D $(TARGET_DFU) -s :leave
st-flash_$(TARGET): $(TARGET_BIN)
$(V0) st-flash --reset write $< 0x08000000
## st-flash : flash firmware (.bin) onto flight controller
st-flash: st-flash_$(TARGET)
ifneq ($(OPENOCD_COMMAND),)
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))
## <TARGET>_zip : build target and zip it (useful for posting to GitHub)
.PHONY: $(TARGETS_ZIP)
$(TARGETS_ZIP):
$(V1) $(MAKE) $(MAKE_PARALLEL) zip TARGET=$(subst _zip,,$@)
.PHONY: zip
zip: $(TARGET_HEX)
$(V1) zip $(TARGET_ZIP) $(TARGET_HEX)
.PHONY: binary
binary:
$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
.PHONY: hex
hex:
$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
.PHONY: uf2
uf2:
$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_UF2)
.PHONY: exe
exe: $(TARGET_EXE)
# 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):
$(V1) $(MAKE) fwo REV=yes TARGET=$(subst _rev,,$@)
.PHONY: all_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
cppcheck: $(CSOURCES)
$(V0) $(CPPCHECK)
cppcheck-result.xml: $(CSOURCES)
$(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
# mkdirs
$(DIRECTORIES):
mkdir -p $@
## version : print firmware version
version:
@echo $(FC_VER)
## help : print this help message and exit
help: Makefile mk/tools.mk
@echo ""
@echo "Makefile for the $(FORKNAME) firmware"
@echo ""
@echo "Usage:"
@echo " make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
@echo "Or:"
@echo " make <target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
@echo "Or:"
@echo " make <config-target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
@echo ""
@echo "To populate configuration targets:"
@echo " make configs"
@echo ""
@echo "Valid TARGET values are: $(BASE_TARGETS)"
@echo ""
@sed -n 's/^## //p' $?
## targets : print a list of all valid target platforms (for consumption by scripts)
targets:
@echo "Platforms: $(PLATFORMS)"
@echo "Valid targets: $(BASE_TARGETS)"
@echo "Built targets: $(CI_TARGETS)"
@echo "Default target: $(TARGET)"
@echo "CI common targets: $(CI_COMMON_TARGETS)"
@echo "CI excluded targets: $(CI_EXCLUDED_TARGETS)"
@echo "Preview targets: $(PREVIEW_TARGETS)"
targets-ci-print:
@echo $(CI_TARGETS)
## target-mcu : print the MCU type of the target
target-mcu:
@echo "$(TARGET_MCU_FAMILY) : $(TARGET_MCU)"
## targets-by-mcu : make all targets that have a MCU_TYPE mcu
targets-by-mcu:
$(V1) for target in $${TARGETS}; do \
TARGET_MCU_TYPE=$$($(MAKE) -s TARGET=$${target} target-mcu); \
if [ "$${TARGET_MCU_TYPE}" = "$${MCU_TYPE}" ]; then \
if [ "$${DO_BUILD}" = 1 ]; then \
echo "Building target $${target}..."; \
$(MAKE) TARGET=$${target}; \
if [ $$? -ne 0 ]; then \
echo "Building target $${target} failed, aborting."; \
exit 1; \
fi; \
else \
echo -n "$${target} "; \
fi; \
fi; \
done
@echo
## test : run the Betaflight test suite
## junittest : run the Betaflight test suite, producing Junit XML result files.
## 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)
## test-all: run the Betaflight test suite including all per-target expanded tests
test junittest test-all test-representative:
$(V0) cd src/test && $(MAKE) $@
## test_help : print the help message for the test suite (including a list of the available tests)
test_help:
$(V0) cd src/test && $(MAKE) help
## test_versions : print the compiler versions used for the test suite
test_versions:
$(V0) cd src/test && $(MAKE) versions
## test_% : run test 'test_%' from the test suite
test_%:
$(V0) cd src/test && $(MAKE) $@
$(TARGET_EF_HASH_FILE):
$(V1) mkdir -p $(dir $@)
$(V1) rm -f $(TARGET_OBJ_DIR)/.efhash_*
@echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
$(V1) touch $(TARGET_EF_HASH_FILE)
# rebuild everything when makefile changes or the extra flags have changed
$(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
# include auto-generated dependencies
-include $(TARGET_DEPS)
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