[build] Add comprehensive firmware size reporting scripts for ARM MCUs. (#4218)

* [build] Add comprehensive firmware size reporting scripts for ARM MCUs.

* [build] Add firmware size reports to commit-tests.sh.

* [build] Set permissions on new scripts.

* [build] Add -Wno-error option to commit-tests.sh.

* [build] Revert firmware size report to using `arm-none-eabi-size` if bash not found (eg. on Windows).

* [git] Add .gitattributes to force line endings on UNIX shell scripts.

.gitattributes

@@ -0,0 +1 @@
+*.sh eol=lf

radio/src/CMakeLists.txt

@@ -451,11 +451,20 @@ if(NOT MSVC)
       WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
     )
 
-    add_custom_target(firmware-size
+    find_program(BASH bash HINTS "c:/cygwin/bin/" DOC "bash shell for firmware size report (eg. c:/cygwin/bin/bash.exe on Windows).")
-      COMMAND arm-none-eabi-size firmware.elf
+    if (BASH)
-      DEPENDS firmware
+      add_custom_target(firmware-size
-      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        COMMAND ${BASH} -kc '${RADIO_DIRECTORY}/util/elf-size-report.sh --mcu=${CPU_TYPE_FULL} ${SIZE_TARGET_MEM_DEFINE} firmware.elf'
-      )
+        DEPENDS firmware
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        )
+    else()
+      add_custom_target(firmware-size
+        COMMAND arm-none-eabi-size -A firmware.elf
+        DEPENDS firmware
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        )
+    endif()
 
   else()  # AVR
 

radio/src/targets/horus/CMakeLists.txt

@@ -25,6 +25,9 @@ set(FLAVOUR horus)
 set(RAMBACKUP YES)
 set(LUA YES)
 set(PPM_LIMITS_SYMETRICAL YES)
+# for size report script
+set(CPU_TYPE_FULL STM32F429xI)
+set(SIZE_TARGET_MEM_DEFINE "MEM_SIZE_SDRAM2=8192")
 
 if(SPLASH STREQUAL OFF)
   message(FATAL_ERROR "Option SPLASH=OFF not supported on Horus")

radio/src/targets/sky9x/CMakeLists.txt

@@ -15,6 +15,7 @@ if(PCB STREQUAL 9XRPRO)
   set(LINKER_SCRIPT targets/sky9x/sam3s8c_flash.ld)
   set(TARGET_SRC ${TARGET_SRC} rtc_driver.cpp)
   set(OPENRC_BOOTLOADER bootflash8.lbm)
+  set(CPU_TYPE_FULL ATSAM3S8C)  # for size report
 elseif(PCB STREQUAL AR9X)
   add_definitions(-Dat91sam3s8 -DAR9X -DSOFTWARE_VOLUME)
   set(FLAVOUR ar9x)
@@ -23,20 +24,28 @@ elseif(PCB STREQUAL AR9X)
   set(TARGET_SRC ${TARGET_SRC} i2c_driver.cpp rtc_ds3231_driver.cpp)
   set(LINKER_SCRIPT targets/sky9x/sam3s8c_flash.ld)
   set(OPENRC_BOOTLOADER bootflash8.lbm)
+  set(CPU_TYPE_FULL ATSAM3S8C)  # for size report
 else()
   set(FLAVOUR sky9x)
-  option(PCBREV "PCB Revision" REVC)
+  set(PCBREV "REVC" CACHE STRING "PCB Revision (REVA/REVB/REVC)")
+  set_property(CACHE PCBREV PROPERTY STRINGS "REVA" "REVB" "REVC")
   set(TARGET_SRC ${TARGET_SRC} coproc_driver.cpp rotenc_driver.cpp rtc_driver.cpp)
   set(OPENRC_BOOTLOADER bootflash4.lbm)
   if(PCBREV STREQUAL REVA)
     add_definitions(-DDREVA)
     set(LINKER_SCRIPT targets/sky9x/sam3s2c_flash.ld)
-  elseif(PCBREV STREQUAL REVB)
+    set(CPU_TYPE_FULL ATSAM3S2C)  # for size report
-    add_definitions(-DDREVB -DCOPROCESSOR)
-    set(LINKER_SCRIPT targets/sky9x/sam3s4c_flash.ld)
   else()
-    add_definitions(-DDREVC -DCOPROCESSOR)
+    if(PCBREV STREQUAL REVB)
+      add_definitions(-DDREVB)
+    elseif(PCBREV STREQUAL REVC)
+      add_definitions(-DDREVC)
+    else()
+      message(SEND_ERROR "Unknown PCB Revision '${PCBREV}'")
+    endif()
+    add_definitions(-DCOPROCESSOR)
     set(LINKER_SCRIPT targets/sky9x/sam3s4c_flash.ld)
+    set(CPU_TYPE_FULL ATSAM3S4C)  # for size report
   endif()
 endif()
 

radio/src/targets/taranis/CMakeLists.txt

@@ -5,6 +5,7 @@ option(TARANIS_INTERNAL_PPM "Taranis internal module hack to output PPM" OFF)
 if(PCB STREQUAL X9E)
   set(STICKS "STANDARD" CACHE STRING "Sticks type (STANDARD/HORUS)")
   set(CPU_TYPE STM32F4)
+  set(CPU_TYPE_FULL STM32F407xE)  # for size report
   set(LINKER_SCRIPT targets/taranis/stm32f4_flash.ld)
   set(HAPTIC YES)
   set(LUA_EXPORT lua_export_x9e)
@@ -28,6 +29,7 @@ if(PCB STREQUAL X9E)
   set(GVAR_SCREEN model_gvars.cpp)
 elseif(PCB STREQUAL X9D+)
   set(CPU_TYPE STM32F2)
+  set(CPU_TYPE_FULL STM32F205xE)  # for size report
   set(LINKER_SCRIPT targets/taranis/stm32f2_flash.ld)
   set(HAPTIC YES)
   set(LUA_EXPORT lua_export_x9d)
@@ -42,6 +44,7 @@ elseif(PCB STREQUAL X9D+)
   set(GVAR_SCREEN model_gvars.cpp)
 elseif(PCB STREQUAL X9D)
   set(CPU_TYPE STM32F2)
+  set(CPU_TYPE_FULL STM32F205xE)  # for size report
   set(LINKER_SCRIPT targets/taranis/stm32f2_flash.ld)
   option(HAPTIC "Haptic support" OFF)
   set(LUA_EXPORT lua_export_x9d)
@@ -56,6 +59,7 @@ elseif(PCB STREQUAL X9D)
   set(GVAR_SCREEN model_gvars.cpp)
 elseif(PCB STREQUAL X7)
   set(CPU_TYPE STM32F2)
+  set(CPU_TYPE_FULL STM32F205xE)  # for size report
   set(LINKER_SCRIPT targets/taranis/stm32f2_flash.ld)
   set(HAPTIC YES)
   set(LUA_EXPORT lua_export_x7)

radio/util/elf-size-compare.awk

@@ -0,0 +1,70 @@
+#!/usr/bin/awk -nf
+#
+# Parses the output of elf-size-report.awk and calculates segment memory usage deltas between the analyzed elf files.
+#
+# License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+# Copyright (c)2016 Maxim Paperno
+# Copyright (c)2017 OpenTX
+#
+
+
+BEGIN {
+  in_ttls = 0;
+  elf_cnt = 0;
+  sec_cnt = 0;
+}
+{
+  if ($1 == "----" && NF > 5 && $5 ~ /\.elf$/) {
+    fname[elf_cnt] = $5;
+  }
+  else if (tolower($1) ~ /totals/) {
+    in_ttls = 1;
+    elf_cnt++;
+  }
+  else if (in_ttls && NF != 5) {
+    in_ttls = 0;
+  }
+  else if (in_ttls) {
+    if (elf_cnt == 1)
+      a[++sec_cnt] = $1;
+    d[elf_cnt][$1]["total"] = $2;
+  }
+}
+END {
+  printf("\n---- Comparing results of %d files ----\n\n", elf_cnt);
+  PROCINFO["sorted_in"] = "@ind_num_asc"
+  for (j in d) {
+    if (length(fname[j-1]))
+      printf("file %d: %s\n", j, fname[j-1])
+  }
+  printf("\n%-8s ", "Section");
+  for (j in d) {
+    printf("%8s ", "file " j);
+    if (j > 1)
+      printf("(%7s) ", "\xCE\x94 vs f1");
+    if (j > 2)
+      printf("(%7s) ", "\xCE\x94 vs f" j-1);
+  }
+  printf("\n");
+  for (i in a) {
+    n = a[i];
+    printf("%8s ", n);
+    for (j in d) {
+      printf("%8.2f ", d[j][n]["total"]);
+      if (j > 1) 
+        printDelta(d[j][n]["total"] - d[1][n]["total"]);
+      if (j > 2)
+        printDelta(d[j][n]["total"] - d[j-1][n]["total"]);
+    }
+    printf("\n");
+  }
+  printf("\n");
+}
+
+function printDelta(dlta) {
+  if (dlta)
+    printf("(%+7.2f) ", dlta);
+  else
+    printf("(%7s) ", "--.--");
+}
+

radio/util/elf-size-report.awk

@@ -0,0 +1,105 @@
+#!/usr/bin/awk -nf
+#
+# Process gcc binutils 'size -A' output to show more specific and summarized information about memory segment usage.
+#
+# This script expects some variables to be set on the command line with -v:
+#  names : list of segment names ("Flash", "RAM" etc.)
+#  addrs : list of segment start addresses in hex/oct/dec (in same order as names)
+#  sizes : list of segment sizes in KB (in same order as names)
+#  elf   : name of elf file (optional, for display only)
+#  mcu   : name of MCU (optional, for display only)
+#  skip_data : skip duplicate .data in Flash (0/1 default: 0) 
+#
+# NOTE: The memory segments should be specified in increasing address order (low to high).
+#
+# Usage example:
+# arm-none-eabi-size -A -x firmware.elf | ./elf-size-report.awk                \
+#                                            -v elf="firmware.elf"             \
+#                                            -v mcu="STM32F401VG"              \
+#                                            -v names="Flash RAM"              \
+#                                            -v addrs "0x08000000 0x100000000" \
+#                                            -v sizes "512 128"
+#
+# License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+# Copyright (c)2016 Maxim Paperno
+# Copyright (c)2017 OpenTX
+#
+
+
+BEGIN {
+  err = 0;
+  len = split(names, a_names, " ");
+  alen = split(addrs, a_addrs, " ");
+  slen = split(sizes, a_sizes, " ");
+  if (!len || len != alen || len != slen) {
+    print "Error: No segment data provided or array sizes mismatch, exiting.";
+    exit err = 1;
+  }
+  flash_name = "Flash";
+  for (i in a_names) {
+    n = a_names[i];
+    a[i] = n; d[n]["addr"] = a_addrs[i]; d[n]["size"] = a_sizes[i]; d[n]["sum"] = 0;
+    if (tolower(n) ~ /flash/)
+      flash_name = n;
+  }
+  flmax = d[flash_name]["addr"];
+  fmtstr = "%-20s %7d   0x%08x   %s\n";
+  
+  printf("\n---- Size report");
+  if (length(elf)) printf(" for %s", elf);
+  if (length(mcu)) printf(" (MCU: %s)", mcu);
+  printf(" ----\n\n");
+  printf("Section Details:\n");
+  printf("%-20s %7s   %10s   %s\n", "section", "size(B)", "addr", "loc");
+}
+# Process each line of 'size' output listing the program's sections, 
+#  skip line if sections size or address are zero.
+NR > 2 && $2 != 0 && $3 != 0 {
+  if ($1 == ".data") {
+    # .data section is always in Flash but 'size' reports it only in RAM (sometimes twice)
+    d[flash_name]["sum"] += $2;
+    printf(fmtstr, $1 " (added)", $2, flmax, flash_name); 
+    flmax += $3;
+    if (skip_data) { next; }
+  }
+  # Walk over each specified memory segment looking for a match 
+  #  note: (this assumes segments were passed in ascending memory order)
+  PROCINFO["sorted_in"] = "@ind_num_desc"
+  addr = d[a[len]]["addr"];
+  for (i in a) {
+    n = a[i];
+    if ($3 >= addr) {
+      # check for overflow into contigious region
+      t = d[n]["sum"] + $2 - (d[n]["size"] * 1024); 
+      if (t > 0 && i < len && d[a[i+1]]["addr"] = d[n]["addr"] + d[n]["size"] + 1) {
+        d[n]["sum"] += $2 - t; 
+        d[a[i+1]]["sum"] += t;
+        seg = n "+" a[i+1];
+      }
+      else {
+        d[n]["sum"] += $2;
+        seg = n;
+      }
+      printf(fmtstr, $1, $2, $3, seg);
+      # track maximum flash address used
+      if (n == flash_name)
+        flmax += $2;
+      break;
+    }
+    else if (i > 1)
+      addr = d[a[i-1]]["addr"];
+  }
+}
+END {
+  if (err) exit err;
+  fmtstr = "%7s: %8.2f  %6.2f%%  %6d\t%7.2f\n";
+  printf("\nTotals   %8s    usage  of ttl\tKB free\n", "KB");
+  PROCINFO["sorted_in"] = "@ind_num_asc"
+  for (i in a) {
+    n = a[i];
+    if (d[n]["size"] > 0)
+      printf(fmtstr, n, d[n]["sum"]/1024, d[n]["sum"]/(d[n]["size"]*1024)*100, d[n]["size"], d[n]["size"] - d[n]["sum"]/1024 );
+  }
+  printf("\n");
+}
+

radio/util/elf-size-report.sh

@@ -0,0 +1,175 @@
+#!/bin/bash
+#
+# This is a wrapper for the elf-size-report.awk script which prints a detailed report 
+#   of memory segment allocations and usage in a given ELF file, based on gcc 'size' output.
+# This script sets up memory segment information needed by the awk script.
+# If more than one .elf file is given, then a comparison (delta memory use) report is 
+#   also performed using elf-size-compare.awk.
+# Currently supports some STMicro & Atmel ARM MCUs. May not work with all placement strategies.
+#
+# Usage:
+#  [VAR=value] ./elf-memory-report.sh [options] [file.elf] [file2.elf] [...]
+#
+#  Where VAR is any of the CAPITALIZED variables below. More than one can be specified, 
+#  and any VAR can also be set in the environment.
+#    SIZE : gcc binutils 'size' command to use, default is "arm-none-eabi-size".
+#    MCU  : 
+#      Specifies MCU model on which to base default segment location/size parameters. Also see "--mcu=" option.
+#    MEM_START_<segment> & MEM_SIZE_<segment> : (read code below for defaults)
+#      Allows specifying additional/custom segment information, eg. MEM_SIZE_FLASH=768
+#
+#  Options can be one or more of the following:
+#    --mcu=<MCU>
+#      Set MCU type. Same as setting the MCU env. variable, and overrides it.
+#    --skip-data
+#      Some linker scripts duplicate .data in the output (eg: .data and .data_run).
+#      Set this option to skip .data from being counted in RAM a 2nd time 
+#      (it is always shown as being in Flash).
+#    --compare-only
+#      When specifying multiple elf files, only show the final comparison report.
+#    --no-compare
+#      Opposite and exclusive of previous option, that is, do NOT show comparison report (only size reports).
+#
+#  If an elf file is not specified on the command line, this script will prompt for one.
+#
+#  Examples:
+#    MCU="STM32F439xI" MEM_SIZE_SDRAM2=8192 ./elf-memory-report.sh path/to/firmware.elf
+#    ./elf-memory-report.sh --mcu ATSAM3S4C --compare-only firmware_new.elf firmware_old.elf
+#    set -k && ./elf-memory-report.sh MCU=STM32F427VG --skip-data firmware.elf
+#      (the -k switch allows variable assignment anywhere on the command line)
+#    c:\cygwin\bin\bash -kc './elf-memory-report.sh --mcu ATSAM3S8C "c:\windows\path\with spaces\firmware.elf"'
+#
+# License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+# Copyright (c)2016 Maxim Paperno
+# Copyright (c)2017 OpenTX
+#
+
+# -- gcc binutils 'size' command to use
+: ${SIZE:="arm-none-eabi-size"}
+
+# -- MCU type, if defined will set certain memory defaults
+#    e.g. STM32F205xE or ATSAM3S4C
+: ${MCU:="unknown"}
+
+# -- process options
+compare=2
+skip_data=0
+for i in "$@" ; do
+  case $i in
+    --mcu=*) MCU="${i#*=}"; shift;;
+    --skip-data) skip_data=1; shift;;
+    --compare-only) compare=1; shift;;
+    --no-compare) compare=0; shift;;
+  esac
+done
+
+# -- defaults which may change based on MCU
+default_flash_addr=0x08000000
+default_flash_sz=1024  # KB
+default_ccm_sz=0
+default_ram1_sz=128
+default_ram2_sz=0
+default_ram3_sz=0
+# -- Set defaults based on MCU type
+if [[ $MCU != "unknown" ]] ; then
+  mcu_brand=${MCU:0:2}  # ST or AT
+  if [[ $mcu_brand == "ST" && ${#MCU} -ge 7 ]] ; then
+    #                 e.g.: STM32F427VG
+    stm_series=${MCU:6:1} # 4
+    stm_ser_ex=${MCU:7:1} # 2
+    stm_flash=${MCU:10:1} # G
+    default_ram1_sz=112
+    default_ram2_sz=16
+    case $stm_flash in
+      "I") default_flash_sz=2048;;
+      "G") default_flash_sz=1024;;
+      "E") default_flash_sz=512;;
+      "C") default_flash_sz=256;;
+    esac
+    if (( $stm_series == 4 )) ; then
+      default_ccm_sz=64
+      if (( $stm_ser_ex >= 2 )) ; then
+        default_ram3_sz=64
+      fi
+    fi
+  elif [[ $mcu_brand == "AT" && ${#MCU} -ge 9 ]] ; then
+    #                 e.g.: ATSAM3S4C
+    atm_series=${MCU:5:4} # 3S4C
+    default_flash_addr=0x00400000
+    case $atm_series in
+      "3S8C") default_flash_sz=512; default_ram1_sz=64;;
+      "3S4C") default_flash_sz=256; default_ram1_sz=48;;
+      "3S2C") default_flash_sz=128; default_ram1_sz=32;;
+    esac
+  else
+    echo "MCU type unrecognized, exiting."
+    exit 1
+  fi
+fi
+
+# -- target memory locations in hex
+: ${MEM_START_FLASH:=$default_flash_addr}
+: ${MEM_START_CCRAM:=0x10000000}
+: ${MEM_START_SRAM1:=0x20000000}
+: ${MEM_START_SRAM2:=0x2001c000}
+: ${MEM_START_SRAM3:=0x20020000}
+: ${MEM_START_PSRAM1:=0x60000000}
+: ${MEM_START_SDRAM1:=0xC0000000}
+: ${MEM_START_SDRAM2:=0xD0000000}
+
+# -- target memory sizes in KB
+: ${MEM_SIZE_FLASH:=$default_flash_sz}
+: ${MEM_SIZE_CCRAM:=$default_ccm_sz}
+: ${MEM_SIZE_SRAM1:=$default_ram1_sz}
+: ${MEM_SIZE_SRAM2:=$default_ram2_sz}
+: ${MEM_SIZE_SRAM3:=$default_ram3_sz}
+: ${MEM_SIZE_PSRAM1:=0}
+: ${MEM_SIZE_SDRAM1:=0}
+: ${MEM_SIZE_SDRAM2:=0}
+
+# -- prompt for elf file if not on command line
+if [[ -z "$@" ]] ; then
+  read -p "Elf file(s): " ELF_FILES
+else
+  ELF_FILES=$@
+fi
+
+# -- Set arrays for awk script. The segments should be in increasing address order.
+names=("Flash" "CCRAM" "SRAM1" "SRAM2" "SRAM3" "PSRAM1" "SDRAM1" "SDRAM2")
+addrs=(${MEM_START_FLASH} ${MEM_START_CCRAM} ${MEM_START_SRAM1} ${MEM_START_SRAM2} ${MEM_START_SRAM3} \
+  ${MEM_START_PSRAM1} ${MEM_START_SDRAM1} ${MEM_START_SDRAM2})
+sizes=(${MEM_SIZE_FLASH} ${MEM_SIZE_CCRAM} ${MEM_SIZE_SRAM1} ${MEM_SIZE_SRAM2} ${MEM_SIZE_SRAM3} \
+  ${MEM_SIZE_PSRAM1} ${MEM_SIZE_SDRAM1} ${MEM_SIZE_SDRAM2})
+
+base_dir="$(dirname "$BASH_SOURCE")"
+base_dir="${base_dir%%[[:space:]]}" # sometimes we get trailing \n
+
+# -- run the ARM size command for each elf file and send output to awk script
+all_output=""
+file_cnt=0
+for elf in "$@"; do
+  if [[ ! -f "$elf" ]] ; then
+    echo "ELF file \"$elf\" not found."
+    continue
+  fi
+  #${SIZE} -A -x ${elf}
+  escelf="${elf//\\//}"
+  output=`${SIZE} -A -x ${elf} | "${base_dir}/elf-size-report.awk" \
+      -v mcu="${MCU}" \
+      -v elf="${escelf}" \
+      -v skip_data=${skip_data} \
+      -v names="${names[*]}" \
+      -v addrs="${addrs[*]}" \
+      -v sizes="${sizes[*]}"`
+  if (( compare != 1 )) ; then
+    echo "$output"
+    echo
+  fi
+  file_cnt+=1
+  all_output+="${output}\n"
+done
+# -- if more than one elf file was given, also run a comparison report
+if (( file_cnt > 1 && compare )) ; then
+  echo "$all_output" | "${base_dir}/elf-size-compare.awk"
+fi
+

tools/commit-tests.sh

@@ -5,7 +5,9 @@ set -e
 set -x
 
 # Allow variable core usage, default uses two cores, to set 8 cores for example : commit-tests.sh -j8
+# Default build treats warnings as errors, set -Wno-error to override, e.g.: commit-tests.sh -Wno-error
 CORES=2
+WERROR=1
 for i in "$@"
 do
 case $i in
@@ -17,6 +19,10 @@ case $i in
       CORES="${i#*j}"
       shift
       ;;
+    -Wno-error)
+      WERROR=0
+      shift
+      ;;
 esac
 done
 
@@ -27,7 +33,9 @@ else
 fi
 
 SRCDIR=$(dirname "$SCRIPT")/..
-COMMON_OPTIONS="-DCMAKE_BUILD_TYPE=Debug -DCMAKE_PREFIX_PATH=/opt/qt55 -DTRACE_SIMPGMSPACE=NO -DWARNINGS_AS_ERRORS=YES -DVERBOSE_CMAKELISTS=YES -DCMAKE_RULE_MESSAGES=OFF -Wno-dev"
+COMMON_OPTIONS="-DCMAKE_BUILD_TYPE=Debug -DCMAKE_PREFIX_PATH=/opt/qt55 -DTRACE_SIMPGMSPACE=NO -DVERBOSE_CMAKELISTS=YES -DCMAKE_RULE_MESSAGES=OFF -Wno-dev"
+if (( $WERROR )); then COMMON_OPTIONS+=" -DWARNINGS_AS_ERRORS=YES"; fi
+FIRMARE_TARGET="firmware-size"
 
 mkdir build || true
 cd build
@@ -35,94 +43,94 @@ cd build
 # OpenTX on 9X stock with FrSky telemetry
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=9X -DHELI=YES -DTEMPLATES=YES -DTELEMETRY=FRSKY ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on 9X stock with Ardupilot telemetry
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=9X -DHELI=YES -DTEMPLATES=YES -DTELEMETRY=ARDUPILOT ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 
 # OpenTX on 9X stock with JETI telemetry
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=9X -DHELI=YES -DTEMPLATES=YES -DTELEMETRY=JETI ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 
 # OpenTX on Mega2560
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=MEGA2560 -DTEMPLATES=YES -DHELI=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on Mega2560 with Mavlink telemetry
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=MEGA2560 -DTELEMETRY=MAVLINK -DHELI=YES -DTEMPLATES=YES -DAUDIO=YES -DVOICE=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on gruvin9x board
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=GRUVIN9X -DHELI=YES -DTEMPLATES=YES -DAUDIO=YES -DVOICE=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on Sky9x
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=SKY9X -DHELI=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on AR9X
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=AR9X -DHELI=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on X7
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=X7 -DHELI=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on X9D
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=X9D -DHELI=YES -DLUA=YES -DGVARS=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on X9D+
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=X9D+ -DHELI=YES -DLUA=YES -DGVARS=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on Taranis X9E
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=X9E -DHELI=YES -DLUA=YES -DGVARS=YES -DPPM_UNIT=PERCENT_PREC1 ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on Horus beta boards
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=HORUS -DPCBREV=10 -DHELI=YES -DLUA=YES -DGVARS=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure
 
 # OpenTX on Horus
 rm -rf *
 cmake ${COMMON_OPTIONS} -DPCB=HORUS -DHELI=YES -DLUA=YES -DGVARS=YES ${SRCDIR}
-make -j${CORES} firmware
+make -j${CORES} ${FIRMARE_TARGET}
 make -j${CORES} simu
 make -j${CORES} gtests ; ./gtests --gtest_shuffle --gtest_repeat=5 --gtest_break_on_failure