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atbetaflight/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 to build, see VALID_TARGETS below
TARGET ?= NAZE
# Compile-time options
OPTIONS ?=
# compile for OpenPilot BootLoader support
OPBL ?= no
# Debugger optons, must be empty or GDB
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/ttyUSB*) no-port-found)
# Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
FLASH_SIZE ?=
###############################################################################
# Things that need to be maintained as the source changes
#
FORKNAME = betaflight
# Working directories
ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
SRC_DIR := $(ROOT)/src/main
OBJECT_DIR := $(ROOT)/obj/main
BIN_DIR := $(ROOT)/obj
CMSIS_DIR := $(ROOT)/lib/main/CMSIS
INCLUDE_DIRS := $(SRC_DIR) \
$(ROOT)/src/main/target
LINKER_DIR := $(ROOT)/src/main/target/link
## V : Set verbosity level based on the V= parameter
## V=0 Low
## V=1 High
include $(ROOT)/make/build_verbosity.mk
# Build tools, so we all share the same versions
# import macros common to all supported build systems
include $(ROOT)/make/system-id.mk
# developer preferences, edit these at will, they'll be gitignored
-include $(ROOT)/make/local.mk
# configure some directories that are relative to wherever ROOT_DIR is located
ifndef TOOLS_DIR
TOOLS_DIR := $(ROOT)/tools
endif
BUILD_DIR := $(ROOT)/build
DL_DIR := $(ROOT)/downloads
export RM := rm
# import macros that are OS specific
include $(ROOT)/make/$(OSFAMILY).mk
# include the tools makefile
include $(ROOT)/make/tools.mk
# default xtal value for F4 targets
HSE_VALUE ?= 8000000
# used for turning on features like VCP and SDCARD
FEATURES =
include $(ROOT)/make/targets.mk
REVISION := $(shell git log -1 --format="%h")
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)
# Search path for sources
VPATH := $(SRC_DIR):$(SRC_DIR)/startup
USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
FATFS_DIR = $(ROOT)/lib/main/FatFS
FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
CSOURCES := $(shell find $(SRC_DIR) -name '*.c')
LD_FLAGS :=
#
# Default Tool options - can be overridden in {mcu}.mk files.
#
ifeq ($(DEBUG),GDB)
OPTIMISE_DEFAULT := -Og
LTO_FLAGS := $(OPTIMISE_DEFAULT)
DEBUG_FLAGS = -ggdb3 -DDEBUG
else
OPTIMISATION_BASE := -flto -fuse-linker-plugin -ffast-math
OPTIMISE_DEFAULT := -O2
OPTIMISE_SPEED := -Ofast
OPTIMISE_SIZE := -Os
LTO_FLAGS := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
endif
VPATH := $(VPATH):$(ROOT)/make/mcu
VPATH := $(VPATH):$(ROOT)/make
# start specific includes
include $(ROOT)/make/mcu/$(TARGET_MCU).mk
# openocd specific includes
include $(ROOT)/make/openocd.mk
# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
ifeq ($(FLASH_SIZE),)
ifneq ($(TARGET_FLASH),)
FLASH_SIZE := $(TARGET_FLASH)
else
$(error FLASH_SIZE not configured for target $(TARGET))
endif
endif
DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
ifneq ($(HSE_VALUE),)
DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
endif
TARGET_DIR = $(ROOT)/src/main/target/$(BASE_TARGET)
TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
ifeq ($(OPBL),yes)
TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
.DEFAULT_GOAL := binary
else
.DEFAULT_GOAL := hex
endif
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(ROOT)/lib/main/MAVLink
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_DIR)
VPATH := $(VPATH):$(TARGET_DIR)
include $(ROOT)/make/source.mk
###############################################################################
# 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
SIZE := $(ARM_SDK_PREFIX)size
#
# 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)
CFLAGS += $(ARCH_FLAGS) \
$(addprefix -D,$(OPTIONS)) \
$(addprefix -I,$(INCLUDE_DIRS)) \
$(DEBUG_FLAGS) \
-std=gnu99 \
-Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
-ffunction-sections \
-fdata-sections \
-pedantic \
$(DEVICE_FLAGS) \
-DUSE_STDPERIPH_DRIVER \
-D$(TARGET) \
$(TARGET_FLAGS) \
-D'__FORKNAME__="$(FORKNAME)"' \
-D'__TARGET__="$(TARGET)"' \
-D'__REVISION__="$(REVISION)"' \
-save-temps=obj \
-MMD -MP \
$(EXTRA_FLAGS)
ASFLAGS = $(ARCH_FLAGS) \
-x assembler-with-cpp \
$(addprefix -I,$(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$(LINKER_DIR) \
-Wl,--cref \
-Wl,--no-wchar-size-warning \
-T$(LD_SCRIPT)
endif
###############################################################################
# No user-serviceable parts below
###############################################################################
CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
--std=c99 --inline-suppr --quiet --force \
$(addprefix -I,$(INCLUDE_DIRS)) \
-I/usr/include -I/usr/include/linux
#
# Things we will build
#
TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
TARGET_LST = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
CLEAN_ARTIFACTS := $(TARGET_BIN)
CLEAN_ARTIFACTS += $(TARGET_HEX)
CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
CLEAN_ARTIFACTS += $(TARGET_LST)
# Make sure build date and revision is updated on every incremental build
$(OBJECT_DIR)/$(TARGET)/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 $< > $@
$(TARGET_HEX): $(TARGET_ELF)
$(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
$(TARGET_BIN): $(TARGET_ELF)
$(V0) $(OBJCOPY) -O binary $< $@
$(TARGET_ELF): $(TARGET_OBJS)
$(V1) echo Linking $(TARGET)
$(V1) $(CROSS_CC) -o $@ $^ $(LD_FLAGS)
$(V0) $(SIZE) $(TARGET_ELF)
# Compile
ifeq ($(DEBUG),GDB)
$(OBJECT_DIR)/$(TARGET)/%.o: %.c
$(V1) mkdir -p $(dir $@)
$(V1) echo "%% (debug) $(notdir $<)" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEBUG_OPTIMISATION) $<
else
$(OBJECT_DIR)/$(TARGET)/%.o: %.c
$(V1) mkdir -p $(dir $@)
$(V1) $(if $(findstring $(subst ./src/main/,,$<),$(SPEED_OPTIMISED_SRC)), \
echo "%% (speed optimised) $(notdir $<)" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SPEED_OPTIMISATION) $<, \
$(if $(findstring $(subst ./src/main/,,$<),$(SIZE_OPTIMISED_SRC)), \
echo "%% (size optimised) $(notdir $<)" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_SIZE_OPTIMISATION) $<, \
echo "%% $(notdir $<)" "$(STDOUT)" && \
$(CROSS_CC) -c -o $@ $(CFLAGS) $(CC_DEFAULT_OPTIMISATION) $<))
endif
# Assemble
$(OBJECT_DIR)/$(TARGET)/%.o: %.s
$(V1) mkdir -p $(dir $@)
$(V1) echo "%% $(notdir $<)" "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
$(OBJECT_DIR)/$(TARGET)/%.o: %.S
$(V1) mkdir -p $(dir $@)
$(V1) echo "%% $(notdir $<)" "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
## all : Build all valid targets
all: $(VALID_TARGETS)
## official : Build all official (travis) targets
official: $(OFFICIAL_TARGETS)
## targets-group-1 : build some targets
targets-group-1: $(GROUP_1_TARGETS)
## targets-group-2 : build some targets
targets-group-2: $(GROUP_2_TARGETS)
## targets-group-3 : build some targets
targets-group-3: $(GROUP_3_TARGETS)
## targets-group-3 : build some targets
targets-group-4: $(GROUP_4_TARGETS)
## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
targets-group-rest: $(GROUP_OTHER_TARGETS)
$(VALID_TARGETS):
$(V0) @echo "Building $@" && \
$(MAKE) binary hex TARGET=$@ && \
echo "Building $@ succeeded."
$(SKIP_TARGETS):
$(MAKE) TARGET=$@
CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) $(SKIP_TARGETS) )
TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) $(SKIP_TARGETS) )
## clean : clean up temporary / machine-generated files
clean:
$(V0) @echo "Cleaning $(TARGET)"
$(V0) rm -f $(CLEAN_ARTIFACTS)
$(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
$(V0) @echo "Cleaning $(TARGET) succeeded."
## clean_test : clean up temporary / machine-generated files (tests)
clean_test:
$(V0) cd src/test && $(MAKE) clean || true
## clean_<TARGET> : clean up one specific target
$(CLEAN_TARGETS):
$(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
## <TARGET>_clean : clean up one specific target (alias for above)
$(TARGETS_CLEAN):
$(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
## clean_all : clean all valid targets
clean_all: $(CLEAN_TARGETS)
## all_clean : clean all valid targets (alias for above)
all_clean: $(TARGETS_CLEAN)
flash_$(TARGET): $(TARGET_HEX)
$(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 $(SERIAL_DEVICE)
## flash : flash firmware (.hex) onto flight controller
flash: flash_$(TARGET)
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
binary:
$(V0) $(MAKE) -j $(TARGET_BIN)
hex:
$(V0) $(MAKE) -j $(TARGET_HEX)
unbrick_$(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 $(SERIAL_DEVICE)
## unbrick : unbrick flight controller
unbrick: unbrick_$(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
$(DL_DIR):
mkdir -p $@
$(TOOLS_DIR):
mkdir -p $@
$(BUILD_DIR):
mkdir -p $@
## version : print firmware version
version:
@echo $(FC_VER)
## help : print this help message and exit
help: Makefile make/tools.mk
$(V0) @echo ""
$(V0) @echo "Makefile for the $(FORKNAME) firmware"
$(V0) @echo ""
$(V0) @echo "Usage:"
$(V0) @echo " make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
$(V0) @echo "Or:"
$(V0) @echo " make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
$(V0) @echo ""
$(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
$(V0) @echo ""
$(V0) @sed -n 's/^## //p' $?
## targets : print a list of all valid target platforms (for consumption by scripts)
targets:
$(V0) @echo "Valid targets: $(VALID_TARGETS)"
$(V0) @echo "Target: $(TARGET)"
$(V0) @echo "Base target: $(BASE_TARGET)"
$(V0) @echo "targets-group-1: $(GROUP_1_TARGETS)"
$(V0) @echo "targets-group-2: $(GROUP_2_TARGETS)"
$(V0) @echo "targets-group-3: $(GROUP_3_TARGETS)"
$(V0) @echo "targets-group-4: $(GROUP_4_TARGETS)"
$(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
## test : run the cleanflight test suite
## junittest : run the cleanflight test suite, producing Junit XML result files.
test junittest:
$(V0) cd src/test && $(MAKE) $@
# rebuild everything when makefile changes
$(TARGET_OBJS) : Makefile
# include auto-generated dependencies
-include $(TARGET_DEPS)
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