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Makefile
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###############################################################################
# "THE BEER-WARE LICENSE" (Revision 42):
# <[email protected]> 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 iNav 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 ?= REVO
# Compile-time options
OPTIONS ?=
# Debugger optons, must be empty or GDB
DEBUG ?=
# Build suffix
BUILD_SUFFIX ?=
# 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 ?=
## V : Set verbosity level based on the V= parameter
## V=0 Low
## V=1 High
export AT := @
ifndef V
export V0 :=
export V1 := $(AT)
export STDOUT :=
else ifeq ($(V), 0)
export V0 := $(AT)
export V1 := $(AT)
export STDOUT:= "> /dev/null"
export MAKE := $(MAKE) --no-print-directory
else ifeq ($(V), 1)
export V0 :=
export V1 :=
export STDOUT :=
endif
###############################################################################
# Things that need to be maintained as the source changes
#
FORKNAME = inav
# 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
# default xtal value for F4 targets
HSE_VALUE = 8000000
# used for turning on features like VCP and SDCARD
FEATURES =
ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
VALID_TARGETS = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
VALID_TARGETS := $(VALID_TARGETS) $(ALT_TARGETS)
VALID_TARGETS := $(sort $(VALID_TARGETS))
CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
BASE_TARGET := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
-include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
else
BASE_TARGET := $(TARGET)
endif
# silently ignore if the file is not present. Allows for target specific.
-include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
F4_TARGETS = $(F405_TARGETS) $(F411_TARGETS) $(F427_TARGETS) $(F446_TARGETS)
F7_TARGETS = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
endif
ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS) $(F7_TARGETS)),)
$(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, F411, F427 or F7x. Have you prepared a valid target.mk?)
endif
ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
TARGET_MCU := STM32F3
else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
TARGET_MCU := STM32F4
else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
TARGET_MCU := STM32F7
else ifeq ($(TARGET),$(filter $(TARGET), $(F1_TARGETS)))
TARGET_MCU := STM32F1
else
$(error Unknown target MCU specified.)
endif
GROUP_1_TARGETS := ALIENFLIGHTF3 ALIENFLIGHTF4 AIRHEROF3 AIRHEROF3_QUAD COLIBRI_RACE LUX_RACE SPARKY REVO SPARKY2 COLIBRI KISSFC FALCORE FF_F35_LIGHTNING FF_FORTINIF4 FF_PIKOF4 FF_PIKOF4OSD
GROUP_2_TARGETS := SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPRACINGF4EVO CLRACINGF4AIR CLRACINGF4AIRV2 BEEROTORF4 BETAFLIGHTF3 BETAFLIGHTF4 PIKOBLX SPRACINGF3NEO
GROUP_3_TARGETS := OMNIBUS AIRBOTF4 BLUEJAYF4 OMNIBUSF4 OMNIBUSF4PRO OMNIBUSF4V3 FIREWORKSV2 SPARKY2 MATEKF405 OMNIBUSF7 DYSF4PRO OMNIBUSF4PRO_LEDSTRIPM5 OMNIBUSF7NXT OMNIBUSF7V2 ASGARD32F4
GROUP_4_TARGETS := ANYFC ANYFCF7 ANYFCF7_EXTERNAL_BARO ANYFCM7 ALIENFLIGHTNGF7 PIXRACER YUPIF4 YUPIF4MINI YUPIF4R2 YUPIF7 MATEKF405SE MATEKF411 MATEKF722 MATEKF405OSD MATEKF405_SERVOS6 NOX
GROUP_5_TARGETS := ASGARD32F7 CHEBUZZF3 CLRACINGF4AIRV3 DALRCF405 DALRCF722DUAL DYSF4PROV2 F4BY FISHDRONEF4 FOXEERF405 FOXEERF722DUAL FRSKYF3 FRSKYF4 FURYF3 FURYF3_SPIFLASH FURYF4OSD
GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS) $(GROUP_5_TARGETS), $(VALID_TARGETS))
REVISION = $(shell git rev-parse --short HEAD)
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)
FC_VER_SUFFIX ?=
BUILD_DATE = $(shell date +%Y%m%d)
# Search path for sources
FATFS_DIR = $(ROOT)/lib/main/FatFS
FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
VPATH := $(SRC_DIR):$(SRC_DIR)/startup
VPATH := $(VPATH):$(ROOT)/make/mcu
VPATH := $(VPATH):$(ROOT)/make
CSOURCES := $(shell find $(SRC_DIR) -name '*.c')
# start specific includes
include $(ROOT)/make/mcu/$(TARGET_MCU).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
# Configure devide and target-specific defines and compiler flags
DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
TARGET_FLAGS := $(TARGET_FLAGS) -D$(TARGET_MCU) -D$(TARGET)
ifneq ($(HSE_VALUE),)
DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
endif
ifneq ($(BASE_TARGET), $(TARGET))
TARGET_FLAGS := $(TARGET_FLAGS) -D$(BASE_TARGET)
endif
TARGET_DIR = $(ROOT)/src/main/target/$(BASE_TARGET)
TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(ROOT)/lib/main/MAVLink
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_DIR)
VPATH := $(VPATH):$(TARGET_DIR)
.DEFAULT_GOAL := hex
include $(ROOT)/make/source.mk
include $(ROOT)/make/release.mk
###############################################################################
# Things that might need changing to use different tools
#
# Tool names
ifneq ($(TOOLCHAINPATH),)
CROSS_CC = $(TOOLCHAINPATH)/arm-none-eabi-gcc
OBJCOPY = $(TOOLCHAINPATH)/arm-none-eabi-objcopy
SIZE = $(TOOLCHAINPATH)/arm-none-eabi-size
else
CROSS_CC = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
SIZE = arm-none-eabi-size
endif
#
# Tool options.
#
ifeq ($(DEBUG),GDB)
OPTIMIZE = -O0
LTO_FLAGS = $(OPTIMIZE)
else
OPTIMIZE = -Os
LTO_FLAGS = -flto -fuse-linker-plugin $(OPTIMIZE)
endif
DEBUG_FLAGS = -ggdb3 -DDEBUG
CFLAGS += $(ARCH_FLAGS) \
$(LTO_FLAGS) \
$(addprefix -D,$(OPTIONS)) \
$(addprefix -I,$(INCLUDE_DIRS)) \
$(DEBUG_FLAGS) \
-std=gnu99 \
-Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
-Werror=switch \
-ffunction-sections \
-fdata-sections \
-fno-common \
$(DEVICE_FLAGS) \
-DUSE_STDPERIPH_DRIVER \
$(TARGET_FLAGS) \
-D'__FORKNAME__="$(FORKNAME)"' \
-D'__TARGET__="$(TARGET)"' \
-D'__REVISION__="$(REVISION)"' \
-save-temps=obj \
-MMD -MP
ASFLAGS = $(ARCH_FLAGS) \
-x assembler-with-cpp \
$(addprefix -I,$(INCLUDE_DIRS)) \
-D$(TARGET) \
-MMD -MP
LDFLAGS = -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)
###############################################################################
# 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)_$(FC_VER)
ifneq ($(FC_VER_SUFFIX),)
TARGET_BIN := $(TARGET_BIN)-$(FC_VER_SUFFIX)
endif
TARGET_BIN := $(TARGET_BIN)_$(TARGET)
ifneq ($(BUILD_SUFFIX),)
TARGET_BIN := $(TARGET_BIN)_$(BUILD_SUFFIX)
endif
TARGET_BIN := $(TARGET_BIN).bin
TARGET_HEX = $(TARGET_BIN:.bin=.hex)
TARGET_OBJ_DIR = $(OBJECT_DIR)/$(TARGET)
TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
TARGET_OBJS = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
TARGET_DEPS = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(TARGET_SRC))))
TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
CLEAN_ARTIFACTS := $(TARGET_BIN)
CLEAN_ARTIFACTS += $(TARGET_HEX)
CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
# Make sure build date and revision is updated on every incremental build
$(TARGET_OBJ_DIR)/build/version.o : $(TARGET_SRC)
# Settings generator
.PHONY: .FORCE settings clean-settings
UTILS_DIR = $(ROOT)/src/utils
SETTINGS_GENERATOR = $(UTILS_DIR)/settings.rb
BUILD_STAMP = $(UTILS_DIR)/build_stamp.rb
STAMP = $(TARGET_OBJ_DIR)/build.stamp
GENERATED_SETTINGS = $(TARGET_OBJ_DIR)/settings_generated.h $(TARGET_OBJ_DIR)/settings_generated.c
SETTINGS_FILE = $(SRC_DIR)/fc/settings.yaml
GENERATED_FILES = $(GENERATED_SETTINGS)
$(GENERATED_SETTINGS): $(SETTINGS_GENERATOR) $(SETTINGS_FILE) $(STAMP)
# Make sure the generated files are in the include path
CFLAGS += -I$(TARGET_OBJ_DIR)
$(STAMP): .FORCE
$(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(BUILD_STAMP) $(SETTINGS_FILE) $(STAMP)
# Use a pattern rule, since they're different than normal rules.
# See https://www.gnu.org/software/make/manual/make.html#Pattern-Examples
%generated.h %generated.c:
$(V1) echo "settings.yaml -> settings_generated.h, settings_generated.c" "$(STDOUT)"
$(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) -o $(TARGET_OBJ_DIR)
settings-json:
$(V0) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) --json settings.json
clean-settings:
$(V1) $(RM) $(GENERATED_SETTINGS)
# CFLAGS used for ASM generation. These can't include the LTO related options
# since they prevent proper ASM generation. Since $(LTO_FLAGS) includes the
# optization level, we have to add it back. -g is required to make interleaved
# source/ASM work.
ASM_CFLAGS=-g $(OPTIMZE) $(filter-out $(LTO_FLAGS) -save-temps=obj, $(CFLAGS))
# 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_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 $@ $(filter %.o, $^) $(LDFLAGS)
$(V0) $(SIZE) $(TARGET_ELF)
# Compile
$(TARGET_OBJ_DIR)/%.o: %.c
$(V1) mkdir -p $(dir $@)
$(V1) echo %% $(notdir $<) "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(CFLAGS) $<
ifeq ($(GENERATE_ASM), 1)
$(V1) $(CROSS_CC) -S -fverbose-asm -Wa,-aslh -o $(patsubst %.o,%.txt.S,$@) -g $(ASM_CFLAGS) $<
endif
# Assemble
$(TARGET_OBJ_DIR)/%.o: %.s
$(V1) mkdir -p $(dir $@)
$(V1) echo %% $(notdir $<) "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
$(TARGET_OBJ_DIR)/%.o: %.S
$(V1) mkdir -p $(dir $@)
$(V1) echo %% $(notdir $<) "$(STDOUT)"
$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
## all : Build all valid targets
all: $(VALID_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-4 : build some targets
targets-group-4: $(GROUP_4_TARGETS)
## targets-group-5 : build some targets
targets-group-5: $(GROUP_5_TARGETS)
## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
targets-group-rest: $(GROUP_OTHER_TARGETS)
## targets-group-rest: build targets specified in release-targets list
release: $(RELEASE_TARGETS)
$(VALID_TARGETS):
$(V0) echo "" && \
echo "Building $@" && \
$(MAKE) -j 8 TARGET=$@ && \
echo "Building $@ succeeded."
## clean : clean up all temporary / machine-generated files
clean:
$(V0) echo "Cleaning $(TARGET)"
$(V0) rm -f $(CLEAN_ARTIFACTS)
$(V0) rm -rf $(TARGET_OBJ_DIR)
$(V0) echo "Cleaning $(TARGET) succeeded."
## clean_test : clean up all temporary / machine-generated files (tests)
clean_test:
$(V0) cd src/test && $(MAKE) clean
## clean_<TARGET> : clean up one specific target
$(CLEAN_TARGETS) :
$(V0) $(MAKE) -j 8 TARGET=$(subst clean_,,$@) clean
## <TARGET>_clean : clean up one specific target (alias for above)
$(TARGETS_CLEAN) :
$(V0) $(MAKE) -j 8 TARGET=$(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)
binary: $(TARGET_BIN)
hex: $(TARGET_HEX)
unbrick_$(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
## help : print this help message and exit
help: Makefile
$(V0) @echo ""
$(V0) @echo "Makefile for the $(FORKNAME) firmware"
$(V0) @echo ""
$(V0) @echo "Usage:"
$(V0) @echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]"
$(V0) @echo "Or:"
$(V0) @echo " make <target> [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-5: $(GROUP_5_TARGETS)"
$(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
$(V0) @echo "Release targets: $(RELEASE_TARGETS)"
## test : run the cleanflight test suite
test:
$(V0) cd src/test && $(MAKE) test
# rebuild everything when makefile changes
# Make the generated files and the build stamp order only prerequisites,
# so they will be generated before TARGET_OBJS but regenerating them
# won't cause all TARGET_OBJS to be rebuilt.
$(TARGET_OBJS) : Makefile | $(GENERATED_FILES) $(STAMP)
# include auto-generated dependencies
-include $(TARGET_DEPS)