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Makefile
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Makefile
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#
# Common Makefile for the PX4 bootloaders
#
#
# Paths to common dependencies
#
export BUILD_DIR_ROOT ?= build
export BL_BASE ?= $(wildcard .)
export LIBOPENCM3 ?= $(wildcard libopencm3)
export LIBKINETIS ?= $(wildcard lib/kinetis/NXP_Kinetis_Bootloader_2_0_0)
MKFLAGS=--no-print-directory
SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
COLOR_BLUE = \033[0;94m
NO_COLOR = \033[m
define colorecho
+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
endef
#
# Tools
#
export CC = arm-none-eabi-gcc
export OBJCOPY = arm-none-eabi-objcopy
#
# Common configuration
#
export FLAGS = -std=gnu99 \
-Os \
-g \
-Wundef \
-Wall \
-fno-builtin \
-I$(BL_BASE)/$(LIBOPENCM3)/include \
-I$(BL_BASE)/. \
-ffunction-sections \
-nostartfiles \
-lnosys \
-Wl,-gc-sections \
-Wl,-g \
-Werror
ifneq ($(CRYPTO_HAL),)
include crypto_hal/$(CRYPTO_HAL)/Makefile.include
endif
export COMMON_SRCS = bl.c $(CRYPTO_SRCS)
export ARCH_SRCS = cdcacm.c usart.c
#
# Bootloaders to build
# Note: px4fmuv3_bl is the same as px4fmuv2_bl except for a different USB device
# string
#
TARGETS = \
aerofcv1_bl \
auavx2v1_bl \
avx_v1_bl \
crazyflie21_bl \
crazyflie_bl \
cube_f4_bl \
fmuk66e_bl \
fmuk66v3_bl \
kakutef7_bl \
mindpxv2_bl \
modalai_fc_v1_bl \
modalai_voxl2_io_bl \
omnibusf4sd_bl \
pix32v5_bl \
px4aerocore_bl \
px4discovery_bl \
px4flow_bl \
px4fmu_bl \
px4fmuv2_bl \
px4fmuv3_bl \
px4fmuv4_bl \
px4fmuv4pro_bl \
px4fmuv5_bl \
px4fmuv5x_bl \
px4io_bl \
px4iov3_bl \
smartap_airlink_bl \
smartap_pro_bl \
tapv1_bl \
uvify_core_bl \
atl_mantis_edu_bl \
thepeach_k1_bl \
thepeach_r1_bl
all: $(TARGETS) sizes
clean:
cd libopencm3 && make --no-print-directory clean && cd ..
rm -f *.elf *.bin *.map # Remove any elf or bin files contained directly in the Bootloader directory
rm -rf build # Remove build directories
#
# Specific bootloader targets.
#
fmuk66v3_bl: $(MAKEFILE_LIST) $(LIBKINETIS)
${MAKE} ${MKFLAGS} -f Makefile.k66 TARGET_HW=FMUK66_V3 LINKER_FILE=kinetisk66.ld TARGET_FILE_NAME=$@
fmuk66e_bl: $(MAKEFILE_LIST) $(LIBKINETIS)
${MAKE} ${MKFLAGS} -f Makefile.k66 TARGET_HW=FMUK66_E LINKER_FILE=kinetisk66.ld TARGET_FILE_NAME=$@
auavx2v1_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=AUAV_X2V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
kakutef7_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=KAKUTEF7 LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
pix32v5_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=HOLYBRO_PIX32_V5 LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
px4fmu_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_FMU_V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
px4fmuv2_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_FMU_V2 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
px4fmuv3_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_FMU_V3 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
px4fmuv4_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_FMU_V4 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
px4fmuv4pro_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_FMU_V4_PRO LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@ EXTRAFLAGS=-DSTM32F469
px4fmuv5_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=PX4_FMU_V5 LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
px4fmuv5x_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=PX4_FMU_V5X LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
mindpxv2_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=MINDPX_V2 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
px4discovery_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_DISCOVERY_V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
px4flow_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_FLOW_V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
px4aerocore_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_AEROCORE_V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
crazyflie_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=CRAZYFLIE LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
crazyflie21_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=CRAZYFLIE21 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
omnibusf4sd_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=OMNIBUSF4SD LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
cube_f4_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=CUBE_F4 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
cube_f7_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=CUBE_F7 LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
avx_v1_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=AV_X_V1 LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
smartap_airlink_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=SMARTAP_AIRLINK LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
smartap_pro_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=SMARTAP_PRO LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
modalai_fc_v1_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=MODALAI_FC_V1 LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
modalai_voxl2_io_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f1 TARGET_HW=MODALAI_VOXL2_IO LINKER_FILE=stm32f1.ld TARGET_FILE_NAME=$@
uvify_core_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=UVIFY_CORE LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
thepeach_k1_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=THE_PEACH_K1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
thepeach_r1_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=THE_PEACH_R1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
# Default bootloader delay is *very* short, just long enough to catch
# the board for recovery but not so long as to make restarting after a
# brownout problematic.
#
px4io_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f1 TARGET_HW=PX4_PIO_V1 LINKER_FILE=stm32f1.ld TARGET_FILE_NAME=$@
px4iov3_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f3 TARGET_HW=PX4_PIO_V3 LINKER_FILE=stm32f3.ld TARGET_FILE_NAME=$@
tapv1_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=TAP_V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
aerofcv1_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=AEROFC_V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@
atl_mantis_edu_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f7 TARGET_HW=ATL_MANTIS_EDU LINKER_FILE=stm32f7.ld TARGET_FILE_NAME=$@
#
# Show sizes
#
.PHONY: sizes
sizes:
@-find build/*/ -name '*.elf' -type f | xargs size 2> /dev/null || :
#
# Binary management
#
.PHONY: deploy
deploy:
zip -j Bootloader.zip build/*/*.bin
#
# Submodule management
#
$(LIBOPENCM3): checksubmodules
${MAKE} -C $(LIBOPENCM3) lib
.PHONY: checksubmodules
checksubmodules:
$(Q) ($(BL_BASE)/Tools/check_submodules.sh)
# Astyle
# --------------------------------------------------------------------
.PHONY: check_format format
check_format:
$(call colorecho,'Checking formatting with astyle')
@$(SRC_DIR)/Tools/check_code_style_all.sh
@cd $(SRC_DIR) && git diff --check
format:
$(call colorecho,'Formatting with astyle')
@$(SRC_DIR)/Tools/check_code_style_all.sh --fix