Merge pull request #5363 from iNavFlight/development

Release 2.4
iNavFlight · Feb 11, 2020 · bcd4cae · bcd4cae
2 parents debe8ab + 60c13ef
commit bcd4cae
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diff --git a/Makefile b/Makefile
@@ -11,6 +11,11 @@
 #
 ###############################################################################
 
+# Root directory
+ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
+
+# developer preferences, edit these at will, they'll be gitignored
+-include $(ROOT)/make/local.mk
 
 # Things that the user might override on the commandline
 #
@@ -24,6 +29,8 @@ OPTIONS   ?=
 # Debugger optons, must be empty or GDB
 DEBUG     ?=
 
+SEMIHOSTING ?=
+
 # Build suffix
 BUILD_SUFFIX ?=
 
@@ -60,7 +67,6 @@ endif
 FORKNAME      = inav
 
 # Working directories
-ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
 SRC_DIR         := $(ROOT)/src/main
 OBJECT_DIR      := $(ROOT)/obj/main
 BIN_DIR         := $(ROOT)/obj
@@ -72,69 +78,14 @@ LINKER_DIR      := $(ROOT)/src/main/target/link
 # 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
-
 # default xtal value for F4 targets
 HSE_VALUE       = 8000000
 MHZ_VALUE      ?=
 
 # 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) )
-STFLASH_TARGETS = $(addprefix st-flash_,$(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
-GROUP_3_TARGETS := OMNIBUS AIRBOTF4 BLUEJAYF4 OMNIBUSF4 OMNIBUSF4PRO 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_6_TARGETS := MAMBAF405 OMNIBUSF4V3 OMNIBUSF4V3_S6_SS OMNIBUSF4V3_S5S6_SS OMNIBUSF4V3_S5_S6_2SS AIKONF4
-GROUP_7_TARGETS := KAKUTEF4 KAKUTEF4V2 KAKUTEF7 KAKUTEF7MINI KFC32F3_INAV KROOZX MATEKF411_RSSI MATEKF411_SFTSRL2 MATEKF722MINI MATEKF722SE MATEKF722_HEXSERVO
-GROUP_8_TARGETS := MATEKF765
-GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS) $(GROUP_5_TARGETS) $(GROUP_6_TARGETS) $(GROUP_7_TARGETS) $(GROUP_8_TARGETS), $(VALID_TARGETS))
+include $(ROOT)/make/targets.mk
 
 REVISION = $(shell git rev-parse --short HEAD)
 
@@ -158,7 +109,8 @@ VPATH 			:= $(VPATH):$(ROOT)/make
 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 
 # start specific includes
-include $(ROOT)/make/mcu/$(TARGET_MCU).mk
+include $(ROOT)/make/mcu/STM32.mk
+include $(ROOT)/make/mcu/$(TARGET_MCU_GROUP).mk
 
 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 ifeq ($(FLASH_SIZE),)
@@ -171,7 +123,7 @@ 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)
+TARGET_FLAGS    := $(TARGET_FLAGS) -D$(TARGET_MCU) -D$(TARGET_MCU_GROUP) -D$(TARGET)
 
 ifneq ($(HSE_VALUE),)
 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
@@ -230,13 +182,24 @@ OPTIMIZE    = -Os
 LTO_FLAGS   = -flto -fuse-linker-plugin $(OPTIMIZE)
 endif
 
+ifneq ($(SEMIHOSTING),)
+SEMIHOSTING_CFLAGS	= -DSEMIHOSTING
+SEMIHOSTING_LDFLAGS	= --specs=rdimon.specs -lc -lrdimon
+SYSLIB			:=
+else
+SEMIHOSTING_CFLAGS	=
+SEMIHOSTING_LDFLAGS	=
+SYSLIB			:= -lnosys
+endif
+
 DEBUG_FLAGS = -ggdb3 -DDEBUG
 
 CFLAGS      += $(ARCH_FLAGS) \
               $(LTO_FLAGS) \
               $(addprefix -D,$(OPTIONS)) \
               $(addprefix -I,$(INCLUDE_DIRS)) \
               $(DEBUG_FLAGS) \
+              $(SEMIHOSTING_CFLAGS) \
               -std=gnu99 \
               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
               -Wstrict-prototypes \
@@ -263,10 +226,11 @@ LDFLAGS     = -lm \
               -nostartfiles \
               --specs=nano.specs \
               -lc \
-              -lnosys \
+              $(SYSLIB) \
               $(ARCH_FLAGS) \
               $(LTO_FLAGS) \
               $(DEBUG_FLAGS) \
+              $(SEMIHOSTING_LDFLAGS) \
               -static \
               -Wl,-gc-sections,-Map,$(TARGET_MAP) \
               -Wl,-L$(LINKER_DIR) \
@@ -307,41 +271,16 @@ 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_ELF)
+CLEAN_ARTIFACTS += $(TARGET_OBJS) $(TARGET_MAP)
+
+include $(ROOT)/make/stamp.mk
+include $(ROOT)/make/settings.mk
+include $(ROOT)/make/svd.mk
 
 # 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
-	$(V1) CPP_PATH="$(ARM_SDK_DIR)/bin" 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)"
-	$(V1) CPP_PATH="$(ARM_SDK_DIR)/bin" CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) -o $(TARGET_OBJ_DIR)
-
-settings-json:
-	$(V0) CPP_PATH="$(ARM_SDK_DIR)/bin" 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
@@ -352,7 +291,7 @@ ASM_CFLAGS=-g $(OPTIMZE) $(filter-out $(LTO_FLAGS) -save-temps=obj, $(CFLAGS))
 # 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 $< $@
+	$(V0) $(OBJCOPY) -O ihex --set-start $(FLASH_ORIGIN) $< $@
 
 $(TARGET_BIN): $(TARGET_ELF)
 	$(V0) $(OBJCOPY) -O binary $< $@
@@ -395,33 +334,6 @@ $(TOOLS_DIR):
 ## 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-6   : build some targets
-targets-group-6: $(GROUP_6_TARGETS)
-
-## targets-group-7   : build some targets
-targets-group-7: $(GROUP_7_TARGETS)
-
-## targets-group-8   : build some targets
-targets-group-8: $(GROUP_8_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)
 
@@ -469,8 +381,9 @@ $(STFLASH_TARGETS) :
 
 ## st-flash          : flash firmware (.bin) onto flight controller
 st-flash: $(TARGET_BIN)
-	$(V0) st-flash --reset write $< 0x08000000
+	$(V0) st-flash --reset write $< $(FLASH_ORIGIN)
 
+elf:	$(TARGET_ELF)
 binary: $(TARGET_BIN)
 hex:    $(TARGET_HEX)
 
@@ -502,22 +415,6 @@ help: Makefile
 	$(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-6:    $(GROUP_6_TARGETS)"
-	$(V0) @echo "targets-group-7:    $(GROUP_7_TARGETS)"
-	$(V0) @echo "targets-group-7:    $(GROUP_8_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
@@ -530,3 +427,7 @@ $(TARGET_OBJS) : Makefile | $(GENERATED_FILES) $(STAMP)
 
 # include auto-generated dependencies
 -include $(TARGET_DEPS)
+
+# Developer tools
+include $(ROOT)/make/openocd.mk
+include $(ROOT)/make/gdb.mk
diff --git a/build_docs.sh b/build_docs.sh
@@ -29,7 +29,6 @@ doc_files=(
 	'Migrating from baseflight.md'
 	'Boards.md'
 	'Board - AlienFlight.md'
-    'Board - ChebuzzF3.md'
     'Board - ColibriRace.md'
 	'Board - Motolab.md'
     'Board - Paris Air Hero 32.md'