Makefile

   1 #
   2 # Top level Makefile for the OpenPilot project build system.
   3 # Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
   4 # Use 'make help' for instructions.
   5 #
   6 # This program is free software; you can redistribute it and/or modify
   7 # it under the terms of the GNU General Public License as published by
   8 # the Free Software Foundation; either version 3 of the License, or
   9 # (at your option) any later version.
  10 #
  11 # This program is distributed in the hope that it will be useful, but
  12 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  13 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  14 # for more details.
  15 #
  16 # You should have received a copy of the GNU General Public License along
  17 # with this program; if not, write to the Free Software Foundation, Inc.,
  18 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  19 #
  20
  21 # This top level Makefile passes down some variables to sub-makes through
  22 # the environment. They are explicitly exported using the export keyword.
  23 # Lower level makefiles assume that these variables are defined. To ensure
  24 # that a special magic variable is exported here. It must be checked for
  25 # existance by each sub-make.
  26 export OPENPILOT_IS_COOL := Fuck Yeah!
  27
  28 # It is possible to set OPENPILOT_DL_DIR and/or OPENPILOT_TOOLS_DIR environment
  29 # variables to override local tools download and installation directorys. So the
  30 # same toolchains can be used for all working copies. Particularly useful for CI
  31 # server build agents, but also for local installations.
  32 #
  33 # If no OPENPILOT_* variables found, makefile internal DL_DIR and TOOLS_DIR paths
  34 # will be used. They still can be overriden by the make command line parameters:
  35 # make DL_DIR=/path/to/download/directory TOOLS_DIR=/path/to/tools/directory targets...
  36
  37 # Function for converting Windows style slashes into Unix style
  38 slashfix = $(subst \,/,$(1))
  39
  40 # Function for converting an absolute path to one relative
  41 # to the top of the source tree
  42 toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
  43
  44 # Set up some macros for common directories within the tree
  45 export ROOT_DIR    := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
  46 export DL_DIR      := $(if $(OPENPILOT_DL_DIR),$(call slashfix,$(OPENPILOT_DL_DIR)),$(ROOT_DIR)/downloads)
  47 export TOOLS_DIR   := $(if $(OPENPILOT_TOOLS_DIR),$(call slashfix,$(OPENPILOT_TOOLS_DIR)),$(ROOT_DIR)/tools)
  48 export BUILD_DIR   := $(ROOT_DIR)/build
  49 export PACKAGE_DIR := $(ROOT_DIR)/build/package
  50 export DIST_DIR    := $(ROOT_DIR)/build/dist
  51
  52 DIRS = $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR)
  53
  54 # Set up default build configurations (debug | release)
  55 GCS_BUILD_CONF          := release
  56 GOOGLE_API_VERSION      := 14
  57
  58 # Clean out undesirable variables from the environment and command-line
  59 # to remove the chance that they will cause problems with our build
  60 define SANITIZE_VAR
  61 $(if $(filter-out undefined,$(origin $(1))),
  62     $(info $(EMPTY) NOTE        Sanitized $(2) variable '$(1)' from $(origin $(1)))
  63     MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
  64     override $(1) :=
  65     unexport $(1)
  66 )
  67 endef
  68
  69 # These specific variables can influence compilation in unexpected (and undesirable) ways
  70 # gcc flags
  71 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
  72 # preprocessor flags
  73 SANITIZE_GCC_VARS += CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
  74 # make flags
  75 SANITIZE_GCC_VARS += CFLAGS CXXFLAGS CPPFLAGS LDFLAGS LDLIBS
  76 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
  77
  78 # These specific variables used to be valid but now they make no sense
  79 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
  80 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
  81
  82 # Make sure this isn't being run as root unless installing (no whoami on Windows, but that is ok here)
  83 ifeq ($(shell whoami 2>/dev/null),root)
  84     ifeq ($(filter install,$(MAKECMDGOALS)),)
  85         ifndef FAKEROOTKEY
  86             $(error You should not be running this as root)
  87         endif
  88     endif
  89 endif
  90
  91 # Decide on a verbosity level based on the V= parameter
  92 export AT := @
  93 ifndef V
  94     export V0    :=
  95     export V1    := $(AT)
  96 else ifeq ($(V), 0)
  97     export V0    := $(AT)
  98     export V1    := $(AT)
  99 else ifeq ($(V), 1)
 100 endif
 101
 102 # Make sure we know few things about the architecture before including
 103 # the tools.mk to ensure that we download/install the right tools.
 104 UNAME := $(shell uname)
 105 ARCH  := $(shell uname -m)
 106 # Here and everywhere if not Linux or Mac then assume Windows
 107 ifeq ($(filter Linux Darwin, $(UNAME)), )
 108     UNAME := Windows
 109 endif
 110
 111 # Include tools installers
 112 include $(ROOT_DIR)/make/tools.mk
 113
 114 # Include third party builders if available
 115 -include $(ROOT_DIR)/make/3rdparty/3rdparty.mk
 116
 117 # We almost need to consider autoconf/automake instead of this
 118 ifeq ($(UNAME), Linux)
 119     QT_SPEC = linux-g++
 120     UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 121 else ifeq ($(UNAME), Darwin)
 122     QT_SPEC = macx-g++
 123     UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 124 else ifeq ($(UNAME), Windows)
 125     QT_SPEC = win32-g++
 126     UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
 127 endif
 128
 129 ##############################
 130 #
 131 # All targets
 132 #
 133 ##############################
 134
 135 .PHONY: all
 136 all: uavobjects all_ground all_flight
 137
 138 .PHONY: all_clean
 139 all_clean:
 140         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 141         $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 142
 143 .PONY: clean
 144 clean: all_clean
 145
 146
 147 ##############################
 148 #
 149 # UAVObjects
 150 #
 151 ##############################
 152
 153 UAVOBJGENERATOR_DIR = $(BUILD_DIR)/uavobjgenerator
 154 DIRS += $(UAVOBJGENERATOR_DIR)
 155
 156 .PHONY: uavobjgenerator
 157 uavobjgenerator $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
 158         $(V1) cd $(UAVOBJGENERATOR_DIR) && \
 159             ( [ -f Makefile ] || $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
 160             -spec $(QT_SPEC) CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) ) && \
 161             $(MAKE) --no-print-directory -w
 162
 163 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
 164
 165 .PHONY: uavobjects
 166 uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 167
 168 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 169 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
 170
 171 uavobjects_%:  uavobjgenerator
 172         @$(MKDIR) -p $(UAVOBJ_OUT_DIR)/$*
 173         $(V1) ( cd $(UAVOBJ_OUT_DIR)/$* && \
 174             $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
 175         )
 176
 177 uavobjects_test:  uavobjgenerator
 178         $(V1) $(UAVOBJGENERATOR) -v $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 179
 180 uavobjects_clean:
 181         @$(ECHO) " CLEAN      $(call toprel, $(UAVOBJ_OUT_DIR))"
 182         $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 183
 184 ##############################
 185 #
 186 # Flight related components
 187 #
 188 ##############################
 189
 190 # Define some pointers to the various important pieces of the flight code
 191 # to prevent these being repeated in every sub makefile
 192 export PIOS          := $(ROOT_DIR)/flight/pios
 193 export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
 194 export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
 195 export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
 196 export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
 197 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 198 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 199
 200 DIRS += $(OPGCSSYNTHDIR)
 201
 202 # Define supported board lists
 203 ALL_BOARDS    := oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
 204
 205 # Short names of each board (used to display board name in parallel builds)
 206 oplinkmini_short       := 'oplm'
 207 revolution_short       := 'revo'
 208 osd_short              := 'osd '
 209 revoproto_short        := 'revp'
 210 revonano_short         := 'revn'
 211 simposix_short         := 'posx'
 212 discoveryf4bare_short  := 'df4b'
 213 gpsplatinum_short      := 'gps9'
 214
 215 # SimPosix only builds on Linux so drop it from the list for
 216 # all other platforms.
 217 ifneq ($(UNAME), Linux)
 218     ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
 219 endif
 220
 221 # Start out assuming that we'll build fw, bl and bu for all boards
 222 FW_BOARDS  := $(ALL_BOARDS)
 223 BL_BOARDS  := $(ALL_BOARDS)
 224 BU_BOARDS  := $(ALL_BOARDS)
 225 EF_BOARDS  := $(ALL_BOARDS)
 226
 227 # SimPosix doesn't have a BL, BU or EF target so we need to
 228 # filter them out to prevent errors on the all_flight target.
 229 BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
 230 BU_BOARDS  := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
 231 EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
 232
 233 # Generate the targets for whatever boards are left in each list
 234 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
 235 BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
 236 BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
 237 EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
 238
 239 # When building any of the "all_*" targets, tell all sub makefiles to display
 240 # additional details on each line of output to describe which build and target
 241 # that each line applies to. The same applies also to all, opfw_resource,
 242 # package targets
 243 ifneq ($(strip $(filter all_% all opfw_resource package,$(MAKECMDGOALS))),)
 244     export ENABLE_MSG_EXTRA := yes
 245 endif
 246
 247 # When building more than one goal in a single make invocation, also
 248 # enable the extra context for each output line
 249 ifneq ($(word 2,$(MAKECMDGOALS)),)
 250     export ENABLE_MSG_EXTRA := yes
 251 endif
 252
 253 # TEMPLATES (used to generate build rules)
 254
 255 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 256 # $(2) = Short name for board (e.g cc)
 257 define FW_TEMPLATE
 258 .PHONY: $(1) fw_$(1)
 259 $(1): fw_$(1)_opfw
 260 fw_$(1): fw_$(1)_opfw
 261
 262 fw_$(1)_%: uavobjects_flight
 263         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 264         $(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
 265         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
 266                 $$(MAKE) -r --no-print-directory \
 267                 BUILD_TYPE=fw \
 268                 BOARD_NAME=$(1) \
 269                 BOARD_SHORT_NAME=$(2) \
 270                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
 271                 OUTDIR=$(BUILD_DIR)/fw_$(1) \
 272                 TARGET=fw_$(1) \
 273                 $$*
 274
 275 .PHONY: $(1)_clean
 276 $(1)_clean: fw_$(1)_clean
 277 fw_$(1)_clean:
 278         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/fw_$(1))"
 279         $(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
 280 endef
 281
 282 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 283 # $(2) = Short name for board (e.g cc)
 284 define BL_TEMPLATE
 285 .PHONY: bl_$(1)
 286 bl_$(1): bl_$(1)_bin
 287 bl_$(1)_bino: bl_$(1)_bin
 288
 289 bl_$(1)_%:
 290         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 291         $(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
 292         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
 293                 $$(MAKE) -r --no-print-directory \
 294                 BUILD_TYPE=bl \
 295                 BOARD_NAME=$(1) \
 296                 BOARD_SHORT_NAME=$(2) \
 297                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
 298                 OUTDIR=$(BUILD_DIR)/bl_$(1) \
 299                 TARGET=bl_$(1) \
 300                 $$*
 301
 302 .PHONY: unbrick_$(1)
 303 unbrick_$(1): bl_$(1)_hex
 304 $(if $(filter-out undefined,$(origin UNBRICK_TTY)),
 305         $(V0) @$(ECHO) " UNBRICK    $(1) via $$(UNBRICK_TTY)"
 306         $(V1) $(STM32FLASH_DIR)/stm32flash \
 307                 -w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
 308                 -g 0x0 \
 309                 $$(UNBRICK_TTY)
 310 ,
 311         $(V0) @$(ECHO)
 312         $(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
 313         $(V0) @$(ECHO) "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
 314 )
 315
 316 .PHONY: bl_$(1)_clean
 317 bl_$(1)_clean:
 318         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bl_$(1))"
 319         $(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
 320 endef
 321
 322 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 323 # $(2) = Short name for board (e.g cc)
 324 define BU_TEMPLATE
 325 .PHONY: bu_$(1)
 326 bu_$(1): bu_$(1)_opfw
 327
 328 bu_$(1)_%: bl_$(1)_bino
 329         $(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
 330         $(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
 331                 $$(MAKE) -r --no-print-directory \
 332                 BUILD_TYPE=bu \
 333                 BOARD_NAME=$(1) \
 334                 BOARD_SHORT_NAME=$(2) \
 335                 TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
 336                 OUTDIR=$(BUILD_DIR)/bu_$(1) \
 337                 TARGET=bu_$(1) \
 338                 $$*
 339
 340 .PHONY: bu_$(1)_clean
 341 bu_$(1)_clean:
 342         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bu_$(1))"
 343         $(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
 344 endef
 345
 346 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 347 # $(2) = Short name for board (e.g cc)
 348 define EF_TEMPLATE
 349 .PHONY: ef_$(1)
 350 ef_$(1): ef_$(1)_bin
 351
 352 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 353         $(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
 354         $(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
 355                 $$(MAKE) -r --no-print-directory \
 356                 BUILD_TYPE=ef \
 357                 BOARD_NAME=$(1) \
 358                 BOARD_SHORT_NAME=$(2) \
 359                 DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
 360                 TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
 361                 OUTDIR=$(BUILD_DIR)/ef_$(1) \
 362                 TARGET=ef_$(1) \
 363                 $$*
 364
 365 .PHONY: ef_$(1)_clean
 366 ef_$(1)_clean:
 367         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/ef_$(1))"
 368         $(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
 369 endef
 370
 371 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 372 define BOARD_PHONY_TEMPLATE
 373 .PHONY: all_$(1)
 374 all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
 375 all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
 376 all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
 377 all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
 378
 379 .PHONY: all_$(1)_clean
 380 all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
 381 all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
 382 all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
 383 all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
 384 endef
 385
 386 # Generate flight build rules
 387 .PHONY: all_fw all_fw_clean
 388 all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
 389 all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
 390
 391 .PHONY: all_bl all_bl_clean
 392 all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
 393 all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
 394
 395 .PHONY: all_bu all_bu_clean
 396 all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
 397 all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 398
 399 .PHONY: all_ef all_ef_clean
 400 all_ef:        $(EF_TARGETS)
 401 all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
 402
 403 .PHONY: all_flight all_flight_clean
 404 all_flight:       all_fw all_bl all_bu all_ef
 405 all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
 406
 407 # Expand the groups of targets for each board
 408 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 409
 410 # Expand the firmware rules
 411 $(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
 412
 413 # Expand the bootloader rules
 414 $(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
 415
 416 # Expand the bootloader updater rules
 417 $(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
 418
 419 # Expand the entire-flash rules
 420 $(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
 421
 422 .PHONY: sim_win32
 423 sim_win32: sim_win32_exe
 424
 425 sim_win32_%: uavobjects_flight
 426         $(V1) $(MKDIR) -p $(BUILD_DIR)/sitl_win32
 427         $(V1) $(MAKE) --no-print-directory \
 428                 -C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
 429
 430 .PHONY: sim_osx
 431 sim_osx: sim_osx_elf
 432
 433 sim_osx_%: uavobjects_flight
 434         $(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
 435         $(V1) $(MAKE) --no-print-directory \
 436                 -C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
 437
 438 ##############################
 439 #
 440 # GCS related components
 441 #
 442 ##############################
 443
 444 .PHONY: all_ground
 445 all_ground: openpilotgcs uploader
 446
 447 # Convenience target for the GCS
 448 .PHONY: gcs gcs_qmake gcs_clean
 449 gcs: openpilotgcs
 450 gcs_qmake: openpilotgcs_qmake
 451 gcs_clean: openpilotgcs_clean
 452
 453 ifeq ($(V), 1)
 454     GCS_SILENT :=
 455 else
 456     GCS_SILENT := silent
 457 endif
 458
 459 OPENPILOTGCS_DIR := $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
 460 DIRS += $(OPENPILOTGCS_DIR)
 461
 462 OPENPILOTGCS_MAKEFILE := $(OPENPILOTGCS_DIR)/Makefile
 463
 464 .PHONY: openpilotgcs_qmake
 465 openpilotgcs_qmake $(OPENPILOTGCS_MAKEFILE): | $(OPENPILOTGCS_DIR)
 466         $(V1) cd $(OPENPILOTGCS_DIR) && \
 467             $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro \
 468             -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
 469
 470 .PHONY: openpilotgcs
 471 openpilotgcs: uavobjgenerator $(OPENPILOTGCS_MAKEFILE)
 472         $(V1) $(MAKE) -w -C $(OPENPILOTGCS_DIR)/$(MAKE_DIR);
 473
 474 .PHONY: openpilotgcs_clean
 475 openpilotgcs_clean:
 476         @$(ECHO) " CLEAN      $(call toprel, $(OPENPILOTGCS_DIR))"
 477         $(V1) [ ! -d "$(OPENPILOTGCS_DIR)" ] || $(RM) -r "$(OPENPILOTGCS_DIR)"
 478
 479
 480
 481 ################################
 482 #
 483 # Serial Uploader tool
 484 #
 485 ################################
 486
 487 UPLOADER_DIR := $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)
 488 DIRS += $(UPLOADER_DIR)
 489
 490 UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
 491
 492 .PHONY: uploader_qmake
 493 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
 494         $(V1) cd $(UPLOADER_DIR) && \
 495             $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
 496             -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
 497
 498 .PHONY: uploader
 499 uploader: $(UPLOADER_MAKEFILE)
 500         $(V1) $(MAKE) -w -C $(UPLOADER_DIR)
 501
 502 .PHONY: uploader_clean
 503 uploader_clean:
 504         @$(ECHO) " CLEAN      $(call toprel, $(UPLOADER_DIR))"
 505         $(V1) [ ! -d "$(UPLOADER_DIR)" ] || $(RM) -r "$(UPLOADER_DIR)"
 506
 507
 508 # We want to take snapshots of the UAVOs at each point that they change
 509 # to allow the GCS to be compatible with as many versions as possible.
 510 # We always include a pseudo collection called "srctree" which represents
 511 # the UAVOs in the source tree. So not necessary to add current tree UAVO
 512 # hash here, it is always included.
 513
 514 # Find the git hashes of each commit that changes uavobjects with:
 515 #   git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
 516 # List only UAVO hashes of past releases, do not list current hash.
 517 # Past compatible versions are so far: RELEASE-12.10.2
 518 UAVO_GIT_VERSIONS := 5e14f53
 519
 520 # All versions includes also the current source tree UAVO hash
 521 UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
 522
 523 # This is where the UAVO collections are stored
 524 UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
 525
 526 # $(1) git hash of a UAVO snapshot
 527 define UAVO_COLLECTION_GIT_TEMPLATE
 528
 529 # Make the output directory that will contain all of the synthetics for the
 530 # uavo collection referenced by the git hash $(1)
 531 $$(UAVO_COLLECTION_DIR)/$(1):
 532         $$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
 533
 534 # Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
 535 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
 536 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
 537         $$(V0) @$(ECHO) " UAVOTAR   $(1)"
 538         $$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
 539
 540 # Extract the uavo xml files from our snapshot
 541 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
 542         $$(V0) @$(ECHO) " UAVOUNTAR $(1)"
 543         $$(V1) $(RM) -rf $$@
 544         $$(V1) $(MKDIR) -p $$@
 545         $$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
 546 endef
 547
 548 # Map the current working directory into the set of UAVO collections
 549 $(UAVO_COLLECTION_DIR)/srctree:
 550         $(V1) $(MKDIR) -p $@
 551
 552 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
 553 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
 554         $(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
 555
 556 # $(1) git hash (or symbolic name) of a UAVO snapshot
 557 define UAVO_COLLECTION_BUILD_TEMPLATE
 558
 559 # This leaves us with a (broken) symlink that points to the full sha1sum of the collection
 560 $$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
 561         # Compute the sha1 hash for this UAVO collection
 562         # The sed bit truncates the UAVO hash to 16 hex digits
 563         $$(V1) $$(VERSION_INFO) \
 564                         --uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
 565                         --format='$$$${UAVO_HASH}' | \
 566                 $(SED) -e 's|\(................\).*|\1|' > $$@
 567
 568         $$(V0) @$(ECHO) " UAVOHASH  $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 569
 570 # Generate the java uavobjects for this UAVO collection
 571 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
 572         $$(V0) @$(ECHO) " UAVOJAVA  $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 573         $$(V1) $(MKDIR) -p $$@
 574         $$(V1) ( \
 575                 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
 576                 $$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
 577         )
 578
 579 # Build a jar file for this UAVO collection
 580 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
 581 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
 582         $$(V0) @$(ECHO) " UAVOJAR   $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 583         $$(V1) ( \
 584                 HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
 585                 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
 586                 $(JAVAC) java/*.java \
 587                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
 588                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
 589                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
 590                         -d . && \
 591                 find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
 592                 $(JAR) cf tmp_uavobjects.jar @classlist.txt && \
 593                 $$(ANDROID_DX) \
 594                         --dex \
 595                         --output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
 596                         tmp_uavobjects.jar && \
 597                 $(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
 598         )
 599
 600 endef
 601
 602 # One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
 603 $(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
 604
 605 # One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
 606 $(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
 607
 608 .PHONY: uavo-collections_java
 609 uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
 610
 611 .PHONY: uavo-collections
 612 uavo-collections: uavo-collections_java
 613
 614 .PHONY: uavo-collections_clean
 615 uavo-collections_clean:
 616         @$(ECHO) " CLEAN      $(call toprel, $(UAVO_COLLECTION_DIR))"
 617         $(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
 618
 619 ##############################
 620 #
 621 # Unit Tests
 622 #
 623 ##############################
 624
 625 ALL_UNITTESTS := logfs math lednotification
 626
 627 # Build the directory for the unit tests
 628 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
 629 DIRS += $(UT_OUT_DIR)
 630
 631 .PHONY: all_ut
 632 all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
 633
 634 .PHONY: all_ut_xml
 635 all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
 636
 637 .PHONY: all_ut_run
 638 all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
 639
 640 .PHONY: all_ut_clean
 641 all_ut_clean:
 642         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR))"
 643         $(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
 644
 645 # $(1) = Unit test name
 646 define UT_TEMPLATE
 647 .PHONY: ut_$(1)
 648 ut_$(1): ut_$(1)_run
 649
 650 ut_$(1)_%: $$(UT_OUT_DIR)
 651         $(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
 652         $(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
 653                 $$(MAKE) -r --no-print-directory \
 654                 BUILD_TYPE=ut \
 655                 BOARD_SHORT_NAME=$(1) \
 656                 TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
 657                 OUTDIR="$(UT_OUT_DIR)/$(1)" \
 658                 TARGET=$(1) \
 659                 $$*
 660
 661 .PHONY: ut_$(1)_clean
 662 ut_$(1)_clean:
 663         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR)/$(1))"
 664         $(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
 665 endef
 666
 667 # Expand the unittest rules
 668 $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
 669
 670 # Disable parallel make when the all_ut_run target is requested otherwise the TAP
 671 # output is interleaved with the rest of the make output.
 672 ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
 673 .NOTPARALLEL:
 674     $(info $(EMPTY) NOTE        Parallel make disabled by all_ut_run target so we have sane console output)
 675 endif
 676
 677 ##############################
 678 #
 679 # Packaging components
 680 #
 681 ##############################
 682
 683 # Firmware files to package
 684 PACKAGE_FW_EXCLUDE  := fw_simposix $(if $(PACKAGE_FW_INCLUDE_DISCOVERYF4BARE),,fw_discoveryf4bare)
 685 PACKAGE_FW_TARGETS  := $(filter-out $(PACKAGE_FW_EXCLUDE), $(FW_TARGETS))
 686 PACKAGE_ELF_TARGETS := $(filter     fw_simposix, $(FW_TARGETS))
 687
 688 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 689 # They are used later by the vehicle setup wizard to update board firmware.
 690 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 691 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
 692 OPFW_RESOURCE_PREFIX := ../../
 693 OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
 694 OPFW_CONTENTS := \
 695 <!DOCTYPE RCC><RCC version="1.0"> \
 696     <qresource prefix="/firmware"> \
 697         $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(OPFW_RESOURCE_PREFIX)$(fw_file)</file>) \
 698     </qresource> \
 699 </RCC>
 700
 701 .PHONY: opfw_resource
 702 opfw_resource: $(OPFW_RESOURCE)
 703
 704 $(OPFW_RESOURCE): $(FW_TARGETS) | $(OPGCSSYNTHDIR)
 705         @$(ECHO) Generating OPFW resource file $(call toprel, $@)
 706         $(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 707
 708 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 709 ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
 710 $(OPENPILOTGCS_MAKEFILE): $(OPFW_RESOURCE)
 711 endif
 712
 713 # Packaging targets: package
 714 #  - builds all firmware, opfw_resource, gcs
 715 #  - copies firmware into a package directory
 716 #  - calls paltform-specific packaging script
 717
 718 # Define some variables
 719 PACKAGE_LBL       := $(shell $(VERSION_INFO) --format=\$${LABEL})
 720 PACKAGE_NAME      := OpenPilot
 721 PACKAGE_SEP       := -
 722 PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
 723
 724 include $(ROOT_DIR)/package/$(UNAME).mk
 725
 726 # Source distribution is never dirty because it uses git archive
 727 DIST_NAME := $(DIST_DIR)/$(subst dirty-,,$(PACKAGE_FULL_NAME)).tar
 728
 729 ##############################
 730 #
 731 # Source code formatting
 732 #
 733 ##############################
 734
 735 UNCRUSTIFY_TARGETS := flight ground
 736
 737 # $(1) = Uncrustify target (e.g flight or ground)
 738 # $(2) = Target root directory
 739 define UNCRUSTIFY_TEMPLATE
 740
 741 .PHONY: uncrustify_$(1)
 742 uncrustify_$(1):
 743         @$(ECHO) "Auto-formatting $(1) source code"
 744         $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
 745 endef
 746
 747 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
 748
 749 .PHONY: uncrustify_all
 750 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
 751
 752 ##############################
 753 #
 754 # Doxygen documentation
 755 #
 756 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
 757 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
 758 #
 759 ##############################
 760
 761 DOCS_TARGETS := flight ground uavobjects
 762
 763 # $(1) = Doxygen target (e.g flight or ground)
 764 define DOXYGEN_TEMPLATE
 765
 766 .PHONY: docs_$(1)
 767 docs_$(1): docs_$(1)_clean
 768         @$(ECHO) "Generating $(1) documentation"
 769         $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
 770         $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
 771
 772 .PHONY: docs_$(1)_clean
 773 docs_$(1)_clean:
 774         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs/$(1))"
 775         $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
 776
 777 endef
 778
 779 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
 780
 781 .PHONY: docs_all
 782 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
 783
 784 .PHONY: docs_all_clean
 785 docs_all_clean:
 786         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs)"
 787         $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
 788
 789 ##############################
 790 #
 791 # Build info
 792 #
 793 ##############################
 794
 795 .PHONY: build-info
 796 build-info: | $(BUILD_DIR)
 797         @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
 798         $(V1) $(VERSION_INFO) \
 799                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
 800                 --template="make/templates/$@.txt" \
 801                 --outfile="$(BUILD_DIR)/$@.txt"
 802
 803 ##############################
 804 #
 805 # Source for distribution
 806 #
 807 ##############################
 808
 809 DIST_VER_INFO := $(DIST_DIR)/version-info.json
 810
 811 $(DIST_VER_INFO): .git/index | $(DIST_DIR)
 812         $(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
 813
 814
 815 $(DIST_NAME).gz: $(DIST_VER_INFO) .git/index | $(DIST_DIR)
 816         @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_NAME).gz)"
 817         $(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_NAME)" HEAD
 818         $(V1) tar --append --file="$(DIST_NAME)" \
 819                 --transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
 820                 $(call toprel, "$(DIST_VER_INFO)")
 821         $(V1) gzip -f "$(DIST_NAME)"
 822
 823 .PHONY: dist
 824 dist: $(DIST_NAME).gz
 825
 826
 827 ##############################
 828 #
 829 # Directories
 830 #
 831 ##############################
 832
 833 $(DIRS):
 834         $(V1) $(MKDIR) -p $@
 835
 836
 837 ##############################
 838 #
 839 # Help message, the default Makefile goal
 840 #
 841 ##############################
 842
 843 .DEFAULT_GOAL := help
 844
 845 .PHONY: help
 846 help:
 847         @$(ECHO)
 848         @$(ECHO) "   This Makefile is known to work on Linux and Mac in a standard shell environment."
 849         @$(ECHO) "   It also works on Windows by following the instructions given on this wiki page:"
 850         @$(ECHO) "       http://wiki.openpilot.org/display/Doc/Windows%3A+Building+and+Packaging"
 851         @$(ECHO)
 852         @$(ECHO) "   Here is a summary of the available targets:"
 853         @$(ECHO)
 854         @$(ECHO) "   [Source tree preparation]"
 855         @$(ECHO) "     prepare              - Install GIT commit message template"
 856         @$(ECHO) "   [Tool Installers]"
 857         @$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 858         @$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 859         @$(ECHO) "     nsis_install         - Install the NSIS Unicode (Windows only)"
 860         @$(ECHO) "     sdl_install          - Install the SDL library (Windows only)"
 861         @$(ECHO) "     mesawin_install      - Install the OpenGL32 DLL (Windows only)"
 862         @$(ECHO) "     openssl_install      - Install the OpenSSL libraries (Windows only)"
 863         @$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 864         @$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 865         @$(ECHO) "     gtest_install        - Install the GoogleTest framework"
 866         @$(ECHO) "   These targets are not updated yet and are probably broken:"
 867         @$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 868         @$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 869         @$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
 870         @$(ECHO) "   Install all available tools:"
 871         @$(ECHO) "     all_sdk_install      - Install all of above (platform-dependent)"
 872         @$(ECHO) "     build_sdk_install    - Install only essential for build tools (platform-dependent)"
 873         @$(ECHO)
 874         @$(ECHO) "   Other tool options are:"
 875         @$(ECHO) "     <tool>_version       - Display <tool> version"
 876         @$(ECHO) "     <tool>_clean         - Remove installed <tool>"
 877         @$(ECHO) "     <tool>_distclean     - Remove downloaded <tool> distribution file(s)"
 878         @$(ECHO)
 879         @$(ECHO) "   [Big Hammer]"
 880         @$(ECHO) "     all                  - Generate UAVObjects, build openpilot firmware and gcs"
 881         @$(ECHO) "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 882         @$(ECHO) "     all_fw               - Build only firmware for all boards"
 883         @$(ECHO) "     all_bl               - Build only bootloaders for all boards"
 884         @$(ECHO) "     all_bu               - Build only bootloader updaters for all boards"
 885         @$(ECHO)
 886         @$(ECHO) "     all_clean            - Remove your build directory ($(BUILD_DIR))"
 887         @$(ECHO) "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
 888         @$(ECHO) "     all_fw_clean         - Remove firmware for all boards"
 889         @$(ECHO) "     all_bl_clean         - Remove bootloaders for all boards"
 890         @$(ECHO) "     all_bu_clean         - Remove bootloader updaters for all boards"
 891         @$(ECHO)
 892         @$(ECHO) "     all_<board>          - Build all available images for <board>"
 893         @$(ECHO) "     all_<board>_clean    - Remove all available images for <board>"
 894         @$(ECHO)
 895         @$(ECHO) "     all_ut               - Build all unit tests"
 896         @$(ECHO) "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
 897         @$(ECHO) "     all_ut_run           - Run all unit tests and dump TAP output to console"
 898         @$(ECHO)
 899         @$(ECHO) "   [Firmware]"
 900         @$(ECHO) "     <board>              - Build firmware for <board>"
 901         @$(ECHO) "                            Supported boards are ($(ALL_BOARDS))"
 902         @$(ECHO) "     fw_<board>           - Build firmware for <board>"
 903         @$(ECHO) "                            Supported boards are ($(FW_BOARDS))"
 904         @$(ECHO) "     fw_<board>_clean     - Remove firmware for <board>"
 905         @$(ECHO) "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 906         @$(ECHO)
 907         @$(ECHO) "   [Bootloader]"
 908         @$(ECHO) "     bl_<board>           - Build bootloader for <board>"
 909         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 910         @$(ECHO) "     bl_<board>_clean     - Remove bootloader for <board>"
 911         @$(ECHO) "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 912         @$(ECHO)
 913         @$(ECHO) "   [Entire Flash]"
 914         @$(ECHO) "     ef_<board>           - Build entire flash image for <board>"
 915         @$(ECHO) "                            Supported boards are ($(EF_BOARDS))"
 916         @$(ECHO) "     ef_<board>_clean     - Remove entire flash image for <board>"
 917         @$(ECHO) "     ef_<board>_program   - Use OpenOCD + JTAG to write entire flash image to <board>"
 918         @$(ECHO)
 919         @$(ECHO) "   [Bootloader Updater]"
 920         @$(ECHO) "     bu_<board>           - Build bootloader updater for <board>"
 921         @$(ECHO) "                            Supported boards are ($(BU_BOARDS))"
 922         @$(ECHO) "     bu_<board>_clean     - Remove bootloader updater for <board>"
 923         @$(ECHO)
 924         @$(ECHO) "   [Unbrick a board]"
 925         @$(ECHO) "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 926         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 927         @$(ECHO) "   [Unittests]"
 928         @$(ECHO) "     ut_<test>            - Build unit test <test>"
 929         @$(ECHO) "     ut_<test>_xml        - Run test and capture XML output into a file"
 930         @$(ECHO) "     ut_<test>_run        - Run test and dump output to console"
 931         @$(ECHO)
 932         @$(ECHO) "   [Simulation]"
 933         @$(ECHO) "     sim_osx              - Build OpenPilot simulation firmware for OSX"
 934         @$(ECHO) "     sim_osx_clean        - Delete all build output for the osx simulation"
 935         @$(ECHO) "     sim_win32            - Build OpenPilot simulation firmware for Windows"
 936         @$(ECHO) "                            using mingw and msys"
 937         @$(ECHO) "     sim_win32_clean      - Delete all build output for the win32 simulation"
 938         @$(ECHO)
 939         @$(ECHO) "   [GCS]"
 940         @$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
 941         @$(ECHO) "                            Compile specific directory: MAKE_DIR=<dir>"
 942         @$(ECHO) "                            Example: make gcs MAKE_DIR=src/plugins/coreplugin"
 943         @$(ECHO) "     gcs_qmake            - Run qmake for the Ground Control System (GCS) application (debug|release)"
 944         @$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
 945         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 946         @$(ECHO)
 947         @$(ECHO) "   [Uploader Tool]"
 948         @$(ECHO) "     uploader             - Build the serial uploader tool (debug|release)"
 949         @$(ECHO) "     uploader_qmake       - Run qmake for the serial uploader tool (debug|release)"
 950         @$(ECHO) "     uploader_clean       - Remove the serial uploader tool (debug|release)"
 951         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 952         @$(ECHO)
 953         @$(ECHO)
 954         @$(ECHO) "   [UAVObjects]"
 955         @$(ECHO) "     uavobjects           - Generate source files from the UAVObject definition XML files"
 956         @$(ECHO) "     uavobjects_test      - Parse xml-files - check for valid, duplicate ObjId's, ..."
 957         @$(ECHO) "     uavobjects_<group>   - Generate source files from a subset of the UAVObject definition XML files"
 958         @$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
 959         @$(ECHO)
 960         @$(ECHO) "   [Packaging]"
 961         @$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package (no clean)"
 962         @$(ECHO) "     opfw_resource        - Generate resources to embed firmware binaries into the GCS"
 963         @$(ECHO) "     dist                 - Generate source archive for distribution"
 964         @$(ECHO) "     install              - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
 965         @$(ECHO)
 966         @$(ECHO) "   [Code Formatting]"
 967         @$(ECHO) "     uncrustify_<source>  - Reformat <source> code according to the project's standards"
 968         @$(ECHO) "                            Supported sources are ($(UNCRUSTIFY_TARGETS))"
 969         @$(ECHO) "     uncrustify_all       - Reformat all source code"
 970         @$(ECHO)
 971         @$(ECHO) "   [Code Documentation]"
 972         @$(ECHO) "     docs_<source>        - Generate HTML documentation for <source>"
 973         @$(ECHO) "                            Supported sources are ($(DOCS_TARGETS))"
 974         @$(ECHO) "     docs_all             - Generate HTML documentation for all"
 975         @$(ECHO) "     docs_<source>_clean  - Delete generated documentation for <source>"
 976         @$(ECHO) "     docs_all_clean       - Delete all generated documentation"
 977         @$(ECHO)
 978         @$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
 979         @$(ECHO)
 980         @$(ECHO) "  Notes: All tool distribution files will be downloaded into $(DL_DIR)"
 981         @$(ECHO) "         All tools will be installed into $(TOOLS_DIR)"
 982         @$(ECHO) "         All build output will be placed in $(BUILD_DIR)"
 983         @$(ECHO)
 984         @$(ECHO) "  Tool download and install directories can be changed using environment variables:"
 985         @$(ECHO) "         OPENPILOT_DL_DIR        full path to downloads directory [downloads if not set]"
 986         @$(ECHO) "         OPENPILOT_TOOLS_DIR     full path to installed tools directory [tools if not set]"
 987         @$(ECHO) "  More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
 988         @$(ECHO)