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
  51 # Set up default build configurations (debug | release)
  52 GCS_BUILD_CONF          := release
  53 UAVOGEN_BUILD_CONF      := release
  54 ANDROIDGCS_BUILD_CONF   := debug
  55 GOOGLE_API_VERSION      := 14
  56
  57 # Clean out undesirable variables from the environment and command-line
  58 # to remove the chance that they will cause problems with our build
  59 define SANITIZE_VAR
  60 $(if $(filter-out undefined,$(origin $(1))),
  61     $(info $(EMPTY) NOTE        Sanitized $(2) variable '$(1)' from $(origin $(1)))
  62     MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
  63     override $(1) :=
  64     unexport $(1)
  65 )
  66 endef
  67
  68 # These specific variables can influence gcc in unexpected (and undesirable) ways
  69 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
  70 SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
  71 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
  72
  73 # These specific variables used to be valid but now they make no sense
  74 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
  75 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
  76
  77 # Make sure this isn't being run as root (no whoami on Windows, but that is ok here)
  78 ifeq ($(shell whoami 2>/dev/null),root)
  79     $(error You should not be running this as root)
  80 endif
  81
  82 # Decide on a verbosity level based on the V= parameter
  83 export AT := @
  84 ifndef V
  85     export V0    :=
  86     export V1    := $(AT)
  87 else ifeq ($(V), 0)
  88     export V0    := $(AT)
  89     export V1    := $(AT)
  90 else ifeq ($(V), 1)
  91 endif
  92
  93 # Make sure we know few things about the architecture before including
  94 # the tools.mk to ensure that we download/install the right tools.
  95 UNAME := $(shell uname)
  96 ARCH  := $(shell uname -m)
  97 # Here and everywhere if not Linux or Mac then assume Windows
  98 ifeq ($(filter Linux Darwin, $(UNAME)), )
  99     UNAME := Windows
 100 endif
 101
 102 # Include tools installers
 103 include $(ROOT_DIR)/make/tools.mk
 104
 105 # We almost need to consider autoconf/automake instead of this
 106 ifeq ($(UNAME), Linux)
 107     QT_SPEC = linux-g++
 108     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/uavobjgenerator"
 109 else ifeq ($(UNAME), Darwin)
 110     QT_SPEC = macx-g++
 111     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/uavobjgenerator"
 112 else ifeq ($(UNAME), Windows)
 113     QT_SPEC = win32-g++
 114     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/$(UAVOGEN_BUILD_CONF)/uavobjgenerator.exe"
 115 endif
 116
 117 ##############################
 118 #
 119 # All targets
 120 #
 121 ##############################
 122
 123 .PHONY: all
 124 all: uavobjects all_ground all_flight
 125
 126 .PHONY: all_clean
 127 all_clean:
 128         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 129         $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 130
 131 $(DL_DIR):
 132         $(MKDIR) -p $@
 133
 134 $(TOOLS_DIR):
 135         $(MKDIR) -p $@
 136
 137 $(BUILD_DIR):
 138         $(MKDIR) -p $@
 139
 140 ##############################
 141 #
 142 # UAVObjects
 143 #
 144 ##############################
 145
 146 ifeq ($(V), 1)
 147     UAVOGEN_SILENT :=
 148 else
 149     UAVOGEN_SILENT := silent
 150 endif
 151
 152 .PHONY: uavobjgenerator
 153 uavobjgenerator:
 154         $(V1) $(MKDIR) -p $(BUILD_DIR)/$@
 155         $(V1) ( cd $(BUILD_DIR)/$@ && \
 156             $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="$(UAVOGEN_BUILD_CONF) $(UAVOGEN_SILENT)" && \
 157             $(MAKE) --no-print-directory -w ; \
 158         )
 159
 160 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
 161
 162 .PHONY: uavobjects
 163 uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 164
 165 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 166 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
 167
 168 $(UAVOBJ_OUT_DIR):
 169         $(V1) $(MKDIR) -p $@
 170
 171 uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
 172         $(V1) ( cd $(UAVOBJ_OUT_DIR) && \
 173             $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
 174         )
 175
 176 uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
 177         $(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 178
 179 uavobjects_clean:
 180         @$(ECHO) " CLEAN      $(call toprel, $(UAVOBJ_OUT_DIR))"
 181         $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 182
 183 ##############################
 184 #
 185 # Flight related components
 186 #
 187 ##############################
 188
 189 # Define some pointers to the various important pieces of the flight code
 190 # to prevent these being repeated in every sub makefile
 191 export PIOS          := $(ROOT_DIR)/flight/pios
 192 export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
 193 export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
 194 export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
 195 export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
 196 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 197 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 198
 199 # Define supported board lists
 200 ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix
 201
 202 # Short names of each board (used to display board name in parallel builds)
 203 coptercontrol_short    := 'cc  '
 204 oplinkmini_short       := 'oplm'
 205 revolution_short       := 'revo'
 206 osd_short              := 'osd '
 207 revoproto_short        := 'revp'
 208 simposix_short         := 'posx'
 209
 210 # SimPosix only builds on Linux so drop it from the list for
 211 # all other platforms.
 212 ifneq ($(UNAME), Linux)
 213     ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
 214 endif
 215
 216 # Start out assuming that we'll build fw, bl and bu for all boards
 217 FW_BOARDS  := $(ALL_BOARDS)
 218 BL_BOARDS  := $(ALL_BOARDS)
 219 BU_BOARDS  := $(ALL_BOARDS)
 220 EF_BOARDS  := $(ALL_BOARDS)
 221
 222 # SimPosix doesn't have a BL, BU or EF target so we need to
 223 # filter them out to prevent errors on the all_flight target.
 224 BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
 225 BU_BOARDS  := $(filter-out simposix, $(BU_BOARDS))
 226 EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
 227
 228 # Generate the targets for whatever boards are left in each list
 229 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
 230 BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
 231 BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
 232 EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
 233
 234 # When building any of the "all_*" targets, tell all sub makefiles to display
 235 # additional details on each line of output to describe which build and target
 236 # that each line applies to. The same applies also to all, opfw_resource,
 237 # package and clean_package targets
 238 ifneq ($(strip $(filter all_% all opfw_resource package clean_package,$(MAKECMDGOALS))),)
 239     export ENABLE_MSG_EXTRA := yes
 240 endif
 241
 242 # When building more than one goal in a single make invocation, also
 243 # enable the extra context for each output line
 244 ifneq ($(word 2,$(MAKECMDGOALS)),)
 245     export ENABLE_MSG_EXTRA := yes
 246 endif
 247
 248 # TEMPLATES (used to generate build rules)
 249
 250 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 251 # $(2) = Short name for board (e.g cc)
 252 define FW_TEMPLATE
 253 .PHONY: $(1) fw_$(1)
 254 $(1): fw_$(1)_opfw
 255 fw_$(1): fw_$(1)_opfw
 256
 257 fw_$(1)_%: uavobjects_flight
 258         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 259         $(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
 260         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
 261                 $$(MAKE) -r --no-print-directory \
 262                 BUILD_TYPE=fw \
 263                 BOARD_NAME=$(1) \
 264                 BOARD_SHORT_NAME=$(2) \
 265                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
 266                 OUTDIR=$(BUILD_DIR)/fw_$(1) \
 267                 TARGET=fw_$(1) \
 268                 $$*
 269
 270 .PHONY: $(1)_clean
 271 $(1)_clean: fw_$(1)_clean
 272 fw_$(1)_clean:
 273         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/fw_$(1))"
 274         $(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
 275 endef
 276
 277 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 278 # $(2) = Short name for board (e.g cc)
 279 define BL_TEMPLATE
 280 .PHONY: bl_$(1)
 281 bl_$(1): bl_$(1)_bin
 282 bl_$(1)_bino: bl_$(1)_bin
 283
 284 bl_$(1)_%:
 285         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 286         $(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
 287         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
 288                 $$(MAKE) -r --no-print-directory \
 289                 BUILD_TYPE=bl \
 290                 BOARD_NAME=$(1) \
 291                 BOARD_SHORT_NAME=$(2) \
 292                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
 293                 OUTDIR=$(BUILD_DIR)/bl_$(1) \
 294                 TARGET=bl_$(1) \
 295                 $$*
 296
 297 .PHONY: unbrick_$(1)
 298 unbrick_$(1): bl_$(1)_hex
 299 $(if $(filter-out undefined,$(origin UNBRICK_TTY)),
 300         $(V0) @$(ECHO) " UNBRICK    $(1) via $$(UNBRICK_TTY)"
 301         $(V1) $(STM32FLASH_DIR)/stm32flash \
 302                 -w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
 303                 -g 0x0 \
 304                 $$(UNBRICK_TTY)
 305 ,
 306         $(V0) @$(ECHO)
 307         $(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
 308         $(V0) @$(ECHO) "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
 309 )
 310
 311 .PHONY: bl_$(1)_clean
 312 bl_$(1)_clean:
 313         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bl_$(1))"
 314         $(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
 315 endef
 316
 317 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 318 # $(2) = Short name for board (e.g cc)
 319 define BU_TEMPLATE
 320 .PHONY: bu_$(1)
 321 bu_$(1): bu_$(1)_opfw
 322
 323 bu_$(1)_%: bl_$(1)_bino
 324         $(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
 325         $(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
 326                 $$(MAKE) -r --no-print-directory \
 327                 BUILD_TYPE=bu \
 328                 BOARD_NAME=$(1) \
 329                 BOARD_SHORT_NAME=$(2) \
 330                 TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
 331                 OUTDIR=$(BUILD_DIR)/bu_$(1) \
 332                 TARGET=bu_$(1) \
 333                 $$*
 334
 335 .PHONY: bu_$(1)_clean
 336 bu_$(1)_clean:
 337         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bu_$(1))"
 338         $(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
 339 endef
 340
 341 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 342 # $(2) = Short name for board (e.g cc)
 343 define EF_TEMPLATE
 344 .PHONY: ef_$(1)
 345 ef_$(1): ef_$(1)_bin
 346
 347 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 348         $(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
 349         $(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
 350                 $$(MAKE) -r --no-print-directory \
 351                 BUILD_TYPE=ef \
 352                 BOARD_NAME=$(1) \
 353                 BOARD_SHORT_NAME=$(2) \
 354                 DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
 355                 TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
 356                 OUTDIR=$(BUILD_DIR)/ef_$(1) \
 357                 TARGET=ef_$(1) \
 358                 $$*
 359
 360 .PHONY: ef_$(1)_clean
 361 ef_$(1)_clean:
 362         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/ef_$(1))"
 363         $(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
 364 endef
 365
 366 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 367 define BOARD_PHONY_TEMPLATE
 368 .PHONY: all_$(1)
 369 all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
 370 all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
 371 all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
 372 all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
 373
 374 .PHONY: all_$(1)_clean
 375 all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
 376 all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
 377 all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
 378 all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
 379 endef
 380
 381 # Generate flight build rules
 382 .PHONY: all_fw all_fw_clean
 383 all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
 384 all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
 385
 386 .PHONY: all_bl all_bl_clean
 387 all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
 388 all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
 389
 390 .PHONY: all_bu all_bu_clean
 391 all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
 392 all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 393
 394 .PHONY: all_ef all_ef_clean
 395 all_ef:        $(EF_TARGETS)
 396 all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
 397
 398 .PHONY: all_flight all_flight_clean
 399 all_flight:       all_fw all_bl all_bu all_ef
 400 all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
 401
 402 # Expand the groups of targets for each board
 403 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 404
 405 # Expand the firmware rules
 406 $(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
 407
 408 # Expand the bootloader rules
 409 $(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
 410
 411 # Expand the bootloader updater rules
 412 $(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
 413
 414 # Expand the entire-flash rules
 415 $(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
 416
 417 .PHONY: sim_win32
 418 sim_win32: sim_win32_exe
 419
 420 sim_win32_%: uavobjects_flight
 421         $(V1) $(MKDIR) -p $(BUILD_DIR)/sitl_win32
 422         $(V1) $(MAKE) --no-print-directory \
 423                 -C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
 424
 425 .PHONY: sim_osx
 426 sim_osx: sim_osx_elf
 427
 428 sim_osx_%: uavobjects_flight
 429         $(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
 430         $(V1) $(MAKE) --no-print-directory \
 431                 -C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
 432
 433 ##############################
 434 #
 435 # GCS related components
 436 #
 437 ##############################
 438
 439 .PHONY: all_ground
 440 all_ground: openpilotgcs
 441
 442 # Convenience target for the GCS
 443 .PHONY: gcs gcs_clean
 444 gcs: openpilotgcs
 445 gcs_clean: openpilotgcs_clean
 446
 447 ifeq ($(V), 1)
 448     GCS_SILENT :=
 449 else
 450     GCS_SILENT := silent
 451 endif
 452
 453 .NOTPARALLEL:
 454 .PHONY: openpilotgcs
 455 openpilotgcs: uavobjects_gcs openpilotgcs_qmake openpilotgcs_make
 456
 457 .PHONY: openpilotgcs_qmake
 458 openpilotgcs_qmake:
 459 ifeq ($(QMAKE_SKIP),)
 460         $(V1) $(MKDIR) -p $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
 461         $(V1) ( cd $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF) && \
 462             $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
 463         )
 464 else
 465         @$(ECHO) "skipping qmake"
 466 endif
 467
 468 .PHONY: openpilotgcs_make
 469 openpilotgcs_make:
 470         $(V1) $(MKDIR) -p $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
 471         $(V1) ( cd $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/$(MAKE_DIR) && \
 472             $(MAKE) -w ; \
 473         )
 474
 475 .PHONY: openpilotgcs_clean
 476 openpilotgcs_clean:
 477         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF))"
 478         $(V1) [ ! -d "$(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)" ] || $(RM) -r "$(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)"
 479
 480 ################################
 481 #
 482 # Android GCS related components
 483 #
 484 ################################
 485
 486 # Build the output directory for the Android GCS build
 487 ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
 488 $(ANDROIDGCS_OUT_DIR):
 489         $(V1) $(MKDIR) -p $@
 490
 491 # Build the asset directory for the android assets
 492 ANDROIDGCS_ASSETS_DIR := $(ANDROIDGCS_OUT_DIR)/assets
 493 $(ANDROIDGCS_ASSETS_DIR)/uavos:
 494         $(V1) $(MKDIR) -p $@
 495
 496 ifeq ($(V), 1)
 497     ANT_QUIET      :=
 498     ANDROID_SILENT :=
 499 else
 500     ANT_QUIET      := -q
 501     ANDROID_SILENT := -s
 502 endif
 503
 504 .PHONY: androidgcs
 505 androidgcs: uavo-collections_java
 506         $(V0) @$(ECHO) " ANDROID   $(call toprel, $(ANDROIDGCS_OUT_DIR))"
 507         $(V1) $(MKDIR) -p $(ANDROIDGCS_OUT_DIR)
 508         $(V1) $(ANDROID) $(ANDROID_SILENT) update project \
 509                 --target "Google Inc.:Google APIs:$(GOOGLE_API_VERSION)" \
 510                 --name androidgcs \
 511                 --path ./androidgcs
 512         $(V1) $(ANT) -f ./androidgcs/build.xml \
 513                 $(ANT_QUIET) \
 514                 -Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
 515                 -Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
 516                 $(ANDROIDGCS_BUILD_CONF)
 517
 518 .PHONY: androidgcs_clean
 519 androidgcs_clean:
 520         @$(ECHO) " CLEAN      $(call toprel, $(ANDROIDGCS_OUT_DIR))"
 521         $(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
 522
 523 # We want to take snapshots of the UAVOs at each point that they change
 524 # to allow the GCS to be compatible with as many versions as possible.
 525 # We always include a pseudo collection called "srctree" which represents
 526 # the UAVOs in the source tree. So not necessary to add current tree UAVO
 527 # hash here, it is always included.
 528
 529 # Find the git hashes of each commit that changes uavobjects with:
 530 #   git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
 531 # List only UAVO hashes of past releases, do not list current hash.
 532 # Past compatible versions are so far: RELEASE-12.10.2
 533 UAVO_GIT_VERSIONS := 5e14f53
 534
 535 # All versions includes also the current source tree UAVO hash
 536 UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
 537
 538 # This is where the UAVO collections are stored
 539 UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
 540
 541 # $(1) git hash of a UAVO snapshot
 542 define UAVO_COLLECTION_GIT_TEMPLATE
 543
 544 # Make the output directory that will contain all of the synthetics for the
 545 # uavo collection referenced by the git hash $(1)
 546 $$(UAVO_COLLECTION_DIR)/$(1):
 547         $$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
 548
 549 # Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
 550 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
 551 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
 552         $$(V0) @$(ECHO) " UAVOTAR   $(1)"
 553         $$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
 554
 555 # Extract the uavo xml files from our snapshot
 556 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
 557         $$(V0) @$(ECHO) " UAVOUNTAR $(1)"
 558         $$(V1) $(RM) -rf $$@
 559         $$(V1) $(MKDIR) -p $$@
 560         $$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
 561 endef
 562
 563 # Map the current working directory into the set of UAVO collections
 564 $(UAVO_COLLECTION_DIR)/srctree:
 565         $(V1) $(MKDIR) -p $@
 566
 567 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
 568 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
 569         $(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
 570
 571 # $(1) git hash (or symbolic name) of a UAVO snapshot
 572 define UAVO_COLLECTION_BUILD_TEMPLATE
 573
 574 # This leaves us with a (broken) symlink that points to the full sha1sum of the collection
 575 $$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
 576         # Compute the sha1 hash for this UAVO collection
 577         # The sed bit truncates the UAVO hash to 16 hex digits
 578         $$(V1) $$(VERSION_INFO) \
 579                         --uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
 580                         --format='$$$${UAVO_HASH}' | \
 581                 $(SED) -e 's|\(................\).*|\1|' > $$@
 582
 583         $$(V0) @$(ECHO) " UAVOHASH  $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 584
 585 # Generate the java uavobjects for this UAVO collection
 586 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
 587         $$(V0) @$(ECHO) " UAVOJAVA  $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 588         $$(V1) $(MKDIR) -p $$@
 589         $$(V1) ( \
 590                 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
 591                 $$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
 592         )
 593
 594 # Build a jar file for this UAVO collection
 595 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
 596 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
 597         $$(V0) @$(ECHO) " UAVOJAR   $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 598         $$(V1) ( \
 599                 HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
 600                 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
 601                 $(JAVAC) java/*.java \
 602                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
 603                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
 604                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
 605                         -d . && \
 606                 find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
 607                 $(JAR) cf tmp_uavobjects.jar @classlist.txt && \
 608                 $$(ANDROID_DX) \
 609                         --dex \
 610                         --output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
 611                         tmp_uavobjects.jar && \
 612                 $(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
 613         )
 614
 615 endef
 616
 617 # One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
 618 $(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
 619
 620 # One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
 621 $(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
 622
 623 .PHONY: uavo-collections_java
 624 uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
 625
 626 .PHONY: uavo-collections
 627 uavo-collections: uavo-collections_java
 628
 629 .PHONY: uavo-collections_clean
 630 uavo-collections_clean:
 631         @$(ECHO) " CLEAN      $(call toprel, $(UAVO_COLLECTION_DIR))"
 632         $(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
 633
 634 ##############################
 635 #
 636 # Unit Tests
 637 #
 638 ##############################
 639
 640 ALL_UNITTESTS := logfs
 641
 642 # Build the directory for the unit tests
 643 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
 644 $(UT_OUT_DIR):
 645         $(V1) $(MKDIR) -p $@
 646
 647 .PHONY: all_ut
 648 all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
 649
 650 .PHONY: all_ut_xml
 651 all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
 652
 653 .PHONY: all_ut_run
 654 all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
 655
 656 .PHONY: all_ut_clean
 657 all_ut_clean:
 658         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR))"
 659         $(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
 660
 661 # $(1) = Unit test name
 662 define UT_TEMPLATE
 663 .PHONY: ut_$(1)
 664 ut_$(1): ut_$(1)_run
 665
 666 ut_$(1)_%: $$(UT_OUT_DIR)
 667         $(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
 668         $(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
 669                 $$(MAKE) -r --no-print-directory \
 670                 BUILD_TYPE=ut \
 671                 BOARD_SHORT_NAME=$(1) \
 672                 TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
 673                 OUTDIR="$(UT_OUT_DIR)/$(1)" \
 674                 TARGET=$(1) \
 675                 $$*
 676
 677 .PHONY: ut_$(1)_clean
 678 ut_$(1)_clean:
 679         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR)/$(1))"
 680         $(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
 681 endef
 682
 683 # Expand the unittest rules
 684 $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
 685
 686 # Disable parallel make when the all_ut_run target is requested otherwise the TAP
 687 # output is interleaved with the rest of the make output.
 688 ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
 689 .NOTPARALLEL:
 690     $(info $(EMPTY) NOTE        Parallel make disabled by all_ut_run target so we have sane console output)
 691 endif
 692
 693 ##############################
 694 #
 695 # Packaging components
 696 #
 697 ##############################
 698
 699 # Firmware files to package
 700 PACKAGE_FW_TARGETS  := $(filter-out fw_simposix, $(FW_TARGETS))
 701 PACKAGE_ELF_TARGETS := $(filter     fw_simposix, $(FW_TARGETS))
 702
 703 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 704 # They are used later by the vehicle setup wizard to update board firmware.
 705 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 706 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
 707 OPFW_RESOURCE_PREFIX := ../../
 708 OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
 709 OPFW_CONTENTS := \
 710 <!DOCTYPE RCC><RCC version="1.0"> \
 711     <qresource prefix="/firmware"> \
 712         $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(OPFW_RESOURCE_PREFIX)$(fw_file)</file>) \
 713     </qresource> \
 714 </RCC>
 715
 716 .PHONY: opfw_resource
 717 opfw_resource: $(OPFW_RESOURCE)
 718
 719 $(OPFW_RESOURCE): $(FW_TARGETS)
 720         @$(ECHO) Generating OPFW resource file $(call toprel, $@)
 721         $(V1) $(MKDIR) -p $(dir $@)
 722         $(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 723
 724 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 725 ifneq ($(strip $(filter opfw_resource all all_fw all_flight,$(MAKECMDGOALS))),)
 726     $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
 727 endif
 728
 729 # Packaging targets: package, clean_package
 730 #  - removes build directory (clean_package only)
 731 #  - builds all firmware, opfw_resource, gcs
 732 #  - copies firmware into a package directory
 733 #  - calls paltform-specific packaging script
 734
 735 # Do some checks and define some values if package is requested
 736 ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
 737     # Define some variables
 738     export PACKAGE_LBL  := $(shell $(VERSION_INFO) --format=\$${LABEL})
 739     export PACKAGE_NAME := OpenPilot
 740     export PACKAGE_SEP  := -
 741
 742     # We can only package release builds
 743     ifneq ($(GCS_BUILD_CONF),release)
 744         $(error Packaging is currently supported for release builds only)
 745     endif
 746
 747     # Packaged GCS should depend on opfw_resource
 748     ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
 749         $(eval openpilotgcs: $(OPFW_RESOURCE))
 750     endif
 751
 752     # Clean the build directory if clean_package is requested
 753     ifneq ($(strip $(filter clean_package,$(MAKECMDGOALS))),)
 754         $(info Cleaning build directory before packaging...)
 755         ifneq ($(shell $(MAKE) all_clean >/dev/null 2>&1 && $(ECHO) "clean"), clean)
 756             $(error Cannot clean build directory)
 757         endif
 758
 759         .PHONY: clean_package
 760         clean_package: package
 761     endif
 762 endif
 763
 764 # Copy file template. Empty line before the endef is required, do not remove
 765 # $(1) = copy file name without extension
 766 # $(2) = source file extension
 767 # $(3) = destination file extension
 768 define COPY_FW_FILES
 769         $(V1) $(CP) "$(BUILD_DIR)/$(1)/$(1)$(2)" "$(PACKAGE_DIR)/firmware/$(1)$(PACKAGE_SEP)$(PACKAGE_LBL)$(3)"
 770
 771 endef
 772
 773 # Build and copy package files into the package directory
 774 # and call platform-specific packaging script
 775 .PHONY: package
 776 package: all_fw all_ground uavobjects_matlab
 777         @$(ECHO) "Packaging for $(UNAME) $(ARCH) into $(call toprel, $(PACKAGE_DIR)) directory"
 778         $(V1) [ ! -d "$(PACKAGE_DIR)" ] || $(RM) -rf "$(PACKAGE_DIR)"
 779         $(V1) $(MKDIR) -p "$(PACKAGE_DIR)/firmware"
 780         $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.opfw,.opfw))
 781         $(foreach fw_targ, $(PACKAGE_ELF_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.elf,.elf))
 782         $(MAKE) --no-print-directory -C $(ROOT_DIR)/package --file=$(UNAME).mk $@
 783
 784 ##############################
 785 #
 786 # Source code formatting
 787 #
 788 ##############################
 789
 790 UNCRUSTIFY_TARGETS := flight ground
 791
 792 # $(1) = Uncrustify target (e.g flight or ground)
 793 # $(2) = Target root directory
 794 define UNCRUSTIFY_TEMPLATE
 795
 796 .PHONY: uncrustify_$(1)
 797 uncrustify_$(1):
 798         @$(ECHO) "Auto-formatting $(1) source code"
 799         $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
 800 endef
 801
 802 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
 803
 804 .PHONY: uncrustify_all
 805 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
 806
 807 ##############################
 808 #
 809 # Doxygen documentation
 810 #
 811 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
 812 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
 813 #
 814 ##############################
 815
 816 DOCS_TARGETS := flight ground uavobjects
 817
 818 # $(1) = Doxygen target (e.g flight or ground)
 819 define DOXYGEN_TEMPLATE
 820
 821 .PHONY: docs_$(1)
 822 docs_$(1): docs_$(1)_clean
 823         @$(ECHO) "Generating $(1) documentation"
 824         $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
 825         $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
 826
 827 .PHONY: docs_$(1)_clean
 828 docs_$(1)_clean:
 829         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs/$(1))"
 830         $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
 831
 832 endef
 833
 834 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
 835
 836 .PHONY: docs_all
 837 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
 838
 839 .PHONY: docs_all_clean
 840 docs_all_clean:
 841         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs)"
 842         $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
 843
 844 ##############################
 845 #
 846 # Build info
 847 #
 848 ##############################
 849
 850 .PHONY: build-info
 851 build-info:
 852         @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
 853         $(V1) $(MKDIR) -p $(BUILD_DIR)
 854         $(V1) $(VERSION_INFO) \
 855                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
 856                 --template="make/templates/$@.txt" \
 857                 --outfile="$(BUILD_DIR)/$@.txt"
 858
 859 ##############################
 860 #
 861 # Help message, the default Makefile goal
 862 #
 863 ##############################
 864
 865 .DEFAULT_GOAL := help
 866
 867 .PHONY: help
 868 help:
 869         @$(ECHO)
 870         @$(ECHO) "   This Makefile is known to work on Linux and Mac in a standard shell environment."
 871         @$(ECHO) "   It also works on Windows by following the instructions given on this wiki page:"
 872         @$(ECHO) "       http://wiki.openpilot.org/display/Doc/Windows%3A+Building+and+Packaging"
 873         @$(ECHO)
 874         @$(ECHO) "   Here is a summary of the available targets:"
 875         @$(ECHO)
 876         @$(ECHO) "   [Source tree preparation]"
 877         @$(ECHO) "     prepare              - Install GIT commit message template"
 878         @$(ECHO) "   [Tool Installers]"
 879         @$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 880         @$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 881         @$(ECHO) "     nsis_install         - Install the NSIS Unicode (Windows only)"
 882         @$(ECHO) "     sdl_install          - Install the SDL library (Windows only)"
 883         @$(ECHO) "     openssl_install      - Install the OpenSSL libraries (Windows only)"
 884         @$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 885         @$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 886         @$(ECHO) "     gtest_install        - Install the GoogleTest framework"
 887         @$(ECHO) "   These targets are not updated yet and are probably broken:"
 888         @$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 889         @$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 890         @$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
 891         @$(ECHO) "     android_sdk_install  - Install the Android SDK tools"
 892         @$(ECHO) "   Install all available tools:"
 893         @$(ECHO) "     all_sdk_install      - Install all of above (platform-dependent)"
 894         @$(ECHO) "     build_sdk_install    - Install only essential for build tools (platform-dependent)"
 895         @$(ECHO)
 896         @$(ECHO) "   Other tool options are:"
 897         @$(ECHO) "     <tool>_version       - Display <tool> version"
 898         @$(ECHO) "     <tool>_clean         - Remove installed <tool>"
 899         @$(ECHO) "     <tool>_distclean     - Remove downloaded <tool> distribution file(s)"
 900         @$(ECHO)
 901         @$(ECHO) "   [Big Hammer]"
 902         @$(ECHO) "     all                  - Generate UAVObjects, build openpilot firmware and gcs"
 903         @$(ECHO) "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 904         @$(ECHO) "     all_fw               - Build only firmware for all boards"
 905         @$(ECHO) "     all_bl               - Build only bootloaders for all boards"
 906         @$(ECHO) "     all_bu               - Build only bootloader updaters for all boards"
 907         @$(ECHO)
 908         @$(ECHO) "     all_clean            - Remove your build directory ($(BUILD_DIR))"
 909         @$(ECHO) "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
 910         @$(ECHO) "     all_fw_clean         - Remove firmware for all boards"
 911         @$(ECHO) "     all_bl_clean         - Remove bootloaders for all boards"
 912         @$(ECHO) "     all_bu_clean         - Remove bootloader updaters for all boards"
 913         @$(ECHO)
 914         @$(ECHO) "     all_<board>          - Build all available images for <board>"
 915         @$(ECHO) "     all_<board>_clean    - Remove all available images for <board>"
 916         @$(ECHO)
 917         @$(ECHO) "     all_ut               - Build all unit tests"
 918         @$(ECHO) "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
 919         @$(ECHO) "     all_ut_run           - Run all unit tests and dump TAP output to console"
 920         @$(ECHO)
 921         @$(ECHO) "   [Firmware]"
 922         @$(ECHO) "     <board>              - Build firmware for <board>"
 923         @$(ECHO) "                            Supported boards are ($(ALL_BOARDS))"
 924         @$(ECHO) "     fw_<board>           - Build firmware for <board>"
 925         @$(ECHO) "                            Supported boards are ($(FW_BOARDS))"
 926         @$(ECHO) "     fw_<board>_clean     - Remove firmware for <board>"
 927         @$(ECHO) "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 928         @$(ECHO)
 929         @$(ECHO) "   [Bootloader]"
 930         @$(ECHO) "     bl_<board>           - Build bootloader for <board>"
 931         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 932         @$(ECHO) "     bl_<board>_clean     - Remove bootloader for <board>"
 933         @$(ECHO) "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 934         @$(ECHO)
 935         @$(ECHO) "   [Entire Flash]"
 936         @$(ECHO) "     ef_<board>           - Build entire flash image for <board>"
 937         @$(ECHO) "                            Supported boards are ($(EF_BOARDS))"
 938         @$(ECHO) "     ef_<board>_clean     - Remove entire flash image for <board>"
 939         @$(ECHO) "     ef_<board>_program   - Use OpenOCD + JTAG to write entire flash image to <board>"
 940         @$(ECHO)
 941         @$(ECHO) "   [Bootloader Updater]"
 942         @$(ECHO) "     bu_<board>           - Build bootloader updater for <board>"
 943         @$(ECHO) "                            Supported boards are ($(BU_BOARDS))"
 944         @$(ECHO) "     bu_<board>_clean     - Remove bootloader updater for <board>"
 945         @$(ECHO)
 946         @$(ECHO) "   [Unbrick a board]"
 947         @$(ECHO) "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 948         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 949         @$(ECHO) "   [Unittests]"
 950         @$(ECHO) "     ut_<test>            - Build unit test <test>"
 951         @$(ECHO) "     ut_<test>_xml        - Run test and capture XML output into a file"
 952         @$(ECHO) "     ut_<test>_run        - Run test and dump output to console"
 953         @$(ECHO)
 954         @$(ECHO) "   [Simulation]"
 955         @$(ECHO) "     sim_osx              - Build OpenPilot simulation firmware for OSX"
 956         @$(ECHO) "     sim_osx_clean        - Delete all build output for the osx simulation"
 957         @$(ECHO) "     sim_win32            - Build OpenPilot simulation firmware for Windows"
 958         @$(ECHO) "                            using mingw and msys"
 959         @$(ECHO) "     sim_win32_clean      - Delete all build output for the win32 simulation"
 960         @$(ECHO)
 961         @$(ECHO) "   [GCS]"
 962         @$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
 963         @$(ECHO) "                            Skip qmake: QMAKE_SKIP=1"
 964         @$(ECHO) "                            Compile specific directory: MAKE_DIR=<dir>"
 965         @$(ECHO) "                            Example: make gcs QMAKE_SKIP=1 MAKE_DIR=src/plugins/coreplugin"
 966         @$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
 967         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 968         @$(ECHO)
 969         @$(ECHO) "   [AndroidGCS]"
 970         @$(ECHO) "     androidgcs           - Build the Android Ground Control System (GCS) application"
 971         @$(ECHO) "     androidgcs_install   - Use ADB to install the Android GCS application"
 972         @$(ECHO) "     androidgcs_run       - Run the Android GCS application"
 973         @$(ECHO) "     androidgcs_clean     - Remove the Android GCS application"
 974         @$(ECHO)
 975         @$(ECHO) "   [UAVObjects]"
 976         @$(ECHO) "     uavobjects           - Generate source files from the UAVObject definition XML files"
 977         @$(ECHO) "     uavobjects_test      - Parse xml-files - check for valid, duplicate ObjId's, ..."
 978         @$(ECHO) "     uavobjects_<group>   - Generate source files from a subset of the UAVObject definition XML files"
 979         @$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
 980         @$(ECHO)
 981         @$(ECHO) "   [Packaging]"
 982         @$(ECHO) "     clean_package        - Clean, build and package the OpenPilot platform-dependent package"
 983         @$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package (no clean)"
 984         @$(ECHO) "     opfw_resource        - Generate resources to embed firmware binaries into the GCS"
 985         @$(ECHO)
 986         @$(ECHO) "   [Code Formatting]"
 987         @$(ECHO) "     uncrustify_<source>  - Reformat <source> code according to the project's standards"
 988         @$(ECHO) "                            Supported sources are ($(UNCRUSTIFY_TARGETS))"
 989         @$(ECHO) "     uncrustify_all       - Reformat all source code"
 990         @$(ECHO)
 991         @$(ECHO) "   [Code Documentation]"
 992         @$(ECHO) "     docs_<source>        - Generate HTML documentation for <source>"
 993         @$(ECHO) "                            Supported sources are ($(DOCS_TARGETS))"
 994         @$(ECHO) "     docs_all             - Generate HTML documentation for all"
 995         @$(ECHO) "     docs_<source>_clean  - Delete generated documentation for <source>"
 996         @$(ECHO) "     docs_all_clean       - Delete all generated documentation"
 997         @$(ECHO)
 998         @$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
 999         @$(ECHO)
1000         @$(ECHO) "  Notes: All tool distribution files will be downloaded into $(DL_DIR)"
1001         @$(ECHO) "         All tools will be installed into $(TOOLS_DIR)"
1002         @$(ECHO) "         All build output will be placed in $(BUILD_DIR)"
1003         @$(ECHO)
1004         @$(ECHO) "  Tool download and install directories can be changed using environment variables:"
1005         @$(ECHO) "         OPENPILOT_DL_DIR        full path to downloads directory [downloads if not set]"
1006         @$(ECHO) "         OPENPILOT_TOOLS_DIR     full path to installed tools directory [tools if not set]"
1007         @$(ECHO) "  More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
1008         @$(ECHO)