Makefile

   1 #
   2 # Top level Makefile for the LibrePilot project build system.
   3 # Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
   4 # Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
   5 # Use 'make help' for instructions.
   6 #
   7 # This program is free software; you can redistribute it and/or modify
   8 # it under the terms of the GNU General Public License as published by
   9 # the Free Software Foundation; either version 3 of the License, or
  10 # (at your option) any later version.
  11 #
  12 # This program is distributed in the hope that it will be useful, but
  13 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  14 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  15 # for more details.
  16 #
  17 # You should have received a copy of the GNU General Public License along
  18 # with this program; if not, write to the Free Software Foundation, Inc.,
  19 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  20 #
  21
  22 # This top level Makefile passes down some variables to sub-makes through
  23 # the environment. They are explicitly exported using the export keyword.
  24 # Lower level makefiles assume that these variables are defined. To ensure
  25 # that a special magic variable is exported here. It must be checked for
  26 # existance by each sub-make.
  27 export TOP_LEVEL_MAKEFILE := TRUE
  28
  29 # The root directory that this makefile resides in
  30 export ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
  31
  32 # Include some helper functions
  33 include $(ROOT_DIR)/make/functions.mk
  34
  35 # This file can be used to override default options using the "override" keyword
  36 CONFIG_FILE := config
  37 -include $(CONFIG_FILE)
  38
  39 ##############################
  40 # It is possible to set DL_DIR and/or TOOLS_DIR environment
  41 # variables to override local tools download and installation directorys. So the
  42 # same toolchains can be used for all working copies. Particularly useful for CI
  43 # server build agents, but also for local installations.
  44 override DL_DIR    := $(if $(DL_DIR),$(call slashfix,$(DL_DIR)),$(ROOT_DIR)/downloads)
  45 override TOOLS_DIR := $(if $(TOOLS_DIR),$(call slashfix,$(TOOLS_DIR)),$(ROOT_DIR)/tools)
  46 export DL_DIR
  47 export TOOLS_DIR
  48
  49 # Set up some macros for common directories within the tree
  50 export BUILD_DIR   := $(CURDIR)/build
  51 export PACKAGE_DIR := $(BUILD_DIR)/package
  52 export DIST_DIR    := $(BUILD_DIR)/dist
  53
  54 DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR)
  55
  56 # Naming for binaries and packaging etc,.
  57 ORG_BIG_NAME := LibrePilot
  58 GCS_BIG_NAME := ${ORG_BIG_NAME} GCS
  59 # These should be lowercase with no spaces
  60 ORG_SMALL_NAME := $(call smallify,$(ORG_BIG_NAME))
  61 GCS_SMALL_NAME := $(call smallify,$(GCS_BIG_NAME))
  62
  63 # Set up default build configurations (debug | release)
  64 GCS_BUILD_CONF          := release
  65 GOOGLE_API_VERSION      := 14
  66
  67 # Clean out undesirable variables from the environment and command-line
  68 # to remove the chance that they will cause problems with our build
  69 define SANITIZE_VAR
  70 $(if $(filter-out undefined,$(origin $(1))),
  71     $(info $(EMPTY) NOTE        Sanitized $(2) variable '$(1)' from $(origin $(1)))
  72     MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
  73     override $(1) :=
  74     unexport $(1)
  75 )
  76 endef
  77
  78 # These specific variables can influence compilation in unexpected (and undesirable) ways
  79 # gcc flags
  80 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
  81 # preprocessor flags
  82 SANITIZE_GCC_VARS += CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
  83 # make flags
  84 SANITIZE_GCC_VARS += CFLAGS CXXFLAGS CPPFLAGS LDFLAGS LDLIBS
  85 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
  86
  87 # These specific variables used to be valid but now they make no sense
  88 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
  89 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
  90
  91 # Make sure this isn't being run as root unless installing (no whoami on Windows, but that is ok here)
  92 ifeq ($(shell whoami 2>/dev/null),root)
  93     ifeq ($(filter install,$(MAKECMDGOALS)),)
  94         ifndef FAKEROOTKEY
  95             $(error You should not be running this as root)
  96         endif
  97     endif
  98 endif
  99
 100 # Decide on a verbosity level based on the V= parameter
 101 export AT := @
 102 ifndef V
 103     export V0    :=
 104     export V1    := $(AT)
 105 else ifeq ($(V), 0)
 106     export V0    := $(AT)
 107     export V1    := $(AT)
 108 else ifeq ($(V), 1)
 109 endif
 110
 111 # Make sure we know few things about the architecture before including
 112 # the tools.mk to ensure that we download/install the right tools.
 113 UNAME := $(shell uname)
 114 ARCH  := $(shell uname -m)
 115 # Here and everywhere if not Linux or Mac then assume Windows
 116 ifeq ($(filter Linux Darwin, $(UNAME)), )
 117     UNAME := Windows
 118 endif
 119
 120 # Include tools installers
 121 include $(ROOT_DIR)/make/tools.mk
 122
 123 # Include third party builders if available
 124 -include $(ROOT_DIR)/make/3rdparty/3rdparty.mk
 125
 126 # We almost need to consider autoconf/automake instead of this
 127 ifeq ($(UNAME), Linux)
 128     QT_SPEC := linux-g++
 129     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 130 else ifeq ($(UNAME), Darwin)
 131     QT_SPEC := macx-g++
 132     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 133 else ifeq ($(UNAME), Windows)
 134     QT_SPEC := win32-g++
 135     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
 136 endif
 137
 138 #
 139 # All targets
 140 #
 141 ##############################
 142
 143 .PHONY: all
 144 all: uavobjects all_ground all_flight
 145
 146 .PHONY: all_clean
 147 all_clean:
 148         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 149         $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 150
 151 .PHONY: clean
 152 clean: all_clean
 153
 154
 155 ##############################
 156 #
 157 # UAVObjects
 158 #
 159 ##############################
 160
 161 UAVOBJGENERATOR_DIR := $(BUILD_DIR)/uavobjgenerator
 162 DIRS += $(UAVOBJGENERATOR_DIR)
 163
 164 .PHONY: uavobjgenerator
 165 uavobjgenerator $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
 166         $(V1) cd $(UAVOBJGENERATOR_DIR) && \
 167             ( [ -f Makefile ] || $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
 168             -spec $(QT_SPEC) CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) ) && \
 169             $(MAKE) --no-print-directory -w
 170
 171 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
 172
 173 .PHONY: uavobjects
 174 uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 175
 176 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 177 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
 178
 179 uavobjects_%:  uavobjgenerator
 180         @$(MKDIR) -p $(UAVOBJ_OUT_DIR)/$*
 181         $(V1) ( cd $(UAVOBJ_OUT_DIR)/$* && \
 182             $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
 183         )
 184
 185 uavobjects_test:  uavobjgenerator
 186         $(V1) $(UAVOBJGENERATOR) -v $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 187
 188 uavobjects_clean:
 189         @$(ECHO) " CLEAN      $(call toprel, $(UAVOBJ_OUT_DIR))"
 190         $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 191
 192 ##############################
 193 #
 194 # Flight related components
 195 #
 196 ##############################
 197
 198 # Define some pointers to the various important pieces of the flight code
 199 # to prevent these being repeated in every sub makefile
 200 export PIOS          := $(ROOT_DIR)/flight/pios
 201 export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
 202 export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
 203 export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
 204 export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
 205 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 206 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 207
 208 DIRS += $(OPGCSSYNTHDIR)
 209
 210 # Define supported board lists
 211 ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
 212
 213 # Short names of each board (used to display board name in parallel builds)
 214 coptercontrol_short    := 'cc  '
 215 oplinkmini_short       := 'oplm'
 216 revolution_short       := 'revo'
 217 osd_short              := 'osd '
 218 revoproto_short        := 'revp'
 219 revonano_short         := 'revn'
 220 simposix_short         := 'posx'
 221 discoveryf4bare_short  := 'df4b'
 222 gpsplatinum_short      := 'gps9'
 223
 224 # SimPosix only builds on Linux so drop it from the list for
 225 # all other platforms.
 226 ifneq ($(UNAME), Linux)
 227     ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
 228 endif
 229
 230 # Start out assuming that we'll build fw, bl and bu for all boards
 231 FW_BOARDS  := $(ALL_BOARDS)
 232 BL_BOARDS  := $(ALL_BOARDS)
 233 BU_BOARDS  := $(ALL_BOARDS)
 234 EF_BOARDS  := $(ALL_BOARDS)
 235
 236 # SimPosix doesn't have a BL, BU or EF target so we need to
 237 # filter them out to prevent errors on the all_flight target.
 238 BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
 239 BU_BOARDS  := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
 240 EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
 241
 242 # Generate the targets for whatever boards are left in each list
 243 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
 244 BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
 245 BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
 246 EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
 247
 248 # When building any of the "all_*" targets, tell all sub makefiles to display
 249 # additional details on each line of output to describe which build and target
 250 # that each line applies to. The same applies also to all, opfw_resource,
 251 # package targets
 252 ifneq ($(strip $(filter all_% all opfw_resource package,$(MAKECMDGOALS))),)
 253     export ENABLE_MSG_EXTRA := yes
 254 endif
 255
 256 # When building more than one goal in a single make invocation, also
 257 # enable the extra context for each output line
 258 ifneq ($(word 2,$(MAKECMDGOALS)),)
 259     export ENABLE_MSG_EXTRA := yes
 260 endif
 261
 262 # TEMPLATES (used to generate build rules)
 263
 264 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 265 # $(2) = Short name for board (e.g cc)
 266 define FW_TEMPLATE
 267 .PHONY: $(1) fw_$(1)
 268 $(1): fw_$(1)_opfw
 269 fw_$(1): fw_$(1)_opfw
 270
 271 fw_$(1)_%: uavobjects_flight
 272         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 273         $(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
 274         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
 275                 $$(MAKE) -r --no-print-directory \
 276                 BUILD_TYPE=fw \
 277                 BOARD_NAME=$(1) \
 278                 BOARD_SHORT_NAME=$(2) \
 279                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
 280                 OUTDIR=$(BUILD_DIR)/fw_$(1) \
 281                 TARGET=fw_$(1) \
 282                 $$*
 283
 284 .PHONY: $(1)_clean
 285 $(1)_clean: fw_$(1)_clean
 286 fw_$(1)_clean:
 287         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/fw_$(1))"
 288         $(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
 289 endef
 290
 291 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 292 # $(2) = Short name for board (e.g cc)
 293 define BL_TEMPLATE
 294 .PHONY: bl_$(1)
 295 bl_$(1): bl_$(1)_bin
 296 bl_$(1)_bino: bl_$(1)_bin
 297
 298 bl_$(1)_%:
 299         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 300         $(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
 301         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
 302                 $$(MAKE) -r --no-print-directory \
 303                 BUILD_TYPE=bl \
 304                 BOARD_NAME=$(1) \
 305                 BOARD_SHORT_NAME=$(2) \
 306                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
 307                 OUTDIR=$(BUILD_DIR)/bl_$(1) \
 308                 TARGET=bl_$(1) \
 309                 $$*
 310
 311 .PHONY: unbrick_$(1)
 312 unbrick_$(1): bl_$(1)_hex
 313 $(if $(filter-out undefined,$(origin UNBRICK_TTY)),
 314         $(V0) @$(ECHO) " UNBRICK    $(1) via $$(UNBRICK_TTY)"
 315         $(V1) $(STM32FLASH_DIR)/stm32flash \
 316                 -w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
 317                 -g 0x0 \
 318                 $$(UNBRICK_TTY)
 319 ,
 320         $(V0) @$(ECHO)
 321         $(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
 322         $(V0) @$(ECHO) "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
 323 )
 324
 325 .PHONY: bl_$(1)_clean
 326 bl_$(1)_clean:
 327         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bl_$(1))"
 328         $(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
 329 endef
 330
 331 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 332 # $(2) = Short name for board (e.g cc)
 333 define BU_TEMPLATE
 334 .PHONY: bu_$(1)
 335 bu_$(1): bu_$(1)_opfw
 336
 337 bu_$(1)_%: bl_$(1)_bino
 338         $(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
 339         $(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
 340                 $$(MAKE) -r --no-print-directory \
 341                 BUILD_TYPE=bu \
 342                 BOARD_NAME=$(1) \
 343                 BOARD_SHORT_NAME=$(2) \
 344                 TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
 345                 OUTDIR=$(BUILD_DIR)/bu_$(1) \
 346                 TARGET=bu_$(1) \
 347                 $$*
 348
 349 .PHONY: bu_$(1)_clean
 350 bu_$(1)_clean:
 351         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bu_$(1))"
 352         $(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
 353 endef
 354
 355 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 356 # $(2) = Short name for board (e.g cc)
 357 define EF_TEMPLATE
 358 .PHONY: ef_$(1)
 359 ef_$(1): ef_$(1)_bin
 360
 361 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 362         $(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
 363         $(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
 364                 $$(MAKE) -r --no-print-directory \
 365                 BUILD_TYPE=ef \
 366                 BOARD_NAME=$(1) \
 367                 BOARD_SHORT_NAME=$(2) \
 368                 DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
 369                 TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
 370                 OUTDIR=$(BUILD_DIR)/ef_$(1) \
 371                 TARGET=ef_$(1) \
 372                 $$*
 373
 374 .PHONY: ef_$(1)_clean
 375 ef_$(1)_clean:
 376         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/ef_$(1))"
 377         $(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
 378 endef
 379
 380 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 381 define BOARD_PHONY_TEMPLATE
 382 .PHONY: all_$(1)
 383 all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
 384 all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
 385 all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
 386 all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
 387
 388 .PHONY: all_$(1)_clean
 389 all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
 390 all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
 391 all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
 392 all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
 393 endef
 394
 395 # Generate flight build rules
 396 .PHONY: all_fw all_fw_clean
 397 all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
 398 all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
 399
 400 .PHONY: all_bl all_bl_clean
 401 all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
 402 all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
 403
 404 .PHONY: all_bu all_bu_clean
 405 all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
 406 all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 407
 408 .PHONY: all_ef all_ef_clean
 409 all_ef:        $(EF_TARGETS)
 410 all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
 411
 412 .PHONY: all_flight all_flight_clean
 413 all_flight:       all_fw all_bl all_bu all_ef
 414 all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
 415
 416 # Expand the groups of targets for each board
 417 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 418
 419 # Expand the firmware rules
 420 $(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
 421
 422 # Expand the bootloader rules
 423 $(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
 424
 425 # Expand the bootloader updater rules
 426 $(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
 427
 428 # Expand the entire-flash rules
 429 $(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
 430
 431 .PHONY: sim_win32
 432 sim_win32: sim_win32_exe
 433
 434 sim_win32_%: uavobjects_flight
 435         $(V1) $(MKDIR) -p $(BUILD_DIR)/sitl_win32
 436         $(V1) $(MAKE) --no-print-directory \
 437                 -C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
 438
 439 .PHONY: sim_osx
 440 sim_osx: sim_osx_elf
 441
 442 sim_osx_%: uavobjects_flight
 443         $(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
 444         $(V1) $(MAKE) --no-print-directory \
 445                 -C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
 446
 447 ##############################
 448 #
 449 # GCS related components
 450 #
 451 ##############################
 452
 453 .PHONY: all_ground
 454 all_ground: gcs uploader
 455
 456 ifeq ($(V), 1)
 457     GCS_SILENT :=
 458 else
 459     GCS_SILENT := silent
 460 endif
 461
 462 GCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
 463 DIRS += $(GCS_DIR)
 464
 465 GCS_MAKEFILE := $(GCS_DIR)/Makefile
 466
 467 .PHONY: gcs_qmake
 468 gcs_qmake $(GCS_MAKEFILE): | $(GCS_DIR)
 469         $(V1) cd $(GCS_DIR) && \
 470             $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro \
 471             -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) \
 472             'GCS_BIG_NAME="$(GCS_BIG_NAME)"' GCS_SMALL_NAME=$(GCS_SMALL_NAME) \
 473             'ORG_BIG_NAME="$(ORG_BIG_NAME)"' ORG_SMALL_NAME=$(ORG_SMALL_NAME) \
 474             'GCS_LIBRARY_BASENAME=$(libbasename)' \
 475             $(GCS_QMAKE_OPTS)
 476
 477 .PHONY: gcs
 478 gcs: uavobjgenerator $(GCS_MAKEFILE)
 479         $(V1) $(MAKE) -w -C $(GCS_DIR)/$(MAKE_DIR);
 480
 481 .PHONY: gcs_clean
 482 gcs_clean:
 483         @$(ECHO) " CLEAN      $(call toprel, $(GCS_DIR))"
 484         $(V1) [ ! -d "$(GCS_DIR)" ] || $(RM) -r "$(GCS_DIR)"
 485
 486
 487
 488 ################################
 489 #
 490 # Serial Uploader tool
 491 #
 492 ################################
 493
 494 UPLOADER_DIR := $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)
 495 DIRS += $(UPLOADER_DIR)
 496
 497 UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
 498
 499 .PHONY: uploader_qmake
 500 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
 501         $(V1) cd $(UPLOADER_DIR) && \
 502             $(QMAKE) $(ROOT_DIR)/ground/gcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
 503             -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
 504
 505 .PHONY: uploader
 506 uploader: $(UPLOADER_MAKEFILE)
 507         $(V1) $(MAKE) -w -C $(UPLOADER_DIR)
 508
 509 .PHONY: uploader_clean
 510 uploader_clean:
 511         @$(ECHO) " CLEAN      $(call toprel, $(UPLOADER_DIR))"
 512         $(V1) [ ! -d "$(UPLOADER_DIR)" ] || $(RM) -r "$(UPLOADER_DIR)"
 513
 514
 515 # We want to take snapshots of the UAVOs at each point that they change
 516 # to allow the GCS to be compatible with as many versions as possible.
 517 # We always include a pseudo collection called "srctree" which represents
 518 # the UAVOs in the source tree. So not necessary to add current tree UAVO
 519 # hash here, it is always included.
 520
 521 # Find the git hashes of each commit that changes uavobjects with:
 522 #   git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
 523 # List only UAVO hashes of past releases, do not list current hash.
 524 # Past compatible versions are so far: RELEASE-12.10.2
 525 UAVO_GIT_VERSIONS := 5e14f53
 526
 527 # All versions includes also the current source tree UAVO hash
 528 UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
 529
 530 # This is where the UAVO collections are stored
 531 UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
 532
 533 # $(1) git hash of a UAVO snapshot
 534 define UAVO_COLLECTION_GIT_TEMPLATE
 535
 536 # Make the output directory that will contain all of the synthetics for the
 537 # uavo collection referenced by the git hash $(1)
 538 $$(UAVO_COLLECTION_DIR)/$(1):
 539         $$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
 540
 541 # Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
 542 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
 543 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
 544         $$(V0) @$(ECHO) " UAVOTAR   $(1)"
 545         $$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
 546
 547 # Extract the uavo xml files from our snapshot
 548 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
 549         $$(V0) @$(ECHO) " UAVOUNTAR $(1)"
 550         $$(V1) $(RM) -rf $$@
 551         $$(V1) $(MKDIR) -p $$@
 552         $$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
 553 endef
 554
 555 # Map the current working directory into the set of UAVO collections
 556 $(UAVO_COLLECTION_DIR)/srctree:
 557         $(V1) $(MKDIR) -p $@
 558
 559 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
 560 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
 561         $(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
 562
 563 # $(1) git hash (or symbolic name) of a UAVO snapshot
 564 define UAVO_COLLECTION_BUILD_TEMPLATE
 565
 566 # This leaves us with a (broken) symlink that points to the full sha1sum of the collection
 567 $$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
 568         # Compute the sha1 hash for this UAVO collection
 569         # The sed bit truncates the UAVO hash to 16 hex digits
 570         $$(V1) $$(VERSION_INFO) \
 571                         --uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
 572                         --format='$$$${UAVO_HASH}' | \
 573                 $(SED) -e 's|\(................\).*|\1|' > $$@
 574
 575         $$(V0) @$(ECHO) " UAVOHASH  $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 576
 577 # Generate the java uavobjects for this UAVO collection
 578 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
 579         $$(V0) @$(ECHO) " UAVOJAVA  $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 580         $$(V1) $(MKDIR) -p $$@
 581         $$(V1) ( \
 582                 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
 583                 $$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
 584         )
 585
 586 # Build a jar file for this UAVO collection
 587 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
 588 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
 589         $$(V0) @$(ECHO) " UAVOJAR   $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 590         $$(V1) ( \
 591                 HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
 592                 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
 593                 $(JAVAC) java/*.java \
 594                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
 595                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
 596                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
 597                         -d . && \
 598                 find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
 599                 $(JAR) cf tmp_uavobjects.jar @classlist.txt && \
 600                 $$(ANDROID_DX) \
 601                         --dex \
 602                         --output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
 603                         tmp_uavobjects.jar && \
 604                 $(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
 605         )
 606
 607 endef
 608
 609 # One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
 610 $(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
 611
 612 # One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
 613 $(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
 614
 615 .PHONY: uavo-collections_java
 616 uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
 617
 618 .PHONY: uavo-collections
 619 uavo-collections: uavo-collections_java
 620
 621 .PHONY: uavo-collections_clean
 622 uavo-collections_clean:
 623         @$(ECHO) " CLEAN      $(call toprel, $(UAVO_COLLECTION_DIR))"
 624         $(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
 625
 626 ##############################
 627 #
 628 # Unit Tests
 629 #
 630 ##############################
 631
 632 ALL_UNITTESTS := logfs math lednotification
 633
 634 # Build the directory for the unit tests
 635 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
 636 DIRS += $(UT_OUT_DIR)
 637
 638 .PHONY: all_ut
 639 all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
 640
 641 .PHONY: all_ut_xml
 642 all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
 643
 644 .PHONY: all_ut_run
 645 all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
 646
 647 .PHONY: all_ut_clean
 648 all_ut_clean:
 649         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR))"
 650         $(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
 651
 652 # $(1) = Unit test name
 653 define UT_TEMPLATE
 654 .PHONY: ut_$(1)
 655 ut_$(1): ut_$(1)_run
 656
 657 ut_$(1)_%: $$(UT_OUT_DIR)
 658         $(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
 659         $(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
 660                 $$(MAKE) -r --no-print-directory \
 661                 BUILD_TYPE=ut \
 662                 BOARD_SHORT_NAME=$(1) \
 663                 TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
 664                 OUTDIR="$(UT_OUT_DIR)/$(1)" \
 665                 TARGET=$(1) \
 666                 $$*
 667
 668 .PHONY: ut_$(1)_clean
 669 ut_$(1)_clean:
 670         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR)/$(1))"
 671         $(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
 672 endef
 673
 674 # Expand the unittest rules
 675 $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
 676
 677 # Disable parallel make when the all_ut_run target is requested otherwise the TAP
 678 # output is interleaved with the rest of the make output.
 679 ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
 680 .NOTPARALLEL:
 681     $(info $(EMPTY) NOTE        Parallel make disabled by all_ut_run target so we have sane console output)
 682 endif
 683
 684 ##############################
 685 #
 686 # Packaging components
 687 #
 688 ##############################
 689
 690 # Firmware files to package
 691 PACKAGE_FW_EXCLUDE  := fw_simposix $(if $(PACKAGE_FW_INCLUDE_DISCOVERYF4BARE),,fw_discoveryf4bare)
 692 PACKAGE_FW_TARGETS  := $(filter-out $(PACKAGE_FW_EXCLUDE), $(FW_TARGETS))
 693 PACKAGE_ELF_TARGETS := $(filter     fw_simposix, $(FW_TARGETS))
 694
 695 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 696 # They are used later by the vehicle setup wizard to update board firmware.
 697 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 698 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
 699 OPFW_RESOURCE_PREFIX := ../../
 700 OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
 701 OPFW_CONTENTS := \
 702 <!DOCTYPE RCC><RCC version="1.0"> \
 703     <qresource prefix="/firmware"> \
 704         $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(OPFW_RESOURCE_PREFIX)$(fw_file)</file>) \
 705     </qresource> \
 706 </RCC>
 707
 708 .PHONY: opfw_resource
 709 opfw_resource: $(OPFW_RESOURCE)
 710
 711 $(OPFW_RESOURCE): $(FW_TARGETS) | $(OPGCSSYNTHDIR)
 712         @$(ECHO) Generating OPFW resource file $(call toprel, $@)
 713         $(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 714
 715 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 716 ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
 717 $(GCS_MAKEFILE): $(OPFW_RESOURCE)
 718 endif
 719
 720 # Packaging targets: package
 721 #  - builds all firmware, opfw_resource, gcs
 722 #  - copies firmware into a package directory
 723 #  - calls paltform-specific packaging script
 724
 725 # Define some variables
 726 PACKAGE_LBL       := $(shell $(VERSION_INFO) --format=\$${LABEL})
 727 PACKAGE_NAME      := $(subst $(SPACE),,$(ORG_BIG_NAME))
 728 PACKAGE_SEP       := -
 729 PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
 730
 731 # Source distribution is never dirty because it uses git archive
 732 DIST_LBL      := $(subst -dirty,,$(PACKAGE_LBL))
 733 DIST_NAME     := $(PACKAGE_NAME)$(PACKAGE_SEP)$(DIST_LBL)
 734 DIST_TAR      := $(DIST_DIR)/$(DIST_NAME).tar
 735 DIST_TAR_GZ   := $(DIST_TAR).gz
 736 DIST_VER_INFO := $(DIST_DIR)/version-info.json
 737
 738 include $(ROOT_DIR)/package/$(UNAME).mk
 739
 740 ##############################
 741 #
 742 # Source for distribution
 743 #
 744 ##############################
 745 $(DIST_VER_INFO): .git/index | $(DIST_DIR)
 746         $(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
 747
 748 $(DIST_TAR): $(DIST_VER_INFO) .git/index | $(DIST_DIR)
 749         @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR))"
 750         $(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_TAR)" HEAD
 751         $(V1) tar --append --file="$(DIST_TAR)" \
 752                 --transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
 753                 $(call toprel, "$(DIST_VER_INFO)")
 754
 755 $(DIST_TAR_GZ): $(DIST_TAR)
 756         @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR_GZ))"
 757         $(V1) gzip -kf "$(DIST_TAR)"
 758
 759 .PHONY: dist_tar_gz
 760 dist_tar_gz: $(DIST_TAR_GZ)
 761
 762 .PHONY: dist
 763 dist: dist_tar_gz
 764
 765
 766 ##############################
 767 #
 768 # Source code formatting
 769 #
 770 ##############################
 771
 772 UNCRUSTIFY_TARGETS := flight ground
 773
 774 # $(1) = Uncrustify target (e.g flight or ground)
 775 # $(2) = Target root directory
 776 define UNCRUSTIFY_TEMPLATE
 777
 778 .PHONY: uncrustify_$(1)
 779 uncrustify_$(1):
 780         @$(ECHO) "Auto-formatting $(1) source code"
 781         $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
 782 endef
 783
 784 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
 785
 786 .PHONY: uncrustify_all
 787 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
 788
 789 ##############################
 790 #
 791 # Doxygen documentation
 792 #
 793 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
 794 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
 795 #
 796 ##############################
 797
 798 DOCS_TARGETS := flight ground uavobjects
 799
 800 # $(1) = Doxygen target (e.g flight or ground)
 801 define DOXYGEN_TEMPLATE
 802
 803 .PHONY: docs_$(1)
 804 docs_$(1): docs_$(1)_clean
 805         @$(ECHO) "Generating $(1) documentation"
 806         $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
 807         $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
 808
 809 .PHONY: docs_$(1)_clean
 810 docs_$(1)_clean:
 811         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs/$(1))"
 812         $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
 813
 814 endef
 815
 816 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
 817
 818 .PHONY: docs_all
 819 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
 820
 821 .PHONY: docs_all_clean
 822 docs_all_clean:
 823         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs)"
 824         $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
 825
 826 ##############################
 827 #
 828 # Build info
 829 #
 830 ##############################
 831
 832 .PHONY: build-info
 833 build-info: | $(BUILD_DIR)
 834         @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
 835         $(V1) $(VERSION_INFO) \
 836                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
 837                 --template="make/templates/$@.txt" \
 838                 --outfile="$(BUILD_DIR)/$@.txt"
 839
 840 ##############################
 841 #
 842 # Config
 843 #
 844 ##############################
 845
 846 CONFIG_OPTS := $(addsuffix \n,$(MAKEOVERRIDES))
 847 CONFIG_OPTS := $(addprefix override$(SPACE),$(CONFIG_OPTS))
 848
 849 .PHONY: config_new
 850 config_new:
 851         @printf '$(CONFIG_OPTS)' > $(CONFIG_FILE)
 852
 853 .PHONY: config_append
 854 config_append:
 855         @printf '$(CONFIG_OPTS)' >> $(CONFIG_FILE)
 856
 857 .PHONY: config_show
 858 config_show:
 859         @cat $(CONFIG_FILE)
 860
 861 .PHONY: config_clean
 862 config_clean:
 863         rm -f $(CONFIG_FILE)
 864
 865
 866 ##############################
 867 #
 868 # Directories
 869 #
 870 ##############################
 871
 872 $(DIRS):
 873         $(V1) $(MKDIR) -p $@
 874
 875
 876 ##############################
 877 #
 878 # Help message, the default Makefile goal
 879 #
 880 ##############################
 881
 882 .DEFAULT_GOAL := help
 883
 884 .PHONY: help
 885 help:
 886         @$(ECHO)
 887         @$(ECHO) "   This Makefile is known to work on Linux and Mac in a standard shell environment."
 888         @$(ECHO) "   It also works on Windows by following the instructions given on this wiki page:"
 889         @$(ECHO) "       http://wiki.openpilot.org/display/Doc/Windows%3A+Building+and+Packaging"
 890         @$(ECHO)
 891         @$(ECHO) "   Here is a summary of the available targets:"
 892         @$(ECHO)
 893         @$(ECHO) "   [Source tree preparation]"
 894         @$(ECHO) "     prepare              - Install GIT commit message template"
 895         @$(ECHO) "   [Tool Installers]"
 896         @$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 897         @$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 898         @$(ECHO) "     nsis_install         - Install the NSIS Unicode (Windows only)"
 899         @$(ECHO) "     sdl_install          - Install the SDL library (Windows only)"
 900         @$(ECHO) "     mesawin_install      - Install the OpenGL32 DLL (Windows only)"
 901         @$(ECHO) "     openssl_install      - Install the OpenSSL libraries (Windows only)"
 902         @$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 903         @$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 904         @$(ECHO) "     gtest_install        - Install the GoogleTest framework"
 905         @$(ECHO) "     ccache_install       - Install ccache"
 906         @$(ECHO) "   These targets are not updated yet and are probably broken:"
 907         @$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 908         @$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 909         @$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
 910         @$(ECHO) "   Install all available tools:"
 911         @$(ECHO) "     all_sdk_install      - Install all of above (platform-dependent)"
 912         @$(ECHO) "     build_sdk_install    - Install only essential for build tools (platform-dependent)"
 913         @$(ECHO)
 914         @$(ECHO) "   Other tool options are:"
 915         @$(ECHO) "     <tool>_version       - Display <tool> version"
 916         @$(ECHO) "     <tool>_clean         - Remove installed <tool>"
 917         @$(ECHO) "     <tool>_distclean     - Remove downloaded <tool> distribution file(s)"
 918         @$(ECHO)
 919         @$(ECHO) "   [Big Hammer]"
 920         @$(ECHO) "     all                  - Generate UAVObjects, build openpilot firmware and gcs"
 921         @$(ECHO) "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 922         @$(ECHO) "     all_fw               - Build only firmware for all boards"
 923         @$(ECHO) "     all_bl               - Build only bootloaders for all boards"
 924         @$(ECHO) "     all_bu               - Build only bootloader updaters for all boards"
 925         @$(ECHO)
 926         @$(ECHO) "     all_clean            - Remove your build directory ($(BUILD_DIR))"
 927         @$(ECHO) "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
 928         @$(ECHO) "     all_fw_clean         - Remove firmware for all boards"
 929         @$(ECHO) "     all_bl_clean         - Remove bootloaders for all boards"
 930         @$(ECHO) "     all_bu_clean         - Remove bootloader updaters for all boards"
 931         @$(ECHO)
 932         @$(ECHO) "     all_<board>          - Build all available images for <board>"
 933         @$(ECHO) "     all_<board>_clean    - Remove all available images for <board>"
 934         @$(ECHO)
 935         @$(ECHO) "     all_ut               - Build all unit tests"
 936         @$(ECHO) "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
 937         @$(ECHO) "     all_ut_run           - Run all unit tests and dump TAP output to console"
 938         @$(ECHO)
 939         @$(ECHO) "   [Firmware]"
 940         @$(ECHO) "     <board>              - Build firmware for <board>"
 941         @$(ECHO) "                            Supported boards are ($(ALL_BOARDS))"
 942         @$(ECHO) "     fw_<board>           - Build firmware for <board>"
 943         @$(ECHO) "                            Supported boards are ($(FW_BOARDS))"
 944         @$(ECHO) "     fw_<board>_clean     - Remove firmware for <board>"
 945         @$(ECHO) "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 946         @$(ECHO)
 947         @$(ECHO) "   [Bootloader]"
 948         @$(ECHO) "     bl_<board>           - Build bootloader for <board>"
 949         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 950         @$(ECHO) "     bl_<board>_clean     - Remove bootloader for <board>"
 951         @$(ECHO) "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 952         @$(ECHO)
 953         @$(ECHO) "   [Entire Flash]"
 954         @$(ECHO) "     ef_<board>           - Build entire flash image for <board>"
 955         @$(ECHO) "                            Supported boards are ($(EF_BOARDS))"
 956         @$(ECHO) "     ef_<board>_clean     - Remove entire flash image for <board>"
 957         @$(ECHO) "     ef_<board>_program   - Use OpenOCD + JTAG to write entire flash image to <board>"
 958         @$(ECHO)
 959         @$(ECHO) "   [Bootloader Updater]"
 960         @$(ECHO) "     bu_<board>           - Build bootloader updater for <board>"
 961         @$(ECHO) "                            Supported boards are ($(BU_BOARDS))"
 962         @$(ECHO) "     bu_<board>_clean     - Remove bootloader updater for <board>"
 963         @$(ECHO)
 964         @$(ECHO) "   [Unbrick a board]"
 965         @$(ECHO) "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 966         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 967         @$(ECHO) "   [Unittests]"
 968         @$(ECHO) "     ut_<test>            - Build unit test <test>"
 969         @$(ECHO) "     ut_<test>_xml        - Run test and capture XML output into a file"
 970         @$(ECHO) "     ut_<test>_run        - Run test and dump output to console"
 971         @$(ECHO)
 972         @$(ECHO) "   [Simulation]"
 973         @$(ECHO) "     sim_osx              - Build OpenPilot simulation firmware for OSX"
 974         @$(ECHO) "     sim_osx_clean        - Delete all build output for the osx simulation"
 975         @$(ECHO) "     sim_win32            - Build OpenPilot simulation firmware for Windows"
 976         @$(ECHO) "                            using mingw and msys"
 977         @$(ECHO) "     sim_win32_clean      - Delete all build output for the win32 simulation"
 978         @$(ECHO)
 979         @$(ECHO) "   [GCS]"
 980         @$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
 981         @$(ECHO) "                            Compile specific directory: MAKE_DIR=<dir>"
 982         @$(ECHO) "                            Example: make gcs MAKE_DIR=src/plugins/coreplugin"
 983         @$(ECHO) "     gcs_qmake            - Run qmake for the Ground Control System (GCS) application (debug|release)"
 984         @$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
 985         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 986         @$(ECHO)
 987         @$(ECHO) "   [Uploader Tool]"
 988         @$(ECHO) "     uploader             - Build the serial uploader tool (debug|release)"
 989         @$(ECHO) "     uploader_qmake       - Run qmake for the serial uploader tool (debug|release)"
 990         @$(ECHO) "     uploader_clean       - Remove the serial uploader tool (debug|release)"
 991         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 992         @$(ECHO)
 993         @$(ECHO)
 994         @$(ECHO) "   [UAVObjects]"
 995         @$(ECHO) "     uavobjects           - Generate source files from the UAVObject definition XML files"
 996         @$(ECHO) "     uavobjects_test      - Parse xml-files - check for valid, duplicate ObjId's, ..."
 997         @$(ECHO) "     uavobjects_<group>   - Generate source files from a subset of the UAVObject definition XML files"
 998         @$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
 999         @$(ECHO)
1000         @$(ECHO) "   [Packaging]"
1001         @$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package (no clean)"
1002         @$(ECHO) "     opfw_resource        - Generate resources to embed firmware binaries into the GCS"
1003         @$(ECHO) "     dist                 - Generate source archive for distribution"
1004         @$(ECHO) "     install              - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
1005         @$(ECHO)
1006         @$(ECHO) "   [Code Formatting]"
1007         @$(ECHO) "     uncrustify_<source>  - Reformat <source> code according to the project's standards"
1008         @$(ECHO) "                            Supported sources are ($(UNCRUSTIFY_TARGETS))"
1009         @$(ECHO) "     uncrustify_all       - Reformat all source code"
1010         @$(ECHO)
1011         @$(ECHO) "   [Code Documentation]"
1012         @$(ECHO) "     docs_<source>        - Generate HTML documentation for <source>"
1013         @$(ECHO) "                            Supported sources are ($(DOCS_TARGETS))"
1014         @$(ECHO) "     docs_all             - Generate HTML documentation for all"
1015         @$(ECHO) "     docs_<source>_clean  - Delete generated documentation for <source>"
1016         @$(ECHO) "     docs_all_clean       - Delete all generated documentation"
1017         @$(ECHO)
1018         @$(ECHO) "   [Configuration]"
1019         @$(ECHO) "     config_new           - Place your make arguments in the config file"
1020         @$(ECHO) "     config_append        - Place your make arguments in the config file but append"
1021         @$(ECHO) "     config_clean         - Removes the config file"
1022         @$(ECHO)
1023         @$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
1024         @$(ECHO)
1025         @$(ECHO) "  Notes: All tool distribution files will be downloaded into $(DL_DIR)"
1026         @$(ECHO) "         All tools will be installed into $(TOOLS_DIR)"
1027         @$(ECHO) "         All build output will be placed in $(BUILD_DIR)"
1028         @$(ECHO)
1029         @$(ECHO) "  Tool download and install directories can be changed using environment variables:"
1030         @$(ECHO) "         DL_DIR        full path to downloads directory [downloads if not set]"
1031         @$(ECHO) "         TOOLS_DIR     full path to installed tools directory [tools if not set]"
1032         @$(ECHO) "  More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
1033         @$(ECHO)