Makefile

   1 #
   2 # Top level Makefile for the OpenPilot project build system.
   3 # Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
   4 # Use 'make help' for instructions.
   5 #
   6 # This program is free software; you can redistribute it and/or modify
   7 # it under the terms of the GNU General Public License as published by
   8 # the Free Software Foundation; either version 3 of the License, or
   9 # (at your option) any later version.
  10 #
  11 # This program is distributed in the hope that it will be useful, but
  12 # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  13 # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  14 # for more details.
  15 #
  16 # You should have received a copy of the GNU General Public License along
  17 # with this program; if not, write to the Free Software Foundation, Inc.,
  18 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  19 #
  20
  21 # This top level Makefile passes down some variables to sub-makes through
  22 # the environment. They are explicitly exported using the export keyword.
  23 # Lower level makefiles assume that these variables are defined. To ensure
  24 # that a special magic variable is exported here. It must be checked for
  25 # existance by each sub-make.
  26 export OPENPILOT_IS_COOL := Fuck Yeah!
  27
  28 # It is possible to set OPENPILOT_DL_DIR and/or OPENPILOT_TOOLS_DIR environment
  29 # variables to override local tools download and installation directorys. So the
  30 # same toolchains can be used for all working copies. Particularly useful for CI
  31 # server build agents, but also for local installations.
  32 #
  33 # If no OPENPILOT_* variables found, makefile internal DL_DIR and TOOLS_DIR paths
  34 # will be used. They still can be overriden by the make command line parameters:
  35 # make DL_DIR=/path/to/download/directory TOOLS_DIR=/path/to/tools/directory targets...
  36
  37 # Function for converting Windows style slashes into Unix style
  38 slashfix = $(subst \,/,$(1))
  39
  40 # Function for converting an absolute path to one relative
  41 # to the top of the source tree
  42 toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
  43
  44 # Set up some macros for common directories within the tree
  45 export ROOT_DIR    := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
  46 export DL_DIR      := $(if $(OPENPILOT_DL_DIR),$(call slashfix,$(OPENPILOT_DL_DIR)),$(ROOT_DIR)/downloads)
  47 export TOOLS_DIR   := $(if $(OPENPILOT_TOOLS_DIR),$(call slashfix,$(OPENPILOT_TOOLS_DIR)),$(ROOT_DIR)/tools)
  48 export BUILD_DIR   := $(ROOT_DIR)/build
  49 export PACKAGE_DIR := $(ROOT_DIR)/build/package
  50 export DIST_DIR    := $(ROOT_DIR)/build/dist
  51
  52 # Set up default build configurations (debug | release)
  53 GCS_BUILD_CONF          := release
  54 UAVOGEN_BUILD_CONF      := release
  55 ANDROIDGCS_BUILD_CONF   := debug
  56 GOOGLE_API_VERSION      := 14
  57
  58 # Clean out undesirable variables from the environment and command-line
  59 # to remove the chance that they will cause problems with our build
  60 define SANITIZE_VAR
  61 $(if $(filter-out undefined,$(origin $(1))),
  62     $(info $(EMPTY) NOTE        Sanitized $(2) variable '$(1)' from $(origin $(1)))
  63     MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
  64     override $(1) :=
  65     unexport $(1)
  66 )
  67 endef
  68
  69 # These specific variables can influence compilation in unexpected (and undesirable) ways
  70 # gcc flags
  71 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
  72 # preprocessor flags
  73 SANITIZE_GCC_VARS += CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
  74 # make flags
  75 SANITIZE_GCC_VARS += CFLAGS CXXFLAGS CPPFLAGS LDFLAGS LDLIBS
  76 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
  77
  78 # These specific variables used to be valid but now they make no sense
  79 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
  80 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
  81
  82 # Make sure this isn't being run as root unless installing (no whoami on Windows, but that is ok here)
  83 ifeq ($(shell whoami 2>/dev/null),root)
  84     ifeq ($(filter install all_clean,$(MAKECMDGOALS)),)
  85         $(error You should not be running this as root)
  86     endif
  87 endif
  88
  89 # Decide on a verbosity level based on the V= parameter
  90 export AT := @
  91 ifndef V
  92     export V0    :=
  93     export V1    := $(AT)
  94 else ifeq ($(V), 0)
  95     export V0    := $(AT)
  96     export V1    := $(AT)
  97 else ifeq ($(V), 1)
  98 endif
  99
 100 # Make sure we know few things about the architecture before including
 101 # the tools.mk to ensure that we download/install the right tools.
 102 UNAME := $(shell uname)
 103 ARCH  := $(shell uname -m)
 104 # Here and everywhere if not Linux or Mac then assume Windows
 105 ifeq ($(filter Linux Darwin, $(UNAME)), )
 106     UNAME := Windows
 107 endif
 108
 109 # Include tools installers
 110 include $(ROOT_DIR)/make/tools.mk
 111
 112 # We almost need to consider autoconf/automake instead of this
 113 ifeq ($(UNAME), Linux)
 114     QT_SPEC = linux-g++
 115     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/uavobjgenerator"
 116 else ifeq ($(UNAME), Darwin)
 117     QT_SPEC = macx-g++
 118     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/uavobjgenerator"
 119 else ifeq ($(UNAME), Windows)
 120     QT_SPEC = win32-g++
 121     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/$(UAVOGEN_BUILD_CONF)/uavobjgenerator.exe"
 122 endif
 123
 124 ##############################
 125 #
 126 # All targets
 127 #
 128 ##############################
 129
 130 .PHONY: all
 131 all: uavobjects all_ground all_flight
 132
 133 .PHONY: all_clean
 134 all_clean:
 135         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 136         $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 137
 138 .PONY: clean
 139 clean: all_clean
 140
 141 $(DL_DIR):
 142         $(MKDIR) -p $@
 143
 144 $(TOOLS_DIR):
 145         $(MKDIR) -p $@
 146
 147 $(BUILD_DIR):
 148         $(MKDIR) -p $@
 149
 150 $(PACKAGE_DIR):
 151         $(MKDIR) -p $@
 152
 153 $(DIST_DIR):
 154         $(MKDIR) -p $@
 155
 156 ##############################
 157 #
 158 # UAVObjects
 159 #
 160 ##############################
 161
 162 ifeq ($(V), 1)
 163     UAVOGEN_SILENT :=
 164 else
 165     UAVOGEN_SILENT := silent
 166 endif
 167
 168 .PHONY: uavobjgenerator
 169 uavobjgenerator:
 170         $(V1) $(MKDIR) -p $(BUILD_DIR)/$@
 171         $(V1) ( cd $(BUILD_DIR)/$@ && \
 172             $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="$(UAVOGEN_BUILD_CONF) $(UAVOGEN_SILENT)" && \
 173             $(MAKE) --no-print-directory -w ; \
 174         )
 175
 176 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
 177
 178 .PHONY: uavobjects
 179 uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 180
 181 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 182 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
 183
 184 $(UAVOBJ_OUT_DIR):
 185         $(V1) $(MKDIR) -p $@
 186
 187 uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
 188         $(V1) ( cd $(UAVOBJ_OUT_DIR) && \
 189             $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
 190         )
 191
 192 uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
 193         $(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 194
 195 uavobjects_clean:
 196         @$(ECHO) " CLEAN      $(call toprel, $(UAVOBJ_OUT_DIR))"
 197         $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 198
 199 ##############################
 200 #
 201 # Flight related components
 202 #
 203 ##############################
 204
 205 # Define some pointers to the various important pieces of the flight code
 206 # to prevent these being repeated in every sub makefile
 207 export PIOS          := $(ROOT_DIR)/flight/pios
 208 export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
 209 export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
 210 export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
 211 export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
 212 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 213 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 214
 215 # Define supported board lists
 216 ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum
 217
 218 # Short names of each board (used to display board name in parallel builds)
 219 coptercontrol_short    := 'cc  '
 220 oplinkmini_short       := 'oplm'
 221 revolution_short       := 'revo'
 222 osd_short              := 'osd '
 223 revoproto_short        := 'revp'
 224 simposix_short         := 'posx'
 225 discoveryf4bare_short  := 'df4b'
 226 gpsplatinum_short      := 'gps9 '
 227
 228 # SimPosix only builds on Linux so drop it from the list for
 229 # all other platforms.
 230 ifneq ($(UNAME), Linux)
 231     ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
 232 endif
 233
 234 # Start out assuming that we'll build fw, bl and bu for all boards
 235 FW_BOARDS  := $(ALL_BOARDS)
 236 BL_BOARDS  := $(ALL_BOARDS)
 237 BU_BOARDS  := $(ALL_BOARDS)
 238 EF_BOARDS  := $(ALL_BOARDS)
 239
 240 # SimPosix doesn't have a BL, BU or EF target so we need to
 241 # filter them out to prevent errors on the all_flight target.
 242 BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
 243 BU_BOARDS  := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
 244 EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
 245
 246 # Generate the targets for whatever boards are left in each list
 247 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
 248 BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
 249 BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
 250 EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
 251
 252 # When building any of the "all_*" targets, tell all sub makefiles to display
 253 # additional details on each line of output to describe which build and target
 254 # that each line applies to. The same applies also to all, opfw_resource,
 255 # package targets
 256 ifneq ($(strip $(filter all_% all opfw_resource package,$(MAKECMDGOALS))),)
 257     export ENABLE_MSG_EXTRA := yes
 258 endif
 259
 260 # When building more than one goal in a single make invocation, also
 261 # enable the extra context for each output line
 262 ifneq ($(word 2,$(MAKECMDGOALS)),)
 263     export ENABLE_MSG_EXTRA := yes
 264 endif
 265
 266 # TEMPLATES (used to generate build rules)
 267
 268 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 269 # $(2) = Short name for board (e.g cc)
 270 define FW_TEMPLATE
 271 .PHONY: $(1) fw_$(1)
 272 $(1): fw_$(1)_opfw
 273 fw_$(1): fw_$(1)_opfw
 274
 275 fw_$(1)_%: uavobjects_flight
 276         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 277         $(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
 278         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
 279                 $$(MAKE) -r --no-print-directory \
 280                 BUILD_TYPE=fw \
 281                 BOARD_NAME=$(1) \
 282                 BOARD_SHORT_NAME=$(2) \
 283                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
 284                 OUTDIR=$(BUILD_DIR)/fw_$(1) \
 285                 TARGET=fw_$(1) \
 286                 $$*
 287
 288 .PHONY: $(1)_clean
 289 $(1)_clean: fw_$(1)_clean
 290 fw_$(1)_clean:
 291         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/fw_$(1))"
 292         $(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
 293 endef
 294
 295 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 296 # $(2) = Short name for board (e.g cc)
 297 define BL_TEMPLATE
 298 .PHONY: bl_$(1)
 299 bl_$(1): bl_$(1)_bin
 300 bl_$(1)_bino: bl_$(1)_bin
 301
 302 bl_$(1)_%:
 303         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 304         $(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
 305         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
 306                 $$(MAKE) -r --no-print-directory \
 307                 BUILD_TYPE=bl \
 308                 BOARD_NAME=$(1) \
 309                 BOARD_SHORT_NAME=$(2) \
 310                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
 311                 OUTDIR=$(BUILD_DIR)/bl_$(1) \
 312                 TARGET=bl_$(1) \
 313                 $$*
 314
 315 .PHONY: unbrick_$(1)
 316 unbrick_$(1): bl_$(1)_hex
 317 $(if $(filter-out undefined,$(origin UNBRICK_TTY)),
 318         $(V0) @$(ECHO) " UNBRICK    $(1) via $$(UNBRICK_TTY)"
 319         $(V1) $(STM32FLASH_DIR)/stm32flash \
 320                 -w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
 321                 -g 0x0 \
 322                 $$(UNBRICK_TTY)
 323 ,
 324         $(V0) @$(ECHO)
 325         $(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
 326         $(V0) @$(ECHO) "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
 327 )
 328
 329 .PHONY: bl_$(1)_clean
 330 bl_$(1)_clean:
 331         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bl_$(1))"
 332         $(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
 333 endef
 334
 335 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 336 # $(2) = Short name for board (e.g cc)
 337 define BU_TEMPLATE
 338 .PHONY: bu_$(1)
 339 bu_$(1): bu_$(1)_opfw
 340
 341 bu_$(1)_%: bl_$(1)_bino
 342         $(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
 343         $(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
 344                 $$(MAKE) -r --no-print-directory \
 345                 BUILD_TYPE=bu \
 346                 BOARD_NAME=$(1) \
 347                 BOARD_SHORT_NAME=$(2) \
 348                 TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
 349                 OUTDIR=$(BUILD_DIR)/bu_$(1) \
 350                 TARGET=bu_$(1) \
 351                 $$*
 352
 353 .PHONY: bu_$(1)_clean
 354 bu_$(1)_clean:
 355         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bu_$(1))"
 356         $(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
 357 endef
 358
 359 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 360 # $(2) = Short name for board (e.g cc)
 361 define EF_TEMPLATE
 362 .PHONY: ef_$(1)
 363 ef_$(1): ef_$(1)_bin
 364
 365 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 366         $(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
 367         $(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
 368                 $$(MAKE) -r --no-print-directory \
 369                 BUILD_TYPE=ef \
 370                 BOARD_NAME=$(1) \
 371                 BOARD_SHORT_NAME=$(2) \
 372                 DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
 373                 TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
 374                 OUTDIR=$(BUILD_DIR)/ef_$(1) \
 375                 TARGET=ef_$(1) \
 376                 $$*
 377
 378 .PHONY: ef_$(1)_clean
 379 ef_$(1)_clean:
 380         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/ef_$(1))"
 381         $(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
 382 endef
 383
 384 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 385 define BOARD_PHONY_TEMPLATE
 386 .PHONY: all_$(1)
 387 all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
 388 all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
 389 all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
 390 all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
 391
 392 .PHONY: all_$(1)_clean
 393 all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
 394 all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
 395 all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
 396 all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
 397 endef
 398
 399 # Generate flight build rules
 400 .PHONY: all_fw all_fw_clean
 401 all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
 402 all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
 403
 404 .PHONY: all_bl all_bl_clean
 405 all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
 406 all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
 407
 408 .PHONY: all_bu all_bu_clean
 409 all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
 410 all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 411
 412 .PHONY: all_ef all_ef_clean
 413 all_ef:        $(EF_TARGETS)
 414 all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
 415
 416 .PHONY: all_flight all_flight_clean
 417 all_flight:       all_fw all_bl all_bu all_ef
 418 all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
 419
 420 # Expand the groups of targets for each board
 421 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 422
 423 # Expand the firmware rules
 424 $(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
 425
 426 # Expand the bootloader rules
 427 $(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
 428
 429 # Expand the bootloader updater rules
 430 $(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
 431
 432 # Expand the entire-flash rules
 433 $(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
 434
 435 .PHONY: sim_win32
 436 sim_win32: sim_win32_exe
 437
 438 sim_win32_%: uavobjects_flight
 439         $(V1) $(MKDIR) -p $(BUILD_DIR)/sitl_win32
 440         $(V1) $(MAKE) --no-print-directory \
 441                 -C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
 442
 443 .PHONY: sim_osx
 444 sim_osx: sim_osx_elf
 445
 446 sim_osx_%: uavobjects_flight
 447         $(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
 448         $(V1) $(MAKE) --no-print-directory \
 449                 -C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
 450
 451 ##############################
 452 #
 453 # GCS related components
 454 #
 455 ##############################
 456
 457 .PHONY: all_ground
 458 all_ground: openpilotgcs uploader
 459
 460 # Convenience target for the GCS
 461 .PHONY: gcs gcs_clean
 462 gcs: openpilotgcs
 463 gcs_clean: openpilotgcs_clean
 464
 465 ifeq ($(V), 1)
 466     GCS_SILENT :=
 467 else
 468     GCS_SILENT := silent
 469 endif
 470
 471 .NOTPARALLEL:
 472 .PHONY: openpilotgcs
 473 openpilotgcs: uavobjects_gcs openpilotgcs_qmake openpilotgcs_make
 474
 475 .PHONY: openpilotgcs_qmake
 476 openpilotgcs_qmake:
 477 ifeq ($(QMAKE_SKIP),)
 478         $(V1) $(MKDIR) -p $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
 479         $(V1) ( cd $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF) && \
 480             $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
 481         )
 482 else
 483         @$(ECHO) "skipping qmake"
 484 endif
 485
 486 .PHONY: openpilotgcs_make
 487 openpilotgcs_make:
 488         $(V1) $(MKDIR) -p $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
 489         $(V1) ( cd $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/$(MAKE_DIR) && \
 490             $(MAKE) -w ; \
 491         )
 492
 493 .PHONY: openpilotgcs_clean
 494 openpilotgcs_clean:
 495         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF))"
 496         $(V1) [ ! -d "$(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)" ] || $(RM) -r "$(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)"
 497
 498 ################################
 499 #
 500 # Serial Uploader tool
 501 #
 502 ################################
 503
 504 .NOTPARALLEL:
 505 .PHONY: uploader
 506 uploader: uploader_qmake uploader_make
 507
 508 .PHONY: uploader_qmake
 509 uploader_qmake:
 510 ifeq ($(QMAKE_SKIP),)
 511         $(V1) $(MKDIR) -p $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)
 512         $(V1) ( cd $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF) && \
 513             $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/upload.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
 514         )
 515 else
 516         @$(ECHO) "skipping qmake"
 517 endif
 518
 519 .PHONY: uploader_make
 520 uploader_make:
 521         $(V1) $(MKDIR) -p $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)
 522         $(V1) ( cd $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)/$(MAKE_DIR) && \
 523             $(MAKE) -w ; \
 524         )
 525
 526 .PHONY: uploader_clean
 527 uploader_clean:
 528         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF))"
 529         $(V1) [ ! -d "$(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)" ] || $(RM) -r "$(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)"
 530
 531
 532 ################################
 533 #
 534 # Android GCS related components
 535 #
 536 ################################
 537
 538 # Build the output directory for the Android GCS build
 539 ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
 540 $(ANDROIDGCS_OUT_DIR):
 541         $(V1) $(MKDIR) -p $@
 542
 543 # Build the asset directory for the android assets
 544 ANDROIDGCS_ASSETS_DIR := $(ANDROIDGCS_OUT_DIR)/assets
 545 $(ANDROIDGCS_ASSETS_DIR)/uavos:
 546         $(V1) $(MKDIR) -p $@
 547
 548 ifeq ($(V), 1)
 549     ANT_QUIET      :=
 550     ANDROID_SILENT :=
 551 else
 552     ANT_QUIET      := -q
 553     ANDROID_SILENT := -s
 554 endif
 555
 556 .PHONY: androidgcs
 557 androidgcs: uavo-collections_java
 558         $(V0) @$(ECHO) " ANDROID   $(call toprel, $(ANDROIDGCS_OUT_DIR))"
 559         $(V1) $(MKDIR) -p $(ANDROIDGCS_OUT_DIR)
 560         $(V1) $(ANDROID) $(ANDROID_SILENT) update project \
 561                 --target "Google Inc.:Google APIs:$(GOOGLE_API_VERSION)" \
 562                 --name androidgcs \
 563                 --path ./androidgcs
 564         $(V1) $(ANT) -f ./androidgcs/build.xml \
 565                 $(ANT_QUIET) \
 566                 -Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
 567                 -Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
 568                 $(ANDROIDGCS_BUILD_CONF)
 569
 570 .PHONY: androidgcs_clean
 571 androidgcs_clean:
 572         @$(ECHO) " CLEAN      $(call toprel, $(ANDROIDGCS_OUT_DIR))"
 573         $(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
 574
 575 # We want to take snapshots of the UAVOs at each point that they change
 576 # to allow the GCS to be compatible with as many versions as possible.
 577 # We always include a pseudo collection called "srctree" which represents
 578 # the UAVOs in the source tree. So not necessary to add current tree UAVO
 579 # hash here, it is always included.
 580
 581 # Find the git hashes of each commit that changes uavobjects with:
 582 #   git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
 583 # List only UAVO hashes of past releases, do not list current hash.
 584 # Past compatible versions are so far: RELEASE-12.10.2
 585 UAVO_GIT_VERSIONS := 5e14f53
 586
 587 # All versions includes also the current source tree UAVO hash
 588 UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
 589
 590 # This is where the UAVO collections are stored
 591 UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
 592
 593 # $(1) git hash of a UAVO snapshot
 594 define UAVO_COLLECTION_GIT_TEMPLATE
 595
 596 # Make the output directory that will contain all of the synthetics for the
 597 # uavo collection referenced by the git hash $(1)
 598 $$(UAVO_COLLECTION_DIR)/$(1):
 599         $$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
 600
 601 # Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
 602 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
 603 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
 604         $$(V0) @$(ECHO) " UAVOTAR   $(1)"
 605         $$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
 606
 607 # Extract the uavo xml files from our snapshot
 608 $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
 609         $$(V0) @$(ECHO) " UAVOUNTAR $(1)"
 610         $$(V1) $(RM) -rf $$@
 611         $$(V1) $(MKDIR) -p $$@
 612         $$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
 613 endef
 614
 615 # Map the current working directory into the set of UAVO collections
 616 $(UAVO_COLLECTION_DIR)/srctree:
 617         $(V1) $(MKDIR) -p $@
 618
 619 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
 620 $(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
 621         $(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
 622
 623 # $(1) git hash (or symbolic name) of a UAVO snapshot
 624 define UAVO_COLLECTION_BUILD_TEMPLATE
 625
 626 # This leaves us with a (broken) symlink that points to the full sha1sum of the collection
 627 $$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
 628         # Compute the sha1 hash for this UAVO collection
 629         # The sed bit truncates the UAVO hash to 16 hex digits
 630         $$(V1) $$(VERSION_INFO) \
 631                         --uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
 632                         --format='$$$${UAVO_HASH}' | \
 633                 $(SED) -e 's|\(................\).*|\1|' > $$@
 634
 635         $$(V0) @$(ECHO) " UAVOHASH  $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 636
 637 # Generate the java uavobjects for this UAVO collection
 638 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
 639         $$(V0) @$(ECHO) " UAVOJAVA  $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 640         $$(V1) $(MKDIR) -p $$@
 641         $$(V1) ( \
 642                 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
 643                 $$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
 644         )
 645
 646 # Build a jar file for this UAVO collection
 647 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
 648 $$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
 649         $$(V0) @$(ECHO) " UAVOJAR   $(1)   " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
 650         $$(V1) ( \
 651                 HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
 652                 cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
 653                 $(JAVAC) java/*.java \
 654                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
 655                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
 656                         $$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
 657                         -d . && \
 658                 find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
 659                 $(JAR) cf tmp_uavobjects.jar @classlist.txt && \
 660                 $$(ANDROID_DX) \
 661                         --dex \
 662                         --output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
 663                         tmp_uavobjects.jar && \
 664                 $(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
 665         )
 666
 667 endef
 668
 669 # One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
 670 $(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
 671
 672 # One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
 673 $(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
 674
 675 .PHONY: uavo-collections_java
 676 uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
 677
 678 .PHONY: uavo-collections
 679 uavo-collections: uavo-collections_java
 680
 681 .PHONY: uavo-collections_clean
 682 uavo-collections_clean:
 683         @$(ECHO) " CLEAN      $(call toprel, $(UAVO_COLLECTION_DIR))"
 684         $(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
 685
 686 ##############################
 687 #
 688 # Unit Tests
 689 #
 690 ##############################
 691
 692 ALL_UNITTESTS := logfs math lednotification
 693
 694 # Build the directory for the unit tests
 695 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
 696 $(UT_OUT_DIR):
 697         $(V1) $(MKDIR) -p $@
 698
 699 .PHONY: all_ut
 700 all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
 701
 702 .PHONY: all_ut_xml
 703 all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
 704
 705 .PHONY: all_ut_run
 706 all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
 707
 708 .PHONY: all_ut_clean
 709 all_ut_clean:
 710         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR))"
 711         $(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
 712
 713 # $(1) = Unit test name
 714 define UT_TEMPLATE
 715 .PHONY: ut_$(1)
 716 ut_$(1): ut_$(1)_run
 717
 718 ut_$(1)_%: $$(UT_OUT_DIR)
 719         $(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
 720         $(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
 721                 $$(MAKE) -r --no-print-directory \
 722                 BUILD_TYPE=ut \
 723                 BOARD_SHORT_NAME=$(1) \
 724                 TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
 725                 OUTDIR="$(UT_OUT_DIR)/$(1)" \
 726                 TARGET=$(1) \
 727                 $$*
 728
 729 .PHONY: ut_$(1)_clean
 730 ut_$(1)_clean:
 731         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR)/$(1))"
 732         $(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
 733 endef
 734
 735 # Expand the unittest rules
 736 $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
 737
 738 # Disable parallel make when the all_ut_run target is requested otherwise the TAP
 739 # output is interleaved with the rest of the make output.
 740 ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
 741 .NOTPARALLEL:
 742     $(info $(EMPTY) NOTE        Parallel make disabled by all_ut_run target so we have sane console output)
 743 endif
 744
 745 ##############################
 746 #
 747 # Packaging components
 748 #
 749 ##############################
 750
 751 # Firmware files to package
 752 PACKAGE_FW_EXCLUDE  := fw_simposix $(if $(PACKAGE_FW_INCLUDE_DISCOVERYF4BARE),,fw_discoveryf4bare)
 753 PACKAGE_FW_TARGETS  := $(filter-out $(PACKAGE_FW_EXCLUDE), $(FW_TARGETS))
 754 PACKAGE_ELF_TARGETS := $(filter     fw_simposix, $(FW_TARGETS))
 755
 756 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 757 # They are used later by the vehicle setup wizard to update board firmware.
 758 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 759 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
 760 OPFW_RESOURCE_PREFIX := ../../
 761 OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
 762 OPFW_CONTENTS := \
 763 <!DOCTYPE RCC><RCC version="1.0"> \
 764     <qresource prefix="/firmware"> \
 765         $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(OPFW_RESOURCE_PREFIX)$(fw_file)</file>) \
 766     </qresource> \
 767 </RCC>
 768
 769 .PHONY: opfw_resource
 770 opfw_resource: $(OPFW_RESOURCE)
 771
 772 $(OPFW_RESOURCE): $(FW_TARGETS)
 773         @$(ECHO) Generating OPFW resource file $(call toprel, $@)
 774         $(V1) $(MKDIR) -p $(dir $@)
 775         $(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 776
 777 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 778 ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
 779     $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
 780 endif
 781
 782 # Packaging targets: package
 783 #  - builds all firmware, opfw_resource, gcs
 784 #  - copies firmware into a package directory
 785 #  - calls paltform-specific packaging script
 786
 787 # Define some variables
 788 export PACKAGE_LBL  := $(shell $(VERSION_INFO) --format=\$${LABEL})
 789 export PACKAGE_NAME := OpenPilot
 790 export PACKAGE_SEP  := -
 791
 792 .PHONY: package
 793
 794 include $(ROOT_DIR)/package/$(UNAME).mk
 795
 796 package: all_fw all_ground uavobjects_matlab $(PACKAGE_DIR)
 797 ifneq ($(GCS_BUILD_CONF),release)
 798         # We can only package release builds
 799         $(error Packaging is currently supported for release builds only)
 800 endif
 801
 802 ##############################
 803 #
 804 # Source code formatting
 805 #
 806 ##############################
 807
 808 UNCRUSTIFY_TARGETS := flight ground
 809
 810 # $(1) = Uncrustify target (e.g flight or ground)
 811 # $(2) = Target root directory
 812 define UNCRUSTIFY_TEMPLATE
 813
 814 .PHONY: uncrustify_$(1)
 815 uncrustify_$(1):
 816         @$(ECHO) "Auto-formatting $(1) source code"
 817         $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
 818 endef
 819
 820 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
 821
 822 .PHONY: uncrustify_all
 823 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
 824
 825 ##############################
 826 #
 827 # Doxygen documentation
 828 #
 829 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
 830 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
 831 #
 832 ##############################
 833
 834 DOCS_TARGETS := flight ground uavobjects
 835
 836 # $(1) = Doxygen target (e.g flight or ground)
 837 define DOXYGEN_TEMPLATE
 838
 839 .PHONY: docs_$(1)
 840 docs_$(1): docs_$(1)_clean
 841         @$(ECHO) "Generating $(1) documentation"
 842         $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
 843         $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
 844
 845 .PHONY: docs_$(1)_clean
 846 docs_$(1)_clean:
 847         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs/$(1))"
 848         $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
 849
 850 endef
 851
 852 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
 853
 854 .PHONY: docs_all
 855 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
 856
 857 .PHONY: docs_all_clean
 858 docs_all_clean:
 859         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs)"
 860         $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
 861
 862 ##############################
 863 #
 864 # Build info
 865 #
 866 ##############################
 867
 868 .PHONY: build-info
 869 build-info:
 870         @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
 871         $(V1) $(MKDIR) -p $(BUILD_DIR)
 872         $(V1) $(VERSION_INFO) \
 873                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
 874                 --template="make/templates/$@.txt" \
 875                 --outfile="$(BUILD_DIR)/$@.txt"
 876
 877 ##############################
 878 #
 879 # Source for distribution
 880 #
 881 ##############################
 882
 883 DIST_VER_INFO := $(DIST_DIR)/version-info.json
 884
 885 .PHONY: $(DIST_VER_INFO) # Because to many deps to list
 886 $(DIST_VER_INFO): $(DIST_DIR)
 887         $(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
 888
 889 .PHONY: dist
 890 dist: $(DIST_DIR) $(DIST_VER_INFO)
 891         @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_DIR))"
 892         $(eval DIST_NAME := $(call toprel, "$(DIST_DIR)/OpenPilot-$(shell git describe).tar"))
 893         $(V1) git archive --prefix="OpenPilot/" -o "$(DIST_NAME)" HEAD
 894         $(V1) tar --append --file="$(DIST_NAME)" \
 895                 --transform='s,.*version-info.json,OpenPilot/version-info.json,' \
 896                 $(call toprel, "$(DIST_VER_INFO)")
 897         $(V1) gzip -f "$(DIST_NAME)"
 898
 899
 900 ##############################
 901 #
 902 # Help message, the default Makefile goal
 903 #
 904 ##############################
 905
 906 .DEFAULT_GOAL := help
 907
 908 .PHONY: help
 909 help:
 910         @$(ECHO)
 911         @$(ECHO) "   This Makefile is known to work on Linux and Mac in a standard shell environment."
 912         @$(ECHO) "   It also works on Windows by following the instructions given on this wiki page:"
 913         @$(ECHO) "       http://wiki.openpilot.org/display/Doc/Windows%3A+Building+and+Packaging"
 914         @$(ECHO)
 915         @$(ECHO) "   Here is a summary of the available targets:"
 916         @$(ECHO)
 917         @$(ECHO) "   [Source tree preparation]"
 918         @$(ECHO) "     prepare              - Install GIT commit message template"
 919         @$(ECHO) "   [Tool Installers]"
 920         @$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 921         @$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 922         @$(ECHO) "     nsis_install         - Install the NSIS Unicode (Windows only)"
 923         @$(ECHO) "     sdl_install          - Install the SDL library (Windows only)"
 924         @$(ECHO) "     mesawin_install      - Install the OpenGL32 DLL (Windows only)"
 925         @$(ECHO) "     openssl_install      - Install the OpenSSL libraries (Windows only)"
 926         @$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 927         @$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 928         @$(ECHO) "     gtest_install        - Install the GoogleTest framework"
 929         @$(ECHO) "   These targets are not updated yet and are probably broken:"
 930         @$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 931         @$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 932         @$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
 933         @$(ECHO) "     android_sdk_install  - Install the Android SDK tools"
 934         @$(ECHO) "   Install all available tools:"
 935         @$(ECHO) "     all_sdk_install      - Install all of above (platform-dependent)"
 936         @$(ECHO) "     build_sdk_install    - Install only essential for build tools (platform-dependent)"
 937         @$(ECHO)
 938         @$(ECHO) "   Other tool options are:"
 939         @$(ECHO) "     <tool>_version       - Display <tool> version"
 940         @$(ECHO) "     <tool>_clean         - Remove installed <tool>"
 941         @$(ECHO) "     <tool>_distclean     - Remove downloaded <tool> distribution file(s)"
 942         @$(ECHO)
 943         @$(ECHO) "   [Big Hammer]"
 944         @$(ECHO) "     all                  - Generate UAVObjects, build openpilot firmware and gcs"
 945         @$(ECHO) "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 946         @$(ECHO) "     all_fw               - Build only firmware for all boards"
 947         @$(ECHO) "     all_bl               - Build only bootloaders for all boards"
 948         @$(ECHO) "     all_bu               - Build only bootloader updaters for all boards"
 949         @$(ECHO)
 950         @$(ECHO) "     all_clean            - Remove your build directory ($(BUILD_DIR))"
 951         @$(ECHO) "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
 952         @$(ECHO) "     all_fw_clean         - Remove firmware for all boards"
 953         @$(ECHO) "     all_bl_clean         - Remove bootloaders for all boards"
 954         @$(ECHO) "     all_bu_clean         - Remove bootloader updaters for all boards"
 955         @$(ECHO)
 956         @$(ECHO) "     all_<board>          - Build all available images for <board>"
 957         @$(ECHO) "     all_<board>_clean    - Remove all available images for <board>"
 958         @$(ECHO)
 959         @$(ECHO) "     all_ut               - Build all unit tests"
 960         @$(ECHO) "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
 961         @$(ECHO) "     all_ut_run           - Run all unit tests and dump TAP output to console"
 962         @$(ECHO)
 963         @$(ECHO) "   [Firmware]"
 964         @$(ECHO) "     <board>              - Build firmware for <board>"
 965         @$(ECHO) "                            Supported boards are ($(ALL_BOARDS))"
 966         @$(ECHO) "     fw_<board>           - Build firmware for <board>"
 967         @$(ECHO) "                            Supported boards are ($(FW_BOARDS))"
 968         @$(ECHO) "     fw_<board>_clean     - Remove firmware for <board>"
 969         @$(ECHO) "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 970         @$(ECHO)
 971         @$(ECHO) "   [Bootloader]"
 972         @$(ECHO) "     bl_<board>           - Build bootloader for <board>"
 973         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 974         @$(ECHO) "     bl_<board>_clean     - Remove bootloader for <board>"
 975         @$(ECHO) "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 976         @$(ECHO)
 977         @$(ECHO) "   [Entire Flash]"
 978         @$(ECHO) "     ef_<board>           - Build entire flash image for <board>"
 979         @$(ECHO) "                            Supported boards are ($(EF_BOARDS))"
 980         @$(ECHO) "     ef_<board>_clean     - Remove entire flash image for <board>"
 981         @$(ECHO) "     ef_<board>_program   - Use OpenOCD + JTAG to write entire flash image to <board>"
 982         @$(ECHO)
 983         @$(ECHO) "   [Bootloader Updater]"
 984         @$(ECHO) "     bu_<board>           - Build bootloader updater for <board>"
 985         @$(ECHO) "                            Supported boards are ($(BU_BOARDS))"
 986         @$(ECHO) "     bu_<board>_clean     - Remove bootloader updater for <board>"
 987         @$(ECHO)
 988         @$(ECHO) "   [Unbrick a board]"
 989         @$(ECHO) "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 990         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 991         @$(ECHO) "   [Unittests]"
 992         @$(ECHO) "     ut_<test>            - Build unit test <test>"
 993         @$(ECHO) "     ut_<test>_xml        - Run test and capture XML output into a file"
 994         @$(ECHO) "     ut_<test>_run        - Run test and dump output to console"
 995         @$(ECHO)
 996         @$(ECHO) "   [Simulation]"
 997         @$(ECHO) "     sim_osx              - Build OpenPilot simulation firmware for OSX"
 998         @$(ECHO) "     sim_osx_clean        - Delete all build output for the osx simulation"
 999         @$(ECHO) "     sim_win32            - Build OpenPilot simulation firmware for Windows"
1000         @$(ECHO) "                            using mingw and msys"
1001         @$(ECHO) "     sim_win32_clean      - Delete all build output for the win32 simulation"
1002         @$(ECHO)
1003         @$(ECHO) "   [GCS]"
1004         @$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
1005         @$(ECHO) "                            Skip qmake: QMAKE_SKIP=1"
1006         @$(ECHO) "                            Compile specific directory: MAKE_DIR=<dir>"
1007         @$(ECHO) "                            Example: make gcs QMAKE_SKIP=1 MAKE_DIR=src/plugins/coreplugin"
1008         @$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
1009         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
1010         @$(ECHO)
1011         @$(ECHO) "   [Uploader Tool]"
1012         @$(ECHO) "     uploader             - Build the serial uploader tool (debug|release)"
1013         @$(ECHO) "                            Skip qmake: QMAKE_SKIP=1"
1014         @$(ECHO) "                            Example: make uploader QMAKE_SKIP=1"
1015         @$(ECHO) "     uploader_clean       - Remove the serial uploader tool (debug|release)"
1016         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
1017         @$(ECHO)
1018         @$(ECHO)
1019         @$(ECHO) "   [AndroidGCS]"
1020         @$(ECHO) "     androidgcs           - Build the Android Ground Control System (GCS) application"
1021         @$(ECHO) "     androidgcs_install   - Use ADB to install the Android GCS application"
1022         @$(ECHO) "     androidgcs_run       - Run the Android GCS application"
1023         @$(ECHO) "     androidgcs_clean     - Remove the Android GCS application"
1024         @$(ECHO)
1025         @$(ECHO) "   [UAVObjects]"
1026         @$(ECHO) "     uavobjects           - Generate source files from the UAVObject definition XML files"
1027         @$(ECHO) "     uavobjects_test      - Parse xml-files - check for valid, duplicate ObjId's, ..."
1028         @$(ECHO) "     uavobjects_<group>   - Generate source files from a subset of the UAVObject definition XML files"
1029         @$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
1030         @$(ECHO)
1031         @$(ECHO) "   [Packaging]"
1032         @$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package (no clean)"
1033         @$(ECHO) "     opfw_resource        - Generate resources to embed firmware binaries into the GCS"
1034         @$(ECHO) "     dist                 - Generate source archive for distribution"
1035         @$(ECHO) "     install              - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
1036         @$(ECHO)
1037         @$(ECHO) "   [Code Formatting]"
1038         @$(ECHO) "     uncrustify_<source>  - Reformat <source> code according to the project's standards"
1039         @$(ECHO) "                            Supported sources are ($(UNCRUSTIFY_TARGETS))"
1040         @$(ECHO) "     uncrustify_all       - Reformat all source code"
1041         @$(ECHO)
1042         @$(ECHO) "   [Code Documentation]"
1043         @$(ECHO) "     docs_<source>        - Generate HTML documentation for <source>"
1044         @$(ECHO) "                            Supported sources are ($(DOCS_TARGETS))"
1045         @$(ECHO) "     docs_all             - Generate HTML documentation for all"
1046         @$(ECHO) "     docs_<source>_clean  - Delete generated documentation for <source>"
1047         @$(ECHO) "     docs_all_clean       - Delete all generated documentation"
1048         @$(ECHO)
1049         @$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
1050         @$(ECHO)
1051         @$(ECHO) "  Notes: All tool distribution files will be downloaded into $(DL_DIR)"
1052         @$(ECHO) "         All tools will be installed into $(TOOLS_DIR)"
1053         @$(ECHO) "         All build output will be placed in $(BUILD_DIR)"
1054         @$(ECHO)
1055         @$(ECHO) "  Tool download and install directories can be changed using environment variables:"
1056         @$(ECHO) "         OPENPILOT_DL_DIR        full path to downloads directory [downloads if not set]"
1057         @$(ECHO) "         OPENPILOT_TOOLS_DIR     full path to installed tools directory [tools if not set]"
1058         @$(ECHO) "  More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
1059         @$(ECHO)