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