Makefile

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