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