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 export OPGCSSYNTHDIR := $(BUILD_DIR)/gcs-synthetics
  54
  55 DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR) $(OPGCSSYNTHDIR)
  56
  57 # Naming for binaries and packaging etc,.
  58 export ORG_BIG_NAME := LibrePilot
  59 GCS_LABEL := GCS
  60 GCS_BIG_NAME := $(ORG_BIG_NAME) $(GCS_LABEL)
  61 # These should be lowercase with no spaces
  62 export ORG_SMALL_NAME := $(call smallify,$(ORG_BIG_NAME))
  63 GCS_SMALL_NAME := $(call smallify,$(GCS_BIG_NAME))
  64
  65 WEBSITE_URL      := http://librepilot.org
  66 GIT_URL          := https://bitbucket.org/librepilot/librepilot.git
  67 GITWEB_URL       := https://bitbucket.org/librepilot/librepilot
  68 # Change this once the DNS is set to http://wiki.librepilot.org/
  69 WIKI_URL_ROOT    := https://librepilot.atlassian.net/wiki/display/LPDOC/
  70 USAGETRACKER_URL := https://usagetracker.librepilot.org/
  71
  72 PACKAGING_EMAIL_ADDRESS := packaging@librepilot.org
  73
  74 define DESCRIPTION_SHORT :=
  75 A ground control station and firmware for UAV flight controllers
  76 endef
  77
  78 define DESCRIPTION_LONG :=
  79 The LibrePilot open source project was founded in July 2015.
  80 It focuses on research and development of software and hardware to be used in a variety of applications including vehicle control and stabilization, unmanned autonomous vehicles and robotics.
  81 One of the project's primary goals is to provide an open and collaborative environment making it the ideal home for development of innovative ideas.
  82 endef
  83
  84
  85 # Clean out undesirable variables from the environment and command-line
  86 # to remove the chance that they will cause problems with our build
  87 define SANITIZE_VAR
  88 $(if $(filter-out undefined,$(origin $(1))),
  89     $(info $(EMPTY) NOTE        Sanitized $(2) variable '$(1)' from $(origin $(1)))
  90     MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
  91     override $(1) :=
  92     unexport $(1)
  93 )
  94 endef
  95
  96 # These specific variables can influence compilation in unexpected (and undesirable) ways
  97 # gcc flags
  98 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
  99 # preprocessor flags
 100 SANITIZE_GCC_VARS += CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
 101 # make flags
 102 SANITIZE_GCC_VARS += CFLAGS CXXFLAGS CPPFLAGS LDFLAGS LDLIBS
 103 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
 104
 105 # These specific variables used to be valid but now they make no sense
 106 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
 107 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
 108
 109 # Decide on a verbosity level based on the V= parameter
 110 export AT := @
 111 ifndef V
 112     export V0    :=
 113     export V1    := $(AT)
 114 else ifeq ($(V), 0)
 115     export V0    := $(AT)
 116     export V1    := $(AT)
 117 else ifeq ($(V), 1)
 118 endif
 119
 120 ARCH := $(call get_arch)
 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     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 131 else ifeq ($(UNAME), Darwin)
 132     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 133 else ifeq ($(UNAME), Windows)
 134     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
 135 endif
 136
 137 export UAVOBJGENERATOR
 138
 139 # Set up default build configurations (debug | release)
 140 GCS_BUILD_CONF := release
 141
 142 # Set extra configuration
 143 GCS_EXTRA_CONF += osg copy_osg
 144 ifeq ($(UNAME), Windows)
 145     GCS_EXTRA_CONF += osgearth
 146 endif
 147
 148 ##############################
 149 #
 150 # All targets
 151 #
 152 ##############################
 153
 154 .PHONY: all
 155 all: uavobjects all_ground all_flight
 156
 157 .PHONY: all_clean
 158 all_clean:
 159         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 160         $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 161
 162 .PHONY: clean
 163 clean: all_clean
 164
 165
 166 ##############################
 167 #
 168 # UAVObjects
 169 #
 170 ##############################
 171
 172 UAVOBJGENERATOR_DIR := $(BUILD_DIR)/uavobjgenerator
 173 DIRS += $(UAVOBJGENERATOR_DIR)
 174
 175 .PHONY: uavobjgenerator
 176 uavobjgenerator: $(UAVOBJGENERATOR)
 177
 178 $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
 179         $(V1) cd $(UAVOBJGENERATOR_DIR) && \
 180             ( [ -f Makefile ] || $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
 181             CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' ) && \
 182             $(MAKE) --no-print-directory -w
 183
 184 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
 185
 186 .PHONY: uavobjects
 187 uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 188
 189 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 190 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
 191
 192 uavobjects_%: $(UAVOBJGENERATOR)
 193         @$(MKDIR) -p $(UAVOBJ_OUT_DIR)/$*
 194         $(V1) ( cd $(UAVOBJ_OUT_DIR)/$* && \
 195             $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
 196         )
 197
 198 uavobjects_test: $(UAVOBJGENERATOR)
 199         $(V1) $(UAVOBJGENERATOR) -v $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 200
 201 uavobjects_clean:
 202         @$(ECHO) " CLEAN      $(call toprel, $(UAVOBJ_OUT_DIR))"
 203         $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 204
 205 ##############################
 206 #
 207 # Flight related components
 208 #
 209 ##############################
 210
 211
 212 # When building any of the "all_*" targets, tell all sub makefiles to display
 213 # additional details on each line of output to describe which build and target
 214 # that each line applies to. The same applies also to all, opfw_resource,
 215 # package targets
 216 ifneq ($(strip $(filter all_% all opfw_resource package,$(MAKECMDGOALS))),)
 217     export ENABLE_MSG_EXTRA := yes
 218 endif
 219
 220 # When building more than one goal in a single make invocation, also
 221 # enable the extra context for each output line
 222 ifneq ($(word 2,$(MAKECMDGOALS)),)
 223     export ENABLE_MSG_EXTRA := yes
 224 endif
 225
 226 FLIGHT_OUT_DIR := $(BUILD_DIR)/firmware
 227 DIRS += $(FLIGHT_OUT_DIR)
 228
 229 # Might not be here in source package
 230 -include $(ROOT_DIR)/flight/Makefile
 231
 232 ##############################
 233 #
 234 # GCS related components
 235 #
 236 ##############################
 237
 238 .PHONY: all_ground
 239 all_ground: gcs uploader
 240
 241 ifneq ($(V), 1)
 242     GCS_EXTRA_CONF += silent
 243 endif
 244
 245 GCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
 246 DIRS += $(GCS_DIR)
 247
 248 GCS_MAKEFILE := $(GCS_DIR)/Makefile
 249
 250 .PHONY: gcs_qmake
 251 gcs_qmake $(GCS_MAKEFILE): | $(GCS_DIR)
 252         $(V1) cd $(GCS_DIR) && \
 253             $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro \
 254             -r CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' \
 255             'GCS_BIG_NAME="$(GCS_BIG_NAME)"' GCS_SMALL_NAME=$(GCS_SMALL_NAME) \
 256             'ORG_BIG_NAME="$(ORG_BIG_NAME)"' ORG_SMALL_NAME=$(ORG_SMALL_NAME) \
 257             'WIKI_URL_ROOT="$(WIKI_URL_ROOT)"' \
 258             'USAGETRACKER_URL="$(USAGETRACKER_URL)"' \
 259             'GCS_LIBRARY_BASENAME=$(libbasename)' \
 260             $(GCS_QMAKE_OPTS)
 261
 262 .PHONY: gcs
 263 gcs: $(UAVOBJGENERATOR) $(GCS_MAKEFILE)
 264         $(V1) $(MAKE) -w -C $(GCS_DIR)/$(MAKE_DIR);
 265
 266 .PHONY: gcs_clean
 267 gcs_clean:
 268         @$(ECHO) " CLEAN      $(call toprel, $(GCS_DIR))"
 269         $(V1) [ ! -d "$(GCS_DIR)" ] || $(RM) -r "$(GCS_DIR)"
 270
 271
 272
 273 ################################
 274 #
 275 # Serial Uploader tool
 276 #
 277 ################################
 278
 279 UPLOADER_DIR := $(BUILD_DIR)/uploader_$(GCS_BUILD_CONF)
 280 DIRS += $(UPLOADER_DIR)
 281
 282 UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
 283
 284 .PHONY: uploader_qmake
 285 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
 286         $(V1) cd $(UPLOADER_DIR) && \
 287             $(QMAKE) $(ROOT_DIR)/ground/gcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
 288             -r CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' $(GCS_QMAKE_OPTS)
 289
 290 .PHONY: uploader
 291 uploader: $(UPLOADER_MAKEFILE)
 292         $(V1) $(MAKE) -w -C $(UPLOADER_DIR)
 293
 294 .PHONY: uploader_clean
 295 uploader_clean:
 296         @$(ECHO) " CLEAN      $(call toprel, $(UPLOADER_DIR))"
 297         $(V1) [ ! -d "$(UPLOADER_DIR)" ] || $(RM) -r "$(UPLOADER_DIR)"
 298
 299
 300
 301 ##############################
 302 #
 303 # Packaging components
 304 #
 305 ##############################
 306 # Firmware files to package
 307 PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano fw_sparky2
 308
 309 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 310 # They are used later by the vehicle setup wizard to update board firmware.
 311 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 312 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
 313
 314 ifeq ($(WITH_PREBUILT_FW),)
 315 FIRMWARE_DIR := $(FLIGHT_OUT_DIR)
 316 # We need to build the FW targets
 317 $(OPFW_RESOURCE): $(PACKAGE_FW_TARGETS)
 318 else
 319 FIRMWARE_DIR := $(WITH_PREBUILT_FW)
 320 endif
 321
 322 OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(FIRMWARE_DIR)/$(fw_targ)/$(fw_targ).opfw)
 323 OPFW_CONTENTS := \
 324 <!DOCTYPE RCC><RCC version="1.0"> \
 325     <qresource prefix="/firmware"> \
 326         $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(call system_path,$(fw_file))</file>) \
 327     </qresource> \
 328 </RCC>
 329
 330 .PHONY: opfw_resource
 331 opfw_resource: $(OPFW_RESOURCE)
 332
 333 $(OPFW_RESOURCE): | $(OPGCSSYNTHDIR)
 334         @$(ECHO) Generating OPFW resource file $(call toprel, $@)
 335         $(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 336
 337 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 338 ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
 339 $(GCS_MAKEFILE): $(OPFW_RESOURCE)
 340 endif
 341
 342 # Packaging targets: package
 343 #  - builds all firmware, opfw_resource, gcs
 344 #  - copies firmware into a package directory
 345 #  - calls paltform-specific packaging script
 346
 347 # Define some variables
 348 PACKAGE_LBL       := $(shell $(VERSION_INFO) --format=\$${LABEL})
 349 PACKAGE_NAME      := $(subst $(SPACE),,$(ORG_BIG_NAME))
 350 PACKAGE_SEP       := -
 351 PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
 352
 353 # Source distribution is never dirty because it uses git archive
 354 DIST_LBL       := $(subst -dirty,,$(PACKAGE_LBL))
 355 DIST_NAME      := $(PACKAGE_NAME)$(PACKAGE_SEP)$(DIST_LBL)
 356 DIST_TAR       := $(DIST_DIR)/$(DIST_NAME).tar
 357 DIST_TAR_GZ    := $(DIST_TAR).gz
 358 FW_DIST_NAME   := $(DIST_NAME)_firmware
 359 FW_DIST_TAR    := $(DIST_DIR)/$(FW_DIST_NAME).tar
 360 FW_DIST_TAR_GZ := $(FW_DIST_TAR).gz
 361 DIST_VER_INFO  := $(DIST_DIR)/version-info.json
 362
 363 include $(ROOT_DIR)/package/$(UNAME).mk
 364
 365 ##############################
 366 #
 367 # Source for distribution
 368 #
 369 ##############################
 370 FORCE:
 371
 372 $(DIST_VER_INFO): FORCE | $(DIST_DIR)
 373         $(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
 374
 375 $(DIST_TAR): $(DIST_VER_INFO) | $(DIST_DIR)
 376         @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR))"
 377         $(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_TAR)" HEAD
 378         $(V1) tar --append --file="$(DIST_TAR)" \
 379                 --owner=root --group=root --mtime="`git show -s --format=%ci`" \
 380                 --transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
 381                 $(call toprel, "$(DIST_VER_INFO)")
 382
 383 $(DIST_TAR_GZ): $(DIST_TAR)
 384         @$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR_GZ))"
 385         $(V1) gzip -knf "$(DIST_TAR)"
 386
 387 .PHONY: dist_tar_gz
 388 dist_tar_gz: $(DIST_TAR_GZ)
 389
 390 .PHONY: dist
 391 dist: dist_tar_gz
 392
 393
 394 $(FW_DIST_TAR): $(PACKAGE_FW_TARGETS) | $(DIST_DIR)
 395         @$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR))"
 396         $(V1) tar -c --file="$(FW_DIST_TAR)" --directory=$(FLIGHT_OUT_DIR) \
 397                 --owner=root --group=root --mtime="`git show -s --format=%ci`" \
 398                 --transform='s,^,firmware/,' \
 399                 $(foreach fw_targ,$(PACKAGE_FW_TARGETS),$(fw_targ)/$(fw_targ).opfw)
 400
 401 $(FW_DIST_TAR_GZ): $(FW_DIST_TAR)
 402         @$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR_GZ))"
 403         $(V1) gzip -knf "$(FW_DIST_TAR)"
 404
 405 .PHONY: fw_dist_tar_gz
 406 fw_dist_tar_gz: $(FW_DIST_TAR_GZ)
 407
 408 .PHONY: fw_dist
 409 fw_dist: fw_dist_tar_gz
 410
 411
 412 ##############################
 413 #
 414 # Source code formatting
 415 #
 416 ##############################
 417
 418 UNCRUSTIFY_TARGETS := flight ground
 419
 420 # $(1) = Uncrustify target (e.g flight or ground)
 421 # $(2) = Target root directory
 422 define UNCRUSTIFY_TEMPLATE
 423
 424 .PHONY: uncrustify_$(1)
 425 uncrustify_$(1):
 426         @$(ECHO) "Auto-formatting $(1) source code"
 427         $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
 428 endef
 429
 430 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
 431
 432 .PHONY: uncrustify_all
 433 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
 434
 435 ##############################
 436 #
 437 # Doxygen documentation
 438 #
 439 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
 440 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
 441 #
 442 ##############################
 443
 444 DOCS_TARGETS := flight ground uavobjects
 445
 446 # $(1) = Doxygen target (e.g flight or ground)
 447 define DOXYGEN_TEMPLATE
 448
 449 .PHONY: docs_$(1)
 450 docs_$(1): docs_$(1)_clean
 451         @$(ECHO) "Generating $(1) documentation"
 452         $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
 453         $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
 454
 455 .PHONY: docs_$(1)_clean
 456 docs_$(1)_clean:
 457         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs/$(1))"
 458         $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
 459
 460 endef
 461
 462 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
 463
 464 .PHONY: docs_all
 465 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
 466
 467 .PHONY: docs_all_clean
 468 docs_all_clean:
 469         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs)"
 470         $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
 471
 472 ##############################
 473 #
 474 # Build info
 475 #
 476 ##############################
 477
 478 .PHONY: build-info
 479 build-info: | $(BUILD_DIR)
 480         @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
 481         $(V1) $(VERSION_INFO) \
 482                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
 483                 --template="make/templates/$@.txt" \
 484                 --outfile="$(BUILD_DIR)/$@.txt"
 485
 486 ##############################
 487 #
 488 # Config
 489 #
 490 ##############################
 491
 492 CONFIG_OPTS := $(subst \$(SPACE),%SPACE_PLACEHOLDER%,$(MAKEOVERRIDES))
 493 CONFIG_OPTS := $(addprefix override%SPACE_PLACEHOLDER%,$(CONFIG_OPTS))
 494 CONFIG_OPTS := $(subst $(SPACE),\n,$(CONFIG_OPTS))\n
 495 CONFIG_OPTS := $(subst %SPACE_PLACEHOLDER%,$(SPACE),$(CONFIG_OPTS))
 496
 497 .PHONY: config_new
 498 config_new:
 499         @printf '$(CONFIG_OPTS)' > $(CONFIG_FILE)
 500
 501 .PHONY: config_append
 502 config_append:
 503         @printf '$(CONFIG_OPTS)' >> $(CONFIG_FILE)
 504
 505 .PHONY: config_show
 506 config_show:
 507         @cat $(CONFIG_FILE)
 508
 509 .PHONY: config_clean
 510 config_clean:
 511         rm -f $(CONFIG_FILE)
 512
 513
 514 ##############################
 515 #
 516 # Directories
 517 #
 518 ##############################
 519
 520 $(DIRS):
 521         $(V1) $(MKDIR) -p $@
 522
 523
 524 ##############################
 525 #
 526 # Help message, the default Makefile goal
 527 #
 528 ##############################
 529
 530 .DEFAULT_GOAL := help
 531
 532 .PHONY: help
 533 help:
 534         @$(ECHO)
 535         @$(ECHO) "   This Makefile is known to work on Linux and Mac in a standard shell environment."
 536         @$(ECHO) "   It also works on Windows by following the instructions given on this wiki page:"
 537         @$(ECHO) "       $(WIKI_ROOT_URL)Windows+Building+and+Packaging"
 538         @$(ECHO)
 539         @$(ECHO) "   Here is a summary of the available targets:"
 540         @$(ECHO)
 541         @$(ECHO) "   [Source tree preparation]"
 542         @$(ECHO) "     prepare              - Install GIT commit message template"
 543         @$(ECHO) "   [Tool Installers]"
 544         @$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 545         @$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 546         @$(ECHO) "     nsis_install         - Install the NSIS Unicode (Windows only)"
 547         @$(ECHO) "     mesawin_install      - Install the OpenGL32 DLL (Windows only)"
 548         @$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 549         @$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 550         @$(ECHO) "     gtest_install        - Install the GoogleTest framework"
 551         @$(ECHO) "     ccache_install       - Install ccache"
 552         @$(ECHO) "   These targets are not updated yet and are probably broken:"
 553         @$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 554         @$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 555         @$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
 556         @$(ECHO) "   Install all available tools:"
 557         @$(ECHO) "     all_sdk_install      - Install all of above (platform-dependent)"
 558         @$(ECHO) "     build_sdk_install    - Install only essential for build tools (platform-dependent)"
 559         @$(ECHO)
 560         @$(ECHO) "   Other tool options are:"
 561         @$(ECHO) "     <tool>_version       - Display <tool> version"
 562         @$(ECHO) "     <tool>_clean         - Remove installed <tool>"
 563         @$(ECHO) "     <tool>_distclean     - Remove downloaded <tool> distribution file(s)"
 564         @$(ECHO)
 565         @$(ECHO) "   [Big Hammer]"
 566         @$(ECHO) "     all                  - Generate UAVObjects, build $(ORG_BIG_NAME) firmware and gcs"
 567         @$(ECHO) "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 568         @$(ECHO) "     all_fw               - Build only firmware for all boards"
 569         @$(ECHO) "     all_bl               - Build only bootloaders for all boards"
 570         @$(ECHO) "     all_bu               - Build only bootloader updaters for all boards"
 571         @$(ECHO)
 572         @$(ECHO) "     all_clean            - Remove your build directory ($(BUILD_DIR))"
 573         @$(ECHO) "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
 574         @$(ECHO) "     all_fw_clean         - Remove firmware for all boards"
 575         @$(ECHO) "     all_bl_clean         - Remove bootloaders for all boards"
 576         @$(ECHO) "     all_bu_clean         - Remove bootloader updaters for all boards"
 577         @$(ECHO)
 578         @$(ECHO) "     all_<board>          - Build all available images for <board>"
 579         @$(ECHO) "     all_<board>_clean    - Remove all available images for <board>"
 580         @$(ECHO)
 581         @$(ECHO) "     all_ut               - Build all unit tests"
 582         @$(ECHO) "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
 583         @$(ECHO) "     all_ut_run           - Run all unit tests and dump TAP output to console"
 584         @$(ECHO)
 585         @$(ECHO) "   [Firmware]"
 586         @$(ECHO) "     <board>              - Build firmware for <board>"
 587         @$(ECHO) "                            Supported boards are ($(ALL_BOARDS))"
 588         @$(ECHO) "     fw_<board>           - Build firmware for <board>"
 589         @$(ECHO) "                            Supported boards are ($(FW_BOARDS))"
 590         @$(ECHO) "     fw_<board>_clean     - Remove firmware for <board>"
 591         @$(ECHO) "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 592         @$(ECHO)
 593         @$(ECHO) "   [Bootloader]"
 594         @$(ECHO) "     bl_<board>           - Build bootloader for <board>"
 595         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 596         @$(ECHO) "     bl_<board>_clean     - Remove bootloader for <board>"
 597         @$(ECHO) "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 598         @$(ECHO)
 599         @$(ECHO) "   [Entire Flash]"
 600         @$(ECHO) "     ef_<board>           - Build entire flash image for <board>"
 601         @$(ECHO) "                            Supported boards are ($(EF_BOARDS))"
 602         @$(ECHO) "     ef_<board>_clean     - Remove entire flash image for <board>"
 603         @$(ECHO) "     ef_<board>_program   - Use OpenOCD + JTAG to write entire flash image to <board>"
 604         @$(ECHO)
 605         @$(ECHO) "   [Bootloader Updater]"
 606         @$(ECHO) "     bu_<board>           - Build bootloader updater for <board>"
 607         @$(ECHO) "                            Supported boards are ($(BU_BOARDS))"
 608         @$(ECHO) "     bu_<board>_clean     - Remove bootloader updater for <board>"
 609         @$(ECHO)
 610         @$(ECHO) "   [Unbrick a board]"
 611         @$(ECHO) "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 612         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 613         @$(ECHO) "   [Unittests]"
 614         @$(ECHO) "     ut_<test>            - Build unit test <test>"
 615         @$(ECHO) "     ut_<test>_xml        - Run test and capture XML output into a file"
 616         @$(ECHO) "     ut_<test>_run        - Run test and dump output to console"
 617         @$(ECHO)
 618         @$(ECHO) "   [Simulation]"
 619         @$(ECHO) "     sim_osx              - Build $(ORG_BIG_NAME) simulation firmware for OSX"
 620         @$(ECHO) "     sim_osx_clean        - Delete all build output for the osx simulation"
 621         @$(ECHO) "     sim_win32            - Build $(ORG_BIG_NAME) simulation firmware for Windows"
 622         @$(ECHO) "                            using mingw and msys"
 623         @$(ECHO) "     sim_win32_clean      - Delete all build output for the win32 simulation"
 624         @$(ECHO)
 625         @$(ECHO) "   [GCS]"
 626         @$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
 627         @$(ECHO) "                            Compile specific directory: MAKE_DIR=<dir>"
 628         @$(ECHO) "                            Example: make gcs MAKE_DIR=src/plugins/coreplugin"
 629         @$(ECHO) "     gcs_qmake            - Run qmake for the Ground Control System (GCS) application (debug|release)"
 630         @$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
 631         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 632         @$(ECHO)
 633         @$(ECHO) "   [Uploader Tool]"
 634         @$(ECHO) "     uploader             - Build the serial uploader tool (debug|release)"
 635         @$(ECHO) "     uploader_qmake       - Run qmake for the serial uploader tool (debug|release)"
 636         @$(ECHO) "     uploader_clean       - Remove the serial uploader tool (debug|release)"
 637         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 638         @$(ECHO)
 639         @$(ECHO)
 640         @$(ECHO) "   [UAVObjects]"
 641         @$(ECHO) "     uavobjects           - Generate source files from the UAVObject definition XML files"
 642         @$(ECHO) "     uavobjects_test      - Parse xml-files - check for valid, duplicate ObjId's, ..."
 643         @$(ECHO) "     uavobjects_<group>   - Generate source files from a subset of the UAVObject definition XML files"
 644         @$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
 645         @$(ECHO)
 646         @$(ECHO) "   [Packaging]"
 647         @$(ECHO) "     package              - Build and package the platform-dependent package (no clean)"
 648         @$(ECHO) "     opfw_resource        - Generate resources to embed firmware binaries into the GCS"
 649         @$(ECHO) "     dist                 - Generate source archive for distribution"
 650         @$(ECHO) "     fw_dist              - Generate archive of firmware"
 651         @$(ECHO) "     install              - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
 652         @$(ECHO)
 653         @$(ECHO) "   [Code Formatting]"
 654         @$(ECHO) "     uncrustify_<source>  - Reformat <source> code according to the project's standards"
 655         @$(ECHO) "                            Supported sources are ($(UNCRUSTIFY_TARGETS))"
 656         @$(ECHO) "     uncrustify_all       - Reformat all source code"
 657         @$(ECHO)
 658         @$(ECHO) "   [Code Documentation]"
 659         @$(ECHO) "     docs_<source>        - Generate HTML documentation for <source>"
 660         @$(ECHO) "                            Supported sources are ($(DOCS_TARGETS))"
 661         @$(ECHO) "     docs_all             - Generate HTML documentation for all"
 662         @$(ECHO) "     docs_<source>_clean  - Delete generated documentation for <source>"
 663         @$(ECHO) "     docs_all_clean       - Delete all generated documentation"
 664         @$(ECHO)
 665         @$(ECHO) "   [Configuration]"
 666         @$(ECHO) "     config_new           - Place your make arguments in the config file"
 667         @$(ECHO) "     config_append        - Place your make arguments in the config file but append"
 668         @$(ECHO) "     config_clean         - Removes the config file"
 669         @$(ECHO)
 670         @$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
 671         @$(ECHO)
 672         @$(ECHO) "  Notes: All tool distribution files will be downloaded into $(DL_DIR)"
 673         @$(ECHO) "         All tools will be installed into $(TOOLS_DIR)"
 674         @$(ECHO) "         All build output will be placed in $(BUILD_DIR)"
 675         @$(ECHO)
 676         @$(ECHO) "  Tool download and install directories can be changed using environment variables:"
 677         @$(ECHO) "         DL_DIR        full path to downloads directory [downloads if not set]"
 678         @$(ECHO) "         TOOLS_DIR     full path to installed tools directory [tools if not set]"
 679         @$(ECHO) "  More info: $(WIKI_URL_ROOT)LibrePilot+Build+System+Overview"
 680         @$(ECHO)