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
  51 # Set up default build configurations (debug | release)
  52 GCS_BUILD_CONF          := release
  53 UAVOGEN_BUILD_CONF      := release
  54 ANDROIDGCS_BUILD_CONF   := debug
  55 GOOGLE_API_VERSION      := 14
  56
  57 # Clean out undesirable variables from the environment and command-line
  58 # to remove the chance that they will cause problems with our build
  59 define SANITIZE_VAR
  60 $(if $(filter-out undefined,$(origin $(1))),
  61     $(info $(EMPTY) NOTE        Sanitized $(2) variable '$(1)' from $(origin $(1)))
  62     MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
  63     override $(1) :=
  64     unexport $(1)
  65 )
  66 endef
  67
  68 # These specific variables can influence gcc in unexpected (and undesirable) ways
  69 SANITIZE_GCC_VARS := TMPDIR GCC_EXEC_PREFIX COMPILER_PATH LIBRARY_PATH
  70 SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE_PATH DEPENDENCIES_OUTPUT
  71 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
  72
  73 # These specific variables used to be valid but now they make no sense
  74 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
  75 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
  76
  77 # Make sure this isn't being run as root (no whoami on Windows, but that is ok here)
  78 ifeq ($(shell whoami 2>/dev/null),root)
  79     $(error You should not be running this as root)
  80 endif
  81
  82 # Decide on a verbosity level based on the V= parameter
  83 export AT := @
  84 ifndef V
  85     export V0    :=
  86     export V1    := $(AT)
  87 else ifeq ($(V), 0)
  88     export V0    := $(AT)
  89     export V1    := $(AT)
  90 else ifeq ($(V), 1)
  91 endif
  92
  93 # Make sure we know few things about the architecture before including
  94 # the tools.mk to ensure that we download/install the right tools.
  95 UNAME := $(shell uname)
  96 ARCH  := $(shell uname -m)
  97 # Here and everywhere if not Linux or Mac then assume Windows
  98 ifeq ($(filter Linux Darwin, $(UNAME)), )
  99     UNAME := Windows
 100 endif
 101
 102 # Include tools installers
 103 include $(ROOT_DIR)/make/tools.mk
 104
 105 # We almost need to consider autoconf/automake instead of this
 106 ifeq ($(UNAME), Linux)
 107     QT_SPEC = linux-g++
 108     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/uavobjgenerator"
 109 else ifeq ($(UNAME), Darwin)
 110     QT_SPEC = macx-g++
 111     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/uavobjgenerator"
 112 else ifeq ($(UNAME), Windows)
 113     QT_SPEC = win32-g++
 114     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/$(UAVOGEN_BUILD_CONF)/uavobjgenerator.exe"
 115 endif
 116
 117 ##############################
 118 #
 119 # All targets
 120 #
 121 ##############################
 122
 123 .PHONY: all
 124 all: uavobjects all_ground all_flight
 125
 126 .PHONY: all_clean
 127 all_clean:
 128         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 129         $(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 130
 131 $(DL_DIR):
 132         $(MKDIR) -p $@
 133
 134 $(TOOLS_DIR):
 135         $(MKDIR) -p $@
 136
 137 $(BUILD_DIR):
 138         $(MKDIR) -p $@
 139
 140 ##############################
 141 #
 142 # UAVObjects
 143 #
 144 ##############################
 145
 146 ifeq ($(V), 1)
 147     UAVOGEN_SILENT :=
 148 else
 149     UAVOGEN_SILENT := silent
 150 endif
 151
 152 .PHONY: uavobjgenerator
 153 uavobjgenerator:
 154         $(V1) $(MKDIR) -p $(BUILD_DIR)/$@
 155         $(V1) ( cd $(BUILD_DIR)/$@ && \
 156             $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="$(UAVOGEN_BUILD_CONF) $(UAVOGEN_SILENT)" && \
 157             $(MAKE) --no-print-directory -w ; \
 158         )
 159
 160 UAVOBJ_TARGETS := gcs flight python matlab java wireshark
 161
 162 .PHONY: uavobjects
 163 uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 164
 165 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 166 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
 167
 168 $(UAVOBJ_OUT_DIR):
 169         $(V1) $(MKDIR) -p $@
 170
 171 uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
 172         $(V1) ( cd $(UAVOBJ_OUT_DIR) && \
 173             $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
 174         )
 175
 176 uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
 177         $(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 178
 179 uavobjects_clean:
 180         @$(ECHO) " CLEAN      $(call toprel, $(UAVOBJ_OUT_DIR))"
 181         $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 182
 183 ##############################
 184 #
 185 # Flight related components
 186 #
 187 ##############################
 188
 189 # Define some pointers to the various important pieces of the flight code
 190 # to prevent these being repeated in every sub makefile
 191 export PIOS          := $(ROOT_DIR)/flight/pios
 192 export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
 193 export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
 194 export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
 195 export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
 196 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 197 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 198
 199 # Define supported board lists
 200 ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare
 201
 202 # Short names of each board (used to display board name in parallel builds)
 203 coptercontrol_short    := 'cc  '
 204 oplinkmini_short       := 'oplm'
 205 revolution_short       := 'revo'
 206 osd_short              := 'osd '
 207 revoproto_short        := 'revp'
 208 simposix_short         := 'posx'
 209 discoveryf4bare_short  := 'df4b'
 210
 211 # SimPosix only builds on Linux so drop it from the list for
 212 # all other platforms.
 213 ifneq ($(UNAME), Linux)
 214     ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
 215 endif
 216
 217 # Start out assuming that we'll build fw, bl and bu for all boards
 218 FW_BOARDS  := $(ALL_BOARDS)
 219 BL_BOARDS  := $(ALL_BOARDS)
 220 BU_BOARDS  := $(ALL_BOARDS)
 221 EF_BOARDS  := $(ALL_BOARDS)
 222
 223 # SimPosix doesn't have a BL, BU or EF target so we need to
 224 # filter them out to prevent errors on the all_flight target.
 225 BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
 226 BU_BOARDS  := $(filter-out simposix, $(BU_BOARDS))
 227 EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
 228
 229 # Generate the targets for whatever boards are left in each list
 230 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
 231 BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
 232 BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
 233 EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
 234
 235 # When building any of the "all_*" targets, tell all sub makefiles to display
 236 # additional details on each line of output to describe which build and target
 237 # that each line applies to. The same applies also to all, opfw_resource,
 238 # package and clean_package targets
 239 ifneq ($(strip $(filter all_% all opfw_resource package clean_package,$(MAKECMDGOALS))),)
 240     export ENABLE_MSG_EXTRA := yes
 241 endif
 242
 243 # When building more than one goal in a single make invocation, also
 244 # enable the extra context for each output line
 245 ifneq ($(word 2,$(MAKECMDGOALS)),)
 246     export ENABLE_MSG_EXTRA := yes
 247 endif
 248
 249 # TEMPLATES (used to generate build rules)
 250
 251 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 252 # $(2) = Short name for board (e.g cc)
 253 define FW_TEMPLATE
 254 .PHONY: $(1) fw_$(1)
 255 $(1): fw_$(1)_opfw
 256 fw_$(1): fw_$(1)_opfw
 257
 258 fw_$(1)_%: uavobjects_flight
 259         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 260         $(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
 261         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
 262                 $$(MAKE) -r --no-print-directory \
 263                 BUILD_TYPE=fw \
 264                 BOARD_NAME=$(1) \
 265                 BOARD_SHORT_NAME=$(2) \
 266                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
 267                 OUTDIR=$(BUILD_DIR)/fw_$(1) \
 268                 TARGET=fw_$(1) \
 269                 $$*
 270
 271 .PHONY: $(1)_clean
 272 $(1)_clean: fw_$(1)_clean
 273 fw_$(1)_clean:
 274         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/fw_$(1))"
 275         $(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
 276 endef
 277
 278 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 279 # $(2) = Short name for board (e.g cc)
 280 define BL_TEMPLATE
 281 .PHONY: bl_$(1)
 282 bl_$(1): bl_$(1)_bin
 283 bl_$(1)_bino: bl_$(1)_bin
 284
 285 bl_$(1)_%:
 286         $(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 287         $(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
 288         $(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
 289                 $$(MAKE) -r --no-print-directory \
 290                 BUILD_TYPE=bl \
 291                 BOARD_NAME=$(1) \
 292                 BOARD_SHORT_NAME=$(2) \
 293                 TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
 294                 OUTDIR=$(BUILD_DIR)/bl_$(1) \
 295                 TARGET=bl_$(1) \
 296                 $$*
 297
 298 .PHONY: unbrick_$(1)
 299 unbrick_$(1): bl_$(1)_hex
 300 $(if $(filter-out undefined,$(origin UNBRICK_TTY)),
 301         $(V0) @$(ECHO) " UNBRICK    $(1) via $$(UNBRICK_TTY)"
 302         $(V1) $(STM32FLASH_DIR)/stm32flash \
 303                 -w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
 304                 -g 0x0 \
 305                 $$(UNBRICK_TTY)
 306 ,
 307         $(V0) @$(ECHO)
 308         $(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
 309         $(V0) @$(ECHO) "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
 310 )
 311
 312 .PHONY: bl_$(1)_clean
 313 bl_$(1)_clean:
 314         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bl_$(1))"
 315         $(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
 316 endef
 317
 318 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 319 # $(2) = Short name for board (e.g cc)
 320 define BU_TEMPLATE
 321 .PHONY: bu_$(1)
 322 bu_$(1): bu_$(1)_opfw
 323
 324 bu_$(1)_%: bl_$(1)_bino
 325         $(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
 326         $(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
 327                 $$(MAKE) -r --no-print-directory \
 328                 BUILD_TYPE=bu \
 329                 BOARD_NAME=$(1) \
 330                 BOARD_SHORT_NAME=$(2) \
 331                 TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
 332                 OUTDIR=$(BUILD_DIR)/bu_$(1) \
 333                 TARGET=bu_$(1) \
 334                 $$*
 335
 336 .PHONY: bu_$(1)_clean
 337 bu_$(1)_clean:
 338         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bu_$(1))"
 339         $(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
 340 endef
 341
 342 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 343 # $(2) = Short name for board (e.g cc)
 344 define EF_TEMPLATE
 345 .PHONY: ef_$(1)
 346 ef_$(1): ef_$(1)_bin
 347
 348 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 349         $(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
 350         $(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
 351                 $$(MAKE) -r --no-print-directory \
 352                 BUILD_TYPE=ef \
 353                 BOARD_NAME=$(1) \
 354                 BOARD_SHORT_NAME=$(2) \
 355                 DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
 356                 TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
 357                 OUTDIR=$(BUILD_DIR)/ef_$(1) \
 358                 TARGET=ef_$(1) \
 359                 $$*
 360
 361 .PHONY: ef_$(1)_clean
 362 ef_$(1)_clean:
 363         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/ef_$(1))"
 364         $(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
 365 endef
 366
 367 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 368 define BOARD_PHONY_TEMPLATE
 369 .PHONY: all_$(1)
 370 all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
 371 all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
 372 all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
 373 all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
 374
 375 .PHONY: all_$(1)_clean
 376 all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
 377 all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
 378 all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
 379 all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
 380 endef
 381
 382 # Generate flight build rules
 383 .PHONY: all_fw all_fw_clean
 384 all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
 385 all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
 386
 387 .PHONY: all_bl all_bl_clean
 388 all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
 389 all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
 390
 391 .PHONY: all_bu all_bu_clean
 392 all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
 393 all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 394
 395 .PHONY: all_ef all_ef_clean
 396 all_ef:        $(EF_TARGETS)
 397 all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
 398
 399 .PHONY: all_flight all_flight_clean
 400 all_flight:       all_fw all_bl all_bu all_ef
 401 all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
 402
 403 # Expand the groups of targets for each board
 404 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 405
 406 # Expand the firmware rules
 407 $(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
 408
 409 # Expand the bootloader rules
 410 $(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
 411
 412 # Expand the bootloader updater rules
 413 $(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
 414
 415 # Expand the entire-flash rules
 416 $(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
 417
 418 .PHONY: sim_win32
 419 sim_win32: sim_win32_exe
 420
 421 sim_win32_%: uavobjects_flight
 422         $(V1) $(MKDIR) -p $(BUILD_DIR)/sitl_win32
 423         $(V1) $(MAKE) --no-print-directory \
 424                 -C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
 425
 426 .PHONY: sim_osx
 427 sim_osx: sim_osx_elf
 428
 429 sim_osx_%: uavobjects_flight
 430         $(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
 431         $(V1) $(MAKE) --no-print-directory \
 432                 -C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
 433
 434 ##############################
 435 #
 436 # GCS related components
 437 #
 438 ##############################
 439
 440 .PHONY: all_ground
 441 all_ground: openpilotgcs
 442
 443 # Convenience target for the GCS
 444 .PHONY: gcs gcs_clean
 445 gcs: openpilotgcs
 446 gcs_clean: openpilotgcs_clean
 447
 448 ifeq ($(V), 1)
 449     GCS_SILENT :=
 450 else
 451     GCS_SILENT := silent
 452 endif
 453
 454 .NOTPARALLEL:
 455 .PHONY: openpilotgcs
 456 openpilotgcs: uavobjects_gcs openpilotgcs_qmake openpilotgcs_make
 457
 458 .PHONY: openpilotgcs_qmake
 459 openpilotgcs_qmake:
 460 ifeq ($(QMAKE_SKIP),)
 461         $(V1) $(MKDIR) -p $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
 462         $(V1) ( cd $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF) && \
 463             $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
 464         )
 465 else
 466         @$(ECHO) "skipping qmake"
 467 endif
 468
 469 .PHONY: openpilotgcs_make
 470 openpilotgcs_make:
 471         $(V1) $(MKDIR) -p $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
 472         $(V1) ( cd $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/$(MAKE_DIR) && \
 473             $(MAKE) -w ; \
 474         )
 475
 476 .PHONY: openpilotgcs_clean
 477 openpilotgcs_clean:
 478         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF))"
 479         $(V1) [ ! -d "$(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)" ] || $(RM) -r "$(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)"
 480
 481 ################################
 482 #
 483 # Android GCS related components
 484 #
 485 ################################
 486
 487 # Build the output directory for the Android GCS build
 488 ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
 489 $(ANDROIDGCS_OUT_DIR):
 490         $(V1) $(MKDIR) -p $@
 491
 492 # Build the asset directory for the android assets
 493 ANDROIDGCS_ASSETS_DIR := $(ANDROIDGCS_OUT_DIR)/assets
 494 $(ANDROIDGCS_ASSETS_DIR)/uavos:
 495         $(V1) $(MKDIR) -p $@
 496
 497 ifeq ($(V), 1)
 498     ANT_QUIET      :=
 499     ANDROID_SILENT :=
 500 else
 501     ANT_QUIET      := -q
 502     ANDROID_SILENT := -s
 503 endif
 504
 505 .PHONY: androidgcs
 506 androidgcs: uavo-collections_java
 507         $(V0) @$(ECHO) " ANDROID   $(call toprel, $(ANDROIDGCS_OUT_DIR))"
 508         $(V1) $(MKDIR) -p $(ANDROIDGCS_OUT_DIR)
 509         $(V1) $(ANDROID) $(ANDROID_SILENT) update project \
 510                 --target "Google Inc.:Google APIs:$(GOOGLE_API_VERSION)" \
 511                 --name androidgcs \
 512                 --path ./androidgcs
 513         $(V1) $(ANT) -f ./androidgcs/build.xml \
 514                 $(ANT_QUIET) \
 515                 -Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
 516                 -Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
 517                 $(ANDROIDGCS_BUILD_CONF)
 518
 519 .PHONY: androidgcs_clean
 520 androidgcs_clean:
 521         @$(ECHO) " CLEAN      $(call toprel, $(ANDROIDGCS_OUT_DIR))"
 522         $(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
 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/$$$${HASH}.jar uavobjects.jar \
 614         )
 615
 616 endef
 617
 618 # One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
 619 $(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
 620
 621 # One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
 622 $(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
 623
 624 .PHONY: uavo-collections_java
 625 uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
 626
 627 .PHONY: uavo-collections
 628 uavo-collections: uavo-collections_java
 629
 630 .PHONY: uavo-collections_clean
 631 uavo-collections_clean:
 632         @$(ECHO) " CLEAN      $(call toprel, $(UAVO_COLLECTION_DIR))"
 633         $(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
 634
 635 ##############################
 636 #
 637 # Unit Tests
 638 #
 639 ##############################
 640
 641 ALL_UNITTESTS := logfs math
 642
 643 # Build the directory for the unit tests
 644 UT_OUT_DIR := $(BUILD_DIR)/unit_tests
 645 $(UT_OUT_DIR):
 646         $(V1) $(MKDIR) -p $@
 647
 648 .PHONY: all_ut
 649 all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
 650
 651 .PHONY: all_ut_xml
 652 all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
 653
 654 .PHONY: all_ut_run
 655 all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
 656
 657 .PHONY: all_ut_clean
 658 all_ut_clean:
 659         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR))"
 660         $(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
 661
 662 # $(1) = Unit test name
 663 define UT_TEMPLATE
 664 .PHONY: ut_$(1)
 665 ut_$(1): ut_$(1)_run
 666
 667 ut_$(1)_%: $$(UT_OUT_DIR)
 668         $(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
 669         $(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
 670                 $$(MAKE) -r --no-print-directory \
 671                 BUILD_TYPE=ut \
 672                 BOARD_SHORT_NAME=$(1) \
 673                 TOPDIR=$(ROOT_DIR)/flight/tests/$(1) \
 674                 OUTDIR="$(UT_OUT_DIR)/$(1)" \
 675                 TARGET=$(1) \
 676                 $$*
 677
 678 .PHONY: ut_$(1)_clean
 679 ut_$(1)_clean:
 680         @$(ECHO) " CLEAN      $(call toprel, $(UT_OUT_DIR)/$(1))"
 681         $(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
 682 endef
 683
 684 # Expand the unittest rules
 685 $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
 686
 687 # Disable parallel make when the all_ut_run target is requested otherwise the TAP
 688 # output is interleaved with the rest of the make output.
 689 ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
 690 .NOTPARALLEL:
 691     $(info $(EMPTY) NOTE        Parallel make disabled by all_ut_run target so we have sane console output)
 692 endif
 693
 694 ##############################
 695 #
 696 # Packaging components
 697 #
 698 ##############################
 699
 700 # Firmware files to package
 701 PACKAGE_FW_EXCLUDE  := fw_simposix $(if $(PACKAGE_FW_INCLUDE_DISCOVERYF4BARE),,fw_discoveryf4bare)
 702 PACKAGE_FW_TARGETS  := $(filter-out $(PACKAGE_FW_EXCLUDE), $(FW_TARGETS))
 703 PACKAGE_ELF_TARGETS := $(filter     fw_simposix, $(FW_TARGETS))
 704
 705 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 706 # They are used later by the vehicle setup wizard to update board firmware.
 707 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 708 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
 709 OPFW_RESOURCE_PREFIX := ../../
 710 OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
 711 OPFW_CONTENTS := \
 712 <!DOCTYPE RCC><RCC version="1.0"> \
 713     <qresource prefix="/firmware"> \
 714         $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(OPFW_RESOURCE_PREFIX)$(fw_file)</file>) \
 715     </qresource> \
 716 </RCC>
 717
 718 .PHONY: opfw_resource
 719 opfw_resource: $(OPFW_RESOURCE)
 720
 721 $(OPFW_RESOURCE): $(FW_TARGETS)
 722         @$(ECHO) Generating OPFW resource file $(call toprel, $@)
 723         $(V1) $(MKDIR) -p $(dir $@)
 724         $(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 725
 726 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 727 ifneq ($(strip $(filter opfw_resource all all_fw all_flight,$(MAKECMDGOALS))),)
 728     $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
 729 endif
 730
 731 # Packaging targets: package, clean_package
 732 #  - removes build directory (clean_package only)
 733 #  - builds all firmware, opfw_resource, gcs
 734 #  - copies firmware into a package directory
 735 #  - calls paltform-specific packaging script
 736
 737 # Do some checks and define some values if package is requested
 738 ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
 739     # Define some variables
 740     export PACKAGE_LBL  := $(shell $(VERSION_INFO) --format=\$${LABEL})
 741     export PACKAGE_NAME := OpenPilot
 742     export PACKAGE_SEP  := -
 743
 744     # Copy the Qt libraries regardless whether the building machine needs them to run GCS
 745     export FORCE_COPY_QT := true
 746
 747     # We can only package release builds
 748     ifneq ($(GCS_BUILD_CONF),release)
 749         $(error Packaging is currently supported for release builds only)
 750     endif
 751
 752     # Packaged GCS should depend on opfw_resource
 753     ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
 754         $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
 755     endif
 756
 757     # Clean the build directory if clean_package is requested
 758     ifneq ($(strip $(filter clean_package,$(MAKECMDGOALS))),)
 759         $(info Cleaning build directory before packaging...)
 760         ifneq ($(shell $(MAKE) all_clean >/dev/null 2>&1 && $(ECHO) "clean"), clean)
 761             $(error Cannot clean build directory)
 762         endif
 763
 764         .PHONY: clean_package
 765         clean_package: package
 766     endif
 767 endif
 768
 769 # Copy file template. Empty line before the endef is required, do not remove
 770 # $(1) = copy file name without extension
 771 # $(2) = source file extension
 772 # $(3) = destination file extension
 773 define COPY_FW_FILES
 774         $(V1) $(CP) "$(BUILD_DIR)/$(1)/$(1)$(2)" "$(PACKAGE_DIR)/firmware/$(1)$(PACKAGE_SEP)$(PACKAGE_LBL)$(3)"
 775
 776 endef
 777
 778 # Build and copy package files into the package directory
 779 # and call platform-specific packaging script
 780 .PHONY: package
 781 package: all_fw all_ground uavobjects_matlab
 782         @$(ECHO) "Packaging for $(UNAME) $(ARCH) into $(call toprel, $(PACKAGE_DIR)) directory"
 783         $(V1) [ ! -d "$(PACKAGE_DIR)" ] || $(RM) -rf "$(PACKAGE_DIR)"
 784         $(V1) $(MKDIR) -p "$(PACKAGE_DIR)/firmware"
 785         $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.opfw,.opfw))
 786         $(foreach fw_targ, $(PACKAGE_ELF_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.elf,.elf))
 787         $(MAKE) --no-print-directory -C $(ROOT_DIR)/package --file=$(UNAME).mk $@
 788
 789 ##############################
 790 #
 791 # Source code formatting
 792 #
 793 ##############################
 794
 795 UNCRUSTIFY_TARGETS := flight ground
 796
 797 # $(1) = Uncrustify target (e.g flight or ground)
 798 # $(2) = Target root directory
 799 define UNCRUSTIFY_TEMPLATE
 800
 801 .PHONY: uncrustify_$(1)
 802 uncrustify_$(1):
 803         @$(ECHO) "Auto-formatting $(1) source code"
 804         $(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
 805 endef
 806
 807 $(foreach uncrustify_targ, $(UNCRUSTIFY_TARGETS), $(eval $(call UNCRUSTIFY_TEMPLATE,$(uncrustify_targ),$(ROOT_DIR)/$(uncrustify_targ))))
 808
 809 .PHONY: uncrustify_all
 810 uncrustify_all: $(addprefix uncrustify_,$(UNCRUSTIFY_TARGETS))
 811
 812 ##############################
 813 #
 814 # Doxygen documentation
 815 #
 816 # Each target should have own Doxyfile.$(target) with build directory build/docs/$(target),
 817 # proper source directory (e.g. $(target)) and appropriate other doxygen options.
 818 #
 819 ##############################
 820
 821 DOCS_TARGETS := flight ground uavobjects
 822
 823 # $(1) = Doxygen target (e.g flight or ground)
 824 define DOXYGEN_TEMPLATE
 825
 826 .PHONY: docs_$(1)
 827 docs_$(1): docs_$(1)_clean
 828         @$(ECHO) "Generating $(1) documentation"
 829         $(V1) $(MKDIR) -p $(BUILD_DIR)/docs/$(1)
 830         $(V1) $(DOXYGEN) $(ROOT_DIR)/make/doxygen/Doxyfile.$(1)
 831
 832 .PHONY: docs_$(1)_clean
 833 docs_$(1)_clean:
 834         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs/$(1))"
 835         $(V1) [ ! -d "$(BUILD_DIR)/docs/$(1)" ] || $(RM) -r "$(BUILD_DIR)/docs/$(1)"
 836
 837 endef
 838
 839 $(foreach docs_targ, $(DOCS_TARGETS), $(eval $(call DOXYGEN_TEMPLATE,$(docs_targ))))
 840
 841 .PHONY: docs_all
 842 docs_all: $(addprefix docs_,$(DOCS_TARGETS))
 843
 844 .PHONY: docs_all_clean
 845 docs_all_clean:
 846         @$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/docs)"
 847         $(V1) [ ! -d "$(BUILD_DIR)/docs" ] || $(RM) -rf "$(BUILD_DIR)/docs"
 848
 849 ##############################
 850 #
 851 # Build info
 852 #
 853 ##############################
 854
 855 .PHONY: build-info
 856 build-info:
 857         @$(ECHO) " BUILD-INFO $(call toprel, $(BUILD_DIR)/$@.txt)"
 858         $(V1) $(MKDIR) -p $(BUILD_DIR)
 859         $(V1) $(VERSION_INFO) \
 860                 --uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
 861                 --template="make/templates/$@.txt" \
 862                 --outfile="$(BUILD_DIR)/$@.txt"
 863
 864 ##############################
 865 #
 866 # Help message, the default Makefile goal
 867 #
 868 ##############################
 869
 870 .DEFAULT_GOAL := help
 871
 872 .PHONY: help
 873 help:
 874         @$(ECHO)
 875         @$(ECHO) "   This Makefile is known to work on Linux and Mac in a standard shell environment."
 876         @$(ECHO) "   It also works on Windows by following the instructions given on this wiki page:"
 877         @$(ECHO) "       http://wiki.openpilot.org/display/Doc/Windows%3A+Building+and+Packaging"
 878         @$(ECHO)
 879         @$(ECHO) "   Here is a summary of the available targets:"
 880         @$(ECHO)
 881         @$(ECHO) "   [Source tree preparation]"
 882         @$(ECHO) "     prepare              - Install GIT commit message template"
 883         @$(ECHO) "   [Tool Installers]"
 884         @$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 885         @$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 886         @$(ECHO) "     nsis_install         - Install the NSIS Unicode (Windows only)"
 887         @$(ECHO) "     sdl_install          - Install the SDL library (Windows only)"
 888         @$(ECHO) "     mesawin_install      - Install the OpenGL32 DLL (Windows only)"
 889         @$(ECHO) "     openssl_install      - Install the OpenSSL libraries (Windows only)"
 890         @$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 891         @$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 892         @$(ECHO) "     gtest_install        - Install the GoogleTest framework"
 893         @$(ECHO) "   These targets are not updated yet and are probably broken:"
 894         @$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 895         @$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 896         @$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
 897         @$(ECHO) "     android_sdk_install  - Install the Android SDK tools"
 898         @$(ECHO) "   Install all available tools:"
 899         @$(ECHO) "     all_sdk_install      - Install all of above (platform-dependent)"
 900         @$(ECHO) "     build_sdk_install    - Install only essential for build tools (platform-dependent)"
 901         @$(ECHO)
 902         @$(ECHO) "   Other tool options are:"
 903         @$(ECHO) "     <tool>_version       - Display <tool> version"
 904         @$(ECHO) "     <tool>_clean         - Remove installed <tool>"
 905         @$(ECHO) "     <tool>_distclean     - Remove downloaded <tool> distribution file(s)"
 906         @$(ECHO)
 907         @$(ECHO) "   [Big Hammer]"
 908         @$(ECHO) "     all                  - Generate UAVObjects, build openpilot firmware and gcs"
 909         @$(ECHO) "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 910         @$(ECHO) "     all_fw               - Build only firmware for all boards"
 911         @$(ECHO) "     all_bl               - Build only bootloaders for all boards"
 912         @$(ECHO) "     all_bu               - Build only bootloader updaters for all boards"
 913         @$(ECHO)
 914         @$(ECHO) "     all_clean            - Remove your build directory ($(BUILD_DIR))"
 915         @$(ECHO) "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
 916         @$(ECHO) "     all_fw_clean         - Remove firmware for all boards"
 917         @$(ECHO) "     all_bl_clean         - Remove bootloaders for all boards"
 918         @$(ECHO) "     all_bu_clean         - Remove bootloader updaters for all boards"
 919         @$(ECHO)
 920         @$(ECHO) "     all_<board>          - Build all available images for <board>"
 921         @$(ECHO) "     all_<board>_clean    - Remove all available images for <board>"
 922         @$(ECHO)
 923         @$(ECHO) "     all_ut               - Build all unit tests"
 924         @$(ECHO) "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
 925         @$(ECHO) "     all_ut_run           - Run all unit tests and dump TAP output to console"
 926         @$(ECHO)
 927         @$(ECHO) "   [Firmware]"
 928         @$(ECHO) "     <board>              - Build firmware for <board>"
 929         @$(ECHO) "                            Supported boards are ($(ALL_BOARDS))"
 930         @$(ECHO) "     fw_<board>           - Build firmware for <board>"
 931         @$(ECHO) "                            Supported boards are ($(FW_BOARDS))"
 932         @$(ECHO) "     fw_<board>_clean     - Remove firmware for <board>"
 933         @$(ECHO) "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 934         @$(ECHO)
 935         @$(ECHO) "   [Bootloader]"
 936         @$(ECHO) "     bl_<board>           - Build bootloader for <board>"
 937         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 938         @$(ECHO) "     bl_<board>_clean     - Remove bootloader for <board>"
 939         @$(ECHO) "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 940         @$(ECHO)
 941         @$(ECHO) "   [Entire Flash]"
 942         @$(ECHO) "     ef_<board>           - Build entire flash image for <board>"
 943         @$(ECHO) "                            Supported boards are ($(EF_BOARDS))"
 944         @$(ECHO) "     ef_<board>_clean     - Remove entire flash image for <board>"
 945         @$(ECHO) "     ef_<board>_program   - Use OpenOCD + JTAG to write entire flash image to <board>"
 946         @$(ECHO)
 947         @$(ECHO) "   [Bootloader Updater]"
 948         @$(ECHO) "     bu_<board>           - Build bootloader updater for <board>"
 949         @$(ECHO) "                            Supported boards are ($(BU_BOARDS))"
 950         @$(ECHO) "     bu_<board>_clean     - Remove bootloader updater for <board>"
 951         @$(ECHO)
 952         @$(ECHO) "   [Unbrick a board]"
 953         @$(ECHO) "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 954         @$(ECHO) "                            Supported boards are ($(BL_BOARDS))"
 955         @$(ECHO) "   [Unittests]"
 956         @$(ECHO) "     ut_<test>            - Build unit test <test>"
 957         @$(ECHO) "     ut_<test>_xml        - Run test and capture XML output into a file"
 958         @$(ECHO) "     ut_<test>_run        - Run test and dump output to console"
 959         @$(ECHO)
 960         @$(ECHO) "   [Simulation]"
 961         @$(ECHO) "     sim_osx              - Build OpenPilot simulation firmware for OSX"
 962         @$(ECHO) "     sim_osx_clean        - Delete all build output for the osx simulation"
 963         @$(ECHO) "     sim_win32            - Build OpenPilot simulation firmware for Windows"
 964         @$(ECHO) "                            using mingw and msys"
 965         @$(ECHO) "     sim_win32_clean      - Delete all build output for the win32 simulation"
 966         @$(ECHO)
 967         @$(ECHO) "   [GCS]"
 968         @$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
 969         @$(ECHO) "                            Skip qmake: QMAKE_SKIP=1"
 970         @$(ECHO) "                            Compile specific directory: MAKE_DIR=<dir>"
 971         @$(ECHO) "                            Example: make gcs QMAKE_SKIP=1 MAKE_DIR=src/plugins/coreplugin"
 972         @$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
 973         @$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 974         @$(ECHO)
 975         @$(ECHO) "   [AndroidGCS]"
 976         @$(ECHO) "     androidgcs           - Build the Android Ground Control System (GCS) application"
 977         @$(ECHO) "     androidgcs_install   - Use ADB to install the Android GCS application"
 978         @$(ECHO) "     androidgcs_run       - Run the Android GCS application"
 979         @$(ECHO) "     androidgcs_clean     - Remove the Android GCS application"
 980         @$(ECHO)
 981         @$(ECHO) "   [UAVObjects]"
 982         @$(ECHO) "     uavobjects           - Generate source files from the UAVObject definition XML files"
 983         @$(ECHO) "     uavobjects_test      - Parse xml-files - check for valid, duplicate ObjId's, ..."
 984         @$(ECHO) "     uavobjects_<group>   - Generate source files from a subset of the UAVObject definition XML files"
 985         @$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
 986         @$(ECHO)
 987         @$(ECHO) "   [Packaging]"
 988         @$(ECHO) "     clean_package        - Clean, build and package the OpenPilot platform-dependent package"
 989         @$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package (no clean)"
 990         @$(ECHO) "     opfw_resource        - Generate resources to embed firmware binaries into the GCS"
 991         @$(ECHO)
 992         @$(ECHO) "   [Code Formatting]"
 993         @$(ECHO) "     uncrustify_<source>  - Reformat <source> code according to the project's standards"
 994         @$(ECHO) "                            Supported sources are ($(UNCRUSTIFY_TARGETS))"
 995         @$(ECHO) "     uncrustify_all       - Reformat all source code"
 996         @$(ECHO)
 997         @$(ECHO) "   [Code Documentation]"
 998         @$(ECHO) "     docs_<source>        - Generate HTML documentation for <source>"
 999         @$(ECHO) "                            Supported sources are ($(DOCS_TARGETS))"
1000         @$(ECHO) "     docs_all             - Generate HTML documentation for all"
1001         @$(ECHO) "     docs_<source>_clean  - Delete generated documentation for <source>"
1002         @$(ECHO) "     docs_all_clean       - Delete all generated documentation"
1003         @$(ECHO)
1004         @$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
1005         @$(ECHO)
1006         @$(ECHO) "  Notes: All tool distribution files will be downloaded into $(DL_DIR)"
1007         @$(ECHO) "         All tools will be installed into $(TOOLS_DIR)"
1008         @$(ECHO) "         All build output will be placed in $(BUILD_DIR)"
1009         @$(ECHO)
1010         @$(ECHO) "  Tool download and install directories can be changed using environment variables:"
1011         @$(ECHO) "         OPENPILOT_DL_DIR        full path to downloads directory [downloads if not set]"
1012         @$(ECHO) "         OPENPILOT_TOOLS_DIR     full path to installed tools directory [tools if not set]"
1013         @$(ECHO) "  More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
1014         @$(ECHO)