Makefile

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