[build system] clean up makefiles and fix dependencies, parallel build with make -j 8 seems to work now

Makefile

@@ -1,6 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   Paparazzi main $Id$
 #   Copyright (C) 2004 Pascal Brisset Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -38,18 +37,49 @@ ifeq ($(PAPARAZZI_HOME),)
 PAPARAZZI_HOME=$(PAPARAZZI_SRC)
 endif
 
+# export the PAPARAZZI environment to sub-make
+export PAPARAZZI_SRC
+export PAPARAZZI_HOME
+
+OCAML=$(shell which ocaml)
+OCAMLRUN=$(shell which ocamlrun)
+BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
+
+#
+# define some paths
+#
 LIB=sw/lib
+STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
+CONF=$(PAPARAZZI_SRC)/conf
 AIRBORNE=sw/airborne
+SIMULATOR=sw/simulator
+MULTIMON=sw/ground_segment/multimon
 COCKPIT=sw/ground_segment/cockpit
 TMTC=sw/ground_segment/tmtc
-MULTIMON=sw/ground_segment/multimon
+TOOLS=$(PAPARAZZI_SRC)/sw/tools
+EXT=sw/ext
+
+#
+# build some stuff in subdirs
+# nothing should depend on these...
+#
+PPRZCENTER=sw/supervision
 MISC=sw/ground_segment/misc
 LOGALIZER=sw/logalizer
-SIMULATOR=sw/simulator
+
-EXT=sw/ext
+SUBDIRS = $(PPRZCENTER) $(MISC) $(LOGALIZER)
-MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
+
-CONF=$(PAPARAZZI_SRC)/conf
+#
-STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
+# xml files used as input for header generation
+#
+MESSAGES_XML = $(CONF)/messages.xml
+UBX_XML = $(CONF)/ubx.xml
+MTK_XML = $(CONF)/mtk.xml
+XSENS_XML = $(CONF)/xsens_MTi-G.xml
+
+#
+# generated header files
+#
 MESSAGES_H=$(STATICINCLUDE)/messages.h
 MESSAGES2_H=$(STATICINCLUDE)/messages2.h
 UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
@@ -58,79 +88,72 @@ XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
 DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
 DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
 ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
-MESSAGES_XML = $(CONF)/messages.xml
+
-UBX_XML = $(CONF)/ubx.xml
+GEN_HEADERS = $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
-MTK_XML = $(CONF)/mtk.xml
-XSENS_XML = $(CONF)/xsens_MTi-G.xml
-TOOLS=$(PAPARAZZI_SRC)/sw/tools
-OCAML=$(shell which ocaml)
-OCAMLRUN=$(shell which ocamlrun)
-BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
 
 
-all: print_build_version conf commands static
+all: print_build_version update_google_version conf ext lib subdirs lpctools commands static
 
 print_build_version:
 	@echo "------------------------------------------------------------"
 	@echo "Building Paparazzi version" $(shell ./paparazzi_version)
 	@echo "------------------------------------------------------------"
 
-static: lib center tools cockpit multimon tmtc misc logalizer lpc21iap sim_static static_h usb_lib ext
+update_google_version:
+	-$(MAKE) -C data/maps
 
-conf: conf/conf.xml conf/control_panel.xml conf/maps.xml FORCE
+conf: conf/conf.xml conf/control_panel.xml conf/maps.xml
 
 conf/%.xml :conf/%.xml.example
 	[ -L $@ ] || [ -f $@ ] || cp $< $@
 
-conf/maps.xml: conf/maps.xml.example FORCE
-	-cd data/maps; $(MAKE)
-	$(Q)if test ! -e $@; then cp $< $@; fi
 
-FORCE:
+static: cockpit tmtc tools sim_static static_h
 
 lib:
-	cd $(LIB)/ocaml; $(MAKE)
+	$(MAKE) -C $(LIB)/ocaml
-
-center: lib
-	cd sw/supervision; $(MAKE)
-
-tools: lib
-	cd $(TOOLS); $(MAKE)
-
-logalizer: lib
-	cd $(LOGALIZER); $(MAKE)
-
-sim_static : lib
-	cd $(SIMULATOR); $(MAKE) PAPARAZZI_SRC=$(PAPARAZZI_SRC)
-
-cockpit: lib
-	cd $(COCKPIT); $(MAKE) all
-
-tmtc: lib cockpit
-	cd $(TMTC); $(MAKE) all
-
-misc:
-	cd $(MISC); $(MAKE) all
 
 multimon:
-	cd $(MULTIMON); $(MAKE)
+	$(MAKE) -C $(MULTIMON)
 
-static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
+cockpit: lib
+	$(MAKE) -C $(COCKPIT)
 
-usb_lib:
+tmtc: lib cockpit multimon
-	@[ -d sw/airborne/arch/lpc21/lpcusb ] && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE)) || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
+	$(MAKE) -C $(TMTC)
+
+tools: lib
+	$(MAKE) -C $(TOOLS)
+
+sim_static: lib
+	$(MAKE) -C $(SIMULATOR)
 
 ext:
-	$(MAKE) -C$(EXT) all
+	$(MAKE) -C $(EXT)
 
-$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) tools
+#
+# make misc subdirs
+#
+subdirs: $(SUBDIRS)
+
+$(SUBDIRS):
+	$(MAKE) -C $@
+
+$(PPRZCENTER): lib
+
+$(LOGALIZER): lib
+
+
+static_h: $(GEN_HEADERS)
+
+$(MESSAGES_H) : $(MESSAGES_XML) tools
 	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
 	@echo BUILD $@
 	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > /tmp/msg.h
 	$(Q)mv /tmp/msg.h $@
 	$(Q)chmod a+r $@
 
-$(MESSAGES2_H) : $(MESSAGES_XML) $(CONF_XML) tools
+$(MESSAGES2_H) : $(MESSAGES_XML) tools
 	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
 	@echo BUILD $@
 	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > /tmp/msg2.h
@@ -167,48 +190,31 @@ $(ABI_MESSAGES_H) : $(MESSAGES_XML) tools
 	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > /tmp/abi.h
 	$(Q)mv /tmp/abi.h $@
 
+
 include Makefile.ac
 
-sim : sim_static
+ac_h ac fbw ap: static conf tools ext
+
+sim: sim_static
 
 
-ac_h ac1 ac2 ac3 ac fbw ap: static conf
-
-##### preliminary hard wired arm7 bootloader rules
 #
+# Commands
 #
-# call with : make bl PROC=[TINY|FBW|AP|GENERIC]
-bl:
-	cd $(AIRBORNE)/arch/lpc21/test/bootloader; $(MAKE) clean; $(MAKE)
 
-BOOTLOADER_DEV=/dev/ttyUSB0
+# stuff to build and upload the lpc bootloader ...
-upload_bl bl.upload: bl
+include Makefile.lpctools
-	lpc21isp -control $(AIRBORNE)/arch/lpc21/test/bootloader/bl.hex $(BOOTLOADER_DEV) 38400 12000
+lpctools: lpc21iap usb_lib
 
-JTAG_INTERFACE = olimex-jtag-tiny.cfg
+commands: paparazzi sw/simulator/launchsitl
-#JTAG_INTERFACE = olimex-arm-usb-ocd.cfg
 
-upload_jtag: bl
+paparazzi:
-	openocd -f interface/$(JTAG_INTERFACE)  -f board/olimex_lpc_h2148.cfg -c init -c halt -c "flash write_image erase $(AIRBORNE)/arch/lpc21/test/bootloader/bl.hex"  -c reset -c shutdown
+	cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
+	chmod a+x $@
 
-
+sw/simulator/launchsitl:
-
+	cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
-lpc21iap:
+	chmod a+x $@
-	cd sw/ground_segment/lpc21iap; $(MAKE)
-
-upgrade_bl bl.upgrade: bl lpc21iap
-	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl_ram.elf
-	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl.elf
-
-ms:
-	cd $(AIRBORNE)/arch/lpc21/lpcusb; $(MAKE)
-	cd $(AIRBORNE)/arch/lpc21/lpcusb/examples; $(MAKE)
-
-upload_ms ms.upload: ms
-	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/lpcusb/examples/msc.elf
-
-#####
-#####
 
 run_sitl :
 	$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
@@ -219,21 +225,16 @@ install :
 uninstall :
 	$(MAKE) -f Makefile.install PREFIX=$(PREFIX) uninstall
 
-DISTRO=lenny
-deb :
-	chmod u+x debian/rules
-	cp debian/control.$(DISTRO) debian/control
-	cp debian/changelog.$(DISTRO) debian/changelog
-	dpkg-buildpackage $(DEBFLAGS) -Ivar -rfakeroot
 
-fast_deb:
+#
-	$(MAKE) deb OCAMLC=ocamlc.opt DEBFLAGS=-b
+# Cleaning
+#
 
 clean:
 	$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-base debian/paparazzi-bin
-	$(Q)rm -f  $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(DL_PROTOCOL_H)
+	$(Q)rm -f  $(GEN_HEADERS)
 	$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
-	$(Q)make -C sw/ext clean
+	$(Q)$(MAKE) -C $(EXT) clean
 	$(Q)find . -name '*~' -exec rm -f {} \;
 	$(Q)rm -f paparazzi sw/simulator/launchsitl
 
@@ -256,6 +257,11 @@ dist_clean_irreversible: clean
 ab_clean:
 	find sw/airborne -name '*~' -exec rm -f {} \;
 
+
+#
+# Tests
+#
+
 replace_current_conf_xml:
 	test conf/conf.xml && mv conf/conf.xml conf/conf.xml.backup.$(BUILD_DATETIME)
 	cp conf/tests_conf.xml conf/conf.xml
@@ -263,19 +269,15 @@ replace_current_conf_xml:
 restore_conf_xml:
 	test conf/conf.xml.backup.$(BUILD_DATETIME) && mv conf/conf.xml.backup.$(BUILD_DATETIME) conf/conf.xml
 
-commands: paparazzi sw/simulator/launchsitl
-
-paparazzi:
-	cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
-	chmod a+x $@
-
-sw/simulator/launchsitl:
-	cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
-	chmod a+x $@
-
 run_tests:
 	cd tests; $(MAKE) test
 
 test: all replace_current_conf_xml run_tests restore_conf_xml
 
-.PHONY: all print_build_version clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible run_sitl install uninstall test replace_current_conf_xml run_tests restore_conf_xml
+
+.PHONY: all print_build_version update_google_version \
+subdirs $(SUBDIRS) conf ext lib multimon cockpit tmtc tools\
+static sim_static lpctools \
+commands run_sitl install uninstall \
+clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
+test replace_current_conf_xml run_tests restore_conf_xml

Makefile.ac

@@ -1,5 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
-#   Paparazzi main $Id$
+#
 #   Copyright (C) 2004 Pascal Brisset Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -47,7 +47,6 @@ SETTINGS_XML=$(ACINCLUDE)/settings.xml
 SETTINGS_MODULES=$(ACINCLUDE)/settings_modules.xml
 SETTINGS_TELEMETRY=$(ACINCLUDE)/settings_telemetry.xml
 MAKEFILE_AC=$(ACINCLUDE)/Makefile.ac
-MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
 MODULES_H=$(AC_GENERATED)/modules.h
 AIRCRAFT_MD5=$(AIRCRAFT_CONF_DIR)/aircraft.md5
 
@@ -183,4 +182,4 @@ clean_ac :
 	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
 	rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
 
-.PHONY: all clean_ac print_version
+.PHONY: all init all_ac_h all_ac_hclean_ac print_version

Makefile.lpctools

@@ -0,0 +1,35 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+usb_lib:
+	@[ -d sw/airborne/arch/lpc21/lpcusb ] && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE)) || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
+
+bl:
+	cd $(AIRBORNE)/arch/lpc21/test/bootloader; $(MAKE) clean; $(MAKE)
+
+BOOTLOADER_DEV=/dev/ttyUSB0
+upload_bl bl.upload: bl
+	lpc21isp -control $(AIRBORNE)/arch/lpc21/test/bootloader/bl.hex $(BOOTLOADER_DEV) 38400 12000
+
+JTAG_INTERFACE = olimex-jtag-tiny.cfg
+#JTAG_INTERFACE = olimex-arm-usb-ocd.cfg
+
+upload_jtag: bl
+	openocd -f interface/$(JTAG_INTERFACE)  -f board/olimex_lpc_h2148.cfg -c init -c halt -c "flash write_image erase $(AIRBORNE)/arch/lpc21/test/bootloader/bl.hex"  -c reset -c shutdown
+
+
+
+lpc21iap:
+	$(MAKE) -C sw/ground_segment/lpc21iap
+
+upgrade_bl bl.upgrade: bl lpc21iap
+	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl_ram.elf
+	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/test/bootloader/bl.elf
+
+ms:
+	$(MAKE) -C $(AIRBORNE)/arch/lpc21/lpcusb
+	$(MAKE) -C $(AIRBORNE)/arch/lpc21/lpcusb/examples
+
+upload_ms ms.upload: ms
+	$(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap $(AIRBORNE)/arch/lpc21/lpcusb/examples/msc.elf
+
+.PHONY: usb_lib bl upload_bl upload_jtag ms upload_ms lpc21iap upgrade_bl

conf/Makefile.geode

@@ -1,6 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2009 Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -18,8 +17,8 @@
 # You should have received a copy of the GNU General Public License
 # along with paparazzi; see the file COPYING.  If not, write to
 # the Free Software Foundation, 59 Temple Place - Suite 330,
-# Boston, MA 02111-1307, USA.  
+# Boston, MA 02111-1307, USA.
-# 
+#
 
 # Define programs and commands.
 CC		= gcc
@@ -45,9 +44,9 @@ CFLAGS += -mtune=geode # optimize for geode
 
 # flags only for C
 CFLAGS + = -Wstrict-prototypes -Wmissing-declarations
-CFLAGS += -Wmissing-prototypes -Wnested-externs 
+CFLAGS += -Wmissing-prototypes -Wnested-externs
 CFLAGS += $(CSTANDARD)
-CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)		
+CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)
 
 #Additional libraries.
 MATH_LIB = -lm
@@ -63,7 +62,7 @@ build: elf
 
 elf: $(OBJDIR)/$(TARGET).elf
 
-# Program the device.  
+# Program the device.
 load upload program: $(OBJDIR)/$(TARGET).elf
 	scp $(OBJDIR)/$(TARGET).elf $(USER)@$(HOST):$(TARGET_DIR)
 
@@ -78,7 +77,7 @@ load upload program: $(OBJDIR)/$(TARGET).elf
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(CFLAGS) $< -o $@ 
+	$(Q)$(CC) -c $(CFLAGS) $< -o $@
 
 # Listing of phony targets.
 .PHONY : all build elf clean clean_list
@@ -92,8 +91,8 @@ $(OBJDIR)/.depend:
 	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
 
-ifneq ($(MAKECMDGOALS),clean) 
+ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(MAKECMDGOALS),erase) 
+ifneq ($(MAKECMDGOALS),erase)
 -include $(OBJDIR)/.depend
 endif
 endif

conf/Makefile.jsbsim

@@ -1,6 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id: Makefile.sim 3505 2009-06-17 12:59:32Z hecto $
 #   Copyright (C) 2006 Pascal Brisset, Antoine Drouin
 #
 # This file is part of paparazzi.

conf/Makefile.local

@@ -1,3 +1,5 @@
+# Hey Emacs, this is a -*- makefile -*-
+
 DESTDIR=/
 
 ifeq ($(PAPARAZZI_HOME),)

conf/Makefile.lpc21

@@ -1,6 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
 #
 # This file is part of paparazzi.

conf/Makefile.nps

@@ -88,6 +88,7 @@ $(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
 	$(Q)$(CC) $(CFLAGS) -c -o $@ $<
 
+.PHONY: all compile check_jsbsim
 
 #
 # Dependencies

conf/Makefile.omap

@@ -1,6 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2009-2010 The Paparazzi Team
 #
 # This file is part of paparazzi.

conf/Makefile.pentium-m

@@ -1,6 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2009 Antoine Drouin
 #
 # This file is part of paparazzi.

conf/Makefile.sim

@@ -1,6 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2006 Pascal Brisset, Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -132,6 +131,7 @@ $(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
 	$(Q)$(CC) $(CFLAGS) -c -o $@ $<
 
+.PHONY: all compile check_jsbsim
 
 #
 # Dependencies

conf/Makefile.stm32

@@ -1,6 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2009 Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -345,9 +344,8 @@ clean_list :
 
 
 # Listing of phony targets.
-.PHONY : all sizebefore sizeafter \
+.PHONY : all sizebefore sizeafter printcommands printmultilib\
-build elf bin lss sym clean clean_list upload
+build elf bin lss sym clean clean_list upload start_gdb start_telnet
-
 
 #
 # Dependencies

data/maps/Makefile

@@ -1,23 +1,34 @@
+# Hey Emacs, this is a -*- makefile -*-
+
 DATADIR = $(PAPARAZZI_HOME)/conf/maps_data
 Q=@
 
-all: $(DATADIR)/maps.google.com $(PAPARAZZI_HOME)/conf/maps.xml
+all: $(PAPARAZZI_HOME)/conf/maps.xml
 
 clean:
-
+	rm -f $(DATADIR)/maps.google.com
 
 $(DATADIR):
 	mkdir $(DATADIR)
 
 $(DATADIR)/maps.google.com: $(DATADIR) FORCE
+	@echo "-----------------------------------------------"
 	@echo "DOWNLOAD: google maps version code";
 	$(Q)wget -q -O $(@) http://maps.google.com/ || \
-		(rm -f $(@) && echo "Could not download google maps version code" && exit 1)
+		(rm -f $(@) && \
+		echo "Could not download google maps version code" && \
+		echo "-----------------------------------------------" && \
+		exit 1)
 
 $(PAPARAZZI_HOME)/conf/maps.xml: $(DATADIR)/maps.google.com
-	$(Q)echo "<!DOCTYPE maps SYSTEM \"maps.dtd\">" > $(@)
+	$(eval GOOGLE_VERSION := $(shell grep -P "http://khm[0-9]+.google.com/kh/v=[0-9]+.x26" $(DATADIR)/maps.google.com | sed -E 's#.*http://khm[0-9]+.google.com/kh/v=##;s#.x26.*##'))
-	$(Q)echo "" >> $(@)
+	@echo "Updated google maps version to $(GOOGLE_VERSION)"
-	$(Q)echo "<maps google_version=\""`grep -P "http://khm[0-9]+.google.com/kh/v=[0-9]+.x26" $(DATADIR)/maps.google.com | sed -E 's#.*http://khm[0-9]+.google.com/kh/v=##;s#.x26.*##'`"\"/>" >> $(@)
+	@echo "-----------------------------------------------"
-	$(Q)echo "" >> $(@)
+	$(Q)echo "<!DOCTYPE maps SYSTEM \"maps.dtd\">" > /tmp/maps.xml
+	$(Q)echo "" >> /tmp/maps.xml
+	$(Q)echo "<maps google_version=\"$(GOOGLE_VERSION)\"/>" >> /tmp/maps.xml
+	$(Q)echo "" >> /tmp/maps.xml
+	$(Q)mv /tmp/maps.xml $@
 
 FORCE:
+.PHONY: all clean

sw/airborne/arch/lpc21/lpcusb/Makefile

@@ -1,3 +1,28 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+#   Copyright (C) 2004 Pascal Brisset, Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+# The default is to produce a quiet echo of compilation commands
+# Launch with "make Q=''" to get full echo
+Q=@
+
 LIBNAME	= libusbstack
 
 # Package definitions
@@ -36,7 +61,8 @@ LIBOBJS = $(LIBSRCS:.c=.o)
 all: depend lib
 
 clean:
-	$(RM) -f $(LIBNAME).a $(LIBOBJS) .depend
+	@echo CLEAN $(LIBNAME)
+	$(Q)$(RM) -f $(LIBNAME).a $(LIBOBJS) .depend
 
 # build lib
 lib: $(LIBNAME).a
@@ -53,7 +79,7 @@ $(LIBOBJS): Makefile
 
 # dependency checking
 depend: $(LIBSRCS)
-	$(CC) $(CFLAGS) -MM $^ > .depend || rm -f .depend
+	$(Q)$(CC) $(CFLAGS) -MM $^ > .depend || rm -f .depend
 
 # phony targets
 .PHONY: all clean depend

sw/ext/Makefile

@@ -1,7 +1,6 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-#   Paparazzi main $Id$
+#   Copyright (C) 2012 The Paparazzi Team
-#   Copyright (C) 2004 Pascal Brisset Antoine Drouin
 #
 # This file is part of paparazzi.
 #
@@ -24,6 +23,7 @@
 # Launch with "make Q=''" to get full echo
 
 Q=@
+
 PAPARAZZI_SRC=../..
 EXT_DIR=$(PAPARAZZI_SRC)/sw/ext
 
@@ -45,23 +45,25 @@ ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
 endif
 
 
-all: update_submodules libopencm3.module luftboot.module
+all: libopencm3.module luftboot.module
 
 update_submodules:
 	$(Q)if [ -d $(PAPARAZZI_SRC)/.git ]; then \
 		cd $(PAPARAZZI_SRC) && git submodule update --quiet --init; \
 	fi
 
-libopencm3.module:
+libopencm3.module: update_submodules
-	$(Q)make -C libopencm3 lib PREFIX=$(PREFIX)
+	$(Q)$(MAKE) -C libopencm3 lib PREFIX=$(PREFIX)
 
-luftboot.module: libopencm3.module
+luftboot.module: update_submodules libopencm3.module
-	$(Q)make -C luftboot/src all LIBOPENCM3=../../libopencm3
+	$(Q)$(MAKE) -C luftboot/src all LIBOPENCM3=../../libopencm3
 
 clean:
 	$(Q)if [ -f libopencm3/Makefile ]; then \
-		make -C $(EXT_DIR)/libopencm3 clean; \
+		$(MAKE) -C $(EXT_DIR)/libopencm3 clean; \
 	fi
 	$(Q)if [ -f luftboot/src/Makefile ]; then \
-		make -C luftboot/src clean; \
+		$(MAKE) -C luftboot/src clean; \
 	fi
+
+.PHONY: all clean update_submodules libopencm3.module luftboot.module

sw/ground_segment/cockpit/Makefile

@@ -1,5 +1,5 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2003 Pascal Brisset, Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -35,12 +35,17 @@ FPIC=-fPIC
 
 OCAMLC=ocamlc
 OCAMLOPT=ocamlopt
+OCAMLDEP=ocamldep
 OCAMLOPTFLAGS=-thread
 OCAMLNETINCLUDES=$(shell ocamlfind query -r -i-format netstring) $(shell ocamlfind query -r -i-format netclient)
 OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring) $(shell ocamlfind query -r -a-format -predicates byte netclient)
-INCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) -I ../../lib/ocaml $(shell ocamlfind query -r -i-format xml-light)  $(shell ocamlfind query -r -i-format pcre) $(OCAMLNETINCLUDES)
+LIBPPRZDIR=../../lib/ocaml
+INCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) -I $(LIBPPRZDIR) $(shell ocamlfind query -r -i-format xml-light)  $(shell ocamlfind query -r -i-format pcre) $(OCAMLNETINCLUDES)
 LIBS=$(OCAMLNETCMA) glibivy-ocaml.cma lablgtk.cma lablglade.cma lib-pprz.cma lablgnomecanvas.cma xlib-pprz.cma
 CMXA=$(LIBS:.cma=.cmxa)
+LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
+LIBPPRZCMXA=$(LIBPPRZCMA:.cma=.cmxa)
+XLIBPPRZCMA=$(LIBPPRZDIR)/xlib-pprz.cma
 
 ML= gtk_setting_time.ml gtk_strip.ml horizon.ml strip.ml gtk_save_settings.ml saveSettings.ml page_settings.ml pages.ml speech.ml plugin.ml sectors.ml map2d.ml editFP.ml live.ml particules.ml papgets.ml gcs.ml
 MAIN=gcs
@@ -51,7 +56,7 @@ all : $(MAIN)
 
 opt : $(MAIN).opt
 
-$(MAIN) : $(CMO) ../../lib/ocaml/xlib-pprz.cma ../../lib/ocaml/lib-pprz.cma
+$(MAIN) : $(CMO) $(XLIBPPRZCMA) $(LIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(OCAMLCFLAGS) -custom $(INCLUDES) $(OCAMLNETINCLUDES) unix.cma str.cma netstring.cma netclient.cma xml-light.cma $(LIBS) threads.cma gtkThread.cmo myGtkInit.cmo $(CMO) -o $@
 
@@ -89,9 +94,9 @@ compass : compass.ml
 
 
 clean:
-	rm -f *~* *.cm* *.o *.out *.opt map2d gcs .depend gtk_strip.ml gtk_setting_time.ml gtk_save_settings.ml
+	rm -f *~* *.cm* *.o *.out *.opt map2d gcs .depend gtk_strip.ml gtk_setting_time.ml gtk_save_settings.ml compass ant_track ant_track_pmm test_enose actuators
-
 
+.PHONY: all opt clean
 
 
 CC = gcc
@@ -117,7 +122,7 @@ actuators : actuators.c
 #
 
 .depend: Makefile
-	ocamldep -I ../../lib/ocaml *.ml* > .depend
+	$(OCAMLDEP) -I $(LIBPPRZDIR) *.ml* > .depend
 
 ifneq ($(MAKECMDGOALS),clean)
 -include .depend

sw/ground_segment/joystick/Makefile

@@ -1,5 +1,5 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2004 Pascal Brisset, Antoine Drouin
 #   Copyright (C) 2012 The Paparazzi Team
 #
@@ -25,10 +25,12 @@
 Q=@
 
 OCAMLC = ocamlc
-OCAMLLIB = ../../lib/ocaml
+OCAMLDEP = ocamldep
+LIBPPRZDIR = ../../lib/ocaml
 TOOLSDIR = ../../tools
-OCAMLINCLUDES= -I $(OCAMLLIB) $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) -I $(TOOLSDIR)
+OCAMLINCLUDES= -I $(LIBPPRZDIR) $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) -I $(TOOLSDIR)
-LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma
+LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
+
 # apparently on OSX `sdl-config --libs` also has -lSDLmain which we don't want
 #ML_SDL_LFLAGS = $(foreach u,$(shell sdl-config --libs),-cclib $(u))
 ML_SDL_LFLAGS = $(foreach u,$(shell pkg-config sdl --libs-only-L) -lSDL,-cclib $(u))
@@ -42,6 +44,9 @@ test_stick: test_sdl_stick.o
 input2ivy: sdl_stick.o ml_sdl_stick.o input2ivy.cmo
 	$(OCAMLC) $(OCAMLINCLUDES) -o $@ unix.cma str.cma glibivy-ocaml.cma xml-light.cma lib-pprz.cma lablgtk.cma $(TOOLSDIR)/fp_proc.cmo $^ -custom $(ML_SDL_LFLAGS)
 
+# dependency of input2ivy
+input2ivy: $(LIBPPRZCMA) $(TOOLSDIR)/fp_proc.cmo
+
 %.o : %.c
 	gcc -c -O2 -Wall `pkg-config glib-2.0 --cflags` $(INCLUDES) $<
 
@@ -51,3 +56,16 @@ input2ivy: sdl_stick.o ml_sdl_stick.o input2ivy.cmo
 
 clean:
 	rm -f *~ core *.o *.bak .depend test*stick *.cmo *.cmi input2ivy
+
+.PHONY: all clean
+
+#
+# Dependencies
+#
+
+.depend: Makefile
+	$(OCAMLDEP) -I $(LIBPPRZDIR) *.ml* > .depend
+
+ifneq ($(MAKECMDGOALS),clean)
+-include .depend
+endif

sw/ground_segment/lpc21iap/Makefile

@@ -52,3 +52,5 @@ arch: clean
 # Builds release tar file
 dist: clean
 	cd .. && $(TAR) --exclude={CVS,cvs} -cvzf $(PKG_NAME)-$(DATE).tar.gz $(PKG_NAME)
+
+.PHONY: all clean app arch dist

sw/ground_segment/misc/Makefile

@@ -1,3 +1,30 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Copyright (C) 2010-2012  The Paparazzi Team
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+# Quiet compilation
+# Launch with "make Q=''" to get full command display
+Q=@
+
+CC = gcc
+
 UNAME = $(shell uname -s)
 
 ifeq ("$(UNAME)","Darwin")
@@ -14,10 +41,12 @@ clean:
 	rm -f *.o davis2ivy kestrel2ivy
 
 davis2ivy: davis2ivy.o
-	g++ -o davis2ivy davis2ivy.o  $(LIBRARYS)  -livy
+	$(Q)$(CC) -o davis2ivy davis2ivy.o  $(LIBRARYS)  -livy
 
 kestrel2ivy: kestrel2ivy.o
-	g++ -o kestrel2ivy kestrel2ivy.o $(LIBRARYS) -livy
+	$(Q)$(CC) -o kestrel2ivy kestrel2ivy.o $(LIBRARYS) -livy
 
 %.o : %.c
-	gcc -c -O2 -Wall $(INCLUDES) $<
+	$(Q)$(CC) -c -O2 -Wall $(INCLUDES) $<
+
+.PHONY: all clean

sw/ground_segment/multimon/Makefile

@@ -1,4 +1,26 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Copyright (C) 2003-2012  The Paparazzi Team
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
 # Quiet compilation
+# Launch with "make Q=''" to get full command display
 Q=@
 
 DEBUG		=n
@@ -111,12 +133,14 @@ hdlc.cmo : hdlc.cmi
 	$(OCAMLC) $<
 
 clean:
-	rm -fr *.cm* mkcostab
+	rm -fr *.cm* mkcostab .depend
 	$(RM) -f core `find . -name '*.[oas]' -print`
 	$(RM) -f core `find . -name 'core' -print`
 	$(RM) -f core costabi.c costabf.c *~
 	$(RM) $(BINDIR)/multimon
 
+.PHONY: all clean depend dep
+
 depend dep:
 	$(CPP) -M $(CFLAGS) $(SRC_MISC) $(SRC_L1) $(SRC_L2) $(SRC_GEN) mkcostab.c > $(BINDIR)/.depend
 

sw/ground_segment/tmtc/Makefile

@@ -1,5 +1,5 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -35,87 +35,92 @@ include ../../../conf/Makefile.local
 CONF = ../../../conf
 VAR = ../../../var
 
-all: link server messages settings dia diadec $(VAR)/boa.conf ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge
-
-clean:
-	rm -f link server messages settings dia diadec *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge gpsd2ivy
-
 OCAMLC = ocamlc
 OCAMLOPT = ocamlopt
-OCAMLLIB = ../../lib/ocaml
+OCAMLDEP = ocamldep
+LIBPPRZDIR = ../../lib/ocaml
 OCAMLNETINCLUDES=$(shell ocamlfind query -r -i-format netstring) $(shell ocamlfind query -r -i-format netclient)
 OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring)
-INCLUDES= -I $(OCAMLLIB) -I ../multimon $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES)
+INCLUDES= -I $(LIBPPRZDIR) -I ../multimon $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES)
-LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma
+
+LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
+LIBPPRZCMXA=$(LIBPPRZCMA:.cma=.cmxa)
+XLIBPPRZCMA=$(LIBPPRZDIR)/xlib-pprz.cma
+XLIBPPRZCMXA=$(XLIBPPRZCMA:.cma=.cmxa)
+
+LIBMULTIMONCMA=../multimon/multimon.cma
 
 SERVERCMO = server_globals.cmo aircraft.cmo wind.cmo airprox.cmo kml.cmo fw_server.ml rotorcraft_server.ml server.cmo
 SERVERCMX = $(SERVERCMO:.cmo=.cmx)
 
+
+all: link server messages settings dia diadec $(VAR)/boa.conf ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge
+
+clean:
+	rm -f link server messages settings dia diadec *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge gpsd2ivy c_ivy_client_example_1 c_ivy_client_example_2 c_ivy_client_example_3
+
+
 $(VAR)/boa.conf :$(CONF)/boa.conf
 	mkdir -p $(VAR)
 	sed 's|PAPARAZZI_HOME|$(PAPARAZZI_HOME)|' < $< > $@
-	chmod a+x boa
 
 
-messages : messages.cmo ../../lib/ocaml/xlib-pprz.cma ../../lib/ocaml/lib-pprz.cma
+messages : messages.cmo $(XLIBPPRZCMA) $(LIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma gtkInit.cmo $<
 
 
-settings : settings.cmo ../../lib/ocaml/xlib-pprz.cma ../../lib/ocaml/lib-pprz.cma ../cockpit/page_settings.cmo
+settings : settings.cmo $(XLIBPPRZCMA) $(LIBPPRZCMA) ../cockpit/page_settings.cmo
 	@echo OL $@
 	$(Q)$(OCAMLC) -custom $(INCLUDES) -I ../cockpit -o $@ unix.cma str.cma xml-light.cma lablgtk.cma lablglade.cma $(OCAMLNETCMA) glibivy-ocaml.cma lib-pprz.cma lablgnomecanvas.cma xlib-pprz.cma gtkInit.cmo gtk_save_settings.cmo saveSettings.cmo page_settings.cmo $<
 
 
-server : $(SERVERCMO) ../../lib/ocaml/lib-pprz.cma
+server : $(SERVERCMO) $(LIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $(SERVERCMO)
 
-server.opt :  $(SERVERCMX) ../../lib/ocaml/lib-pprz.cmxa
+server.opt :  $(SERVERCMX) $(LIBPPRZCMXA)
 	@echo OOL $@
 	$(Q)$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa lablgtk.cmxa glibivy-ocaml.cmxa lib-pprz.cmxa $(SERVERCMX)
 
-LINKCMO=link.cmo
+link : link.cmo $(LIBMULTIMONCMA) $(LIBPPRZCMA)
-
-link : $(LINKCMO)  ../../lib/ocaml/lib-pprz.cma
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $(LINKCMO)
+	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
 
 
-ivy_tcp_aircraft : ivy_tcp_aircraft.cmo  ../../lib/ocaml/lib-pprz.cma
+ivy_tcp_aircraft : ivy_tcp_aircraft.cmo  $(LIBMULTIMONCMA) $(LIBPPRZCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma ivy_tcp_aircraft.cmo
+	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
 
 
-ivy_tcp_controller : ivy_tcp_controller.cmo  ../../lib/ocaml/lib-pprz.cma
+ivy_tcp_controller : ivy_tcp_controller.cmo  $(LIBMULTIMONCMA) $(LIBPPRZCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma ivy_tcp_controller.cmo
+	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
 
 
-broadcaster : broadcaster.cmo  ../../lib/ocaml/lib-pprz.cma
+broadcaster : broadcaster.cmo $(LIBMULTIMONCMA) $(LIBPPRZCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma broadcaster.cmo
+	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
 
 
-ivy2udp : ivy2udp.cmo  ../../lib/ocaml/lib-pprz.cma
+ivy2udp : ivy2udp.cmo $(LIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $<
 
 
-dia : dia.cmo ../multimon/multimon.cma
+dia : dia.cmo $(LIBMULTIMONCMA) $(LIBPPRZCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $^
+	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
 
 
-diadec : diadec.cmo ../multimon/multimon.cma
+diadec : diadec.cmo $(LIBMULTIMONCMA) $(LIBPPRZCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $^
+	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
 
 
-150m : 150m.cmo
+150m : 150m.cmo $(LIBPPRZCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma gtkInit.cmo $^
+	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma gtkInit.cmo $<
-
 
 settings.cmo : INCLUDES += -I ../cockpit
 settings.cmo : ../cockpit/page_settings.cmi
@@ -162,12 +167,14 @@ ivy_serial_bridge: ivy_serial_bridge.c
 	$(CC) $(GTK_CFLAGS) $(C_LIBRARYS) $(C_INCLUDES) -o $@ $< $(GTK_LDFLAGS)
 
 
+.PHONY: all clean
+
 #
 # Dependencies
 #
 
 .depend: Makefile
-	ocamldep -I ../../lib/ocaml *.ml* > .depend
+	$(OCAMLDEP) -I $(LIBPPRZDIR) -I ../multimon *.ml* > .depend
 
 ifneq ($(MAKECMDGOALS),clean)
 -include .depend

sw/lib/ocaml/Makefile

@@ -1,5 +1,5 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2003 Pascal Brisset, Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -33,6 +33,7 @@ endif
 INCLUDES=  $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format netstring) $(shell ocamlfind query -r -i-format netclient) $(shell ocamlfind query -r -i-format pcre)
 XINCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light)
 OCAMLC=ocamlc
+OCAMLDEP=ocamldep
 OCAMLOPT=ocamlopt
 OCAMLLEX=ocamllex
 OCAMLYACC=ocamlyacc
@@ -154,7 +155,7 @@ gtk_papget_led_editor.ml : widgets.glade
 	@rm /tmp/$@_$<
 
 clean :
-	rm -f *~ *.cm* *.out *.opt .depend *.a *.o *.so tests gtk_papget_*.ml expr_parser.ml expr_parser.mli expr_lexer.ml expr_lexer.mli
+	rm -f *~ *.cm* *.out *.opt .depend *.a *.o *.so caml_from_c_example tests gtk_papget_*.ml expr_parser.ml expr_parser.mli expr_lexer.ml expr_lexer.mli
 
 .PHONY: all opt clean
 
@@ -163,7 +164,7 @@ clean :
 #
 
 .depend: Makefile
-	ocamldep *.ml* > .depend
+	$(OCAMLDEP) *.ml* > .depend
 
 ifneq ($(MAKECMDGOALS),clean)
 -include .depend

sw/logalizer/Makefile

@@ -1,5 +1,5 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
-#   $Id$
 #   Copyright (C) 2004 Pascal Brisset, Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -24,8 +24,14 @@
 Q=@
 
 OCAMLC = ocamlc
+OCAMLDEP = ocamldep
 OCAMLOPT = ocamlopt
-INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I ../lib/ocaml
+LIBPPRZDIR = ../lib/ocaml
+INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I $(LIBPPRZDIR)
+LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
+LIBPPRZCMXA=$(LIBPPRZCMA:.cma=.cmxa)
+XLIBPPRZCMA=$(LIBPPRZDIR)/xlib-pprz.cma
+XLIBPPRZCMXA=$(XLIBPPRZCMA:.cma=.cmxa)
 
 all: play plotter plot sd2log plotprofile openlog2tlm
 
@@ -56,9 +62,10 @@ LDFLAGS=
 openlog2tlm: openlog2tlm.c
 	$(CC) $(CFLAGS) -g -o $@ $^
 
-
+# depedency on lib-pprz
-play play-nox plotter sd2log : ../lib/ocaml/lib-pprz.cma
+play play-nox sd2log : $(LIBPPRZCMA)
-plot : ../lib/ocaml/lib-pprz.cmxa
+plotter : $(LIBPPRZCMA) $(XLIBPPRZCMA)
+plot : $(LIBPPRZCMXA) $(XLIBPPRZCMXA)
 
 # Target for bytecode executable (if ocamlopt is not available)
 # plot : log_file.cmo gtk_export.cmo export.cmo plot.cmo
@@ -178,14 +185,16 @@ ctrlstick: ctrlstick.c
 	$(CC) -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
 
 clean:
-	rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play ahrsview imuview ahrs2fg plot plotter gtk_export.ml openlog2tlm disp3d plotprofile test1 test3 test_samere ivy_example tmclient ffjoystick ctrlstick
+	rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play ahrsview imuview ahrs2fg plot plotter gtk_export.ml openlog2tlm disp3d plotprofile test1 test3 test_samere ivy_example tmclient ffjoystick ctrlstick sd2log motor_bench
+
+.PHONY: all clean pt run_fg
 
 #
 # Dependencies
 #
 
 .depend: Makefile
-	ocamldep -I ../lib/ocaml *.ml* > .depend
+	ocamldep -I $(LIBPPRZDIR) *.ml* > .depend
 
 ifneq ($(MAKECMDGOALS),clean)
 -include .depend

sw/simulator/Makefile

@@ -1,4 +1,4 @@
-# Paparazzi simulator $Id$
+# Hey Emacs, this is a -*- makefile -*-
 #
 # Copyright (C) 2003-2006  Pascal Brisset, Antoine Drouin
 #
@@ -40,18 +40,20 @@ SIMSCMX=$(SIMSML:%.ml=%.cmx)
 
 
 OCAMLC = ocamlc -g
-OCAMLOPT=ocamlopt
+OCAMLOPT = ocamlopt
+OCAMLDEP = ocamldep
 OCAML=$(shell which ocaml)
 OCAMLRUN=$(shell which ocamlrun)
-INCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) -I ../lib/ocaml $(shell ocamlfind query -r -i-format xml-light)
+LIBPPRZDIR=../lib/ocaml
+INCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) -I $(LIBPPRZDIR) $(shell ocamlfind query -r -i-format xml-light)
+LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
 
 AIRBORNE = ../airborne
 VARINCLUDE=$(PAPARAZZI_HOME)/var/include
 ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
-LAUNCHSITL = launchsitl
+
 
 all : gaia sitl.cma $(LAUNCHSITL) simhitl
-	@chmod a+x $(LAUNCHSITL)
 
 simhitl : fg.o $(SIMHCMO) simhitl.cmo
 	@echo OL $@
@@ -72,7 +74,7 @@ diffusion : stdlib.cmo diffusion.cmo
 	@echo OL $@
 	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $^
 
-%.cmo : %.ml ../lib/ocaml/lib-pprz.cma
+%.cmo : %.ml
 	@echo OC $<
 	$(Q)$(OCAMLC) $(INCLUDES) -c $<
 
@@ -84,24 +86,29 @@ diffusion : stdlib.cmo diffusion.cmo
 	@echo OOC $<
 	$(Q)$(OCAMLOPT) $(INCLUDES) -c $<
 
-%.cmi : %.mli ../lib/ocaml/lib-pprz.cma
+%.cmi : %.mli
 	@echo OC $<
 	$(Q)$(OCAMLC) $(INCLUDES) -c $<
 
-clean :
-	rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia simhitl booz_sim test2
-
 launchsitl :
 	cat ../../src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
 	chmod a+x $@
 
+# dependency on lib-pprz
+simhitl diffusion gaia:  $(LIBPPRZCMA)
+
+clean :
+	rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia simhitl diffusion
+
+.PHONY: all clean
+
 
 #
 # Dependencies
 #
 
-.depend:
+.depend: Makefile
-	ocamldep *.ml* > .depend
+	$(OCAMLDEP) -I $(LIBPPRZDIR) *.ml* > .depend
 
 ifneq ($(MAKECMDGOALS),clean)
 -include .depend

sw/supervision/Makefile

@@ -1,16 +1,39 @@
-# Quiet
+# Hey Emacs, this is a -*- makefile -*-
+#
+#   Copyright (C) 2004-2012 Pascal Brisset, Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+# The default is to produce a quiet echo of compilation commands
+# Launch with "make Q=''" to get full echo
 Q=@
 
 OCAMLC = ocamlc
 OCAMLOPT = ocamlopt
-OCAMLLIB = ../lib/ocaml
+OCAMLDEP = ocamldep
-INCLUDES= -I $(OCAMLLIB) $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light)
+LIBPPRZDIR = ../lib/ocaml
-LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma
+INCLUDES= -I $(LIBPPRZDIR) $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light)
+LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
 PAPARAZZICENTERCMO = gtk_pc.cmo gtk_process.cmo pc_common.cmo pc_aircraft.cmo pc_control_panel.cmo paparazzicenter.cmo
 
 all: paparazzicenter
 
-paparazzicenter : $(PAPARAZZICENTERCMO) $(OCAMLLIB)/lib-pprz.cma
+paparazzicenter : $(PAPARAZZICENTERCMO) $(LIBPPRZDIR)/lib-pprz.cma
 	@echo OL $@
 	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma lablglade.cma gtkInit.cmo lib-pprz.cma xlib-pprz.cma lablgnomeui.cma $^
 
@@ -30,19 +53,21 @@ gtk_process.ml : paparazzicenter.glade
 	@echo OC $<
 	$(Q)$(OCAMLC) $(INCLUDES) $<
 
-paparazzicenter.cmo : gtk_pc.cmo gtk_process.cmo pc_common.cmo pc_control_panel.cmo pc_aircraft.cmo
+pc_common.cmo: gtk_process.cmo
 
-pc_control_panel.cmo pc_aircraft.cmo : pc_common.cmo
+paparazzicenter.cmo : gtk_pc.cmo
 
 clean:
 	\rm -f *.cm* gtk_pc.ml gtk_process.ml .depend paparazzicenter
 
+.PHONY: all clean
+
 #
 # Dependencies
 #
 
-.depend:
+.depend: Makefile
-	ocamldep -I ../lib/ocaml *.ml* > .depend
+	$(OCAMLDEP) -I $(LIBPPRZDIR) *.ml* > .depend
 
 ifneq ($(MAKECMDGOALS),clean)
 -include .depend

sw/tools/Makefile

@@ -1,4 +1,4 @@
-# $Id$
+# Hey Emacs, this is a -*- makefile -*-
 #
 # Copyright (C) 2003-2006  Pascal Brisset, Antoine Drouin
 #
@@ -24,41 +24,37 @@ Q=@
 
 OCAML=ocaml
 OCAMLC=ocamlc
-INCLUDES=-I ../lib/ocaml $(shell ocamlfind query -r -i-format xml-light) -I .
+OCAMLDEP=ocamldep
+LIBPPRZDIR=../lib/ocaml
+INCLUDES=-I $(LIBPPRZDIR) $(shell ocamlfind query -r -i-format xml-light)
 OCAMLNETINCLUDES=$(shell ocamlfind query -r -i-format netstring) $(shell ocamlfind query -r -i-format netclient)
 OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring) $(shell ocamlfind query -r -a-format -predicates byte netclient)
-OCAMLLEX=ocamllex
+LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
-OCAMLYACC=ocamlyacc
 
 all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_mtk.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_xsens.out gen_modules.out gen_abi.out find_free_msg_id.out gen_srtm.out mergelogs
 
 FP_CMO = fp_proc.cmo gen_flight_plan.cmo
 ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
 
-gen_flight_plan.out : $(FP_CMO) ../lib/ocaml/lib-pprz.cma
+gen_flight_plan.out : $(FP_CMO)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma ivy-ocaml.cma lib-pprz.cma $^
 
-fp_proc.cmo : fp_proc.cmi
+gen_srtm.out : gen_common.cmo
-gen_flight_plan.cmo : fp_proc.cmi
-
-gen_common.cmo : gen_common.cmi
-
-gen_srtm.out : ../lib/ocaml/lib-pprz.cma
 	@echo OC $@
 	$(Q)$(OCAMLC) $(INCLUDES) $(OCAMLNETINCLUDES) -custom -o $@ unix.cma str.cma netstring.cma netclient.cma xml-light.cma ivy-ocaml.cma lib-pprz.cma gen_common.cmo $^
 
 mergelogs: mergelogs.c
 	gcc mergelogs.c -o mergelogs
 
-%.out : %.ml gen_common.ml Makefile
+%.out : %.ml gen_common.cmo $(LIBPPRZCMA)
 	@echo OC $<
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ unix.cma str.cma ivy-ocaml.cma xml-light.cma lib-pprz.cma gen_common.cmo $<
 	@cat ../../pprz_src_test.sh > $@
 	@echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/tools $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES) -I $$PAPARAZZI_SRC/sw/lib/ocaml unix.cma str.cma ivy-ocaml.cma xml-light.cma $(OCAMLNETCMA) lib-pprz.cma gen_common.cmo $$PAPARAZZI_BIN/$< $$*' >> $@
 	@chmod a+x $@
 
-%.cmo : %.ml ../lib/ocaml/lib-pprz.cma
+%.cmo : %.ml
 	@echo OC $<
 	$(Q)$(OCAMLC) $(INCLUDES) -c $<
 
@@ -66,17 +62,22 @@ mergelogs: mergelogs.c
 	@echo OC $<
 	$(Q)$(OCAMLC) $(INCLUDES) -c $<
 
-%.ml : %.mll
+# dependency on lib-pprz
-	@echo OC $<
+gen_flight_plan.out gen_srtm.out : $(LIBPPRZCMA)
-	$(Q)$(OCAMLLEX) $<
 
-%.ml : %.mly
-	@echo OC $<
-	$(Q)$(OCAMLYACC) $<
-
-%.mli : %.mly
-	@echo OC $<
-	$(Q)$(OCAMLYACC) $<
 
 clean:
-	rm -f *.cm* *.out *~ fp_parser.ml fp_parser.mli mergelogs
+	rm -f *.cm* *.out *~ .depend fp_parser.ml fp_parser.mli mergelogs
+
+.PHONY: all clean
+
+#
+# Dependencies
+#
+
+.depend: Makefile
+	$(OCAMLDEP) -I $(LIBPPRZDIR) *.ml *.mli > .depend
+
+ifneq ($(MAKECMDGOALS),clean)
+-include .depend
+endif