Original makefile backup

Makefile_bk

+############################################################################
+#
+# Copyright (c) 2015 - 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+# Enforce the presence of the GIT repository
+#
+# We depend on our submodules, so we have to prevent attempts to
+# compile without it being present.
+ifeq ($(wildcard .git),)
+    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
+endif
+
+# Help
+# --------------------------------------------------------------------
+# Don't be afraid of this makefile, it is just passing
+# arguments to cmake to allow us to keep the wiki pages etc.
+# that describe how to build the px4 firmware
+# the same even when using cmake instead of make.
+#
+# Example usage:
+#
+# make px4_fmu-v2_default 			(builds)
+# make px4_fmu-v2_default upload 	(builds and uploads)
+# make px4_fmu-v2_default test 		(builds and tests)
+#
+# This tells cmake to build the nuttx px4_fmu-v2 default config in the
+# directory build/px4_fmu-v2_default and then call make
+# in that directory with the target upload.
+
+# explicity set default build target
+all: px4_sitl_default
+
+# define a space character to be able to explicitly find it in strings
+space := $(subst ,, )
+
+# Parsing
+# --------------------------------------------------------------------
+# assume 1st argument passed is the main target, the
+# rest are arguments to pass to the makefile generated
+# by cmake in the subdirectory
+FIRST_ARG := $(firstword $(MAKECMDGOALS))
+ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
+j ?= 4
+
+NINJA_BIN := ninja
+ifndef NO_NINJA_BUILD
+	NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
+
+	ifndef NINJA_BUILD
+		NINJA_BIN := ninja-build
+		NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
+	endif
+endif
+
+ifdef NINJA_BUILD
+	PX4_CMAKE_GENERATOR := Ninja
+	PX4_MAKE := $(NINJA_BIN)
+
+	ifdef VERBOSE
+		PX4_MAKE_ARGS := -v
+	else
+		PX4_MAKE_ARGS :=
+	endif
+else
+	ifdef SYSTEMROOT
+		# Windows
+		PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
+	else
+		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
+	endif
+	PX4_MAKE = $(MAKE)
+	PX4_MAKE_ARGS = -j$(j) --no-print-directory
+endif
+
+SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
+
+# check if replay env variable is set & set build dir accordingly
+ifdef replay
+	BUILD_DIR_SUFFIX := _replay
+else
+	BUILD_DIR_SUFFIX :=
+endif
+
+# additional config parameters passed to cmake
+ifdef EXTERNAL_MODULES_LOCATION
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+endif
+
+ifdef PX4_CMAKE_BUILD_TYPE
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+else
+
+	# Address Sanitizer
+	ifdef PX4_ASAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+	endif
+
+	# Memory Sanitizer
+	ifdef PX4_MSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+	endif
+
+	# Thread Sanitizer
+	ifdef PX4_TSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+	endif
+
+	# Undefined Behavior Sanitizer
+	ifdef PX4_UBSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+	endif
+
+endif
+
+# Functions
+# --------------------------------------------------------------------
+# describe how to build a cmake config
+define cmake-build
+	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
+	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
+	@$(call cmake-cache-check)
+	@# make sure to start from scratch when switching from GNU Make to Ninja
+	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
+	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
+		mkdir -p $(BUILD_DIR) \
+		&& cd $(BUILD_DIR) \
+		&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
+		|| (rm -rf $(BUILD_DIR)); \
+	fi
+	@# run the build for the specified target
+	@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
+endef
+
+# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
+define cmake-cache-check
+	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
+	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
+	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
+	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
+	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
+	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
+	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
+	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
+	@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
+endef
+
+COLOR_BLUE = \033[0;94m
+NO_COLOR   = \033[m
+
+define colorecho
++@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
+endef
+
+# Get a list of all config targets boards/*/*.cmake
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
+
+# ADD CONFIGS HERE
+# --------------------------------------------------------------------
+#  Do not put any spaces between function arguments.
+
+# All targets.
+$(ALL_CONFIG_TARGETS):
+	@$(eval PX4_CONFIG = $@)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+
+# Filter for only default targets to allow omiting the "_default" postfix
+CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
+$(CONFIG_TARGETS_DEFAULT):
+	@$(eval PX4_CONFIG = $@_default)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+
+all_config_targets: $(ALL_CONFIG_TARGETS)
+all_default_targets: $(CONFIG_TARGETS_DEFAULT)
+
+posix: px4_sitl_default
+
+# board reorganization deprecation warnings (2018-11-22)
+define deprecation_warning
+	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
+endef
+
+px4fmu-%_default:
+	$(call deprecation_warning, ${@},$(subst px4fmu,px4_fmu,$@))
+	$(MAKE) $(subst px4fmu,px4_fmu, $@)
+
+posix_sitl_default:
+	$(call deprecation_warning, ${@},px4_sitl_default)
+	$(MAKE) px4_sitl_default
+
+# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
+.PHONY: all posix px4_sitl_default all_config_targets all_default_targets
+
+# Multi- config targets.
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
+eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
+excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
+
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
+
+# Other targets
+# --------------------------------------------------------------------
+
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
+
+# QGroundControl flashable NuttX firmware
+qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
+
+# px4fmu NuttX firmware
+px4fmu_firmware: \
+	check_px4_io-v2_default \
+	check_px4_fmu-v2_default \
+	check_px4_fmu-v3_default \
+	check_px4_fmu-v4_default \
+	check_px4_fmu-v4pro_default \
+	check_px4_fmu-v5_default \
+	sizes
+
+misc_qgc_extra_firmware: \
+	check_nxp_fmuk66-v3_default \
+	check_intel_aerofc-v1_default \
+	check_auav_x21_default \
+	check_bitcraze_crazyflie_default \
+	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
+	sizes
+
+# Other NuttX firmware
+alt_firmware: \
+	check_px4_cannode-v1_default \
+	check_px4_esc-v1_default \
+	check_auav_esc35-v1_default \
+	check_thiemar_s2740vc-v1_default \
+	sizes
+
+# builds with RTPS
+check_rtps: \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
+	sizes
+
+.PHONY: sizes check quick_check check_rtps uorb_graphs
+
+sizes:
+	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
+
+# All default targets that don't require a special build environment
+check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
+
+# quick_check builds a single nuttx and posix target, runs testing, and checks the style
+quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
+
+check_%:
+	@echo
+	$(call colorecho,'Building' $(subst check_,,$@))
+	@$(MAKE) --no-print-directory $(subst check_,,$@)
+	@echo
+
+uorb_graphs:
+	@./Tools/uorb_graph/create_from_startupscript.sh
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
+	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
+
+
+.PHONY: coverity_scan
+
+coverity_scan: px4_sitl_default
+
+# Documentation
+# --------------------------------------------------------------------
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
+
+parameters_metadata:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+
+airframe_metadata:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
+
+module_documentation:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
+
+px4_metadata: parameters_metadata airframe_metadata module_documentation
+
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
+
+# Astyle
+# --------------------------------------------------------------------
+.PHONY: check_format format
+
+check_format:
+	$(call colorecho,'Checking formatting with astyle')
+	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
+	@cd "$(SRC_DIR)" && git diff --check
+
+format:
+	$(call colorecho,'Formatting with astyle')
+	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
+
+# Testing
+# --------------------------------------------------------------------
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
+.PHONY: rostest python_coverage
+
+tests:
+	$(eval CMAKE_ARGS += -DCMAKE_TESTING=ON)
+	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval ARGS += test_results)
+	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
+	$(eval UBSAN_OPTIONS += color=always)
+	$(call cmake-build,px4_sitl_test)
+
+tests_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
+
+rostest: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+
+tests_mission: rostest
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+rostest_run: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
+
+tests_mission_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
+	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
+
+tests_offboard: rostest
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+
+tests_avoidance: rostest
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+
+python_coverage:
+	@mkdir -p "$(SRC_DIR)"/build/python_coverage
+	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
+	#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
+	@coverage combine `find . -name .coverage\*`
+	@coverage report -m
+
+
+# static analyzers (scan-build, clang-tidy, cppcheck)
+# --------------------------------------------------------------------
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
+.PHONY: cppcheck shellcheck_all validate_module_configs
+
+scan-build:
+	@export CCC_CC=clang
+	@export CCC_CXX=clang++
+	@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
+	@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
+	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
+	@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
+
+px4_sitl_default-clang:
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
+
+clang-tidy: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+
+# to automatically fix a single check at a time, eg modernize-redundant-void-arg
+#  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
+clang-tidy-fix: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+
+# modified version of run-clang-tidy.py to return error codes and only output relevant results
+clang-tidy-quiet: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+
+# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
+cppcheck: px4_sitl_default
+	@mkdir -p "$(SRC_DIR)"/build/cppcheck
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
+
+shellcheck_all:
+	@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
+	@make px4_fmu-v5_default shellcheck
+
+validate_module_configs:
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+
+# Cleanup
+# --------------------------------------------------------------------
+.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
+
+clean:
+	@rm -rf "$(SRC_DIR)"/build
+
+submodulesclean:
+	@git submodule foreach --quiet --recursive git clean -ff -x -d
+	@git submodule update --quiet --init --recursive --force || true
+	@git submodule sync --recursive
+	@git submodule update --init --recursive --force
+
+submodulesupdate:
+	@git submodule update --quiet --init --recursive || true
+	@git submodule sync --recursive
+	@git submodule update --init --recursive
+
+gazeboclean:
+	@rm -rf ~/.gazebo/*
+
+distclean: gazeboclean
+	@git submodule deinit -f .
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+
+# Help / Error
+# --------------------------------------------------------------------
+
+# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
+%:
+	$(if $(filter $(FIRST_ARG),$@), \
+		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+
+# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
+help:
+	@echo "Usage: $(MAKE) <target>"
+	@echo "Where <target> is one of:"
+	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
+		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+	@echo
+	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
+	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
+
+# Print a list of all config targets.
+list_config_targets:
+	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done