build: add directory-oriented make workflows

firmware/boards/Makefile

@@ -0,0 +1,44 @@
+override SHELL := /bin/sh
+override MAKEFLAGS += --no-print-directory
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override CARGO := cargo
+override CARGO_FLAGS := --locked --offline
+
+override EMBEDDED_TARGET := thumbv7em-none-eabihf
+override TARGET_DIR := ../target/$(EMBEDDED_TARGET)/release
+override SCRIPTS_DIR := ../scripts
+
+override BOARDS := geprc-f722-v2 kakute-f7-mini-v3
+override BOARD_PACKAGES := $(addprefix kaptan-,$(BOARDS))
+override BOARD_PACKAGE_ARGS := $(addprefix -p ,$(BOARD_PACKAGES))
+
+override PRIMARY_GOAL := $(firstword $(MAKECMDGOALS))
+
+run:
+	@exec python3 ../../scripts/make-argv.py exec run $(CARGO) build --release \
+		$(CARGO_FLAGS) $(BOARD_PACKAGE_ARGS) --target $(EMBEDDED_TARGET)
+	@set -e; for board in $(BOARD_PACKAGES); do \
+		$(SCRIPTS_DIR)/create-dfu-image.sh $(TARGET_DIR)/$$board; \
+	done
+
+ifeq ($(PRIMARY_GOAL),run)
+
+.PHONY: run
+
+# Application arguments may also look like Make goals. The run recipe recovers
+# their exact boundaries from the original invocation.
+.DEFAULT:
+	@:
+
+else
+
+.PHONY: help run
+
+help:
+	@printf '%s\n' 'Usage: make firmware/boards -- <cargo build arguments...>' '' \
+		'With no arguments, every board is built and packaged.'
+
+endif

firmware/boards/board.mk

@@ -0,0 +1,69 @@
+override SHELL := /bin/sh
+override MAKEFLAGS += --no-print-directory
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override CARGO := cargo
+override CARGO_FLAGS := --locked --offline
+override DFU_UTIL := dfu-util
+
+override EMBEDDED_TARGET := thumbv7em-none-eabihf
+override PACKAGE := kaptan-$(BOARD)
+override TARGET_DIR := ../../target/$(EMBEDDED_TARGET)/release
+override CREATE_IMAGE := ../../scripts/create-dfu-image.sh
+
+override DFU_DEVICE := 0483:df11
+override DFU_ALT := 0
+override DFU_ADDRESS := 0x08000000:leave
+
+override PRIMARY_GOAL := $(firstword $(MAKECMDGOALS))
+
+run:
+	@exec python3 ../../../scripts/make-argv.py exec run $(CARGO) build --release \
+		$(CARGO_FLAGS) -p $(PACKAGE) --target $(EMBEDDED_TARGET)
+	$(CREATE_IMAGE) $(TARGET_DIR)/$(PACKAGE)
+
+_build:
+	$(CARGO) build --release $(CARGO_FLAGS) -p $(PACKAGE) \
+		--target $(EMBEDDED_TARGET)
+	$(CREATE_IMAGE) $(TARGET_DIR)/$(PACKAGE)
+
+flash: _build
+	@printf '%s\n' 'Flashing $(TARGET_DIR)/$(PACKAGE).bin to $(DFU_DEVICE)'
+	@exec python3 ../../../scripts/make-argv.py exec flash \
+		$(DFU_UTIL) --device $(DFU_DEVICE) --alt $(DFU_ALT) \
+		--dfuse-address $(DFU_ADDRESS) \
+		--download $(TARGET_DIR)/$(PACKAGE).bin
+
+ifeq ($(PRIMARY_GOAL),run)
+
+.PHONY: run
+
+# Application arguments may also look like Make goals. The run recipe recovers
+# their exact boundaries from the original invocation.
+.DEFAULT:
+	@:
+
+else
+
+ifeq ($(PRIMARY_GOAL),flash)
+
+.PHONY: flash _build
+
+.DEFAULT:
+	@:
+
+else
+
+.PHONY: help run flash _build
+
+help:
+	@printf '%s\n' 'Usage: make firmware/boards/$(BOARD) -- <cargo build arguments...>' '' \
+		'       make firmware/boards/$(BOARD) flash -- <dfu-util arguments...>' '' \
+		'With no arguments, this board is built and packaged.' \
+		'The flash target builds, packages, and writes this board over DFU.'
+
+endif
+
+endif

firmware/boards/geprc-f722-v2/Cargo.toml

@@ -14,7 +14,9 @@ kaptan-config = { path = "../../libs/kaptan-config" }
 platform-stm32f7 = { path = "../../platforms/stm32f7" }
 # RTIC's attribute expansion emits absolute `rtic` support paths in the final
 # board crate; the task graph and all RTIC source remain platform-owned.
-rtic = { version = "2.3", default-features = false, features = ["thumbv7-backend"] }
+rtic = { version = "2.3", default-features = false, features = [
+  "thumbv7-backend",
+] }
 
 [[bin]]
 name = "kaptan-geprc-f722-v2"

firmware/boards/geprc-f722-v2/Makefile

@@ -0,0 +1,3 @@
+override BOARD := geprc-f722-v2
+
+include ../board.mk

firmware/boards/kakute-f7-mini-v3/Cargo.toml

@@ -13,7 +13,9 @@ kaptan-config = { path = "../../libs/kaptan-config" }
 platform-stm32f7 = { path = "../../platforms/stm32f7" }
 # RTIC's attribute expansion emits absolute `rtic` support paths in the final
 # board crate; the task graph and all RTIC source remain platform-owned.
-rtic = { version = "2.3", default-features = false, features = ["thumbv7-backend"] }
+rtic = { version = "2.3", default-features = false, features = [
+  "thumbv7-backend",
+] }
 
 [[bin]]
 name = "kaptan-kakute-f7-mini-v3"

firmware/boards/kakute-f7-mini-v3/Makefile

@@ -0,0 +1,3 @@
+override BOARD := kakute-f7-mini-v3
+
+include ../board.mk