build: add directory-oriented make workflows

Makefile

@@ -0,0 +1,120 @@
+override SHELL := /bin/sh
+override MAKEFLAGS += --no-print-directory
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override FIRMWARE_DIR := firmware
+override DOCS_DIR := docs
+override SITL_DIR := firmware/tools/sitl
+override CONFIGURATOR_DIR := firmware/tools/configurator
+override BOARD_DIRS := $(patsubst %/,%,$(wildcard firmware/boards/*/))
+
+override COMPONENT_TARGETS := $(FIRMWARE_DIR) $(DOCS_DIR) firmware/boards $(BOARD_DIRS) \
+	$(SITL_DIR) $(CONFIGURATOR_DIR)
+
+override PRIMARY_GOAL := $(firstword $(MAKECMDGOALS))
+override ROUTED_GOAL := $(filter $(PRIMARY_GOAL),$(COMPONENT_TARGETS))
+
+ifneq ($(ROUTED_GOAL),)
+
+# The dispatcher reads the original argv so application arguments retain their
+# ordering and boundaries even when Make interprets them as goals or variables.
+override ROUTE_DEFAULT_TARGET := run
+override ROUTE_LOCAL_TARGETS := help
+ifeq ($(PRIMARY_GOAL),$(FIRMWARE_DIR))
+override ROUTE_LOCAL_TARGETS += fmt clippy test docs pre-commit check clean
+endif
+ifeq ($(PRIMARY_GOAL),$(DOCS_DIR))
+override ROUTE_DEFAULT_TARGET := check
+override ROUTE_LOCAL_TARGETS += check
+endif
+ifneq ($(filter $(PRIMARY_GOAL),$(BOARD_DIRS)),)
+override ROUTE_LOCAL_TARGETS += flash
+endif
+
+.PHONY: $(PRIMARY_GOAL)
+
+$(PRIMARY_GOAL):
+	+@exec python3 scripts/make-argv.py route "$(PRIMARY_GOAL)" make \
+		$(ROUTE_DEFAULT_TARGET) $(ROUTE_LOCAL_TARGETS)
+
+# Additional command-line words are application arguments, not outer targets.
+.DEFAULT:
+	@:
+
+else
+
+.PHONY: help nix-shell build fmt test pre-commit check clean
+
+help: ## Show the command interface (the default)
+	@printf '%s\n' 'Kaptan developer commands' '' \
+		'Usage: make <directory> -- [arguments...]' \
+		'       make <directory> help' \
+		'' 'The -- is the standard end of Make options; application flags follow it.' \
+		'' 'Repository workflows' \
+		'  help                         Show this help' \
+		'  nix-shell                    Enter the Nix development shell' \
+		'  build                        Build all firmware and documentation' \
+		'  fmt                          Check Rust, shell, Python, Nix, and TOML formatting' \
+		'  test                         Run Rust, script, and SITL tests' \
+		'  pre-commit                   Run fmt, firmware clippy/test/docs, and mdBook checks' \
+		'  check                        Run pre-commit plus whitespace checks' \
+		'  clean                        Remove generated build artifacts' \
+		'' 'Directory targets' \
+		'  firmware <target>            fmt, clippy, test, docs, pre-commit, check, or clean' \
+		'  firmware -- <cargo args...>  Pass other arguments to cargo' \
+		'  firmware/boards -- <args...>' \
+		'                               Build and package every board; args go to cargo build' \
+		'  firmware/boards/<board> -- <args...>' \
+		'                               Build and package one board; args go to cargo build' \
+		'  firmware/boards/<board> flash -- <dfu-util args...>' \
+		'                               Build, package, and flash one board over DFU' \
+		'  docs                         Test and build the mdBook project' \
+		'  docs -- <mdbook args...>     Pass explicit arguments to mdbook' \
+		'  firmware/tools/configurator -- <args...>' \
+		'                               Pass args to kaptan-configurator' \
+		'  firmware/tools/sitl -- <args...>' \
+		'                               Pass args to kaptan-sim' \
+		'' 'Examples' \
+		'  make firmware -- test --workspace --locked --offline' \
+		'  make firmware clippy' \
+		'  make firmware docs' \
+		'  make firmware/boards/kakute-f7-mini-v3' \
+		'  make firmware/boards/kakute-f7-mini-v3 flash' \
+		'  make docs -- build' \
+		'  make firmware/tools/configurator -- --source-system 255 --serial /dev/ttyUSB0 --baud 115200' \
+		'  make firmware/tools/sitl -- move 5 3 1 --wait'
+
+nix-shell: ## Enter the reproducible Nix development shell
+	nix develop
+
+build: ## Build all firmware boards and documentation
+	+@$(MAKE) -C firmware/boards run
+	+@$(MAKE) -C $(DOCS_DIR) run -- build
+
+fmt:
+	+@$(MAKE) -C $(FIRMWARE_DIR) fmt
+	shfmt -d $$(rg --files -g '*.sh')
+	ruff format --check firmware/tools/sitl/kaptan-sim $$(rg --files -g '*.py')
+	nixfmt --check $$(rg --files -g '*.nix')
+	taplo format --check $$(rg --files -g '*.toml')
+
+test:
+	python3 -m unittest scripts/test-make-argv.py
+	+@$(MAKE) -C $(FIRMWARE_DIR) test
+	+@$(MAKE) -C $(SITL_DIR) _check
+
+pre-commit: fmt test
+	+@$(MAKE) -C $(FIRMWARE_DIR) clippy
+	+@$(MAKE) -C $(FIRMWARE_DIR) docs
+	+@$(MAKE) -C $(DOCS_DIR) check
+
+check: pre-commit ## Run pre-commit plus whitespace checks
+	git diff HEAD --check
+
+clean: ## Remove firmware and documentation build artifacts
+	+@$(MAKE) -C $(FIRMWARE_DIR) clean
+	+@$(MAKE) -C $(DOCS_DIR) run -- clean
+
+endif

docs/Makefile

@@ -1,12 +1,38 @@
-MDBOOK ?= mdbook
+override SHELL := /bin/sh
+override MAKEFLAGS += --no-print-directory
 
-.PHONY: build serve test
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
 
-build:
+override MDBOOK := mdbook
+
+override PRIMARY_GOAL := $(firstword $(MAKECMDGOALS))
+
+ifeq ($(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 check
+
+help:
+	@printf '%s\n' 'Usage: make docs -- <mdbook arguments...>' '' \
+		'With no arguments, mdbook test and mdbook build are run.' \
+		'Example: make docs -- build' '' \
+		'Project target:' \
+		'  check  Run mdbook test and mdbook build'
+
+endif
+
+check:
+	$(MDBOOK) test
 	$(MDBOOK) build
 
-serve:
+run:
-	$(MDBOOK) serve --open
+	@exec python3 ../scripts/make-argv.py exec run $(MDBOOK)
-
-test:
-	$(MDBOOK) test

docs/src/boards/geprc-f722-v2.md

@@ -17,13 +17,10 @@ the board's immutable typestate literal.
 
 ## Build and package
 
-From the firmware workspace:
+From the repository root:
 
 ```sh
-cd firmware
+make firmware/boards/geprc-f722-v2
-cargo build --release --locked -p kaptan-geprc-f722-v2 \
-  --target thumbv7em-none-eabihf
-./scripts/create-dfu-image.sh target/thumbv7em-none-eabihf/release/kaptan-geprc-f722-v2
 ```
 
 The packaging script validates the ELF against the shared F722 linker layout
@@ -40,9 +37,7 @@ listed `0483:df11` target before flashing:
 
 ```sh
 dfu-util --list
-dfu-util --device 0483:df11 --alt 0 \
+make firmware/boards/geprc-f722-v2 flash
-  --dfuse-address 0x08000000:leave \
-  --download target/thumbv7em-none-eabihf/release/kaptan-geprc-f722-v2.bin
 ```
 
 ## Telemetry wiring
@@ -58,8 +53,8 @@ Connect a 3.3 V USB-UART adapter with crossed data lines and common ground:
 Then run:
 
 ```sh
-cargo run --locked -p kaptan-configurator -- \
+make firmware/tools/configurator -- \
-  --source-system 255 --serial /dev/serial/by-id/<adapter> --baud 115200
+    --source-system 255 --serial /dev/serial/by-id/<adapter> --baud 115200
 ```
 
 Open `http://127.0.0.1:4861`, Save the discovered fields, and manually

docs/src/boards/kakute-f7-mini-v3.md

@@ -17,13 +17,10 @@ typestate literal.
 
 ## Build and package
 
-From the firmware workspace:
+From the repository root:
 
 ```sh
-cd firmware
+make firmware/boards/kakute-f7-mini-v3
-cargo build --release --locked -p kaptan-kakute-f7-mini-v3 \
-  --target thumbv7em-none-eabihf
-./scripts/create-dfu-image.sh target/thumbv7em-none-eabihf/release/kaptan-kakute-f7-mini-v3
 ```
 
 The packaging script uses the shared F722 linker layout and prints the flash
@@ -45,9 +42,7 @@ application offset.
 
 ```sh
 dfu-util --list
-dfu-util --device 0483:df11 --alt 0 \
+make firmware/boards/kakute-f7-mini-v3 flash
-  --dfuse-address 0x08000000:leave \
-  --download target/thumbv7em-none-eabihf/release/kaptan-kakute-f7-mini-v3.bin
 ```
 
 ## Telemetry wiring
@@ -63,8 +58,8 @@ Use a 3.3 V USB-to-UART adapter with crossed data lines and common ground:
 Launch the target-described web UI:
 
 ```sh
-cargo run --locked -p kaptan-configurator -- \
+make firmware/tools/configurator -- \
-  --source-system 255 --serial /dev/serial/by-id/<adapter> --baud 115200
+    --source-system 255 --serial /dev/serial/by-id/<adapter> --baud 115200
 ```
 
 Open `http://127.0.0.1:4861`, edit the discovered fields, press Save, and

docs/src/configuration.md

@@ -17,11 +17,11 @@ parameter catalog.
 ## Web configurator
 
 Build and flash the board image, connect its MAVLink UART directly to a 3.3 V
-USB-UART adapter, then run from `firmware`:
+USB-UART adapter, then run from the repository root:
 
 ```sh
-cargo run --locked -p kaptan-configurator -- \
+make firmware/tools/configurator -- \
-  --source-system 255 --serial /dev/serial/by-id/<adapter> --baud 115200
+    --source-system 255 --serial /dev/serial/by-id/<adapter> --baud 115200
 ```
 
 `--source-system` is the configurator's exact MAVLink source identity. Every

docs/src/development.md

@@ -1,27 +1,46 @@
 # Development and verification
 
+## Command layout
+
+Each component owns its Makefile: the Cargo workspace, all-board workflows,
+individual boards, tools, and documentation each define commands in their own
+directory. The root Makefile contains repository-wide workflows and routes a
+directory path to that directory's Makefile.
+
+The standard `--` ends Make's own options. Every following argument uses the
+selected application's native command line. For example,
+`make firmware -- test --workspace --locked --offline` runs `cargo test
+--workspace --locked --offline` from `firmware`, while
+`make firmware/tools/sitl -- ready` runs `kaptan-sim ready`. Board paths are
+the complete build-and-package command, so they need no invented operation
+name.
+
 ## Fast host checks
 
 ```sh
-cd firmware
+make firmware -- fmt --all --check
-cargo test --workspace --offline
+make firmware -- test --workspace --locked --offline
-cargo clippy --workspace --all-targets --offline --exclude kaptan-geprc-f722-v2 --exclude kaptan-kakute-f7-mini-v3 -- -D warnings
+make firmware -- clippy --workspace --all-targets \
-cargo clippy -p platform-stm32f7 --all-targets --offline -- -D warnings
+  --exclude kaptan-geprc-f722-v2 \
-cargo fmt --all --check
+  --exclude kaptan-kakute-f7-mini-v3 --locked --offline -- -D warnings
-git diff --check
 ```
 
 ## Target checks
 
 ```sh
-cd firmware
+make firmware/boards
-cargo clippy -p kaptan-geprc-f722-v2 -p kaptan-kakute-f7-mini-v3 \
+make firmware -- clippy \
-  --target thumbv7em-none-eabihf --offline -- -D warnings
-cargo build --release --locked \
   -p kaptan-geprc-f722-v2 -p kaptan-kakute-f7-mini-v3 \
-  --target thumbv7em-none-eabihf --offline
+  --target thumbv7em-none-eabihf --locked --offline -- -D warnings
 ```
 
+`make firmware docs` builds Rust API documentation with warnings denied.
+`make docs` checks and builds the separate mdBook project. `make pre-commit`
+runs both documentation checks along with repository formatting, host and
+embedded Clippy, Rust and script tests, and SITL structure tests. `make check`
+adds a whitespace check. `make build` builds and packages release firmware and
+builds the mdBook project.
+
 ## Strict core coverage
 
 ```sh
@@ -38,10 +57,10 @@ the gate.
 ## Simulation acceptance
 
 ```sh
-cd firmware
+cd firmware/tools/sitl
-python3 tools/sitl/world-structure-test.py
+python3 world-structure-test.py
-python3 -m unittest tools/sitl/test_kaptan_sim.py
+python3 -m unittest test_kaptan_sim.py
-tools/sitl/e2e-smoke.sh
+./e2e-smoke.sh
 ```
 
 The Docker smoke is intentionally separate from host unit tests because it

docs/src/errors.md

@@ -2,7 +2,7 @@
 
 Public reportable Kaptan error enums derive `KaptanError`:
 
-```rust
+```rust,ignore
 #[derive(Debug, kaptan_err_reportable::KaptanError)]
 enum SensorError {
     #[kaptan_error(id = 12345)]

docs/src/getting-started.md

@@ -11,12 +11,16 @@ The repository development shell also supplies `dfu-util` and the checked
 nix develop
 ```
 
-For host development, run:
+From the repository root, discover the developer commands with:
 
 ```sh
-cd firmware
+make help
-cargo test --workspace --offline
+```
-cargo clippy --workspace --all-targets --offline --exclude kaptan-geprc-f722-v2 --exclude kaptan-kakute-f7-mini-v3 -- -D warnings
+
+Run the repository checks with:
+
+```sh
+make pre-commit
 ```
 
 Bare-metal board packages are not host-test targets. Check them with the
@@ -42,7 +46,7 @@ The manual is an [mdBook](https://rust-lang.github.io/mdBook/) project. The
 repository's Nix development shell provides the checked tool version:
 
 ```sh
-nix develop -c make -C docs build
+nix develop -c make docs -- build
 ```
 
 The generated static site is written to `target/docs/`.

docs/src/logs.md

@@ -2,7 +2,7 @@
 
 Kaptan code uses the familiar logging macros on both host and flight targets:
 
-```rust
+```rust,ignore
 kaptan_log::debug!("estimator waiting for IMU");
 kaptan_log::info!("configuration loaded");
 kaptan_log::warn!("range aid stale");

docs/src/reference.md

@@ -21,24 +21,8 @@ and file contracts, [Logs](logs.md) for receiver decoding and filtering, and
 Before review, run:
 
 ```sh
-cd firmware
+make pre-commit
-cargo fmt --all --check
+make build
-cargo test --workspace --locked --offline
-cargo clippy --workspace --all-targets \
-  --exclude kaptan-kakute-f7-mini-v3 \
-  --exclude kaptan-geprc-f722-v2 --locked --offline -- -D warnings
-cargo clippy -p kaptan-kakute-f7-mini-v3 -p kaptan-geprc-f722-v2 \
-  --target thumbv7em-none-eabihf --locked --offline -- -D warnings
-cargo build --release --locked --offline \
-  -p kaptan-kakute-f7-mini-v3 -p kaptan-geprc-f722-v2 \
-  --target thumbv7em-none-eabihf
-python3 -m unittest scripts/test-analyze-fw.py
-scripts/analyze-fw.py \
-  target/thumbv7em-none-eabihf/release/kaptan-kakute-f7-mini-v3 \
-  platforms/stm32f7/link/f722/memory.x
-scripts/analyze-fw.py \
-  target/thumbv7em-none-eabihf/release/kaptan-geprc-f722-v2 \
-  platforms/stm32f7/link/f722/memory.x
 ```
 
 The target-specific lint verifies the local configuration receiver and journal

docs/src/safety-boundary.md

@@ -26,8 +26,8 @@ authority.
 Run the structural guard after any platform or board change:
 
 ```sh
-cd firmware
+make firmware -- test -p platform-stm32f7 \
-cargo test -p platform-stm32f7 --test platform_safety_boundary --offline
+  --test platform_safety_boundary --locked --offline
 ```
 
 This boundary is deliberately stronger than an application-level disarm flag:

docs/src/sitl.md

@@ -11,19 +11,17 @@ It is a pre-bench software gate, not a physical-flight validation.
 ## Run the closed loop
 
 ```sh
-cd firmware
+docker compose -f firmware/tools/sitl/compose.yaml up -d --build
-docker compose -f tools/sitl/compose.yaml up -d --build
+make firmware/tools/sitl -- ready
-tools/sitl/kaptan-sim ready
+make firmware/tools/sitl -- move 5 3 1 --wait
-tools/sitl/kaptan-sim move 5 3 1 --wait
+make firmware/tools/sitl -- land 0 0 --wait
-tools/sitl/kaptan-sim land 0 0 --wait
+docker compose -f firmware/tools/sitl/compose.yaml down
-docker compose -f tools/sitl/compose.yaml down
 ```
 
 For the reproducible command-path gate, use:
 
 ```sh
-cd firmware
+firmware/tools/sitl/e2e-smoke.sh
-tools/sitl/e2e-smoke.sh
 ```
 
 The smoke scenario verifies ascent, translation, descent, landing, flat-plane

firmware/Cargo.toml

@@ -1,33 +1,33 @@
 [workspace]
 members = [
-    "boards/geprc-f722-v2",
+  "boards/geprc-f722-v2",
-    "boards/kakute-f7-mini-v3",
+  "boards/kakute-f7-mini-v3",
-    "libs/kaptan-actuator",
+  "libs/kaptan-actuator",
-    "libs/kaptan-control",
+  "libs/kaptan-control",
-    "libs/kaptan-config",
+  "libs/kaptan-config",
-    "libs/kaptan-config-derive",
+  "libs/kaptan-config-derive",
-    "libs/kaptan-file-mavlink",
+  "libs/kaptan-file-mavlink",
-    "libs/kaptan-data-channel",
+  "libs/kaptan-data-channel",
-    "libs/kaptan-dma",
+  "libs/kaptan-dma",
-    "libs/kaptan-drivers",
+  "libs/kaptan-drivers",
-    "libs/kaptan-err-reportable",
+  "libs/kaptan-err-reportable",
-    "libs/kaptan-err-reportable-macros",
+  "libs/kaptan-err-reportable-macros",
-    "libs/kaptan-flight-config",
+  "libs/kaptan-flight-config",
-    "libs/kaptan-flight-runtime",
+  "libs/kaptan-flight-runtime",
-    "libs/kaptan-i2c",
+  "libs/kaptan-i2c",
-    "libs/kaptan-math",
+  "libs/kaptan-math",
-    "libs/kaptan-mavlink",
+  "libs/kaptan-mavlink",
-    "libs/kaptan-log",
+  "libs/kaptan-log",
-    "libs/kaptan-diagnostics-mavlink",
+  "libs/kaptan-diagnostics-mavlink",
-    "libs/kaptan-navigation",
+  "libs/kaptan-navigation",
-    "libs/kaptan-safety",
+  "libs/kaptan-safety",
-    "libs/kaptan-sensor",
+  "libs/kaptan-sensor",
-    "libs/kaptan-spi",
+  "libs/kaptan-spi",
-    "libs/kaptan-time",
+  "libs/kaptan-time",
-    "libs/kaptan-tx",
+  "libs/kaptan-tx",
-    "platforms/stm32f7",
+  "platforms/stm32f7",
-    "tools/sitl",
+  "tools/sitl",
-    "tools/configurator",
+  "tools/configurator",
 ]
 resolver = "2"
 

firmware/Makefile

@@ -0,0 +1,73 @@
+override SHELL := /bin/sh
+override MAKEFLAGS += --no-print-directory
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override CARGO := cargo
+override PYTHON := python3
+override CARGO_FLAGS := --locked --offline
+
+override BOARDS := geprc-f722-v2 kakute-f7-mini-v3
+override BOARD_PACKAGES := $(addprefix kaptan-,$(BOARDS))
+override BOARD_PACKAGE_ARGS := $(addprefix -p ,$(BOARD_PACKAGES))
+override HOST_EXCLUDES := $(addprefix --exclude ,$(BOARD_PACKAGES))
+
+override PRIMARY_GOAL := $(firstword $(MAKECMDGOALS))
+
+run:
+	@exec python3 ../scripts/make-argv.py exec run $(CARGO)
+
+ifeq ($(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 fmt clippy test docs pre-commit check clean
+
+help:
+	@printf '%s\n' 'Usage: make firmware -- <cargo arguments...>' '' \
+		'Example: make firmware -- test --workspace --locked --offline' '' \
+		'Workspace targets:' \
+		'  fmt     Check Rust formatting' \
+		'  clippy  Run host and embedded Clippy checks' \
+		'  test    Run Rust and firmware script tests' \
+		'  docs    Build Rust API documentation with warnings denied' \
+		'  pre-commit  Run fmt, clippy, test, and docs' \
+		'  check   Alias for pre-commit' \
+		'  clean   Remove Cargo build artifacts'
+
+fmt:
+	$(CARGO) fmt --all --check
+
+clippy:
+	$(CARGO) clippy --workspace --all-targets $(HOST_EXCLUDES) \
+		$(CARGO_FLAGS) -- -D warnings
+	$(CARGO) clippy -p platform-stm32f7 --all-targets \
+		$(CARGO_FLAGS) -- -D warnings
+	$(CARGO) clippy $(BOARD_PACKAGE_ARGS) --target thumbv7em-none-eabihf \
+		$(CARGO_FLAGS) -- -D warnings
+
+test:
+	$(CARGO) test --workspace $(CARGO_FLAGS)
+	$(PYTHON) -m unittest \
+		scripts/test-analyze-fw.py scripts/test-summarize-test-coverage.py
+
+docs:
+	RUSTDOCFLAGS='-D warnings' $(CARGO) doc --workspace --no-deps \
+		$(HOST_EXCLUDES) $(CARGO_FLAGS)
+
+pre-commit: fmt clippy test docs
+
+check: pre-commit
+
+clean:
+	$(CARGO) clean
+
+endif

firmware/README.md

@@ -14,9 +14,15 @@ firmware/
 └── tests/      firmware integration-test fixtures
 ```
 
-Run Cargo commands from this directory:
+This workspace owns its Makefile. From this directory, list its commands with:
 
 ```sh
-cd firmware
+make help
-cargo test --workspace --locked --offline
 ```
+
+From the repository root, the firmware path is a direct Cargo proxy. For
+example, `make firmware -- test --workspace --locked --offline` runs the host
+test suite. Build and package every supported board with
+`make firmware/boards`, or select one board by its directory path.
+Run `make firmware clippy` for Rust lints and `make firmware docs` for API
+documentation with warnings denied.

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

firmware/libs/kaptan-data-channel/Cargo.toml

@@ -11,7 +11,9 @@ workspace = true
 [dependencies]
 kaptan-err-reportable = { path = "../kaptan-err-reportable" }
 kaptan-dma = { path = "../kaptan-dma" }
-kaptan-mavlink = { path = "../kaptan-mavlink", default-features = false, features = ["sensor-telemetry"] }
+kaptan-mavlink = { path = "../kaptan-mavlink", default-features = false, features = [
+  "sensor-telemetry",
+] }
 kaptan-sensor = { path = "../kaptan-sensor" }
 kaptan-time = { path = "../kaptan-time" }
 mavlink-core = { version = "0.18", default-features = false }

firmware/libs/kaptan-mavlink/Cargo.toml

@@ -17,7 +17,9 @@ kaptan-err-reportable = { path = "../kaptan-err-reportable" }
 kaptan-dma = { path = "../kaptan-dma" }
 kaptan-sensor = { path = "../kaptan-sensor", optional = true }
 kaptan-tx = { path = "../kaptan-tx" }
-mavlink-core = { version = "0.18", default-features = false, features = ["embedded"] }
+mavlink-core = { version = "0.18", default-features = false, features = [
+  "embedded",
+] }
 bitflags = "2"
 num-derive = "0.4"
 num-traits = { version = "0.2", default-features = false }

firmware/platforms/stm32f7/Cargo.toml

@@ -30,6 +30,11 @@ kaptan-spi = { path = "../../libs/kaptan-spi" }
 kaptan-time = { path = "../../libs/kaptan-time" }
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
-rtic = { version = "2.3", default-features = false, features = ["thumbv7-backend"] }
+rtic = { version = "2.3", default-features = false, features = [
-stm32f7 = { version = "0.16", default-features = false, features = ["rt", "stm32f722"] }
+  "thumbv7-backend",
+] }
+stm32f7 = { version = "0.16", default-features = false, features = [
+  "rt",
+  "stm32f722",
+] }
 panic-halt = "1"

firmware/rust-toolchain.toml

@@ -1,8 +1,14 @@
 [toolchain]
 channel = "1.90.0"
-components = ["cargo", "clippy", "rustfmt", "rust-analyzer", "llvm-tools-preview"]
+components = [
+  "cargo",
+  "clippy",
+  "rustfmt",
+  "rust-analyzer",
+  "llvm-tools-preview",
+]
 targets = [
-    "thumbv7em-none-eabihf",
+  "thumbv7em-none-eabihf",
-    "thumbv7em-none-eabi",
+  "thumbv7em-none-eabi",
-    "x86_64-unknown-linux-gnu",
+  "x86_64-unknown-linux-gnu",
 ]

firmware/scripts/analyze-fw.py

@@ -166,18 +166,22 @@ def validation_errors(layout, section_list, load_segments):
             )
 
     for index, segment in enumerate(load_segments):
-        if segment.memory_size and region_for_span(
+        if (
-            segment.virtual_address, segment.memory_size, layout
+            segment.memory_size
-        ) is None:
+            and region_for_span(segment.virtual_address, segment.memory_size, layout)
+            is None
+        ):
             errors.append(
                 f"PT_LOAD[{index}] virtual span "
                 f"0x{segment.virtual_address:08X}.."
                 f"0x{segment.virtual_address + segment.memory_size:08X} "
                 "is outside declared memory"
             )
-        if segment.file_size and region_for_span(
+        if (
-            segment.physical_address, segment.file_size, layout
+            segment.file_size
-        ) is None:
+            and region_for_span(segment.physical_address, segment.file_size, layout)
+            is None
+        ):
             errors.append(
                 f"PT_LOAD[{index}] physical span "
                 f"0x{segment.physical_address:08X}.."
@@ -200,9 +204,7 @@ def flash_operation_section_errors(layout, section_list):
     return []
 
 
-INSTRUCTION = re.compile(
+INSTRUCTION = re.compile(r"^\s*([0-9A-Fa-f]+):\s+([A-Za-z][A-Za-z0-9.]*)\s*(.*?)\s*$")
-    r"^\s*([0-9A-Fa-f]+):\s+([A-Za-z][A-Za-z0-9.]*)\s*(.*?)\s*$"
-)
 DIRECT_BRANCH = re.compile(
     r"^(?:b(?:eq|ne|cs|hs|cc|lo|mi|pl|vs|vc|hi|ls|ge|lt|gt|le)?"
     r"(?:\.[nw])?|blx?|bx|cbz|cbnz)$"
@@ -321,7 +323,9 @@ def main():
 
     errors = flash_operation_section_errors(layout, section_list)
     if errors:
-        raise ValueError("Flash-operation placement validation failed:\n  " + "\n  ".join(errors))
+        raise ValueError(
+            "Flash-operation placement validation failed:\n  " + "\n  ".join(errors)
+        )
     data = next(section for section in section_list if section.name == ".data")
     objdump = llvm_tool("llvm-objdump")
     errors = sram_control_flow_errors(
@@ -337,7 +341,9 @@ def main():
         ),
     )
     if errors:
-        raise ValueError("Flash-operation control-flow validation failed:\n  " + "\n  ".join(errors))
+        raise ValueError(
+            "Flash-operation control-flow validation failed:\n  " + "\n  ".join(errors)
+        )
 
 
 if __name__ == "__main__":

firmware/scripts/create-dfu-image.sh

@@ -2,8 +2,8 @@
 set -euo pipefail
 
 if [[ $# -lt 1 || $# -gt 2 ]]; then
-    printf 'Usage: %s <firmware.elf> [memory.x]\n' "$0" >&2
+	printf 'Usage: %s <firmware.elf> [memory.x]\n' "$0" >&2
-    exit 2
+	exit 2
 fi
 
 readonly input_elf="$1"
@@ -15,18 +15,18 @@ readonly host="$(rustc -vV | sed -n 's/^host: //p')"
 readonly llvm_objcopy="$(rustc --print sysroot)/lib/rustlib/$host/bin/llvm-objcopy"
 
 if [[ ! -f "$input_elf" ]]; then
-    printf 'firmware ELF does not exist: %s\n' "$input_elf" >&2
+	printf 'firmware ELF does not exist: %s\n' "$input_elf" >&2
-    exit 1
+	exit 1
 fi
 
 if [[ ! -f "$memory_x" ]]; then
-    printf 'cannot find linker layout: %s\n' "$memory_x" >&2
+	printf 'cannot find linker layout: %s\n' "$memory_x" >&2
-    exit 1
+	exit 1
 fi
 
 if [[ ! -x "$llvm_objcopy" ]]; then
-    printf 'llvm-objcopy is unavailable; install it with: rustup component add llvm-tools-preview\n' >&2
+	printf 'llvm-objcopy is unavailable; install it with: rustup component add llvm-tools-preview\n' >&2
-    exit 1
+	exit 1
 fi
 
 "$script_directory/analyze-fw.py" "$input_elf" "$memory_x"

firmware/scripts/report-test-coverage.sh

@@ -14,18 +14,18 @@
 set -eu
 
 if ! cargo llvm-cov --version >/dev/null 2>&1; then
-    echo "cargo-llvm-cov is required; install it with: cargo install cargo-llvm-cov --locked" >&2
+	echo "cargo-llvm-cov is required; install it with: cargo install cargo-llvm-cov --locked" >&2
-    exit 127
+	exit 127
 fi
 
 if ! rustup toolchain list | grep -q '^nightly'; then
-    echo "nightly with llvm-tools-preview is required for branch coverage" >&2
+	echo "nightly with llvm-tools-preview is required for branch coverage" >&2
-    exit 127
+	exit 127
 fi
 
 if ! python3 --version >/dev/null 2>&1; then
-    echo "python3 is required for strict source-level coverage accounting" >&2
+	echo "python3 is required for strict source-level coverage accounting" >&2
-    exit 127
+	exit 127
 fi
 
 python3 scripts/test-summarize-test-coverage.py
@@ -46,50 +46,50 @@ coverage_root=$CARGO_TARGET_DIR
 core_incomplete=0
 
 report_package() {
-    package=$1
+	package=$1
-    source_path=$2
+	source_path=$2
-    shift 2
+	shift 2
-    case "$package" in
+	case "$package" in
-        kaptan-math|kaptan-navigation|kaptan-control|kaptan-safety)
+	kaptan-math | kaptan-navigation | kaptan-control | kaptan-safety)
-            package_target_dir="$coverage_root/$package"
+		package_target_dir="$coverage_root/$package"
-            lcov_report="$coverage_root/$package.lcov"
+		lcov_report="$coverage_root/$package.lcov"
-            json_report="$coverage_root/$package.json"
+		json_report="$coverage_root/$package.json"
-            report_format=strict-core
+		report_format=strict-core
-            ;;
+		;;
-        *)
+	*)
-            package_target_dir=$coverage_root
+		package_target_dir=$coverage_root
-            lcov_report="$coverage_root/$package.lcov"
+		lcov_report="$coverage_root/$package.lcov"
-            report_format=lcov
+		report_format=lcov
-            ;;
+		;;
-    esac
+	esac
 
-    case "$report_format" in
+	case "$report_format" in
-        strict-core)
+	strict-core)
-            # Keep the strict core isolated, then export both representations
+		# Keep the strict core isolated, then export both representations
-            # from the same test run. LCOV `DA` defines source lines; JSON
+		# from the same test run. LCOV `DA` defines source lines; JSON
-            # coordinates define branch identities across generic instances.
+		# coordinates define branch identities across generic instances.
-            RUSTC_BOOTSTRAP=1 CARGO_TARGET_DIR="$package_target_dir" cargo llvm-cov \
+		RUSTC_BOOTSTRAP=1 CARGO_TARGET_DIR="$package_target_dir" cargo llvm-cov \
-                --branch \
+			--branch \
-                --no-report \
+			--no-report \
-                -p "$package" \
+			-p "$package" \
-                "$@"
+			"$@"
-            RUSTC_BOOTSTRAP=1 CARGO_TARGET_DIR="$package_target_dir" cargo llvm-cov report \
+		RUSTC_BOOTSTRAP=1 CARGO_TARGET_DIR="$package_target_dir" cargo llvm-cov report \
-                --lcov \
+			--lcov \
-                --output-path "$lcov_report"
+			--output-path "$lcov_report"
-            RUSTC_BOOTSTRAP=1 CARGO_TARGET_DIR="$package_target_dir" cargo llvm-cov report \
+		RUSTC_BOOTSTRAP=1 CARGO_TARGET_DIR="$package_target_dir" cargo llvm-cov report \
-                --json \
+			--json \
-                --output-path "$json_report"
+			--output-path "$json_report"
-            totals=$(python3 scripts/summarize-test-coverage.py \
+		totals=$(python3 scripts/summarize-test-coverage.py \
-                "$lcov_report" "$json_report" "$source_path")
+			"$lcov_report" "$json_report" "$source_path")
-            ;;
+		;;
-        lcov)
+	lcov)
-            RUSTC_BOOTSTRAP=1 CARGO_TARGET_DIR="$package_target_dir" cargo llvm-cov \
+		RUSTC_BOOTSTRAP=1 CARGO_TARGET_DIR="$package_target_dir" cargo llvm-cov \
-                --branch \
+			--branch \
-                --lcov \
+			--lcov \
-                --output-path "$lcov_report" \
+			--output-path "$lcov_report" \
-                -p "$package" \
+			-p "$package" \
-                "$@"
+			"$@"
-            totals=$(awk -v source_path="$source_path" '
+		totals=$(awk -v source_path="$source_path" '
                 /^SF:/ { selected = index($0, source_path) != 0 }
                 selected && /^LF:/ { lines_found += substr($0, 4) }
                 selected && /^LH:/ { lines_hit += substr($0, 4) }
@@ -99,18 +99,18 @@ report_package() {
                     printf "%d %d %d %d", lines_hit, lines_found, branches_hit, branches_found
                 }
             ' "$lcov_report")
-            ;;
+		;;
-    esac
+	esac
-    set -- $totals
+	set -- $totals
-    printf '%-26s lines %s/%s, branches %s/%s\n' "$package" "$1" "$2" "$3" "$4"
+	printf '%-26s lines %s/%s, branches %s/%s\n' "$package" "$1" "$2" "$3" "$4"
 
-    case "$package" in
+	case "$package" in
-        kaptan-math|kaptan-navigation|kaptan-control|kaptan-safety)
+	kaptan-math | kaptan-navigation | kaptan-control | kaptan-safety)
-            if [ "$1" -ne "$2" ] || [ "$3" -ne "$4" ]; then
+		if [ "$1" -ne "$2" ] || [ "$3" -ne "$4" ]; then
-                core_incomplete=1
+			core_incomplete=1
-            fi
+		fi
-            ;;
+		;;
-    esac
+	esac
 }
 
 echo "Host test coverage (reports: $CARGO_TARGET_DIR; strict core unions LCOV DA lines and JSON branches)"
@@ -135,6 +135,6 @@ echo "kaptan-geprc-f722-v2      target-only/N/A (run its thumbv7em-none-eabihf c
 echo "kaptan-kakute-f7-mini-v3  target-only/N/A (run its thumbv7em-none-eabihf check)"
 
 if [ "$core_incomplete" -ne 0 ]; then
-    echo "Strict core coverage is incomplete; reports above identify each crate." >&2
+	echo "Strict core coverage is incomplete; reports above identify each crate." >&2
-    exit 1
+	exit 1
 fi

firmware/scripts/summarize-test-coverage.py

@@ -34,7 +34,9 @@ class CoverageFormatError(ValueError):
     """Coverage records cannot be safely summarized by source location."""
 
 
-def selected_files(report: dict[object, object], source_path: str) -> Iterable[dict[object, object]]:
+def selected_files(
+    report: dict[object, object], source_path: str
+) -> Iterable[dict[object, object]]:
     """Yield selected file records after rejecting ambiguous macro expansion."""
     exports = report.get("data")
     if not isinstance(exports, list):
@@ -78,7 +80,11 @@ def lcov_line_totals(report: str, source_path: str) -> tuple[int, int, set[str]]
         if record == "end_of_record":
             filename = None
             continue
-        if filename is None or source_path not in filename or not record.startswith("DA:"):
+        if (
+            filename is None
+            or source_path not in filename
+            or not record.startswith("DA:")
+        ):
             continue
         fields = record[3:].split(",", 2)
         if len(fields) < 2:
@@ -87,7 +93,9 @@ def lcov_line_totals(report: str, source_path: str) -> tuple[int, int, set[str]]
             line = int(fields[0])
             count = int(fields[1])
         except ValueError as error:
-            raise CoverageFormatError(f"{filename}: non-integer LCOV DA record") from error
+            raise CoverageFormatError(
+                f"{filename}: non-integer LCOV DA record"
+            ) from error
         if line <= 0 or count < 0:
             raise CoverageFormatError(f"{filename}: invalid LCOV DA location or count")
         key = (filename, line)
@@ -100,7 +108,9 @@ def lcov_line_totals(report: str, source_path: str) -> tuple[int, int, set[str]]
     return sum(lines.values()), len(lines), files
 
 
-def branch_totals(report: dict[object, object], source_path: str) -> tuple[int, int, set[str]]:
+def branch_totals(
+    report: dict[object, object], source_path: str
+) -> tuple[int, int, set[str]]:
     """Return the union of selected JSON branch outcomes and source files."""
     branches: dict[tuple[str, int, int, int, int], list[bool]] = {}
     files: set[str] = set()
@@ -142,7 +152,9 @@ def branch_totals(report: dict[object, object], source_path: str) -> tuple[int,
                 or file_id < 0
                 or expanded_file_id < 0
             ):
-                raise CoverageFormatError(f"{filename}: invalid branch location or count")
+                raise CoverageFormatError(
+                    f"{filename}: invalid branch location or count"
+                )
             if file_id != expanded_file_id:
                 raise CoverageFormatError(
                     f"{filename}:{start_line}:{start_column}: macro-expanded branch is present; "
@@ -175,9 +187,15 @@ def coverage_totals(
 
 def main() -> int:
     parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument("lcov_report", type=Path, help="LCOV report from cargo llvm-cov")
+    parser.add_argument(
-    parser.add_argument("json_report", type=Path, help="LLVM JSON report from cargo llvm-cov")
+        "lcov_report", type=Path, help="LCOV report from cargo llvm-cov"
-    parser.add_argument("source_path", help="workspace-relative path fragment to include")
+    )
+    parser.add_argument(
+        "json_report", type=Path, help="LLVM JSON report from cargo llvm-cov"
+    )
+    parser.add_argument(
+        "source_path", help="workspace-relative path fragment to include"
+    )
     arguments = parser.parse_args()
 
     try:

firmware/scripts/test-analyze-fw.py

@@ -122,9 +122,7 @@ class FirmwareMemoryValidationTests(unittest.TestCase):
         self.assertEqual(
             ANALYZER.region_usage("FLASH", LAYOUT, sections, segments), 0x50
         )
-        self.assertEqual(
+        self.assertEqual(ANALYZER.region_usage("RAM", LAYOUT, sections, segments), 0x10)
-            ANALYZER.region_usage("RAM", LAYOUT, sections, segments), 0x10
-        )
 
     def test_rejects_loadable_virtual_and_physical_spans_outside_memory(self):
         segments = [
@@ -138,9 +136,7 @@ class FirmwareMemoryValidationTests(unittest.TestCase):
 
     def test_requires_one_executable_data_section_in_ram(self):
         valid = [ANALYZER.Section(".data", 0x20, 0x20000000, True, True)]
-        non_executable = [
+        non_executable = [ANALYZER.Section(".data", 0x20, 0x20000000, True, False)]
-            ANALYZER.Section(".data", 0x20, 0x20000000, True, False)
-        ]
         in_flash = [ANALYZER.Section(".data", 0x20, 0x08000000, True, True)]
 
         self.assertEqual(ANALYZER.flash_operation_section_errors(LAYOUT, valid), [])

firmware/tools/configurator/Makefile

@@ -0,0 +1,32 @@
+override SHELL := /bin/sh
+override MAKEFLAGS += --no-print-directory
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override CARGO := cargo
+override CARGO_FLAGS := --locked --offline
+
+override PRIMARY_GOAL := $(firstword $(MAKECMDGOALS))
+
+ifeq ($(PRIMARY_GOAL),run)
+
+.PHONY: run
+
+.DEFAULT:
+	@:
+
+else
+
+.PHONY: help run
+
+help: ## Show configurator commands
+	@printf '%s\n' 'Configurator' '' \
+		'The root Makefile passes every argument after -- to the application:' \
+		'  make firmware/tools/configurator -- --source-system 255 --serial /dev/ttyUSB0 --baud 115200'
+
+endif
+
+run: ## Run the configurator with the remaining command-line arguments
+	@exec python3 ../../../scripts/make-argv.py exec run \
+		$(CARGO) run $(CARGO_FLAGS) -p kaptan-configurator --

firmware/tools/sitl/Cargo.toml

@@ -16,7 +16,9 @@ kaptan-flight-config = { path = "../../libs/kaptan-flight-config" }
 kaptan-flight-runtime = { path = "../../libs/kaptan-flight-runtime" }
 kaptan-log = { path = "../../libs/kaptan-log" }
 kaptan-math = { path = "../../libs/kaptan-math" }
-kaptan-navigation = { path = "../../libs/kaptan-navigation", features = ["sitl"] }
+kaptan-navigation = { path = "../../libs/kaptan-navigation", features = [
+  "sitl",
+] }
 kaptan-safety = { path = "../../libs/kaptan-safety" }
 kaptan-time = { path = "../../libs/kaptan-time" }
 minicbor = "0.25"

firmware/tools/sitl/Makefile

@@ -0,0 +1,34 @@
+override SHELL := /bin/sh
+override MAKEFLAGS += --no-print-directory
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override PYTHON := python3
+
+override PRIMARY_GOAL := $(firstword $(MAKECMDGOALS))
+
+run: ## Run kaptan-sim with the remaining command-line arguments
+	@exec python3 ../../../scripts/make-argv.py exec run ./kaptan-sim
+
+ifeq ($(PRIMARY_GOAL),run)
+
+.PHONY: run
+
+.DEFAULT:
+	@:
+
+else
+
+.PHONY: help run _check
+
+help: ## Show simulation commands
+	@printf '%s\n' 'Simulation' '' \
+		'Application arguments are passed through the root Makefile:' \
+		'  make firmware/tools/sitl -- move 5 3 1 --wait'
+
+_check:
+	$(PYTHON) world-structure-test.py
+	$(PYTHON) -m unittest test_kaptan_sim.py
+
+endif

firmware/tools/sitl/e2e-smoke.sh

@@ -12,18 +12,18 @@ compose_file="$project_root/tools/sitl/compose.yaml"
 python3 "$project_root/tools/sitl/world-structure-test.py"
 
 cleanup() {
-    status=$?
+	status=$?
-    trap - EXIT
+	trap - EXIT
-    # Preserve the first failing command's result, but retain enough evidence
+	# Preserve the first failing command's result, but retain enough evidence
-    # to distinguish a client/lease failure from a Gazebo or container start
+	# to distinguish a client/lease failure from a Gazebo or container start
-    # failure in CI. `down` otherwise removes the only useful diagnostics.
+	# failure in CI. `down` otherwise removes the only useful diagnostics.
-    if [ "$status" -ne 0 ]; then
+	if [ "$status" -ne 0 ]; then
-        echo "SITL smoke failed (exit $status); compose state and recent logs follow:" >&2
+		echo "SITL smoke failed (exit $status); compose state and recent logs follow:" >&2
-        docker compose -f "$compose_file" ps >&2 || true
+		docker compose -f "$compose_file" ps >&2 || true
-        docker compose -f "$compose_file" logs --no-color --tail 250 >&2 || true
+		docker compose -f "$compose_file" logs --no-color --tail 250 >&2 || true
-    fi
+	fi
-    docker compose -f "$compose_file" down --remove-orphans || true
+	docker compose -f "$compose_file" down --remove-orphans || true
-    exit "$status"
+	exit "$status"
 }
 trap cleanup EXIT
 trap 'exit 130' INT

firmware/tools/sitl/kaptan-sim

@@ -50,9 +50,13 @@ GROUND_PLANE_TOLERANCE_METRES = 0.10
 def arguments() -> argparse.Namespace:
     parser = argparse.ArgumentParser(description=__doc__)
     subcommands = parser.add_subparsers(dest="command", required=True)
-    ready = subcommands.add_parser("ready", help="wait for estimator and simulated sensors")
+    ready = subcommands.add_parser(
+        "ready", help="wait for estimator and simulated sensors"
+    )
     ready.add_argument("--timeout", type=float, default=20.0)
-    move = subcommands.add_parser("move", help="command absolute local north/east/up metres")
+    move = subcommands.add_parser(
+        "move", help="command absolute local north/east/up metres"
+    )
     move.add_argument("north", type=float)
     move.add_argument("east", type=float)
     move.add_argument("up", type=float)
@@ -78,9 +82,15 @@ def arguments() -> argparse.Namespace:
         "land",
         help="descend to an explicit local landing point and revoke virtual motor authority",
     )
-    land.add_argument("north", type=float, help="absolute local north landing coordinate in metres")
+    land.add_argument(
-    land.add_argument("east", type=float, help="absolute local east landing coordinate in metres")
+        "north", type=float, help="absolute local north landing coordinate in metres"
-    land.add_argument("--wait", action="store_true", help="wait for the terminal landed result")
+    )
+    land.add_argument(
+        "east", type=float, help="absolute local east landing coordinate in metres"
+    )
+    land.add_argument(
+        "--wait", action="store_true", help="wait for the terminal landed result"
+    )
     land.add_argument(
         "--verify-truth",
         action="store_true",
@@ -122,7 +132,9 @@ def latest_simulation_time(
         if magic != b"KSC1" or version != VERSION:
             continue
         if latest is not None and simulation_time < latest:
-            raise RuntimeError("Gazebo simulation clock reset; restart the command in the new epoch")
+            raise RuntimeError(
+                "Gazebo simulation clock reset; restart the command in the new epoch"
+            )
         latest = simulation_time
 
 
@@ -145,7 +157,10 @@ def wait_ready(socket_: socket.socket, timeout: float) -> None:
         if latest is not None and latest & READY == READY:
             return
     if latest is None:
-        raise RuntimeError("host SITL is not running; run docker compose -f tools/sitl/compose.yaml up -d --build")
+        raise RuntimeError(
+            "host SITL is not running; run docker compose -f "
+            "firmware/tools/sitl/compose.yaml up -d --build from the repository root"
+        )
     names = (
         (ESTIMATOR_READY, "estimator initialization"),
         (IMU_FRESH, "fresh simulator IMU"),
@@ -174,10 +189,7 @@ def truth_sample_within_tolerance(
         or velocity > velocity_tolerance
         or attitude_error > attitude_tolerance
         or (require_stopped_motors and not motors_stopped)
-        or (
+        or (require_ground_plane and ground_plane_error > GROUND_PLANE_TOLERANCE_METRES)
-            require_ground_plane
-            and ground_plane_error > GROUND_PLANE_TOLERANCE_METRES
-        )
     )
 
 
@@ -217,11 +229,16 @@ def verify_truth(
                 keepalive is not None
                 and control_socket is not None
                 and simulation_time is not None
-                and (next_keepalive_time is None or simulation_time >= next_keepalive_time)
+                and (
+                    next_keepalive_time is None
+                    or simulation_time >= next_keepalive_time
+                )
             ):
                 control_socket.sendto(keepalive, CONTROL)
                 next_keepalive_time = simulation_time + GOAL_KEEPALIVE_MICROSECONDS
-            payload = recv(truth_socket, min(acquisition_deadline, time.monotonic() + 0.01))
+            payload = recv(
+                truth_socket, min(acquisition_deadline, time.monotonic() + 0.01)
+            )
             if payload is None or len(payload) != TRUTH_PACKET.size:
                 continue
             (
@@ -261,8 +278,12 @@ def verify_truth(
                 attitude_w**2 + attitude_x**2 + attitude_y**2 + attitude_z**2
             )
             if not math.isfinite(quaternion_norm) or abs(quaternion_norm - 1.0) > 1e-3:
-                raise RuntimeError("Gazebo truth contained a non-unit attitude quaternion")
+                raise RuntimeError(
-            attitude_error = 2.0 * math.acos(min(1.0, abs(attitude_w) / quaternion_norm))
+                    "Gazebo truth contained a non-unit attitude quaternion"
+                )
+            attitude_error = 2.0 * math.acos(
+                min(1.0, abs(attitude_w) / quaternion_norm)
+            )
             motors = (motor_1, motor_2, motor_3, motor_4)
             maximum_motor_fraction = max(abs(motor) for motor in motors)
             motors_stopped = all(abs(motor) <= 0.01 for motor in motors)
@@ -449,7 +470,9 @@ def command_goal(
         if magic != b"KSL1" or version != VERSION or received_id != goal_id:
             continue
         if lifecycle == GOAL_REJECTED:
-            raise RuntimeError(f"{action} was rejected because SITL was not estimator-ready")
+            raise RuntimeError(
+                f"{action} was rejected because SITL was not estimator-ready"
+            )
         if lifecycle == GOAL_ACTIVE:
             active = True
             print(f"{action} active: north={north:g} m, east={east:g} m, up={up:g} m")
@@ -512,7 +535,9 @@ def main() -> int:
             or not math.isfinite(values.truth_hold_seconds)
         )
         if tolerances:
-            raise ValueError("truth tolerances and hold duration must be finite and positive")
+            raise ValueError(
+                "truth tolerances and hold duration must be finite and positive"
+            )
     with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as client:
         client.bind(USER_CONTROL)
         if values.command == "ready":

firmware/tools/sitl/test_kaptan_sim.py

@@ -37,7 +37,9 @@ class TruthAcceptanceTests(unittest.TestCase):
         )
 
     def test_move_truth_contract_allows_an_armed_hover(self):
-        self.assertTrue(self.acceptable(motors_stopped=False, ground_plane_error=1.0, landing=False))
+        self.assertTrue(
+            self.acceptable(motors_stopped=False, ground_plane_error=1.0, landing=False)
+        )
 
     def test_landing_truth_contract_requires_zero_motors_and_ground_plane(self):
         self.assertFalse(self.acceptable(motors_stopped=False))
@@ -77,23 +79,28 @@ class TruthAcceptanceTests(unittest.TestCase):
         arguments = command_goal.call_args.args
         self.assertEqual(arguments[0:2], (control_socket, clock_socket))
         magic, version, goal_id, north, east, up = self.client.GOAL.unpack(arguments[2])
-        self.assertEqual((magic, version, north, east, up), (b"KSD1", 1, 1.0, -2.0, 0.0))
+        self.assertEqual(
+            (magic, version, north, east, up), (b"KSD1", 1, 1.0, -2.0, 0.0)
+        )
         self.assertEqual(arguments[3], goal_id)
-        self.assertEqual(arguments[4:], (
+        self.assertEqual(
-            1.0,
+            arguments[4:],
-            -2.0,
+            (
-            0.0,
+                1.0,
-            60.0,
+                -2.0,
-            True,
+                0.0,
-            True,
+                60.0,
-            0.75,
+                True,
-            0.25,
+                True,
-            0.35,
+                0.75,
-            0.75,
+                0.25,
-            self.client.GOAL_LANDED,
+                0.35,
-            True,
+                0.75,
-            "land",
+                self.client.GOAL_LANDED,
-        ))
+                True,
+                "land",
+            ),
+        )
 
 
 if __name__ == "__main__":

firmware/tools/sitl/world-structure-test.py

@@ -67,7 +67,9 @@ def check_world() -> None:
     world = root.find("./world")
     if world is None:
         fail("missing world")
-    model_names = {model_element.get("name") for model_element in world.findall("model")}
+    model_names = {
+        model_element.get("name") for model_element in world.findall("model")
+    }
     if model_names != {"ground", "sitl_reference_map", "kaptan_sitl_quad"}:
         fail(
             "the declared flat-world model may contain only ground, the visual reference map, "
@@ -76,7 +78,9 @@ def check_world() -> None:
 
     ground = model(root, "ground")
     ground_collisions = ground.findall(".//collision")
-    if [collision.get("name") for collision in ground_collisions] != ["ground_collision"]:
+    if [collision.get("name") for collision in ground_collisions] != [
+        "ground_collision"
+    ]:
         fail("ground must retain exactly one flat collision plane")
     if ground_collisions[0].find("geometry/plane") is None:
         fail("ground collision must remain a flat plane")
@@ -89,11 +93,15 @@ def check_world() -> None:
     if reference_map.findall(".//collision"):
         fail("reference map must remain visual-only and cannot add obstacle physics")
     if reference_map.findall(".//transparency"):
-        fail("reference map must not use unsupported SDF transparency material children")
+        fail(
+            "reference map must not use unsupported SDF transparency material children"
+        )
     reference_link = named(reference_map, "link", "reference_link")
     actual_marks = {visual.get("name") for visual in reference_link.findall("visual")}
     if actual_marks != {"landing_pad"}:
-        fail(f"reference map may contain only the landing pad; found {sorted(actual_marks)!r}")
+        fail(
+            f"reference map may contain only the landing pad; found {sorted(actual_marks)!r}"
+        )
 
     quad = model(root, "kaptan_sitl_quad")
     if pose(quad)[:3] != (0.0, 0.0, 0.14):
@@ -122,7 +130,9 @@ def check_world() -> None:
         "body_collision",
         *(f"landing_foot_{foot}_collision" for foot in foot_positions),
     }
-    actual_quad_collisions = {collision.get("name") for collision in base_link.findall("collision")}
+    actual_quad_collisions = {
+        collision.get("name") for collision in base_link.findall("collision")
+    }
     if actual_quad_collisions != expected_quad_collisions:
         fail(
             "quad collision geometry must remain its body and four declared landing feet; "
@@ -130,8 +140,12 @@ def check_world() -> None:
         )
 
     sensors = quad.findall(".//sensor")
-    if [(sensor.get("name"), sensor.get("type")) for sensor in sensors] != [("imu", "imu")]:
+    if [(sensor.get("name"), sensor.get("type")) for sensor in sensors] != [
-        fail("this local-state SITL world must not imply unmodeled visual/range/flow sensors")
+        ("imu", "imu")
+    ]:
+        fail(
+            "this local-state SITL world must not imply unmodeled visual/range/flow sensors"
+        )
 
 
 if __name__ == "__main__":

flake.nix

@@ -3,7 +3,8 @@
 
   inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
 
-  outputs = { nixpkgs, ... }:
+  outputs =
+    { nixpkgs, ... }:
     let
       systems = [
         "x86_64-linux"
@@ -12,13 +13,16 @@
       forAllSystems = nixpkgs.lib.genAttrs systems;
     in
     {
-      devShells = forAllSystems (system:
+      devShells = forAllSystems (
+        system:
         let
           pkgs = nixpkgs.legacyPackages.${system};
-          python = pkgs.python3.withPackages (pythonPackages: with pythonPackages; [
+          python = pkgs.python3.withPackages (
-            pymavlink
+            pythonPackages: with pythonPackages; [
-            pyserial
+              pymavlink
-          ]);
+              pyserial
+            ]
+          );
         in
         {
           default = pkgs.mkShell {
@@ -26,9 +30,15 @@
               pkgs.rustup
               pkgs.dfu-util
               pkgs.mdbook
+              pkgs.ripgrep
+              pkgs.ruff
+              pkgs.shfmt
+              pkgs.nixfmt
+              pkgs.taplo
               python
             ];
           };
-        });
+        }
+      );
     };
 }

scripts/make-argv.py

@@ -0,0 +1,275 @@
+#!/usr/bin/env python3
+"""Preserve application argv across GNU Make's command-line parser.
+
+GNU Make removes variable assignments, consumes its first ``--``, and flattens
+quoted goal names in ``MAKECMDGOALS``.  Linux exposes the original NUL-delimited
+argument vector in procfs, which lets the Makefiles keep a conventional
+``make component -- application arguments`` interface without rebuilding a
+command string in the shell.
+"""
+
+from __future__ import annotations
+
+import base64
+import errno
+import json
+import os
+from pathlib import Path
+import re
+import sys
+from typing import NoReturn
+
+
+PAYLOAD_ENV = "KAPTAN_MAKE_ARGV"
+ARG_COUNT_ENV = "KAPTAN_MAKE_ARG_COUNT"
+_MAKE_FLAG_ENV = ("MAKEFLAGS", "MFLAGS")
+
+
+class ArgumentRecoveryError(RuntimeError):
+    """Raised when the original Make invocation cannot be recovered."""
+
+
+def encode_arguments(arguments: list[str]) -> str:
+    """Encode an argument vector into an ASCII-only environment value."""
+
+    document = json.dumps(arguments, ensure_ascii=True, separators=(",", ":"))
+    return base64.urlsafe_b64encode(document.encode("ascii")).decode("ascii")
+
+
+def decode_arguments(encoded: str) -> list[str]:
+    """Decode an argument vector produced by :func:`encode_arguments`."""
+
+    try:
+        document = base64.b64decode(encoded, altchars=b"-_", validate=True)
+        arguments = json.loads(document.decode("ascii"))
+    except (ValueError, UnicodeError, json.JSONDecodeError) as error:
+        raise ArgumentRecoveryError(
+            f"invalid application argument payload in {PAYLOAD_ENV}"
+        ) from error
+
+    if not isinstance(arguments, list) or not all(
+        isinstance(argument, str) for argument in arguments
+    ):
+        raise ArgumentRecoveryError(
+            f"invalid application argument payload in {PAYLOAD_ENV}"
+        )
+    return arguments
+
+
+def read_process_arguments(pid: int, proc_root: Path = Path("/proc")) -> list[str]:
+    """Read one process's exact NUL-delimited argv from procfs."""
+
+    path = proc_root / str(pid) / "cmdline"
+    try:
+        raw = path.read_bytes()
+    except OSError as error:
+        raise ArgumentRecoveryError(
+            f"cannot read {path}; exact Make argument forwarding requires Linux /proc"
+        ) from error
+
+    if not raw:
+        raise ArgumentRecoveryError(f"cannot recover arguments from empty {path}")
+    if not raw.endswith(b"\0"):
+        raise ArgumentRecoveryError(
+            f"cannot recover unterminated arguments from {path}"
+        )
+    return [os.fsdecode(argument) for argument in raw[:-1].split(b"\0")]
+
+
+def read_parent_pid(pid: int, proc_root: Path = Path("/proc")) -> int:
+    """Read a process's parent PID from procfs."""
+
+    path = proc_root / str(pid) / "status"
+    try:
+        status = path.read_text(encoding="utf-8")
+    except OSError as error:
+        raise ArgumentRecoveryError(
+            f"cannot read {path}; exact Make argument forwarding requires Linux /proc"
+        ) from error
+
+    for line in status.splitlines():
+        if line.startswith("PPid:"):
+            return int(line.split(":", 1)[1].strip())
+    raise ArgumentRecoveryError(f"cannot find PPid in {path}")
+
+
+def find_make_arguments(marker: str, start_pid: int | None = None) -> list[str]:
+    """Find the nearest parent Make invocation containing *marker*."""
+
+    pid = os.getppid() if start_pid is None else start_pid
+    visited: set[int] = set()
+
+    while pid > 1 and pid not in visited:
+        visited.add(pid)
+        arguments = read_process_arguments(pid)
+        executable = Path(arguments[0]).name if arguments else ""
+        if marker in arguments and executable.endswith("make"):
+            return arguments
+        pid = read_parent_pid(pid)
+
+    raise ArgumentRecoveryError(
+        f"cannot find a parent Make invocation containing {marker!r}; "
+        "exact argument forwarding requires Linux /proc"
+    )
+
+
+def _tail_after_marker(make_arguments: list[str], marker: str) -> list[str]:
+    try:
+        marker_index = make_arguments.index(marker)
+    except ValueError as error:
+        raise ArgumentRecoveryError(
+            f"cannot find {marker!r} in the parent Make invocation"
+        ) from error
+
+    return make_arguments[marker_index + 1 :]
+
+
+def arguments_after_marker(make_arguments: list[str], marker: str) -> list[str]:
+    """Return arguments following *marker*, consuming one following ``--``."""
+
+    arguments = _tail_after_marker(make_arguments, marker)
+    if arguments[:1] == ["--"]:
+        return arguments[1:]
+    return arguments
+
+
+def select_route(
+    make_arguments: list[str],
+    component: str,
+    default_target: str,
+    local_targets: set[str],
+) -> tuple[str, list[str]]:
+    """Select a local Make target and the exact application payload.
+
+    ``default_target`` applies only when the component has no arguments.  An
+    explicit delimiter or backward-compatible unknown words always select the
+    component's ``run`` target.
+    """
+
+    arguments = _tail_after_marker(make_arguments, component)
+    if "--" in arguments:
+        separator = arguments.index("--")
+        before_separator = arguments[:separator]
+        payload = arguments[separator + 1 :]
+        if len(before_separator) == 1 and before_separator[0] in local_targets:
+            return before_separator[0], payload
+        if before_separator:
+            raise ArgumentRecoveryError(
+                f"unexpected words before -- for {component}: "
+                + " ".join(repr(word) for word in before_separator)
+            )
+        return "run", payload
+
+    if not arguments:
+        return default_target, []
+    if len(arguments) == 1 and arguments[0] in local_targets:
+        return arguments[0], []
+    return "run", arguments
+
+
+def assignment_names(arguments: list[str]) -> set[str]:
+    """Return environment names which GNU Make may treat as assignments."""
+
+    names: set[str] = set()
+    for argument in arguments[1:]:
+        for operator in (":::=", "::=", ":=", "+=", "?=", "!=", "="):
+            if operator in argument:
+                name, _ = argument.split(operator, 1)
+                if name:
+                    names.add(name)
+                break
+    return names
+
+
+def scrub_make_environment(
+    environment: dict[str, str], make_arguments: list[str]
+) -> dict[str, str]:
+    """Remove recursive-Make flags and command-line variable side effects."""
+
+    clean = environment.copy()
+    clean.pop("MAKEOVERRIDES", None)
+    for name in _MAKE_FLAG_ENV:
+        value = clean.get(name, "")
+        separator = re.search(r"(?:^|\s)--(?:\s|$)", value)
+        flags = value[: separator.start()].strip() if separator else value.strip()
+        if flags:
+            clean[name] = flags
+        else:
+            clean.pop(name, None)
+    for name in assignment_names(make_arguments):
+        clean.pop(name, None)
+    return clean
+
+
+def route(
+    component: str,
+    make_program: str,
+    default_target: str,
+    local_targets: set[str],
+) -> NoReturn:
+    """Recover argv and exec the component's selected recursive Make target."""
+
+    make_arguments = find_make_arguments(component)
+    target, payload = select_route(
+        make_arguments, component, default_target, local_targets
+    )
+    environment = scrub_make_environment(dict(os.environ), make_arguments)
+    environment[PAYLOAD_ENV] = encode_arguments(payload)
+    environment[ARG_COUNT_ENV] = str(len(payload))
+    os.execvpe(
+        make_program,
+        [make_program, "--no-print-directory", "-C", component, target],
+        environment,
+    )
+
+
+def execute(marker: str, command: list[str]) -> NoReturn:
+    """Append recovered arguments to *command* and exec it without a shell."""
+
+    if not command:
+        raise ArgumentRecoveryError("exec requires a command prefix")
+
+    environment = dict(os.environ)
+    encoded = environment.pop(PAYLOAD_ENV, None)
+    environment.pop(ARG_COUNT_ENV, None)
+    if encoded is None:
+        make_arguments = find_make_arguments(marker)
+        arguments = arguments_after_marker(make_arguments, marker)
+        environment = scrub_make_environment(environment, make_arguments)
+    else:
+        arguments = decode_arguments(encoded)
+        environment = scrub_make_environment(environment, ["make"])
+
+    os.execvpe(command[0], [*command, *arguments], environment)
+
+
+def usage() -> str:
+    return (
+        "usage:\n"
+        "  make-argv.py route COMPONENT MAKE_PROGRAM DEFAULT_TARGET [LOCAL_TARGET ...]\n"
+        "  make-argv.py exec MARKER COMMAND [COMMAND_ARG ...]"
+    )
+
+
+def main(arguments: list[str] | None = None) -> int:
+    arguments = sys.argv[1:] if arguments is None else arguments
+    try:
+        if arguments[:1] == ["route"] and len(arguments) >= 4:
+            route(arguments[1], arguments[2], arguments[3], set(arguments[4:]))
+        elif arguments[:1] == ["exec"] and len(arguments) >= 3:
+            execute(arguments[1], arguments[2:])
+        else:
+            raise ArgumentRecoveryError(usage())
+    except ArgumentRecoveryError as error:
+        print(f"make-argv: {error}", file=sys.stderr)
+        return 2
+    except OSError as error:
+        program = error.filename or "command"
+        detail = error.strerror or str(error)
+        print(f"make-argv: cannot execute {program}: {detail}", file=sys.stderr)
+        return 127 if error.errno == errno.ENOENT else 126
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

scripts/test-make-argv.py

@@ -0,0 +1,312 @@
+#!/usr/bin/env python3
+"""Tests for exact argument forwarding through GNU Make."""
+
+import importlib.util
+import io
+import json
+from pathlib import Path
+import shutil
+import subprocess
+import sys
+import tempfile
+import unittest
+from unittest import mock
+
+
+SPEC = importlib.util.spec_from_file_location(
+    "make_argv", Path(__file__).with_name("make-argv.py")
+)
+assert SPEC is not None and SPEC.loader is not None
+MAKE_ARGV = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(MAKE_ARGV)
+
+
+class ArgumentEncodingTests(unittest.TestCase):
+    def test_round_trip_preserves_exact_arguments(self):
+        arguments = [
+            "--key=one",
+            "two words",
+            "",
+            "--key=one",
+            "$HOME",
+            "--",
+            "--key=two",
+        ]
+
+        self.assertEqual(
+            MAKE_ARGV.decode_arguments(MAKE_ARGV.encode_arguments(arguments)),
+            arguments,
+        )
+
+    def test_rejects_invalid_payload(self):
+        with self.assertRaisesRegex(
+            MAKE_ARGV.ArgumentRecoveryError, "invalid application argument payload"
+        ):
+            MAKE_ARGV.decode_arguments("not-base64!")
+
+    @mock.patch.object(
+        MAKE_ARGV, "execute", side_effect=FileNotFoundError(2, "missing", "tool")
+    )
+    def test_missing_application_has_a_concise_error(self, _execute):
+        errors = io.StringIO()
+
+        with mock.patch("sys.stderr", errors):
+            status = MAKE_ARGV.main(["exec", "run", "tool"])
+
+        self.assertEqual(status, 127)
+        self.assertEqual(errors.getvalue(), "make-argv: cannot execute tool: missing\n")
+
+
+class RouteSelectionTests(unittest.TestCase):
+    def test_delimiter_makes_test_an_application_argument(self):
+        target, arguments = MAKE_ARGV.select_route(
+            ["make", "firmware", "--", "test"],
+            "firmware",
+            "run",
+            {"test", "clippy"},
+        )
+
+        self.assertEqual(target, "run")
+        self.assertEqual(arguments, ["test"])
+
+    def test_no_delimiter_selects_a_known_local_target(self):
+        target, arguments = MAKE_ARGV.select_route(
+            ["make", "firmware", "test"],
+            "firmware",
+            "run",
+            {"test", "clippy"},
+        )
+
+        self.assertEqual(target, "test")
+        self.assertEqual(arguments, [])
+
+    def test_configurable_no_argument_default(self):
+        target, arguments = MAKE_ARGV.select_route(
+            ["make", "docs"], "docs", "check", {"help"}
+        )
+
+        self.assertEqual(target, "check")
+        self.assertEqual(arguments, [])
+
+    def test_explicit_docs_arguments_select_run_not_no_argument_default(self):
+        target, arguments = MAKE_ARGV.select_route(
+            ["make", "docs", "--", "--version"], "docs", "check", {"help"}
+        )
+
+        self.assertEqual(target, "run")
+        self.assertEqual(arguments, ["--version"])
+
+    def test_unknown_words_without_delimiter_remain_application_arguments(self):
+        target, arguments = MAKE_ARGV.select_route(
+            ["make", "firmware/tools/sitl", "move", "5", "two words"],
+            "firmware/tools/sitl",
+            "run",
+            {"help"},
+        )
+
+        self.assertEqual(target, "run")
+        self.assertEqual(arguments, ["move", "5", "two words"])
+
+    def test_local_flash_keeps_every_argument_after_delimiter(self):
+        target, arguments = MAKE_ARGV.select_route(
+            [
+                "make",
+                "firmware/boards/example",
+                "flash",
+                "--",
+                "--device=0483:df11",
+                "",
+                "--",
+                "$HOME",
+            ],
+            "firmware/boards/example",
+            "run",
+            {"flash", "help"},
+        )
+
+        self.assertEqual(target, "flash")
+        self.assertEqual(arguments, ["--device=0483:df11", "", "--", "$HOME"])
+
+
+class EnvironmentTests(unittest.TestCase):
+    def test_scrubs_make_flags_and_command_line_assignments(self):
+        environment = {
+            "PATH": "/bin",
+            "MAKEFLAGS": "-- CARGO=wrong",
+            "MAKEOVERRIDES": "CARGO=wrong",
+            "MFLAGS": "--",
+            "CARGO": "wrong",
+            "OTHER": "keep",
+        }
+
+        clean = MAKE_ARGV.scrub_make_environment(
+            environment,
+            ["make", "firmware", "--", "CARGO=wrong", "--key=value"],
+        )
+
+        self.assertEqual(clean, {"PATH": "/bin", "OTHER": "keep"})
+
+    def test_preserves_make_execution_flags_without_overrides(self):
+        clean = MAKE_ARGV.scrub_make_environment(
+            {
+                "MAKEFLAGS": "n --no-print-directory -- --key=value",
+                "MFLAGS": "-n -- --key=value",
+                "MAKEOVERRIDES": "--key=value",
+            },
+            ["make", "firmware", "--", "--key=value"],
+        )
+
+        self.assertEqual(
+            clean,
+            {"MAKEFLAGS": "n --no-print-directory", "MFLAGS": "-n"},
+        )
+
+    @mock.patch.object(MAKE_ARGV.os, "execvpe")
+    @mock.patch.object(MAKE_ARGV, "find_make_arguments")
+    def test_route_execs_recursive_make_with_encoded_payload(
+        self, find_make_arguments, execvpe
+    ):
+        payload = ["--key=one", "two words", "", "--", "--key=one"]
+        find_make_arguments.return_value = [
+            "make",
+            "firmware/tools/sitl",
+            "--",
+            *payload,
+        ]
+
+        with mock.patch.dict(
+            MAKE_ARGV.os.environ,
+            {"PATH": "/bin", "MAKEFLAGS": "n -- --key=one"},
+            clear=True,
+        ):
+            MAKE_ARGV.route("firmware/tools/sitl", "make", "run", {"help"})
+
+        program, arguments, environment = execvpe.call_args.args
+        self.assertEqual(program, "make")
+        self.assertEqual(
+            arguments,
+            [
+                "make",
+                "--no-print-directory",
+                "-C",
+                "firmware/tools/sitl",
+                "run",
+            ],
+        )
+        self.assertEqual(
+            MAKE_ARGV.decode_arguments(environment[MAKE_ARGV.PAYLOAD_ENV]), payload
+        )
+        self.assertEqual(environment[MAKE_ARGV.ARG_COUNT_ENV], str(len(payload)))
+        self.assertEqual(environment["MAKEFLAGS"], "n")
+
+    @mock.patch.object(MAKE_ARGV.os, "execvpe")
+    def test_exec_uses_routed_payload_without_shell_joining(self, execvpe):
+        payload = ["--key=one", "two words", "", "$HOME", "--", "--key=one"]
+        environment = {
+            MAKE_ARGV.PAYLOAD_ENV: MAKE_ARGV.encode_arguments(payload),
+            MAKE_ARGV.ARG_COUNT_ENV: str(len(payload)),
+            "PATH": "/bin",
+            "MAKEFLAGS": "-- --key=one",
+        }
+
+        with mock.patch.dict(MAKE_ARGV.os.environ, environment, clear=True):
+            MAKE_ARGV.execute("run", ["example-app", "fixed argument"])
+
+        program, arguments, child_environment = execvpe.call_args.args
+        self.assertEqual(program, "example-app")
+        self.assertEqual(arguments, ["example-app", "fixed argument", *payload])
+        self.assertEqual(child_environment, {"PATH": "/bin"})
+
+    @mock.patch.object(MAKE_ARGV.os, "execvpe")
+    @mock.patch.object(MAKE_ARGV, "find_make_arguments")
+    def test_direct_local_make_exec_recovers_arguments(
+        self, find_make_arguments, execvpe
+    ):
+        payload = ["--key=value", "two words", "", "--", "$HOME"]
+        find_make_arguments.return_value = ["make", "run", "--", *payload]
+
+        with mock.patch.dict(MAKE_ARGV.os.environ, {"PATH": "/bin"}, clear=True):
+            MAKE_ARGV.execute("run", ["example-app"])
+
+        self.assertEqual(execvpe.call_args.args[1], ["example-app", *payload])
+
+
+class ProcfsTests(unittest.TestCase):
+    def test_procfs_preserves_a_final_empty_argument(self):
+        with tempfile.TemporaryDirectory() as directory:
+            process_directory = Path(directory, "123")
+            process_directory.mkdir()
+            Path(process_directory, "cmdline").write_bytes(b"make\0run\0\0")
+
+            self.assertEqual(
+                MAKE_ARGV.read_process_arguments(123, Path(directory)),
+                ["make", "run", ""],
+            )
+
+    def test_procfs_failure_is_actionable(self):
+        with tempfile.TemporaryDirectory() as directory:
+            with self.assertRaisesRegex(
+                MAKE_ARGV.ArgumentRecoveryError, "requires Linux /proc"
+            ):
+                MAKE_ARGV.read_process_arguments(123, Path(directory))
+
+
+@unittest.skipUnless(Path("/proc/self/cmdline").is_file(), "requires Linux procfs")
+class MakeIntegrationTests(unittest.TestCase):
+    def test_recursive_make_preserves_exact_application_argv(self):
+        make = shutil.which("make")
+        if make is None:
+            self.skipTest("GNU Make is unavailable")
+
+        helper = Path(__file__).with_name("make-argv.py").resolve()
+        with tempfile.TemporaryDirectory() as directory:
+            root = Path(directory)
+            component = root / "component"
+            component.mkdir()
+            output = root / "arguments.json"
+            application = root / "record-arguments.py"
+            application.write_text(
+                "import json, pathlib, sys\n"
+                "pathlib.Path(sys.argv[1]).write_text(json.dumps(sys.argv[2:]))\n",
+                encoding="utf-8",
+            )
+            (root / "Makefile").write_text(
+                ".PHONY: component\n"
+                "component:\n"
+                f"\t+@exec {sys.executable} {helper} route component make run help\n"
+                ".DEFAULT:\n"
+                "\t@:\n",
+                encoding="utf-8",
+            )
+            (component / "Makefile").write_text(
+                ".PHONY: run\n"
+                "run:\n"
+                f"\t@exec {sys.executable} {helper} exec run "
+                f"{sys.executable} {application} {output}\n"
+                ".DEFAULT:\n"
+                "\t@:\n",
+                encoding="utf-8",
+            )
+            payload = [
+                "--key=one",
+                "two words",
+                "",
+                "--key=one",
+                "$HOME",
+                "--",
+                "--key=two",
+            ]
+
+            subprocess.run(
+                [make, "component", "--", *payload],
+                cwd=root,
+                check=True,
+                capture_output=True,
+                text=True,
+            )
+
+            self.assertEqual(json.loads(output.read_text(encoding="utf-8")), payload)
+
+
+if __name__ == "__main__":
+    unittest.main()