From 404ebeeb33cd1990379699c36fd1db93baf1415e Mon Sep 17 00:00:00 2001
From: blckmn <blckmn@betaflight.com>
Date: Fri, 23 May 2025 19:19:15 +1000
Subject: [PATCH] Suggestions from coderabbitai

---
 Makefile    |  7 +++++--
 mk/tools.mk | 25 +++++++++++++++----------
 2 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/Makefile b/Makefile
index 081b4303df..572f5c9b98 100644
--- a/Makefile
+++ b/Makefile
@@ -57,8 +57,11 @@ CFLAGS_DISABLED         :=
 FORKNAME      = betaflight
 
 # Working directories
+# ROOT_DIR is the full path to the directory containing this Makefile
 ROOT_DIR        := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
+# ROOT is the relative path to the directory containing this Makefile
 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
+
 PLATFORM_DIR	:= $(ROOT)/src/platform
 SRC_DIR         := $(ROOT)/src/main
 LIB_MAIN_DIR    := $(ROOT)/lib/main
@@ -432,7 +435,7 @@ $(TARGET_HEX): $(TARGET_ELF)
 
 $(TARGET_UF2): $(TARGET_ELF)
 	@echo "Creating UF2 $(TARGET_UF2)" "$(STDOUT)"
-	$(V1) $(PICOTOOL) uf2 convert $< $@
+	$(V1) $(PICOTOOL) uf2 convert $< $@ || { echo "Failed to convert ELF to UF2 format"; exit 1; }
 
 $(TARGET_DFU): $(TARGET_HEX)
 	@echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
@@ -693,7 +696,7 @@ version:
 
 submodules:
 	@echo "Updating submodules"
-	$(V1) git submodule update --init --recursive
+	$(V1) git submodule update --init --recursive || { echo "Failed to update submodules"; exit 1; }
 	@echo "Submodules updated"
 
 ## help              : print this help message and exit
diff --git a/mk/tools.mk b/mk/tools.mk
index 664f48c6c4..5ecf7c79ab 100644
--- a/mk/tools.mk
+++ b/mk/tools.mk
@@ -337,16 +337,21 @@ PICOTOOL_REPO   := https://github.com/raspberrypi/picotool.git
 PICOTOOL_DL_DIR := $(DL_DIR)/picotool
 PICOTOOL_BUILD_DIR := $(PICOTOOL_DL_DIR)/build
 PICOTOOL_DIR    := $(TOOLS_DIR)/picotool
-PICO_SDK_PATH   := $(ROOT_DIR)/lib/main/pico-sdk
-PICOTOOL        := $(PICOTOOL_DIR)/picotool
+PICO_SDK_PATH   ?= $(ROOT_DIR)/lib/main/pico-sdk
+PICOTOOL        ?= $(PICOTOOL_DIR)/picotool
+
+ifeq ($(filter picotool_install,$(MAKECMDGOALS)), picotool_install)
+    ifneq ($(wildcard $(PICO_SDK_PATH)/CMakeLists.txt),$(PICO_SDK_PATH)/CMakeLists.txt)
+        $(error "PICO_SDK_PATH ($(PICO_SDK_PATH)) does not point to a valid Pico SDK. Please 'make submodules' to hydrate the Pico SDK.")
+    endif
+endif
 
 ifeq ($(filter uf2,$(MAKECMDGOALS)), uf2)
     ifeq (,$(wildcard $(PICOTOOL)))
-        PICOTOOL_VERSION := $(shell picotool version)
-        ifneq ($(PICOTOOL_VERSION),)
-            PICOTOOL := picotool
+        ifeq (,$(shell which picotool 2>/dev/null))
+            $(error "picotool not in the PATH or setup in tools. Run 'make picotool_install' to install in the tools folder.")
         else
-            $(error **ERROR** picotool not in the PATH or setup in tools. Run 'make picotool_install' to install automatically in the tools folder)
+            PICOTOOL := picotool
         endif
     endif
 endif
@@ -355,13 +360,13 @@ endif
 picotool_install: | $(DL_DIR) $(TOOLS_DIR)
 picotool_install: picotool_clean
 	@echo "\n CLONE     $(PICOTOOL_REPO)"
-	$(V1) git clone --depth 1 $(PICOTOOL_REPO) "$(PICOTOOL_DL_DIR)"
+	$(V1) git clone --depth 1 $(PICOTOOL_REPO) "$(PICOTOOL_DL_DIR)" || { echo "Failed to clone picotool repository"; exit 1; }
 	@echo "\n BUILD      $(PICOTOOL_BUILD_DIR)"
 	$(V1) [ -d "$(PICOTOOL_DIR)" ] || mkdir -p $(PICOTOOL_DIR)
 	$(V1) [ -d "$(PICOTOOL_BUILD_DIR)" ] || mkdir -p $(PICOTOOL_BUILD_DIR)
-	$(V1) cmake -S $(PICOTOOL_DL_DIR) -B $(PICOTOOL_BUILD_DIR) -D PICO_SDK_PATH=$(PICO_SDK_PATH)
-	$(V1) $(MAKE) -C $(PICOTOOL_BUILD_DIR)
-	$(V1) cp $(PICOTOOL_BUILD_DIR)/picotool $(PICOTOOL_DIR)/picotool
+	$(V1) cmake -S $(PICOTOOL_DL_DIR) -B $(PICOTOOL_BUILD_DIR) -D PICO_SDK_PATH=$(PICO_SDK_PATH) || { echo "CMake configuration failed"; exit 1; }
+	$(V1) $(MAKE) -C $(PICOTOOL_BUILD_DIR) || { echo "picotool build failed"; exit 1; }
+	$(V1) cp $(PICOTOOL_BUILD_DIR)/picotool $(PICOTOOL_DIR)/picotool || { echo "Failed to install picotool binary"; exit 1; }
 	@echo "\n VERSION:"
 	$(V1) $(PICOTOOL_DIR)/picotool version