ardupilot/mk/board_avr.mk

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TOOLCHAIN = AVR
include $(MK_DIR)/find_arduino.mk
include $(MK_DIR)/find_tools.mk
#
# Tool options
#
DEFINES = -DF_CPU=$(F_CPU)
DEFINES += -DSKETCH=\"$(SKETCH)\" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
DEFINES += $(EXTRAFLAGS) # from user config.mk
DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
WARNFLAGS = -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align
WARNFLAGS += -Wwrite-strings -Wformat=2 -Wno-unused-parameter -Wno-missing-field-initializers
WARNFLAGSCXX = -Wno-reorder
DEPFLAGS = -MD -MT $@
CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
COPTS = -ffunction-sections -fdata-sections -fsigned-char
ASOPTS = -x assembler-with-cpp
LISTOPTS = -adhlns=$(@:.o=.lst)
NATIVE_CPUFLAGS = -D_GNU_SOURCE
NATIVE_CPULDFLAGS = -g
NATIVE_OPTFLAGS = -O0 -g
AVR_CPUFLAGS = -mmcu=$(MCU) -mcall-prologues
AVR_CPULDFLAGS = -Wl,-m,avr6
AVR_OPTFLAGS = -Os
CPUFLAGS= $($(TOOLCHAIN)_CPUFLAGS)
CPULDFLAGS= $($(TOOLCHAIN)_CPULDFLAGS)
OPTFLAGS= $($(TOOLCHAIN)_OPTFLAGS)
CXXFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(OPTFLAGS)
CXXFLAGS += $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS)
CFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(OPTFLAGS)
CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS)
ASFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(DEPFLAGS)
ASFLAGS += $(ASOPTS)
LDFLAGS = -g $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS)
LDFLAGS += -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP)
ifneq ($(BOARD),mega)
LDFLAGS += $(CPULDFLAGS)
endif
# under certain situations with certain avr-gcc versions the --relax flag causes
# a bug. Give the user a way to disable this flag per-sketch.
# I know this is a rotten hack but we're really close to sunset on AVR.
EXCLUDE_RELAX := $(wildcard $(SRCROOT)/norelax.inoflag)
ifeq ($(EXCLUDE_RELAX),)
LDFLAGS += -Wl,--relax
endif
LIBS = -lm
ifeq ($(VERBOSE),)
v = @
else
v =
endif
# Library object files
LIBOBJS := $(SKETCHLIBOBJS)
# Find the hardware directory to use
HARDWARE_DIR := $(firstword $(wildcard $(SKETCHBOOK)/hardware/$(HARDWARE) \
$(ARDUINO)/hardware/$(HARDWARE)))
ifeq ($(HARDWARE_DIR),)
$(error ERROR: hardware directory for $(HARDWARE) not found)
endif
# Find the boards.txt that we are using
BOARDFILE := $(wildcard $(HARDWARE_DIR)/boards.txt)
ifeq ($(BOARDFILE),)
$(error ERROR: could not locate boards.txt for hardware $(HARDWARE))
endif
# Extract needed build parameters from the boardfile
MCU := $(shell grep $(BOARD).build.mcu $(BOARDFILE) | cut -d = -f 2)
F_CPU := $(shell grep $(BOARD).build.f_cpu $(BOARDFILE) | cut -d = -f 2)
HARDWARE_CORE := $(shell grep $(BOARD).build.core $(BOARDFILE) | cut -d = -f 2)
UPLOAD_SPEED := $(shell grep $(BOARD).upload.speed $(BOARDFILE) | cut -d = -f 2)
# User can define USERAVRDUDEFLAGS = -V in their config.mk to skip verification
USERAVRDUDEFLAGS ?=
#make sure the avrdude conf file is referenced correctly in cygwin
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
USERAVRDUDEFLAGS := -C $(ARDUINO)/hardware/tools/avr/etc/avrdude.conf
endif
#make sure the avrdude conf file is referenced correctly in mingw
ifneq ($(findstring MINGW, $(SYSTYPE)),)
USERAVRDUDEFLAGS := -C $(ARDUINO)/hardware/tools/avr/etc/avrdude.conf
endif
#make sure the avrdude conf file is referenced correctly in darwin
ifneq ($(findstring Darwin, $(SYSTYPE)),)
USERAVRDUDEFLAGS := -C $(ARDUINO)/hardware/tools/avr/etc/avrdude.conf
endif
ifeq ($(UPLOAD_PROTOCOL),)
UPLOAD_PROTOCOL := $(shell grep $(BOARD).upload.protocol $(BOARDFILE) | cut -d = -f 2)
endif
# Adding override for mega since boards.txt uses stk500 instead of
# arduino on 22 release
ifeq ($(BOARD),mega)
UPLOAD_PROTOCOL := arduino
endif
#On Cygwin, the wiring programmer will perform the DTR reset for us
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
UPLOAD_PROTOCOL := wiring
endif
ifeq ($(MCU),)
$(error ERROR: Could not locate board $(BOARD) in $(BOARDFILE))
endif
################################################################################
# Built products
#
# The ELF file
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
BUILDELF = $(notdir $(SKETCHELF))
# HEX file
SKETCHHEX = $(BUILDROOT)/$(SKETCH).hex
# EEP file
SKETCHEEP = $(BUILDROOT)/$(SKETCH).eep
# Map file
SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
# All of the objects that may be built
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
# All of the dependency files that may be generated
ALLDEPS = $(ALLOBJS:%.o=%.d)
################################################################################
# Targets
#
all: $(SKETCHELF) $(SKETCHEEP) $(SKETCHHEX)
print-%:
echo "$*=$($*)"
.PHONY: upload
upload: $(SKETCHHEX)
$(AVRDUDE) -c $(UPLOAD_PROTOCOL) -p $(MCU) -P $(PORT) -b$(UPLOAD_SPEED) $(USERAVRDUDEFLAGS) -U flash:w:$(SKETCHHEX):i
debug:
$(AVARICE) --mkII --capture --jtag usb :4242 & \
gnome-terminal -x $(GDB) $(SKETCHELF) & \
echo -e '\n\nat the gdb prompt type "target remote localhost:4242"'
# this allows you to flash your image via JTAG for when you
# have completely broken your USB
jtag-program:
$(AVARICE) --mkII --jtag usb --erase --program --file $(SKETCHELF)
################################################################################
# Rules
#
# fetch dependency info from a previous build if any of it exists
-include $(ALLDEPS)
# Link the final object
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
$(RULEHDR)
$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
$(v)cp $(SKETCHELF) $(BUILDELF)
@echo "Firmware is in $(BUILDELF)"
# Create the hex file
$(SKETCHHEX): $(SKETCHELF)
$(RULEHDR)
$(v)$(OBJCOPY) -O ihex -R .eeprom $< $@
# Create the eep file
$(SKETCHEEP): $(SKETCHELF)
$(RULEHDR)
$(v)$(OBJCOPY) -O ihex -j.eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 $< $@
#
# Build sketch objects
#
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(SRCROOT) $(SKETCH_INCLUDES)
$(BUILDROOT)/%.o: $(SRCROOT)/%.cpp
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
$(BUILDROOT)/%.o: $(SRCROOT)/%.c
$(RULEHDR)
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
$(BUILDROOT)/%.o: $(SRCROOT)/%.S
$(RULEHDR)
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
#
# Build library objects from sources in the sketchbook
#
SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
$(RULEHDR)
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
$(RULEHDR)
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)