mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 10:28:29 -04:00
Move Arduino.mk here. This library should always be present in a constant location for our projects.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1361 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com
parent
d0540d7373
commit
240c345e22
487
libraries/AP_Common/Arduino.mk
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487
libraries/AP_Common/Arduino.mk
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@ -0,0 +1,487 @@
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#
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# Copyright (c) 2010 Michael Smith. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
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# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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# OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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# OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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# SUCH DAMAGE.
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#
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#
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# Build an Arduino sketch.
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#
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################################################################################
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# Config options
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#
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# The Makefile calling us must specify BOARD
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#
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HARDWARE ?= arduino
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ifeq ($(BOARD),)
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$(error ERROR: must set BOARD before including this file)
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endif
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################################################################################
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# Paths
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#
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#
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# Save the system type for later use.
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#
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SYSTYPE := $(shell uname)
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#
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# Locate the sketch sources based on the initial Makefile's path
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#
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SRCROOT := $(realpath $(dir $(firstword $(MAKEFILE_LIST))))
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#
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# We need to know the location of the sketchbook. For now, assume that it's
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# the parent of the source directory.
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#
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SKETCHBOOK := $(shell cd $(SRCROOT)/.. && pwd)
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#
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# Work out the sketch name from the name of the source directory.
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#
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SKETCH := $(lastword $(subst /, ,$(SRCROOT)))
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#
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# Work out where we are going to be building things
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#
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TMPDIR ?= /tmp
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BUILDROOT := $(abspath $(TMPDIR)/$(SKETCH).build)
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#
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# Prefer the compiler bundled with Arduino on e.g. Mac OS.
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#
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TOOLPATH = $(ARDUINOS)/hardware/tools/avr/bin
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#
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# Find Arduino, if not explicitly specified
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#
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ifeq ($(ARDUINO),)
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#
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# List locations that might be valid ARDUINO settings
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#
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ifeq ($(SYSTYPE),Darwin)
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# use Spotlight to find Arduino.app
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ARDUINO_QUERY = 'kMDItemKind == Application && kMDItemDisplayName == Arduino.app'
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ARDUINOS := $(addsuffix /Contents/Resources/Java,$(shell mdfind -literal $(ARDUINO_QUERY)))
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ifeq ($(ARDUINOS),)
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$(error ERROR: Spotlight cannot find Arduino on your system.)
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endif
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# other places we might find toolchain
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TOOLPATH += /usr/local/CrossPack-AVR/bin /opt/local/bin
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endif
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ifeq ($(SYSTYPE),Linux)
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ARDUINO_SEARCHPATH = /usr/share/arduino /usr/local/share/arduino
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ARDUINOS := $(wildcard $(ARDUINO_SEARCHPATH))
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endif
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#
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# Pick the first option if more than one candidate is found.
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#
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# XXX this is bad if any of the paths (c:\Program Files\ anyone?) has a space in its name...
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#
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ARDUINO := $(firstword $(ARDUINOS))
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ifeq ($(ARDUINO),)
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$(error ERROR: Cannot find Arduino on this system, please specify on the commandline with ARDUINO=<path>)
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endif
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ifneq ($(words $(ARDUINOS)),1)
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$(warning WARNING: More than one copy of Arduino was found, using $(ARDUINO))
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endif
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endif
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################################################################################
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# Tools
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#
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#
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# XXX should we be using tools from the Arduino distribution?
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#
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FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))) >/dev/tty)
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CXX = $(call FIND_TOOL,avr-g++)
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CC = $(call FIND_TOOL,avr-gcc)
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AS = $(call FIND_TOOL,avr-gcc)
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AR = $(call FIND_TOOL,avr-ar)
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LD = $(call FIND_TOOL,avr-gcc)
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OBJCOPY = $(call FIND_TOOL,avr-objcopy)
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#
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# Tool options
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#
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DEFINES = -DF_CPU=$(F_CPU) -DARDUINO=$(ARDUINO_VERS)
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OPTFLAGS = -Os
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# XXX warning options TBD
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CXXOPTS = -mcall-prologues -ffunction-sections -fdata-sections -fno-exceptions
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COPTS = -mcall-prologues -ffunction-sections -fdata-sections
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ASOPTS = -assembler-with-cpp
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CXXFLAGS = -g -mmcu=$(MCU) $(DEFINES) $(OPTFLAGS) $(CXXOPTS)
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CFLAGS = -g -mmcu=$(MCU) $(DEFINES) $(OPTFLAGS) $(COPTS)
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ASFLAGS = -g -mmcu=$(MCU) $(DEFINES) $(ASOPTS)
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LDFLAGS = -g -mmcu=$(MCU) $(OPTFLAGS) -Wl,--gc-sections
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LIBS = -lm
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SRCSUFFIXES = *.cpp *.c *.S
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ifeq ($(VERBOSE),)
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v = @
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else
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v =
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endif
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################################################################################
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# Sketch
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#
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# Sketch source files
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SKETCHPDESRCS := $(wildcard $(SRCROOT)/*.pde)
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SKETCHSRCS := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
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SKETCHPDE := $(wildcard $(SRCROOT)/$(SKETCH).pde)
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SKETCHCPP := $(BUILDROOT)/$(SKETCH).cpp
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# Sketch object files
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SKETCHOBJS := $(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS)) $(SKETCHCPP)
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SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
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# List of input files to the sketch.cpp file in the order they should
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# be appended to create it
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SKETCHCPP_SRC := $(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)))
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################################################################################
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# Libraries
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#
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# Pick libraries to add to the include path and to link with based on
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# #include directives in the sketchfiles.
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#
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# For example:
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#
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# #include <Foo.h>
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#
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# implies that there might be a Foo library.
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#
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# Note that the # and $ require special treatment to avoid upsetting
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# make.
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#
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SEXPR = 's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
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LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
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#
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# Find sketchbook libraries referenced by the sketch.
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#
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# Include paths for sketch libraries
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#
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SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
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SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
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SKETCHLIBSRCDIRS := $(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
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SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
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SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
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SKETCHLIBINCLUDES := $(addprefix -I,$(SKETCHLIBS))
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#
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# Find Arduino libraries referenced by the sketch. Exclude any that
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# are overloaded by versions in the sketchbook.
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#
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ARDUINOLIBS := $(wildcard $(addprefix $(ARDUINO)/libraries/,$(filter-out $(SKETCHLIBNAMES),$(LIBTOKENS))))
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ARDUINOLIBNAMES := $(notdir $(ARDUINOLIBS))
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ARDUINOLIBSRCDIRS := $(ARDUINOLIBS) $(addsuffix /utility,$(ARDUINOLIBS))
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ARDUINOLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(ARDUINOLIBSRCDIRS))))
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ARDUINOLIBOBJS := $(addsuffix .o,$(basename $(subst $(ARDUINO),$(BUILDROOT),$(ARDUINOLIBSRCS))))
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ARDUINOLIBINCLUDES := $(addprefix -I,$(ARDUINOLIBS))
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# Library object files
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LIBOBJS := $(SKETCHLIBOBJS) $(ARDUINOLIBOBJS)
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################################################################################
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# *duino core
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#
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# Pull the Arduino version from the revisions.txt file
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#
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# XXX can we count on this? If not, what?
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ARDUINO_VERS := $(shell expr `head -1 $(ARDUINO)/revisions.txt | cut -d ' ' -f 2`)
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# Find the hardware directory to use
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HARDWARE_DIR := $(firstword $(wildcard $(SKETCHBOOK)/hardware/$(HARDWARE) \
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$(ARDUINO)/hardware/$(HARDWARE)))
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ifeq ($(HARDWARE_DIR),)
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$(error ERROR: hardware directory for $(HARDWARE) not found
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endif
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# Find the boards.txt that we are using
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BOARDFILE := $(wildcard $(HARDWARE_DIR)/boards.txt)
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ifeq ($(BOARDFILE),)
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$(error ERROR: could not locate boards.txt for hardware $(HARDWARE)
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endif
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# Extract needed build parameters from the boardfile
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MCU := $(shell grep $(BOARD).build.mcu $(BOARDFILE) | cut -d = -f 2)
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F_CPU := $(shell grep $(BOARD).build.f_cpu $(BOARDFILE) | cut -d = -f 2)
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HARDWARE_CORE := $(shell grep $(BOARD).build.core $(BOARDFILE) | cut -d = -f 2)
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ifeq ($(MCU),)
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$(error ERROR: Could not locate board $(BOARD) in $(BOARDFILE)
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endif
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# Hardware source files
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CORESRC_DIR = $(HARDWARE_DIR)/cores/$(HARDWARE_CORE)
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CORESRC_PATTERNS = $(foreach suffix,/*.cpp /*.c /*.S,$(addsuffix $(suffix),$(CORESRC_DIR)))
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CORESRCS := $(wildcard $(CORESRC_PATTERNS))
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# Include spec for core includes
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COREINCLUDES = -I$(CORESRC_DIR)
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# Hardware object files
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CORELIBOBJS := $(subst $(CORESRC_DIR),$(BUILDROOT)/$(HARDWARE),$(CORESRCS))
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CORELIBOBJS := $(addsuffix .o,$(basename $(CORELIBOBJS)))
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################################################################################
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# Built products
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#
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# The ELF file
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SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
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# HEX file
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SKETCHHEX = $(BUILDROOT)/$(SKETCH).hex
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# EEP file
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SKETCHEEP = $(BUILDROOT)/$(SKETCH).eep
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# The core library
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CORELIB = $(BUILDROOT)/$(HARDWARE)/core.a
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################################################################################
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# Targets
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#
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all: $(SKETCHELF) $(SKETCHEEP) $(SKETCHHEX)
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upload:
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clean:
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@rm -fr $(BUILDROOT)
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################################################################################
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# Rules
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#
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# common header for rules, prints what is being built
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define RULEHDR
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@echo %% $(subst $(BUILDROOT)/,,$@)
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@mkdir -p $(dir $@)
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endef
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# Link the final object
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$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS) $(CORELIB)
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$(RULEHDR)
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$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
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# Create the hex file
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$(SKETCHHEX): $(SKETCHELF)
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$(RULEHDR)
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$(v)$(OBJCOPY) -O ihex -R .eeprom $< $@
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# Create the eep file
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$(SKETCHEEP): $(SKETCHELF)
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$(RULEHDR)
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$(v)$(OBJCOPY) -O ihex -j.eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 $< $@
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# Make the buildroot
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$(BUILDROOT):
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@mkdir -p $(BUILDROOT)
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#
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# Build sketch objects
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#
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SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(SRCROOT) $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.c
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$(RULEHDR)
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$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.S
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$(RULEHDR)
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$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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#
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# Build library objects from sources in the sketchbook
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#
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SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
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$(RULEHDR)
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$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
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$(RULEHDR)
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$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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#
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# Build library objects from Ardiuno library sources
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#
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ALIB_INCLUDES = -I$(dir $<)/utility $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
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||||
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||||
$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.c
|
||||
$(RULEHDR)
|
||||
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.S
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||||
$(RULEHDR)
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||||
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
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||||
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||||
#
|
||||
# Build objects from the hardware core
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||||
#
|
||||
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.cpp
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$(RULEHDR)
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||||
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(CORESRC_DIR)
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||||
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||||
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.c
|
||||
@mkdir -p $(dir $@)
|
||||
$(v)$(CC) $(CFLAGS) -c -o $@ $< -I$(CORESRC_DIR)
|
||||
|
||||
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.S
|
||||
$(RULEHDR)
|
||||
$(v)$(AS) $(ASFLAGS) -c -o $@ $< -I$(CORESRC_DIR)
|
||||
|
||||
#
|
||||
# Build the core library
|
||||
#
|
||||
$(CORELIB): $(CORELIBOBJS)
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||||
$(RULEHDR)
|
||||
$(v)$(AR) -rcs $@ $^
|
||||
|
||||
#
|
||||
# Build the sketch.cpp file
|
||||
#
|
||||
# This process strives to be as faithful to the Arduino implementation as
|
||||
# possible. Conceptually, the process is as follows:
|
||||
#
|
||||
# * All of the .pde files are concatenated, starting with the file named
|
||||
# for the sketch and followed by the others in alphabetical order.
|
||||
# * An insertion point is created in the concatenated file at
|
||||
# the first statement that isn't a preprocessor directive or comment.
|
||||
# * An include of "WProgram.h" is inserted at the insertion point.
|
||||
# * The file following the insertion point is scanned for function definitions
|
||||
# and prototypes for these functions are inserted at the insertion point.
|
||||
#
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||||
# In addition, we add #line directives wherever the originating file changes
|
||||
# to help backtrack from compiler messages and in the debugger.
|
||||
#
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||||
$(SKETCHCPP): $(SKETCHCPP_SRC) $(BUILDROOT)
|
||||
$(RULEHDR)
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||||
$(v)awk -v mode=header '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) > $@
|
||||
$(v)echo "#line 1 \"autogenerated\"" >> $@
|
||||
$(v)echo "#include \"WProgram.h\"" >> $@
|
||||
$(v)awk '$(SKETCH_PROTOTYPER)' $(SKETCHCPP_SRC) >> $@
|
||||
$(v)awk -v mode=body '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) >> $@
|
||||
|
||||
# delete the sketch.cpp file if a processing error occurs
|
||||
.DELETE_ON_ERROR: $(SKETCHCPP)
|
||||
|
||||
#
|
||||
# The sketch splitter is an awk script used to split off the
|
||||
# header and body of the concatenated .pde files. It also
|
||||
# inserts #line directives to help in backtracking from compiler
|
||||
# and debugger messages to the original source file.
|
||||
#
|
||||
# Note that # and $ require special treatment here to avoid upsetting
|
||||
# make.
|
||||
#
|
||||
define SKETCH_SPLITTER
|
||||
BEGIN { \
|
||||
scanning = 1; \
|
||||
printing = (mode ~ "header") ? 1 : 0; \
|
||||
} \
|
||||
{ toggles = 1 } \
|
||||
(FNR == 1) && printing { \
|
||||
printf "#line %d \"%s\"\n", FNR, FILENAME; \
|
||||
} \
|
||||
/^[[:space:]]*\/\*/,/\*\// { \
|
||||
toggles = 0; \
|
||||
} \
|
||||
/^[[:space:]]*$$/ || /^[[:space:]]*\/\/.*/ || /^\#.*$$/ { \
|
||||
toggles = 0; \
|
||||
} \
|
||||
scanning && toggles { \
|
||||
scanning = 0; \
|
||||
printing = !printing; \
|
||||
if (printing) { \
|
||||
printf "#line %d \"%s\"\n", FNR, FILENAME; \
|
||||
} \
|
||||
} \
|
||||
printing
|
||||
endef
|
||||
|
||||
#
|
||||
# The prototype scanner is an awk script used to generate function
|
||||
# prototypes from the concantenated .pde files.
|
||||
#
|
||||
# Function definitions are expected to follow the form
|
||||
#
|
||||
# <newline><type>[<qualifier>...]<name>([<arguments>]){
|
||||
#
|
||||
# with whitespace permitted between the various elements. The pattern
|
||||
# is assembled from separate subpatterns to make adjustments easier.
|
||||
#
|
||||
# Note that $ requires special treatment here to avoid upsetting make,
|
||||
# and backslashes are doubled in the partial patterns to satisfy
|
||||
# escaping rules.
|
||||
#
|
||||
define SKETCH_PROTOTYPER
|
||||
BEGIN { \
|
||||
RS="{"; \
|
||||
type = "((\\n)|(^))[[:space:]]*[[:alnum:]_]+[[:space:]]+"; \
|
||||
qualifiers = "([[:alnum:]_\\*&]+[[:space:]]*)*"; \
|
||||
name = "[[:alnum:]_]+[[:space:]]*"; \
|
||||
args = "\\([[:space:][:alnum:]_,&\\*\\[\\]]*\\)"; \
|
||||
bodycuddle = "[[:space:]]*$$"; \
|
||||
pattern = type qualifiers name args bodycuddle; \
|
||||
} \
|
||||
match($$0, pattern) { \
|
||||
proto = substr($$0, RSTART, RLENGTH); \
|
||||
gsub("\n", " ", proto); \
|
||||
printf "%s;\n", proto; \
|
||||
}
|
||||
endef
|
||||
Loading…
Reference in New Issue
Block a user