mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-06 07:53:57 -04:00
build: split up the build system to allow for better board support
this will make it easier to support boards like the VRBrain
This commit is contained in:
Andrew Tridgell
parent
a84cc00580
commit
ded192be3f
753
mk/Arduino.mk
753
mk/Arduino.mk
@ -1,753 +0,0 @@
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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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# 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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# force LANG to C so awk works sanely on MacOS
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export LANG=C
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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 $(MAKEFILE_LIST))))
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ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
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# Workaround a $(realpath ) bug on cygwin
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ifeq ($(SRCROOT),)
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SRCROOT := $(shell cygpath -m ${CURDIR})
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$(warning your realpath function is not working)
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$(warning > setting SRCROOT to $(SRCROOT))
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endif
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# Correct the directory backslashes on cygwin
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ARDUINO := $(subst \,/,$(ARDUINO))
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endif
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#
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# We need to know the location of the sketchbook. If it hasn't been overridden,
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# try the parent of the current directory. If there is no libraries directory
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# there, assume that we are in a library's examples directory and try backing up
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# further.
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#
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ifeq ($(SKETCHBOOK),)
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SKETCHBOOK := $(shell cd $(SRCROOT)/.. && pwd)
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ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
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SKETCHBOOK := $(shell cd $(SRCROOT)/../.. && pwd)
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endif
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ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
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SKETCHBOOK := $(shell cd $(SRCROOT)/../../.. && pwd)
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endif
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ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
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SKETCHBOOK := $(shell cd $(SRCROOT)/../../../.. && pwd)
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endif
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ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
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$(error ERROR: cannot determine sketchbook location - please specify on the commandline with SKETCHBOOK=<path>)
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endif
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else
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ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
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$(warning WARNING: sketchbook directory $(SKETCHBOOK) contains no libraries)
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endif
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endif
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ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
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# Convert cygwin path into a windows normal path
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SKETCHBOOK := $(shell cygpath -d ${SKETCHBOOK})
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SKETCHBOOK := $(subst \,/,$(SKETCHBOOK))
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endif
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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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# Workaround a $(lastword ) bug on cygwin
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ifeq ($(SKETCH),)
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WORDLIST := $(subst /, ,$(SRCROOT))
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SKETCH := $(word $(words $(WORDLIST)),$(WORDLIST))
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endif
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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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ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
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# Workaround a $(abspath ) bug on cygwin
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ifeq ($(BUILDROOT),)
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BUILDROOT := C:$(TMPDIR)/$(SKETCH).build
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$(warning your abspath function is not working)
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$(warning > setting BUILDROOT to $(BUILDROOT))
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endif
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endif
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# Jump over the next makefile sections when runing a "make configure"
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ifneq ($(MAKECMDGOALS),configure)
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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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include $(SKETCHBOOK)/config.mk
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ifeq ($(PORT),)
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$(error ERROR: could not locate $(SKETCHBOOK)/config.mk, please run 'make configure' first)
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endif
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# default to APM2
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ifeq ($(HAL_BOARD),)
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#$(warning No HAL_BOARD in config.mk - defaulting to HAL_BOARD_APM2)
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HAL_BOARD = HAL_BOARD_APM2
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endif
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HARDWARE ?= arduino
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ifeq ($(BOARD),)
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$(error ERROR: must set BOARD before including this file)
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endif
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#
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# Find Arduino, if not explicitly specified
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#
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ifeq ($(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 && kMDItemFSName == 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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$(error ERROR: Spotlight cannot find Arduino on your system.)
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endif
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endif
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ifeq ($(SYSTYPE),Linux)
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ARDUINO_SEARCHPATH = /usr/share/arduino* /usr/local/share/arduino*
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ARDUINOS := $(wildcard $(ARDUINO_SEARCHPATH))
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endif
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ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
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# Most of the following commands are simply to deal with whitespaces in the path
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# Read the "Program Files" system directory from the windows registry
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PROGRAM_FILES := $(shell cat /proc/registry/HKEY_LOCAL_MACHINE/SOFTWARE/Microsoft/Windows/CurrentVersion/ProgramFilesDir)
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# Convert the path delimiters to /
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PROGRAM_FILES := $(shell cygpath -m ${PROGRAM_FILES})
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# Escape the space with a backslash
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PROGRAM_FILES := $(shell echo $(PROGRAM_FILES) | sed s/\ /\\\\\ / )
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# Use DOS paths because they do not contain spaces
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PROGRAM_FILES := $(shell cygpath -d ${PROGRAM_FILES})
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# Convert the path delimiters to /
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PROGRAM_FILES := $(subst \,/,$(PROGRAM_FILES))
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# Search for an Arduino instalation in a couple of paths
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ARDUINO_SEARCHPATH := c:/arduino* $(PROGRAM_FILES)/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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ARDUINO := $(firstword $(ARDUINOS))
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ifeq ($(ARDUINO),)
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$(error ERROR: Cannot find Arduino on this system, please specify on the commandline with ARDUINO=<path> or on the config.mk file)
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endif
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ifneq ($(words $(ARDUINOS)),1)
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$(warning WARNING: More than one copy of Arduino was found, using $(ARDUINO))
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endif
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endif
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################################################################################
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# Tools
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#
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#
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# Decide where we are going to look for tools
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#
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ifeq ($(SYSTYPE),Darwin)
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# use the tools that come with Arduino
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TOOLPATH := $(ARDUINOS)/hardware/tools/avr/bin
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# use BWK awk
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AWK = awk
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endif
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ifeq ($(SYSTYPE),Linux)
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# expect that tools are on the path
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TOOLPATH := $(subst :, ,$(PATH))
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endif
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ifeq ($(findstring CYGWIN, $(SYSTYPE)),CYGWIN)
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TOOLPATH := $(ARDUINO)/hardware/tools/avr/bin
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endif
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ifeq ($(findstring CYGWIN, $(SYSTYPE)),)
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FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))))
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else
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FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1).exe,$(TOOLPATH))))
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endif
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NATIVE_CXX := $(call FIND_TOOL,g++)
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NATIVE_CC := $(call FIND_TOOL,gcc)
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NATIVE_AS := $(call FIND_TOOL,gcc)
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NATIVE_AR := $(call FIND_TOOL,ar)
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NATIVE_LD := $(call FIND_TOOL,g++)
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NATIVE_GDB := $(call FIND_TOOL,gdb)
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NATIVE_OBJCOPY := $(call FIND_TOOL,objcopy)
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AVR_CXX := $(call FIND_TOOL,avr-g++)
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AVR_CC := $(call FIND_TOOL,avr-gcc)
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AVR_AS := $(call FIND_TOOL,avr-gcc)
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AVR_AR := $(call FIND_TOOL,avr-ar)
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AVR_LD := $(call FIND_TOOL,avr-gcc)
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AVR_GDB := $(call FIND_TOOL,avr-gdb)
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AVR_OBJCOPY := $(call FIND_TOOL,avr-objcopy)
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AVRDUDE := $(call FIND_TOOL,avrdude)
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AVARICE := $(call FIND_TOOL,avarice)
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CXX = $($(TOOLCHAIN)_CXX)
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CC = $($(TOOLCHAIN)_CC)
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AS = $($(TOOLCHAIN)_AS)
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AR = $($(TOOLCHAIN)_AR)
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LD = $($(TOOLCHAIN)_LD)
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GDB = $($(TOOLCHAIN)_GDB)
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OBJCOPY = $($(TOOLCHAIN)_OBJCOPY)
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ifeq ($(AVR_CXX),)
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$(error ERROR: cannot find the AVR compiler tools anywhere on the path $(TOOLPATH))
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endif
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# Find awk
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AWK ?= gawk
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ifeq ($(shell which $(AWK)),)
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$(error ERROR: cannot find $(AWK) - you may need to install GNU awk)
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endif
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#
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# Tool options
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#
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DEFINES = -DF_CPU=$(F_CPU)
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DEFINES += -DARDUINO=$(ARDUINO_VERS)
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DEFINES += -DSKETCH=\"$(SKETCH)\"
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DEFINES += $(EXTRAFLAGS) # from user config.mk
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DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
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WARNFLAGS = -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align
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WARNFLAGS += -Wwrite-strings -Wformat=2
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WARNFLAGSCXX = -Wno-reorder
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DEPFLAGS = -MD -MT $@
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CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
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COPTS = -ffunction-sections -fdata-sections -fsigned-char
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ASOPTS = -x assembler-with-cpp
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LISTOPTS = -adhlns=$(@:.o=.lst)
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NATIVE_CPUFLAGS = -D_GNU_SOURCE
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NATIVE_CPULDFLAGS = -g
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NATIVE_OPTFLAGS = -O0 -g
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AVR_CPUFLAGS = -mmcu=$(MCU) -mcall-prologues
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AVR_CPULDFLAGS = -Wl,-m,avr6
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AVR_OPTFLAGS = -Os
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CPUFLAGS= $($(TOOLCHAIN)_CPUFLAGS)
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CPULDFLAGS= $($(TOOLCHAIN)_CPULDFLAGS)
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OPTFLAGS= $($(TOOLCHAIN)_OPTFLAGS)
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CXXFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(OPTFLAGS)
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CXXFLAGS += $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS)
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CFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(OPTFLAGS)
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CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS)
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ASFLAGS = -g $(CPUFLAGS) $(DEFINES) -Wa,$(LISTOPTS) $(DEPFLAGS)
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ASFLAGS += $(ASOPTS)
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LDFLAGS = -g $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS)
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LDFLAGS += -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP)
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ifneq ($(BOARD),mega)
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LDFLAGS += $(CPULDFLAGS)
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endif
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# under certain situations with certain avr-gcc versions the --relax flag causes
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# a bug. Give the user a way to disable this flag per-sketch.
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# I know this is a rotten hack but we're really close to sunset on AVR.
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EXCLUDE_RELAX := $(wildcard $(SRCROOT)/norelax.inoflag)
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ifeq ($(EXCLUDE_RELAX),)
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LDFLAGS += -Wl,--relax
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endif
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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 $(SRCROOT)/*.ino)
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SKETCHSRCS := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
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SKETCHPDE := $(wildcard $(SRCROOT)/$(SKETCH).pde $(SRCROOT)/$(SKETCH).ino)
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SKETCHCPP := $(BUILDROOT)/$(SKETCH).cpp
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ifneq ($(words $(SKETCHPDE)),1)
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$(error ERROR: sketch $(SKETCH) must contain exactly one of $(SKETCH).pde or $(SKETCH).ino)
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endif
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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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ifeq ($(SYSTYPE),Darwin)
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LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
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else
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LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
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endif
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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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EXCLUDE_CORE := $(wildcard $(SRCROOT)/nocore.inoflag)
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# Pull the Arduino version
|
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ARDUINO_VERS := $(shell $(SKETCHBOOK)/Tools/scripts/arduino_version.sh $(ARDUINO))
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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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UPLOAD_SPEED := $(shell grep $(BOARD).upload.speed $(BOARDFILE) | cut -d = -f 2)
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# User can define USERAVRDUDEFLAGS = -V in their config.mk to skip verification
|
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USERAVRDUDEFLAGS ?=
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ifeq ($(UPLOAD_PROTOCOL),)
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UPLOAD_PROTOCOL := $(shell grep $(BOARD).upload.protocol $(BOARDFILE) | cut -d = -f 2)
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endif
|
||||
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# Adding override for mega since boards.txt uses stk500 instead of
|
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# arduino on 22 release
|
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ifeq ($(BOARD),mega)
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UPLOAD_PROTOCOL := arduino
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endif
|
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|
||||
ifeq ($(MCU),)
|
||||
$(error ERROR: Could not locate board $(BOARD) in $(BOARDFILE))
|
||||
endif
|
||||
|
||||
ifeq ($(EXCLUDE_CORE),) # an empty exclude_core is false
|
||||
# Hardware source files
|
||||
CORESRC_DIR = $(HARDWARE_DIR)/cores/$(HARDWARE_CORE)
|
||||
CORESRC_PATTERNS = $(foreach suffix,/*.cpp /*.c /*.S,$(addsuffix $(suffix),$(CORESRC_DIR)))
|
||||
CORESRCS := $(wildcard $(CORESRC_PATTERNS))
|
||||
|
||||
# Include spec for core includes
|
||||
COREINCLUDES = -I$(CORESRC_DIR) -I$(HARDWARE_DIR)/variants/mega
|
||||
|
||||
# Hardware object files
|
||||
CORELIBOBJS := $(subst $(CORESRC_DIR),$(BUILDROOT)/$(HARDWARE),$(CORESRCS))
|
||||
CORELIBOBJS := $(addsuffix .o,$(basename $(CORELIBOBJS)))
|
||||
else
|
||||
#if EXCLUDE_CORE is nonempty (true), set COREINCLUDES and CORELIBOBJS to empty
|
||||
COREINCLUDES :=
|
||||
CORELIBOBJS :=
|
||||
EXTRAFLAGS += -DEXCLUDECORE
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_AVR_SITL)
|
||||
TOOLCHAIN = NATIVE
|
||||
else
|
||||
TOOLCHAIN = AVR
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Built products
|
||||
#
|
||||
|
||||
# The ELF file
|
||||
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
||||
|
||||
# HEX file
|
||||
SKETCHHEX = $(BUILDROOT)/$(SKETCH).hex
|
||||
|
||||
# EEP file
|
||||
SKETCHEEP = $(BUILDROOT)/$(SKETCH).eep
|
||||
|
||||
# Map file
|
||||
SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
|
||||
|
||||
# The core library
|
||||
CORELIB = $(BUILDROOT)/$(HARDWARE)/core.a
|
||||
|
||||
# All of the objects that may be built
|
||||
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS) $(CORELIBOBJS)
|
||||
|
||||
# All of the dependency files that may be generated
|
||||
ALLDEPS = $(ALLOBJS:%.o=%.d)
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Targets
|
||||
#
|
||||
|
||||
all: $(SKETCHELF) $(SKETCHEEP) $(SKETCHHEX)
|
||||
|
||||
print-%:
|
||||
echo "$*=$($*)"
|
||||
|
||||
# convenient targets for our supported boards
|
||||
sitl: HAL_BOARD = HAL_BOARD_AVR_SITL
|
||||
sitl: TOOLCHAIN = NATIVE
|
||||
sitl: all
|
||||
|
||||
apm1: HAL_BOARD = HAL_BOARD_APM1
|
||||
apm1: TOOLCHAIN = AVR
|
||||
apm1: all
|
||||
|
||||
apm2: HAL_BOARD = HAL_BOARD_APM2
|
||||
apm2: TOOLCHAIN = AVR
|
||||
apm2: all
|
||||
|
||||
empty: HAL_BOARD = HAL_BOARD_EMPTY
|
||||
empty: TOOLCHAIN = AVR
|
||||
empty: all
|
||||
|
||||
.PHONY: upload
|
||||
upload: $(SKETCHHEX)
|
||||
$(AVRDUDE) -c $(UPLOAD_PROTOCOL) -p $(MCU) -P $(PORT) -b$(UPLOAD_SPEED) $(USERAVRDUDEFLAGS) -U flash:w:$(SKETCHHEX):i
|
||||
|
||||
configure:
|
||||
$(warning WARNING - A $(SKETCHBOOK)/config.mk file has been written)
|
||||
$(warning Please edit the file to match your system configuration, if you use a different board or port)
|
||||
@echo > $(SKETCHBOOK)/config.mk
|
||||
@echo \# Select \'mega\' for the 1280 APM1, \'mega2560\' otherwise >> $(SKETCHBOOK)/config.mk
|
||||
@echo BOARD = mega2560 >> $(SKETCHBOOK)/config.mk
|
||||
@echo >> $(SKETCHBOOK)/config.mk
|
||||
@echo \# HAL_BOARD determines default HAL target. >> $(SKETCHBOOK)/config.mk
|
||||
@echo HAL_BOARD ?= HAL_BOARD_APM2 >> $(SKETCHBOOK)/config.mk
|
||||
@echo >> $(SKETCHBOOK)/config.mk
|
||||
@echo \# The communication port used to communicate with the APM. >> $(SKETCHBOOK)/config.mk
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
@echo PORT = com3 >> $(SKETCHBOOK)/config.mk
|
||||
else
|
||||
@echo PORT = /dev/ttyACM0 >> $(SKETCHBOOK)/config.mk
|
||||
endif
|
||||
@echo >> $(SKETCHBOOK)/config.mk
|
||||
@echo \# PX4 app build: uncomment and fill in the path to PX4 Firmware repository: >> $(SKETCHBOOK)/config.mk
|
||||
@echo \# PX4_ROOT = /path/to/Firmware >> $(SKETCHBOOK)/config.mk
|
||||
|
||||
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)
|
||||
|
||||
clean:
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
@del /S $(BUILDROOT)
|
||||
else
|
||||
@rm -fr $(BUILDROOT)
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Rules
|
||||
#
|
||||
|
||||
# fetch dependency info from a previous build if any of it exists
|
||||
-include $(ALLDEPS)
|
||||
|
||||
# common header for rules, prints what is being built
|
||||
define RULEHDR
|
||||
@echo %% $(subst $(BUILDROOT)/,,$@)
|
||||
@mkdir -p $(dir $@)
|
||||
endef
|
||||
|
||||
# Link the final object
|
||||
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS) $(CORELIB)
|
||||
$(RULEHDR)
|
||||
$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
|
||||
|
||||
# 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)
|
||||
|
||||
#
|
||||
# Build library objects from Ardiuno library sources
|
||||
#
|
||||
ALIB_INCLUDES = -I$(dir $<)/utility $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.cpp
|
||||
$(RULEHDR)
|
||||
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.c
|
||||
$(RULEHDR)
|
||||
$(v)$(CC) $(CFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.S
|
||||
$(RULEHDR)
|
||||
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
|
||||
|
||||
#
|
||||
# Build objects from the hardware core
|
||||
#
|
||||
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.cpp
|
||||
$(RULEHDR)
|
||||
$(v)$(CXX) $(filter-out -W%,$(CXXFLAGS)) -c -o $@ $< $(COREINCLUDES)
|
||||
|
||||
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.c
|
||||
@mkdir -p $(dir $@)
|
||||
$(v)$(CC) $(filter-out -W%,$(CFLAGS)) -c -o $@ $< $(COREINCLUDES)
|
||||
|
||||
$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.S
|
||||
$(RULEHDR)
|
||||
$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(COREINCLUDES)
|
||||
|
||||
#
|
||||
# Build the core library
|
||||
#
|
||||
$(CORELIB): $(CORELIBOBJS)
|
||||
$(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/.ino 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.
|
||||
#
|
||||
# In addition, we add #line directives wherever the originating file changes
|
||||
# to help backtrack from compiler messages and in the debugger.
|
||||
#
|
||||
$(SKETCHCPP): $(SKETCHCPP_SRC)
|
||||
$(RULEHDR)
|
||||
$(v)$(AWK) -v mode=header '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) > $@
|
||||
$(v)echo "#line 1 \"autogenerated\"" >> $@
|
||||
$(v)echo "#if defined(ARDUINO) && ARDUINO >= 100" >> $@
|
||||
$(v)echo "#include \"Arduino.h\"" >> $@
|
||||
$(v)echo "#else" >> $@
|
||||
$(v)echo "#include \"WProgram.h\"" >> $@
|
||||
$(v)echo "#endif" >> $@
|
||||
$(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/.ino 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.
|
||||
#
|
||||
# This script requires BWK or GNU awk.
|
||||
#
|
||||
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:]]*\/\/.*/ || /^\#.*$$/ { \
|
||||
toggles = 0; \
|
||||
} \
|
||||
scanning && toggles { \
|
||||
scanning = 0; \
|
||||
printing = !printing; \
|
||||
if (printing) { \
|
||||
printf "#line %d \"%s\"\n", FNR, FILENAME; \
|
||||
} \
|
||||
} \
|
||||
printing
|
||||
endef
|
||||
|
||||
#
|
||||
# The prototype scanner is an awk script used to generate function
|
||||
# prototypes from the concantenated .pde/.ino files.
|
||||
#
|
||||
# Function definitions are expected to follow the form
|
||||
#
|
||||
# <newline><type>[<qualifier>...]<name>([<arguments>]){
|
||||
#
|
||||
# with whitespace permitted between the various elements. The pattern
|
||||
# is assembled from separate subpatterns to make adjustments easier.
|
||||
#
|
||||
# Note that $ requires special treatment here to avoid upsetting make,
|
||||
# and backslashes are doubled in the partial patterns to satisfy
|
||||
# escaping rules.
|
||||
#
|
||||
# This script requires BWK or GNU awk.
|
||||
#
|
||||
define SKETCH_PROTOTYPER
|
||||
BEGIN { \
|
||||
RS="{"; \
|
||||
type = "((\\n)|(^))[[:space:]]*[[:alnum:]_]+[[:space:]]+"; \
|
||||
qualifiers = "([[:alnum:]_\\*&]+[[:space:]]*)*"; \
|
||||
name = "[[:alnum:]_]+[[:space:]]*"; \
|
||||
args = "\\([[:space:][:alnum:]_,&\\*\\[\\]]*\\)"; \
|
||||
bodycuddle = "[[:space:]]*$$"; \
|
||||
pattern = type qualifiers name args bodycuddle; \
|
||||
} \
|
||||
match($$0, pattern) { \
|
||||
proto = substr($$0, RSTART, RLENGTH); \
|
||||
gsub("\n", " ", proto); \
|
||||
printf "%s;\n", proto; \
|
||||
}
|
||||
endef
|
||||
37
mk/apm.mk
37
mk/apm.mk
@ -2,24 +2,33 @@
|
||||
# lives. (patsubst strips the trailing slash.)
|
||||
MK_DIR := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
|
||||
|
||||
# APPDIR is defined for the PX4 build only
|
||||
ifeq ($(APPDIR),)
|
||||
include $(MK_DIR)/environ.mk
|
||||
|
||||
####################
|
||||
# AVR and SITL build
|
||||
|
||||
|
||||
include $(MK_DIR)/Arduino.mk
|
||||
include $(MK_DIR)/targets.mk
|
||||
# short-circuit build for the configure target
|
||||
ifeq ($(MAKECMDGOALS),configure)
|
||||
include $(MK_DIR)/configure.mk
|
||||
|
||||
else
|
||||
|
||||
####################
|
||||
# PX4 build
|
||||
|
||||
include $(MK_DIR)/px4_core.mk
|
||||
# common makefile components
|
||||
include $(MK_DIR)/targets.mk
|
||||
include $(MK_DIR)/sketch_sources.mk
|
||||
|
||||
# board specific includes
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_APM1)
|
||||
include $(MK_DIR)/board_avr.mk
|
||||
endif
|
||||
|
||||
# these targets need to be outside the APPDIR if above
|
||||
include $(MK_DIR)/px4_targets.mk
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_APM2)
|
||||
include $(MK_DIR)/board_avr.mk
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_AVR_SITL)
|
||||
include $(MK_DIR)/board_avr_sitl.mk
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
|
||||
include $(MK_DIR)/board_px4.mk
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
214
mk/board_avr.mk
Normal file
214
mk/board_avr.mk
Normal file
@ -0,0 +1,214 @@
|
||||
TOOLCHAIN = AVR
|
||||
|
||||
include $(MK_DIR)/find_arduino.mk
|
||||
include $(MK_DIR)/find_tools.mk
|
||||
|
||||
#
|
||||
# Tool options
|
||||
#
|
||||
DEFINES = -DF_CPU=$(F_CPU)
|
||||
DEFINES += -DSKETCH=\"$(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
|
||||
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 $(BOARDFILE) | cut -d = -f 2)
|
||||
|
||||
# User can define USERAVRDUDEFLAGS = -V in their config.mk to skip verification
|
||||
USERAVRDUDEFLAGS ?=
|
||||
|
||||
ifeq ($(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
|
||||
|
||||
ifeq ($(MCU),)
|
||||
$(error ERROR: Could not locate board $(BOARD) in $(BOARDFILE))
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Built products
|
||||
#
|
||||
|
||||
# The ELF file
|
||||
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
||||
|
||||
# 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)
|
||||
|
||||
# common header for rules, prints what is being built
|
||||
define RULEHDR
|
||||
@echo %% $(subst $(BUILDROOT)/,,$@)
|
||||
@mkdir -p $(dir $@)
|
||||
endef
|
||||
|
||||
# Link the final object
|
||||
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
|
||||
$(RULEHDR)
|
||||
$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
|
||||
|
||||
# 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)
|
||||
|
||||
137
mk/board_avr_sitl.mk
Normal file
137
mk/board_avr_sitl.mk
Normal file
@ -0,0 +1,137 @@
|
||||
TOOLCHAIN = NATIVE
|
||||
|
||||
include $(MK_DIR)/find_tools.mk
|
||||
|
||||
#
|
||||
# Tool options
|
||||
#
|
||||
DEFINES = -DF_CPU=$(F_CPU)
|
||||
DEFINES += -DSKETCH=\"$(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
|
||||
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
|
||||
|
||||
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)
|
||||
|
||||
LIBS = -lm
|
||||
|
||||
ifeq ($(VERBOSE),)
|
||||
v = @
|
||||
else
|
||||
v =
|
||||
endif
|
||||
|
||||
# Library object files
|
||||
LIBOBJS := $(SKETCHLIBOBJS)
|
||||
|
||||
|
||||
################################################################################
|
||||
# Built products
|
||||
#
|
||||
|
||||
# The ELF file
|
||||
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
||||
|
||||
# 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: $(SKETCHELF)
|
||||
|
||||
print-%:
|
||||
echo "$*=$($*)"
|
||||
|
||||
################################################################################
|
||||
# Rules
|
||||
#
|
||||
|
||||
# fetch dependency info from a previous build if any of it exists
|
||||
-include $(ALLDEPS)
|
||||
|
||||
# common header for rules, prints what is being built
|
||||
define RULEHDR
|
||||
@echo %% $(subst $(BUILDROOT)/,,$@)
|
||||
@mkdir -p $(dir $@)
|
||||
endef
|
||||
|
||||
# Link the final object
|
||||
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
|
||||
$(RULEHDR)
|
||||
$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
|
||||
|
||||
#
|
||||
# Build sketch objects
|
||||
#
|
||||
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES)
|
||||
|
||||
$(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)
|
||||
|
||||
$(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 $@ $< $(SLIB_INCLUDES)
|
||||
6
mk/board_px4.mk
Normal file
6
mk/board_px4.mk
Normal file
@ -0,0 +1,6 @@
|
||||
# PX4 specific build support
|
||||
ifeq ($(APPDIR),)
|
||||
include $(MK_DIR)/px4_targets.mk
|
||||
else
|
||||
include $(MK_DIR)/px4_core.mk
|
||||
endif
|
||||
19
mk/configure.mk
Normal file
19
mk/configure.mk
Normal file
@ -0,0 +1,19 @@
|
||||
configure:
|
||||
$(warning WARNING - A $(SKETCHBOOK)/config.mk file has been written)
|
||||
$(warning Please edit the file to match your system configuration, if you use a different board or port)
|
||||
@echo > $(SKETCHBOOK)/config.mk
|
||||
@echo \# Select \'mega\' for the 1280 APM1, \'mega2560\' otherwise >> $(SKETCHBOOK)/config.mk
|
||||
@echo BOARD = mega2560 >> $(SKETCHBOOK)/config.mk
|
||||
@echo >> $(SKETCHBOOK)/config.mk
|
||||
@echo \# HAL_BOARD determines default HAL target. >> $(SKETCHBOOK)/config.mk
|
||||
@echo HAL_BOARD ?= HAL_BOARD_APM2 >> $(SKETCHBOOK)/config.mk
|
||||
@echo >> $(SKETCHBOOK)/config.mk
|
||||
@echo \# The communication port used to communicate with the APM. >> $(SKETCHBOOK)/config.mk
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
@echo PORT = com3 >> $(SKETCHBOOK)/config.mk
|
||||
else
|
||||
@echo PORT = /dev/ttyACM0 >> $(SKETCHBOOK)/config.mk
|
||||
endif
|
||||
@echo >> $(SKETCHBOOK)/config.mk
|
||||
@echo \# PX4 app build: uncomment and fill in the path to PX4 Firmware repository: >> $(SKETCHBOOK)/config.mk
|
||||
@echo \# PX4_ROOT = /path/to/Firmware >> $(SKETCHBOOK)/config.mk
|
||||
129
mk/environ.mk
Normal file
129
mk/environ.mk
Normal file
@ -0,0 +1,129 @@
|
||||
# find key paths and system type
|
||||
|
||||
# Save the system type for later use.
|
||||
#
|
||||
SYSTYPE := $(shell uname)
|
||||
|
||||
# force LANG to C so awk works sanely on MacOS
|
||||
export LANG=C
|
||||
|
||||
#
|
||||
# Locate the sketch sources based on the initial Makefile's path
|
||||
#
|
||||
SRCROOT := $(realpath $(dir $(firstword $(MAKEFILE_LIST))))
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
# Workaround a $(realpath ) bug on cygwin
|
||||
ifeq ($(SRCROOT),)
|
||||
SRCROOT := $(shell cygpath -m ${CURDIR})
|
||||
$(warning your realpath function is not working)
|
||||
$(warning > setting SRCROOT to $(SRCROOT))
|
||||
endif
|
||||
endif
|
||||
|
||||
#
|
||||
# We need to know the location of the sketchbook. If it hasn't been overridden,
|
||||
# try the parent of the current directory. If there is no libraries directory
|
||||
# there, assume that we are in a library's examples directory and try backing up
|
||||
# further.
|
||||
#
|
||||
ifeq ($(SKETCHBOOK),)
|
||||
SKETCHBOOK := $(shell cd $(SRCROOT)/.. && pwd)
|
||||
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
||||
SKETCHBOOK := $(shell cd $(SRCROOT)/../.. && pwd)
|
||||
endif
|
||||
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
||||
SKETCHBOOK := $(shell cd $(SRCROOT)/../../.. && pwd)
|
||||
endif
|
||||
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
||||
SKETCHBOOK := $(shell cd $(SRCROOT)/../../../.. && pwd)
|
||||
endif
|
||||
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
||||
$(error ERROR: cannot determine sketchbook location - please specify on the commandline with SKETCHBOOK=<path>)
|
||||
endif
|
||||
else
|
||||
ifeq ($(wildcard $(SKETCHBOOK)/libraries),)
|
||||
$(warning WARNING: sketchbook directory $(SKETCHBOOK) contains no libraries)
|
||||
endif
|
||||
endif
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
# Convert cygwin path into a windows normal path
|
||||
SKETCHBOOK := $(shell cygpath -d ${SKETCHBOOK})
|
||||
SKETCHBOOK := $(subst \,/,$(SKETCHBOOK))
|
||||
endif
|
||||
|
||||
#
|
||||
# Work out the sketch name from the name of the source directory.
|
||||
#
|
||||
SKETCH := $(lastword $(subst /, ,$(SRCROOT)))
|
||||
# Workaround a $(lastword ) bug on cygwin
|
||||
ifeq ($(SKETCH),)
|
||||
WORDLIST := $(subst /, ,$(SRCROOT))
|
||||
SKETCH := $(word $(words $(WORDLIST)),$(WORDLIST))
|
||||
endif
|
||||
|
||||
#
|
||||
# Work out where we are going to be building things
|
||||
#
|
||||
TMPDIR ?= /tmp
|
||||
BUILDROOT := $(abspath $(TMPDIR)/$(SKETCH).build)
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
# Workaround a $(abspath ) bug on cygwin
|
||||
ifeq ($(BUILDROOT),)
|
||||
BUILDROOT := C:$(TMPDIR)/$(SKETCH).build
|
||||
$(warning your abspath function is not working)
|
||||
$(warning > setting BUILDROOT to $(BUILDROOT))
|
||||
endif
|
||||
endif
|
||||
|
||||
# Jump over the next makefile sections when runing a "make configure"
|
||||
ifneq ($(MAKECMDGOALS),configure)
|
||||
|
||||
################################################################################
|
||||
# Config options
|
||||
#
|
||||
# The Makefile calling us must specify BOARD
|
||||
#
|
||||
include $(SKETCHBOOK)/config.mk
|
||||
ifeq ($(PORT),)
|
||||
$(error ERROR: could not locate $(SKETCHBOOK)/config.mk, please run 'make configure' first and edit config.mk)
|
||||
endif
|
||||
|
||||
ifneq ($(APPDIR),)
|
||||
# this is a recusive PX4 build
|
||||
HAL_BOARD = HAL_BOARD_PX4
|
||||
endif
|
||||
|
||||
# handle target based overrides for board type
|
||||
ifneq ($(findstring px4, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_PX4
|
||||
endif
|
||||
|
||||
ifneq ($(findstring sitl, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_AVR_SITL
|
||||
endif
|
||||
|
||||
ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_VRBRAIN
|
||||
endif
|
||||
|
||||
ifneq ($(findstring apm1, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_APM1
|
||||
endif
|
||||
|
||||
ifneq ($(findstring apm2, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_APM2
|
||||
endif
|
||||
|
||||
# default to APM2
|
||||
ifeq ($(HAL_BOARD),)
|
||||
#$(warning No HAL_BOARD in config.mk - defaulting to HAL_BOARD_APM2)
|
||||
HAL_BOARD = HAL_BOARD_APM2
|
||||
endif
|
||||
|
||||
HARDWARE ?= arduino
|
||||
ifeq ($(BOARD),)
|
||||
BOARD = mega2560
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
52
mk/find_arduino.mk
Normal file
52
mk/find_arduino.mk
Normal file
@ -0,0 +1,52 @@
|
||||
#
|
||||
# Find Arduino, if not explicitly specified
|
||||
#
|
||||
ifeq ($(ARDUINO),)
|
||||
|
||||
#
|
||||
# List locations that might be valid ARDUINO settings
|
||||
#
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
# use Spotlight to find Arduino.app
|
||||
ARDUINO_QUERY = 'kMDItemKind == Application && kMDItemFSName == Arduino.app'
|
||||
ARDUINOS := $(addsuffix /Contents/Resources/Java,$(shell mdfind -literal $(ARDUINO_QUERY)))
|
||||
ifeq ($(ARDUINOS),)
|
||||
$(error ERROR: Spotlight cannot find Arduino on your system.)
|
||||
endif
|
||||
endif
|
||||
|
||||
ifeq ($(SYSTYPE),Linux)
|
||||
ARDUINO_SEARCHPATH = /usr/share/arduino* /usr/local/share/arduino*
|
||||
ARDUINOS := $(wildcard $(ARDUINO_SEARCHPATH))
|
||||
endif
|
||||
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
# Most of the following commands are simply to deal with whitespaces in the path
|
||||
# Read the "Program Files" system directory from the windows registry
|
||||
PROGRAM_FILES := $(shell cat /proc/registry/HKEY_LOCAL_MACHINE/SOFTWARE/Microsoft/Windows/CurrentVersion/ProgramFilesDir)
|
||||
# Convert the path delimiters to /
|
||||
PROGRAM_FILES := $(shell cygpath -m ${PROGRAM_FILES})
|
||||
# Escape the space with a backslash
|
||||
PROGRAM_FILES := $(shell echo $(PROGRAM_FILES) | sed s/\ /\\\\\ / )
|
||||
# Use DOS paths because they do not contain spaces
|
||||
PROGRAM_FILES := $(shell cygpath -d ${PROGRAM_FILES})
|
||||
# Convert the path delimiters to /
|
||||
PROGRAM_FILES := $(subst \,/,$(PROGRAM_FILES))
|
||||
# Search for an Arduino instalation in a couple of paths
|
||||
ARDUINO_SEARCHPATH := c:/arduino* $(PROGRAM_FILES)/arduino*
|
||||
ARDUINOS := $(wildcard $(ARDUINO_SEARCHPATH))
|
||||
endif
|
||||
|
||||
#
|
||||
# Pick the first option if more than one candidate is found.
|
||||
#
|
||||
ARDUINO := $(firstword $(ARDUINOS))
|
||||
ifeq ($(ARDUINO),)
|
||||
$(error ERROR: Cannot find Arduino on this system, please specify on the commandline with ARDUINO=<path> or on the config.mk file)
|
||||
endif
|
||||
|
||||
ifneq ($(words $(ARDUINOS)),1)
|
||||
$(warning WARNING: More than one copy of Arduino was found, using $(ARDUINO))
|
||||
endif
|
||||
|
||||
endif
|
||||
64
mk/find_tools.mk
Normal file
64
mk/find_tools.mk
Normal file
@ -0,0 +1,64 @@
|
||||
################################################################################
|
||||
# Tools
|
||||
#
|
||||
|
||||
#
|
||||
# Decide where we are going to look for tools
|
||||
#
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
# use the tools that come with Arduino
|
||||
TOOLPATH := $(ARDUINOS)/hardware/tools/avr/bin
|
||||
# use BWK awk
|
||||
AWK = awk
|
||||
endif
|
||||
ifeq ($(SYSTYPE),Linux)
|
||||
# expect that tools are on the path
|
||||
TOOLPATH := $(subst :, ,$(PATH))
|
||||
endif
|
||||
ifeq ($(findstring CYGWIN, $(SYSTYPE)),CYGWIN)
|
||||
TOOLPATH := $(ARDUINO)/hardware/tools/avr/bin
|
||||
endif
|
||||
|
||||
ifeq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))))
|
||||
else
|
||||
FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1).exe,$(TOOLPATH))))
|
||||
endif
|
||||
|
||||
NATIVE_CXX := $(call FIND_TOOL,g++)
|
||||
NATIVE_CC := $(call FIND_TOOL,gcc)
|
||||
NATIVE_AS := $(call FIND_TOOL,gcc)
|
||||
NATIVE_AR := $(call FIND_TOOL,ar)
|
||||
NATIVE_LD := $(call FIND_TOOL,g++)
|
||||
NATIVE_GDB := $(call FIND_TOOL,gdb)
|
||||
NATIVE_OBJCOPY := $(call FIND_TOOL,objcopy)
|
||||
|
||||
AVR_CXX := $(call FIND_TOOL,avr-g++)
|
||||
AVR_CC := $(call FIND_TOOL,avr-gcc)
|
||||
AVR_AS := $(call FIND_TOOL,avr-gcc)
|
||||
AVR_AR := $(call FIND_TOOL,avr-ar)
|
||||
AVR_LD := $(call FIND_TOOL,avr-gcc)
|
||||
AVR_GDB := $(call FIND_TOOL,avr-gdb)
|
||||
AVR_OBJCOPY := $(call FIND_TOOL,avr-objcopy)
|
||||
|
||||
AVRDUDE := $(call FIND_TOOL,avrdude)
|
||||
AVARICE := $(call FIND_TOOL,avarice)
|
||||
|
||||
CXX = $($(TOOLCHAIN)_CXX)
|
||||
CC = $($(TOOLCHAIN)_CC)
|
||||
AS = $($(TOOLCHAIN)_AS)
|
||||
AR = $($(TOOLCHAIN)_AR)
|
||||
LD = $($(TOOLCHAIN)_LD)
|
||||
GDB = $($(TOOLCHAIN)_GDB)
|
||||
OBJCOPY = $($(TOOLCHAIN)_OBJCOPY)
|
||||
|
||||
ifeq ($(AVR_CXX),)
|
||||
$(error ERROR: cannot find the AVR compiler tools anywhere on the path $(TOOLPATH))
|
||||
endif
|
||||
|
||||
# Find awk
|
||||
AWK ?= gawk
|
||||
ifeq ($(shell which $(AWK)),)
|
||||
$(error ERROR: cannot find $(AWK) - you may need to install GNU awk)
|
||||
endif
|
||||
|
||||
114
mk/px4_core.mk
114
mk/px4_core.mk
@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
# this makefile is partly based on the PX4 core makefile
|
||||
# which is Copyright (C) 2012 PX4 Development Team.
|
||||
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@ -293,114 +293,6 @@ $(COBJS): %.o : %.c
|
||||
$(CXXOBJS): %.o : %.cpp
|
||||
$(call COMPILEXX, $<, $@)
|
||||
|
||||
#
|
||||
# Tidying up
|
||||
#
|
||||
clean:
|
||||
@rm -f $(OBJS) $(PRELINKOBJ) Make.dep .built
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
|
||||
|
||||
#
|
||||
# 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/.ino 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.
|
||||
#
|
||||
# In addition, we add #line directives wherever the originating file changes
|
||||
# to help backtrack from compiler messages and in the debugger.
|
||||
#
|
||||
$(SKETCHCPP): $(SKETCHCPP_SRC)
|
||||
$(RULEHDR)
|
||||
$(v)$(AWK) -v mode=header '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) > $@
|
||||
$(v)echo "#line 1 \"autogenerated\"" >> $@
|
||||
$(v)$(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/.ino 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.
|
||||
#
|
||||
# This script requires BWK or GNU awk.
|
||||
#
|
||||
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/.ino 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.
|
||||
#
|
||||
# This script requires BWK or GNU awk.
|
||||
#
|
||||
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($$0, RSTART, RLENGTH); \
|
||||
gsub("\n", " ", proto); \
|
||||
printf "%s;\n", proto; \
|
||||
}
|
||||
endef
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
|
||||
$(RULEHDR)
|
||||
|
||||
139
mk/sketch_sources.mk
Normal file
139
mk/sketch_sources.mk
Normal file
@ -0,0 +1,139 @@
|
||||
################################################################################
|
||||
# Sketch
|
||||
#
|
||||
|
||||
SRCSUFFIXES = *.cpp *.c *.S
|
||||
|
||||
# Sketch source files
|
||||
SKETCHPDESRCS := $(wildcard $(SRCROOT)/*.pde $(SRCROOT)/*.ino)
|
||||
SKETCHSRCS := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
|
||||
SKETCHPDE := $(wildcard $(SRCROOT)/$(SKETCH).pde $(SRCROOT)/$(SKETCH).ino)
|
||||
SKETCHCPP := $(BUILDROOT)/$(SKETCH).cpp
|
||||
ifneq ($(words $(SKETCHPDE)),1)
|
||||
$(error ERROR: sketch $(SKETCH) must contain exactly one of $(SKETCH).pde or $(SKETCH).ino)
|
||||
endif
|
||||
|
||||
# Sketch object files
|
||||
SKETCHOBJS := $(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS)) $(SKETCHCPP)
|
||||
SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
|
||||
|
||||
# List of input files to the sketch.cpp file in the order they should
|
||||
# be appended to create it
|
||||
SKETCHCPP_SRC := $(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)))
|
||||
|
||||
################################################################################
|
||||
# Libraries
|
||||
#
|
||||
# Pick libraries to add to the include path and to link with based on
|
||||
# #include directives in the sketchfiles.
|
||||
#
|
||||
# For example:
|
||||
#
|
||||
# #include <Foo.h>
|
||||
#
|
||||
# implies that there might be a Foo library.
|
||||
#
|
||||
# Note that the # and $ require special treatment to avoid upsetting
|
||||
# make.
|
||||
#
|
||||
SEXPR = 's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
|
||||
else
|
||||
LIBTOKENS := $(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nre $(SEXPR)))
|
||||
endif
|
||||
|
||||
#
|
||||
# Find sketchbook libraries referenced by the sketch.
|
||||
#
|
||||
# Include paths for sketch libraries
|
||||
#
|
||||
SKETCHLIBS := $(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
|
||||
SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
|
||||
SKETCHLIBSRCDIRS := $(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
|
||||
SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
|
||||
SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
|
||||
SKETCHLIBINCLUDES := $(addprefix -I,$(SKETCHLIBS))
|
||||
|
||||
|
||||
#
|
||||
# Build the sketch.cpp file
|
||||
$(SKETCHCPP): $(SKETCHCPP_SRC)
|
||||
$(RULEHDR)
|
||||
$(v)$(AWK) -v mode=header '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) > $@
|
||||
$(v)echo "#line 1 \"autogenerated\"" >> $@
|
||||
$(v)$(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/.ino 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.
|
||||
#
|
||||
# This script requires BWK or GNU awk.
|
||||
#
|
||||
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/.ino 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.
|
||||
#
|
||||
# This script requires BWK or GNU awk.
|
||||
#
|
||||
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($$0, RSTART, RLENGTH); \
|
||||
gsub("\n", " ", proto); \
|
||||
printf "%s;\n", proto; \
|
||||
}
|
||||
endef
|
||||
@ -1,3 +1,22 @@
|
||||
default: all
|
||||
|
||||
# convenient targets for our supported boards
|
||||
sitl: HAL_BOARD = HAL_BOARD_AVR_SITL
|
||||
sitl: TOOLCHAIN = NATIVE
|
||||
sitl: all
|
||||
|
||||
apm1: HAL_BOARD = HAL_BOARD_APM1
|
||||
apm1: TOOLCHAIN = AVR
|
||||
apm1: all
|
||||
|
||||
apm2: HAL_BOARD = HAL_BOARD_APM2
|
||||
apm2: TOOLCHAIN = AVR
|
||||
apm2: all
|
||||
|
||||
empty: HAL_BOARD = HAL_BOARD_EMPTY
|
||||
empty: TOOLCHAIN = AVR
|
||||
empty: all
|
||||
|
||||
|
||||
nologging: EXTRAFLAGS += "-DLOGGING_ENABLED=DISABLED "
|
||||
nologging: all
|
||||
@ -66,3 +85,11 @@ etags:
|
||||
cd .. && etags -f ArduCopter/TAGS --lang=c++ $$(git ls-files ArduCopter libraries)
|
||||
cd .. && etags -f ArduPlane/TAGS --lang=c++ $$(git ls-files ArduPlane libraries)
|
||||
cd .. && etags -f APMrover2/TAGS --lang=c++ $$(git ls-files APMrover2 libraries)
|
||||
|
||||
clean:
|
||||
ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
|
||||
@del /S $(BUILDROOT)
|
||||
else
|
||||
@rm -fr $(BUILDROOT)
|
||||
endif
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user