mirror of https://github.com/ArduPilot/ardupilot
754 lines
24 KiB
Makefile
754 lines
24 KiB
Makefile
#
|
|
# Copyright (c) 2010 Michael Smith. All rights reserved.
|
|
#
|
|
# Redistribution and use in source and binary forms, with or without
|
|
# modification, are permitted provided that the following conditions
|
|
# are met:
|
|
# 1. Redistributions of source code must retain the above copyright
|
|
# notice, this list of conditions and the following disclaimer.
|
|
# 2. Redistributions in binary form must reproduce the above copyright
|
|
# notice, this list of conditions and the following disclaimer in the
|
|
# documentation and/or other materials provided with the distribution.
|
|
#
|
|
# THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
|
|
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
# ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
|
|
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
|
|
# OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
|
# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
|
|
# OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
|
|
# SUCH DAMAGE.
|
|
#
|
|
|
|
#
|
|
# Build an Arduino sketch.
|
|
#
|
|
|
|
################################################################################
|
|
# Paths
|
|
#
|
|
|
|
#
|
|
# 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
|
|
# Correct the directory backslashes on cygwin
|
|
ARDUINO := $(subst \,/,$(ARDUINO))
|
|
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 $(SKETCHBOOK)/config.mk, please run 'make configure' first)
|
|
endif
|
|
|
|
# default to APM2
|
|
ifeq ($(HAL_BOARD),)
|
|
#$(warning No HAL_BOARD in config.mk - defaulting to HAL_BOARD_APM2)
|
|
HAL_BOARD = HAL_BOARD_APM2
|
|
endif
|
|
|
|
HARDWARE ?= arduino
|
|
ifeq ($(BOARD),)
|
|
$(error ERROR: must set BOARD before including this file)
|
|
endif
|
|
|
|
#
|
|
# Find Arduino, if not explicitly specified
|
|
#
|
|
ifeq ($(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 $(ARDUINO))
|
|
endif
|
|
|
|
endif
|
|
|
|
################################################################################
|
|
# Tools
|
|
#
|
|
|
|
#
|
|
# Decide where we are going to look for tools
|
|
#
|
|
ifeq ($(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 $(AWK) - you may need to install GNU awk)
|
|
endif
|
|
|
|
#
|
|
# Tool options
|
|
#
|
|
DEFINES = -DF_CPU=$(F_CPU)
|
|
DEFINES += -DARDUINO=$(ARDUINO_VERS)
|
|
DEFINES += -DSKETCH=\"$(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
|
|
|
|
SRCSUFFIXES = *.cpp *.c *.S
|
|
|
|
ifeq ($(VERBOSE),)
|
|
v = @
|
|
else
|
|
v =
|
|
endif
|
|
|
|
|
|
################################################################################
|
|
# Sketch
|
|
#
|
|
|
|
# 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))
|
|
|
|
#
|
|
# Find Arduino libraries referenced by the sketch. Exclude any that
|
|
# are overloaded by versions in the sketchbook.
|
|
#
|
|
ARDUINOLIBS := $(wildcard $(addprefix $(ARDUINO)/libraries/,$(filter-out $(SKETCHLIBNAMES),$(LIBTOKENS))))
|
|
ARDUINOLIBNAMES := $(notdir $(ARDUINOLIBS))
|
|
ARDUINOLIBSRCDIRS := $(ARDUINOLIBS) $(addsuffix /utility,$(ARDUINOLIBS))
|
|
ARDUINOLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(ARDUINOLIBSRCDIRS))))
|
|
ARDUINOLIBOBJS := $(addsuffix .o,$(basename $(subst $(ARDUINO),$(BUILDROOT),$(ARDUINOLIBSRCS))))
|
|
ARDUINOLIBINCLUDES := $(addprefix -I,$(ARDUINOLIBS))
|
|
|
|
# Library object files
|
|
LIBOBJS := $(SKETCHLIBOBJS) $(ARDUINOLIBOBJS)
|
|
|
|
################################################################################
|
|
# *duino core
|
|
#
|
|
|
|
EXCLUDE_CORE := $(wildcard $(SRCROOT)/nocore.inoflag)
|
|
|
|
# Pull the Arduino version
|
|
ARDUINO_VERS := $(shell $(SKETCHBOOK)/Tools/scripts/arduino_version.sh $(ARDUINO))
|
|
|
|
# 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
|
|
|
|
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
|