mirror of https://github.com/ArduPilot/ardupilot
431 lines
14 KiB
Makefile
431 lines
14 KiB
Makefile
#
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# Copyright (c) 2010 Andrew Tridgell. All rights reserved.
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# based on Arduino.mk, Copyright (c) 2010 Michael Smith
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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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# Locate the sketch sources based on the initial Makefile's path
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#
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SRCROOT := $(PWD)
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#
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# We need to know the location of the sketchbook. If it hasn't been overridden,
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# try the parent of the current directory. If there is no libraries directory
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# there, assume that we are in a library's examples directory and try backing up
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# further.
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#
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ifeq ($(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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#
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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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HARDWARE=desktop
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BOARD=desktop
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CXX := g++
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CC := gcc
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AS := gcc
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AR := ar
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LD := g++
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GDB := gdb
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OBJCOPY := objcopy
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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 = $(EXTRAFLAGS)
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OPTFLAGS = -g -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wwrite-strings -Wformat=2 -Wno-reorder
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DEPFLAGS = -MD -MT $@
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# XXX warning options TBD
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CXXOPTS = -fno-exceptions -D__AVR_ATmega2560__ -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1
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COPTS = -I$(SKETCHBOOK)/libraries/Desktop/include -DDESKTOP_BUILD=1
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ASOPTS = -assembler-with-cpp
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CXXFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(CXXOPTS)
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CFLAGS = -g $(DEFINES) $(OPTFLAGS) $(DEPFLAGS) $(COPTS)
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ASFLAGS = -g $(DEFINES) $(DEPFLAGS) $(ASOPTS)
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LDFLAGS = -g $(OPTFLAGS) -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP)
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LIBS = -lm
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SRCSUFFIXES = *.cpp *.c
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ifeq ($(VERBOSE),)
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v = @
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else
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v =
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endif
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################################################################################
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# Sketch
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#
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# Sketch source files
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SKETCHPDESRCS := $(wildcard $(SRCROOT)/*.pde)
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SKETCHSRCS := $(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
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SKETCHPDE := $(wildcard $(SRCROOT)/$(SKETCH).pde)
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SKETCHCPP := $(BUILDROOT)/$(SKETCH).cpp
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ifeq ($(SKETCHPDE),)
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$(error ERROR: sketch $(SKETCH) is missing $(SKETCH).pde)
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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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NODESKTOP := FastSerial/FastSerial.cpp
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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) $(SKETCHBOOK)/libraries/Desktop/support $(addsuffix /utility,$(SKETCHLIBS))
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SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
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FILTEREDSRCS := $(filter-out $(addprefix $(SKETCHBOOK)/libraries/,$(NODESKTOP)),$(SKETCHLIBSRCS))
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SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(FILTEREDSRCS))))
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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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ARDUINOLIBINCLUDES := $(ARDUINOLIBINCLUDES)
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# Library object files
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LIBOBJS := $(SKETCHLIBOBJS)
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################################################################################
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# Built products
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#
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# The ELF file
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SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
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# Map file
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SKETCHMAP = $(BUILDROOT)/$(SKETCH).map
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# The core library
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CORELIB =
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# All of the objects that may be built
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ALLOBJS = $(SKETCHOBJS) $(LIBOBJS) $(CORELIBOBJS)
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# All of the dependency files that may be generated
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ALLDEPS = $(ALLOBJS:%.o=%.d)
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endif
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################################################################################
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# Targets
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#
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all: $(SKETCHELF)
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clean:
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@rm -fr $(BUILDROOT)
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################################################################################
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# Rules
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#
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# fetch dependency info from a previous build if any of it exists
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-include $(ALLDEPS)
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# common header for rules, prints what is being built
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define RULEHDR
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@echo %% $(subst $(BUILDROOT)/,,$@)
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@mkdir -p $(dir $@)
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endef
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showsources:
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@echo "SKETCHLIBSRCDIRS=$(SKETCHLIBSRCDIRS)"
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@echo "SKETCHLIBSRCS=$(SKETCHLIBSRCS)"
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@echo "SKETCHOBJS=$(SKETCHOBJS)"
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@echo "LIBOBJS=$(LIBOBJS)"
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@echo "CORELIB=$(CORELIB)"
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# Link the final object
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$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS) $(CORELIB)
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$(RULEHDR)
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$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
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#
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# Build sketch objects
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#
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SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(SRCROOT) $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.c
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$(RULEHDR)
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$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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$(BUILDROOT)/%.o: $(SRCROOT)/%.S
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$(RULEHDR)
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$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
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#
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# Build library objects from sources in the sketchbook
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#
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SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
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$(RULEHDR)
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$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
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$(RULEHDR)
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$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
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#
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# Build library objects from Ardiuno library sources
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#
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ALIB_INCLUDES = -I$(dir $<)/utility $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
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$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
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$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.c
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$(RULEHDR)
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$(v)$(CC) $(CFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
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$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.S
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$(RULEHDR)
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$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
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#
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# Build objects from the hardware core
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#
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$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.cpp
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$(RULEHDR)
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$(v)$(CXX) $(filter-out -W%,$(CXXFLAGS)) -c -o $@ $< -I$(CORESRC_DIR)
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$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.c
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@mkdir -p $(dir $@)
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$(v)$(CC) $(filter-out -W%,$(CFLAGS)) -c -o $@ $< -I$(CORESRC_DIR)
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$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.S
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$(RULEHDR)
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$(v)$(AS) $(ASFLAGS) -c -o $@ $< -I$(CORESRC_DIR)
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#
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# Build the core library
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#
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$(CORELIB): $(CORELIBOBJS)
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$(RULEHDR)
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$(v)$(AR) -rcs $@ $^
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#
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# Build the sketch.cpp file
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#
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# This process strives to be as faithful to the Arduino implementation as
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# possible. Conceptually, the process is as follows:
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#
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# * All of the .pde files are concatenated, starting with the file named
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# for the sketch and followed by the others in alphabetical order.
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# * An insertion point is created in the concatenated file at
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# the first statement that isn't a preprocessor directive or comment.
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# * An include of "WProgram.h" is inserted at the insertion point.
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# * The file following the insertion point is scanned for function definitions
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# and prototypes for these functions are inserted at the insertion point.
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#
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# In addition, we add #line directives wherever the originating file changes
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# to help backtrack from compiler messages and in the debugger.
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#
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$(SKETCHCPP): $(SKETCHCPP_SRC)
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$(RULEHDR)
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$(v)$(AWK) -v mode=header '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) > $@
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$(v)echo "#line 1 \"autogenerated\"" >> $@
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$(v)echo "#include \"WProgram.h\"" >> $@
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$(v)$(AWK) '$(SKETCH_PROTOTYPER)' $(SKETCHCPP_SRC) >> $@
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$(v)$(AWK) -v mode=body '$(SKETCH_SPLITTER)' $(SKETCHCPP_SRC) >> $@
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# delete the sketch.cpp file if a processing error occurs
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.DELETE_ON_ERROR: $(SKETCHCPP)
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#
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# The sketch splitter is an awk script used to split off the
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# header and body of the concatenated .pde files. It also
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# inserts #line directives to help in backtracking from compiler
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# and debugger messages to the original source file.
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#
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# Note that # and $ require special treatment here to avoid upsetting
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# make.
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#
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# This script requires BWK or GNU awk.
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#
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define SKETCH_SPLITTER
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BEGIN { \
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scanning = 1; \
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printing = (mode ~ "header") ? 1 : 0; \
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} \
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{ toggles = 1 } \
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(FNR == 1) && printing { \
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printf "#line %d \"%s\"\n", FNR, FILENAME; \
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} \
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/^[[:space:]]*\/\*/,/\*\// { \
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toggles = 0; \
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} \
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/^[[:space:]]*$$/ || /^[[:space:]]*\/\/.*/ || /^\#.*$$/ { \
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toggles = 0; \
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} \
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scanning && toggles { \
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scanning = 0; \
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printing = !printing; \
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if (printing) { \
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printf "#line %d \"%s\"\n", FNR, FILENAME; \
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} \
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} \
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printing
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endef
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#
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# The prototype scanner is an awk script used to generate function
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# prototypes from the concantenated .pde files.
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#
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# Function definitions are expected to follow the form
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#
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# <newline><type>[<qualifier>...]<name>([<arguments>]){
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#
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# with whitespace permitted between the various elements. The pattern
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# is assembled from separate subpatterns to make adjustments easier.
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#
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# Note that $ requires special treatment here to avoid upsetting make,
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# and backslashes are doubled in the partial patterns to satisfy
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# escaping rules.
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#
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# This script requires BWK or GNU awk.
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#
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define SKETCH_PROTOTYPER
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BEGIN { \
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RS="{"; \
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type = "((\\n)|(^))[[:space:]]*[[:alnum:]_]+[[:space:]]+"; \
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qualifiers = "([[:alnum:]_\\*&]+[[:space:]]*)*"; \
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name = "[[:alnum:]_]+[[:space:]]*"; \
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args = "\\([[:space:][:alnum:]_,&\\*\\[\\]]*\\)"; \
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bodycuddle = "[[:space:]]*$$"; \
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pattern = type qualifiers name args bodycuddle; \
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} \
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match($$0, pattern) { \
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proto = substr($$0, RSTART, RLENGTH); \
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gsub("\n", " ", proto); \
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printf "%s;\n", proto; \
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}
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endef
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