/elec/quadcopter

#_______________________________________________________________________________

#

#                         edam's Arduino makefile

#_______________________________________________________________________________

#                                                                 version 0.5dev

#

# Copyright (C) 2011, 2012 Tim Marston <tim@ed.am>.

#

# Permission is hereby granted, free of charge, to any person obtaining a copy

# of this software and associated documentation files (the "Software"), to deal

# in the Software without restriction, including without limitation the rights

# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

# copies of the Software, and to permit persons to whom the Software is

# furnished to do so, subject to the following conditions:

#

# The above copyright notice and this permission notice shall be included in

# all copies or substantial portions of the Software.

#

# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE

# SOFTWARE.

#

#_______________________________________________________________________________

#

#

# This is a general purpose makefile for use with Arduino hardware and

# software.  It works with the arduino-1.0 software release.  To download the

# latest version of this makefile, visit the following website, where you can

# also find more information and documentation on it's use.  The following text

# can only really be considered a reference to it's use.

#

#   http://ed.am/dev/make/arduino-mk

#

# This makefile can be used as a drop-in replacement for the Arduino IDE's

# build system.  To use it, save arduino.mk somewhere (I keep mine at

# ~/src/arduino.mk) and create a symlink to it in your project directory named

# "Makefile".  For example:

#

#   $ ln -s ~/src/arduino.mk Makefile

#

# The Arduino software (version 1.0 or later) is required.  If you are using

# Debian (or a derivative), type `apt-get install arduino`.  Otherwise, you

# will have to download the Arduino software manually from http://arduino.cc/.

# It is suggested that you install it at ~/opt/arduino if you are unsure.

#

# If you downloaded the Arduino software manually and unpacked it somewhere

# other than ~/opt/arduino, you will need to set up ARDUINODIR to be the path

# where you unpacked it.  (If unset, ARDUINODIR defaults to ~/opt/arduino and

# then /usr/share/arduino, in that order.)  You might be best to set this in

# your ~/.profile by adding something like this:

#

#   export ARDUINODIR=~/somewhere/arduino-1.0

#

# You will also need to set BOARD to the type of Arduino you're building for.

# Type `make boards` for a list of acceptable values.  You could set a default

# in your ~/.profile if you want, but it is suggested that you specify this at

# build time, especially if you work with different types of Arduino.  For

# example:

#

#   $ export BOARD=uno

#   $ make

#

# You may also need to set SERIALDEV if it is not detected correctly.

#

# The presence of a .ino (or .pde) file causes the arduino.mk to automatically

# determine values for SOURCES, TARGET and LIBRARIES.  Any .c, .cc and .cpp

# files in the project directory (or any "util" or "utility" subdirectories)

# are automatically included in the build and are scanned for Arduino libraries

# that have been #included.  Note, there can only be one .ino (or .pde) file.

#

# Alternatively, if you want to manually specify build variables, create a

# Makefile that defines SOURCES and LIBRARIES and then includes arduino.mk.

# (There is no need to define TARGET).  Here is an example Makefile:

#

#   SOURCES := main.cc other.cc

#   LIBRARIES := EEPROM

#   include ~/src/arduino.mk

#

# Here is a complete list of configuration parameters:

#

# ARDUINODIR   The path where the Arduino software is installed on your system.

#

# ARDUINOCONST The Arduino software version, as an integer, used to define the

#              ARDUINO version constant.  This defaults to 100 if undefined.

#

# AVRDUDECONF  The avrdude.conf to use.  If undefined, this defaults to a guess

#              based on where the avrdude in use is.  If empty, no avrdude.conf

#              is passed to avrdude (to the system default is used).

#

# AVRDUDEFLAGS Specify any additional flags for avrdude.  The usual flags,

#              required to build the project, will be appended to this.

#

# AVRTOOLSPATH A space-separated list of directories that is searched in order

#              when looking for the avr build tools.  This defaults to PATH,

#              followed by subdirectories in ARDUINODIR.

#

# BOARD        Specify a target board type.  Run `make boards` to see available

#              board types.

#

# CPPFLAGS     Specify any additional flags for the compiler.  The usual flags,

#              required to build the project, will be appended to this.

#

# LINKFLAGS    Specify any additional flags for the linker.  The usual flags,

#              required to build the project, will be appended to this.

#

# LIBRARIES    A list of Arduino libraries to build and include.  This is set

#              automatically if a .ino (or .pde) is found.

#

# LIBRARYPATH  A space-separated list of directories that is searched in order

#              when looking for Arduino libraries.  This defaults to "libs",

#              "libraries" and then the Arduino software's libraries directory.

#

# SERIALDEV    The unix device name of the serial device that is the Arduino.

#              If unspecified, an attempt is made to determine the name of a

#              connected Arduino's serial device.

#

# SOURCES      A list of all source files of whatever language.  The language

#              type is determined by the file extension.  This is set

#              automatically if a .ino (or .pde) is found.

#

# TARGET       The name of the target file.  This is set automatically if a

#              .ino (or .pde) is found, but it is not necessary to set it

#              otherwise.

#

# This makefile also defines the following goals for use on the command line

# when you run make:

#

# all          This is the default if no goal is specified.  It builds the

#              target.

#

# target       Builds the target.

#

# upload       Uploads the last built target to an attached Arduino.

#

# clean        Deletes files created during the build.

#

# boards       Display a list of available board names, so that you can set the

#              BOARD environment variable appropriately.

#

# monitor      Start `screen` on the serial device.  This is meant to be an

#              equivalent to the Arduino serial monitor.

#

# size         Displays size information about the built target.

#

# bootloader   Burns the bootloader for your board to it.

#

# <file>       Builds the specified file, either an object file or the target,

#              from those that that would be built for the project.

#_______________________________________________________________________________

#

# default arduino software directory, check software exists

ifndef ARDUINODIR

ARDUINODIR := $(firstword $(wildcard ~/opt/arduino /usr/share/arduino))

endif

ifeq "$(wildcard $(ARDUINODIR)/hardware/arduino/boards.txt)" ""

$(error ARDUINODIR is not set correctly; arduino software not found)

endif

# default arduino version

ARDUINOCONST ?= 100

# default path for avr tools

AVRTOOLSPATH ?= $(subst :, , $(PATH)) $(ARDUINODIR)/hardware/tools \

	$(ARDUINODIR)/hardware/tools/avr/bin

# default path to find libraries

LIBRARYPATH ?= libraries libs $(SKETCHBOOKDIR)/libraries $(ARDUINODIR)/libraries

# default serial device to a poor guess (something that might be an arduino)

SERIALDEVGUESS := 0

ifndef SERIALDEV

SERIALDEV := $(firstword $(wildcard \

	/dev/ttyACM? /dev/ttyUSB? /dev/tty.usbserial* /dev/tty.usbmodem*))

SERIALDEVGUESS := 1

endif

# no board?

ifndef BOARD

ifneq "$(MAKECMDGOALS)" "boards"

ifneq "$(MAKECMDGOALS)" "clean"

$(error BOARD is unset.  Type 'make boards' to see possible values)

endif

endif

endif

# obtain board parameters from the arduino boards.txt file

BOARDSFILE := $(ARDUINODIR)/hardware/arduino/boards.txt

readboardsparam = $(shell sed -ne "s/$(BOARD).$(1)=\(.*\)/\1/p" $(BOARDSFILE))

BOARD_BUILD_MCU := $(call readboardsparam,build.mcu)

BOARD_BUILD_FCPU := $(call readboardsparam,build.f_cpu)

BOARD_BUILD_VARIANT := $(call readboardsparam,build.variant)

BOARD_UPLOAD_SPEED := $(call readboardsparam,upload.speed)

BOARD_UPLOAD_PROTOCOL := $(call readboardsparam,upload.protocol)

BOARD_USB_VID := $(call readboardsparam,build.vid)

BOARD_USB_PID := $(call readboardsparam,build.pid)

BOARD_BOOTLOADER_UNLOCK := $(call readboardsparam,bootloader.unlock_bits)

BOARD_BOOTLOADER_LOCK := $(call readboardsparam,bootloader.lock_bits)

BOARD_BOOTLOADER_LFUSES := $(call readboardsparam,bootloader.low_fuses)

BOARD_BOOTLOADER_HFUSES := $(call readboardsparam,bootloader.high_fuses)

BOARD_BOOTLOADER_EFUSES := $(call readboardsparam,bootloader.extended_fuses)

BOARD_BOOTLOADER_PATH := $(call readboardsparam,bootloader.path)

BOARD_BOOTLOADER_FILE := $(call readboardsparam,bootloader.file)

# obtain preferences from the IDE's preferences.txt

PREFERENCESFILE := $(wildcard $(HOME)/.arduino/preferences.txt)

ifneq "$(PREFERENCESFILE)" ""

readpreferencesparam = $(shell sed -ne "s/$(1)=\(.*\)/\1/p" $(PREFERENCESFILE))

SKETCHBOOKDIR := $(call readpreferencesparam,sketchbook.path)

endif

# invalid board?

ifeq "$(BOARD_BUILD_MCU)" ""

ifneq "$(MAKECMDGOALS)" "boards"

ifneq "$(MAKECMDGOALS)" "clean"

$(error BOARD is invalid.  Type 'make boards' to see possible values)

endif

endif

endif

# auto mode?

INOFILE := $(wildcard *.ino *.pde)

ifdef INOFILE

ifneq "$(words $(INOFILE))" "1"

$(error There is more than one .pde or .ino file in this directory!)

endif

# automatically determine sources and targeet

TARGET := $(basename $(INOFILE))

SOURCES := $(INOFILE) \

	$(wildcard *.c *.cc *.cpp *.C) \

	$(wildcard $(addprefix util/, *.c *.cc *.cpp *.C)) \

	$(wildcard $(addprefix utility/, *.c *.cc *.cpp *.C))

# automatically determine included libraries

LIBRARIES := $(filter $(notdir $(wildcard $(addsuffix /*, $(LIBRARYPATH)))), \

	$(shell sed -ne "s/^ *\# *include *[<\"]\(.*\)\.h[>\"]/\1/p" $(SOURCES)))

endif

# software

findsoftware = $(firstword $(wildcard $(addsuffix /$(1), $(AVRTOOLSPATH))))

CC := $(call findsoftware,avr-gcc)

CXX := $(call findsoftware,avr-g++)

LD := $(call findsoftware,avr-ld)

AR := $(call findsoftware,avr-ar)

OBJCOPY := $(call findsoftware,avr-objcopy)

AVRDUDE := $(call findsoftware,avrdude)

AVRSIZE := $(call findsoftware,avr-size)

# directories

ARDUINOCOREDIR := $(ARDUINODIR)/hardware/arduino/cores/arduino

LIBRARYDIRS := $(foreach lib, $(LIBRARIES), \

	$(firstword $(wildcard $(addsuffix /$(lib), $(LIBRARYPATH)))))

LIBRARYDIRS += $(addsuffix /utility, $(LIBRARYDIRS))

# files

TARGET := $(if $(TARGET),$(TARGET),a.out)

OBJECTS := $(addsuffix .o, $(basename $(SOURCES)))

DEPFILES := $(patsubst %, .dep/%.dep, $(SOURCES))

ARDUINOLIB := .lib/arduino.a

ARDUINOLIBOBJS := $(foreach dir, $(ARDUINOCOREDIR) $(LIBRARYDIRS), \

	$(patsubst %, .lib/%.o, $(wildcard $(addprefix $(dir)/, *.c *.cpp))))

BOOTLOADERHEX := $(addprefix \

	$(ARDUINODIR)/hardware/arduino/bootloaders/$(BOARD_BOOTLOADER_PATH)/, \

	$(BOARD_BOOTLOADER_FILE))

# avrdude confifuration

ifeq "$(AVRDUDECONF)" ""

ifeq "$(AVRDUDE)" "$(ARDUINODIR)/hardware/tools/avr/bin/avrdude"

AVRDUDECONF := $(ARDUINODIR)/hardware/tools/avr/etc/avrdude.conf

else

AVRDUDECONF := $(wildcard $(AVRDUDE).conf)

endif

endif

# flags

CPPFLAGS += -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections

CPPFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

CPPFLAGS += -mmcu=$(BOARD_BUILD_MCU)

CPPFLAGS += -DF_CPU=$(BOARD_BUILD_FCPU) -DARDUINO=$(ARDUINOCONST)

CPPFLAGS += -DUSB_VID=$(BOARD_USB_VID) -DUSB_PID=$(BOARD_USB_PID)

CPPFLAGS += -I. -Iutil -Iutility -I $(ARDUINOCOREDIR)

CPPFLAGS += -I $(ARDUINODIR)/hardware/arduino/variants/$(BOARD_BUILD_VARIANT)/

CPPFLAGS += $(addprefix -I , $(LIBRARYDIRS))

CPPDEPFLAGS = -MMD -MP -MF .dep/$<.dep

CPPINOFLAGS := -x c++ -include $(ARDUINOCOREDIR)/Arduino.h

AVRDUDEFLAGS += $(addprefix -C , $(AVRDUDECONF)) -DV

AVRDUDEFLAGS += -p $(BOARD_BUILD_MCU) -P $(SERIALDEV)

AVRDUDEFLAGS += -c $(BOARD_UPLOAD_PROTOCOL) -b $(BOARD_UPLOAD_SPEED)

LINKFLAGS += -Os -Wl,--gc-sections -mmcu=$(BOARD_BUILD_MCU)

# figure out which arg to use with stty (for OS X, GNU and busybox stty)

STTYFARG := $(shell stty --help 2>&1 | \

	grep -q 'illegal option' && echo -f || echo -F)

# include dependencies

ifneq "$(MAKECMDGOALS)" "clean"

-include $(DEPFILES)

endif

# default rule

.DEFAULT_GOAL := all

#_______________________________________________________________________________

#                                                                          RULES

.PHONY:	all target upload clean boards monitor size bootloader

all: target

target: $(TARGET).hex

upload: target

	@echo "\nUploading to board..."

	@test -n "$(SERIALDEV)" || { \

		echo "error: SERIALDEV could not be determined automatically." >&2; \

		exit 1; }

	@test 0 -eq $(SERIALDEVGUESS) || { \

		echo "*GUESSING* at serial device:" $(SERIALDEV); \

		echo; }

ifeq "$(BOARD_BOOTLOADER_PATH)" "caterina"

	stty $(STTYFARG) $(SERIALDEV) speed 1200

	sleep 1

endif

	stty $(STTYFARG) $(SERIALDEV) hupcl

	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i

clean:

	rm -f $(OBJECTS)

	rm -f $(TARGET).elf $(TARGET).hex $(ARDUINOLIB) *~

	rm -rf .lib .dep

boards:

	@echo "Available values for BOARD:"

	@sed -nEe '/^#/d; /^[^.]+\.name=/p' $(BOARDSFILE) | \

		sed -Ee 's/([^.]+)\.name=(.*)/\1            \2/' \

			-e 's/(.{12}) *(.*)/\1 \2/'

monitor:

	@test -n "$(SERIALDEV)" || { \

		echo "error: SERIALDEV could not be determined automatically." >&2; \

		exit 1; }

	@test -n `which screen` || { \

		echo "error: can't find GNU screen, you might need to install it." >&2 \

		exit 1; }

	@test 0 -eq $(SERIALDEVGUESS) || { \

		echo "*GUESSING* at serial device:" $(SERIALDEV); \

		echo; }

	screen $(SERIALDEV)

size: $(TARGET).elf

	echo && $(AVRSIZE) --format=avr --mcu=$(BOARD_BUILD_MCU) $(TARGET).elf

bootloader:

	@echo "Burning bootloader to board..."

	@test -n "$(SERIALDEV)" || { \

		echo "error: SERIALDEV could not be determined automatically." >&2; \

		exit 1; }

	@test 0 -eq $(SERIALDEVGUESS) || { \

		echo "*GUESSING* at serial device:" $(SERIALDEV); \

		echo; }

	stty $(STTYFARG) $(SERIALDEV) hupcl

	$(AVRDUDE) $(AVRDUDEFLAGS) -U lock:w:$(BOARD_BOOTLOADER_UNLOCK):m

	$(AVRDUDE) $(AVRDUDEFLAGS) -eU lfuse:w:$(BOARD_BOOTLOADER_LFUSES):m

	$(AVRDUDE) $(AVRDUDEFLAGS) -U hfuse:w:$(BOARD_BOOTLOADER_HFUSES):m

ifneq "$(BOARD_BOOTLOADER_EFUSES)" ""

	$(AVRDUDE) $(AVRDUDEFLAGS) -U efuse:w:$(BOARD_BOOTLOADER_EFUSES):m

endif

ifneq "$(BOOTLOADERHEX)" ""

	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(BOOTLOADERHEX):i

endif

	$(AVRDUDE) $(AVRDUDEFLAGS) -U lock:w:$(BOARD_BOOTLOADER_LOCK):m

# building the target

$(TARGET).hex: $(TARGET).elf

	$(OBJCOPY) -O ihex -R .eeprom $< $@

.INTERMEDIATE: $(TARGET).elf

$(TARGET).elf: $(ARDUINOLIB) $(OBJECTS)

	$(CC) $(LINKFLAGS) $(OBJECTS) $(ARDUINOLIB) -lm -o $@

%.o: %.c

	mkdir -p .dep/$(dir $<)

	$(COMPILE.c) $(CPPDEPFLAGS) -o $@ $<

%.o: %.cpp

	mkdir -p .dep/$(dir $<)

	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<

%.o: %.cc

	mkdir -p .dep/$(dir $<)

	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<

%.o: %.C

	mkdir -p .dep/$(dir $<)

	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<

%.o: %.ino

	mkdir -p .dep/$(dir $<)

	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $(CPPINOFLAGS) $<

%.o: %.pde

	mkdir -p .dep/$(dir $<)

	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $(CPPINOFLAGS) $<

# building the arduino library

$(ARDUINOLIB): $(ARDUINOLIBOBJS)

	$(AR) rcs $@ $?

.lib/%.c.o: %.c

	mkdir -p $(dir $@)

	$(COMPILE.c) -o $@ $<

.lib/%.cpp.o: %.cpp

	mkdir -p $(dir $@)

	$(COMPILE.cpp) -o $@ $<

.lib/%.cc.o: %.cc

	mkdir -p $(dir $@)

	$(COMPILE.cpp) -o $@ $<

.lib/%.C.o: %.C

	mkdir -p $(dir $@)

	$(COMPILE.cpp) -o $@ $<