/elec/quadcopter

To get this branch, use:
bzr branch http://bzr.ed.am/elec/quadcopter
16 by Tim Marston
added (unfinished) rc-interface module to src; added arduino.mk
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#_______________________________________________________________________________
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#
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#                         edam's Arduino makefile
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#_______________________________________________________________________________
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#                                                                 version 0.6dev
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#
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# Copyright (C) 2011 to 2013 Tim Marston <tim@ed.am>.
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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#
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#_______________________________________________________________________________
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#
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#
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# This is a general purpose makefile for use with Arduino hardware and
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# software.  It is intended to be a drop-in replacement for the Arduino IDE's
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# build system.  It works with the Arduino 1.0 and 1.5 software releases, on
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# GNU/Linux and OS X.  To download the latest version of this makefile visit
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# the following website where you can also find documentation on it's use.
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# (The following text can only really be considered a reference.)
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#
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#   http://ed.am/dev/make/arduino-mk
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#
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# To use this makefile, copy arduino.mk in to your project directory.  Or, you
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# could save it somewhere (I keep mine at ~/src/arduino.mk) and create a
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# symlink to it in your project directory, named "Makefile".  For example:
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#
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#   $ ln -s ~/src/arduino.mk Makefile
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#
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# The Arduino software (version 1.0 or later, including the new 1.5 BETA) is
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# required.  On GNU/Linux you can probably install the software from your
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# package manager.  If you are using Debian (or a derivative), try `apt-get
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# install arduino`.  Otherwise, you can download the Arduino software manually
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# from http://arduino.cc/.  It is suggested that you install it at
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# ~/opt/arduino (or /Applications on OS X) if you are unsure.
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#
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# If you downloaded the Arduino software manually and unpacked it somewhere
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# *other* than ~/opt/arduino (or /Applications), you will need to set up the
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# ARDUINODIR environment variable to be the directory where you unpacked it.
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# (If unset, ARDUINODIR defaults to some sensible places).  You could set this
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# in your ~/.profile by adding something like this:
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#
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#   export ARDUINODIR=~/somewhere/arduino-1.0.5
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#
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# For each project, you will also need to set BOARD to the type of Arduino
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# you're building for.  Type `make boards` for a list of acceptable values.
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# For example:
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#
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#   $ export BOARD=uno
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#
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# Note that if you're using the newer 1.5 Arduino software and the board you
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# want to use is availble with different processors, you will also need to
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# specify one.  For example:
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#
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#   $ export BOARD=mini.atmega328
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#
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# You may also need to set SERIALDEV if your Arduino is not detected correctly.
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#
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# The presence of a .ino (or .pde) file causes the arduino.mk to automatically
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# determine values for SOURCES, TARGET and which libraries to pull-in to the
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# build (although you can still override thius by setting LIBRARIES).  Any .c,
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# .cc and .cpp files in the project directory (or any "util" or "utility"
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# subdirectories) are automatically included in the build and are scanned for
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# Arduino libraries that have been #included.  Note, there can only be one .ino
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# (or .pde) file in a project directory and if you want to be compatible with
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# the Arduino IDE, it should be called the same as the directory name.
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#
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# Alternatively, if you want to manually specify build variables, create a
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# Makefile that defines SOURCES and LIBRARIES and then includes arduino.mk.
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# (You don't need to define TARGET).  You can also specify the BOARD here, if
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# the project has a specific one.  Here is an example Makefile:
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#
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#   SOURCES := main.cc other.cc
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#   LIBRARIES := EEPROM
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#   BOARD := pro5v
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#   include ~/src/arduino.mk
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#
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# Here is a complete list of environment variables that affect the build:
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#
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# ARDUINODIR   The directory where the Arduino software resides on your system.
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#
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# ARDUINOCONST The Arduino software version, as an integer, used to define the
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#              ARDUINO version constant.  This defaults to 100 if undefined.
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#
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# AVRDUDECONF  The avrdude.conf to use.  If undefined, this defaults to a guess
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#              based on where avrdude is.  If set empty, no avrdude.conf is
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#              passed to avrdude (so the system default is used).
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#
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# AVRDUDEFLAGS Specify any additional flags for avrdude.  The usual flags,
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#              required to build the project, will be appended to this.
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#
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# AVRTOOLSPATH A space-separated list of directories that is searched in order
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#              when looking for the avr build tools.  This defaults to PATH,
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#              followed by subdirectories in ARDUINODIR.
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#
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# BOARD        Specify a target board type.  Run `make boards` to see available
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#              board types.  For Arduino 1.5, you will also need to specify a
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#              processor if the board supports multiple processors (see above).
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#
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# CPPFLAGS     Specify any additional flags for the compiler.  The usual flags,
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#              required to build the project, will be appended to this.
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#
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# LINKFLAGS    Specify any additional flags for the linker.  The usual flags,
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#              required to build the project, will be appended to this.
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#
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# LIBRARIES    A list of Arduino libraries to build and include.  This is set
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#              automatically if a .ino (or .pde) is found.
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#
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# LIBRARYPATH  A space-separated list of directories that is searched in order
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#              when looking for Arduino libraries.  This defaults to "libs",
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#              "libraries" (in the project directory), then your sketchbook
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#              "libraries" directory, then the Arduino libraries directory.
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#
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# SERIALDEV    The POSIX device name of the serial device that is the Arduino.
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#              If unspecified, an attempt is made to guess the name of a
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#              connected Arduino's serial device, which may work in some cases.
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#
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# SOURCES      A list of all source files of whatever language.  The language
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#              type is determined by the file extension.  This is set
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#              automatically if a .ino (or .pde) is found.
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#
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# TARGET       The name of the target file.  This is set automatically if a
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#              .ino (or .pde) is found, but it is not necessary to set it
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#              otherwise.
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#
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# This makefile also defines the following goals for use on the command line
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# when you run make:
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#
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# all          This is the default if no goal is specified.  It builds the
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#              target.
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#
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# target       Builds the target.
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#
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# upload       Uploads the target (building it, as necessary) to an attached
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#              Arduino.
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#
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# clean        Deletes files created during the build.
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#
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# boards       Display a list of available board names, so that you can set the
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#              BOARD environment variable appropriately.
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#
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# monitor      Start `screen` on the serial device.  This is meant to be an
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#              equivalent to the Arduino serial monitor.
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#
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# size         Displays size information about the built target.
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#
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# bootloader   Burns the bootloader for your board to it.
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#
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# <file>       Builds the specified file, either an object file or the target,
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#              from those that that would be built for the project.
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#_______________________________________________________________________________
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#
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# default arduino software directory
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ifndef ARDUINODIR
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ARDUINODIR := $(firstword $(wildcard ~/opt/arduino /usr/share/arduino \
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	/Applications/Arduino.app/Contents/Resources/Java \
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	$(HOME)/Applications/Arduino.app/Contents/Resources/Java))
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endif
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# check ARDUINODIR (and determine which backends are available)
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ifneq "" "$(wildcard $(ARDUINODIR)/hardware/arduino/boards.txt)"
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ARDUINOBACKENDS := /
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else ifneq "" "$(wildcard $(ARDUINODIR)/hardware/arduino/avr/boards.txt)"
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ARDUINOBACKENDS := /avr /sam
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else
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$(error ARDUINODIR is not set correctly; arduino software not found)
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endif
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# no board?
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ifndef BOARD
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ifneq "$(MAKECMDGOALS)" "boards"
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ifneq "$(MAKECMDGOALS)" "clean"
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$(error BOARD is unset.  Type 'make boards' to see possible values)
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endif
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endif
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endif
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# obtain board parameters from the arduino boards.txt file(s)
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BOARDSFILES := $(foreach dir, $(ARDUINOBACKENDS), \
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	$(ARDUINODIR)/hardware/arduino$(dir)/boards.txt)
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readboardsparam = $(firstword \
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	$(shell sed -ne "s/^menu\\.cpu\\.$(BOARD)\\.$(1)=\(.*\)/\1/Ip" \
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		$(BOARDSFILES)) \
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	$(shell sed -ne "s/^$(basename $(BOARD))\\.$(1)=\(.*\)/\1/Ip" \
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		$(BOARDSFILES)))
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BOARD_BUILD_MCU := $(call readboardsparam,build.mcu)
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BOARD_BUILD_FCPU := $(call readboardsparam,build.f_cpu)
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BOARD_BUILD_VARIANT := $(call readboardsparam,build.variant)
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BOARD_BUILD_CORE := $(call readboardsparam,build.core)
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BOARD_UPLOAD_SPEED := $(call readboardsparam,upload.speed)
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BOARD_UPLOAD_PROTOCOL := $(call readboardsparam,upload.protocol)
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BOARD_USB_VID := $(call readboardsparam,build.vid)
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BOARD_USB_PID := $(call readboardsparam,build.pid)
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BOARD_BOOTLOADER_UNLOCK := $(call readboardsparam,bootloader.unlock_bits)
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BOARD_BOOTLOADER_LOCK := $(call readboardsparam,bootloader.lock_bits)
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BOARD_BOOTLOADER_LFUSES := $(call readboardsparam,bootloader.low_fuses)
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BOARD_BOOTLOADER_HFUSES := $(call readboardsparam,bootloader.high_fuses)
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BOARD_BOOTLOADER_EFUSES := $(call readboardsparam,bootloader.extended_fuses)
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BOARD_BOOTLOADER_PATH := $(call readboardsparam,bootloader.path)
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BOARD_BOOTLOADER_FILE := $(call readboardsparam,bootloader.file)
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# invalid board?
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ifeq "$(BOARD_BUILD_MCU)" ""
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ifneq "$(MAKECMDGOALS)" "boards"
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ifneq "$(MAKECMDGOALS)" "clean"
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$(error BOARD is invalid.  Type 'make boards' to see possible values)
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endif
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endif
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endif
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# obtain preferences from the IDE's preferences.txt
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PREFERENCESFILE := $(firstword $(wildcard \
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	$(HOME)/.arduino/preferences.txt $(HOME)/Library/Arduino/preferences.txt))
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ifneq "$(PREFERENCESFILE)" ""
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readpreferencesparam = $(shell sed -ne "s/$(1)=\(.*\)/\1/p" $(PREFERENCESFILE))
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SKETCHBOOKDIR := $(call readpreferencesparam,sketchbook.path)
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endif
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# arduino directories
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ARDUINOBACKENDDIR := $(strip $(foreach dir, $(ARDUINOBACKENDS), \
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	$(if $(shell grep ^$(basename $(BOARD))\\.name \
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		$(ARDUINODIR)/hardware/arduino$(dir)/boards.txt), \
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	$(ARDUINODIR)/hardware/arduino$(dir))))
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ARDUINOCOREDIR := $(ARDUINOBACKENDDIR)/cores/$(BOARD_BUILD_CORE)
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# default library path (places to look for libraries)
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LIBRARYPATH ?= libraries libs $(SKETCHBOOKDIR)/libraries \
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	$(ARDUINODIR)/libraries $(ARDUINOBACKENDDIR)/libraries
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# auto mode?
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INOFILE := $(wildcard *.ino *.pde)
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ifdef INOFILE
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ifneq "$(words $(INOFILE))" "1"
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$(error There is more than one .pde or .ino file in this directory!)
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endif
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# automatically determine sources and target
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TARGET := $(basename $(INOFILE))
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SOURCES := $(INOFILE) \
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	$(wildcard *.c *.cc *.cpp *.C *.s *.S) \
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	$(wildcard $(addprefix util/, *.c *.cc *.cpp *.C *.s *.S)) \
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	$(wildcard $(addprefix utility/, *.c *.cc *.cpp *.C *.s *.S))
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# automatically determine library directories (to pull library sources in from)
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# by matching included headers in poject sources to headers that exist in the
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# roots of any library directories, giving priority to libraries in the order
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# they're in LIBRARYPATH, and then to the alphabetically-greater named library
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# (this is a really stupid way of doing it, but it's how the IDE works -- if
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# it's causing problems, you can override it by setting LIBRARIES manually)
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INCLUDEDHEADERS := \
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	$(shell sed -ne "s/^\s*\#\s*include\s*[<\"]\(\S\+\.h\)[>\"].*/\1/p" \
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	$(SOURCES))
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reverse = $(if $(1),$(call reverse,$(wordlist 2,$(words $(1)),$(1)))) \
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	$(firstword $(1))
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LIBRARYHEADERS := $(foreach dir, $(LIBRARYPATH), \
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	$(call reverse, $(sort $(wildcard $(dir)/*))))
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LIBRARYHEADERS := $(foreach dir, $(LIBRARYHEADERS), $(wildcard $(dir)/*.h))
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LIBRARYDIRS := $(foreach hdr, $(INCLUDEDHEADERS), $(patsubst %/$(hdr), %, \
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	$(firstword $(filter %/$(hdr), $(LIBRARYHEADERS)))))
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endif
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# expand LIBRARYDIRS (initialised from LIBRARIES, if specified)
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ifneq "$(LIBRARIES)" ""
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LIBRARYDIRS := $(foreach lib, $(LIBRARIES), \
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	$(firstword $(wildcard $(addsuffix /$(lib), $(LIBRARYPATH)))))
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endif
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LIBRARYDIRS := $(LIBRARYDIRS) $(addsuffix /utility, $(LIBRARYDIRS))
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# files
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TARGET := $(if $(TARGET),$(TARGET),a.out)
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OBJECTS := $(addsuffix .o, $(basename $(SOURCES)))
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DEPFILES := $(patsubst %, .dep/%.dep, $(SOURCES))
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ARDUINOLIB := .lib/arduino.a
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ARDUINOLIBOBJS := $(foreach dir, $(ARDUINOCOREDIR) $(LIBRARYDIRS), \
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	$(patsubst %, .lib/%.o, $(wildcard $(addprefix $(dir)/, \
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		*.c *.cc *.cpp *.C *.s *.S))))
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BOOTLOADERHEX := $(addprefix \
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	$(ARDUINOBACKENDDIR)/bootloaders/$(BOARD_BOOTLOADER_PATH)/, \
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	$(BOARD_BOOTLOADER_FILE))
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# software
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BUILDTOOLSPATH ?= $(subst :, , $(PATH)) $(ARDUINODIR)/hardware/tools \
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	$(ARDUINODIR)/hardware/tools/avr/bin
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findsoftware = $(firstword $(wildcard $(addsuffix /$(1), $(BUILDTOOLSPATH))))
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CC := $(call findsoftware,avr-gcc)
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CXX := $(call findsoftware,avr-g++)
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LD := $(call findsoftware,avr-ld)
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AR := $(call findsoftware,avr-ar)
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AS := $(call findsoftware,avr-as)
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OBJCOPY := $(call findsoftware,avr-objcopy)
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AVRDUDE := $(call findsoftware,avrdude)
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AVRSIZE := $(call findsoftware,avr-size)
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# default arduino version
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ARDUINOCONST ?= $(if $(filter /, $(ARDUINOBACKENDS)),100,150)
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# default serial device to a poor guess (something that might be an arduino)
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SERIALDEVGUESS := 0
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ifndef SERIALDEV
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SERIALDEV := $(firstword $(wildcard \
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	/dev/ttyACM? /dev/ttyUSB? /dev/tty.usbserial* /dev/tty.usbmodem*))
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SERIALDEVGUESS := 1
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endif
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# avrdude confifuration
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ifeq "$(AVRDUDECONF)" ""
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ifeq "$(AVRDUDE)" "$(ARDUINODIR)/hardware/tools/avr/bin/avrdude"
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AVRDUDECONF := $(ARDUINODIR)/hardware/tools/avr/etc/avrdude.conf
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else
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AVRDUDECONF := $(wildcard $(AVRDUDE).conf)
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endif
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endif
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# flags
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CPPFLAGS += -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections
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CPPFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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CPPFLAGS += -mmcu=$(BOARD_BUILD_MCU)
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CPPFLAGS += -DF_CPU=$(BOARD_BUILD_FCPU) -DARDUINO=$(ARDUINOCONST)
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CPPFLAGS += -DUSB_VID=$(BOARD_USB_VID) -DUSB_PID=$(BOARD_USB_PID)
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CPPFLAGS += -I. -Iutil -Iutility -I $(ARDUINOCOREDIR)
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CPPFLAGS += -I $(ARDUINOBACKENDDIR)/variants/$(BOARD_BUILD_VARIANT)/
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CPPFLAGS += $(addprefix -I , $(LIBRARYDIRS))
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CPPDEPFLAGS = -MMD -MP -MF .dep/$<.dep
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CPPINOFLAGS := -x c++ -include $(ARDUINOCOREDIR)/Arduino.h
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AVRDUDEFLAGS += $(addprefix -C , $(AVRDUDECONF)) -DV
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AVRDUDEFLAGS += -p$(BOARD_BUILD_MCU) -P$(SERIALDEV) -c$(BOARD_UPLOAD_PROTOCOL)
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AVRDUDEFLAGS += $(addprefix -b, $(BOARD_UPLOAD_SPEED))
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LINKFLAGS += -Os -Wl,--gc-sections -mmcu=$(BOARD_BUILD_MCU)
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# figure out which arg to use with stty (for OS X, GNU and busybox stty)
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STTYFARG := $(shell stty --help 2>&1 | \
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	grep -q 'illegal option' && echo -f || echo -F)
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# include dependencies
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ifneq "$(MAKECMDGOALS)" "clean"
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-include $(DEPFILES)
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endif
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# default rule
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.DEFAULT_GOAL := all
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#_______________________________________________________________________________
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#                                                                          RULES
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.PHONY:	all target upload clean boards monitor size bootloader
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all: target
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target: $(TARGET).hex
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upload: target
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	@echo "\nUploading to board..."
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	@test -n "$(SERIALDEV)" || { \
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		echo "error: SERIALDEV could not be determined automatically." >&2; \
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		exit 1; }
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	@test 0 -eq $(SERIALDEVGUESS) || { \
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		echo "*GUESSING* at serial device:" $(SERIALDEV); \
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		echo; }
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ifeq "$(BOARD_BOOTLOADER_PATH)" "caterina"
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	stty $(STTYFARG) $(SERIALDEV) speed 1200
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	sleep 1
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else ifeq "" "$(filter net:% usb:%,$(SERIALDEV))"
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	stty $(STTYFARG) $(SERIALDEV) hupcl
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endif
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	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i
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clean:
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	rm -f $(OBJECTS)
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	rm -f $(TARGET).elf $(TARGET).hex $(ARDUINOLIB) *~
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	rm -rf .lib .dep
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boards:
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	@echo "Available BOARD values:"
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	@sed -ne '/^\w\+\.name=/p; /^menu\.cpu\.\w\+\.\w\+=/p;' $(BOARDSFILES) | \
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		sed -e 's/\(\w\+\)\.name=\(.*\)/\1                   \2/' \
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			-e 's/menu.cpu.\w\+\(\.\w\+\)=\(.*\)/  \1                  --\2/' \
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			-e 's/\(.\{19\}\) *\(.*\)/  \1 \2/; s/--/  ...with /;'
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ifneq "$(ARDUINOBACKENDS)" "/"
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	@echo
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	@echo "NOTE: where a board supports multiple CPUs, you must specify" \
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		"one.  For example,"
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	@echo "'uno' is OK, and so is 'pro.16mhzatmega328'.  But 'pro', on" \
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		"its own, is not."
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endif
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monitor:
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	@test -n "$(SERIALDEV)" || { \
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		echo "error: SERIALDEV could not be determined automatically." >&2; \
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		exit 1; }
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	@test -n `which screen` || { \
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		echo "error: can't find GNU screen, you might need to install it." >&2 \
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		exit 1; }
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	@test 0 -eq $(SERIALDEVGUESS) || { \
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		echo "*GUESSING* at serial device:" $(SERIALDEV); \
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		echo; }
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	screen $(SERIALDEV)
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size: $(TARGET).elf
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	echo "\n" && $(AVRSIZE) --format=avr --mcu=$(BOARD_BUILD_MCU) $(TARGET).elf
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bootloader:
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	@echo "Burning bootloader to board..."
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	@test -n "$(SERIALDEV)" || { \
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		echo "error: SERIALDEV could not be determined automatically." >&2; \
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		exit 1; }
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	@test 0 -eq $(SERIALDEVGUESS) || { \
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		echo "*GUESSING* at serial device:" $(SERIALDEV); \
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		echo; }
426
	stty $(STTYFARG) $(SERIALDEV) hupcl
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	$(AVRDUDE) $(AVRDUDEFLAGS) -U lock:w:$(BOARD_BOOTLOADER_UNLOCK):m
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	$(AVRDUDE) $(AVRDUDEFLAGS) -eU lfuse:w:$(BOARD_BOOTLOADER_LFUSES):m
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	$(AVRDUDE) $(AVRDUDEFLAGS) -U hfuse:w:$(BOARD_BOOTLOADER_HFUSES):m
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ifneq "$(BOARD_BOOTLOADER_EFUSES)" ""
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	$(AVRDUDE) $(AVRDUDEFLAGS) -U efuse:w:$(BOARD_BOOTLOADER_EFUSES):m
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endif
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ifneq "$(BOOTLOADERHEX)" ""
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	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(BOOTLOADERHEX):i
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endif
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	$(AVRDUDE) $(AVRDUDEFLAGS) -U lock:w:$(BOARD_BOOTLOADER_LOCK):m
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# building the target
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$(TARGET).hex: $(TARGET).elf
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	$(OBJCOPY) -O ihex -R .eeprom $< $@
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.INTERMEDIATE: $(TARGET).elf
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$(TARGET).elf: $(ARDUINOLIB) $(OBJECTS)
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	$(CC) $(LINKFLAGS) $(OBJECTS) $(ARDUINOLIB) -lm -o $@
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%.o: %.ino
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	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))
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	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $(CPPINOFLAGS) $<
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%.o: %.pde
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	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))
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	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $(CPPINOFLAGS) $<
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%.o: %.c
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	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))
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	$(COMPILE.c) $(CPPDEPFLAGS) -o $@ $<
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%.o: %.cpp
461
	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))
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	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
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%.o: %.cc
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	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))
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	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
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%.o: %.C
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	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))
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	$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ $<
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%.o: %.S
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	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))
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	$(COMPILE.S) $(CPPDEPFLAGS) -o $@ $<
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# building the arduino library
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$(ARDUINOLIB): $(ARDUINOLIBOBJS)
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	$(AR) rcs $@ $?
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.lib/%.c.o: %.c
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	mkdir -p $(dir $@)
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	$(COMPILE.c) -o $@ $<
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.lib/%.cpp.o: %.cpp
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	mkdir -p $(dir $@)
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	$(COMPILE.cpp) -o $@ $<
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.lib/%.cc.o: %.cc
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	mkdir -p $(dir $@)
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	$(COMPILE.cpp) -o $@ $<
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.lib/%.C.o: %.C
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	mkdir -p $(dir $@)
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	$(COMPILE.cpp) -o $@ $<
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.lib/%.s.o: %.s
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	mkdir -p $(dir $@)
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	$(COMPILE.s) -o $@ $<
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.lib/%.S.o: %.S
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	mkdir -p $(dir $@)
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	$(COMPILE.S) -o $@ $<
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# Local Variables:
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# mode: makefile
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# tab-width: 4
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# End: