/elec/quadcopter

#_______________________________________________________________________________

#

#                         edam's Arduino makefile

#_______________________________________________________________________________

#                                                                 version 0.6dev

#

# Copyright (C) 2011 to 2013 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 is intended to be a drop-in replacement for the Arduino IDE's

# build system.  It works with the Arduino 1.0 and 1.5 software releases, on

# GNU/Linux and OS X.  To download the latest version of this makefile visit

# the following website where you can also find documentation on it's use.

# (The following text can only really be considered a reference.)

#

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

#

# To use this makefile, copy arduino.mk in to your project directory.  Or, you

# could save it 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, including the new 1.5 BETA) is

# required.  On GNU/Linux you can probably install the software from your

# package manager.  If you are using Debian (or a derivative), try `apt-get

# install arduino`.  Otherwise, you can download the Arduino software manually

# from http://arduino.cc/.  It is suggested that you install it at

# ~/opt/arduino (or /Applications on OS X) if you are unsure.

#

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

# *other* than ~/opt/arduino (or /Applications), you will need to set up the

# ARDUINODIR environment variable to be the directory where you unpacked it.

# (If unset, ARDUINODIR defaults to some sensible places).  You could set this

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

#

#   export ARDUINODIR=~/somewhere/arduino-1.0.5

#

# For each project, 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.

# For example:

#

#   $ export BOARD=uno

#

# Note that if you're using the newer 1.5 Arduino software and the board you

# want to use is availble with different processors, you will also need to

# specify one.  For example:

#

#   $ export BOARD=mini.atmega328

#

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

#

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

# determine values for SOURCES, TARGET and which libraries to pull-in to the

# build (although you can still override thius by setting 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 in a project directory and if you want to be compatible with

# the Arduino IDE, it should be called the same as the directory name.

#

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

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

# (You don't need to define TARGET).  You can also specify the BOARD here, if

# the project has a specific one.  Here is an example Makefile:

#

#   SOURCES := main.cc other.cc

#   LIBRARIES := EEPROM

#   BOARD := pro5v

#   include ~/src/arduino.mk

#

# Here is a complete list of environment variables that affect the build:

#

# ARDUINODIR   The directory where the Arduino software resides 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 avrdude is.  If set empty, no avrdude.conf is

#              passed to avrdude (so 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.  For Arduino 1.5, you will also need to specify a

#              processor if the board supports multiple processors (see above).

#

# 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" (in the project directory), then your sketchbook

#              "libraries" directory, then the Arduino libraries directory.

#

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

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

#              connected Arduino's serial device, which may work in some cases.

#

# 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 target (building it, as necessary) 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

ifndef ARDUINODIR

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

	/Applications/Arduino.app/Contents/Resources/Java \

	$(HOME)/Applications/Arduino.app/Contents/Resources/Java))

endif

# check ARDUINODIR (and determine which backends are available)

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

ARDUINOBACKENDS := /

else ifneq "" "$(wildcard $(ARDUINODIR)/hardware/arduino/avr/boards.txt)"

ARDUINOBACKENDS := /avr /sam

else

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

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(s)

BOARDSFILES := $(foreach dir, $(ARDUINOBACKENDS), \

	$(ARDUINODIR)/hardware/arduino$(dir)/boards.txt)

readboardsparam = $(firstword \

	$(shell sed -ne "s/^menu\\.cpu\\.$(BOARD)\\.$(1)=\(.*\)/\1/Ip" \

		$(BOARDSFILES)) \

	$(shell sed -ne "s/^$(basename $(BOARD))\\.$(1)=\(.*\)/\1/Ip" \

		$(BOARDSFILES)))

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

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

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

BOARD_BUILD_CORE := $(call readboardsparam,build.core)

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)

# 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

# obtain preferences from the IDE's preferences.txt

PREFERENCESFILE := $(firstword $(wildcard \

	$(HOME)/.arduino/preferences.txt $(HOME)/Library/Arduino/preferences.txt))

ifneq "$(PREFERENCESFILE)" ""

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

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

endif

# arduino directories

ARDUINOBACKENDDIR := $(strip $(foreach dir, $(ARDUINOBACKENDS), \

	$(if $(shell grep ^$(basename $(BOARD))\\.name \

		$(ARDUINODIR)/hardware/arduino$(dir)/boards.txt), \

	$(ARDUINODIR)/hardware/arduino$(dir))))

ARDUINOCOREDIR := $(ARDUINOBACKENDDIR)/cores/$(BOARD_BUILD_CORE)

# default library path (places to look for libraries)

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

	$(ARDUINODIR)/libraries $(ARDUINOBACKENDDIR)/libraries

# 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 target

TARGET := $(basename $(INOFILE))

SOURCES := $(INOFILE) \

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

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

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

# automatically determine library directories (to pull library sources in from)

# by matching included headers in poject sources to headers that exist in the

# roots of any library directories, giving priority to libraries in the order

# they're in LIBRARYPATH, and then to the alphabetically-greater named library

# (this is a really stupid way of doing it, but it's how the IDE works -- if

# it's causing problems, you can override it by setting LIBRARIES manually)

INCLUDEDHEADERS := \

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

	$(SOURCES))

reverse = $(if $(1),$(call reverse,$(wordlist 2,$(words $(1)),$(1)))) \

	$(firstword $(1))

LIBRARYHEADERS := $(foreach dir, $(LIBRARYPATH), \

	$(call reverse, $(sort $(wildcard $(dir)/*))))

LIBRARYHEADERS := $(foreach dir, $(LIBRARYHEADERS), $(wildcard $(dir)/*.h))

LIBRARYDIRS := $(foreach hdr, $(INCLUDEDHEADERS), $(patsubst %/$(hdr), %, \

	$(firstword $(filter %/$(hdr), $(LIBRARYHEADERS)))))

endif

# expand LIBRARYDIRS (initialised from LIBRARIES, if specified)

ifneq "$(LIBRARIES)" ""

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

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

endif

LIBRARYDIRS := $(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 *.cc *.cpp *.C *.s *.S))))

BOOTLOADERHEX := $(addprefix \

	$(ARDUINOBACKENDDIR)/bootloaders/$(BOARD_BOOTLOADER_PATH)/, \

	$(BOARD_BOOTLOADER_FILE))

# software

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

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

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

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

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

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

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

AS := $(call findsoftware,avr-as)

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

AVRDUDE := $(call findsoftware,avrdude)

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

# default arduino version

ARDUINOCONST ?= $(if $(filter /, $(ARDUINOBACKENDS)),100,150)

# 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

# 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 $(ARDUINOBACKENDDIR)/variants/$(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) -c$(BOARD_UPLOAD_PROTOCOL)

AVRDUDEFLAGS += $(addprefix -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

else ifeq "" "$(filter net:% usb:%,$(SERIALDEV))"

	stty $(STTYFARG) $(SERIALDEV) hupcl

endif

	$(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 BOARD values:"

	@sed -ne '/^\w\+\.name=/p; /^menu\.cpu\.\w\+\.\w\+=/p;' $(BOARDSFILES) | \

		sed -e 's/\(\w\+\)\.name=\(.*\)/\1                   \2/' \

			-e 's/menu.cpu.\w\+\(\.\w\+\)=\(.*\)/  \1                  --\2/' \

			-e 's/\(.\{19\}\) *\(.*\)/  \1 \2/; s/--/  ...with /;'

ifneq "$(ARDUINOBACKENDS)" "/"

	@echo

	@echo "NOTE: where a board supports multiple CPUs, you must specify" \

		"one.  For example,"

	@echo "'uno' is OK, and so is 'pro.16mhzatmega328'.  But 'pro', on" \

		"its own, is not."

endif

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 "\n" && $(AVRSIZE) --format=avr --mcu=$(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: %.ino

	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))

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

%.o: %.pde

	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))

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

%.o: %.c

	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))

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

%.o: %.cpp

	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))

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

%.o: %.cc

	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))

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

%.o: %.C

	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))

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

%.o: %.S

	mkdir -p .dep/$(pathsubst ./%,%,$(dir $<))

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

# 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 $@ $<

.lib/%.s.o: %.s

	mkdir -p $(dir $@)

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

.lib/%.S.o: %.S

	mkdir -p $(dir $@)

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

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# mode: makefile

# tab-width: 4

# End: