/elec/quadcopter : revision 16

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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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#

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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; }

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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

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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: