/elec/quadcopter : revision 2

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

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

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

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

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

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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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# ARDUINODIR The path where the Arduino software is installed 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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# 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 the avrdude in use is. If empty, no avrdude.conf

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

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

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

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#

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# AVRTOOLSPATH A space-separated list of directories to search in order when

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

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# followed by subdirectories in ARDUINODIR if undefined.

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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.

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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" and then the Arduino software's libraries directory.

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#

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

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

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# connected Arduino's serial device.

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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 bulit target.

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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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ARDUINOCONST ?= 100

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# default path for avr tools

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ifndef AVRTOOLSPATH

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AVRTOOLSPATH := $(subst :, , $(PATH))

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AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools

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AVRTOOLSPATH += $(ARDUINODIR)/hardware/tools/avr/bin

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

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

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# default path to find libraries

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

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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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# 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

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

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

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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_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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# obtain preferences from the IDE's preferences.txt

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PREFERENCESFILE := $(wildcard $(HOME)/.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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# 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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# auto mode?

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# automatically determine sources and targeet

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TARGET := $(basename $(INOFILE))

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SOURCES := $(INOFILE) \

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

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

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

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

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

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

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# automatically determine included libraries

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LIBRARIES := $(filter $(notdir $(wildcard $(ARDUINODIR)/libraries/*)), \

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

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

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endif

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# no serial device? make a poor attempt to detect an arduino

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SERIALDEVGUESS := 0

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ifeq "$(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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# software

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

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

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AVRDUDE := $(call findsoftware,avrdude)

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

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# directories

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

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

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

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

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ARDUINOLIB := .lib/arduino.a

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ARDUINOLIBLIBSDIR := $(ARDUINODIR)/libraries

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

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$(ARDUINODIR)/libraries/$(lib)/ $(ARDUINODIR)/libraries/$(lib)/utility/ )

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

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

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

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BOOTLOADERHEX := $(addprefix \

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

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$(BOARD_BOOTLOADER_FILE))

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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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endif

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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

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

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BOARD_BUILD_MCU := \

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$(shell sed -ne "s/$(BOARD).build.mcu=$.*$/\1/p" $(BOARDS_FILE))

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BOARD_BUILD_FCPU := \

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$(shell sed -ne "s/$(BOARD).build.f_cpu=$.*$/\1/p" $(BOARDS_FILE))

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BOARD_BUILD_VARIANT := \

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$(shell sed -ne "s/$(BOARD).build.variant=$.*$/\1/p" $(BOARDS_FILE))

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BOARD_UPLOAD_SPEED := \

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$(shell sed -ne "s/$(BOARD).upload.speed=$.*$/\1/p" $(BOARDS_FILE))

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BOARD_UPLOAD_PROTOCOL := \

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$(shell sed -ne "s/$(BOARD).upload.protocol=$.*$/\1/p" $(BOARDS_FILE))

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BOARD_USB_VID := \

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$(shell sed -ne "s/$(BOARD).build.vid=$.*$/\1/p" $(BOARDS_FILE))

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BOARD_USB_PID := \

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$(shell sed -ne "s/$(BOARD).build.pid=$.*$/\1/p" $(BOARDS_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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# 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 += -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 $(ARDUINODIR)/hardware/arduino/variants/$(BOARD_BUILD_VARIANT)/

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CPPFLAGS += $(addprefix -I $(ARDUINODIR)/libraries/, $(LIBRARIES))

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CPPFLAGS += $(patsubst %, -I $(ARDUINODIR)/libraries/%/utility, $(LIBRARIES))

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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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#_______________________________________________________________________________

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# RULES

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.PHONY: all target upload clean boards monitor size

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.PHONY: all target upload clean boards monitor size bootloader

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all: target

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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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endif

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stty $(STTYFARG) $(SERIALDEV) hupcl

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

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rm -rf .lib .dep

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boards:

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@echo Available values for BOARD:

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

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@echo "Available values for BOARD:"

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

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

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

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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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size: $(TARGET).elf

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echo && $(AVRSIZE) --format=avr --mcu=$(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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%.o: %.pde

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

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$(COMPILE.cpp) $(CPPDEPFLAGS) -o $@ -x c++ -include $(ARDUINOCOREDIR)/Arduino.h $<

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

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# building the arduino library

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