/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 $@ $<

# Local Variables:
# mode: makefile
# tab-width: 4
# End: