/make/arduino-mk : revision 28

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#_______________________________________________________________________________

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#

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# edam's Arduino makefile

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# edam's arduino makefile

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#_______________________________________________________________________________

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# version 0.5dev

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# version 0.2

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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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#

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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 works with the arduino-1.0 software release. To download the

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# latest version of this makefile, visit the following website, where you can

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# also find more information and documentation on it's use. The following text

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# can only really be considered a reference to it's use.

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# software. It works with the arduino-1.0 release and requires that software

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# to be downloaded separately (see http://arduino.cc/). To download the latest

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# version of this makefile, visit the following website, where you can also

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# find more information and documentation on it's use. The following text can

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# only really be considered a reference to it's use.

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#

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

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#

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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) is required. If you are using

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# Debian (or a derivative), type `apt-get install arduino`. Otherwise, you

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# will have to download the Arduino software manually from http://arduino.cc/.

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# It is suggested that you install it at ~/opt/arduino 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, you will need to set up ARDUINODIR to be the path

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# where you unpacked it. (If unset, ARDUINODIR defaults to ~/opt/arduino and

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# then /usr/share/arduino, in that order.) You might be best to set this in

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# You also need to set up a couple of environment variables. ARDUINODIR should

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# be set to the path where you unpacked the arduino software from arduino.cc

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# (it defaults to ~/opt/arduino if unset). You might be best to set this in

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

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#

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# export ARDUINODIR=~/somewhere/arduino-1.0

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#

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# You will also need to set BOARD to the type of Arduino you're building for.

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# Type `make boards` for a list of acceptable values. You could set a default

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# in your ~/.profile if you want, but it is suggested that you specify this at

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# build time, especially if you work with different types of Arduino. For

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# example:

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# You will also need to set BOARD to the type of arduino you're using. This

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# can be done when running make (or you could set a default in ~/.profile and

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# override it as necessary). For example:

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#

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# $ export BOARD=uno

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# $ make

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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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#

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# Here is a complete list of configuration parameters:

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#

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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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#

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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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# ARDUINODIR The path where you have installed/unpacked the arduino software

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# (from http://arduino.cc/)

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

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# lookin 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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#

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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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# 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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# 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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# connected arduino's serial device.

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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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# 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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# target and uploads it.

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#

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# target Builds the target.

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#

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# upload Uploads the last built target to an attached Arduino.

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# upload Uploads the last built target to an attached arduino.

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#

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# clean Deletes files created during the build.

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#

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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 bulit target.

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#

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# bootloader Burns the bootloader for your board to it.

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# equivalent to the arduino serial monitor.

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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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# default arduino software directory, check software exists

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ifndef ARDUINODIR

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

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ARDUINODIR := $(wildcard ~/opt/arduino)

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endif

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

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

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ARDUINOCONST ?= 100

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# default path for avr tools

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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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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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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 *.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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$(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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# automatically determine included libraries

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

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ARDUINOLIBSAVAIL := $(notdir $(wildcard $(ARDUINODIR)/libraries/*))

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LIBRARIES := $(filter $(ARDUINOLIBSAVAIL), \

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

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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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# 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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BOOTLOADERDIR := \

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

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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)/, *.c *.cpp))))

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BOOTLOADERHEX := $(wildcard $(BOOTLOADERDIR)/$(BOARD_BOOTLOADER_FILE))

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# avrdude confifuration

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

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ARDUINOLIBSDIR := $(ARDUINODIR)/libraries

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ARDUINOLIB := _arduino.a

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ARDUINOLIBTMP := $(ARDUINOLIB).tmp

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ARDUINOLIBOBJS := $(patsubst %, $(ARDUINOLIBTMP)/%.o, $(basename $(notdir \

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$(wildcard $(addprefix $(ARDUINOSRCDIR)/, *.c *.cpp)))))

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ARDUINOLIBOBJS += $(foreach lib, $(LIBRARIES), \

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$(patsubst %, $(ARDUINOLIBTMP)/%.o, $(basename $(notdir \

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$(wildcard $(addprefix $(ARDUINOLIBSDIR)/$(lib)/, *.c *.cpp)) \

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

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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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# 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 := -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 $(ARDUINODIR)/hardware/arduino/variants/$(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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CPPFLAGS += -I. -Iutil -Iutility -I$(ARDUINOSRCDIR)

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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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AVRDUDEFLAGS := $(addprefix -C , $(AVRDUDECONF)) -DV

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AVRDUDEFLAGS += -p $(BOARD_BUILD_MCU) -P $(SERIALDEV)

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AVRDUDEFLAGS += -c $(BOARD_UPLOAD_PROTOCOL) -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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LINKFLAGS := -Os -Wl,--gc-sections -mmcu=$(BOARD_BUILD_MCU)

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# figure out which arg to use with stty

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STTYFARG := $(shell stty --help > /dev/null 2>&1 && echo -F || echo -f)

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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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.PHONY: all target upload clean boards monitor

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all: target

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all: target upload

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target: $(TARGET).hex

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upload: target

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upload:

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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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@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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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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rm -rf $(ARDUINOLIBTMP)

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boards:

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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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@echo Available values for BOARD:

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@sed -ne '/^#/d;s/^$.*$.name=$.*$/\1 \2/;T' \

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-e 's/$.\{12\}$ *$.*$/\1 \2/;p' $(BOARDS_FILE)

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monitor:

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@test -n "$(SERIALDEV)" || { \

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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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ecit 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 && $(AVRSIZE) --format=avr --mcu=$(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 "$(BOOTLOADERHEX)" || { \

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echo "error: bootloader file could not be determined." >&2; \

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exit 1; }

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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) $(AVRDUDEFLAGS) -e -U lfuse:w:$(BOARD_BOOTLOADER_LFUSES):m \

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-U hfuse:w:$(BOARD_BOOTLOADER_HFUSES):m \

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$(patsubst %, -U efuse:w:%:m, $(BOARD_BOOTLOADER_EFUSES))

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$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(BOOTLOADERHEX):i

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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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.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: %.c

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

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

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%.o: %.cpp

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

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

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%.o: %.cc

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

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

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%.o: %.C

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

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

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$(CC) $(LINKFLAGS) $(OBJECTS) $(ARDUINOLIB) -o $@

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%.o: %.ino

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

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

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

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%.o: %.pde

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

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

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

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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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rm -rf $(ARDUINOLIBTMP)

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.INTERMEDIATE: $(ARDUINOLIBOBJS)

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$(ARDUINOLIBTMP)/%.o: $(ARDUINOSRCDIR)/%.c

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@test -d $(ARDUINOLIBTMP) || mkdir $(ARDUINOLIBTMP)

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

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$(ARDUINOLIBTMP)/%.o: $(ARDUINOSRCDIR)/%.cpp

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@test -d $(ARDUINOLIBTMP) || mkdir $(ARDUINOLIBTMP)

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

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$(ARDUINOLIBTMP)/%.o: $(ARDUINODIR)/libraries/*/%.c

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@test -d $(ARDUINOLIBTMP) || mkdir $(ARDUINOLIBTMP)

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

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$(ARDUINOLIBTMP)/%.o: $(ARDUINODIR)/libraries/*/%.cpp

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@test -d $(ARDUINOLIBTMP) || mkdir $(ARDUINOLIBTMP)

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

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$(ARDUINOLIBTMP)/%.o: $(ARDUINODIR)/libraries/*/utility/%.c

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@test -d $(ARDUINOLIBTMP) || mkdir $(ARDUINOLIBTMP)

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

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$(ARDUINOLIBTMP)/%.o: $(ARDUINODIR)/libraries/*/utility/%.cpp

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@test -d $(ARDUINOLIBTMP) || mkdir $(ARDUINOLIBTMP)

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