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########################################################################
#
# Support for Robotis OpenCM boards
#
# http://en.robotis.com/index/product.php?cate_code=131010
#
# You must install the OpenCM IDE for this Makefile to work:
#
# http://support.robotis.com/en/software/robotis_opencm/robotis_opencm.htm
#
# Based on work that is copyright Jeremy Shaw, Sudar, Nicholas Zambetti,
# David A. Mellis & Hernando Barragan.
#
# This file is free software; you can redistribute it and/or modify it
# under the terms of the GNU Lesser General Public License as
# published by the Free Software Foundation; either version 2.1 of the
# License, or (at your option) any later version.
#
# Adapted from Teensy 3.x makefile which was adapted from Arduino 0011
# Makefile by M J Oldfield
#
# Original Arduino adaptation by mellis, eighthave, oli.keller
#
########################################################################
ifndef ARDMK_DIR
ARDMK_DIR := $(realpath $(dir $(realpath $(lastword $(MAKEFILE_LIST)))))
endif
# include Common.mk now we know where it is
include $(ARDMK_DIR)/Common.mk
ARDUINO_DIR = $(OPENCMIDE_DIR)
ifndef ARDMK_VENDOR
ARDMK_VENDOR = robotis
endif
ifndef ARDUINO_CORE_PATH
ARDUINO_CORE_PATH = $(ARDUINO_DIR)/hardware/robotis/cores/robotis
endif
ifndef BOARDS_TXT
BOARDS_TXT = $(ARDUINO_DIR)/hardware/$(ARDMK_VENDOR)/boards.txt
endif
ifndef PARSE_OPENCM
# result = $(call READ_BOARD_TXT, 'boardname', 'parameter')
PARSE_OPENCM = $(shell grep -v "^\#" "$(BOARDS_TXT)" | grep $(1).$(2) | cut -d = -f 2- )
endif
ifndef F_CPU
F_CPU := $(call PARSE_OPENCM,$(BOARD_TAG),build.f_cpu)
endif
# if boards.txt gets modified, look there, else hard code it
ARCHITECTURE = $(call PARSE_OPENCM,$(BOARD_TAG),build.architecture)
ifeq ($(strip $(ARCHITECTURE)),)
ARCHITECTURE = arm
endif
AVR_TOOLS_DIR = $(call dir_if_exists,$(ARDUINO_DIR)/hardware/tools/$(ARCHITECTURE))
# Robotis has moved the platform lib dir to their root folder
ifndef ARDUINO_PLATFORM_LIB_PATH
ARDUINO_PLATFORM_LIB_PATH = $(ARDUINO_DIR)/libraries
$(call show_config_variable,ARDUINO_PLATFORM_LIB_PATH,[COMPUTED],(from ARDUINO_DIR))
endif
ifndef ARDUINO_HEADER
ARDUINO_HEADER = wirish.h
endif
########################################################################
# command names
ifndef CC_NAME
CC_NAME := $(call PARSE_OPENCM,$(BOARD_TAG),build.command.gcc)
ifndef CC_NAME
CC_NAME := arm-none-eabi-gcc
else
$(call show_config_variable,CC_NAME,[COMPUTED])
endif
endif
ifndef CXX_NAME
CXX_NAME := $(call PARSE_OPENCM,$(BOARD_TAG),build.command.g++)
ifndef CXX_NAME
CXX_NAME := arm-none-eabi-g++
else
$(call show_config_variable,CXX_NAME,[COMPUTED])
endif
endif
ifndef AS_NAME
AS_NAME := $(call PARSE_OPENCM,$(BOARD_TAG),build.command.as)
ifndef AS_NAME
AS_NAME := arm-none-eabi-as
else
$(call show_config_variable,AS_NAME,[COMPUTED])
endif
endif
ifndef OBJDUMP_NAME
OBJDUMP_NAME := $(call PARSE_OPENCM,$(BOARD_TAG),build.command.objdump)
ifndef OBJDUMP_NAME
OBJDUMP_NAME := arm-none-eabi-objdump
else
$(call show_config_variable,OBJDUMP_NAME,[COMPUTED])
endif
endif
ifndef AR_NAME
AR_NAME := $(call PARSE_OPENCM,$(BOARD_TAG),build.command.ar)
ifndef AR_NAME
AR_NAME := arm-none-eabi-ar
else
$(call show_config_variable,AR_NAME,[COMPUTED])
endif
endif
ifndef SIZE_NAME
SIZE_NAME := $(call PARSE_OPENCM,$(BOARD_TAG),build.command.size)
ifndef SIZE_NAME
SIZE_NAME := arm-none-eabi-size
else
$(call show_config_variable,SIZE_NAME,[COMPUTED])
endif
endif
ifndef NM_NAME
NM_NAME := $(call PARSE_OPENCM,$(BOARD_TAG),build.command.nm)
ifndef NM_NAME
NM_NAME := arm-none-eabi-nm
else
$(call show_config_variable,NM_NAME,[COMPUTED])
endif
endif
ifndef OBJCOPY_NAME
OBJCOPY_NAME := $(call PARSE_OPENCM,$(BOARD_TAG),build.command.objcopy)
ifndef OBJCOPY_NAME
OBJCOPY_NAME := arm-none-eabi-objcopy
else
$(call show_config_variable,OBJCOPY_NAME,[COMPUTED])
endif
endif
# processor stuff
ifndef MCU
MCU := $(call PARSE_OPENCM,$(BOARD_TAG),build.family)
endif
ifndef MCU_FLAG_NAME
MCU_FLAG_NAME=mcpu
endif
########################################################################
# FLAGS
ifndef USB_TYPE
USB_TYPE = USB_SERIAL
endif
CPPFLAGS += -DBOARD_$(call PARSE_OPENCM,$(BOARD_TAG),build.board)
CPPFLAGS += -DMCU_$(call PARSE_OPENCM,$(BOARD_TAG),build.mcu)
CPPFLAGS += -DSTM32_MEDIUM_DENSITY -DVECT_TAB_FLASH
CPPFLAGS += $(call PARSE_OPENCM,$(BOARD_TAG),build.option)
CXXFLAGS += -fno-rtti
CXXFLAGS += $(call PARSE_OPENCM,$(BOARD_TAG),build.cppoption)
ifeq ("$(call PARSE_OPENCM,$(BOARD_TAG),build.gnu0x)","true")
CXXFLAGS_STD += -std=gnu++0x
endif
ifeq ("$(call PARSE_OPENCM,$(BOARD_TAG),build.elide_constructors)", "true")
CXXFLAGS += -felide-constructors
endif
CPPFLAGS += -mthumb -march=armv7-m -nostdlib -Wl,--gc-sections -Wall
LDFLAGS += -T$(ARDUINO_DIR)/hardware/robotis/cores/robotis/CM900/flash.ld
LDFLAGS += -L$(ARDUINO_CORE_PATH)
LDFLAGS += -mthumb -Xlinker --gc-sections -Wall
OTHER_LIBS += -lstdc++
########################################################################
# Reset is handled by upload script
override RESET_CMD =
########################################################################
# Object conversion & uploading magic, modified from Arduino.mk
override TARGET_HEX = $(OBJDIR)/$(TARGET).bin
ifndef AVRDUDE
AVRDUDE := $(shell which robotis-loader 2>/dev/null)
ifndef AVRDUDE
AVRDUDE = $(ARDMK_DIR)/bin/robotis-loader
endif
endif
override avr_size = $(SIZE) --target=binary $(2)
override AVRDUDE_COM_OPTS =
ifeq ($(CURRENT_OS), WINDOWS)
override AVRDUDE_ARD_OPTS = $(COM_STYLE_MONITOR_PORT)
else
override AVRDUDE_ARD_OPTS = $(call get_monitor_port)
endif
override AVRDUDE_UPLOAD_HEX = $(TARGET_HEX)
########################################################################
# automatically include Arduino.mk
include $(ARDMK_DIR)/Arduino.mk
########################################################################
# Object conversion & uploading magic, modified from Arduino.mk
$(OBJDIR)/%.bin: $(OBJDIR)/%.elf $(COMMON_DEPS)
@$(MKDIR) $(dir $@)
$(OBJCOPY) -v -Obinary $< $@
@$(ECHO) '\n'
$(call avr_size,$<,$@)
ifneq ($(strip $(HEX_MAXIMUM_SIZE)),)
@if [ `$(SIZE) --target=binary $@ | awk 'FNR == 2 {print $$2}'` -le $(HEX_MAXIMUM_SIZE) ]; then touch $@.sizeok; fi
else
@$(ECHO) "Maximum flash memory of $(BOARD_TAG) is not specified. Make sure the size of $@ is less then $(BOARD_TAG)\'s flash memory"
@touch $@.sizeok
endif
# link fails to plug _sbrk into libc if core is a lib, seems a bug in the linker
CORE_LIB = $(CORE_OBJS)
|
