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