Merge pull request #508 from fuzzyTew/robotis-opencm
Add makefile for Robotis OpenCM
This commit is contained in:
Sudar Muthu
GitHub
commit
d738cac966
11 changed files with 406 additions and 6 deletions
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@ -19,7 +19,7 @@
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#
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# Original Arduino adaptation by mellis, eighthave, oli.keller
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#
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# Current version: 1.5.2
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# Current version: 1.6.0
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#
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# Refer to HISTORY.md file for complete history of changes
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#
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@ -5,14 +5,18 @@ The following is the rough list of changes that went into different versions.
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I tried to give credit whenever possible. If I have missed anyone, kindly add it to the list.
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### In Development
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- TBC
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### 1.6.0 (2017-07-11)
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- Fix: Allowed for SparkFun's weird usb pid/vid submenu shenanigans (issue #499). (https://github.com/sej7278)
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- Fix: Do not include the Arduino header when calling generate_assembly on .cpp files. (https://github.com/Batchyx)
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- Fix: Auto-detect F_CPU on Teensy from boards.txt (https://github.com/DaWelter)
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- Fix: params typo in PuTTY section (issue #487) (https://github.com/ericdand)
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- Fix: Fixed sed expression to properly format show_submenu (issue #488) (https://github.com/cbosdo)
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- New: Add support for good old cu as monitor command (issue #492) (https://github.com/mwm)
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- Tweak: Removed tilde from documentation (issue #497). (https://github.com/sej7278)
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- New: Add support for good old cu as monitor command (issue #492) (https://github.com/mwm)
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- New: Add a documentation how to setup Makefile for 3rd party boards (issue #499). (https://github.com/MilanV)
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- New: Add support for Robotis OpenCM boards
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### 1.5.2 (2017-01-11)
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236
OpenCM.mk
Normal file
236
OpenCM.mk
Normal file
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@ -0,0 +1,236 @@
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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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10
README.md
10
README.md
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@ -279,9 +279,17 @@ For Teensy 3.x support you must first install [Teensyduino](http://www.pjrc.com/
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See examples/BlinkTeensy for example usage.
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## Robotis OpenCM
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For Robotis OpenCM support you must first install [the OpenCM IDE](http://support.robotis.com/en/software/robotis_opencm/robotis_opencm.htm)
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See examples/BlinkOpenCM for example usage.
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For large Robotis projects, [libmaple](https://github.com/Rhoban/Maple) may be more appropriate, as the OpenCM IDE uses a very old compiler release.
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## Versioning
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The current version of the makefile is `1.5.2`. You can find the full history in the [HISTORY.md](HISTORY.md) file
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The current version of the makefile is `1.6.0`. You can find the full history in the [HISTORY.md](HISTORY.md) file
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This project adheres to Semantic [Versioning 2.0](http://semver.org/).
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@ -1,4 +1,4 @@
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.TH ARD-RESET-ARDUINO "1" "January 2017" "ard-reset-arduino 1.5.2" "Arduino CLI Reset"
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.TH ARD-RESET-ARDUINO "1" "January 2017" "ard-reset-arduino 1.6.0" "Arduino CLI Reset"
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.SH NAME
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ard-reset-arduino - Reset Arduino board
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94
bin/robotis-loader
Executable file
94
bin/robotis-loader
Executable file
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@ -0,0 +1,94 @@
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#!/usr/bin/python
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# This script sends a program on a robotis board (OpenCM9.04 or CM900)
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# using the robotis bootloader (used in OpenCM IDE)
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#
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# Usage:
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# python robotis-loader.py <serial port> <binary>
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#
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# Example:
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# python robotis-loader.py /dev/ttyACM0 firmware.bin
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#
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# https://github.com/Gregwar/robotis-loader
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import serial, sys, os, time
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print('~~ Robotis loader ~~')
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print('')
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# Reading command line
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if len(sys.argv) != 3:
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exit('! Usage: robotis-loader.py <serial-port> <binary>')
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pgm, port, binary = sys.argv
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# Helper to prints a progress bar
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def progressBar(percent, precision=65):
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threshold=precision*percent/100.0
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sys.stdout.write('[ ')
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for x in xrange(0, precision):
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if x < threshold: sys.stdout.write('#')
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else: sys.stdout.write(' ')
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sys.stdout.write(' ] ')
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sys.stdout.flush()
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# Opening the firmware file
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try:
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stat = os.stat(binary)
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size = stat.st_size
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firmware = file(binary, 'rb')
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print('* Opening %s, size=%d' % (binary, size))
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except:
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exit('! Unable to open file %s' % binary)
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# Opening serial port
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try:
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s = serial.Serial(port, baudrate=115200)
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except:
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exit('! Unable to open serial port %s' % port)
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print('* Resetting the board')
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s.setRTS(True)
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s.setDTR(False)
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time.sleep(0.1)
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s.setRTS(False)
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s.write('CM9X')
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s.close()
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time.sleep(1.0);
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print('* Connecting...')
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s = serial.Serial(port, baudrate=115200)
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s.write('AT&LD')
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print('* Download signal transmitted, waiting...')
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# Entering bootloader sequence
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while True:
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line = s.readline().strip()
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if line.endswith('Ready..'):
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print('* Board ready, sending data')
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cs = 0
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pos = 0
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while True:
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c = firmware.read(2048)
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if len(c):
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pos += len(c)
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sys.stdout.write("\r")
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progressBar(100*float(pos)/float(size))
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s.write(c)
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for k in range(0,len(c)):
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cs = (cs+ord(c[k]))%256
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else:
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break
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print('')
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s.setDTR(True)
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print('* Checksum: %d' % (cs))
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s.write(chr(cs))
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print('* Firmware was sent')
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else:
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if line == 'Success..':
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print('* Success, running the code')
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print('')
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s.write('AT&RST')
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s.close()
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exit()
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else:
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print('Board -> '+line)
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18
examples/BlinkOpenCM/Blink.ino
Normal file
18
examples/BlinkOpenCM/Blink.ino
Normal file
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@ -0,0 +1,18 @@
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/*
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Blink
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Turns an LED on for one second, then off for one second, repeatedly.
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This example code is in the public domain.
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*/
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void setup() {
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// initialize the led pin as an output.
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pinMode(BOARD_LED_PIN, OUTPUT);
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}
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void loop() {
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digitalWrite(BOARD_LED_PIN, HIGH); // set the LED on
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delay(1000); // wait for a second
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digitalWrite(BOARD_LED_PIN, LOW); // set the LED off
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delay(1000); // wait for a second
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}
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7
examples/BlinkOpenCM/Makefile
Normal file
7
examples/BlinkOpenCM/Makefile
Normal file
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@ -0,0 +1,7 @@
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BOARD_TAG = cm904
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ARDUINO_LIBS =
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#MONITOR_PORT = /dev/ttyACM0
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#OPENCMIDE_DIR = /where/you/installed/robotis_opencm
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include ../../OpenCM.mk
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@ -1,5 +1,5 @@
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Name: arduino-mk
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Version: 1.5.2
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Version: 1.6.0
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Release: 1%{dist}
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Summary: Program your Arduino from the command line
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Packager: Simon John <git@the-jedi.co.uk>
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@ -37,6 +37,8 @@ install -m 644 *.mk arduino-mk-vars.md %{buildroot}/%{_datadir}/arduino
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install -m 644 licence.txt %{buildroot}/%{_docdir}/%{name}
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install -m 755 bin/ard-reset-arduino %{buildroot}/%{_bindir}/ard-reset-arduino
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install -m 644 ard-reset-arduino.1 %{buildroot}/%{_mandir}/man1
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install -m 755 bin/robotis-loader %{buildroot}/%{_bindir}/robotis-loader
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install -m 644 robotis-loader.1 %{buildroot}/%{_mandir}/man1
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%clean
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rm -rf %{buildroot}
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@ -45,6 +47,8 @@ rm -rf %{buildroot}
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%defattr(-,root,root,-)
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%{_bindir}/ard-reset-arduino
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%{_mandir}/man1/ard-reset-arduino.1*
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%{_bindir}/robotis-loader
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%{_mandir}/man1/robotis-loader.1*
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%{_datadir}/arduino/*.mk
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%{_datadir}/arduino/arduino-mk-vars.md
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%doc %{_docdir}/%{name}/licence.txt
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@ -52,6 +56,8 @@ rm -rf %{buildroot}
|
|||
%{_docdir}/%{name}/examples
|
||||
|
||||
%changelog
|
||||
* Tue Jul 11 2017 Karl Semich <fuzzyTew@gmail.com>
|
||||
- Added robotis-loader binary and manpage
|
||||
* Sat Apr 12 2014 Simon John <git@the-jedi.co.uk>
|
||||
- Put manpage back.
|
||||
* Fri Apr 04 2014 Simon John <git@the-jedi.co.uk>
|
||||
|
|
|
|||
27
robotis-loader.1
Normal file
27
robotis-loader.1
Normal file
|
|
@ -0,0 +1,27 @@
|
|||
.TH ROBOTIS-LOADER "1" "July 2017" "robotis-loader" "Robotis CLI Uploader"
|
||||
|
||||
.SH NAME
|
||||
robotis-loader - Flash Robotis boards
|
||||
|
||||
.SH SYNOPSIS
|
||||
.B robotis-loader
|
||||
PORT BINARY
|
||||
|
||||
.SH DESCRIPTION
|
||||
Sends a program on a Robotis board (OpenCM9.04 or CM900) using the
|
||||
Robotis bootloader (used in OpenCM IDE).
|
||||
|
||||
.SH EXAMPLE
|
||||
robotis-loader /dev/ttyACM0 firmware.bin
|
||||
|
||||
.SH BUGS
|
||||
Problems may reported on the github project page at:
|
||||
.PP
|
||||
https://github.com/Gregwar/robotis-loader
|
||||
|
||||
.SH AUTHOR
|
||||
Grégoire Passault, g.passault@gmail.com
|
||||
|
||||
.SH LICENSE
|
||||
This is under MIT license.
|
||||
|
||||
|
|
@ -7,7 +7,7 @@ failures=()
|
|||
# These examples cannot be tested easily at the moment as they require
|
||||
# alternate cores. The MakefileExample doesn't actually contain any source code
|
||||
# to compile.
|
||||
NON_TESTABLE_EXAMPLES=(ATtinyBlink MakefileExample TinySoftWareSerial BlinkTeensy BlinkNetworkRPi BlinkInAVRC)
|
||||
NON_TESTABLE_EXAMPLES=(ATtinyBlink MakefileExample TinySoftWareSerial BlinkOpenCM BlinkTeensy BlinkNetworkRPi BlinkInAVRC)
|
||||
|
||||
for dir in $TESTS_DIR/*/
|
||||
do
|
||||
|
|
|
|||
Loading…
Reference in a new issue