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Arduino-Makefile/OpenCR.mk
ws 7bb270129e MONITOR_PORT is used instead to upload binary on the OpenCR board. 
- For using Arduino makefile with cygwin environmnet, OpenCR uses its own Windows binary to upload an image to the board. For this reason, Windows COM port is needed as an argument instead of using converted device path.

Signed-off-by: wecracy <wecracy@snu.ac.kr>
2021-04-27 17:01:48 +09:00

274 lines
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Makefile
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########################################################################
#
# Support for Robotis OpenCR boards
#
# Written by Dowhan Jeong, EunJin Jeong
# Changed by Woosuk Kang
#
# 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.
#
########################################################################
ifndef ARDUINO_DIR
echo $(error ARDUINO_DIR should be specified)
endif
ifndef BOARD_TAG
echo $(error BOARD_TAG should be specified. check board list with 'make show_boards')
endif
ifndef ARDMK_DIR
ARDMK_DIR := $(realpath $(dir $(realpath $(lastword $(MAKEFILE_LIST)))))
endif
include $(ARDMK_DIR)/Common.mk
ifndef ARDUINO_PACKAGE_DIR
# attempt to find based on Linux, macOS and Windows default
ARDUINO_PACKAGE_DIR := $(firstword \
$(call dir_if_exists,$(HOME)/.arduino15/packages) \
$(call dir_if_exists,$(ARDUINO_DIR)/packages) \
$(call dir_if_exists,$(HOME)/Library/Arduino15/packages) \
$(call dir_if_exists,$(realpath $(USERPROFILE))/AppData/Local/Arduino15/packages) )
$(call show_config_variable,ARDUINO_PACKAGE_DIR,[AUTODETECTED],(from DEFAULT))
else
$(call show_config_variable,ARDUINO_PACKAGE_DIR,[USER])
endif
ifndef ARDMK_VENDOR
ARDMK_VENDOR = OpenCR
endif
ifndef ARCHITECTURE
ARCHITECTURE := OpenCR
endif
ifndef CORE_VER
CORE_VER := $(wildcard $(ARDUINO_PACKAGE_DIR)/$(ARDMK_VENDOR)/hardware/$(ARCHITECTURE)/1.*)
ifneq ($(CORE_VER),)
CORE_VER := $(shell basename $(CORE_VER))
$(call show_config_variable,CORE_VER,[AUTODETECTED],(from ARDUINO_PACKAGE_DIR))
endif
else
$(call show_config_variable,CORE_VER,[USER])
endif
ARCHITECTURE := sam
arduino_output =
# When output is not suppressed and we're in the top-level makefile,
# running for the first time (i.e., not after a restart after
# regenerating the dependency file), then output the configuration.
ifndef ARDUINO_QUIET
ifeq ($(MAKE_RESTARTS),)
ifeq ($(MAKELEVEL),0)
arduino_output = $(info $(1))
endif
endif
endif
# Arduino Settings (will get shown in Arduino.mk as computed)
ifndef ALTERNATE_CORE_PATH
ifdef CORE_VER
ALTERNATE_CORE_PATH = $(ARDUINO_PACKAGE_DIR)/OpenCR/hardware/OpenCR/$(CORE_VER)
else
echo $(error Cannot find $(CORE_VER). Check directory settings.)
endif
endif
ifndef ARDUINO_CORE_PATH
ARDUINO_CORE_PATH= $(ALTERNATE_CORE_PATH)/cores/arduino
endif
ifndef BOARDS_TXT
BOARDS_TXT= $(ALTERNATE_CORE_PATH)/boards.txt
endif
ifndef VARIANT
VARIANT := $(call PARSE_BOARD,$(BOARD_TAG),build.variant)
endif
ARDUINO_VAR_PATH = $(ALTERNATE_CORE_PATH)/variants/$(VARIANT)
# Check boards file exists before continuing as parsing non-existant file can create problems
ifneq ($(findstring boards.txt, $(wildcard $(ALTERNATE_CORE_PATH)/*.txt)), boards.txt)
echo $(error $(CORE_VER) Cannot find boards file $(BOARDS_TXT). Check ?? and board support installed)
endif
# grab any sources in the variant core path.
# directorys were manually checked.
# Core sources(used to generate libcore.a archive)
OPENCR_CORE_C_SRCS_1 := $(wildcard $(ARDUINO_CORE_PATH)/avr/*.c)
OPENCR_CORE_C_SRCS_2 := $(wildcard $(ARDUINO_CORE_PATH)/*.c)
OPENCR_CORE_CPP_SRCS := $(wildcard $(ARDUINO_CORE_PATH)/*.cpp)
# library sources
OPENCR_LIB_C_SRCS_1 := $(wildcard $(ARDUINO_VAR_PATH)/bsp/opencr/*.c)
OPENCR_LIB_C_SRCS_2 := $(wildcard $(ARDUINO_VAR_PATH)/hw/*.c)
OPENCR_LIB_C_SRCS_3 := $(wildcard $(ARDUINO_VAR_PATH)/hw/driver/*.c)
OPENCR_LIB_C_SRCS_4 := $(wildcard $(ARDUINO_VAR_PATH)/hw/usb_cdc/*.c)
OPENCR_LIB_C_SRCS_5 := $(wildcard $(ARDUINO_VAR_PATH)/lib/STM32F7xx_HAL_Driver/Src/*.c)
OPENCR_LIB_CPP_SRCS := $(wildcard $(ARDUINO_VAR_PATH)/*.cpp)
OPENCR_LIB_S_SRCS := $(wildcard $(ARDUINO_VAR_PATH)/bsp/opencr/startup/*.S)
ifndef F_CPU
F_CPU := $(call PARSE_BOARD,$(BOARD_TAG),build.f_cpu)
endif
OPENCR_LIB_OBJ_FILES = $(notdir $(OPENCR_LIB_C_SRCS_1:.c=.c.o)) $(notdir $(OPENCR_LIB_C_SRCS_2:.c=.c.o)) $(notdir $(OPENCR_LIB_C_SRCS_3:.c=.c.o)) $(notdir $(OPENCR_LIB_C_SRCS_4:.c=.c.o)) $(notdir $(OPENCR_LIB_C_SRCS_5:.c=.c.o)) $(notdir $(OPENCR_LIB_CPP_SRCS:.cpp=.cpp.o)) $(notdir $(OPENCR_LIB_S_SRCS:.S=.S.o))
OTHER_OBJS = $(patsubst %, \
$(OBJDIR)/OpenCRlib/%, $(OPENCR_LIB_OBJ_FILES))
OPENCR_CORE_OBJ_FILES = $(notdir $(OPENCR_CORE_C_SRCS_1:.c=.c.o)) $(notdir $(OPENCR_CORE_C_SRCS_2:.c=.c.o)) $(notdir $(OPENCR_CORE_CPP_SRCS:.cpp=.cpp.o))
# override is used since opencr dosen't need other sam core objects
override CORE_OBJS = $(patsubst %, \
$(OBJDIR)/core/%, $(OPENCR_CORE_OBJ_FILES))
ifndef AVR_TOOLS_DIR
AVR_TOOLS_DIR = $(call dir_if_exists,$(ARDUINO_PACKAGE_DIR)/OpenCR/tools/opencr_gcc/5.4.0-2016q2)
endif
ifeq ($(strip $(AVR_TOOLS_DIR)),)
echo $(error $(AVR_TOOLS_DIR) Cannot find AVR_TOOLS_DIR. Check AVR_TOOLS_DIR)
endif
# Robotis OpenCR platform library directory
ifndef ARDUINO_PLATFORM_LIB_PATH
ARDUINO_PLATFORM_LIB_PATH = $(ALTERNATE_CORE_PATH)/libraries
$(call show_config_variable,ARDUINO_PLATFORM_LIB_PATH,[COMPUTED],(from OPENCR_DIR))
endif
########################################################################
# command names
TOOL_PREFIX = arm-none-eabi
# processor stuff
ifndef MCU
MCU := $(call PARSE_BOARD,$(BOARD_TAG),build.mcu)
endif
ifndef MCU_FLAG_NAME
MCU_FLAG_NAME=mcpu
endif
########################################################################
# FLAGS
ifndef USB_TYPE
USB_TYPE = USB_SERIAL
endif
# from platform.txt
CPPFLAGS += -DARDUINO_OpenCR
CPPFLAGS += -DARDUINO_ARCH_OPENCR
CPPFLAGS += $(call PARSE_BOARD,$(BOARD_TAG),build.common_flags)
OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc1)
OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc2)
OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc3)
OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc4)
OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc5)
OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc6)
OPENCR_COMPILER_LIBS_C_FLAGS +=-I$(ARDUINO_VAR_PATH)/$(call PARSE_BOARD,$(BOARD_TAG),build.inc7)
CPPFLAGS += $(OPENCR_COMPILER_LIBS_C_FLAGS)
CFLAGS_STD += -c -g -O2 -std=gnu11 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -Wall -Wextra -DDEBUG_LEVEL=DEBUG_ALL -MMD -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -DBOARD_$(VARIANT)
CXXFLAGS_STD += -c -g -O2 -std=gnu++11 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -Wall -Wextra -DDEBUG_LEVEL=DEBUG_ALL -MMD -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -DBOARD_$(VARIANT)
ASFLAGS += -c -g -x assembler-with-cpp -MMD
LDFLAGS += -lm -lgcc -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-unresolved-symbols -Wl,--start-group -Wl,--whole-archive
LINKER_SCRIPTS = -T$(ARDUINO_VAR_PATH)/bsp/opencr/ldscript/opencr_flash.ld
########################################################################
# Reset is handled by upload script. OpenCR don't neet reset command.
override RESET_CMD =
########################################################################
# Object conversion & uploading magic, modified from Arduino.mk
override TARGET_HEX = $(OBJDIR)/$(TARGET).bin
override avr_size = $(SIZE) --target=binary $(2)
# Define UPLOAD_TOOL as avrdude to use avrdude upload recipe in Arduino.mk
override UPLOAD_TOOL = avrdude
ifeq ($(CURRENT_OS), WINDOWS)
override AVRDUDE = $(ARDUINO_PACKAGE_DIR)/OpenCR/tools/opencr_tools/1.0.0/win/opencr_ld.exe
else
override AVRDUDE = $(ARDUINO_PACKAGE_DIR)/OpenCR/tools/opencr_tools/1.0.0/linux/opencr_ld
endif
override AVRDUDE_COM_OPTS = $(MONITOR_PORT)
override AVRDUDE_ISP_OPTS = 115200 $(TARGET_HEX) 1
override AVRDUDE_ISPLOAD_OPTS =
########################################################################
# automatically include Arduino.mk
include $(ARDMK_DIR)/Arduino.mk
########################################################################
# OpenCR core files
$(OBJDIR)/core/%.c.o: $(ARDUINO_CORE_PATH)/avr/%.c $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
$(OBJDIR)/core/%.c.o: $(ARDUINO_CORE_PATH)/%.c $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
$(OBJDIR)/core/%.cpp.o: $(ARDUINO_CORE_PATH)/%.cpp $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CXX) -MMD -c $(CPPFLAGS) $(CXXFLAGS) $< -o $@
# OpenCR lib files
$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/bsp/opencr/%.c $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/hw/%.c $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/hw/driver/%.c $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/hw/usb_cdc/%.c $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
$(OBJDIR)/OpenCRlib/%.c.o: $(ARDUINO_VAR_PATH)/lib/STM32F7xx_HAL_Driver/Src/%.c $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CC) -MMD -c $(CPPFLAGS) $(CFLAGS) $< -o $@
$(OBJDIR)/OpenCRlib/%.cpp.o: $(ARDUINO_VAR_PATH)/%.cpp $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CXX) -MMD -c $(CPPFLAGS) $(CXXFLAGS) $< -o $@
$(OBJDIR)/OpenCRlib/%.S.o: $(ARDUINO_VAR_PATH)/bsp/opencr/startup/%.S $(COMMON_DEPS) | $(OBJDIR)
@$(MKDIR) $(dir $@)
$(CC) -MMD -c $(CPPFLAGS) $(ASFLAGS) $< -o $@
# 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
CORE_LIB += -Wl,--no-whole-archive -lstdc++
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