# The name of your project (used to name the compiled .hex file)

TARGET = $(notdir $(CURDIR))

# The Teensy board you're targeting (30,31,32,35,36, or LC)

TEENSY = ??

OPTIMIZE_LEVEL = -O

OPTIONS = -DUSB_SERIAL -DLAYOUT_US_ENGLISH -DUSING_MAKEFILE -DARDUINO=10800 -DTEENSYDUINO=134

# directory to build in

BUILDDIR = $(abspath $(CURDIR)/build)

# path location for Teensy 3 core

COREPATH = cores/teensy3

# path location for Arduino libraries

LIBRARYPATH = libraries

LIBRARIES = $(LIBRARYPATH)/Wire $(LIBRARYPATH)/Encoder $(LIBRARYPATH)/SPI $(LIBRARYPATH)/Servo $(LIBRARYPATH)/Adafruit_TCS34725 $(LIBRARYPATH)/vl53l0x-arduino

#************************************************************************

# Location of Teensyduino utilities, Toolchain, and Arduino Libraries.

# To use this makefile without Arduino, copy the resources from these

# locations and edit the pathnames. The rest of Arduino is not needed.

#************************************************************************

#

ifeq ($(OS),Windows_NT)

# Windows machine

$(error Using the Makefile on Windows is not supported. Simply open src/src.ino in Arduino with teensyduino and supporting libraries installed)

else

UNAME_S := $(shell uname -s)

ifeq ($(UNAME_S),Darwin)

# OS X Machine

ARDUINOPATH = /Applications/Arduino.app/Contents/Java

else

# Other UNIX Machine

# This should probably be changed to where you extracted the Arduino app after downloading

ARDUINOPATH = ${HOME}/arduino-1.8.0

endif

endif

# path location for Teensy Loader, teensy_post_compile and teensy_reboot

TOOLSPATH = $(ARDUINOPATH)/hardware/tools

# path location for the arm-none-eabi compiler

COMPILERPATH = $(TOOLSPATH)/arm/bin

POSTCOMPILEPATH = $(TOOLSPATH)/teensy_post_compile

REBOOTPATH = $(TOOLSPATH)/teensy_reboot

#************************************************************************

# Settings below this point usually do not need to be edited

#************************************************************************

# CPPFLAGS = compiler options for C and C++

CPPFLAGS = -Wall -g $(OPTIMIZE_LEVEL) -ffunction-sections -fdata-sections -nostdlib -mthumb -MMD $(OPTIONS) -I$(COREPATH)

# compiler options for C++ only

CXXFLAGS = -std=gnu++0x -felide-constructors -fno-exceptions -fno-rtti

# compiler options for C only

CFLAGS =

LDFLAGS = $(OPTIMIZE_LEVEL) -Wl,--gc-sections,--defsym=__rtc_localtime=0 -mthumb

# additional libraries to link

LIBS = -lm

# compiler options specific to teensy version

ifeq ($(TEENSY), 30)

CPPFLAGS += -D__MK20DX128__ -mcpu=cortex-m4 -DF_CPU=96000000

LDSCRIPT = $(COREPATH)/mk20dx128.ld

LDFLAGS += -mcpu=cortex-m4 -T$(LDSCRIPT)

else ifeq ($(TEENSY), 31)

CPPFLAGS += -D__MK20DX256__ -mcpu=cortex-m4 -DF_CPU=96000000

LDSCRIPT = $(COREPATH)/mk20dx256.ld

LDFLAGS += -mcpu=cortex-m4 -T$(LDSCRIPT)

else ifeq ($(TEENSY), 32)

CPPFLAGS += -D__MK20DX256__ -mcpu=cortex-m4 -DF_CPU=96000000

LDSCRIPT = $(COREPATH)/mk20dx256.ld

LDFLAGS += -mcpu=cortex-m4 -T$(LDSCRIPT)

else ifeq ($(TEENSY), LC)

CPPFLAGS += -D__MKL26Z64__ -mcpu=cortex-m0plus -DF_CPU=48000000

LDSCRIPT = $(COREPATH)/mkl26z64.ld

LDFLAGS += -mcpu=cortex-m0plus -T$(LDSCRIPT)

LIBS += -larm_cortexM0l_math

else ifeq ($(TEENSY), 35)

CPPFLAGS += -D__MK64FX512__ -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DF_CPU=120000000

LDSCRIPT = $(COREPATH)/mk64fx512.ld

LDFLAGS += -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -T$(LDSCRIPT)

LIBS += -larm_cortexM4lf_math

else ifeq ($(TEENSY), 36)

CPPFLAGS += -D__MK66FX1M0__ -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DF_CPU=180000000

LDSCRIPT = $(COREPATH)/mk66fx1m0.ld

LDFLAGS += -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -T$(LDSCRIPT)

LIBS += -larm_cortexM4lf_math

else

$(error Choose a valid target Teensy board (Makefile line 5))

endif

# names for the compiler programs

CC = $(abspath $(COMPILERPATH))/arm-none-eabi-gcc

CXX = $(abspath $(COMPILERPATH))/arm-none-eabi-g++

OBJCOPY = $(abspath $(COMPILERPATH))/arm-none-eabi-objcopy

SIZE = $(abspath $(COMPILERPATH))/arm-none-eabi-size

# automatically create lists of the sources and objects

LC_FILES := $(foreach library, $(LIBRARIES), $(wildcard $(library)/*.c))

LCPP_FILES := $(foreach library, $(LIBRARIES), $(wildcard $(library)/*.cpp))

TC_FILES := $(wildcard $(COREPATH)/*.c)

TCPP_FILES := $(wildcard $(COREPATH)/*.cpp)

TCPP_FILES := $(filter-out $(COREPATH)/main.cpp, $(TCPP_FILES))

C_FILES := $(wildcard src/*.c)

CPP_FILES := $(wildcard src/*.cpp)

INO_FILES := $(wildcard src/*.ino)

# include paths for libraries

L_INC := $(foreach lib,$(filter %/, $(wildcard $(LIBRARYPATH)/*/)), -I$(lib))

SOURCES := $(C_FILES:.c=.o) $(CPP_FILES:.cpp=.o) $(INO_FILES:.ino=.o) $(TC_FILES:.c=.o) $(TCPP_FILES:.cpp=.o) $(LC_FILES:.c=.o) $(LCPP_FILES:.cpp=.o)

OBJS := $(foreach src,$(SOURCES), $(BUILDDIR)/$(src))

all: hex

build: $(TARGET).elf

hex: $(TARGET).hex

post_compile: $(TARGET).hex

@$(abspath $(POSTCOMPILEPATH)) -file="$(basename $<)" -path=$(CURDIR) -tools="$(abspath $(TOOLSPATH))"

reboot:

@-$(abspath $(REBOOTPATH))

upload: post_compile reboot

$(BUILDDIR)/%.o: %.c

@echo "[CC]\t$<"

@mkdir -p "$(dir $@)"

@$(CC) $(CPPFLAGS) $(CFLAGS) $(L_INC) -o "$@" -c "$<"

$(BUILDDIR)/%.o: %.cpp

@echo "[CXX]\t$<"

@mkdir -p "$(dir $@)"

@$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(L_INC) -o "$@" -c "$<"

$(BUILDDIR)/%.o: %.ino

@echo "[CXX]\t$<"

@mkdir -p "$(dir $@)"

@$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(L_INC) -o "$@" -x c++ -include Arduino.h -c "$<"

$(TARGET).elf: $(OBJS) $(LDSCRIPT)

@echo "[LD]\t$@"

@$(CC) $(LDFLAGS) -o "$@" $(OBJS) $(LIBS)

%.hex: %.elf

@echo "[HEX]\t$@"

@$(SIZE) "$<"

@$(OBJCOPY) -O ihex -R .eeprom "$<" "$@"

# compiler generated dependency info

-include $(OBJS:.o=.d)

clean:

@echo Cleaning...

@rm -rf "$(BUILDDIR)"

@rm -f "$(TARGET).elf" "$(TARGET).hex"