Merge pull request #508 from fuzzyTew/robotis-opencm

Add makefile for Robotis OpenCM

Author: sudar

Arduino.mk

@@ -19,7 +19,7 @@
 #
 # Original Arduino adaptation by mellis, eighthave, oli.keller
 #
-# Current version: 1.5.2
+# Current version: 1.6.0
 #
 # Refer to HISTORY.md file for complete history of changes
 #

HISTORY.md

@@ -5,14 +5,18 @@ The following is the rough list of changes that went into different versions.
 I tried to give credit whenever possible. If I have missed anyone, kindly add it to the list.
 
 ### In Development
+- TBC
+
+### 1.6.0 (2017-07-11)
 - Fix: Allowed for SparkFun's weird usb pid/vid submenu shenanigans (issue #499). (https://github.com/sej7278)
 - Fix: Do not include the Arduino header when calling generate_assembly on .cpp files. (https://github.com/Batchyx)
 - Fix: Auto-detect F_CPU on Teensy from boards.txt (https://github.com/DaWelter)
 - Fix: params typo in PuTTY section (issue #487) (https://github.com/ericdand)
 - Fix: Fixed sed expression to properly format show_submenu (issue #488) (https://github.com/cbosdo)
-- New: Add support for good old cu as monitor command (issue #492) (https://github.com/mwm)
 - Tweak: Removed tilde from documentation (issue #497). (https://github.com/sej7278)
+- New: Add support for good old cu as monitor command (issue #492) (https://github.com/mwm)
 - New: Add a documentation how to setup Makefile for 3rd party boards (issue #499). (https://github.com/MilanV)
+- New: Add support for Robotis OpenCM boards
 
 ### 1.5.2 (2017-01-11)
 

OpenCM.mk

@@ -0,0 +1,236 @@
+########################################################################
+#
+# 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)

README.md

@@ -279,9 +279,17 @@ For Teensy 3.x support you must first install [Teensyduino](http://www.pjrc.com/
 
 See examples/BlinkTeensy for example usage.
 
+## Robotis OpenCM
+
+For Robotis OpenCM support you must first install [the OpenCM IDE](http://support.robotis.com/en/software/robotis_opencm/robotis_opencm.htm)
+
+See examples/BlinkOpenCM for example usage.
+
+For large Robotis projects, [libmaple](https://github.com/Rhoban/Maple) may be more appropriate, as the OpenCM IDE uses a very old compiler release.
+
 ## Versioning
 
-The current version of the makefile is `1.5.2`. You can find the full history in the [HISTORY.md](HISTORY.md) file
+The current version of the makefile is `1.6.0`. You can find the full history in the [HISTORY.md](HISTORY.md) file
 
 This project adheres to Semantic [Versioning 2.0](http://semver.org/).
 

ard-reset-arduino.1

@@ -1,4 +1,4 @@
-.TH ARD-RESET-ARDUINO "1" "January 2017" "ard-reset-arduino 1.5.2" "Arduino CLI Reset"
+.TH ARD-RESET-ARDUINO "1" "January 2017" "ard-reset-arduino 1.6.0" "Arduino CLI Reset"
 
 .SH NAME
 ard-reset-arduino - Reset Arduino board

bin/robotis-loader

@@ -0,0 +1,94 @@
+#!/usr/bin/python
+
+# This script sends a program on a robotis board (OpenCM9.04 or CM900)
+# using the robotis bootloader (used in OpenCM IDE)
+# 
+# Usage:
+# python robotis-loader.py <serial port> <binary>
+#
+# Example:
+# python robotis-loader.py /dev/ttyACM0 firmware.bin
+#
+# https://github.com/Gregwar/robotis-loader
+
+import serial, sys, os, time
+
+print('~~ Robotis loader ~~')
+print('')
+
+# Reading command line
+if len(sys.argv) != 3:
+    exit('! Usage: robotis-loader.py <serial-port> <binary>')
+pgm, port, binary = sys.argv
+
+# Helper to prints a progress bar
+def progressBar(percent, precision=65):
+    threshold=precision*percent/100.0
+    sys.stdout.write('[ ')
+    for x in xrange(0, precision):
+        if x < threshold: sys.stdout.write('#')
+        else: sys.stdout.write(' ')
+    sys.stdout.write(' ] ')
+    sys.stdout.flush()
+
+# Opening the firmware file
+try:
+    stat = os.stat(binary)
+    size = stat.st_size
+    firmware = file(binary, 'rb')
+    print('* Opening %s, size=%d' % (binary, size))
+except:
+    exit('! Unable to open file %s' % binary)
+
+# Opening serial port
+try:
+    s = serial.Serial(port, baudrate=115200)
+except:
+    exit('! Unable to open serial port %s' % port)
+
+print('* Resetting the board')
+s.setRTS(True)
+s.setDTR(False)
+time.sleep(0.1)
+s.setRTS(False)
+s.write('CM9X')
+s.close()
+time.sleep(1.0);
+
+print('* Connecting...')
+s = serial.Serial(port, baudrate=115200)
+s.write('AT&LD')
+print('* Download signal transmitted, waiting...')
+
+# Entering bootloader sequence
+while True:
+    line = s.readline().strip()
+    if line.endswith('Ready..'):
+        print('* Board ready, sending data')
+        cs = 0
+        pos = 0
+        while True:
+            c = firmware.read(2048)
+            if len(c):
+                pos += len(c)
+                sys.stdout.write("\r")
+                progressBar(100*float(pos)/float(size))
+                s.write(c)
+                for k in range(0,len(c)):
+                    cs = (cs+ord(c[k]))%256
+            else:
+                break
+        print('')
+        s.setDTR(True)
+        print('* Checksum: %d' % (cs))
+        s.write(chr(cs))
+        print('* Firmware was sent')
+    else:
+        if line == 'Success..':
+            print('* Success, running the code')
+            print('')
+            s.write('AT&RST')
+            s.close()
+            exit()
+        else:
+            print('Board -> '+line)