AMiRo-OS

################################################################################

# AMiRo-OS is an operating system designed for the Autonomous Mini Robot       #

# (AMiRo) platform.                                                            #

# Copyright (C) 2016..2020  Thomas Schöpping et al.                            #

#                                                                              #

# This program is free software: you can redistribute it and/or modify         #

# it under the terms of the GNU General Public License as published by         #

# the Free Software Foundation, either version 3 of the License, or            #

# (at your option) any later version.                                          #

#                                                                              #

# This program is distributed in the hope that it will be useful,              #

# but WITHOUT ANY WARRANTY; without even the implied warranty of               #

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #

# GNU General Public License for more details.                                 #

#                                                                              #

# You should have received a copy of the GNU General Public License            #

# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################

# path to this makefile

AMIROOS_BOOTLOADER_DIR := $(dir $(lastword $(MAKEFILE_LIST)))

# set AMiRo-BLT path variable

AMIROBLT := $(AMIROOS_BOOTLOADER_DIR)AMiRo-BLT

# include paths

AMIROOS_BOOTLOADER_INC = $(AMIROOS_BOOTLOADER_DIR) \

                         $(AMIROBLT)/Target/Source/AMiRo

# load module ID constants

include $(AMIROBLT)/Target/Modules/moduleids.mk

# set the FLASH_PORT if no custom value has been specified

ifeq ($(FLASH_PORT),)

  ifeq ($(OS),Windows_NT)

    FLASH_PORT ?= COM4

  else

    # check whether /dev/ttyAMiRo0 exists

    ifeq ($(wildcard /dev/ttyAMiRo0),)

      # check whether /dev/ttyUSB0 exists

      ifeq ($(wildcard /dev/ttyUSB0),)

        # set to /dev/ttyAMiRo0 for meaningful error message

        FLASH_PORT ?= /dev/ttyAMiRo0

      else

        # legacy support

        FLASH_PORT ?= /dev/ttyUSB0

      endif

    else

      FLASH_PORT ?= /dev/ttyAMiRo0

    endif

  endif

endif

# set the baud rate if no custom value has been specified

FLASH_BAUDRATE ?= 115200

# set the flashing tool, the command to call it, arguments, and file extensions

ifneq ($(wildcard $(AMIROBLT)/Host/Source/SerialBoot/build/SerialBoot),)

  # if AMiRo-BLT project is available, use SerialBoot

  FLASHTOOL := SerialBoot

  FLASHTOOL_CMD := $(AMIROBLT)/Host/Source/SerialBoot/build/SerialBoot

  FLASHTOOL_EXT := srec

  FLASHTOOL_ARGS = -d$(FLASH_PORT) -b$(FLASH_BAUDRATE) $(foreach module,$(FLASH_MODULES),-T$($(module)_ID_HEX) $(BUILDDIR)/$(module).$(FLASHTOOL_EXT))

else

  # the default tool to use is stm32flash

  ifneq ($(words $(FLASH_MODULES)),1)

    FLASH_MODULES := $(firstword $(FLASH_MODULES))

  endif

  FLASHTOOL := stm32flash

  FLASHTOOL_CMD := stm32flash

  FLASHTOOL_EXT := hex

  FLASHTOOL_ARGS = $(FLASH_PORT) -i "rts,-dtr,-rts":"rts,dtr,-rts" -R -b $(FLASH_BAUDRATE) -w $(BUILDDIR)/$(FLASH_MODULES).$(FLASHTOOL_EXT)

endif