From 02510f4b8835f13d0afd87c833542aefa84cbb57 Mon Sep 17 00:00:00 2001
From: Jakob Odersky <jodersky@gmail.com>
Date: Mon, 4 May 2015 14:41:48 +0200
Subject: add ihex format and trifle upload target

---
 makefiles/firmware.mk               | 9 +++++++--
 makefiles/toolchain_gnu-arm-eabi.mk | 8 ++++++++
 makefiles/upload.mk                 | 3 +++
 3 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 611aa6d22..d352b95c4 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -471,6 +471,7 @@ endif
 #
 PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
 PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
+PRODUCT_HEX		 = $(WORK_DIR)firmware.hex
 PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
 PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
 
@@ -501,7 +502,7 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
 # Built product rules
 #
 
-$(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
+$(PRODUCT_BUNDLE):	$(PRODUCT_BIN) $(PRODUCT_HEX)
 	@$(ECHO) %% Generating $@
 ifdef GEN_PARAM_XML
 	$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
@@ -518,6 +519,9 @@ endif
 $(PRODUCT_BIN):		$(PRODUCT_ELF)
 	$(call SYM_TO_BIN,$<,$@)
 
+$(PRODUCT_HEX):	$(PRODUCT_ELF)
+	$(call SYM_TO_HEX,$<,$@)
+
 $(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
 	$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(STARTUP_OBJS) $(LIBRARY_LIBS))
 
@@ -532,7 +536,8 @@ upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
 		CONFIG=$(CONFIG) \
 		BOARD=$(BOARD) \
 		BUNDLE=$(PRODUCT_BUNDLE) \
-		BIN=$(PRODUCT_BIN)
+		BIN=$(PRODUCT_BIN) \
+		HEX=$(PRODUCT_HEX)
 
 .PHONY: clean
 clean:			$(MODULE_CLEANS)
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 3b9fefb3e..45426ef06 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -290,6 +290,14 @@ define SYM_TO_BIN
 	$(Q) $(OBJCOPY) -O binary $1 $2
 endef
 
+# Convert $1 from a linked object to a raw binary in $2
+#
+define SYM_TO_HEX
+	@$(ECHO) "HEX:     $2"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(OBJCOPY) -O ihex $1 $2
+endef
+
 # Take the raw binary $1 and make it into an object file $2.
 # The symbol $3 points to the beginning of the file, and $3_len
 # gives its length.
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index dd7710bf7..474bd4644 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -36,6 +36,9 @@ upload-serial-aerocore:
 upload-serial-px4-stm32f4discovery:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
+upload-serial-trifle: $(HEX)
+	teensy_loader_cli -mmcu=mk20dx256 -w -v $(HEX)
+
 #
 # JTAG firmware uploading with OpenOCD
 #
-- 
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