130 lines
3.5 KiB
Makefile
130 lines
3.5 KiB
Makefile
###############################################################################
|
|
# Makefile for the project RoboCode
|
|
###############################################################################
|
|
|
|
## General Flags
|
|
PROJECT = RoboCode
|
|
MCU = atmega128
|
|
TARGET = RoboCode.elf
|
|
CC = avr-g++.exe
|
|
|
|
## Options common to compile, link and assembly rules
|
|
COMMON = -mmcu=$(MCU)
|
|
|
|
## Compile options common for all C compilation units.
|
|
CFLAGS = $(COMMON)
|
|
CFLAGS += -Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-char
|
|
CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
|
|
|
|
## Assembly specific flags
|
|
ASMFLAGS = $(COMMON)
|
|
ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
|
|
|
|
## Linker flags
|
|
LDFLAGS = $(COMMON)
|
|
LDFLAGS += -lm
|
|
|
|
|
|
## Intel Hex file production flags
|
|
HEX_FLASH_FLAGS = -R .eeprom
|
|
|
|
HEX_EEPROM_FLAGS = -j .eeprom
|
|
HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
|
|
HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
|
|
|
|
|
|
## Include Directories
|
|
INCLUDES = -I"Y:\Concept\Framework\modules" -I"Y:\Concept\Framework\modules\executor" -I"Y:\Concept\Framework\modules\input" -I"Y:\Concept\Framework\modules\interpreter" -I"Y:\Concept\Framework\modules\logic" -I"Y:\Concept\Framework\modules\output"
|
|
|
|
## Libraries
|
|
LIBS = -lm
|
|
|
|
## Objects that must be built in order to link
|
|
OBJECTS = io_module.o atmega128io.o main.o robot.o tools.o distance_sensor.o ir_sensor.o keyboard.o mouse_sensor.o sensor.o position_tracker.o display.o dribbler.o engine.o kicker.o led.o ball_tracker.o navigator.o
|
|
|
|
## Objects explicitly added by the user
|
|
LINKONLYOBJECTS =
|
|
|
|
## Build
|
|
all: $(TARGET) RoboCode.hex RoboCode.eep size
|
|
|
|
## Compile
|
|
io_module.o: ../modules/io_module.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
atmega128io.o: ../atmega128io.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
main.o: ../main.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
robot.o: ../robot.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
tools.o: ../tools.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
distance_sensor.o: ../modules/input/distance_sensor.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
ir_sensor.o: ../modules/input/ir_sensor.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
keyboard.o: ../modules/input/keyboard.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
mouse_sensor.o: ../modules/input/mouse_sensor.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
sensor.o: ../modules/input/sensor.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
position_tracker.o: ../modules/interpreter/position_tracker.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
display.o: ../modules/output/display.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
dribbler.o: ../modules/output/dribbler.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
engine.o: ../modules/output/engine.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
kicker.o: ../modules/output/kicker.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
led.o: ../modules/output/led.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
ball_tracker.o: ../modules/interpreter/ball_tracker.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
navigator.o: ../modules/executor/navigator.c
|
|
$(CC) $(INCLUDES) $(CFLAGS) -c $<
|
|
|
|
##Link
|
|
$(TARGET): $(OBJECTS)
|
|
$(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
|
|
|
|
%.hex: $(TARGET)
|
|
avr-objcopy -O ihex $(HEX_FLASH_FLAGS) $< $@
|
|
|
|
%.eep: $(TARGET)
|
|
avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@
|
|
|
|
%.lss: $(TARGET)
|
|
avr-objdump -h -S $< > $@
|
|
|
|
size: ${TARGET}
|
|
@echo
|
|
@avr-size -C --mcu=${MCU} ${TARGET}
|
|
|
|
## Clean target
|
|
.PHONY: clean
|
|
clean:
|
|
-rm -rf $(OBJECTS) RoboCode.elf dep/* RoboCode.hex RoboCode.eep
|
|
|
|
## Other dependencies
|
|
-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
|
|
|