Added lot's of code-files used during work

1 files changed, 461 insertions, 0 deletions

diff --git a/source/ct-Bot/Makefile b/source/ct-Bot/Makefile
new file mode 100644
index 0000000..ade0e2a
--- /dev/null
+++ b/source/ct-Bot/Makefile
@@ -0,0 +1,461 @@
+# Hey Emacs, this is a -*- makefile -*-

+#

+# WinAVR Sample makefile written by Eric B. Weddington, Joerg Wunsch, et al.

+# Released to the Public Domain

+# Please read the make user manual!

+#

+# Additional material for this makefile was submitted by:

+#  Tim Henigan

+#  Peter Fleury

+#  Reiner Patommel

+#  Sander Pool

+#  Frederik Rouleau

+#  Markus Pfaff

+#

+# On command line:

+#

+# make all = Make software.

+#

+# make clean = Clean out built project files.

+#

+# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB).

+#

+# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio

+#                4.07 or greater).

+#

+# make program = Download the hex file to the device, using avrdude.  Please

+#                customize the avrdude settings below first!

+#

+# make filename.s = Just compile filename.c into the assembler code only

+#

+# To rebuild project do "make clean" then "make all".

+#

+

+

+# MCU name

+MCU = atmega32

+

+# Output format. (can be srec, ihex, binary)

+FORMAT = ihex

+

+# Target file name (without extension).

+TARGET = ct-Bot

+

+# Target Device, either pc or mcu, usually defined on commandline

+#DEVICE = MCU

+DEVICE = PC

+

+MSG_DEVICE = Target device is $(DEVICE)

+

+# List C source files here. (C dependencies are automatically generated.)

+SRCMCU = mcu/adc.c mcu/bot-2-pc.c mcu/delay.c mcu/display.c mcu/ena.c mcu/ir-rc5.c mcu/led.c mcu/motor-low.c mcu/mouse.c mcu/sensor-low.c mcu/shift.c mcu/timer-low.c mcu/uart.c mcu/mmc.c

+

+SRCPC = pc/bot-2-sim.c pc/delay_pc.c pc/display_pc.c pc/ir-rc5_pc.c pc/led_pc.c pc/motor-low_pc.c pc/sensor-low_pc.c pc/tcp.c pc/tcp-server.c pc/mouse_pc.c

+

+SRCCOM = bot-logic/bot-logik.c map.c command.c log.c motor.c rc5.c sensor.c timer.c bot-logic/behaviour_avoid_border.c bot-logic/behaviour_drive_square.c  bot-logic/behaviour_gotoxy.c   bot-logic/behaviour_simple.c      bot-logic/behaviour_avoid_col.c       bot-logic/behaviour_follow_line.c   bot-logic/behaviour_olympic.c  bot-logic/behaviour_solve_maze.c bot-logic/behaviour_drive_distance.c bot-logic/behaviour_goto.c bot-logic/behaviour_scan.c bot-logic/behaviour_turn.c bot-logic/behaviour_servo.c

+

+

+ifeq ($(DEVICE),MCU)

+	SRC = $(TARGET).c $(SRCCOM) $(SRCMCU)

+else

+	SRC = $(TARGET).c $(SRCCOM) $(SRCPC)

+endif

+

+

+# List Assembler source files here.

+# Make them always end in a capital .S.  Files ending in a lowercase .s

+# will not be considered source files but generated files (assembler

+# output from the compiler), and will be deleted upon "make clean"!

+# Even though the DOS/Win* filesystem matches both .s and .S the same,

+# it will preserve the spelling of the filenames, and gcc itself does

+# care about how the name is spelled on its command-line.

+ASRC = 

+	

+MATH_LIB = -lm

+	

+ifeq ($(DEVICE),MCU)

+	# List any extra directories to look for include files here.

+	#     Each directory must be seperated by a space.

+	EXTRAINCDIRS = /usr/local/avr/include include

+

+	

+	

+	

+	# Assembler flags.

+	#  -Wa,...:   tell GCC to pass this to the assembler.

+	#  -ahlms:    create listing

+	#  -gstabs:   have the assembler create line number information; note that

+	#             for use in COFF files, additional information about filenames

+	#             and function names needs to be present in the assembler source

+	#             files -- see avr-libc docs [FIXME: not yet described there]

+	ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 

+	

+	

+	

+	#Additional libraries.

+	

+	# Minimalistic printf version

+	PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

+	

+	# Floating point printf version (requires MATH_LIB = -lm below)

+	PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

+	

+	PRINTF_LIB = 

+	

+	# Minimalistic scanf version

+	SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

+	

+	# Floating point + %[ scanf version (requires MATH_LIB = -lm below)

+	SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

+	

+	SCANF_LIB = 

+		

+	# External memory options

+	

+	# 64 KB of external RAM, starting after internal RAM (ATmega128!),

+	# used for variables (.data/.bss) and heap (malloc()).

+	#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

+	

+	# 64 KB of external RAM, starting after internal RAM (ATmega128!),

+	# only used for heap (malloc()).

+	#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

+	

+	EXTMEMOPTS =

+	

+	# Linker flags.

+	#  -Wl,...:     tell GCC to pass this to linker.

+	#    -Map:      create map file

+	#    --cref:    add cross reference to  map file

+	LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

+	LDFLAGS += $(EXTMEMOPTS)

+	LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)

+	

+	

+	

+	

+	# Programming support using avrdude. Settings and variables.

+	

+	# Programming hardware: alf avr910 avrisp bascom bsd 

+	# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

+	#

+	# Type: avrdude -c ?

+	# to get a full listing.

+	#

+	AVRDUDE_PROGRAMMER = pony-stk200

+	

+	# com1 = serial port. Use lpt1 to connect to parallel port.

+	AVRDUDE_PORT = lpt1

+	

+	AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex

+	#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

+	

+	

+	# Uncomment the following if you want avrdude's erase cycle counter.

+	# Note that this counter needs to be initialized first using -Yn,

+	# see avrdude manual.

+	#AVRDUDE_ERASE_COUNTER = -y

+	

+	# Uncomment the following if you do /not/ wish a verification to be

+	# performed after programming the device.

+	#AVRDUDE_NO_VERIFY = -V

+	

+	# Increase verbosity level.  Please use this when submitting bug

+	# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 

+	# to submit bug reports.

+	#AVRDUDE_VERBOSE = -v -v

+	

+	AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)

+	AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)

+	AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)

+	AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

+	

+	

+	

+	# ---------------------------------------------------------------------------

+	

+	# Define directories, if needed.

+	DIRAVR = /usr/local/avr

+	DIRAVRBIN = $(DIRAVR)/bin

+	DIRAVRUTILS = $(DIRAVR)/utils/bin

+	DIRINC = $(DIRAVR)/include

+	DIRLIB = $(DIRAVR)/lib/avr5

+	

+	CC = avr-gcc

+	OBJCOPY = avr-objcopy

+	OBJDUMP = avr-objdump

+	SIZE = avr-size

+	NM = avr-nm

+	AVRDUDE = avrdude

+

+else

+	# List any extra directories to look for include files here.

+	#     Each directory must be seperated by a space.

+	EXTRAINCDIRS = include

+

+	CC = gcc 

+	PTHREAD_LIB = -lpthread

+	LDFLAGS += $(PTHREAD_LIB)  $(MATH_LIB)

+	SIZE = size

+endif

+

+

+

+# Define programs and commands.

+SHELL = sh

+REMOVE = rm -f

+COPY = cp

+

+

+# Optimization level, can be [0, 1, 2, 3, s]. 

+# 0 = turn off optimization. s = optimize for size.

+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

+OPT = s	

+

+# Compiler flag to set the C Standard level.

+# c89   - "ANSI" C

+# gnu89 - c89 plus GCC extensions

+# c99   - ISO C99 standard (not yet fully implemented)

+# gnu99 - c99 plus GCC extensions

+CSTANDARD = -std=gnu99

+

+# Place -D or -U options here

+CDEFS =

+

+# Place -I options here

+CINCS =

+

+

+# Compiler flags.

+#  -g:           generate debugging information

+#  -O*:          optimization level

+#  -f...:        tuning, see GCC manual and avr-libc documentation

+#  -Wall...:     warning level

+#  -Wa,...:      tell GCC to pass this to the assembler.

+#    -adhlns...: create assembler listing

+CFLAGS = -g

+CFLAGS += $(CDEFS) $(CINCS)

+CFLAGS += -O$(OPT)

+CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

+CFLAGS += -Wall -Wstrict-prototypes

+CFLAGS += -Wa,-adhlns=$(<:.c=.lst)

+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))

+CFLAGS += $(CSTANDARD) 

+

+

+

+# Define Messages

+# English

+MSG_ERRORS_NONE = Errors: none

+MSG_BEGIN = -------- begin --------

+MSG_END = --------  end  --------

+MSG_SIZE_BEFORE = Size before: 

+MSG_SIZE_AFTER = Size after:

+MSG_COFF = Converting to AVR COFF:

+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

+MSG_FLASH = Creating load file for Flash:

+MSG_EEPROM = Creating load file for EEPROM:

+MSG_EXTENDED_LISTING = Creating Extended Listing:

+MSG_SYMBOL_TABLE = Creating Symbol Table:

+MSG_LINKING = Linking:

+MSG_COMPILING = Compiling:

+MSG_ASSEMBLING = Assembling:

+MSG_CLEANING = Cleaning project:

+

+

+

+

+# Define all object files.

+OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 

+

+# Define all listing files.

+LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)

+

+

+# Compiler flags to generate dependency files.

+GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d

+

+

+# Combine all necessary flags and optional flags.

+# Add target processor to flags.

+ifeq ($(DEVICE),MCU)

+	ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) -D $(DEVICE)

+	ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

+else

+	ALL_CFLAGS = -I. $(CFLAGS) $(GENDEPFLAGS)  -D $(DEVICE)

+endif

+

+

+

+# Default target.

+all: begin gccversion sizebefore build sizeafter finished end

+

+ifeq ($(DEVICE),MCU)

+build: elf hex eep lss sym

+else

+build: elf

+endif

+

+elf: $(TARGET).elf

+hex: $(TARGET).hex

+eep: $(TARGET).eep

+lss: $(TARGET).lss 

+sym: $(TARGET).sym

+

+

+# Eye candy.

+# AVR Studio 3.x does not check make's exit code but relies on

+# the following magic strings to be generated by the compile job.

+begin:

+	@echo

+	@echo $(MSG_DEVICE)

+	@echo

+	@echo $(MSG_BEGIN)

+

+finished:

+	@echo $(MSG_ERRORS_NONE)

+

+end:

+	@echo $(MSG_END)

+	@echo

+

+

+# Display size of file.

+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

+ELFSIZE = $(SIZE) -A $(TARGET).elf

+sizebefore:

+	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi

+

+sizeafter:

+	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi

+

+

+

+# Display compiler version information.

+gccversion : 

+	@$(CC) --version

+

+

+

+# Program the device.  

+program: $(TARGET).hex $(TARGET).eep

+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

+

+

+

+

+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

+COFFCONVERT=$(OBJCOPY) --debugging \

+--change-section-address .data-0x800000 \

+--change-section-address .bss-0x800000 \

+--change-section-address .noinit-0x800000 \

+--change-section-address .eeprom-0x810000 

+

+

+coff: $(TARGET).elf

+	@echo

+	@echo $(MSG_COFF) $(TARGET).cof

+	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

+

+

+extcoff: $(TARGET).elf

+	@echo

+	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

+	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

+

+

+

+# Create final output files (.hex, .eep) from ELF output file.

+%.hex: %.elf

+	@echo

+	@echo $(MSG_FLASH) $@

+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

+

+%.eep: %.elf

+	@echo

+	@echo $(MSG_EEPROM) $@

+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

+	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

+

+# Create extended listing file from ELF output file.

+%.lss: %.elf

+	@echo

+	@echo $(MSG_EXTENDED_LISTING) $@

+	$(OBJDUMP) -h -S $< > $@

+

+# Create a symbol table from ELF output file.

+%.sym: %.elf

+	@echo

+	@echo $(MSG_SYMBOL_TABLE) $@

+	$(NM) -n $< > $@

+

+

+

+# Link: create ELF output file from object files.

+.SECONDARY : $(TARGET).elf

+.PRECIOUS : $(OBJ)

+%.elf: $(OBJ)

+	@echo

+	@echo $(MSG_LINKING) $@

+	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)

+

+

+# Compile: create object files from C source files.

+%.o : %.c

+	@echo

+	@echo $(MSG_COMPILING) $<

+	$(CC) -c $(ALL_CFLAGS) $< -o $@ 

+

+

+# Compile: create assembler files from C source files.

+%.s : %.c

+	$(CC) -S $(ALL_CFLAGS) $< -o $@

+

+

+# Assemble: create object files from assembler source files.

+%.o : %.S

+	@echo

+	@echo $(MSG_ASSEMBLING) $<

+	$(CC) -c $(ALL_ASFLAGS) $< -o $@

+

+

+

+# Target: clean project.

+clean: begin clean_list finished end

+

+clean_list :

+	@echo

+	@echo $(MSG_CLEANING)

+	$(REMOVE) $(TARGET).hex

+	$(REMOVE) $(TARGET).eep

+	$(REMOVE) $(TARGET).obj

+	$(REMOVE) $(TARGET).cof

+	$(REMOVE) $(TARGET).elf

+	$(REMOVE) $(TARGET).map

+	$(REMOVE) $(TARGET).obj

+	$(REMOVE) $(TARGET).a90

+	$(REMOVE) $(TARGET).sym

+	$(REMOVE) $(TARGET).lnk

+	$(REMOVE) $(TARGET).lss

+	$(REMOVE) $(OBJ)

+	$(REMOVE) $(LST)

+	$(REMOVE) $(SRC:.c=.s)

+	$(REMOVE) $(SRC:.c=.d)

+	$(REMOVE) .dep/*

+

+

+

+# Include the dependency files.

+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)

+

+

+# Listing of phony targets.

+.PHONY : all begin finish end sizebefore sizeafter gccversion \

+build elf hex eep lss sym coff extcoff \

+clean clean_list program

+

+

+# you need to erase first before loading the program.

+# load (program) the software into the eeprom:

+load: avrledtest.hex

+        uisp -dlpt=/dev/parport0 --erase  -dprog=dapa

+        uisp -dlpt=/dev/parport0 --upload if=$(TARGET).hex -dprog=dapa  -v=3 --hash=32