From 56d9bdd39ed36c36e9a61411b86c76d5228b2133 Mon Sep 17 00:00:00 2001 From: sicarius Date: Sun, 11 Feb 2007 18:32:03 +0000 Subject: Added lot's of code-files used during work --- source/ct-Bot/Makefile | 461 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 461 insertions(+) create mode 100644 source/ct-Bot/Makefile (limited to 'source/ct-Bot/Makefile') 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 + # 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 -- cgit v1.2.3