path: root/source/ct-Bot/Makefile

# 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