Revision 1444

View differences:

branches/colonetmk2/code/projects/mapping/drive/odometry.c
1
link ../odometry/odometry.c
0 2

  
branches/colonetmk2/code/projects/mapping/drive/data_response.c
1
#include "dragonfly_lib.h"
2
#include "data_response.h"
3
#include "wl_token_ring.h"
4
#include "wireless.h"
5
#include "serial.h"
6

  
7
PacketGroupHandler pgh;
8

  
9
void handle_receive(char type, int source, unsigned char* packet, int length);
10
int generate_bom_packet(char** buf);
11
int generate_IR_packet(char** buf);
12

  
13

  
14
/** 
15
* @brief The only function that should be called by user code.
16
  Prepares the robot to receive and respond to data requests.
17
*/
18
void data_response_init(void){
19
  //usb_init();
20
  //usb_puts("USB initialized!\n\r");
21
  range_init();
22
  pgh.groupCode=DATA_REQUEST_GROUP; 
23
  pgh.timeout_handler = NULL;
24
  pgh.handle_response = NULL;
25
  pgh.handle_receive = handle_receive;
26
  pgh.unregister = NULL;
27
  wl_register_packet_group(&pgh);
28
  //usb_puts("Packet Group Registered!\n\r");
29
}
30

  
31

  
32
void handle_receive(char type, int source, unsigned char* packet, int length){
33
  
34
  char buf[MAX_PACKET_LENGTH]; 
35
  int size;
36
  int i=0;
37
  short int robot_id, ir_value; 
38
  char ranges[] = {IR1,IR2,IR3,IR4,IR5}; 
39
  
40
  switch(type){
41
  case BOM_TYPE:
42
    
43
    wl_token_iterator_begin();
44
    while(wl_token_iterator_has_next() && i<=96){
45
      robot_id = wl_token_iterator_next();
46
      buf[i++] = (char)((robot_id>>8) & 255);
47
      buf[i++] = (char)(robot_id & 255);
48
      buf[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));
49
    }
50
    
51
    //i is one greater than the index of the last byte... the size.
52
    wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,BOM_TYPE,buf,i,source,0);
53
    break;
54
  
55
  case IR_TYPE:
56

  
57
    for(i=0;i<5;i++){
58
      ir_value = (short)range_read_distance(ranges[i]);
59
      buf[2*i] = (char)((ir_value>>8)&255);   
60
      buf[2*i+1] = (ir_value&255);   
61
    }
62
    size = 10;
63

  
64
    //usb_puts("Packet Contents: ");
65
    /*for(i = 0; i<size;i++){
66
        //usb_puti(buf[i]);
67
        usb_putc(' ');
68
    }*/
69
    wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,IR_TYPE,buf,size,source,0);
70
  
71
    break; 
72
  
73
  case ENCODER_TYPE:
74
    break; 
75
    //Not yet supported.
76
  
77
  case ALL_TYPE:
78
    for(i=0;i<5;i++){
79
      ir_value = (short)range_read_distance(ranges[i]);
80
      buf[2*i] = (char)((ir_value>>8)&255);   
81
      buf[2*i+1] = (ir_value&255);   
82
    } //Buf 0...9 filled.
83

  
84
    //Tack on the Encoder data... 
85
    //Then BOM: 
86
    wl_token_iterator_begin();
87
    while(wl_token_iterator_has_next() && i<=96){
88
      robot_id = wl_token_iterator_next();
89
      buf[i++] = (char)((robot_id>>8) & 255);
90
      buf[i++] = (char)(robot_id & 255);
91
      buf[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));
92
    }
93
    wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,ALL_TYPE,buf,size,source,0);
94
    break;
95
  }
96
}
97

  
98

  
branches/colonetmk2/code/projects/mapping/drive/odometry.h
1
link ../odometry/odometry.h
0 2

  
branches/colonetmk2/code/projects/mapping/drive/smart_run_around_fsm.c
1
#include "dragonfly_lib.h"
2
#include "smart_run_around_fsm.h"
3

  
4
/*A simple behavior for navigating in an environment, i.e. avoiding walls and getting stuck.
5
Could be better at not getting stuck.
6

  
7
Latest revision only has two accessible states: move and reverse.
8
*/
9

  
10

  
11
void run_around_init(void)
12
{
13
/*  range_init();
14
  analog_init(ADC_START);
15
  motors_init();
16
  orb_init();
17
  orb_enable();
18
  usb_init();
19
*/ 
20
  /*Start in the default state, MOVING*/ 
21
  avoid_state=MOVING;
22
  /*Set timers to their maximum values.*/
23
  crazy_count=CRAZY_MAX;
24
  backup_count=0; 
25
  pControl=0;
26
  
27
  /*Initialize distances to zero.*/ 
28
  d1=0; d2=0; d3=0; d4=0; d5=0;
29
  
30
  orb_set_color(GREEN);
31

  
32
}
33

  
34
/*The main function, call this to update states as frequently as possible.*/
35
void run_around_FSM(void) {
36
  /*Default to moving.*/ 
37
  avoid_state=MOVING;
38
  
39
  /*The following lines ensure that undefined (-1) values
40
  will not update the distances.*/ 
41
  int temp;
42
  
43
  temp=range_read_distance(IR1);
44
  d1=(temp == -1) ? d1 : temp;
45
  
46
  temp=range_read_distance(IR2);
47
  d2=(temp == -1) ? d2 : temp;
48
  
49
  temp=range_read_distance(IR3);
50
  d3=(temp == -1) ? d3 : temp;
51
  
52
  temp=range_read_distance(IR4);
53
  d4=(temp == -1) ? d4 : temp;
54
  
55
  temp=range_read_distance(IR5);
56
  d5=(temp == -1) ? d5 : temp;
57
  
58
  /*If the crazy count is in it's >>3 range, it acts crazy.*/
59
  if(crazy_count<=(CRAZY_MAX>>3))
60
  {
61
    avoid_state=CRAZY;
62
    crazy_count--;
63
    
64
    if(crazy_count<0) crazy_count=CRAZY_MAX;
65
    
66
    evaluate_state();
67
    return;
68
  }
69
  
70
  //Checks the forward distance to see if it should back up, if so...state backwards.
71
  if((d2!=-1)&&(d2 >150)){
72
      backup_count=BACKUP_MAX;
73
      avoid_state=BACKWARDS;
74
      evaluate_state();
75
      return;
76
  }
77
 
78
  if(backup_count<BACKUP_MAX){
79
    avoid_state=BACKWARDS; 
80
    if(backup_count<0)
81
      backup_count=BACKUP_MAX;
82
    evaluate_state();
83
    return;
84
  }
85
  
86
  /*Should evaluate an expression from -255 to 255 to pass to move.*/
87
  pControl= ((d3-d1) + (d4-d5)) >> TURN_CONSTANT;
88
  
89
  if(pControl>PCONTROL_CRAZY_LIMIT || pControl<-PCONTROL_CRAZY_LIMIT) crazy_count--;
90
  /*i.e. if you really want to turn for an extended period of time...you're probably stuck.*/
91

  
92
  /*Debug stuff:*/
93
  /*usb_puts("pControl evaluating: ");
94
  usb_puti(pControl);
95
  usb_puts("\n\r");
96
  usb_puts("IR1: ");
97
  usb_puti(d1);
98
  usb_puts(" IR2: ");
99
  usb_puti(d2);
100
  usb_puts(" IR3: ");
101
  usb_puti(d3);
102
  usb_puts(" IR4: ");
103
  usb_puti(d4);
104
  usb_puts(" IR5: ");
105
  usb_puti(d5);
106
  usb_puts("\n\r");*/
107
  
108
  evaluate_state();
109
}
110

  
111

  
112
//Acts on state change.
113
void evaluate_state(){
114
    switch(avoid_state){
115
    case(MOVING): orb_set_color(GREEN);
116
      move(STRAIT_SPEED,pControl);
117
      break;
118
    
119
    case(BACKWARDS): orb_set_color(ORANGE);
120
      move(-STRAIT_SPEED,0);
121
      break;
122
      
123
    case(CRAZY): orb_set_color(RED);
124
      /*TODO: Implement a crazy state.*/
125
      move(STRAIT_SPEED,pControl);
126
      break;
127
      
128
    default:
129
      /*Should never get here, go strait.*/
130
      move(100,0); orb_set_color(BLUE);
131
      break;
132
  }
133
}
134

  
135

  
branches/colonetmk2/code/projects/mapping/drive/robot_main.c
1
#include <dragonfly_lib.h>
2
#include <wireless.h>
3
#include <encoders.h>
4
#include "odometry.h"
5

  
6
#define POLLING_INTERVAL 50    //interval in ms to get sensor data
7
#define MAP 1	// packet group for sending data points
8
#define POINT_ODO 2
9

  
10
#define WL_CNTL_GROUP 4
11

  
12
#define CNTL_FORWARD 0
13
#define CNTL_BACK    1
14
#define CNTL_LEFT    2
15
#define CNTL_RIGHT   3
16
#define CNTL_LEFT_CURVE 4
17
#define CNTL_RIGHT_CURVE 5
18
#define CNTL_STOP    6
19
#define CNTL_VEL_UP  7
20
#define CNTL_VEL_DOWN 8
21

  
22
int state;
23
int velocity;
24
char buf[100];
25

  
26
void packet_receive (char type, int source, unsigned char* packet, int length);
27
void set_motion (void);
28

  
29
PacketGroupHandler packetHandler = {WL_CNTL_GROUP, NULL, NULL, &packet_receive, NULL};
30

  
31
int main(void)
32
{
33
    /* initialize components and join the token ring */
34
    dragonfly_init(ALL_ON);
35
    odometry_init();
36
    orb_init();
37
    wl_init();
38
    wl_set_channel(0xE);
39
    wl_register_packet_group(&packetHandler);
40
    
41
    velocity = 190;
42
    state = CNTL_STOP;
43

  
44
    int x, y; // use when sending odometry data
45
    double theta;
46

  
47
    int store[9];
48
    char *send;   // for transmission
49

  
50
    while(1)
51
    {
52
	wl_do();
53
	delay_ms(POLLING_INTERVAL);	/* until it's time to grab map data */
54
	x = odometry_dx(); // use when sending odometry data
55
	y = odometry_dy();
56
	theta = odometry_angle();
57
	store[0] = x;
58
	store[1] = y;
59
	*((double*)(store + 2)) = theta;
60
	store[4] = range_read_distance(IR1);	// IR1 range
61
	store[5] = range_read_distance(IR2);	// IR2 range
62
	store[6] = range_read_distance(IR3);	// IR3 range
63
	store[7] = range_read_distance(IR4);	// IR4 range
64
	store[8] = range_read_distance(IR5);	// IR5 range
65
	sprintf( buf, "%d %d %f %d %d %d %d %d\n", store[0], store[1],
66
	    *((double *)(store+2)), store[4], store[5], store[6],
67
	    store[7], store[8] );
68
	usb_puts(buf);
69

  
70
	send = (char*) store;
71

  
72
	wl_send_global_packet(MAP, POINT_ODO, send, 18, 0);
73
    }
74

  
75
    wl_terminate();
76
    return 0;
77
}
78

  
79
void packet_receive (char type, int source, unsigned char* packet, int length) {
80
    sprintf(buf, "received packet: %d\n", type);
81
    usb_puts(buf);
82
    switch (type) {
83
        case CNTL_FORWARD:
84
            state = CNTL_FORWARD;
85
            break;
86
        case CNTL_BACK:
87
            state = CNTL_BACK;
88
            break;
89
        case CNTL_LEFT:
90
            state = CNTL_LEFT;
91
            break;
92
        case CNTL_RIGHT:
93
            state = CNTL_RIGHT;
94
            break;
95
        case CNTL_LEFT_CURVE:
96
            state = CNTL_LEFT_CURVE;
97
            break;
98
        case CNTL_RIGHT_CURVE:
99
            state = CNTL_RIGHT_CURVE;
100
            break;
101
        case CNTL_STOP:
102
            state = CNTL_STOP;
103
            break;
104
        case CNTL_VEL_UP:
105
            if (velocity > 250)
106
                velocity = 250;
107
            else
108
                velocity += 5;
109
            break;
110
        case CNTL_VEL_DOWN:
111
            velocity -= 5;
112
            if (velocity < 150)
113
                velocity = 150;
114
            break;
115
        default:
116
            state = CNTL_STOP;
117
            break;
118
    }
119
    set_motion();
120
}
121

  
122
void set_motion (void) {
123
    switch (state) {
124
        case CNTL_FORWARD:
125
            orb_set_color(GREEN);
126
            move(velocity, 0);
127
            break;
128
        case CNTL_BACK:
129
            orb_set_color(BLUE);
130
            move(-velocity, 0);
131
            break;
132
        case CNTL_LEFT:
133
            orb_set_color(ORANGE);
134
            motor1_set(0, velocity);
135
            motor2_set(1, velocity);
136
            break;
137
        case CNTL_RIGHT:
138
            orb_set_color(YELLOW);
139
            motor1_set(1, velocity);
140
            motor2_set(0, velocity);
141
            break;
142
        case CNTL_LEFT_CURVE:
143
            orb_set_color(MAGENTA);
144
            motor1_set(1, 150);
145
            motor2_set(1, velocity);
146
            break;
147
        case CNTL_RIGHT_CURVE:
148
            orb_set_color(CYAN);
149
            motor1_set(1, velocity);
150
            motor2_set(1, 150);
151
            break;
152
        case CNTL_STOP:
153
            orb_set_color(RED);
154
            move(0, 0);
155
            break;
156
    }
157
}
158

  
branches/colonetmk2/code/projects/mapping/drive/multi_robot_behavior.txt
1
/**
2

  
3
Optimal Behavior for Mapping
4

  
5
Desired Properties
6
- Overlapping maps
7
- Shared origin
8
 * robots must know where they are in relation to each other
9

  
10

  
11

  
12
Actual Behavior
13
- make BOM contact with another robot
14
 * estimated distance reading would help
15
- try to follow another robot
16
 * could parallel path but moved over slightly 
17
   to give a wider view while also corroborating data
18
 * then treat as leader/follower in actions
19
 * get groups to link up with each other and then separate to 
20
   establish meeting point between maps
21
  
22
  
23
  
24
  
25
  
26
Thoughts on improving overall efficiency
27
----------------------------------------
28
Robot:
29
- use a shorter polling interval for rangefinders, 
30
  then average readings between wireless polling intervals
31
- if the rangefinder value = MAX, then mark it as -1
32
  so the program doesn't draw that point
33
- try bursts of data every second or farther apart
34
  containing multiple data points
35
 * this reduces stress on wireless timing and allows for 
36
   overhead created by token ring
37
- one solution to the 'master origin' problem for multiple robots
38
  is to start each robot at the same point with the same orientation
39
 * this isn't very useful and takes effort, but it works
40
 * could also establish an initial offset in robots,
41
   but accurate initial placement would still be an issue
42
  
43
Server:
44
- if the rangefinder value = MAX or -1, don't use that point
45
  or set it to infinity
46
- if robots have linked as leader/follower pair, use
47
  one point of origin for both robots
48
- when two or more robots meet, set one robot as the 
49
  master coordinates, and modify all other robots to use
50
  those master coordinates
51
 * easiest is to start a new map with one robot at the origin and
52
   all others starting based off that robot
53
 * backdating the coordinate change would be better
54
 * using both approaches is likely most accurate
55

  
56

  
57
  
58
*/
branches/colonetmk2/code/projects/mapping/drive/robotize_lib.sh
1
cd ../../libwireless/lib;
2
make clean;
3
make all;
4
make publish;
5
cd ../../slam/computer;
branches/colonetmk2/code/projects/mapping/drive/Makefile
1
########Update This Section########
2
#
3
#
4

  
5
# Relative path to the root directory (containing lib directory)
6
ifndef COLONYROOT
7
COLONYROOT = ../../../..
8
endif
9

  
10
# Target file name (without extension).
11
TARGET = robot_main
12

  
13
# Uncomment this to use the wireless library
14
USE_WIRELESS = 1
15

  
16
# com1 = serial port. Use lpt1 to connect to parallel port.
17
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
18
#
19
#
20
###################################
21

  
22
# Hey Emacs, this is a -*- makefile -*-
23
#----------------------------------------------------------------------------
24
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
25
#
26
# Released to the Public Domain
27
#
28
# Additional material for this makefile was written by:
29
# Peter Fleury
30
# Tim Henigan
31
# Colin O'Flynn
32
# Reiner Patommel
33
# Markus Pfaff
34
# Sander Pool
35
# Frederik Rouleau
36
#
37
#----------------------------------------------------------------------------
38
# On command line:
39
#
40
# make all = Make software.
41
#
42
# make clean = Clean out built project files.
43
#
44
# make coff = Convert ELF to AVR COFF.
45
#
46
# make extcoff = Convert ELF to AVR Extended COFF.
47
#
48
# make program = Download the hex file to the device, using avrdude.
49
#                Please customize the avrdude settings below first!
50
#
51
# make debug = Start either simulavr or avarice as specified for debugging, 
52
#              with avr-gdb or avr-insight as the front end for debugging.
53
#
54
# make filename.s = Just compile filename.c into the assembler code only.
55
#
56
# make filename.i = Create a preprocessed source file for use in submitting
57
#                   bug reports to the GCC project.
58
#
59
# To rebuild project do "make clean" then "make all".
60
#----------------------------------------------------------------------------
61

  
62
#if you want your code to work on the Firefly++ and not Firefly+
63
#then add the -DFFPP line to CDEFS
64
CDEFS = 
65
#-DFFPP
66

  
67
# MCU name
68
MCU = atmega128
69

  
70
# Processor frequency.
71
#     This will define a symbol, F_CPU, in all source code files equal to the 
72
#     processor frequency. You can then use this symbol in your source code to 
73
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
74
#     automatically to create a 32-bit value in your source code.
75
F_CPU = 8000000
76

  
77
# Output format. (can be srec, ihex, binary)
78
FORMAT = ihex
79

  
80
# List C source files here. (C dependencies are automatically generated.)
81
SRC = $(wildcard *.c)
82

  
83
# List Assembler source files here.
84
#     Make them always end in a capital .S.  Files ending in a lowercase .s
85
#     will not be considered source files but generated files (assembler
86
#     output from the compiler), and will be deleted upon "make clean"!
87
#     Even though the DOS/Win* filesystem matches both .s and .S the same,
88
#     it will preserve the spelling of the filenames, and gcc itself does
89
#     care about how the name is spelled on its command-line.
90
ASRC = 
91

  
92
# Optimization level, can be [0, 1, 2, 3, s]. 
93
#     0 = turn off optimization. s = optimize for size.
94
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
95
OPT = s
96

  
97
# Debugging format.
98
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
99
#     AVR Studio 4.10 requires dwarf-2.
100
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
101
DEBUG =
102

  
103
# Compiler flag to set the C Standard level.
104
#     c89   = "ANSI" C
105
#     gnu89 = c89 plus GCC extensions
106
#     c99   = ISO C99 standard (not yet fully implemented)
107
#     gnu99 = c99 plus GCC extensions
108
CSTANDARD = -std=gnu99
109

  
110
# Place -D or -U options here
111
CDEFS += -DF_CPU=$(F_CPU)UL 
112
CDEFS += -DFFP
113
# for wireless library
114
ifdef USE_WIRELESS
115
	CDEFS += -DROBOT
116
endif
117

  
118
# Place -I, -L options here
119
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly 
120
CINCS += -L$(COLONYROOT)/code/lib/bin
121
ifdef USE_WIRELESS
122
	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
123
endif
124

  
125
#---------------- Compiler Options ----------------
126
#  -g*:          generate debugging information
127
#  -O*:          optimization level
128
#  -f...:        tuning, see GCC manual and avr-libc documentation
129
#  -Wall...:     warning level
130
#  -Wa,...:      tell GCC to pass this to the assembler.
131
#    -adhlns...: create assembler listing
132
CFLAGS =
133
# CFLAGS = -g$(DEBUG)
134
CFLAGS += $(CDEFS) $(CINCS)
135
CFLAGS += -O$(OPT)
136
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
137
CFLAGS += -Wall -Wstrict-prototypes
138
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
139
CFLAGS += $(CSTANDARD)
140

  
141
#---------------- Assembler Options ----------------
142
#  -Wa,...:   tell GCC to pass this to the assembler.
143
#  -ahlms:    create listing
144
#  -gstabs:   have the assembler create line number information; note that
145
#             for use in COFF files, additional information about filenames
146
#             and function names needs to be present in the assembler source
147
#             files -- see avr-libc docs [FIXME: not yet described there]
148
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
149

  
150

  
151
#---------------- Library Options ----------------
152
# Minimalistic printf version
153
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
154

  
155
# Floating point printf version (requires MATH_LIB = -lm below)
156
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
157

  
158
# If this is left blank, then it will use the Standard printf version.
159
#PRINTF_LIB = 
160
#PRINTF_LIB = $(PRINTF_LIB_MIN)
161
PRINTF_LIB = $(PRINTF_LIB_FLOAT)
162

  
163

  
164
# Minimalistic scanf version
165
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
166

  
167
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
168
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
169

  
170
# If this is left blank, then it will use the Standard scanf version.
171
SCANF_LIB = 
172
#SCANF_LIB = $(SCANF_LIB_MIN)
173
#SCANF_LIB = $(SCANF_LIB_FLOAT)
174

  
175
MATH_LIB = -lm
176

  
177
#---------------- External Memory Options ----------------
178

  
179
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
180
# used for variables (.data/.bss) and heap (malloc()).
181
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
182

  
183
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
184
# only used for heap (malloc()).
185
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
186

  
187
EXTMEMOPTS =
188

  
189
#---------------- Linker Options ----------------
190
#  -Wl,...:     tell GCC to pass this to linker.
191
#    -Map:      create map file
192
#    --cref:    add cross reference to  map file
193
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
194
LDFLAGS += $(EXTMEMOPTS)
195
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
196
ifdef USE_WIRELESS
197
	LDFLAGS += -lwireless
198
endif
199
LDFLAGS += -ldragonfly
200

  
201

  
202

  
203
#---------------- Programming Options (avrdude) ----------------
204

  
205
# Programming hardware: alf avr910 avrisp bascom bsd 
206
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
207
#
208
# Type: avrdude -c ?
209
# to get a full listing.
210
#
211
AVRDUDE_PROGRAMMER = avrisp
212

  
213
# programmer connected to serial device
214

  
215
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
216
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
217

  
218

  
219
# Uncomment the following if you want avrdude's erase cycle counter.
220
# Note that this counter needs to be initialized first using -Yn,
221
# see avrdude manual.
222
#AVRDUDE_ERASE_COUNTER = -y
223

  
224
# Uncomment the following if you do /not/ wish a verification to be
225
# performed after programming the device.
226
#AVRDUDE_NO_VERIFY = -V
227

  
228
# Increase verbosity level.  Please use this when submitting bug
229
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 
230
# to submit bug reports.
231
#AVRDUDE_VERBOSE = -v -v
232

  
233
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
234
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
235
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
236
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
237

  
238
#don't check for device signature
239
AVRDUDE_FLAGS += -F
240

  
241

  
242

  
243
#---------------- Debugging Options ----------------
244

  
245
# For simulavr only - target MCU frequency.
246
DEBUG_MFREQ = $(F_CPU)
247

  
248
# Set the DEBUG_UI to either gdb or insight.
249
# DEBUG_UI = gdb
250
DEBUG_UI = insight
251

  
252
# Set the debugging back-end to either avarice, simulavr.
253
DEBUG_BACKEND = avarice
254
#DEBUG_BACKEND = simulavr
255

  
256
# GDB Init Filename.
257
GDBINIT_FILE = __avr_gdbinit
258

  
259
# When using avarice settings for the JTAG
260
JTAG_DEV = /dev/com1
261

  
262
# Debugging port used to communicate between GDB / avarice / simulavr.
263
DEBUG_PORT = 4242
264

  
265
# Debugging host used to communicate between GDB / avarice / simulavr, normally
266
#     just set to localhost unless doing some sort of crazy debugging when 
267
#     avarice is running on a different computer.
268
DEBUG_HOST = localhost
269

  
270

  
271

  
272
#============================================================================
273

  
274

  
275
# Define programs and commands.
276
SHELL = sh
277
CC = avr-gcc
278
OBJCOPY = avr-objcopy
279
OBJDUMP = avr-objdump
280
SIZE = avr-size
281
NM = avr-nm
282
AVRDUDE = avrdude
283
REMOVE = rm -f
284
REMOVEDIR = rm -rf
285
COPY = cp
286
WINSHELL = cmd
287

  
288

  
289
# Define Messages
290
# English
291
MSG_ERRORS_NONE = Errors: none
292
MSG_BEGIN = -------- begin --------
293
MSG_END = --------  end  --------
294
MSG_SIZE_BEFORE = Size before: 
295
MSG_SIZE_AFTER = Size after:
296
MSG_COFF = Converting to AVR COFF:
297
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
298
MSG_FLASH = Creating load file for Flash:
299
MSG_EEPROM = Creating load file for EEPROM:
300
MSG_EXTENDED_LISTING = Creating Extended Listing:
301
MSG_SYMBOL_TABLE = Creating Symbol Table:
302
MSG_LINKING = Linking:
303
MSG_COMPILING = Compiling:
304
MSG_ASSEMBLING = Assembling:
305
MSG_CLEANING = Cleaning project:
306

  
307

  
308

  
309

  
310
# Define all object files.
311
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 
312

  
313
# Define all listing files.
314
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) 
315

  
316

  
317
# Compiler flags to generate dependency files.
318
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
319

  
320

  
321
# Combine all necessary flags and optional flags.
322
# Add target processor to flags.
323
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
324
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
325

  
326

  
327

  
328

  
329

  
330
# Default target.
331
all: begin gccversion sizebefore build sizeafter end
332

  
333
build: elf hex eep lss sym
334

  
335
elf: $(TARGET).elf
336
hex: $(TARGET).hex
337
eep: $(TARGET).eep
338
lss: $(TARGET).lss 
339
sym: $(TARGET).sym
340

  
341

  
342

  
343
# Eye candy.
344
# AVR Studio 3.x does not check make's exit code but relies on
345
# the following magic strings to be generated by the compile job.
346
begin:
347
	@echo
348
	@echo $(MSG_BEGIN)
349

  
350
end:
351
	@echo $(MSG_END)
352
	@echo
353

  
354

  
355
# Display size of file.
356
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
357
ELFSIZE = $(SIZE) -A $(TARGET).elf
358
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
359

  
360
sizebefore:
361
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
362
	$(AVRMEM) 2>/dev/null; echo; fi
363

  
364
sizeafter:
365
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
366
	$(AVRMEM) 2>/dev/null; echo; fi
367

  
368

  
369

  
370
# Display compiler version information.
371
gccversion : 
372
	@$(CC) --version
373

  
374

  
375

  
376
# Program the device.  
377
program: $(TARGET).hex $(TARGET).eep
378
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
379

  
380

  
381
# Generate avr-gdb config/init file which does the following:
382
#     define the reset signal, load the target file, connect to target, and set 
383
#     a breakpoint at main().
384
gdb-config: 
385
	@$(REMOVE) $(GDBINIT_FILE)
386
	@echo define reset >> $(GDBINIT_FILE)
387
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
388
	@echo end >> $(GDBINIT_FILE)
389
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
390
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
391
ifeq ($(DEBUG_BACKEND),simulavr)
392
	@echo load  >> $(GDBINIT_FILE)
393
endif	
394
	@echo break main >> $(GDBINIT_FILE)
395
	
396
debug: gdb-config $(TARGET).elf
397
ifeq ($(DEBUG_BACKEND), avarice)
398
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
399
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
400
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
401
	@$(WINSHELL) /c pause
402
	
403
else
404
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
405
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
406
endif
407
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
408
	
409

  
410

  
411

  
412
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
413
COFFCONVERT=$(OBJCOPY) --debugging \
414
--change-section-address .data-0x800000 \
415
--change-section-address .bss-0x800000 \
416
--change-section-address .noinit-0x800000 \
417
--change-section-address .eeprom-0x810000 
418

  
419

  
420
coff: $(TARGET).elf
421
	@echo
422
	@echo $(MSG_COFF) $(TARGET).cof
423
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
424

  
425

  
426
extcoff: $(TARGET).elf
427
	@echo
428
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
429
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
430

  
431

  
432

  
433
# Create final output files (.hex, .eep) from ELF output file.
434
%.hex: %.elf
435
	@echo
436
	@echo $(MSG_FLASH) $@
437
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
438

  
439
%.eep: %.elf
440
	@echo
441
	@echo $(MSG_EEPROM) $@
442
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
443
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
444

  
445
# Create extended listing file from ELF output file.
446
%.lss: %.elf
447
	@echo
448
	@echo $(MSG_EXTENDED_LISTING) $@
449
	$(OBJDUMP) -h -S $< > $@
450

  
451
# Create a symbol table from ELF output file.
452
%.sym: %.elf
453
	@echo
454
	@echo $(MSG_SYMBOL_TABLE) $@
455
	$(NM) -n $< > $@
456

  
457

  
458

  
459
# Link: create ELF output file from object files.
460
.SECONDARY : $(TARGET).elf
461
.PRECIOUS : $(OBJ)
462
%.elf: $(OBJ)
463
	@echo
464
	@echo $(MSG_LINKING) $@
465
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
466

  
467

  
468
# Compile: create object files from C source files.
469
%.o : %.c
470
	@echo
471
	@echo $(MSG_COMPILING) $<
472
	$(CC) -c $(ALL_CFLAGS) $< -o $@ 
473

  
474

  
475
# Compile: create assembler files from C source files.
476
%.s : %.c
477
	$(CC) -S $(ALL_CFLAGS) $< -o $@
478

  
479

  
480
# Assemble: create object files from assembler source files.
481
%.o : %.S
482
	@echo
483
	@echo $(MSG_ASSEMBLING) $<
484
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
485

  
486
# Create preprocessed source for use in sending a bug report.
487
%.i : %.c
488
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ 
489

  
490

  
491
# Target: clean project.
492
clean: begin clean_list end
493

  
494
clean_list :
495
	@echo
496
	@echo $(MSG_CLEANING)
497
	$(REMOVE) $(TARGET).hex
498
	$(REMOVE) $(TARGET).eep
499
	$(REMOVE) $(TARGET).cof
500
	$(REMOVE) $(TARGET).elf
501
	$(REMOVE) $(TARGET).map
502
	$(REMOVE) $(TARGET).sym
503
	$(REMOVE) $(TARGET).lss
504
	$(REMOVE) $(OBJ)
505
	$(REMOVE) $(LST)
506
	$(REMOVE) $(SRC:.c=.s)
507
	$(REMOVE) $(SRC:.c=.d)
508
	$(REMOVEDIR) .dep
509

  
510

  
511

  
512
# Include the dependency files.
513
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
514

  
515

  
516
# Listing of phony targets.
517
.PHONY : all begin finish end sizebefore sizeafter gccversion \
518
build elf hex eep lss sym coff extcoff \
519
clean clean_list program debug gdb-config
520

  
branches/colonetmk2/code/projects/mapping/drive/data_response.h
1
#ifndef _DATA_RESPONSE_H
2
#define _DATA_REQUESTS_H
3

  
4
#define DATA_REQUEST_GROUP 7
5
#define BOM_TYPE 0
6
#define IR_TYPE 1
7
#define ENCODER_TYPE 2
8
#define ALL_TYPE 3
9

  
10
#define MAX_PACKET_LENGTH 100
11

  
12
/* This requires the wireless library
13
and the token ring to already be initialized.*/
14
void data_response_init(void);
15

  
16
#endif
branches/colonetmk2/code/projects/mapping/drive/smart_run_around_fsm.h
1
//Obstacle Avoid Numbers
2

  
3

  
4
#ifndef _RUN_AROUND_FSM_H_
5
#define _RUN_AROUND_FSM_H_
6

  
7
//The States: 
8
#define MOVING 12           //Move strait.
9
#define BACKWARDS 15        //Move backwards. (Front close to wall.)
10
#define STOP 16             //Stop.  The default state, (Something broke).
11
#define CRAZY 40            //Erratic behavior that occurs more often when the robot is frequently trying to turn. (i.e. may be stuck.)
12

  
13
#define LEFT 37             //Left
14
#define RIGHT 39            //Right
15

  
16
#define BACKUP_MAX 15
17
#define CRAZY_MAX 200       //The number of counts between "crazy moments"
18
#define STRAIT_SPEED 200    //The speed when going strait or backing up.
19
#define TURN_CONSTANT 2
20
#define PCONTROL_CRAZY_LIMIT 80
21

  
22
int avoid_state;    /*State machine variable.*/
23
int crazy_count;    /*Counter for a 'get unstuck' behavior.*/
24

  
25
int backup_count;	/*Counter for backup duration.*/
26
int pControl;		/*Proportional control variable, determines turn direction.*/
27
int d1,d2,d3,d4,d5;	/*The five distances taken in by IR.*/
28

  
29
void run_around_init(void);
30
void run_around_FSM(void);
31
void evaluate_state(void);
32

  
33
#endif
0 34

  
branches/colonetmk2/code/projects/mapping/test/Makefile
1
########Update This Section########
2
#
3
#
4

  
5
# Relative path to the root directory (containing lib directory)
6
ifndef COLONYROOT
7
COLONYROOT = ../../../..
8
endif
9

  
10
# Target file name (without extension).
11
TARGET = template
12

  
13
# Uncomment this to use the wireless library
14
USE_WIRELESS = 1
15

  
16
# com1 = serial port. Use lpt1 to connect to parallel port.
17
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
18
#
19
#
20
###################################
21

  
22
# Hey Emacs, this is a -*- makefile -*-
23
#----------------------------------------------------------------------------
24
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
25
#
26
# Released to the Public Domain
27
#
28
# Additional material for this makefile was written by:
29
# Peter Fleury
30
# Tim Henigan
31
# Colin O'Flynn
32
# Reiner Patommel
33
# Markus Pfaff
34
# Sander Pool
35
# Frederik Rouleau
36
#
37
#----------------------------------------------------------------------------
38
# On command line:
39
#
40
# make all = Make software.
41
#
42
# make clean = Clean out built project files.
43
#
44
# make coff = Convert ELF to AVR COFF.
45
#
46
# make extcoff = Convert ELF to AVR Extended COFF.
47
#
48
# make program = Download the hex file to the device, using avrdude.
49
#                Please customize the avrdude settings below first!
50
#
51
# make debug = Start either simulavr or avarice as specified for debugging, 
52
#              with avr-gdb or avr-insight as the front end for debugging.
53
#
54
# make filename.s = Just compile filename.c into the assembler code only.
55
#
56
# make filename.i = Create a preprocessed source file for use in submitting
57
#                   bug reports to the GCC project.
58
#
59
# To rebuild project do "make clean" then "make all".
60
#----------------------------------------------------------------------------
61

  
62
#if you want your code to work on the Firefly++ and not Firefly+
63
#then add the -DFFPP line to CDEFS
64
CDEFS = 
65
#-DFFPP
66

  
67
# MCU name
68
MCU = atmega128
69

  
70
# Processor frequency.
71
#     This will define a symbol, F_CPU, in all source code files equal to the 
72
#     processor frequency. You can then use this symbol in your source code to 
73
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
74
#     automatically to create a 32-bit value in your source code.
75
F_CPU = 8000000
76

  
77
# Output format. (can be srec, ihex, binary)
78
FORMAT = ihex
79

  
80
# List C source files here. (C dependencies are automatically generated.)
81
SRC = $(wildcard *.c)
82

  
83
# List Assembler source files here.
84
#     Make them always end in a capital .S.  Files ending in a lowercase .s
85
#     will not be considered source files but generated files (assembler
86
#     output from the compiler), and will be deleted upon "make clean"!
87
#     Even though the DOS/Win* filesystem matches both .s and .S the same,
88
#     it will preserve the spelling of the filenames, and gcc itself does
89
#     care about how the name is spelled on its command-line.
90
ASRC = 
91

  
92
# Optimization level, can be [0, 1, 2, 3, s]. 
93
#     0 = turn off optimization. s = optimize for size.
94
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
95
OPT = s
96

  
97
# Debugging format.
98
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
99
#     AVR Studio 4.10 requires dwarf-2.
100
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
101
DEBUG =
102

  
103
# Compiler flag to set the C Standard level.
104
#     c89   = "ANSI" C
105
#     gnu89 = c89 plus GCC extensions
106
#     c99   = ISO C99 standard (not yet fully implemented)
107
#     gnu99 = c99 plus GCC extensions
108
CSTANDARD = -std=gnu99
109

  
110
# Place -D or -U options here
111
CDEFS += -DF_CPU=$(F_CPU)UL 
112
CDEFS += -DFFP
113
# for wireless library
114
ifdef USE_WIRELESS
115
	CDEFS += -DROBOT
116
endif
117

  
118
# Place -I, -L options here
119
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly 
120
CINCS += -L$(COLONYROOT)/code/lib/bin
121
ifdef USE_WIRELESS
122
	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
123
endif
124

  
125
#---------------- Compiler Options ----------------
126
#  -g*:          generate debugging information
127
#  -O*:          optimization level
128
#  -f...:        tuning, see GCC manual and avr-libc documentation
129
#  -Wall...:     warning level
130
#  -Wa,...:      tell GCC to pass this to the assembler.
131
#    -adhlns...: create assembler listing
132
CFLAGS =
133
# CFLAGS = -g$(DEBUG)
134
CFLAGS += $(CDEFS) $(CINCS)
135
CFLAGS += -O$(OPT)
136
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
137
CFLAGS += -Wall -Wstrict-prototypes
138
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
139
CFLAGS += $(CSTANDARD)
140

  
141
#---------------- Assembler Options ----------------
142
#  -Wa,...:   tell GCC to pass this to the assembler.
143
#  -ahlms:    create listing
144
#  -gstabs:   have the assembler create line number information; note that
145
#             for use in COFF files, additional information about filenames
146
#             and function names needs to be present in the assembler source
147
#             files -- see avr-libc docs [FIXME: not yet described there]
148
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
149

  
150

  
151
#---------------- Library Options ----------------
152
# Minimalistic printf version
153
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
154

  
155
# Floating point printf version (requires MATH_LIB = -lm below)
156
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
157

  
158
# If this is left blank, then it will use the Standard printf version.
159
PRINTF_LIB = 
160
#PRINTF_LIB = $(PRINTF_LIB_MIN)
161
#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
162

  
163

  
164
# Minimalistic scanf version
165
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
166

  
167
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
168
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
169

  
170
# If this is left blank, then it will use the Standard scanf version.
171
SCANF_LIB = 
172
#SCANF_LIB = $(SCANF_LIB_MIN)
173
#SCANF_LIB = $(SCANF_LIB_FLOAT)
174

  
175
MATH_LIB = -lm
176

  
177
#---------------- External Memory Options ----------------
178

  
179
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
180
# used for variables (.data/.bss) and heap (malloc()).
181
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
182

  
183
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
184
# only used for heap (malloc()).
185
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
186

  
187
EXTMEMOPTS =
188

  
189
#---------------- Linker Options ----------------
190
#  -Wl,...:     tell GCC to pass this to linker.
191
#    -Map:      create map file
192
#    --cref:    add cross reference to  map file
193
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
194
LDFLAGS += $(EXTMEMOPTS)
195
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
196
ifdef USE_WIRELESS
197
	LDFLAGS += -lwireless
198
endif
199
LDFLAGS += -ldragonfly
200

  
201

  
202

  
203
#---------------- Programming Options (avrdude) ----------------
204

  
205
# Programming hardware: alf avr910 avrisp bascom bsd 
206
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
207
#
208
# Type: avrdude -c ?
209
# to get a full listing.
210
#
211
AVRDUDE_PROGRAMMER = avrisp
212

  
213
# programmer connected to serial device
214

  
215
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
216
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
217

  
218

  
219
# Uncomment the following if you want avrdude's erase cycle counter.
220
# Note that this counter needs to be initialized first using -Yn,
221
# see avrdude manual.
222
#AVRDUDE_ERASE_COUNTER = -y
223

  
224
# Uncomment the following if you do /not/ wish a verification to be
225
# performed after programming the device.
226
#AVRDUDE_NO_VERIFY = -V
227

  
228
# Increase verbosity level.  Please use this when submitting bug
229
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 
230
# to submit bug reports.
231
#AVRDUDE_VERBOSE = -v -v
232

  
233
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
234
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
235
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
236
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
237

  
238
#don't check for device signature
239
AVRDUDE_FLAGS += -F
240

  
241

  
242

  
243
#---------------- Debugging Options ----------------
244

  
245
# For simulavr only - target MCU frequency.
246
DEBUG_MFREQ = $(F_CPU)
247

  
248
# Set the DEBUG_UI to either gdb or insight.
249
# DEBUG_UI = gdb
250
DEBUG_UI = insight
251

  
252
# Set the debugging back-end to either avarice, simulavr.
253
DEBUG_BACKEND = avarice
254
#DEBUG_BACKEND = simulavr
255

  
256
# GDB Init Filename.
257
GDBINIT_FILE = __avr_gdbinit
258

  
259
# When using avarice settings for the JTAG
260
JTAG_DEV = /dev/com1
261

  
262
# Debugging port used to communicate between GDB / avarice / simulavr.
263
DEBUG_PORT = 4242
264

  
265
# Debugging host used to communicate between GDB / avarice / simulavr, normally
266
#     just set to localhost unless doing some sort of crazy debugging when 
267
#     avarice is running on a different computer.
268
DEBUG_HOST = localhost
269

  
270

  
271

  
272
#============================================================================
273

  
274

  
275
# Define programs and commands.
276
SHELL = sh
277
CC = avr-gcc
278
OBJCOPY = avr-objcopy
279
OBJDUMP = avr-objdump
280
SIZE = avr-size
281
NM = avr-nm
282
AVRDUDE = avrdude
283
REMOVE = rm -f
284
REMOVEDIR = rm -rf
285
COPY = cp
286
WINSHELL = cmd
287

  
288

  
289
# Define Messages
290
# English
291
MSG_ERRORS_NONE = Errors: none
292
MSG_BEGIN = -------- begin --------
293
MSG_END = --------  end  --------
294
MSG_SIZE_BEFORE = Size before: 
295
MSG_SIZE_AFTER = Size after:
296
MSG_COFF = Converting to AVR COFF:
297
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
298
MSG_FLASH = Creating load file for Flash:
299
MSG_EEPROM = Creating load file for EEPROM:
300
MSG_EXTENDED_LISTING = Creating Extended Listing:
301
MSG_SYMBOL_TABLE = Creating Symbol Table:
302
MSG_LINKING = Linking:
303
MSG_COMPILING = Compiling:
304
MSG_ASSEMBLING = Assembling:
305
MSG_CLEANING = Cleaning project:
306

  
307

  
308

  
309

  
310
# Define all object files.
311
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 
312

  
313
# Define all listing files.
314
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) 
315

  
316

  
317
# Compiler flags to generate dependency files.
318
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
319

  
320

  
321
# Combine all necessary flags and optional flags.
322
# Add target processor to flags.
323
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
324
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
325

  
326

  
327

  
328

  
329

  
330
# Default target.
331
all: begin gccversion sizebefore build sizeafter end
332

  
333
build: elf hex eep lss sym
334

  
335
elf: $(TARGET).elf
336
hex: $(TARGET).hex
337
eep: $(TARGET).eep
338
lss: $(TARGET).lss 
339
sym: $(TARGET).sym
340

  
341

  
342

  
343
# Eye candy.
344
# AVR Studio 3.x does not check make's exit code but relies on
345
# the following magic strings to be generated by the compile job.
346
begin:
347
	@echo
348
	@echo $(MSG_BEGIN)
349

  
350
end:
351
	@echo $(MSG_END)
352
	@echo
353

  
354

  
355
# Display size of file.
356
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
357
ELFSIZE = $(SIZE) -A $(TARGET).elf
358
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
359

  
360
sizebefore:
361
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
362
	$(AVRMEM) 2>/dev/null; echo; fi
363

  
364
sizeafter:
365
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
366
	$(AVRMEM) 2>/dev/null; echo; fi
367

  
368

  
369

  
370
# Display compiler version information.
371
gccversion : 
372
	@$(CC) --version
373

  
374

  
375

  
376
# Program the device.  
377
program: $(TARGET).hex $(TARGET).eep
378
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
379

  
380

  
381
# Generate avr-gdb config/init file which does the following:
382
#     define the reset signal, load the target file, connect to target, and set 
383
#     a breakpoint at main().
384
gdb-config: 
385
	@$(REMOVE) $(GDBINIT_FILE)
386
	@echo define reset >> $(GDBINIT_FILE)
387
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
388
	@echo end >> $(GDBINIT_FILE)
389
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
390
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
391
ifeq ($(DEBUG_BACKEND),simulavr)
392
	@echo load  >> $(GDBINIT_FILE)
393
endif	
394
	@echo break main >> $(GDBINIT_FILE)
395
	
396
debug: gdb-config $(TARGET).elf
397
ifeq ($(DEBUG_BACKEND), avarice)
398
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
399
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
400
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
401
	@$(WINSHELL) /c pause
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