Revision 1519

View differences:

trunk/code/behaviors/james/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 = com4
18
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
19
#
20
#
21
###################################
22

  
23
# Hey Emacs, this is a -*- makefile -*-
24
#----------------------------------------------------------------------------
25
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
26
#
27
# Released to the Public Domain
28
#
29
# Additional material for this makefile was written by:
30
# Peter Fleury
31
# Tim Henigan
32
# Colin O'Flynn
33
# Reiner Patommel
34
# Markus Pfaff
35
# Sander Pool
36
# Frederik Rouleau
37
#
38
#----------------------------------------------------------------------------
39
# On command line:
40
#
41
# make all = Make software.
42
#
43
# make clean = Clean out built project files.
44
#
45
# make coff = Convert ELF to AVR COFF.
46
#
47
# make extcoff = Convert ELF to AVR Extended COFF.
48
#
49
# make program = Download the hex file to the device, using avrdude.
50
#                Please customize the avrdude settings below first!
51
#
52
# make debug = Start either simulavr or avarice as specified for debugging,
53
#              with avr-gdb or avr-insight as the front end for debugging.
54
#
55
# make filename.s = Just compile filename.c into the assembler code only.
56
#
57
# make filename.i = Create a preprocessed source file for use in submitting
58
#                   bug reports to the GCC project.
59
#
60
# To rebuild project do "make clean" then "make all".
61
#----------------------------------------------------------------------------
62

  
63
#if you want your code to work on the Firefly++ and not Firefly+
64
#then add the -DFFPP line to CDEFS
65
CDEFS =
66
#-DFFPP
67

  
68
# MCU name
69
MCU = atmega128
70

  
71
# Processor frequency.
72
#     This will define a symbol, F_CPU, in all source code files equal to the
73
#     processor frequency. You can then use this symbol in your source code to
74
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
75
#     automatically to create a 32-bit value in your source code.
76
F_CPU = 8000000
77

  
78
# Output format. (can be srec, ihex, binary)
79
FORMAT = ihex
80

  
81
# List C source files here. (C dependencies are automatically generated.)
82
SRC = $(wildcard *.c)
83

  
84
# List Assembler source files here.
85
#     Make them always end in a capital .S.  Files ending in a lowercase .s
86
#     will not be considered source files but generated files (assembler
87
#     output from the compiler), and will be deleted upon "make clean"!
88
#     Even though the DOS/Win* filesystem matches both .s and .S the same,
89
#     it will preserve the spelling of the filenames, and gcc itself does
90
#     care about how the name is spelled on its command-line.
91
ASRC =
92

  
93
# Optimization level, can be [0, 1, 2, 3, s].
94
#     0 = turn off optimization. s = optimize for size.
95
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
96
OPT = s
97

  
98
# Debugging format.
99
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
100
#     AVR Studio 4.10 requires dwarf-2.
101
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
102
DEBUG =
103

  
104
# Compiler flag to set the C Standard level.
105
#     c89   = "ANSI" C
106
#     gnu89 = c89 plus GCC extensions
107
#     c99   = ISO C99 standard (not yet fully implemented)
108
#     gnu99 = c99 plus GCC extensions
109
CSTANDARD = -std=gnu99
110

  
111
# Place -D or -U options here
112
CDEFS += -DF_CPU=$(F_CPU)UL
113
CDEFS += -DFFP
114
# for wireless library
115
ifdef USE_WIRELESS
116
	CDEFS += -DROBOT
117
endif
118

  
119
# Place -I, -L options here
120
CINCS = -I$(COLONYROOT)/lib/include/libdragonfly
121
CINCS += -L$(COLONYROOT)/lib/bin
122
ifdef USE_WIRELESS
123
	CINCS += -I$(COLONYROOT)/lib/include/libwireless
124
endif
125

  
126
#---------------- Compiler Options ----------------
127
#  -g*:          generate debugging information
128
#  -O*:          optimization level
129
#  -f...:        tuning, see GCC manual and avr-libc documentation
130
#  -Wall...:     warning level
131
#  -Wa,...:      tell GCC to pass this to the assembler.
132
#    -adhlns...: create assembler listing
133
CFLAGS =
134
# CFLAGS = -g$(DEBUG)
135
CFLAGS += $(CDEFS) $(CINCS)
136
CFLAGS += -O$(OPT)
137
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
138
CFLAGS += -Wall -Wstrict-prototypes
139
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
140
CFLAGS += $(CSTANDARD)
141

  
142
#---------------- Assembler Options ----------------
143
#  -Wa,...:   tell GCC to pass this to the assembler.
144
#  -ahlms:    create listing
145
#  -gstabs:   have the assembler create line number information; note that
146
#             for use in COFF files, additional information about filenames
147
#             and function names needs to be present in the assembler source
148
#             files -- see avr-libc docs [FIXME: not yet described there]
149
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
150

  
151

  
152
#---------------- Library Options ----------------
153
# Minimalistic printf version
154
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
155

  
156
# Floating point printf version (requires MATH_LIB = -lm below)
157
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
158

  
159
# If this is left blank, then it will use the Standard printf version.
160
PRINTF_LIB =
161
#PRINTF_LIB = $(PRINTF_LIB_MIN)
162
#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
163

  
164

  
165
# Minimalistic scanf version
166
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
167

  
168
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
169
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
170

  
171
# If this is left blank, then it will use the Standard scanf version.
172
SCANF_LIB =
173
#SCANF_LIB = $(SCANF_LIB_MIN)
174
#SCANF_LIB = $(SCANF_LIB_FLOAT)
175

  
176
MATH_LIB = -lm
177

  
178
#---------------- External Memory Options ----------------
179

  
180
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
181
# used for variables (.data/.bss) and heap (malloc()).
182
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
183

  
184
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
185
# only used for heap (malloc()).
186
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
187

  
188
EXTMEMOPTS =
189

  
190
#---------------- Linker Options ----------------
191
#  -Wl,...:     tell GCC to pass this to linker.
192
#    -Map:      create map file
193
#    --cref:    add cross reference to  map file
194
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
195
LDFLAGS += $(EXTMEMOPTS)
196
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
197
ifdef USE_WIRELESS
198
	LDFLAGS += -lwireless
199
endif
200
LDFLAGS += -ldragonfly
201

  
202

  
203

  
204
#---------------- Programming Options (avrdude) ----------------
205

  
206
# Programming hardware: alf avr910 avrisp bascom bsd
207
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
208
#
209
# Type: avrdude -c ?
210
# to get a full listing.
211
#
212
AVRDUDE_PROGRAMMER = avrisp
213

  
214
# programmer connected to serial device
215

  
216
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
217
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
218

  
219

  
220
# Uncomment the following if you want avrdude's erase cycle counter.
221
# Note that this counter needs to be initialized first using -Yn,
222
# see avrdude manual.
223
#AVRDUDE_ERASE_COUNTER = -y
224

  
225
# Uncomment the following if you do /not/ wish a verification to be
226
# performed after programming the device.
227
#AVRDUDE_NO_VERIFY = -V
228

  
229
# Increase verbosity level.  Please use this when submitting bug
230
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
231
# to submit bug reports.
232
#AVRDUDE_VERBOSE = -v -v
233

  
234
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
235
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
236
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
237
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
238

  
239
#don't check for device signature
240
AVRDUDE_FLAGS += -F
241

  
242

  
243

  
244
#---------------- Debugging Options ----------------
245

  
246
# For simulavr only - target MCU frequency.
247
DEBUG_MFREQ = $(F_CPU)
248

  
249
# Set the DEBUG_UI to either gdb or insight.
250
# DEBUG_UI = gdb
251
DEBUG_UI = insight
252

  
253
# Set the debugging back-end to either avarice, simulavr.
254
DEBUG_BACKEND = avarice
255
#DEBUG_BACKEND = simulavr
256

  
257
# GDB Init Filename.
258
GDBINIT_FILE = __avr_gdbinit
259

  
260
# When using avarice settings for the JTAG
261
JTAG_DEV = /dev/com1
262

  
263
# Debugging port used to communicate between GDB / avarice / simulavr.
264
DEBUG_PORT = 4242
265

  
266
# Debugging host used to communicate between GDB / avarice / simulavr, normally
267
#     just set to localhost unless doing some sort of crazy debugging when
268
#     avarice is running on a different computer.
269
DEBUG_HOST = localhost
270

  
271

  
272

  
273
#============================================================================
274

  
275

  
276
# Define programs and commands.
277
SHELL = sh
278
CC = avr-gcc
279
OBJCOPY = avr-objcopy
280
OBJDUMP = avr-objdump
281
SIZE = avr-size
282
NM = avr-nm
283
AVRDUDE = avrdude
284
REMOVE = rm -f
285
REMOVEDIR = rm -rf
286
COPY = cp
287
WINSHELL = cmd
288

  
289

  
290
# Define Messages
291
# English
292
MSG_ERRORS_NONE = Errors: none
293
MSG_BEGIN = -------- begin --------
294
MSG_END = --------  end  --------
295
MSG_SIZE_BEFORE = Size before:
296
MSG_SIZE_AFTER = Size after:
297
MSG_COFF = Converting to AVR COFF:
298
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
299
MSG_FLASH = Creating load file for Flash:
300
MSG_EEPROM = Creating load file for EEPROM:
301
MSG_EXTENDED_LISTING = Creating Extended Listing:
302
MSG_SYMBOL_TABLE = Creating Symbol Table:
303
MSG_LINKING = Linking:
304
MSG_COMPILING = Compiling:
305
MSG_ASSEMBLING = Assembling:
306
MSG_CLEANING = Cleaning project:
307

  
308

  
309

  
310

  
311
# Define all object files.
312
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
313

  
314
# Define all listing files.
315
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
316

  
317

  
318
# Compiler flags to generate dependency files.
319
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
320

  
321

  
322
# Combine all necessary flags and optional flags.
323
# Add target processor to flags.
324
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
325
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
326

  
327

  
328

  
329

  
330

  
331
# Default target.
332
all: begin gccversion sizebefore build sizeafter end
333

  
334
build: elf hex eep lss sym
335

  
336
elf: $(TARGET).elf
337
hex: $(TARGET).hex
338
eep: $(TARGET).eep
339
lss: $(TARGET).lss
340
sym: $(TARGET).sym
341

  
342

  
343

  
344
# Eye candy.
345
# AVR Studio 3.x does not check make's exit code but relies on
346
# the following magic strings to be generated by the compile job.
347
begin:
348
	@echo
349
	@echo $(MSG_BEGIN)
350

  
351
end:
352
	@echo $(MSG_END)
353
	@echo
354

  
355

  
356
# Display size of file.
357
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
358
ELFSIZE = $(SIZE) -A $(TARGET).elf
359
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
360

  
361
sizebefore:
362
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
363
	$(AVRMEM) 2>/dev/null; echo; fi
364

  
365
sizeafter:
366
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
367
	$(AVRMEM) 2>/dev/null; echo; fi
368

  
369

  
370

  
371
# Display compiler version information.
372
gccversion :
373
	@$(CC) --version
374

  
375

  
376

  
377
# Program the device.
378
program: $(TARGET).hex $(TARGET).eep
379
	#-taskkill /IM ttermpro.exe
380
	#sleep 1
381
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
382

  
383

  
384
# Generate avr-gdb config/init file which does the following:
385
#     define the reset signal, load the target file, connect to target, and set
386
#     a breakpoint at main().
387
gdb-config:
388
	@$(REMOVE) $(GDBINIT_FILE)
389
	@echo define reset >> $(GDBINIT_FILE)
390
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
391
	@echo end >> $(GDBINIT_FILE)
392
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
393
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
394
ifeq ($(DEBUG_BACKEND),simulavr)
395
	@echo load  >> $(GDBINIT_FILE)
396
endif
397
	@echo break main >> $(GDBINIT_FILE)
398

  
399
debug: gdb-config $(TARGET).elf
400
ifeq ($(DEBUG_BACKEND), avarice)
401
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
402
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
403
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
404
	@$(WINSHELL) /c pause
405

  
406
else
407
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
408
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
409
endif
410
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
411

  
412

  
413

  
414

  
415
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
416
COFFCONVERT=$(OBJCOPY) --debugging \
417
--change-section-address .data-0x800000 \
418
--change-section-address .bss-0x800000 \
419
--change-section-address .noinit-0x800000 \
420
--change-section-address .eeprom-0x810000
421

  
422

  
423
coff: $(TARGET).elf
424
	@echo
425
	@echo $(MSG_COFF) $(TARGET).cof
426
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
427

  
428

  
429
extcoff: $(TARGET).elf
430
	@echo
431
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
432
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
433

  
434

  
435

  
436
# Create final output files (.hex, .eep) from ELF output file.
437
%.hex: %.elf
438
	@echo
439
	@echo $(MSG_FLASH) $@
440
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
441

  
442
%.eep: %.elf
443
	@echo
444
	@echo $(MSG_EEPROM) $@
445
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
446
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
447

  
448
# Create extended listing file from ELF output file.
449
%.lss: %.elf
450
	@echo
451
	@echo $(MSG_EXTENDED_LISTING) $@
452
	$(OBJDUMP) -h -S $< > $@
453

  
454
# Create a symbol table from ELF output file.
455
%.sym: %.elf
456
	@echo
457
	@echo $(MSG_SYMBOL_TABLE) $@
458
	$(NM) -n $< > $@
459

  
460

  
461

  
462
# Link: create ELF output file from object files.
463
.SECONDARY : $(TARGET).elf
464
.PRECIOUS : $(OBJ)
465
%.elf: $(OBJ)
466
	@echo
467
	@echo $(MSG_LINKING) $@
468
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
469

  
470

  
471
# Compile: create object files from C source files.
472
%.o : %.c
473
	@echo
474
	@echo $(MSG_COMPILING) $<
475
	$(CC) -c $(ALL_CFLAGS) $< -o $@
476

  
477

  
478
# Compile: create assembler files from C source files.
479
%.s : %.c
480
	$(CC) -S $(ALL_CFLAGS) $< -o $@
481

  
482

  
483
# Assemble: create object files from assembler source files.
484
%.o : %.S
485
	@echo
486
	@echo $(MSG_ASSEMBLING) $<
487
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
488

  
489
# Create preprocessed source for use in sending a bug report.
490
%.i : %.c
491
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
492

  
493

  
494
# Target: clean project.
495
clean: begin clean_list end
496

  
497
clean_list :
498
	@echo
499
	@echo $(MSG_CLEANING)
500
	$(REMOVE) $(TARGET).hex
501
	$(REMOVE) $(TARGET).eep
502
	$(REMOVE) $(TARGET).cof
503
	$(REMOVE) $(TARGET).elf
504
	$(REMOVE) $(TARGET).map
505
	$(REMOVE) $(TARGET).sym
506
	$(REMOVE) $(TARGET).lss
507
	$(REMOVE) $(OBJ)
508
	$(REMOVE) $(LST)
509
	$(REMOVE) $(SRC:.c=.s)
510
	$(REMOVE) $(SRC:.c=.d)
511
	$(REMOVEDIR) .dep
512

  
513

  
514

  
515
# Include the dependency files.
516
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
517

  
518

  
519
# Listing of phony targets.
520
.PHONY : all begin finish end sizebefore sizeafter gccversion \
521
build elf hex eep lss sym coff extcoff \
522
clean clean_list program debug gdb-config
523

  
trunk/code/behaviors/james/main.c
1
/*
2
 * template.c - A starting point for developing behaviors using the Colony
3
 * 		robots. To create a new behavior, you should copy this "template"
4
 * 		folder to another folder and rename the "template.c" file
5
 * 		appropriately.
6
 *
7
 * This template will have the robot drive in circles and flash the orbs.
8
 *
9
 * Author: John Sexton, Colony Project, CMU Robotics Club
10
 */
11

  
12
#include <dragonfly_lib.h>
13
#include <wl_basic.h>
14

  
15
/* Time delay which determines how long the robot circles before it
16
 * changes direction. */
17
#define TIME_DELAY 5000
18

  
19
int main (void) {
20

  
21
	/* Initialize the dragonfly boards, the xbee, and the encoders */
22
	dragonfly_init(ALL_ON);
23
	xbee_init();
24
	encoders_init();
25
	
26
	while (1) {
27
		/* Drive left, set orbs, and wait */
28
		orbs_set_color(RED, GREEN);
29
		motor_l_set(FORWARD, 160);
30
		motor_r_set(FORWARD, 255);
31
		delay_ms(TIME_DELAY);
32

  
33
		/* Drive right, change orb colors, and wait */
34
		orbs_set_color(PURPLE, BLUE);
35
		motor_l_set(FORWARD, 255);
36
		motor_r_set(FORWARD, 160);
37
		delay_ms(TIME_DELAY);
38
	}
39

  
40
}

Also available in: Unified diff