root / branches / colonetmk2 / code / projects / swarm / robot / Makefile @ 1605
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1 | 1456 | rcahoon | # Hey Emacs, this is a -*- makefile -*- |
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2 | #---------------------------------------------------------------------------- |
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3 | # WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
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4 | # |
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5 | # Released to the Public Domain |
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6 | # |
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7 | # Additional material for this makefile was written by: |
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8 | # Peter Fleury |
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9 | # Tim Henigan |
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10 | # Colin O'Flynn |
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11 | # Reiner Patommel |
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12 | # Markus Pfaff |
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13 | # Sander Pool |
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14 | # Frederik Rouleau |
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15 | # |
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16 | #---------------------------------------------------------------------------- |
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17 | # On command line: |
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18 | # |
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19 | # make all = Make software. |
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20 | # |
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21 | # make clean = Clean out built project files. |
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22 | # |
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23 | # make coff = Convert ELF to AVR COFF. |
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24 | # |
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25 | # make extcoff = Convert ELF to AVR Extended COFF. |
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26 | # |
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27 | # make program = Download the hex file to the device, using avrdude. |
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28 | # Please customize the avrdude settings below first! |
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29 | # |
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30 | # make debug = Start either simulavr or avarice as specified for debugging, |
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31 | # with avr-gdb or avr-insight as the front end for debugging. |
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32 | # |
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33 | # make filename.s = Just compile filename.c into the assembler code only. |
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34 | # |
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35 | # make filename.i = Create a preprocessed source file for use in submitting |
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36 | # bug reports to the GCC project. |
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37 | # |
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38 | # To rebuild project do "make clean" then "make all". |
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39 | #---------------------------------------------------------------------------- |
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40 | |||
41 | #if you want your code to work on the Firefly++ and not Firefly+ |
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42 | #then add the -DFFPP line to CDEFS |
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43 | COLONYROOT = ../../../.. |
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44 | CDEFS = |
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45 | #-DFFPP |
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46 | |||
47 | # MCU name |
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48 | MCU = atmega128 |
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49 | |||
50 | |||
51 | # Processor frequency. |
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52 | # This will define a symbol, F_CPU, in all source code files equal to the |
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53 | # processor frequency. You can then use this symbol in your source code to |
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54 | # calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
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55 | # automatically to create a 32-bit value in your source code. |
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56 | F_CPU = 8000000 |
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57 | |||
58 | |||
59 | # Output format. (can be srec, ihex, binary) |
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60 | FORMAT = ihex |
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61 | |||
62 | |||
63 | # Target file name (without extension). |
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64 | TARGET = main |
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65 | |||
66 | |||
67 | # List C source files here. (C dependencies are automatically generated.) |
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68 | SRC = $(wildcard *.c) |
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69 | #$(TARGET).c |
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70 | |||
71 | |||
72 | # List Assembler source files here. |
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73 | # Make them always end in a capital .S. Files ending in a lowercase .s |
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74 | # will not be considered source files but generated files (assembler |
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75 | # output from the compiler), and will be deleted upon "make clean"! |
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76 | # Even though the DOS/Win* filesystem matches both .s and .S the same, |
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77 | # it will preserve the spelling of the filenames, and gcc itself does |
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78 | # care about how the name is spelled on its command-line. |
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79 | ASRC = |
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80 | |||
81 | |||
82 | # Optimization level, can be [0, 1, 2, 3, s]. |
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83 | # 0 = turn off optimization. s = optimize for size. |
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84 | # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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85 | OPT = s |
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86 | |||
87 | |||
88 | # Debugging format. |
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89 | # Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
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90 | # AVR Studio 4.10 requires dwarf-2. |
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91 | # AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
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92 | DEBUG = |
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93 | |||
94 | |||
95 | # List any extra directories to look for include files here. |
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96 | # Each directory must be seperated by a space. |
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97 | # Use forward slashes for directory separators. |
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98 | # For a directory that has spaces, enclose it in quotes. |
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99 | EXTRAINCDIRS = $(COLONYROOT)/code/firefly_plus_lib |
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100 | #C:\WinAVR\include\fwr |
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101 | |||
102 | |||
103 | # Compiler flag to set the C Standard level. |
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104 | # c89 = "ANSI" C |
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105 | # gnu89 = c89 plus GCC extensions |
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106 | # c99 = ISO C99 standard (not yet fully implemented) |
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107 | # gnu99 = c99 plus GCC extensions |
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108 | CSTANDARD = -std=gnu99 |
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109 | |||
110 | |||
111 | # Place -D or -U options here |
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112 | CDEFS += -DF_CPU=$(F_CPU)UL |
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113 | CDEFS += -DFFP |
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114 | |||
115 | |||
116 | # Place -I options here |
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117 | CINCS = -I../include -I../ -I$(COLONYROOT)/code/projects/libwireless/lib -I$(COLONYROOT)/code/projects/libdragonfly -L$(COLONYROOT)/code/projects/libwireless/lib -L$(COLONYROOT)/code/projects/libdragonfly |
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118 | |||
119 | |||
120 | |||
121 | #---------------- Compiler Options ---------------- |
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122 | # -g*: generate debugging information |
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123 | # -O*: optimization level |
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124 | # -f...: tuning, see GCC manual and avr-libc documentation |
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125 | # -Wall...: warning level |
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126 | # -Wa,...: tell GCC to pass this to the assembler. |
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127 | # -adhlns...: create assembler listing |
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128 | CFLAGS = -g$(DEBUG) |
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129 | CFLAGS += $(CDEFS) $(CINCS) |
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130 | CFLAGS += -O$(OPT) |
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131 | CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
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132 | CFLAGS += -Wall -Wstrict-prototypes |
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133 | CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
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134 | CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) |
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135 | CFLAGS += $(CSTANDARD) |
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136 | CFLAGS += -DROBOT |
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137 | |||
138 | |||
139 | #---------------- Assembler Options ---------------- |
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140 | # -Wa,...: tell GCC to pass this to the assembler. |
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141 | # -ahlms: create listing |
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142 | # -gstabs: have the assembler create line number information; note that |
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143 | # for use in COFF files, additional information about filenames |
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144 | # and function names needs to be present in the assembler source |
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145 | # files -- see avr-libc docs [FIXME: not yet described there] |
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146 | ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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147 | |||
148 | |||
149 | #---------------- Library Options ---------------- |
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150 | # Minimalistic printf version |
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151 | PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
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152 | |||
153 | # Floating point printf version (requires MATH_LIB = -lm below) |
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154 | PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
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155 | |||
156 | # If this is left blank, then it will use the Standard printf version. |
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157 | PRINTF_LIB = |
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158 | #PRINTF_LIB = $(PRINTF_LIB_MIN) |
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159 | #PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
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160 | |||
161 | |||
162 | # Minimalistic scanf version |
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163 | SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
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164 | |||
165 | # Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
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166 | SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
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167 | |||
168 | # If this is left blank, then it will use the Standard scanf version. |
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169 | SCANF_LIB = |
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170 | #SCANF_LIB = $(SCANF_LIB_MIN) |
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171 | #SCANF_LIB = $(SCANF_LIB_FLOAT) |
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172 | |||
173 | |||
174 | MATH_LIB = -lm |
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175 | |||
176 | |||
177 | |||
178 | #---------------- External Memory Options ---------------- |
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179 | |||
180 | # 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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181 | # used for variables (.data/.bss) and heap (malloc()). |
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182 | #EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
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183 | |||
184 | # 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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185 | # only used for heap (malloc()). |
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186 | #EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
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187 | |||
188 | EXTMEMOPTS = |
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189 | |||
190 | |||
191 | |||
192 | #---------------- Linker Options ---------------- |
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193 | # -Wl,...: tell GCC to pass this to linker. |
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194 | # -Map: create map file |
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195 | # --cref: add cross reference to map file |
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196 | LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
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197 | LDFLAGS += $(EXTMEMOPTS) |
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198 | LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
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199 | LDFLAGS += -lwireless -ldragonfly |
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200 | |||
201 | |||
202 | |||
203 | #---------------- Programming Options (avrdude) ---------------- |
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204 | |||
205 | # Programming hardware: alf avr910 avrisp bascom bsd |
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206 | # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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207 | # |
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208 | # Type: avrdude -c ? |
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209 | # to get a full listing. |
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210 | # |
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211 | AVRDUDE_PROGRAMMER = avrisp |
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212 | |||
213 | # com1 = serial port. Use lpt1 to connect to parallel port. |
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214 | PORT = /dev/ttyUSB0 |
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215 | # programmer connected to serial device |
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216 | |||
217 | AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
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218 | #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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219 | |||
220 | |||
221 | # Uncomment the following if you want avrdude's erase cycle counter. |
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222 | # Note that this counter needs to be initialized first using -Yn, |
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223 | # see avrdude manual. |
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224 | #AVRDUDE_ERASE_COUNTER = -y |
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225 | |||
226 | # Uncomment the following if you do /not/ wish a verification to be |
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227 | # performed after programming the device. |
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228 | #AVRDUDE_NO_VERIFY = -V |
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229 | |||
230 | # Increase verbosity level. Please use this when submitting bug |
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231 | # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
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232 | # to submit bug reports. |
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233 | #AVRDUDE_VERBOSE = -v -v |
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234 | |||
235 | AVRDUDE_FLAGS = -p $(MCU) -P $(PORT) -c $(AVRDUDE_PROGRAMMER) |
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236 | AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
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237 | AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
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238 | AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
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239 | |||
240 | #don't check for device signature |
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241 | AVRDUDE_FLAGS += -F |
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242 | AVRDUDE_FLAGS += -D |
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243 | |||
244 | |||
245 | |||
246 | #---------------- Debugging Options ---------------- |
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247 | |||
248 | # For simulavr only - target MCU frequency. |
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249 | DEBUG_MFREQ = $(F_CPU) |
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250 | |||
251 | # Set the DEBUG_UI to either gdb or insight. |
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252 | # DEBUG_UI = gdb |
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253 | DEBUG_UI = insight |
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254 | |||
255 | # Set the debugging back-end to either avarice, simulavr. |
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256 | DEBUG_BACKEND = avarice |
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257 | #DEBUG_BACKEND = simulavr |
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258 | |||
259 | # GDB Init Filename. |
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260 | GDBINIT_FILE = __avr_gdbinit |
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261 | |||
262 | # When using avarice settings for the JTAG |
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263 | JTAG_DEV = /dev/com1 |
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264 | |||
265 | # Debugging port used to communicate between GDB / avarice / simulavr. |
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266 | DEBUG_PORT = 4242 |
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267 | |||
268 | # Debugging host used to communicate between GDB / avarice / simulavr, normally |
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269 | # just set to localhost unless doing some sort of crazy debugging when |
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270 | # avarice is running on a different computer. |
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271 | DEBUG_HOST = localhost |
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272 | |||
273 | |||
274 | |||
275 | #============================================================================ |
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276 | |||
277 | |||
278 | # Define programs and commands. |
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279 | SHELL = sh |
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280 | CC = avr-gcc |
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281 | OBJCOPY = avr-objcopy |
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282 | OBJDUMP = avr-objdump |
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283 | SIZE = avr-size |
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284 | NM = avr-nm |
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285 | AVRDUDE = avrdude |
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286 | REMOVE = rm -f |
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287 | REMOVEDIR = rm -rf |
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288 | COPY = cp |
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289 | WINSHELL = cmd |
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290 | |||
291 | |||
292 | # Define Messages |
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293 | # English |
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294 | MSG_ERRORS_NONE = Errors: none |
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295 | MSG_BEGIN = -------- begin -------- |
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296 | MSG_END = -------- end -------- |
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297 | MSG_SIZE_BEFORE = Size before: |
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298 | MSG_SIZE_AFTER = Size after: |
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299 | MSG_COFF = Converting to AVR COFF: |
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300 | MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
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301 | MSG_FLASH = Creating load file for Flash: |
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302 | MSG_EEPROM = Creating load file for EEPROM: |
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303 | MSG_EXTENDED_LISTING = Creating Extended Listing: |
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304 | MSG_SYMBOL_TABLE = Creating Symbol Table: |
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305 | MSG_LINKING = Linking: |
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306 | MSG_COMPILING = Compiling: |
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307 | MSG_ASSEMBLING = Assembling: |
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308 | MSG_CLEANING = Cleaning project: |
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309 | |||
310 | |||
311 | |||
312 | |||
313 | # Define all object files. |
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314 | OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
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315 | |||
316 | # Define all listing files. |
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317 | LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
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318 | |||
319 | |||
320 | # Compiler flags to generate dependency files. |
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321 | GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
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322 | |||
323 | |||
324 | # Combine all necessary flags and optional flags. |
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325 | # Add target processor to flags. |
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326 | ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
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327 | ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
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328 | |||
329 | |||
330 | |||
331 | |||
332 | |||
333 | # Default target. |
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334 | all: begin gccversion sizebefore build sizeafter end |
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335 | |||
336 | build: elf hex eep lss sym |
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337 | |||
338 | elf: $(TARGET).elf |
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339 | hex: $(TARGET).hex |
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340 | eep: $(TARGET).eep |
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341 | lss: $(TARGET).lss |
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342 | sym: $(TARGET).sym |
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343 | |||
344 | |||
345 | |||
346 | # Eye candy. |
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347 | # AVR Studio 3.x does not check make's exit code but relies on |
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348 | # the following magic strings to be generated by the compile job. |
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349 | begin: |
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350 | @echo |
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351 | @echo $(MSG_BEGIN) |
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352 | |||
353 | end: |
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354 | @echo $(MSG_END) |
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355 | @echo |
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356 | |||
357 | |||
358 | # Display size of file. |
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359 | HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
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360 | ELFSIZE = $(SIZE) -A $(TARGET).elf |
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361 | AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
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362 | |||
363 | sizebefore: |
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364 | @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
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365 | $(AVRMEM) 2>/dev/null; echo; fi |
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366 | |||
367 | sizeafter: |
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368 | @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
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369 | $(AVRMEM) 2>/dev/null; echo; fi |
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370 | |||
371 | |||
372 | |||
373 | # Display compiler version information. |
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374 | gccversion : |
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375 | @$(CC) --version |
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376 | |||
377 | |||
378 | |||
379 | # Program the device. |
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380 | program: $(TARGET).hex $(TARGET).eep |
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381 | $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
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382 | |||
383 | |||
384 | # Generate avr-gdb config/init file which does the following: |
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385 | # define the reset signal, load the target file, connect to target, and set |
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386 | # a breakpoint at main(). |
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387 | gdb-config: |
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388 | @$(REMOVE) $(GDBINIT_FILE) |
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389 | @echo define reset >> $(GDBINIT_FILE) |
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390 | @echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
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391 | @echo end >> $(GDBINIT_FILE) |
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392 | @echo file $(TARGET).elf >> $(GDBINIT_FILE) |
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393 | @echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
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394 | ifeq ($(DEBUG_BACKEND),simulavr) |
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395 | @echo load >> $(GDBINIT_FILE) |
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396 | endif |
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397 | @echo break main >> $(GDBINIT_FILE) |
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398 | |||
399 | debug: gdb-config $(TARGET).elf |
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400 | ifeq ($(DEBUG_BACKEND), avarice) |
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401 | @echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
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402 | @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
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403 | $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
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404 | @$(WINSHELL) /c pause |
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405 | |||
406 | else |
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407 | @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
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408 | $(DEBUG_MFREQ) --port $(DEBUG_PORT) |
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409 | endif |
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410 | @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
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411 | |||
412 | |||
413 | |||
414 | |||
415 | # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
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416 | COFFCONVERT=$(OBJCOPY) --debugging \ |
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417 | --change-section-address .data-0x800000 \ |
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418 | --change-section-address .bss-0x800000 \ |
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419 | --change-section-address .noinit-0x800000 \ |
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420 | --change-section-address .eeprom-0x810000 |
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421 | |||
422 | |||
423 | coff: $(TARGET).elf |
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424 | @echo |
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425 | @echo $(MSG_COFF) $(TARGET).cof |
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426 | $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
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427 | |||
428 | |||
429 | extcoff: $(TARGET).elf |
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430 | @echo |
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431 | @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
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432 | $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
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433 | |||
434 | |||
435 | |||
436 | # Create final output files (.hex, .eep) from ELF output file. |
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437 | %.hex: %.elf |
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438 | @echo |
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439 | @echo $(MSG_FLASH) $@ |
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440 | $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
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441 | |||
442 | %.eep: %.elf |
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443 | @echo |
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444 | @echo $(MSG_EEPROM) $@ |
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445 | -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
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446 | --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
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447 | |||
448 | # Create extended listing file from ELF output file. |
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449 | %.lss: %.elf |
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450 | @echo |
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451 | @echo $(MSG_EXTENDED_LISTING) $@ |
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452 | $(OBJDUMP) -h -S $< > $@ |
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453 | |||
454 | # Create a symbol table from ELF output file. |
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455 | %.sym: %.elf |
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456 | @echo |
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457 | @echo $(MSG_SYMBOL_TABLE) $@ |
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458 | $(NM) -n $< > $@ |
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459 | |||
460 | |||
461 | |||
462 | # Link: create ELF output file from object files. |
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463 | .SECONDARY : $(TARGET).elf |
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464 | .PRECIOUS : $(OBJ) |
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465 | %.elf: $(OBJ) |
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466 | @echo |
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467 | @echo $(MSG_LINKING) $@ |
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468 | $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
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469 | |||
470 | |||
471 | # Compile: create object files from C source files. |
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472 | %.o : %.c |
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473 | @echo |
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474 | @echo $(MSG_COMPILING) $< |
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475 | $(CC) -c $(ALL_CFLAGS) $< -o $@ |
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476 | |||
477 | |||
478 | # Compile: create assembler files from C source files. |
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479 | %.s : %.c |
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480 | $(CC) -S $(ALL_CFLAGS) $< -o $@ |
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481 | |||
482 | |||
483 | # Assemble: create object files from assembler source files. |
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484 | %.o : %.S |
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485 | @echo |
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486 | @echo $(MSG_ASSEMBLING) $< |
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487 | $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
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488 | |||
489 | # Create preprocessed source for use in sending a bug report. |
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490 | %.i : %.c |
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491 | $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
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492 | |||
493 | |||
494 | # Target: clean project. |
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495 | clean: begin clean_list end |
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496 | |||
497 | clean_list : |
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498 | @echo |
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499 | @echo $(MSG_CLEANING) |
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500 | $(REMOVE) $(TARGET).hex |
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501 | $(REMOVE) $(TARGET).eep |
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502 | $(REMOVE) $(TARGET).cof |
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503 | $(REMOVE) $(TARGET).elf |
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504 | $(REMOVE) $(TARGET).map |
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505 | $(REMOVE) $(TARGET).sym |
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506 | $(REMOVE) $(TARGET).lss |
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507 | $(REMOVE) $(OBJ) |
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508 | $(REMOVE) $(LST) |
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509 | $(REMOVE) $(SRC:.c=.s) |
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510 | $(REMOVE) $(SRC:.c=.d) |
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511 | $(REMOVEDIR) .dep |
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512 | |||
513 | |||
514 | |||
515 | # Include the dependency files. |
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516 | -include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
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517 | |||
518 | |||
519 | # Listing of phony targets. |
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520 | .PHONY : all begin finish end sizebefore sizeafter gccversion \ |
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521 | build elf hex eep lss sym coff extcoff \ |
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522 | clean clean_list program debug gdb-config |