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# This is a copy of the root makefile, modified to compile with
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# avr-g++ instead of avr-gcc
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#
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###################################
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TARGET = forklift_demo
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AVRDUDE_PORT = /dev/ttyUSB0
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# Relative path to the root directory (containing lib directory)
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ifndef COLONYROOT
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COLONYROOT := ../../..
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else
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COLONYROOT := ../$(COLONYROOT)
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endif
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# Hey Emacs, this is a -*- makefile -*-
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#----------------------------------------------------------------------------
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# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
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#
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# Released to the Public Domain
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#
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# Additional material for this makefile was written by:
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# Peter Fleury
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# Tim Henigan
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# Colin O'Flynn
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# Reiner Patommel
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# Markus Pfaff
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# Sander Pool
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# Frederik Rouleau
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#
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#----------------------------------------------------------------------------
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# On command line:
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#
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# make all = Make software.
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#
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# make clean = Clean out built project files.
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#
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# make coff = Convert ELF to AVR COFF.
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#
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# make extcoff = Convert ELF to AVR Extended COFF.
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#
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# make program = Download the hex file to the device, using avrdude.
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#                Please customize the avrdude settings below first!
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#
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# make debug = Start either simulavr or avarice as specified for debugging,
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#              with avr-gdb or avr-insight as the front end for debugging.
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#
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# make library = Build the library, then make software
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#
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# make demo = copy this directory and all subdirectories to the demos folder
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#
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# make filename.s = Just compile filename.cpp into the assembler code only.
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#
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# make filename.i = Create a preprocessed source file for use in submitting
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#                   bug reports to the GCC project.
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#
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# To rebuild project do "make clean" then "make all".
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#----------------------------------------------------------------------------
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#if you want your code to work on the Firefly++ and not Firefly+
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#then add the -DFFPP line to CDEFS
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CDEFS =
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#-DFFPP
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# MCU name
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MCU = atmega128
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# Processor frequency.
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#     This will define a symbol, F_CPU, in all source code files equal to the
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#     processor frequency. You can then use this symbol in your source code to
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#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
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#     automatically to create a 32-bit value in your source code.
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F_CPU = 8000000
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# Output format. (can be srec, ihex, binary)
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FORMAT = ihex
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# List C source files here. (C dependencies are automatically generated.)
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SRC = $(wildcard *.cpp)
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# List Assembler source files here.
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#     Make them always end in a capital .S.  Files ending in a lowercase .s
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#     will not be considered source files but generated files (assembler
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#     output from the compiler), and will be deleted upon "make clean"!
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#     Even though the DOS/Win* filesystem matches both .s and .S the same,
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#     it will preserve the spelling of the filenames, and gcc itself does
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#     care about how the name is spelled on its command-line.
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ASRC =
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# Optimization level, can be [0, 1, 2, 3, s].
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#     0 = turn off optimization. s = optimize for size.
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#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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OPT = s
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# Debugging format.
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#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
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#     AVR Studio 4.10 requires dwarf-2.
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#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
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DEBUG =
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# Compiler flag to set the C Standard level.
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#     c89   = "ANSI" C
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#     gnu89 = c89 plus GCC extensions
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#     c99   = ISO C99 standard (not yet fully implemented)
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#     gnu99 = c99 plus GCC extensions
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CSTANDARD = -std=c++0x
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# Place -D or -U options here
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CDEFS += -DF_CPU=$(F_CPU)UL
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CDEFS += -DFFP
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# for wireless library
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ifdef USE_WIRELESS
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	CDEFS += -DROBOT
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endif
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# Place -I, -L options here
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CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly
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CINCS += -L$(COLONYROOT)/code/lib/bin
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ifdef USE_WIRELESS
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  CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
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endif
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#---------------- Compiler Options ----------------
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#  -g*:          generate debugging information
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#  -O*:          optimization level
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#  -f...:        tuning, see GCC manual and avr-libc documentation
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#  -Wall...:     warning level
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#  -Wa,...:      tell GCC to pass this to the assembler.
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#    -adhlns...: create assembler listing
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CFLAGS =
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# CFLAGS = -g$(DEBUG)
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CFLAGS += $(CDEFS) $(CINCS)
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CFLAGS += -O$(OPT)
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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CFLAGS += -Wall
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CFLAGS += -Wa,-adhlns=$(<:.cpp=.lst)
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CFLAGS += $(CSTANDARD)
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#---------------- Assembler Options ----------------
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#  -Wa,...:   tell GCC to pass this to the assembler.
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#  -ahlms:    create listing
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#  -gstabs:   have the assembler create line number information; note that
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#             for use in COFF files, additional information about filenames
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#             and function names needs to be present in the assembler source
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#             files -- see avr-libc docs [FIXME: not yet described there]
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ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
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#---------------- Library Options ----------------
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# Minimalistic printf version
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PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
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# Floating point printf version (requires MATH_LIB = -lm below)
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PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
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# If this is left blank, then it will use the Standard printf version.
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PRINTF_LIB =
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#PRINTF_LIB = $(PRINTF_LIB_MIN)
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#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
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# Minimalistic scanf version
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SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
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# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
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SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
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# If this is left blank, then it will use the Standard scanf version.
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SCANF_LIB =
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#SCANF_LIB = $(SCANF_LIB_MIN)
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#SCANF_LIB = $(SCANF_LIB_FLOAT)
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MATH_LIB = -lm
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#---------------- External Memory Options ----------------
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# 64 KB of external RAM, starting after internal RAM (ATmega128!),
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# used for variables (.data/.bss) and heap (malloc()).
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#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
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# 64 KB of external RAM, starting after internal RAM (ATmega128!),
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# only used for heap (malloc()).
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#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
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EXTMEMOPTS =
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#---------------- Linker Options ----------------
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#  -Wl,...:     tell GCC to pass this to linker.
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#    -Map:      create map file
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#    --cref:    add cross reference to  map file
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LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
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LDFLAGS += $(EXTMEMOPTS)
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LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
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ifdef USE_WIRELESS
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	LDFLAGS += -lwireless
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endif
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LDFLAGS += -ldragonfly
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#---------------- Programming Options (avrdude) ----------------
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# Programming hardware: alf avr910 avrisp bascom bsd
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# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
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#
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# Type: avrdude -c ?
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# to get a full listing.
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#
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AVRDUDE_PROGRAMMER = avrisp
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# programmer connected to serial device
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AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
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#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
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# Uncomment the following if you want avrdude's erase cycle counter.
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# Note that this counter needs to be initialized first using -Yn,
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# see avrdude manual.
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#AVRDUDE_ERASE_COUNTER = -y
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# Uncomment the following if you do /not/ wish a verification to be
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# performed after programming the device.
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#AVRDUDE_NO_VERIFY = -V
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# Increase verbosity level.  Please use this when submitting bug
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# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
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# to submit bug reports.
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#AVRDUDE_VERBOSE = -v -v
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AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
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AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
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AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
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AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
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#don't check for device signature
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AVRDUDE_FLAGS += -F
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#---------------- Debugging Options ----------------
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# For simulavr only - target MCU frequency.
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DEBUG_MFREQ = $(F_CPU)
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# Set the DEBUG_UI to either gdb or insight.
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# DEBUG_UI = gdb
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DEBUG_UI = insight
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# Set the debugging back-end to either avarice, simulavr.
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DEBUG_BACKEND = avarice
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#DEBUG_BACKEND = simulavr
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# GDB Init Filename.
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GDBINIT_FILE = __avr_gdbinit
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# When using avarice settings for the JTAG
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JTAG_DEV = /dev/com1
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# Debugging port used to communicate between GDB / avarice / simulavr.
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DEBUG_PORT = 4242
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# Debugging host used to communicate between GDB / avarice / simulavr, normally
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#     just set to localhost unless doing some sort of crazy debugging when
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#     avarice is running on a different computer.
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DEBUG_HOST = localhost
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#============================================================================
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# Define programs and commands.
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SHELL = sh
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CC = avr-g++
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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SIZE = avr-size
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NM = avr-nm
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AVRDUDE = avrdude
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REMOVE = rm -f
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REMOVEDIR = rm -rf
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COPY = cp
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WINSHELL = cmd
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# Define Messages
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# English
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MSG_ERRORS_NONE = Errors: none
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MSG_BEGIN = -------- begin --------
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MSG_END = --------  end  --------
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MSG_SIZE_BEFORE = Size before:
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MSG_SIZE_AFTER = Size after:
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MSG_COFF = Converting to AVR COFF:
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MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
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MSG_FLASH = Creating load file for Flash:
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MSG_EEPROM = Creating load file for EEPROM:
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MSG_EXTENDED_LISTING = Creating Extended Listing:
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MSG_SYMBOL_TABLE = Creating Symbol Table:
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MSG_LINKING = Linking:
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MSG_COMPILING = Compiling:
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MSG_ASSEMBLING = Assembling:
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MSG_CLEANING = Cleaning project:
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MSG_LIBRARY_BUILD = Building library:
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MSG_LIBRARY_CHECK = Checking if we need to rebuild the library:
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# Define all object files.
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OBJ = $(SRC:.cpp=.o) $(ASRC:.S=.o)
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# Define all listing files.
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LST = $(SRC:.cpp=.lst) $(ASRC:.S=.lst)
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# Compiler flags to generate dependency files.
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GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
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# Combine all necessary flags and optional flags.
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# Add target processor to flags.
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ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
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ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
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# Default target.
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all: begin gccversion lib sizebefore build sizeafter checksize end
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build: elf hex eep lss sym
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elf: $(TARGET).elf
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hex: $(TARGET).hex
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eep: $(TARGET).eep
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lss: $(TARGET).lss
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sym: $(TARGET).sym
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# Eye candy.
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# AVR Studio 3.x does not check make's exit code but relies on
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# the following magic strings to be generated by the compile job.
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begin:
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	@echo
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	@echo $(MSG_BEGIN)
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end:
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	@echo $(MSG_END)
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	@echo
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# Display size of file.
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HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
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ELFSIZE = $(SIZE) -A $(TARGET).elf
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AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
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# Check RAM size (make sure under 4 kB)
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AWK = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'gawk'; else echo 'awk'; fi)
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DATASIZE = avr-size -A $(TARGET).elf | grep 'data' | $(AWK) '{ print $$2 }' > 1.tmp
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BSSSIZE = avr-size -A $(TARGET).elf | grep 'bss' | $(AWK) '{ print $$2 }' > 2.tmp
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ADD = expr `cat 1.tmp` + `cat 2.tmp` > 3.tmp
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CLEANSIZE = rm 1.tmp 2.tmp 3.tmp
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checksize:
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	@$(DATASIZE)
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	@$(BSSSIZE)
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	@$(ADD)
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	@if test `cat 3.tmp` -gt 4096; \
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	then echo "RAM size exceeded.  Make .data or .bss smaller.";echo;exit 1; \
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	else echo ".data and .bss size fine";echo; fi
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	@$(CLEANSIZE)
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# Display size before
375
sizebefore:
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	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
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	$(AVRMEM) 2>/dev/null; echo; fi
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# Display size after
380
sizeafter:
381
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
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	$(AVRMEM) 2>/dev/null; echo; fi
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# Display compiler version information.
387
gccversion :
388
	@$(CC) --version
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390
  
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# Build the library
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library:
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	@echo $(MSG_LIBRARY_BUILD)
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	make clean -C $(COLONYROOT)/code/projects/libdragonfly
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	make dist -C $(COLONYROOT)/code/projects/libdragonfly
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ifdef USE_WIRELESS
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	make clean -C $(COLONYROOT)/code/projects/libwireless/lib
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	make dist -C $(COLONYROOT)/code/projects/libwireless/lib
399
endif
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# Check if library needs to be built
402
lib:
403
	@echo $(MSG_LIBRARY_CHECK)
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	make dist -C $(COLONYROOT)/code/projects/libdragonfly
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ifdef USE_WIRELESS
406
	make dist -C $(COLONYROOT)/code/projects/libwireless/lib
407
endif
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# Program the device.
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program: $(TARGET).hex $(TARGET).eep
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	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
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# Generate avr-gdb config/init file which does the following:
416
#     define the reset signal, load the target file, connect to target, and set
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#     a breakpoint at main().
418
gdb-config:
419
	@$(REMOVE) $(GDBINIT_FILE)
420
	@echo define reset >> $(GDBINIT_FILE)
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	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
422
	@echo end >> $(GDBINIT_FILE)
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	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
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	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
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ifeq ($(DEBUG_BACKEND),simulavr)
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	@echo load  >> $(GDBINIT_FILE)
427
endif
428
	@echo break main >> $(GDBINIT_FILE)
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430
debug: gdb-config $(TARGET).elf
431
ifeq ($(DEBUG_BACKEND), avarice)
432
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
433
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
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	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
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	@$(WINSHELL) /c pause
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437
else
438
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
439
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
440
endif
441
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
442

    
443

    
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445

    
446
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
447
COFFCONVERT=$(OBJCOPY) --debugging \
448
--change-section-address .data-0x800000 \
449
--change-section-address .bss-0x800000 \
450
--change-section-address .noinit-0x800000 \
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--change-section-address .eeprom-0x810000
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454
coff: $(TARGET).elf
455
	@echo
456
	@echo $(MSG_COFF) $(TARGET).cof
457
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
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459

    
460
extcoff: $(TARGET).elf
461
	@echo
462
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
463
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
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465

    
466

    
467
# Create final output files (.hex, .eep) from ELF output file.
468
%.hex: %.elf
469
	@echo
470
	@echo $(MSG_FLASH) $@
471
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
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473
%.eep: %.elf
474
	@echo
475
	@echo $(MSG_EEPROM) $@
476
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
477
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
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479
# Create extended listing file from ELF output file.
480
%.lss: %.elf
481
	@echo
482
	@echo $(MSG_EXTENDED_LISTING) $@
483
	$(OBJDUMP) -h -S $< > $@
484

    
485
# Create a symbol table from ELF output file.
486
%.sym: %.elf
487
	@echo
488
	@echo $(MSG_SYMBOL_TABLE) $@
489
	$(NM) -n $< > $@
490

    
491

    
492

    
493
# Link: create ELF output file from object files.
494
.SECONDARY : $(TARGET).elf
495
.PRECIOUS : $(OBJ)
496
%.elf: $(OBJ)
497
	@echo
498
	@echo $(MSG_LINKING) $@
499
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
500

    
501

    
502
# Compile: create object files from C source files.
503
%.o : %.cpp
504
	@echo
505
	@echo $(MSG_COMPILING) $<
506
	$(CC) -c $(ALL_CFLAGS) $< -o $@
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508

    
509
# Compile: create assembler files from C source files.
510
%.s : %.cpp
511
	$(CC) -S $(ALL_CFLAGS) $< -o $@
512

    
513

    
514
# Assemble: create object files from assembler source files.
515
%.o : %.S
516
	@echo
517
	@echo $(MSG_ASSEMBLING) $<
518
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
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520
# Create preprocessed source for use in sending a bug report.
521
%.i : %.cpp
522
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
523

    
524

    
525
# Target: clean project.
526
clean: begin clean_list end
527

    
528
clean_list :
529
	@echo
530
	@echo $(MSG_CLEANING)
531
	$(REMOVE) $(TARGET).hex
532
	$(REMOVE) $(TARGET).eep
533
	$(REMOVE) $(TARGET).cof
534
	$(REMOVE) $(TARGET).elf
535
	$(REMOVE) $(TARGET).map
536
	$(REMOVE) $(TARGET).sym
537
	$(REMOVE) $(TARGET).lss
538
	$(REMOVE) $(OBJ)
539
	$(REMOVE) $(LST)
540
	$(REMOVE) $(SRC:.cpp=.s)
541
	$(REMOVE) $(SRC:.cpp=.d)
542
	$(REMOVEDIR) .dep
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544

    
545

    
546
# Include the dependency files.
547
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
548

    
549

    
550
# Listing of phony targets.
551
.PHONY : all begin finish end sizebefore sizeafter gccversion \
552
build elf hex eep lss sym coff extcoff \
553
clean clean_list program debug gdb-config
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555
# copy to demo folder
556
DEMO_NAME := $(shell sh -c 'echo $${PWD\#\#*/}')
557
ECHO := $(shell if uname -s |grep -i w32 >/dev/null; then echo 'echo -e'; else echo 'echo'; fi)
558
MAKEFILE_ADD := sh -c '$(ECHO) "\n.PHONY:$(DEMO_NAME)\n$(DEMO_NAME):\n\t@make all program -C $(DEMO_NAME)"'|cat - >> $(COLONYROOT)/../demos/Makefile
559
demo:
560
	@echo "Copying to demo folder..."
561
	@echo "$(DEMO_NAME)"
562
	@make clean
563
	make clean -C $(COLONYROOT)/code/projects/libdragonfly
564
	make clean -C $(COLONYROOT)/code/projects/libwireless/lib
565
	@svn mkdir $(COLONYROOT)/../demos/$(DEMO_NAME)
566
	@svn mkdir $(COLONYROOT)/../demos/$(DEMO_NAME)/src
567
	@svn copy $(COLONYROOT)/../demos/template/lib $(COLONYROOT)/../demos/$(DEMO_NAME)/
568
	@svn copy $(COLONYROOT)/../demos/template/Makefile $(COLONYROOT)/../demos/$(DEMO_NAME)/
569
	@svn copy * $(COLONYROOT)/../demos/$(DEMO_NAME)/src/
570
	@cp $(COLONYROOT)/../demos/template/src/Makefile $(COLONYROOT)/../demos/$(DEMO_NAME)/src/
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	@svn copy $(COLONYROOT)/code/projects/libdragonfly $(COLONYROOT)/../demos/$(DEMO_NAME)/lib/src/
572
	@cp $(COLONYROOT)/../demos/template/dragonflyMakefile $(COLONYROOT)/../demos/$(DEMO_NAME)/lib/src/libdragonfly/Makefile
573
	@svn copy $(COLONYROOT)/code/projects/libwireless/lib/* $(COLONYROOT)/../demos/$(DEMO_NAME)/lib/src/libwireless/
574
	@cp $(COLONYROOT)/../demos/template/wirelessMakefile $(COLONYROOT)/../demos/$(DEMO_NAME)/lib/src/libwireless/Makefile
575
	@$(MAKEFILE_ADD)
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	@echo "Don't forget to commit your new demo folder!"