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########Update This Section########
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#
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#
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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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#endif
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# Target file name (without extension).
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TARGET = robot_slave
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# Uncomment this to use the wireless library
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USE_WIRELESS = 1
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# com1 = serial port. Use lpt1 to connect to parallel port.
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#AVRDUDE_PORT = /dev/ttyUSB1
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#AVRDUDE_PORT = /dev/ttyUSB0
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AVRDUDE_PORT = /dev/ttyUSB2
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#
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#
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###################################
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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 filename.s = Just compile filename.c 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 *.c)
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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=gnu99
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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$(COLONYROOT)/code/projects/libwireless/lib -I$(COLONYROOT)/code/projects/colonet/common -I$(COLONYROOT)/code/projects/colonet/robot/colonet_dragonfly
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endif
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#---------------- Compiler Options ----------------
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#  -g*:          generate debugging information
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#  -O*:          optimization level
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#  -f...:        tuning, see GCC manual and avr-libc documentation
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#  -Wall...:     warning level
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#  -Wa,...:      tell GCC to pass this to the assembler.
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#    -adhlns...: create assembler listing
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CFLAGS =
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# CFLAGS = -g$(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 -Wstrict-prototypes
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CFLAGS += -Wa,-adhlns=$(<:.c=.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) $(MATH_LIB)
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ifdef USE_WIRELESS
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	LDFLAGS += -lwireless -lcolonet_dragonfly
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endif
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LDFLAGS += -ldragonfly
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#---------------- Programming Options (avrdude) ----------------
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# Programming hardware: alf avr910 avrisp bascom bsd
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# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
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#
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# Type: avrdude -c ?
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# to get a full listing.
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#
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AVRDUDE_PROGRAMMER = avrisp
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# programmer connected to serial device
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AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(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-gcc
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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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# Define all object files.
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OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
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# Define all listing files.
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LST = $(SRC:.c=.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 $(ASFLAGS)
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# Default target.
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all: begin gccversion sizebefore build sizeafter end
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$(COLONYROOT)/code/projects/colonet/robot/colonet_dragonfly/libcolonet_dragonfly.a: $(COLONYROOT)/code/projects/colonet/robot/colonet_dragonfly/colonet_dragonfly.c $(COLONYROOT)/code/projects/colonet/robot/colonet_dragonfly/colonet_dragonfly.h
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	cd $(COLONYROOT)/code/projects/colonet/robot/colonet_dragonfly; make
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build: $(COLONYROOT)/code/projects/colonet/robot/colonet_dragonfly/libcolonet_dragonfly.a 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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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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sizeafter:
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	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
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	$(AVRMEM) 2>/dev/null; echo; fi
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# Display compiler version information.
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gccversion :
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	@$(CC) --version
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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) $(AVRDUDE_WRITE_EEPROM)
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# Generate avr-gdb config/init file which does the following:
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#     define the reset signal, load the target file, connect to target, and set
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#     a breakpoint at main().
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gdb-config:
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	@$(REMOVE) $(GDBINIT_FILE)
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	@echo define reset >> $(GDBINIT_FILE)
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	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
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	@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)
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endif
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	@echo break main >> $(GDBINIT_FILE)
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debug: gdb-config $(TARGET).elf
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ifeq ($(DEBUG_BACKEND), avarice)
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	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
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	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
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	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
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	@$(WINSHELL) /c pause
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else
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	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
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	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
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endif
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	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
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# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
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COFFCONVERT=$(OBJCOPY) --debugging \
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--change-section-address .data-0x800000 \
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--change-section-address .bss-0x800000 \
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--change-section-address .noinit-0x800000 \
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--change-section-address .eeprom-0x810000
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coff: $(TARGET).elf
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	@echo
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	@echo $(MSG_COFF) $(TARGET).cof
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	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
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extcoff: $(TARGET).elf
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	@echo
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	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
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	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
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# Create final output files (.hex, .eep) from ELF output file.
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%.hex: %.elf
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	@echo
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	@echo $(MSG_FLASH) $@
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	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
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%.eep: %.elf
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	@echo
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	@echo $(MSG_EEPROM) $@
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	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
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	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
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# Create extended listing file from ELF output file.
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%.lss: %.elf
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	@echo
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	@echo $(MSG_EXTENDED_LISTING) $@
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	$(OBJDUMP) -h -S $< > $@
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# Create a symbol table from ELF output file.
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%.sym: %.elf
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	@echo
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	@echo $(MSG_SYMBOL_TABLE) $@
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	$(NM) -n $< > $@
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# Link: create ELF output file from object files.
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.SECONDARY : $(TARGET).elf
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.PRECIOUS : $(OBJ)
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%.elf: $(OBJ)
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	@echo
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	@echo $(MSG_LINKING) $@
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	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
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# Compile: create object files from C source files.
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%.o : %.c
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	@echo
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	@echo $(MSG_COMPILING) $<
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	$(CC) -c $(ALL_CFLAGS) $< -o $@
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# Compile: create assembler files from C source files.
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%.s : %.c
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	$(CC) -S $(ALL_CFLAGS) $< -o $@
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# Assemble: create object files from assembler source files.
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%.o : %.S
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	@echo
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	@echo $(MSG_ASSEMBLING) $<
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	$(CC) -c $(ALL_ASFLAGS) $< -o $@
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# Create preprocessed source for use in sending a bug report.
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%.i : %.c
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	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
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# Target: clean project.
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clean: begin clean_list end
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clean_list :
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	@echo
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	@echo $(MSG_CLEANING)
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	$(REMOVE) $(TARGET).hex
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	$(REMOVE) $(TARGET).eep
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	$(REMOVE) $(TARGET).cof
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	$(REMOVE) $(TARGET).elf
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	$(REMOVE) $(TARGET).map
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	$(REMOVE) $(TARGET).sym
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	$(REMOVE) $(TARGET).lss
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	$(REMOVE) $(OBJ)
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	$(REMOVE) $(LST)
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	$(REMOVE) $(SRC:.c=.s)
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	$(REMOVE) $(SRC:.c=.d)
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	$(REMOVEDIR) .dep
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# Include the dependency files.
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-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
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# Listing of phony targets.
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.PHONY : all begin finish end sizebefore sizeafter gccversion \
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build elf hex eep lss sym coff extcoff \
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clean clean_list program debug gdb-config